CN111516004B - Universal pneumatic balance control device for power-assisted manipulator - Google Patents
Universal pneumatic balance control device for power-assisted manipulator Download PDFInfo
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- CN111516004B CN111516004B CN202010426864.5A CN202010426864A CN111516004B CN 111516004 B CN111516004 B CN 111516004B CN 202010426864 A CN202010426864 A CN 202010426864A CN 111516004 B CN111516004 B CN 111516004B
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- air
- valve
- air pressure
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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
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
Abstract
The invention discloses a universal pneumatic balance control device for a power-assisted manipulator, which comprises an air source and an air cylinder connected with the air source; the air source is connected with the air cylinder through the air path; the air circuit comprises an air pressure balancing branch, the air pressure balancing branch comprises a first switch, a valve assembly, an air control assembly and an air pressure balancing assembly, after the first switch is pressed down, the air control assembly is opened, the air pressure balancing branch forms a passage, air pressure in the air circuit is input into the air pressure balancing assembly through the valve assembly, and the air pressure balancing assembly enables the air pressure in the air circuit to be always in a balanced state. The air pressure balance device comprises an air pressure balance branch, when the manipulator is converted from a no-load state to a load state or loads products with different weights, the second switch is pressed down to enable the manipulator to ascend after the load is added to the manipulator every time, then the first switch is pressed down, the air pressure in the air cylinder is kept balanced through a closed loop formed by the air pressure balance branch, the operation is simple and convenient, and the working efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of power-assisted manipulators, in particular to a universal pneumatic balance control device for the power-assisted manipulators.
Background
The power-assisted manipulator is a novel power-assisted device which is used for labor-saving operation during material handling and installation. The balance principle of force is skillfully applied, so that an operator can correspondingly push and pull a heavy object and can perform balanced moving and positioning in space. The weight is in a floating state when being lifted or descended, and the air path provides supporting power, so that the device is widely applied.
However, when the conventional power-assisted manipulator is actually used, when the manipulator is switched from an idle state to a loaded state, or a product with different weight is loaded, the input air pressure of the air cylinder needs to be readjusted, and the conventional adjusting method is as follows: set up relief pressure valve and pneumatic control valve, regard the relief pressure valve as air supply triggering signal to set up, give an air supply triggering signal of pneumatic control valve through adjusting the relief pressure valve, consequently need operate the relief pressure valve in advance at every turn, complex operation is unfavorable for the use, greatly reduced work efficiency.
Disclosure of Invention
The invention provides a universal pneumatic balance control device for a power-assisted manipulator, which comprises an air source and an air cylinder connected with the air source;
the air source is connected with the air cylinder through the air path;
the air circuit comprises an air pressure balancing branch, the air pressure balancing branch comprises a first switch, a valve assembly, an air control assembly and an air pressure balancing assembly, after the first switch is pressed down, the air control assembly is opened, the air pressure balancing branch forms a passage, air pressure in the air circuit is input into the air pressure balancing assembly through the valve assembly, and the air pressure balancing assembly enables the air pressure in the air circuit to be always in a balanced state.
The invention has the beneficial effects that: the invention provides a universal pneumatic balance control device for a power-assisted manipulator, which comprises an air pressure balance branch, wherein when the manipulator is converted from a no-load state to a load state or loads products with different weights, a second switch is pressed down to enable the manipulator to ascend and then a first switch is pressed down, the air pressure in an air cylinder is kept balanced through a closed loop formed by the air pressure balance branch, the input air pressure of the manipulator does not need to be readjusted every time, the operation is simple and convenient, and the working efficiency is greatly improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the passage formed by the pressure-equalizing branch according to the present invention.
FIG. 3 is a schematic view of the ascending branch forming passage according to the present invention.
Fig. 4 is a schematic view of the structure of the descending branch forming passage of the present invention.
