CN101913153A - Robot reinforcement method and device - Google Patents

Robot reinforcement method and device Download PDF

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Publication number
CN101913153A
CN101913153A CN2010102481648A CN201010248164A CN101913153A CN 101913153 A CN101913153 A CN 101913153A CN 2010102481648 A CN2010102481648 A CN 2010102481648A CN 201010248164 A CN201010248164 A CN 201010248164A CN 101913153 A CN101913153 A CN 101913153A
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CN
China
Prior art keywords
robot
crossbeam
reinforcement device
rigging
power
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Pending
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CN2010102481648A
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Chinese (zh)
Inventor
范红兵
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范红兵
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Priority to CN2010102481648A priority Critical patent/CN101913153A/en
Publication of CN101913153A publication Critical patent/CN101913153A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008Balancing devices

Abstract

The invention discloses a robot reinforcement method and a device. The robot reinforcement device comprises a power mechanism for increasing lifting force, a slaving mechanism and a support mechanism for supporting the power mechanism and the slaving mechanism, wherein the slaving mechanism is connected with the power mechanism and is used for transferring the tension of the power mechanism and following the operation of a robot. The invention solves the defects in the prior art, and provides a robot reinforcement method and a device with the advantages of simple operation and low cost and capability of effectively improving the loading capacity of the robot.

