CN108214478A - Robot and its force aid system with the variable spring boost system of multistation - Google Patents
Robot and its force aid system with the variable spring boost system of multistation Download PDFInfo
- Publication number
- CN108214478A CN108214478A CN201810070286.9A CN201810070286A CN108214478A CN 108214478 A CN108214478 A CN 108214478A CN 201810070286 A CN201810070286 A CN 201810070286A CN 108214478 A CN108214478 A CN 108214478A
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- CN
- China
- Prior art keywords
- spring
- robot
- cylinder body
- piston
- power
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
Abstract
The present invention provides a kind of robot with the variable spring boost system of multistation, including robot body and force aid system；Robot body includes：Rack, Switch of working position connecting rod and execution connecting rod.Rack, Switch of working position connecting rod and execution connecting rod are hinged successively；Force aid system includes：Cylinder body, power assistant spring, spring guide, piston and piston rod, spring guide is arranged on cylinder interior axis, power assistant spring is oriented to, the both ends of power assistant spring respectively with the interior bottom of cylinder body and piston contact, piston rod passes through hollow spring guide, and according to position and piston contact or detaches；The outer bottom of cylinder body is hinged with rack, and the outer end of piston rod is hinged with performing connecting rod.It provides simultaneously a kind of with the variable spring boost system of multistation.The present invention realizes the power-assisted in high-torque joint in robot application simultaneously, solves influence of the high-torque power-assisted in other stations, avoids, using powerful motor, saving complete machine cost.
Description
Technical field
The present invention relates to robotic technology fields, and in particular, to a kind of with the variable spring boost system of multistation
Robot and its force aid system enable robot to have variable joint assistance in different stations.
Background technology
In robot application, it may appear that some joint is in the different feelings of requirement of the different stations to torque and speed
Condition, for example in multi-angle healing robot, the position that lies low needs hip joint high-torque to export, and vertical position needs hip joint to have comparatively fast
Speed, therefore be difficult choose suitable servo motor.
Existing robot balances force aid system mostly just for a kind of operating mode now, as large arm is overhanging in industrial robot
When high-torque demand.During using this balance force aid system, in order to meet a kind of joint of the robot under station energetically
Square requirement, it may be necessary to force aid system provides very big torque, and this power-assisted has been likely to become a kind of resistance in other stations,
If too big may cause motor output inadequate, the situation that robot can not work.
Invention content
The present invention provides a kind of with the variable spring assist system of multistation for above-mentioned deficiency in the prior art
The robot and its force aid system of system, the robot and its force aid system are a kind of variable balance force aid systems, are robot
Joint does not influence the normal work of other stations while the different variable power-assisted of station offer, small electromotor high-torque demand
Make.
The present invention is achieved by the following technical solutions.
According to one aspect of the invention, it provides a kind of robot with the variable spring boost system of multistation, including
Robot body and force aid system；Wherein：
The force aid system includes：Cylinder body, power assistant spring, spring guide, piston and piston rod, the spring guide setting
On cylinder interior axis, power assistant spring is oriented to, the both ends of the power assistant spring respectively with the interior bottom of cylinder body and work
Plug contact, the piston rod passes through hollow spring guide, and according to position and piston contact or detaches；
The outer bottom of the cylinder body and the outer end of piston rod are hinged respectively with robot body.
Preferably, the drift of the power assistant spring is less than cylinder body length.
Preferably, the drift of the power assistant spring is the 2/3 of cylinder body length.
Preferably, the robot body includes：Rack, Switch of working position connecting rod and execution connecting rod, the rack, station are cut
It changes connecting rod and performs connecting rod and be hinged successively；The end-effector of connecting rod connection robot is performed, completes the required task of robot,
The action of Switch of working position connecting rod can realize the switching between robot different station.
Preferably, the outer bottom of the cylinder body is hinged with rack, and the outer end of the piston rod is hinged with performing connecting rod.
Preferably, the robot is from needing during high-torque station goes to and do not need to high-torque station, piston rod
Cylinder body is progressively disengaged, it is less and less to the decrement of power assistant spring, until no longer being contacted with power assistant spring, it is achieved thereby that not
Force aid system is needed in high-torque station not provide torque output, into without forming resistance to robot motion, by motor
Output ensures in the proper motion for not needing to high-torque station.
According to one aspect of the invention, it provides a kind of force aid system, which is a kind of variable spring of multistation
Force aid system, including：Cylinder body, power assistant spring, spring guide, piston and piston rod, the spring guide are arranged on cylinder interior
On axis, power assistant spring is oriented to, the both ends of the power assistant spring are described respectively with the interior bottom of cylinder body and piston contact
Piston rod passes through hollow spring guide, and according to position and piston contact or detaches.
Preferably, the drift of the power assistant spring is less than cylinder body length.
Preferably, the drift of the power assistant spring is the 2/3 of cylinder body length.
