CN112743573B - Robot with automatic counterweight device and use method thereof - Google Patents
Robot with automatic counterweight device and use method thereof Download PDFInfo
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- CN112743573B CN112743573B CN202011579984.5A CN202011579984A CN112743573B CN 112743573 B CN112743573 B CN 112743573B CN 202011579984 A CN202011579984 A CN 202011579984A CN 112743573 B CN112743573 B CN 112743573B
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- motor
- rotate
- electric hoist
- gear
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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
- B25J19/002—Balancing devices using counterweights
Abstract
The invention discloses a robot with an automatic counterweight device and a using method thereof, and the robot comprises a frame body, wherein the frame body is connected with an upper bottom plate, the frame body is rotatably connected with a gear disc, and the gear disc is connected with a driving mechanism which is used for driving the gear disc to rotate; the gear disc is fixedly connected with a connecting rod, the connecting rod is hinged with a claw arm, the connecting rod is also connected with a first motor, the first motor is connected with the claw arm and used for driving the claw arm to rotate, and the claw arm is connected with a mechanical claw through a tension sensor; the upper base plate is fixedly connected with an upper-layer toothed ring and an upper-layer guide rail, the upper base plate is further connected with a second electric hoist, and the upper-layer guide rail is connected with a plurality of counterweight units. The invention achieves the purpose of balancing the eccentricity caused when the mechanical claw grabs articles by mutually matching the counter weights positioned on the upper bottom plate and the lower bottom plate.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot with an automatic counterweight device and a using method thereof.
Background
A robot hand is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Its task is to assist or replace human work.
Along with the development of science and technology, the application of the mechanical arm is more and more extensive, and particularly, the mechanical arm at some dangerous working positions completely replaces the manual work. But the counter weight of present manipulator all is installed in advance, can not the shift position, even the manipulator is out of work the counter weight still provides the pulling force to equipment, or the counter weight can not change in real time when the manipulator snatchs different objects, brings very big damage such as the rolling bearing of giving the manipulator like this, has reduced work efficiency, has improved manufacturing cost.
Disclosure of Invention
In order to solve the problems in the prior art, a robot with an automatic counterweight device and a using method thereof are provided.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a robot with an automatic counterweight device, which comprises a frame body, wherein the frame body is connected with an upper base plate, the frame body is rotatably connected with a gear disc, and the gear disc is connected with a driving mechanism which is used for driving the gear disc to rotate; the gear disc is fixedly connected with a connecting rod, the connecting rod is hinged with a claw arm, the connecting rod is further connected with a first motor, the first motor is connected with the claw arm and used for driving the claw arm to rotate, and the claw arm is connected with a mechanical claw through a tension sensor; the upper bottom plate is fixedly connected with an upper-layer toothed ring and an upper-layer guide rail, the upper bottom plate is also connected with a second electric hoist, and the upper-layer guide rail is connected with a plurality of counterweight units;
the counterweight unit comprises a sliding block and a counterweight block, the upper-layer guide rail is connected with the sliding block in a sliding manner, the sliding block is fixedly connected with a second motor and a first electric hoist, the second motor is connected with a rotating gear, and the rotating gear is meshed with the upper-layer gear ring; the first electric hoist is connected with the balancing weight through a secondary steel wire rope, and the other end of the balancing weight is connected with the second electric hoist through a main steel wire rope;
the frame body still is connected with the controller, gripper, actuating mechanism, force sensor, first electric block, second electric block, first motor and second motor with the controller links to each other.
Preferably, the driving mechanism comprises a third motor fixedly connected to the frame body, the third motor is connected with a first gear, the first gear is meshed with the gear disc, and the third motor is connected with the controller.
Preferably, the upper layer guide rail is arranged on the inner side of the upper layer toothed ring.
Preferably, the frame body is also fixedly connected with a lower bottom plate, the lower bottom plate is arranged below the upper bottom plate, the lower bottom plate is fixedly connected with a lower-layer toothed ring and a lower-layer guide rail, and the lower bottom plate is also connected with a third electric hoist; the lower guide rail is connected with a plurality of counterweight units.
Preferably, the counterweight unit of the lower guide rail is the same as the counterweight unit of the upper guide rail, the sliding block is connected with the lower guide rail in a sliding manner, the rotating gear is meshed with the lower toothed ring, and the other end of the counterweight block is connected with a third electric hoist through a main steel wire rope; the third electric hoist is connected with the controller.
Preferably, the counterweight block positioned on the upper base plate is in sliding contact with the upper base plate, and the counterweight block positioned on the lower base plate is in sliding contact with the lower base plate.