Description

Robot reinforcement method and device
Technical field
The present invention relates to a kind of robot auxiliary power method and apparatus and robot, particularly relate to a kind of robot reinforcement method and device and robot.
Background technology
Along with the continuous progress and the development of social scientific and technological level, robot is widely applied to various occasions and industrial production field.The application of robot not only greatly reduces working strength of workers, and has improved industrial efficient greatly.But the problem that exists is at present, and general robot body bears a heavy burden limited in one's ability, and it is little to promote load weight, and this just makes its range of application be very limited, and it is big to develop the strong robot manufacturing technology difficulty of hoisting power, the cost height, and operation energy consumption is big.
Summary of the invention
The present invention is directed to the prior art deficiency, propose a kind of robot reinforcement method and the device and robot that also can effectively improve the heavy burden ability of robot simple to operate, low-cost.
For achieving the above object, the technical solution adopted in the present invention is a kind of robot reinforcement method, be provided with the robot reinforcement device of forming by actuating unit, follower and supporting mechanism, the robot reinforcement device is connected with the moving component of robot by its follower and follows moving of robot, the robot reinforcement device gives robot a fixing or variable service hoisting power, makes robot and step-up system bear the gravity of workpiece jointly.
For realizing second purpose of the present invention, I provide a kind of robot reinforcement device at invention, comprise an actuating unit that is used to increase lifting force, am connected, am used for the supporting mechanism that transferring power mechanism pulling force is followed the follower of robot motion and is used to support described actuating unit and follower with described actuating unit.
Of the present invention further the improvement is, described actuating unit comprises power source, described supporting mechanism comprises vertical columns, crossbeam, the guiding wheels, one end of described crossbeam is fixed on the vertical columns top, described guiding wheels are arranged on the two ends of described crossbeam, described follower comprises the lifting rigging, the initial end of described lifting rigging connects power source, the interlude of described lifting rigging is the directive wheel at pile warp crossbeam two ends successively, and the clearing end of described lifting rigging is connected the moving component of robot after the break-in of described guiding wheels.
Of the present invention further the improvement is, also comprise an other end below hinged at least one joint spiral arm in parallel that is arranged on described crossbeam, the two ends of described spiral arm respectively are equipped with directive wheel, the rotation of described spiral arm random device people moving component under the traction of robot and lifting rigging is rotated around the jointed shaft below its place crossbeam end, to increase the working region of robot.
Of the present invention further the improvement is, described power source comprises a big stroke cylinder, described big stroke cylinder coupling is installed in the lateral surface or body of vertical columns or crossbeam, fixedly connected with the initial end that promotes rigging in the piston rod end of described big stroke cylinder, big stroke cylinder provides a service hoisting power by outputting power for robot.
Of the present invention further the improvement is, described power source comprises a hydraulic cylinder, described hydraulic cylinder coupling is installed in the lateral surface or body of vertical columns or crossbeam, the piston rod end of hydraulic cylinder is connected with the initial end that promotes rigging, and hydraulic cylinder provides a service hoisting power by outputting power for robot.
Of the present invention further the improvement is, described power source comprises frequency control motor, frequency control motor is connected with the lifting rigging by additional take-up axle, makes its outputting power provide a service hoisting power for robot by the electric parameter of importing frequency control motor.
Of the present invention further the improvement is that described power source comprises the balance weight body of a free body, and described balance weight body is connected with the initial end that promotes rigging, and balance weight body provides service hoisting power by preset weight for robot.
Of the present invention further the improvement is that upper and lower two directive wheels of the corresponding installation with the spiral arm hinged end of described crossbeam lay respectively at its common tangent line both sides, this common tangent line approximate and spiral arm or beam vertical.
Another object of the present invention is to provide a kind of robot, has the robot reinforcement device.
Useful good effect of the present invention is:
1, robot reinforcement device of the present invention, conceive unique, reasonable in design, simple in structure, cost is low, input with minimum, make the hoisting power of robot that significant raising arranged, and do not influence flexible performance of robot motion and reliable operation performance, the scope of application is extensive.By giving a kind of external lifting device of robot that is attached to of robot configuration, overcome the deadweight of workpiece or robot, make the load capacity of robot promote, ability to work is improved.Service hoisting step-up system of the present invention can be used as the auxiliary device of robot, also can be made as one with robot.
2, robot reinforcement device of the present invention is reasonable in design because of it, simple in structure, so realize having stronger practicality easily, has further improved the operating efficiency of robot.Simultaneously, the robot reinforcement device cooperates robot, and whole working cycles is by a drive power source, and equipment cost and operation cost are all lower, are easy to installation and maintenance, and be suitable for large-scale promotion, helps energy savings.
Description of drawings
Fig. 1 is a robot reinforcement apparatus structure schematic diagram of the present invention.
Among the figure
1, vertical columns; 2, power source; 3, guiding wheels; 4, crossbeam; 5, spiral arm; 6, promote rigging; 7, robot.
The specific embodiment
Below preferred embodiment of the present invention is described in detail, thereby protection scope of the present invention is made more explicit defining so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that.
Referring to accompanying drawing 1, a kind of robot reinforcement device comprises that one is used to increase the actuating unit of lifting force, is connected, is used for transferring power mechanism pulling force with actuating unit and follow the follower of robot 7 action and the supporting mechanism that is used for supporting motive force mechanism and follower.Actuating unit comprises power source 2, supporting mechanism comprises vertical columns 1, crossbeam 4, guiding wheels 3, one end of crossbeam 4 is fixed on vertical columns 1 top, hinged spiral arm 5 in parallel below the other end of crossbeam 4, the two ends of spiral arm 5 respectively are equipped with directive wheel, guiding wheels 3 are arranged on the two ends of crossbeam 4, follower comprises lifting rigging 6, the initial end that promotes rigging 6 connects power source 2, the interlude that promotes rigging 6 is the directive wheel at pile warp crossbeam 4 and spiral arm 5 two ends successively, and the clearing end that promotes rigging 6 is connected the wrist of robot 7 after 3 break-ins of guiding wheels.Upper and lower two directive wheels of the corresponding installation with spiral arm 5 hinged ends of crossbeam 4 lay respectively at its common tangent line both sides, and this common tangent line is approximate vertical with spiral arm 5 or crossbeam 4.
