CN110625599A - A flexible platform of shock attenuation for industrial robot - Google Patents
A flexible platform of shock attenuation for industrial robot Download PDFInfo
- Publication number
- CN110625599A CN110625599A CN201911021878.2A CN201911021878A CN110625599A CN 110625599 A CN110625599 A CN 110625599A CN 201911021878 A CN201911021878 A CN 201911021878A CN 110625599 A CN110625599 A CN 110625599A
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- CN
- China
- Prior art keywords
- bottom plate
- industrial robot
- mounting plate
- positioning
- flexible platform
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- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a damping flexible platform for an industrial robot, which comprises a bottom plate and a mounting plate for mounting a robot body, wherein the bottom plate is provided with a plurality of grooves; an elastic supporting unit and a telescopic controllable supporting unit are arranged between the bottom plate and the mounting plate at intervals; the elastic supporting unit comprises a bearing column fixedly arranged on the bottom plate, and a damping spring positioned between the bottom plate and the mounting plate is sleeved on the bearing column; the telescopic controllable supporting unit comprises an air cylinder fixedly mounted on the mounting plate, and a piston rod of the air cylinder can make telescopic movement towards the side where the bottom plate is located. The flexible damping platform for the industrial robot can realize damping, and can also realize the technical purposes of rigid locking, floating in a set direction and the like when needed.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a damping flexible platform for an industrial robot.
Background
The industrial robot is an intelligent manufacturing automation device integrating multiple disciplinary advanced technologies such as machinery, electronics, control, computers, sensors and artificial intelligence. The industrial robot replaces manpower to be widely applied to various industries such as welding, polishing, spraying, carrying and the like. In the working environment of an industrial robot, vibrations of different degrees often exist, and the forms of the vibrations are various, and there are periodic vibrations caused by a working mode and random vibrations caused by external factors such as collision. These vibrations may affect the overall movement of the robot and the movement of each joint to some extent, and may also affect the processing trajectory and accuracy to some extent, and in a serious case, may jeopardize the safety of the robot body.
The existing damping device for the robot mainly aims at the damping device for a small intelligent robot or a walking robot, and the load capacity and the damping effect of the damping device cannot meet the application requirements of an industrial robot; individual damping mount to industrial robot design, the shock attenuation mode that its adopted is mainly spring shock attenuation, does not have other supplementary and monitoring means, and the shock attenuation effect has certain limitation, and the absorbing degree is uncontrollable, can't satisfy some state demands that need industrial robot needs rigid locking under certain operating mode moreover.
Disclosure of Invention
In view of the above, the present invention provides a flexible shock-absorbing platform for an industrial robot, which can achieve the technical objectives of not only absorbing shock, but also achieving rigid locking and controllable floating in a set direction when needed.
In order to achieve the purpose, the invention provides the following technical scheme:
a shock-absorbing flexible platform for an industrial robot comprises a bottom plate and a mounting plate for mounting a robot body;
an elastic supporting unit for providing supporting elastic force and a telescopic controllable supporting unit for adjusting the floating direction and the floating range are arranged between the bottom plate and the mounting plate at intervals;
the elastic supporting unit comprises a bearing column fixedly arranged on the bottom plate, and a damping spring positioned between the bottom plate and the mounting plate is sleeved on the bearing column;
the telescopic controllable supporting unit comprises an air cylinder fixedly mounted on the mounting plate, and a piston rod of the air cylinder can make telescopic movement towards the side where the bottom plate is located.
Furthermore, the mounting plate is provided with through holes corresponding to the bearing columns one by one, one end of each bearing column penetrates through the through holes and is provided with an external thread, the external thread is provided with a nut in threaded fit with the external thread, and the nut is in positioning fit with the through holes.
Furthermore, one end of the piston rod facing the bottom plate is provided with a supporting head which moves synchronously with the piston rod.
Furthermore, the bottom plate is provided with positioning holes corresponding to the support heads one by one, and the support heads are provided with positioning structures matched with the positioning holes in a positioning mode.
Furthermore, the positioning structure is a shaft collar which is arranged on the supporting head and has an outer diameter larger than the inner diameter of the positioning hole, or positioning pins which are perpendicular to the supporting head and are used for positioning and matching with the positioning hole are uniformly distributed on the supporting head in an annular manner.