The invention also provides a using method of the robot with the automatic counterweight device, and the robot with the automatic counterweight device comprises the following steps:
s1, controlling the driving mechanism to enable the connecting rod to rotate through the controller, then controlling the first motor to work through the controller, driving the mechanical claw to move to the upper surface of an article to be grabbed through the first motor, and controlling the mechanical claw to grab the article through the controller;
s2: under the action of the tension sensor, the weight of the article is detected, a corresponding signal is transmitted to the controller, and meanwhile, according to the angle of the connecting rod at the moment, the controller controls the second motor to work after receiving the signal, the second motor drives the rotating gear to rotate, the rotating gear moves on the upper-layer gear ring, and then the sliding block is driven to slide on the upper-layer guide rail, so that the counterweight block is driven to rotate by a specified angle by taking the second electric hoist as a circle center;
s3: the controller controls the second electric hoist to drive the main steel wire rope to move for a specified length, meanwhile, the first electric hoist drives the secondary steel wire rope to move for a specified length, and the balancing weight moves for a specified distance in the direction away from the second electric hoist according to the numerical value measured by the tension sensor;
s4: when the controller controls the driving mechanism to enable the connecting rod to rotate, the mechanical claw drives the animal to rotate at the moment, and according to the rotating angle of the connecting rod, the controller controls the balancing weight to rotate by an appointed angle by taking the second electric hoist as the circle center, so that automatic balancing of the robot is achieved.
Preferably, the method for driving the connecting rod to rotate by the driving mechanism includes that the controller controls the third motor to work, the third motor drives the first gear to rotate, and the first gear further drives the gear disc to rotate, so as to drive the connecting rod to rotate.
Compared with the prior art, the invention has the beneficial effects that:
1. the first gear is driven to rotate by the third motor, the gear disc is driven to rotate, the direction of the mechanical claw is adjusted, the claw arm is driven by the first motor to rotate, the height of the mechanical claw is adjusted, the mechanical claw is convenient to grab and store, the structure is reasonable, and meanwhile, the mechanical claw is connected with the tension sensor and used for measuring the weight of an object.
2. According to the invention, the rotating gear is driven by the second motor to move on the gear ring, so that the balancing weight rotates around the second electric hoist according to the rotating angle of the connecting rod, the position of the balancing weight is reasonably adjusted according to the weight of an article, and the balancing weight is driven to move in the direction far away from or close to the second electric hoist under the action of the electric hoist, so that the position of the balancing weight is adjusted, the position of the balancing weight is conveniently and reasonably adjusted according to the actual condition of the gripper, and the service life of the gripper is effectively prolonged.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a front view of the invention in its entirety (in an initial state);
FIG. 2 is a front view of the invention as a whole (in its working condition);
FIG. 3 is a top view of the A-A structure of FIG. 1;
FIG. 4 is a top view of the structure B-B of FIG. 1;
FIG. 5 is a top view of the C-C structure of FIG. 2;
FIG. 6 is a top view of the D-D structure of FIG. 2;
fig. 7 is a flow chart of the present invention.
Description of reference numerals:
1, a claw arm; 2 a first motor; 3 a second motor; 4, a first electric hoist; 5, a mechanical claw; 6, a balancing weight; 7, a second electric hoist; 8, a frame body; 9, an upper bottom plate; 10 gear disc; 11 a first gear; 12 a third motor; 13 motor support frame; 14 motor fixing frame; 15 a lower base plate; 16 a rotating gear; 17 lower toothed ring; 18 an upper ring gear; 19 an upper guide rail; 20 a lower guide rail; 21 times of wire rope; 22 a third electric block; 23, a sliding block; 24 main wire ropes; 25 a tension sensor; 26 connecting the rods.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar 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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1 to 7, the present embodiment provides a robot with an automatic counterweight device, which includes a frame body 8, wherein the frame body 8 is fixedly connected with an upper base plate 9 and a lower base plate 15, the upper base plate 9 is located above the lower base plate 15, and the frame body 8 is connected with a controller for controlling the overall operation of the device.
The frame body 8 is rotatably connected with a gear disc 10, and the gear disc 10 is connected with a driving mechanism which is used for driving the gear disc 10 to rotate; this actuating mechanism includes, and support body 8 passes through motor support frame 13 fixedly connected with third motor 12, and third motor 12 is connected with first gear 11, and first gear 11 meshes with toothed disc 10 mutually, and third motor 12 links to each other with the controller.
The gear plate 10 is fixedly connected with a connecting rod 26, the connecting rod 26 is arranged in the vertical direction, the third motor 12 drives the first gear 11 to rotate, and the first gear 11 further drives the gear plate 10 to rotate, so that the connecting rod 26 is driven to rotate.