The reference numbers in the figures illustrate: 1. a gas source; 2. a cylinder; 3. a gas circuit; 31. an air pressure balancing branch; 311. a first switch; 312. a first shuttle valve; 313. a second shuttle valve; 314. a first pneumatic valve; 315. a pneumatic control two-way valve; 316. a first pneumatically controlled three-way valve; 317. a first pressure reducing valve; 318. a one-way valve; 32. a rising branch; 321. a second switch; 322. a third shuttle valve; 323. a second pneumatic control valve; 324. a second speed regulating valve; 33. a descending branch; 331. a third switch; 332. a third pneumatic control valve; 333. a dual pressure valve; 334. a first speed regulating valve; 34. a self-protection branch; 341. a safety valve; 35. and a second pneumatic control three-way valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 4, an embodiment of the present invention provides a universal pneumatic balance control device for a power-assisted manipulator, including an air source 1, an air cylinder 2, and an air circuit 3, where the air source 1 is connected to the air cylinder 2 through the air circuit 3, and the air source 1 provides a power source for the power-assisted manipulator, the air source 1 of the present invention includes four output ends, three output ends of the air source 1 are respectively connected to a first switch 311, a second switch 321, and a third switch 331, and a fourth output end of the air source 1 is connected to a first pneumatic valve 314, and when in use, after the air pressure of the air source 1 enters, the air source provides trigger power for the first switch 311, the second switch 321, the third switch 331, and the first pneumatic valve 314, and a worker can implement different operations on the manipulator by switching the first switch 311, the second switch 321, and the third switch 331.
Referring to fig. 1 and 2, when a conventional manipulator is converted from an unloaded state to a loaded state, the input air pressure of the manipulator needs to be adjusted, for example, the weight of the manipulator itself is set to be 3 kg, the weight of a first load is 1 kg, and the weight of a second load is 2 kg, so that when the manipulator is unloaded, the input air pressure of the manipulator is 3 kg, when the manipulator is loaded by 1 kg, the input air pressure of the manipulator needs to be adjusted from 3 kg to 4 kg, if the load of 2 kg is increased in the process, the input air pressure of the manipulator needs to be adjusted from 4 kg to 6 kg, that is, when the load or products loaded with different weights are increased each time, the input air pressure of the manipulator needs to be adjusted, which is tedious to operate and has low work efficiency. Therefore, in order to solve the above problems, the air path 3 of the present invention includes the air pressure balancing branch 31, the air pressure balancing branch 31 corresponds to the first switch 311, the air pressure balancing branch 31 includes a valve component, an air control component and an air pressure balancing component, after the first switch 311 is pressed, the air control component is opened, the air pressure balancing branch 31 forms a passage, the air pressure in the air path 3 is input into the air pressure balancing component through the valve component, and the air pressure balancing component makes the air pressure in the air path 3 always in a balanced state;
with continued reference to fig. 1 and 2, more specifically, the valve assembly includes a first shuttle valve 312 and a second shuttle valve 313, the pneumatic control assembly includes a first pneumatic control valve 314, a pneumatic control two-way valve 315 and a first pneumatic control three-way valve 316, the pneumatic pressure balancing assembly includes a first pressure reducing valve 317 and a one-way valve 318, the first pressure reducing valve 317 provides a stable pneumatic pressure for the closed loop formed by the pneumatic pressure balancing branch 31, and the first pressure reducing valve 317 is connected to the air source 1 through the one-way valve 318, when in use, after the first switch 311 is pressed down, the first shuttle valve 312 opens the first pneumatic control valve 314, the pneumatic pressure supplied by the air source 1 forms two paths through the first pneumatic control valve 314, wherein the pneumatic pressure in one path pushes down the pneumatic control two-way valve 315, so that the interior of the pneumatic control two-way valve 315 forms a path, and the pneumatic pressure in the other path pushes up the first pneumatic control three-way valve 316 to form, the air pressure in the air path 3 is input into the second shuttle valve 313 through the first air-controlled three-way valve 316 and is input into the first pressure reducing valve 317 through the second shuttle valve 313, and because the one-way valve 318 has one-way conductivity, the air pressure output by the first pressure reducing valve 317 can be input into the air cylinder 2 only through the air-controlled two-way valve 315, so that the air pressure balancing branch 31 forms a closed loop, and the air pressure in the closed loop is stable. Continuing with the previous example, when the robot of the present invention is loaded with 1 kg, it is only necessary to place the first load on the robot, then press the second switch 321 to enable the robot to ascend (the ascending operation of the robot will be described in detail later), then press the third switch 331, the air pressure balance branch 31 forms a closed loop, the air pressure in the loop is always kept higher than 4 kg, and for the same reason, when the second load is continuously added, the second load is placed on the robot, the ascending operation of the robot is repeated, then press the third switch 331, the air pressure balance branch 31 forms a closed loop, the air pressure in the loop is always kept higher than 6 kg, therefore, every time the present invention is used to add a load or load a product with different weight, it is only necessary to readjust the input air pressure of the robot after each load addition or load replacement, make the manipulator can rise after press the balance button can, easy operation is convenient, improved work efficiency greatly.