The present invention operation principle be：
From needing during high-torque station goes to and do not need to high-torque station, piston rod progressively disengages cylinder for robot
Body, it is less and less to the decrement of power assistant spring, until no longer being contacted with power assistant spring, it is achieved thereby that not needing to high-torque
Force aid system does not provide torque output in station, into without forming resistance to robot motion, can be protected by the output of motor
Card is in the proper motion for not needing to high-torque station.
Compared with prior art, the present invention has following advantageous effect：
1st, the power-assisted that the present invention realizes high-torque joint in robot application simultaneously, solves high-torque power-assisted other
Influence in station avoids, using powerful motor, saving complete machine cost；
2nd, the present invention realizes that, in different stations, force aid system automatic adjustment exports different torque, meets robot and exist
The demand of different station；
3rd, the present invention provides variable power-assisted for joint of robot in different stations, while small electromotor high-torque demand
The normal work of other stations is not influenced.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is not need to force aid system status diagram during high-torque station in one embodiment of the invention；
Fig. 2 is force aid system status diagram when high-torque station is needed in one embodiment of the invention；
In figure：1 is rack, and 2 be cylinder body, and 3 be power assistant spring, and 4 be spring guide, and 5 be piston, and 6 be piston rod, and 7 be work
Position switching connecting rod, 8 is perform connecting rod.
Specific embodiment
It elaborates below to the embodiment of the present invention：The present embodiment is carried out lower based on the technical solution of the present invention
Implement, give detailed embodiment and specific operating process.It should be pointed out that those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.
With reference to shown in Fig. 1-2.
In the embodiment of the force aid system of the present invention, which is a kind of variable spring boost system of multistation,
It is a kind of balance force aid system, realizes that, in different stations, force aid system automatic adjustment exports different torque, meets robot
In the demand of different station.
Specifically, as shown in the figure, in one embodiment, the variable spring boost system of multistation, including such as lower component：
Cylinder body 2, power assistant spring 3, spring guide 4, piston 5, piston rod 6.
Wherein spring guide 4 is arranged on 2 inside axis of cylinder body, plays power assistant spring guiding role.3 both ends of power assistant spring
It is contacted respectively with cylinder base (bottom in cylinder body) and piston 5, the drift of power assistant spring 3 is less than cylinder body length, is 2/3 left
It is right.Piston rod 6 passes through hollow spring guide 4, can be contacted and can also detached with piston 5 according to position.
Although the variable spring boost system structure of above-mentioned multistation is simple, set by cleverly modular construction,
Automatic adjustment exports different torque, meets robot the different station the needs of.
On the basis of the variable spring boost system of above-mentioned multistation, the present invention furthermore provides variable with multistation
The robotic embodiment of spring boost system, the robot that should have the variable spring boost system of multistation include robot body
And force aid system；Wherein：
The robot body includes：Rack 1, Switch of working position connecting rod 7 and execution connecting rod 8, rack 1, Switch of working position connecting rod 7
It is hinged successively with connecting rod 8 is performed, constitute robot body；
The structure of the force aid system includes cylinder body 2, power assistant spring 3, spring guide 4, piston 5, piston rod 6, and spring is led
Bar 4 is arranged on 2 inside axis of cylinder body, plays power assistant spring guiding role.3 both ends of power assistant spring respectively with cylinder base (cylinder
Internal bottom) and piston 5 contact, the drift of power assistant spring 3 is less than cylinder body length, is 2/3 or so.During piston rod 6 passes through
Empty spring guide 4, can contact and can also detach with piston 5 according to position.
The cylinder base (cylinder body outer bottom) and the rack of robot body of force aid system are hinged, the outer end of piston rod with
Connecting rod is performed to be hinged.
As shown in Figure 1, force aid system state is shown when not needing to high-torque station for robot described in the embodiment of the present invention
It is intended to.Spring guide 4 plays power assistant spring guiding role on cylinder interior axis.3 both ends of power assistant spring respectively with cylinder body bottom
Portion and piston 5 contact, and the drift of power assistant spring is 2/3 or so of cylinder body length.Piston rod 6 is led across hollow spring
Bar can also be detached according to position with piston contact.Cylinder base is hinged with rack 1, and piston rod 6 is cut with scissors with performing connecting rod 8
It connects.
Force aid system status diagram when Fig. 2 needs high-torque station for robot described in the embodiment of the present invention.In figure,
When needing high-torque, the distance of two hinge joints of force aid system and robot body shortens, and piston rod 6 heads on piston compression bullet
Spring forms the power-assisted square to performing connecting rod.
When not needing to high-torque station, the distance of two hinge joints is elongated, and piston rod is detached from piston, and spring affranchises length
Degree no longer generates torque to performing connecting rod, avoid the power-assisted of the force aid system in the case where being not carried out connecting rod gravitational moment into
For resistance.
As it can be seen that the above-mentioned robot with the variable spring boost system of multistation goes to Fig. 1 stations from the station of Fig. 2
In the process, piston rod 6 progressively disengages cylinder body 2, less and less to the decrement of power assistant spring 3, until no longer being connect with power assistant spring
Touch, it is achieved thereby that in Fig. 1 stations force aid system do not provide torque output, into without to robot motion formed resistance, according to
Output by motor can ensure proper motion in vertical position.