Connecting rod 26 articulates there is claw arm 1, and connecting rod 26 still is connected with first motor 2, and the output shaft of first motor 2 is used for driving claw arm 1 to rotate with 1 fixed connection of claw arm, and claw arm 1 can be provided with a plurality of according to actual need, and for articulated between the adjacent claw arm 1, two 1 junctions of claw arm still are provided with the first motor 2 with 1 fixed connection of claw arm, and first motor 2 links to each other with claw arm 1 and is used for driving claw arm 1 to rotate. The first motor 2 is connected to the controller.
The claw arm 1 is connected with a mechanical claw 5 through a tension sensor 25; the mechanical claw 5 and the tension sensor 25 are connected with a controller, the controller is used for controlling the mechanical claw 5 to grab the object, the tension sensor 25 transmits a measured tension value to a corresponding signal to the controller, and the tension value is the weight of the object.
The upper base plate 9 is fixedly connected with an upper-layer toothed ring 18 and an upper-layer guide rail 19, the upper base plate 9 is further connected with a second electric hoist 7, and the upper-layer guide rail 19 is connected with a plurality of counterweight units.
The counterweight unit comprises a sliding block 23 and a counterweight block 6, an upper layer guide rail 19 is connected with the sliding block 23 in a sliding way, the sliding block 23 is fixedly connected with a second motor 3 and a first electric hoist 4, the second motor 3 is connected with a rotating gear 16, and the rotating gear 16 is meshed with an upper layer toothed ring 18; the first electric hoist 4 is connected with the balancing weight 6 through the secondary steel wire rope 21, and the other end of the balancing weight 6 is connected with the second electric hoist 7 through the main steel wire rope 24.
The second motor 3, the first electric hoist 4 and the second electric hoist 7 are connected to the controller. Wherein, upper guide rail 19 sets up in upper ring gear 18 inboard, and second motor 3 drive rotating gear 16 rotates, and rotating gear moves on upper ring gear 18, and upper guide rail 19 plays spacing effect to the removal of slider 23, makes slider 23 move on upper guide rail 19 all the time.
When first electric block 4 drives balancing weight 6 through inferior wire rope 21 and moves left, second electric block 7 drives balancing weight 6 through main wire rope 24 and moves left, and inferior wire rope 21 twines on first electric block 4 this moment, and main wire rope 24 loosens from second electric block 7 gradually.
The bottom plate 15 is fixedly connected with a lower-layer toothed ring 17 and a lower-layer guide rail 20, and the lower bottom plate 15 is also connected with a third electric hoist 22; the lower guide rail 20 is connected with a plurality of weight units.
The sliding block 13 is connected with the lower-layer guide rail 20 in a sliding manner, the sliding block 23 is fixedly connected with the second motor 3 and the first electric hoist 4, the second motor 3 is connected with the rotating gear 16, and the rotating gear 16 is meshed with the lower-layer toothed ring 17; the first electric hoist 4 is connected with the balancing weight 6 through a secondary steel wire rope 21, and the other end of the balancing weight 6 is connected with the third electric hoist 22 through a main steel wire rope 24;
the third electric hoist 22 is connected to the controller, and the weight 6 on the upper plate 9 is in sliding contact with the upper plate 9, and the weight 6 on the lower plate 15 is in sliding contact with the lower plate 15.
The counter weight unit can be provided with a plurality ofly according to actual need, and in this device, upper guide rail 19 is connected with two counter weight units, and lower floor's guide rail is connected with two counter weight units, and the counter weight unit is provided with 4 altogether.
The invention also provides a using method of the robot with the automatic counterweight device, and the robot with the automatic counterweight device adopting the embodiment comprises the following steps:
s1, controlling the driving mechanism to enable the connecting rod 26 to rotate through the controller, then controlling the second motor 2 to work through the controller, driving the mechanical claw 5 to move to the upper surface of an article to be grabbed through the second motor 2, and controlling the mechanical claw 5 to grab the article through the controller;
s2: under the action of the tension sensor 25, the weight of the article is detected, a corresponding signal is transmitted to the controller, and meanwhile, according to the angle of the connecting rod 26 at the moment, the controller receives the signal and controls the second motor 3 to work, the second motor 3 drives the rotating gear 16 to rotate, the rotating gear 16 moves on the upper-layer toothed ring 18 and further drives the sliding block 23 to slide on the upper-layer guide rail 19, so that the balancing weight 6 is driven to rotate by a specified angle by taking the second electric hoist 7 as a circle center;
s3: the controller controls the second electric hoist 7 to drive the main steel wire rope 24 to move for a specified length, meanwhile, the first electric hoist 4 drives the secondary steel wire rope 21 to move for a specified length, and the balancing weight 6 moves for a specified distance in the direction far away from the second electric hoist 7 according to the numerical value measured by the tension sensor 25;
s4: when the controller controls the driving mechanism to enable the connecting rod 26 to rotate, the mechanical claw 5 drives the object to rotate at the moment, and according to the rotating angle of the connecting rod 26, the controller controls the balancing weight 6 to rotate by a specified angle by taking the second electric hoist 7 as a circle center, so that automatic balancing work of the robot is achieved.