Further, the mounting plate is provided with a robot mounting hole for mounting the robot body.
Furthermore, the elastic support units are annularly and uniformly distributed into at least four groups, and each group of elastic support units comprises at least one elastic support unit.
Further, the telescopic controllable supporting units are annularly and uniformly distributed into at least three, or the telescopic controllable supporting units are arranged into three, and the three telescopic controllable supporting units are respectively positioned right in front, on the left side and on the right side of the installation direction of the robot body.
Further, the device also comprises a detection control system for detecting and controlling the inclined posture of the mounting plate relative to the bottom plate.
Further, detection control system includes that controller, interval set up displacement sensor between bottom plate and the mounting panel with install gesture sensor on the robot, the connection is equipped with on the controller and is used for controlling the control circuit of cylinder action, just the controller with displacement sensor with gesture sensor electricity is connected.
The invention has the beneficial effects that:
according to the damping flexible platform for the industrial robot, the elastic supporting unit is arranged between the bottom plate and the mounting plate, and the damping spring sleeved on the bearing column is utilized, so that the robot body mounted on the mounting plate is in a suspension state under the action of the damping spring, and the damping effect is further achieved; when operations such as positioning, scanning, cutter replacement and the like are required to be carried out, rigid connection between the bottom plate and the mounting plate is required, the rigid connection can be realized by using the telescopic controllable supporting unit, namely, the piston rod is driven by using the air cylinder to move towards the bottom plate, the mounting plate is rigidly supported on the bottom plate by using the piston rod, and the damping spring loses the function, so that the technical purpose of rigid connection between the bottom plate and the mounting plate is realized; in addition, the floating height of the bottom plate and the mounting plate in the direction of the position of the telescopic controllable supporting unit or the rigid connection in the direction of the position of the telescopic controllable supporting unit can be controlled by controlling the distance between the piston rods belonging to different telescopic controllable supporting units and the bottom plate.
Through setting up detection control system, utilize displacement sensor to detect the displacement and the interval of bottom plate and mounting panel in different positions department, utilize attitude sensor to detect the gesture of robot body, the controller is according to the real-time data that displacement sensor and attitude sensor detected, the action of control cylinder, and then supplementary damping spring carries out the shock attenuation to reach real time monitoring and controllable absorbing purpose.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic structural diagram of an embodiment of a shock absorbing flexible platform for an industrial robot of the present invention;
FIG. 2 is an isometric view of FIG. 1;
FIG. 3 is a schematic structural view between the base plate and the mounting plate;
fig. 4 is a schematic structural diagram of the telescopic controllable supporting unit.
Description of reference numerals:
1-a robot body; 2-a bottom plate; 3, mounting a plate; 4-a support column; 5-a damping spring; 6-cylinder; 6 a-a cylinder piston rod; 7-a nut; 8-positioning holes; 9-a support head; 10-a positioning pin; 11-robot mounting holes; 12-displacement sensor.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
Fig. 1 is a schematic structural diagram of an embodiment of the shock-absorbing flexible platform for an industrial robot according to the present invention. The shock-absorbing flexible platform for an industrial robot of the present embodiment includes a base plate 2 and a mounting plate 3 for mounting a robot body 1. An elastic supporting unit for providing supporting elastic force and a telescopic controllable supporting unit for adjusting the floating direction and the floating range are arranged between the bottom plate 2 and the mounting plate 3 at intervals;
the elastic support unit of this embodiment includes bearing post 4 fixedly arranged on bottom plate 2, and the suit is equipped with damping spring 5 that is located between bottom plate 2 and mounting panel 3 on bearing post 4, and bearing post 4 guarantees that damping spring 5's skew scope is in the required scope. The structure of the support post 4 in which the damper spring 5 is sleeved also functions to define a floating range in a direction perpendicular to the circumferential direction of the support post 4, so that the roll range of the damper spring 4 is controlled. Specifically, be equipped with the perforation with bearing post 4 one-to-one on the mounting panel 3, the one end of bearing post 4 is passed the perforation and is equipped with the external screw thread, be equipped with on the external screw thread rather than screw-thread fit's nut 7, be location fit between nut 7 and the perforation, can effectively spacing the biggest interval between bottom plate 2 and the mounting panel 3, play the effect of the parallel axial floating range of injecing and bearing post 4 axis.