In the case of this embodiment, referring to fig. 1 and 3, the air path 3 of the present invention includes an ascending branch 32, the ascending branch 32 corresponds to a second switch 321, the ascending branch 32 includes a third shuttle valve 322, a second air control valve 323 and a second speed regulating valve 324, wherein the second air control valve 323 is a double control air control valve, that is, the second air control valve 323 includes a second air control part a and a second air control part b, when in actual use, after the second switch 321 is pressed, the ascending branch 32 forms two paths, wherein the air pressure in one path pushes the second air control valve 323 open, so that the interior of the second air control part a forms a path, and the air pressure in the other path is input to one input end of the third shuttle valve 322, and the interior of the third shuttle valve 322 forms a path, and the air pressure is output from the output end of the third shuttle valve 322 to the first air control valve 314 to push the first air control valve 314, and at this time, the air control two-way valve 315 and the first air control valve 316 are disconnected, the air pressure provided by the air source 1 can be input into the cylinder 2 only through the second pneumatic control part a of the second pneumatic control valve 323. Continuing with the previous example, when the manipulator needs to ascend, the manipulator manually presses the second switch 321 in the no-load state, so that the air pressure provided by the air source 1 is continuously pressurized into the air cylinder 2 through the second air control valve 323, and the ascending operation of the manipulator in the no-load state can be realized until the air pressure is increased to be more than 3 kg, wherein in order to ensure slow ascending, the second speed regulating valve 324 is adopted to realize a stable-speed pressurizing effect, and safety accidents caused by too large following action stroke are avoided; when the manipulator needs to increase the first load, the manipulator also adopts this pressurized mode after snatching this product, increases to being greater than 4 kilograms and can realize the operation of rising of manipulator until the atmospheric pressure in the cylinder 2.
In the case of the present embodiment, as shown in fig. 1 and 4, the gas circuit 3 of the present invention includes a descending branch 33, the descending branch 33 corresponds to a third switch 331, the descending branch 33 includes a third pneumatic control valve 332 and a first speed regulating valve 334, wherein the third pneumatic control valve 332 is normally open, when the manipulator needs to descend in use, the descending branch 33 forms a passage after the third switch 331 is pressed, the air pressure in the passage opens the second pneumatic control part b of the second pneumatic control valve 323 through the third pneumatic control valve 332 so that the air pressure in the cylinder 2 starts to be reduced, thereby achieving the descent of the manipulator, the second pneumatic control valve 323 is directly connected with the external space through the first speed regulating valve 334, air pressure is discharged from the first speed regulating valve 334, the speed stabilizing and pressure reducing effects can be achieved, safety accidents caused by the fact that the following action stroke is too large are avoided, and the idle load and the load are in the same working mode to achieve descending.
