CN107867656A - A kind of robot jacking system - Google Patents
A kind of robot jacking system Download PDFInfo
- Publication number
- CN107867656A CN107867656A CN201711280866.2A CN201711280866A CN107867656A CN 107867656 A CN107867656 A CN 107867656A CN 201711280866 A CN201711280866 A CN 201711280866A CN 107867656 A CN107867656 A CN 107867656A
- Authority
- CN
- China
- Prior art keywords
- fixed disk
- upper body
- motor
- counterweight
- wire rope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 20
- 239000010959 steel Substances 0.000 claims abstract description 20
- 239000000725 suspension Substances 0.000 claims abstract description 4
- 238000004804 winding Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000819 phase cycle Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of robot jacking system, including upper body structure, upper body fixed disk, slide rail, traction steel-cable, traction sheave, counterweight fixed disk, guide steel wire rope, motor and motor driver；Upper body structure is installed on body fixed disk, upper body fixed disk is arranged on slide rail, traction steel-cable is connected by traction sheave and the suspension of upper body fixed disk, traction steel-cable another side connects counterweight fixed disk, counterweight is loaded on counterweight fixed disk, and counterweight fixed disk is also fixed by slide rail, generally in the state close to balance；Motor drives upper body fixed disk by guide steel wire rope；On motor output shaft, the driving wheel with spiral guide slot is set；When driving wheel rotates, guide steel wire rope winds driving wheel along spiral guide slot.
Description
Technical field
The invention belongs to robot field, and in particular to a kind of robot jacking system.
Background technology
Industrial robot existed and developed more than 50 years, with the raising of intelligent level and entering for interaction technique
Step, service robot will be able to perform task, and more natural and human interaction in the environment of ambiguous model, complete more
Add the task of complexity.Nowadays, service robot has become the huge emerging market of a development potentiality.
In robot, motor is often used, and stepper motor is one kind of incremental motion electromagnetic actuator, it is this
Device, can be converted to the digit pulse of input straight line incremental motion, and stepper motor is used for open ring position control system.
In terms of incremental motion, stepper motor may be used as start and stop motion controller, it is possible to achieve quick acceleration and deceleration and motor jerk.
The arm opereating specification of domestic robot is limited, and in order to increase operable scope, many robots are taken on chassis
The method of one elevating mechanism of upper installation, integral elevating is carried out to machine upper part of human body.But this robot can not realize completion bag
Include the mission requirements including operation ground object.
The content of the invention
It is an object of the invention to provide a kind of robot jacking system so that the robot can complete to include operation
Mission requirements including ground object.
To achieve the above object, the present invention provides following technical scheme：A kind of robot jacking system, including upper body knot
Structure, upper body fixed disk, slide rail, traction steel-cable, traction sheave, counterweight fixed disk, guide steel wire rope, motor and motor driver；
Upper body structure is installed on body fixed disk, and upper body fixed disk is arranged on slide rail, and traction steel-cable is consolidated by traction sheave and upper body
Price fixing suspension connection, traction steel-cable another side connect counterweight fixed disk, counterweight, and counterweight fixed disk are loaded on counterweight fixed disk
Also fixed by slide rail, generally in the state close to balance；Motor drives upper body fixed disk by guide steel wire rope；It is defeated in motor
On shaft, the driving wheel with spiral guide slot is set；When driving wheel rotates, guide steel wire rope winds along spiral guide slot and driven
Driving wheel.
Further, the motor is stepper motor, the stepper motor input voltage 20, -60V DC single-voltage-supply cmos, step
The drive pattern of stepper motor driver drives for full-bridge, and phase current is adjustable, and adjustable extent is in 0~5A.
Further, pulse signal can be converted into mechanical angular displacement information by the stepper motor, be believed according to the pulse of input
Number rotated to drive machinery to perform structure, machine winding receives a pulse signal, and rotor can rotates corresponding
Step angle；The size of angular displacement and input electric pulse number number it is directly proportional, the velocity of rotation of rotor then with incoming frequency into
Direct ratio.