The present invention realizes the power-assisted in high-torque joint in robot application simultaneously, solves high-torque power-assisted in other works
Influence in position avoids, using powerful motor, saving complete machine cost.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (9)
1. a kind of robot with the variable spring boost system of multistation, which is characterized in that including robot body and help
Force system；Wherein：
The force aid system includes：Cylinder body, power assistant spring, spring guide, piston and piston rod, the spring guide are arranged on cylinder
On internal portion axis, power assistant spring is oriented to, the both ends of the power assistant spring connect respectively with the interior bottom of cylinder body and piston
It touches, the piston rod passes through hollow spring guide, and according to position and piston contact or detaches；The outer bottom of the cylinder body and
The outer end of piston rod is hinged respectively with robot body.
2. the robot according to claim 1 with the variable spring boost system of multistation, which is characterized in that described to help
The drift of power spring is less than cylinder body length.
3. the robot according to claim 2 with the variable spring boost system of multistation, which is characterized in that described to help
The drift of power spring is the 2/3 of cylinder body length.
4. the robot according to any one of claim 1 to 3 with the variable spring boost system of multistation, feature
It is, the robot body includes：Rack, Switch of working position connecting rod and connecting rod is performed, the rack, Switch of working position connecting rod and held
Row connecting rod is hinged successively.
5. the robot according to claim 4 with the variable spring boost system of multistation, which is characterized in that the cylinder
The outer bottom of body is hinged with rack, and the outer end of the piston rod is hinged with performing connecting rod.
6. the robot according to claim 1 with the variable spring boost system of multistation, which is characterized in that the machine
Device people is from needing during high-torque station goes to and do not need to high-torque station, and piston rod progressively disengages cylinder body, to power-assisted bullet
The decrement of spring is less and less, until no longer being contacted with power assistant spring, it is achieved thereby that the power-assisted in high-torque station is not needed to
System does not provide torque output, into without forming resistance to robot motion, ensures do not needing to energetically by the output of motor
The proper motion of square station.
7. a kind of force aid system, which is characterized in that it is a kind of variable spring boost system of multistation, including：Cylinder body, power-assisted bullet
Spring, spring guide, piston and piston rod, the spring guide are arranged on cylinder interior axis, power assistant spring are oriented to,
The both ends of the power assistant spring respectively with the interior bottom of cylinder body and piston contact, the piston rod pass through hollow spring guide,
And it according to position and piston contact or detaches.
8. force aid system according to claim 7, which is characterized in that it is long that the drift of the power assistant spring is less than cylinder body
Degree.
9. force aid system according to claim 8, which is characterized in that the drift of the power assistant spring is cylinder body length
2/3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810070286.9A CN108214478A (en) | 2018-01-24 | 2018-01-24 | Robot and its force aid system with the variable spring boost system of multistation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810070286.9A CN108214478A (en) | 2018-01-24 | 2018-01-24 | Robot and its force aid system with the variable spring boost system of multistation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108214478A true CN108214478A (en) | 2018-06-29 |
Family
ID=62667249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810070286.9A Pending CN108214478A (en) | 2018-01-24 | 2018-01-24 | Robot and its force aid system with the variable spring boost system of multistation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108214478A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993450A (en) * | 2020-08-17 | 2020-11-27 | 苏州国岭技研智能科技有限公司 | Elastic pressure rod and three-finger-section parallel clamping self-adaptive robot hand device |
| CN116985175A (en) * | 2023-09-25 | 2023-11-03 | 湖南伊米森科技有限公司 | High-precision pneumatic multi-finger automatic centering manipulator |
-
2018
- 2018-01-24 CN CN201810070286.9A patent/CN108214478A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993450A (en) * | 2020-08-17 | 2020-11-27 | 苏州国岭技研智能科技有限公司 | Elastic pressure rod and three-finger-section parallel clamping self-adaptive robot hand device |
| CN116985175A (en) * | 2023-09-25 | 2023-11-03 | 湖南伊米森科技有限公司 | High-precision pneumatic multi-finger automatic centering manipulator |
| CN116985175B (en) * | 2023-09-25 | 2024-01-02 | 湖南伊米森科技有限公司 | High-precision pneumatic multi-finger automatic centering manipulator |
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| PB01 | Publication | ||
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| TA01 | Transfer of patent application right |
Effective date of registration: 20191210 Address after: 201615 building B, No.8 Chaofu Road, Jiuting Town, Songjiang District, Shanghai Applicant after: Faroche (Shanghai) Medical Technology Co., Ltd. Address before: 201206 Shanghai, Pudong New Area, China (Shanghai) free trade zone, new Jinqiao Road, No. 13, building 2, floor 27 Applicant before: Jijing Robot Technology (Shanghai) Co., Ltd. |