In the present embodiment, spiral arm 5 is joint formula design, certainly can also design for multi-section type, carry out hinged between every adjacent two joint spiral arms, as two-segment type spiral arm 5 is hinged again another joint arm of end of a joint arm, multi-section type design spiral arm 5 makes mechanism more flexible, and the strength of transmission is more vertical, and the end of spiral arm 5 is more near robot 7 stress points.
The rotation of spiral arm 5 random device people 7 wrists under the traction of robot 7 and lifting rigging 6 is rotated around the jointed shaft below its place crossbeam end, to increase the working region of robot 7.Lifting rigging 6 is an axle with the directive wheel on spiral arm 5 right sides, carries out servo-actuated.When robot 7 arms moved downward, the pre set force that affects lifting rigging 6 to overcome power source 2 moved downward; When robot 7 arms move upward, promote rigging 6 pre set force of power source 2 is changed into lifting auxiliary force to robot 7, the deadweight of counteracting workpiece.Robot 7 arms are when left movement, affect and promote rigging 6 to left movement, if the distance to left movement is less, the swing of lifting rigging 6 can be finished the step to left movement, if the distance to left movement is more, promoting rigging 6 can turn left to finish the step to left movement along jointed shaft by further drive spiral arm 5, and spiral arm 5 has enlarged the hunting range that promotes rigging 6.
The position that lifting rigging 6 is connected with robot 7 can be the arbitrary motion parts of robot 7, such as positions such as head, wrist, arms, according to promoting the different of rigging 6 and robot 7 link positions, for the gripper components of giving robot 7 provides identical service hoisting power, need to give lifting rigging 6 that different pulling force is set.
Promote rigging 6 and not only can directly will promote dynamic action in robot 7 moving components, also can pass through middle gear, be connected with robot 7 moving components again, the strength and the movement travel of more mating are provided by directive wheel.
Present embodiment robot reinforcement device, power source 2 adopts a big stroke cylinder, big stroke cylinder coupling is installed in vertical columns 1 lateral surface, fixedly connected with the initial end that promotes rigging 6 in the piston rod end of big stroke cylinder, big stroke cylinder provides service hoisting power as outputting power for robot 7 by default air pressure.
Present embodiment robot reinforcement device can also adopt hydraulic cylinder as power source 2, the hydraulic cylinder coupling is installed in the lateral surface or body of vertical columns 1 or crossbeam 4, the piston rod end of hydraulic cylinder is connected with the initial end that promotes rigging 6, and hydraulic cylinder provides a constant or variable service hoisting power by outputting power for robot 7.Can also adopt frequency control motor as power source 2, make its outputting power by the electric parameter of importing frequency control motor, frequency control motor is connected with lifting rigging 6 by additional take-up axle.The balancing weight that can also adopt a free body certainly is as power source 2, and balancing weight is connected with the initial end that promotes rigging 6, and balancing weight provides a service hoisting power by default counterweight weight for robot 7.The embodiment of power source 2 has multiple, and the difference in working power source does not limit protection scope of the present invention.
The job step of robot reinforcement method of the present invention below is described in detail in detail.
(1) under Light Condition, the robot reinforcement device applies a service hoisting power for robot 7, and service hoisting power equals 90N in the present embodiment, and the maximum weight capacity of robot 7 grasping mechanisms is 100N.(2) robot 7 drives the robot reinforcement device and moves to the workpiece crawl position, robot 7 grabbing workpieces.The gravity of workpiece is 170N in the present embodiment, because the maximum grasp force of robot 7 is 100N, service hoisting power is 90N, robot 7 can't spur workpiece, the service hoisting power that need provide by means of the robot reinforcement device, robot 7 and robot reinforcement device are born the gravity of workpiece jointly, and robot 7 drives the robot reinforcement device and workpiece moves to the workpiece placement location.
When applying a bigger service hoisting power, can help robot 7 to carry heavier workpiece, maximum grasp force as robot 7 grasping mechanisms is 100N, service hoisting power is 300N, promptly can grasp and mobile gravity is no more than the workpiece of 400N, compare with the maximum grasp force of the 100N of robot 7 grasping mechanisms, improved the performance of robot 7 greatly.And in order to prevent the excessive damage that causes robot 7 of service hoisting power setting, service hoisting power is preferable should be set in mechanical strength and workpiece gravity sum less than the maximum weight capacity of robot 7 grasping mechanisms, robot 7, after robot 7 is drawn to certain altitude, the downward grasp force of robot 7 grasping mechanisms, the mechanical stress and the downward gravity of workpiece of robot 7 overcome service hoisting power jointly, prevent that service hoisting power from pulling on moving robot 7 and rising, cause damage for robot 7.
Certainly service hoisting power can also equal zero at Light Condition, and promptly when Light Condition, the robot reinforcement device provides service hoisting power for robot 7, and when robot 7 grabbing workpieces, the robot reinforcement device provides service hoisting power for robot 7 again.Being provided with like this can be saved the energy that the robot reinforcement device consumes.
And service hoisting power can be a power of pressing the specific program variation, for example robot 7 is when promoting workpiece, the robot reinforcement device gives robot 7 one service hoisting power that continue increase, up to robot 7 workpiece is promoted to peak, after robot 7 is promoted to peak with workpiece, the service hoisting power that the robot reinforcement device gives robot 7 one to be continued to reduce is put down workpiece until robot 7.Change the service hoisting power of robot reinforcement device according to the motion state of robot 7, can more accurate auxiliary robot 7, help robot 7 to move to assigned address fast, hoisting machine people 7 sport efficiency.
The size of service hoisting power and variable condition do not limit protection scope of the present invention.
(3) robot 7 drive robot reinforcement devices and workpiece move to the workpiece placement location, and workpiece moves into place, and robot 7 discharges workpiece, and Light Condition is got back to by robot 7.
By above-mentioned embodiment, be not difficult to find out that the present invention is a kind of robot reinforcement method and the device and robot thereof that also can effectively improve the heavy burden ability of robot 7 simple to operate, low-cost.
Above embodiment only is explanation technical conceive of the present invention and characteristics; its purpose is to allow the people that is familiar with this technology understand content of the present invention and is implemented; can not limit protection scope of the present invention with this, all equivalences that spirit essence is done according to the present invention change or modification all is encompassed in protection scope of the present invention.