In the case of the present embodiment, as shown in fig. 1, in order to achieve the function of automatically releasing the clamped object and the self-protection function of reducing the air pressure after the manipulator places the clamped object in place, the air circuit 3 of the present invention further includes a self-protection branch 34, where the self-protection branch 34 includes a safety valve 341, and connects the air cylinder 2 with the pressure detection end of the safety valve 341, on one hand, the air outlet end of the safety valve 341 is connected with one air inlet end of the dual-pressure valve 333, and the other air inlet end of the dual-pressure valve 333 is connected with the third switch 331, and the pressure detection end of the safety valve 341 detects the pressure in the air cylinder 2 in real time, and when the pressure in the air cylinder 2 is less than or equal to the. Continuing with the previous example, the set value of the pressure of the cylinder 2 is 3 kilograms, in order to avoid triggering the clamping jaws to open after grabbing the first load, which causes an accident, when the manipulator puts the object in place, the pressure borne by the cylinder 2 drops sharply (both the weight of the manipulator and the weight of the object are applied to the placing area), when the safety valve 341 detects that the air pressure in the cylinder 2 is equal to or less than 3 kilograms, a passage is formed inside the safety valve 341, so that the dual-pressure valve 333 is triggered, because the placing object is in a dropping process, the other end of the dual-pressure valve 333 is connected with the third switch 331, the dual-pressure valve 333 is opened by inputting the air pressure of the two switches, and the dual-pressure valve 333 triggers the clamping jaws of the manipulator to open. It should be noted that the material placing is certainly triggered after the object is placed on the placing area, and if the manipulator is coiled in the air, the pressure in the cylinder 2 is not less than 4 kilograms, so that the manipulator is not triggered to loosen the material, and safety accidents are avoided;
on the other hand, the air outlet end of the safety valve 341 is connected to the air inlet end of the third pneumatic control valve 332, the pressure detection end of the safety valve 341 detects the pressure in the cylinder 2 in real time, and when the pressure in the cylinder 2 is smaller than or equal to the set pressure value, a passage is formed inside the safety valve 341. Continuing with the previous example, the set value of the pressure in the cylinder 2 is 3 kg, when the safety valve 341 detects that the air pressure in the cylinder 2 is equal to or less than 3 kg, a passage is formed inside the safety valve 341 to trigger the third air control valve 332 to be disconnected, so that the second air control part b of the second air control valve 323 is disconnected, the air pressure is stopped from dropping, and a self-protection function of air pressure dropping can be provided, thereby avoiding a safety accident;
based on the above structure, the gas outlet end of the safety valve 341 is further connected to a gas inlet end of the first shuttle valve 312, and the gas outlet end of the first shuttle valve 312 is connected to the first pneumatic control valve 314. Continuing with the previous example, when the manipulator is unloaded, when the safety valve 341 detects that the pressure in the cylinder 2 is less than or equal to 3 kg, the passage setting of the safety valve 341 is triggered, the air is exhausted in real time, and the first pneumatic control valve 314 is triggered through the first shuttle valve 312, so that the first pneumatic control valve 314 forms a passage, and therefore the pneumatic control two-way valve 315 and the second pneumatic control three-way valve 35 are always in a passage state;
and the air outlet end of the safety valve 341 is also connected with the air inlet end of the second air control three-way valve. Continuing with the previous example, when the manipulator is in no-load state, when the safety valve 341 detects that the pressure in the cylinder 2 is less than or equal to 3 kilograms, the safety valve 341 is triggered to set the passage, the second pneumatic control three-way valve is triggered to form a passage by giving vent to air in real time, the air pressure is input into the first pressure reducing valve 317 through the second shuttle valve 313, meanwhile, the manipulator further comprises a second pressure reducing valve, the second pressure reducing valve is directly connected with the air source 1, the second pressure reducing valve is set as a trigger signal of the air source 1, and when the manipulator is in no-load state, the balance of the manipulator in no-load state.
The above-mentioned pressure input set value may have a setting error of up-down fluctuation, and is not limited herein.
The above 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 (9)
1. The universal pneumatic balance control device for the power-assisted manipulator is characterized by comprising an air source and an air cylinder connected with the air source;
the air source is connected with the air cylinder through the air path;
the air circuit comprises an air pressure balancing branch, the air pressure balancing branch comprises a first switch, a valve component, an air control component and an air pressure balancing component, the air control component is opened after the first switch is pressed down, the air pressure balancing branch forms a passage, air pressure in the air circuit is input into the air pressure balancing component through the valve component, and the air pressure balancing component enables the air pressure in the air circuit to be in a balanced state all the time;
the valve component comprises a first shuttle valve and a second shuttle valve, the pneumatic control component comprises a first pneumatic control valve, a pneumatic control two-way valve and a first pneumatic control three-way valve, after the first switch is pressed down, the first shuttle valve triggers the first pneumatic control valve to form a passage, air pressure supplied by an air source forms two passages through the first pneumatic control valve, the air pressure in one passage triggers the pneumatic control two-way valve to form a passage, the air pressure in the other passage triggers the first pneumatic control three-way valve to form a passage, so that the air pressure in the air passage is input into the second shuttle valve through the first pneumatic control three-way valve and is input into the air pressure balancing component through the second shuttle valve, and the air pressure balancing branch forms a closed loop.