The telescopic controllable supporting unit comprises a cylinder 6 fixedly mounted on the mounting plate 3, and a piston rod 6a of the cylinder 6 can make telescopic movement towards the side where the bottom plate 2 is located. In this embodiment, a supporting head 9 moving synchronously with the piston rod 6a is disposed at one end of the bottom plate 2, positioning holes 8 are disposed on the bottom plate 2 corresponding to the supporting heads 9, and a positioning structure is disposed on the supporting head 9 and in positioning fit with the positioning holes 8. The positioning structure is a shaft collar which is arranged on the supporting head 9 and has an outer diameter larger than the inner diameter of the positioning hole 8, or positioning pins 10 which are perpendicular to the supporting head 9 and are used for positioning and matching with the positioning hole 8 are annularly and uniformly distributed on the supporting head 9. The supporting head 9 of this embodiment is provided with positioning pins 10 perpendicular thereto and for positioning with the positioning holes 8, and is capable of positioning with the positioning holes 8.
Further, the mounting plate 3 is provided with a robot mounting hole 11 for mounting the robot body 1, and can be adapted to various robot bodies 1.
Furthermore, the elastic support units are annularly and uniformly distributed into at least four groups, and each group of elastic support units comprises at least one elastic support unit. The elastic support units of this embodiment are annularly and evenly distributed to 4 groups, and each group of elastic support units comprises 3 elastic support units, which can realize elastic support in different directions.
Further, the telescopic controllable supporting units are uniformly distributed in an annular mode and are arranged to be at least three, or the telescopic controllable supporting units are arranged to be three, and the three telescopic controllable supporting units are respectively located on the right front side, the left side and the right side of the installation direction of the robot body 1. The controllable support unit of telescopic of this embodiment establishes to three, and three controllable support unit of telescopic is located the dead ahead of robot body 1 installation direction respectively, left side and right side, can realize controlling the floating of dead ahead, left side and the right side of robot body 1.
Further, the shock-absorbing flexible platform for an industrial robot of the present embodiment further includes a detection control system for detecting and controlling the tilt posture of the mounting plate 3 with respect to the base plate 2. The detection control system comprises a controller, a displacement sensor 12 arranged between the bottom plate 2 and the mounting plate 3 at intervals and an attitude sensor arranged on the robot body 1, wherein a control circuit used for controlling the action of the air cylinder 6 is connected to the controller, the controller is electrically connected with the displacement sensor 12 and the attitude sensor, and the attitude sensor is generally arranged on a hand arm part of the robot body 1. Specifically, the cylinder 6 of this embodiment adopts the cylinder, is equipped with the electromagnetic directional valve on the gas circuit of cylinder, and control circuit controls the cylinder action through controlling the action of electromagnetic directional valve. Through setting up detection control system, utilize displacement sensor to detect the displacement and the interval of bottom plate and mounting panel in different positions department, utilize attitude sensor to detect the gesture of robot body, the controller is according to the real-time data that displacement sensor and attitude sensor detected, the action of control cylinder, and then supplementary damping spring carries out the shock attenuation to reach real time monitoring and controllable absorbing purpose.