Compared with prior art, the invention has the advantages that：Motor is not that lifting is lived above the waist for direct drive
It is dynamic, but driven by guide steel wire rope.The benefit of this structure is the trim using counterweight, greatly reduces lifting motor
Load, robot can realize the elevating movement of quick and smooth under the driving of less motor.This design also assigns in addition
Its flexible compensation ability when operating object on table top, because to possess certain stretching, extension flexible for traction steel wire, and
There was only the power lifted to the upper body of robot.If robot has carried out downward collision when operating object on table top with desktop, this
This part impact can be sponged by the way that traction steel-cable is flexible with counterweight by covering flexible elevating mechanism.When driving wheel rotates,
Guide steel wire rope winds driving wheel along spiral guide slot, and being oriented to wheel diameter caused by avoiding wirerope-winding becomes the problem of big.
Brief description of the drawings
Fig. 1 is the schematic diagram of the robot jacking system of the present invention.
Fig. 2 is the schematic diagram of the steel wire directive wheel of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As illustrated, a kind of robot jacking system, including upper body structure, upper body fixed disk 2, slide rail, traction steel-cable
3rd, traction sheave 1, counterweight fixed disk 5, guide steel wire rope 8, motor and motor driver；Upper body structure is arranged on upper body fixed disk 2
On, upper body fixed disk 2 is arranged on slide rail, and traction steel-cable 3 is connected by traction sheave 1 and the suspension of upper body fixed disk, traction steel
Cord another side connects counterweight fixed disk 5, and counterweight can be loaded on counterweight fixed disk, and counterweight fixed disk is also fixed by slide rail,
Generally in the state close to balance.Motor is not direct drive upper part of the body lifting activity, but is driven by guide steel wire rope
It is dynamic.The benefit of this structure is the trim using counterweight, greatly reduces the load of lifting motor, robot can be smaller
Motor driving under realize the elevating movement of quick and smooth.Other this structure also imparts its one when operating object on table top
Flexible compensation ability, because traction steel wire possesses, certain stretching, extension is flexible, and there was only what is lifted to the upper body of robot
Power.If robot has carried out downward collision when operating object on table top with desktop, this set flexibility elevating mechanism can be by draging
Draw that steel wire rope is flexible and counterweight sponges this part impact.
Robot is during lifting, it is necessary to which more accurate control lifting distance, can be obtained by simple calculations
Obtain the relation of lifting distance and motor rotational angle.On motor output shaft 4, devising one exquisite has spiral guide slot
Driving wheel 6 come avoid lift error.When driving wheel 6 rotates, steel wire rope winds driving wheel along spiral guide slot 7, avoids steel
Cord is oriented to wheel diameter caused by winding and becomes the problem of big.
The motor is stepper motor, in addition to stepper motor driver, stepper motor driver used in the system are CW250
Two-phase stepping motor driver.
The stepper motor input voltage 20, -60V DC single-voltage-supply cmos, drive pattern is full-bridge driving, can be carried out thin
Point：1/2nd, 1/4,1/8,1/10,1/20,1/40, phase current is adjustable 0~5A, typically using 3A.
The stepper motor realizes is converted into mechanical angular displacement information by pulse signal, is driven according to the pulse signal of input
Motivation tool performs structure and rotated, that is to say, that machine winding receives a pulse signal, and rotor can rotates phase
The step angle answered.If using suitable control, the output step number of stepper motor and the number of input electric pulse instruction are equal
's.The size of angular displacement to input electric pulse number number it is directly proportional, the velocity of rotation of rotor is then directly proportional to incoming frequency.Only
The phase sequence for wanting the quantity, frequency and machine winding of control input electric pulse to be powered can obtain required corner, rotating speed and side
To.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.Utilize institute of the present invention
Technical scheme is stated, or those skilled in the art designs similar technical scheme under the inspiration of technical solution of the present invention, and
Reach above-mentioned technique effect, be to fall into protection scope of the present invention.