2. The universal pneumatic balance control device for power-assisted manipulators as claimed in claim 1, characterized in that: the air pressure balancing component comprises a first pressure reducing valve, and the first pressure reducing valve provides balanced air pressure for a closed loop formed by the air pressure balancing branch.
3. The universal pneumatic balance control device for power-assisted manipulators as claimed in claim 1, characterized in that: the air pressure balancing branch further comprises a one-way valve, the air inlet end of the one-way valve is connected with an air source, and the air outlet end of the one-way valve is connected with a first pressure reducing valve.
4. The universal pneumatic balance control device for power-assisted manipulators as claimed in claim 1, characterized in that: the air circuit further comprises an ascending branch, the ascending branch comprises a second switch, a third shuttle valve and a second air control valve, after the second switch is pressed down, the ascending branch forms two passages, air pressure in one passage triggers the second air control valve to form a passage, air pressure in the other passage triggers the first air control valve through the third shuttle valve, so that the air control two-way valve and the first air control three-way valve are closed, and air pressure provided by an air source is input into the air cylinder through the second air control valve.
5. The universal pneumatic balance control device for power-assisted manipulators as defined in claim 4, wherein: the second pneumatic control valve is a double-control pneumatic control valve.
6. The universal pneumatic balance control device for power-assisted manipulators as defined in claim 4, wherein: the ascending branch further comprises a second speed regulating valve, the air inlet end of the second speed regulating valve is connected with the air source, and the air outlet end of the second speed regulating valve is connected with a second air control valve.
7. The universal pneumatic balance control device for power-assisted manipulators as claimed in claim 1, characterized in that: the air circuit further comprises a descending branch, the descending branch comprises a third switch, a third pneumatic control valve and a double-pressure valve, the third pneumatic control valve is normally open, after the third switch is pressed down, the descending branch forms two passages, air pressure in one passage triggers the second pneumatic control valve through the third pneumatic control valve to form a passage, the air pressure in the air cylinder starts to descend, the air pressure in the other passage is input into one input end of the double-pressure valve, and the other input end of the double-pressure valve is connected with an air source.
8. The universal pneumatic balance control device for power-assisted manipulators as claimed in claim 7, wherein: the descending branch circuit further comprises a first speed regulating valve, the input end of the first speed regulating valve is connected with a second pneumatic control valve, and the air outlet end of the first speed regulating valve is connected with the external space.
9. The universal pneumatic balance control device for power-assisted manipulators as claimed in claim 1, characterized in that: the gas circuit further comprises a self-protection branch, the self-protection branch comprises a safety valve, the safety valve is connected with the cylinder and can monitor the gas pressure in the cylinder in real time, when the gas pressure in the cylinder drops to a set initial value, the safety valve is opened, the self-protection branch forms two passages, the gas pressure in one passage triggers the third gas control valve to form an open circuit, the second gas control valve is disconnected, the gas pressure stops dropping, and the gas pressure in the other passage is input into the other input end of the double-pressure valve to trigger the double-pressure valve to form a passage.
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| CN202010426864.5A CN111516004B (en) | 2020-05-19 | 2020-05-19 | Universal pneumatic balance control device for power-assisted manipulator |
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| CN202010426864.5A CN111516004B (en) | 2020-05-19 | 2020-05-19 | Universal pneumatic balance control device for power-assisted manipulator |
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| CN112692706A (en) * | 2020-12-22 | 2021-04-23 | 苏州诺亚智造科技有限公司 | Method for automatically positioning and locking glass polishing machine brush |
| SE544859C2 (en) * | 2021-03-19 | 2022-12-13 | Staccato Tech Ab | Improved pneumatic balancing system |
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