According to the damping flexible platform for the industrial robot, the elastic supporting unit is arranged between the bottom plate and the mounting plate, and the damping spring sleeved on the bearing column is utilized, so that the robot body mounted on the mounting plate is in a suspension state under the action of the damping spring, and the damping effect is further achieved; when operations such as positioning, scanning, cutter replacement and the like are required to be carried out, rigid connection between the bottom plate and the mounting plate is required, the rigid connection can be realized by using the telescopic controllable supporting unit, namely, the piston rod is driven by using the air cylinder to move towards the bottom plate, the mounting plate is rigidly supported on the bottom plate by using the piston rod, and the damping spring loses the function, so that the technical purpose of rigid connection between the bottom plate and the mounting plate is realized; in addition, the floating height of the bottom plate and the mounting plate in the direction of the position of the telescopic controllable supporting unit or the rigid connection in the direction of the position of the telescopic controllable supporting unit can be controlled by controlling the distance between the piston rods belonging to different telescopic controllable supporting units and the bottom plate.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. A flexible platform of shock attenuation for industrial robot which characterized in that: comprises a bottom plate (2) and a mounting plate (3) for mounting a robot body (1);
an elastic supporting unit for providing supporting elastic force and a telescopic controllable supporting unit for adjusting the floating direction and the floating range are arranged between the bottom plate (2) and the mounting plate (3) at intervals;
the elastic supporting unit comprises a bearing column (4) fixedly arranged on the bottom plate (2), and a damping spring (5) positioned between the bottom plate (2) and the mounting plate (3) is sleeved on the bearing column (4);
the telescopic controllable supporting unit comprises an air cylinder (6) fixedly mounted on the mounting plate (3), and a piston rod (6a) of the air cylinder (6) can move in a telescopic mode towards the side where the bottom plate (2) is located.
2. A shock absorbing flexible platform for an industrial robot according to claim 1 characterized in that: the mounting plate (3) is provided with through holes corresponding to the bearing columns (4) one by one, one end of each bearing column (4) penetrates through the through holes and is provided with an external thread, the external thread is provided with a nut (7) in threaded fit with the external thread, and the nut (7) is in positioning fit with the through holes.
3. A shock absorbing flexible platform for an industrial robot according to claim 1 characterized in that: one end of the piston rod (6a) facing the bottom plate (2) is provided with a supporting head (9) which moves synchronously with the piston rod.
4. A shock absorbing flexible platform for an industrial robot according to claim 3 characterized in that: the bottom plate (2) is provided with positioning holes (8) corresponding to the supporting heads (9) one by one, and the supporting heads (9) are provided with positioning structures matched with the positioning holes (8) in a positioning mode.
5. A shock absorbing flexible platform for an industrial robot according to claim 4 characterized in that: the positioning structure is a shaft ring which is arranged on the supporting head (9) and has an outer diameter larger than the inner diameter of the positioning hole (8), or positioning pins (10) which are perpendicular to the supporting head and are used for positioning and matching with the positioning hole (8) are uniformly distributed on the supporting head (9) in an annular manner.
6. A shock absorbing flexible platform for an industrial robot according to claim 1 characterized in that: and a robot mounting hole (11) for mounting the robot body (1) is formed in the mounting plate (3).
7. A shock absorbing flexible platform for an industrial robot according to any of claims 1-6 characterized in that: the elastic support units are annularly and uniformly distributed into at least four groups, and each group of elastic support units comprises at least one elastic support unit.
8. A shock absorbing flexible platform for an industrial robot according to any of claims 1-6 characterized in that: the telescopic controllable supporting units are annularly and uniformly distributed into at least three or three, and the three telescopic controllable supporting units are respectively positioned right in front, on the left side and on the right side of the installation direction of the robot body (1).
9. A shock absorbing flexible platform for an industrial robot according to any of claims 1-6 characterized in that: the device also comprises a detection control system for detecting and controlling the inclined posture of the mounting plate (3) relative to the bottom plate (2).
10. A shock absorbing flexible platform for an industrial robot according to claim 9 characterized in that: the detection control system comprises a controller and an interval, wherein the interval is arranged between a bottom plate (2) and a mounting plate (3), a displacement sensor (12) is installed on the robot body (1), an electromagnetic directional valve used for controlling the movement of the cylinder (6) is arranged on a gas path of the cylinder, the controller is connected with a control circuit used for controlling the movement of the electromagnetic directional valve, and the controller is electrically connected with the displacement sensor (12) and the attitude sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911021878.2A CN110625599A (en) | 2019-10-25 | 2019-10-25 | A flexible platform of shock attenuation for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911021878.2A CN110625599A (en) | 2019-10-25 | 2019-10-25 | A flexible platform of shock attenuation for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110625599A true CN110625599A (en) | 2019-12-31 |
Family
ID=68977554
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911021878.2A Pending CN110625599A (en) | 2019-10-25 | 2019-10-25 | A flexible platform of shock attenuation for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110625599A (en) |
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2019
- 2019-10-25 CN CN201911021878.2A patent/CN110625599A/en active Pending
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