Claims (10)

1. robot reinforcement method, it is characterized in that: be provided with the robot reinforcement device of forming by actuating unit, follower and supporting mechanism, the robot reinforcement device is connected with the moving component of robot (7) by follower and follows moving of robot (7), the robot reinforcement device gives robot (7) fixing or variable service hoisting power, makes robot (7) and step-up system bear the gravity of workpiece jointly.
2. robot reinforcement device of realizing the described robot reinforcement method of claim 1 is characterized in that: comprise an actuating unit that is used to increase lifting force, be connected, be used for transferring power mechanism pulling force with described actuating unit and follow the follower of robot (7) action and the supporting mechanism that is used to support described actuating unit and follower.
3. robot reinforcement device according to claim 2, it is characterized in that: described actuating unit comprises power source (2), described supporting mechanism comprises vertical columns (1), crossbeam (4), guiding wheels (3), one end of described crossbeam (4) is fixed on vertical columns (1) top, described guiding wheels (3) are arranged on the two ends of described crossbeam (4), described follower comprises lifting rigging (6), the initial end of described lifting rigging (6) connects power source (2), the interlude of described lifting rigging (6) is the directive wheel at pile warp crossbeam (4) two ends successively, and the clearing end of described lifting rigging (6) is connected the moving component of robot after described guiding wheels (3) break-in.
4. robot reinforcement device according to claim 2, it is characterized in that: also comprise an other end below hinged at least one joint spiral arm (5) in parallel that is arranged on described crossbeam (4), the two ends of described spiral arm (5) respectively are equipped with directive wheel, the rotation of described spiral arm (5) random device people (7) moving component under the traction of robot and lifting rigging (6) is rotated around the jointed shaft of its crossbeam end below, place, to increase the working region of robot (7).
5. robot reinforcement device according to claim 2, it is characterized in that: described power source (2) comprises a big stroke cylinder, described big stroke cylinder coupling is installed in the lateral surface or body of vertical columns (1) or crossbeam (4), fixedly connected with the initial end that promotes rigging (6) in the piston rod end of described big stroke cylinder, big stroke cylinder is that robot (7) provides a service hoisting power by outputting power.
6. robot reinforcement device according to claim 2, it is characterized in that: described power source (2) comprises a hydraulic cylinder, described hydraulic cylinder coupling is installed in the lateral surface or body of vertical columns (1) or crossbeam (4), the piston rod end of hydraulic cylinder is connected with the initial end that promotes rigging (6), and hydraulic cylinder is that robot (7) provides a service hoisting power by outputting power.
7. robot reinforcement device according to claim 2, it is characterized in that: described power source (2) comprises frequency control motor, frequency control motor is connected with lifting rigging (6) by additional take-up axle, and making its outputting power by the electric parameter of importing frequency control motor is that robot (7) provides a service hoisting power.
8. robot reinforcement device according to claim 2, it is characterized in that: described power source (2) comprises the balance weight body of a free body, described balance weight body is connected with the initial end that promotes rigging (6), and balance weight body is that robot (7) provides service hoisting power by preset weight.
9. according to each described robot reinforcement device of claim 2~8, it is characterized in that: upper and lower two directive wheels of the corresponding installation with spiral arm (5) hinged end of described crossbeam (4) lay respectively at its common tangent line both sides, and this common tangent line is approximate vertical with spiral arm (5) or crossbeam (4).
10. a robot is characterized in that: have as each described robot reinforcement device in the claim 2 to 9.
CN2010102481648A 2010-08-09 2010-08-09 Robot reinforcement method and device Pending CN101913153A (en)