Claims (3)
1. a kind of robot jacking system, including upper body structure, upper body fixed disk, slide rail, traction steel-cable, traction sheave, counterweight
Fixed disk, guide steel wire rope, motor and motor driver；Upper body structure is installed on body fixed disk, and upper body fixed disk is arranged on
On slide rail, traction steel-cable is connected by traction sheave and the suspension of upper body fixed disk, and traction steel-cable another side connection counterweight is fixed
Disk, counterweight is loaded on counterweight fixed disk, and counterweight fixed disk is also fixed by slide rail；Motor drives upper body to consolidate by guide steel wire rope
Price fixing；On motor output shaft, the driving wheel with spiral guide slot is set；When driving wheel rotates, guide steel wire rope is along spiral shell
Revolve guide groove winding driving wheel.
2. robot jacking system according to claim 1, the motor are stepper motors, the stepper motor input voltage
20, -60V DC single-voltage-supply cmos, the drive pattern of stepper motor driver is full-bridge driving, phase current be it is adjustable, it is adjustable
Scope is in 0~5A.
3. robot jacking system according to claim 1, pulse signal can be converted into mechanical angular displacement letter by the motor
Breath, rotated according to the pulse signal of input to drive machinery to perform structure, machine winding receives a pulse signal, motor
Rotor can rotates corresponding step angle；The size of angular displacement and how much directly proportional, the rotations of rotor for inputting electric pulse number
Speed is then directly proportional to incoming frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711280866.2A CN107867656B (en) | 2017-12-07 | 2017-12-07 | A kind of robot jacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711280866.2A CN107867656B (en) | 2017-12-07 | 2017-12-07 | A kind of robot jacking system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107867656A true CN107867656A (en) | 2018-04-03 |
| CN107867656B CN107867656B (en) | 2018-11-23 |
Family
ID=61755401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711280866.2A Expired - Fee Related CN107867656B (en) | 2017-12-07 | 2017-12-07 | A kind of robot jacking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107867656B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103750719A (en) * | 2014-01-03 | 2014-04-30 | 临沂大学 | Intelligent electric curtain and control system |
| CN103801888A (en) * | 2012-11-12 | 2014-05-21 | 宁波如意股份有限公司 | Ascending and descending type manual tray carriage automatic welding device |
| CN204848169U (en) * | 2015-08-26 | 2015-12-09 | 国网新疆电力公司奎屯供电公司 | Power transformer maintains scaffold |
| CN105710870A (en) * | 2014-12-04 | 2016-06-29 | 北京航天斯达科技有限公司 | Four-freedom-degree horizontal joint robot |
| CN205472369U (en) * | 2016-03-25 | 2016-08-17 | 内蒙古山路光伏应用技术研究有限公司 | Photovoltaic module cleaning robot companion ladder |
| CN107381391A (en) * | 2017-09-19 | 2017-11-24 | 江苏三科精工机械有限公司 | A kind of conductor rope slot reel |
-
2017
- 2017-12-07 CN CN201711280866.2A patent/CN107867656B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103801888A (en) * | 2012-11-12 | 2014-05-21 | 宁波如意股份有限公司 | Ascending and descending type manual tray carriage automatic welding device |
| CN103750719A (en) * | 2014-01-03 | 2014-04-30 | 临沂大学 | Intelligent electric curtain and control system |
| CN105710870A (en) * | 2014-12-04 | 2016-06-29 | 北京航天斯达科技有限公司 | Four-freedom-degree horizontal joint robot |
| CN204848169U (en) * | 2015-08-26 | 2015-12-09 | 国网新疆电力公司奎屯供电公司 | Power transformer maintains scaffold |
| CN205472369U (en) * | 2016-03-25 | 2016-08-17 | 内蒙古山路光伏应用技术研究有限公司 | Photovoltaic module cleaning robot companion ladder |
| CN107381391A (en) * | 2017-09-19 | 2017-11-24 | 江苏三科精工机械有限公司 | A kind of conductor rope slot reel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107867656B (en) | 2018-11-23 |
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| GR01 | Patent grant | ||
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Granted publication date: 20181123 |