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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012019324A1 (en) * 2010-08-13 2012-02-16 Fan Hongbing Method and device for robot reinforcement
EP2508308A1 (en) * 2011-04-07 2012-10-10 KUKA Roboter GmbH Method and handling system for automated movement of a gravity-compensated load
CN103171965A (en) * 2011-12-22 2013-06-26 广东科达机电股份有限公司 Boosting mechanical arm
CN103419189A (en) * 2012-05-18 2013-12-04 范红兵 Robot driving structure
JPWO2017002266A1 (en) * 2015-07-02 2018-03-15 株式会社安川電機 Article support system
CN108453788A (en) * 2018-04-20 2018-08-28 华中科技大学 A kind of mechanical arm weight torque balance device capable of reversing

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CN2356984Y (en) * 1999-02-12 2000-01-05 苏本洪 Portable crane
CN1559760A (en) * 2004-03-11 2005-01-05 上海交通大学 Safety protection mechanism of robot for cleaning wall of high building
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EP0839614A1 (en) * 1996-11-05 1998-05-06 Leenstra Machine- en Staalbouw B.V. Manipulator
CN2356984Y (en) * 1999-02-12 2000-01-05 苏本洪 Portable crane
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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012019324A1 (en) * 2010-08-13 2012-02-16 Fan Hongbing Method and device for robot reinforcement
EP2508308A1 (en) * 2011-04-07 2012-10-10 KUKA Roboter GmbH Method and handling system for automated movement of a gravity-compensated load
CN102729257A (en) * 2011-04-07 2012-10-17 库卡罗伯特有限公司 Method and handling system for automated movement of a gravity-compensated load
US8812158B2 (en) 2011-04-07 2014-08-19 Kuka Roboter Gmbh Method and handling system for automatically moving a gravity-compensated load body
CN102729257B (en) * 2011-04-07 2015-05-27 库卡罗伯特有限公司 Method and handling system for automated movement of a gravity-compensated load
CN103171965A (en) * 2011-12-22 2013-06-26 广东科达机电股份有限公司 Boosting mechanical arm
CN103171965B (en) * 2011-12-22 2015-03-11 广东科达洁能股份有限公司 Boosting mechanical arm
CN103419189A (en) * 2012-05-18 2013-12-04 范红兵 Robot driving structure
CN103419189B (en) * 2012-05-18 2016-05-18 范红兵 A kind of robot drives structure
JPWO2017002266A1 (en) * 2015-07-02 2018-03-15 株式会社安川電機 Article support system
CN108453788A (en) * 2018-04-20 2018-08-28 华中科技大学 A kind of mechanical arm weight torque balance device capable of reversing
CN108453788B (en) * 2018-04-20 2020-07-10 华中科技大学 Reversible mechanical arm gravity moment balancing device

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Application publication date: 20101215