In addition, the method for driving the connecting rod 26 to rotate by the driving mechanism includes that the controller controls the third motor 12 to operate, the third motor 12 drives the first gear 11 to rotate, and the first gear 11 further drives the gear disc 10 to rotate, so as to drive the connecting rod 26 to rotate.
It should be noted that, when the driving mechanism drives the connecting rod 26 to rotate, the controller controls the third motor 12 to drive the connecting rod 26 to rotate by a specified angle, and according to the specified angle, the controller controls the counterweight 6 to rotate by the specified angle around the second electric hoist 7.
Meanwhile, when the second motor 2 drives the mechanical claw 5 to move outwards, a signal is fed back to the controller through the second motor 2 installed on the rotating part, the controller calculates eccentricity according to the feedback data, and the rotating gear 16 drives the balancing weight 6 to rotate by a proper angle. The counterweight 6 is rotated by an angle mainly in that the controller calculates the eccentricity of the gripper 5.
When a plurality of balancing weight 6 squints one, the controller sends the signal and loosens or stimulates main wire rope 24 for second electric block 7 and third electric block 22, meanwhile the controller control first electric block 4 loosen or stimulates time wire rope 21, thereby make balancing weight 6 remove to 7 directions of second electric block or to keeping away from 7 directions of second electric block and remove, balancing weight 6 that is located on upper plate 9 and balancing weight 6 on the lower plate 15 mutually support, thereby reach the eccentric that causes when balanced gripper 5 snatchs article.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. The robot with the automatic counterweight device comprises a frame body (8), wherein the frame body (8) is connected with an upper base plate (9), and is characterized in that the frame body (8) is rotatably connected with a gear disc (10), and the gear disc (10) is connected with a driving mechanism which is used for driving the gear disc (10) to rotate; the gear disc (10) is fixedly connected with a connecting rod (26), the connecting rod (26) is hinged with a claw arm (1), the connecting rod (26) is further connected with a first motor (2), the first motor (2) is connected with the claw arm (1) and used for driving the claw arm (1) to rotate, and the claw arm (1) is connected with a mechanical claw (5) through a tension sensor (25); the upper bottom plate (9) is fixedly connected with an upper-layer toothed ring (18) and an upper-layer guide rail (19), the upper bottom plate (9) is further connected with a second electric hoist (7), and the upper-layer guide rail (19) is connected with a plurality of counterweight units;
the counterweight unit comprises a sliding block (23) and a counterweight block (6), the upper-layer guide rail (19) is connected with the sliding block (23) in a sliding manner, the sliding block (23) is fixedly connected with a second motor (3) and a first electric hoist (4), the second motor (3) is connected with a rotating gear (16), and the rotating gear (16) is meshed with the upper-layer toothed ring (18); the first electric hoist (4) is connected with the balancing weight (6) through a secondary steel wire rope (21), and the other end of the balancing weight (6) is connected with the second electric hoist (7) through a main steel wire rope (24);
the frame body (8) is further connected with a controller, and the mechanical claw (5), the driving mechanism, the tension sensor (25), the first electric hoist (4), the second electric hoist (7), the first motor (2) and the second motor (3) are connected with the controller.
2. The robot with the automatic weight counterbalance device is characterized in that the driving mechanism comprises a third motor (12) fixedly connected with the frame body (8), a first gear (11) is connected with the third motor (12), the first gear (11) is meshed with the gear disc (10), and the third motor (12) is connected with the controller.
3. Robot with automatic counterweight device according to claim 1, characterized in that said upper guide rails (19) are arranged inside said upper toothed ring (18).
4. The robot with the automatic weight counterbalance device is characterized in that a lower base plate (15) is fixedly connected to the frame body (8), the lower base plate (15) is arranged below the upper base plate (9), a lower gear ring (17) and a lower guide rail (20) are fixedly connected to the lower base plate (15), and a third electric hoist (22) is further connected to the lower base plate (15); the lower-layer guide rail (20) is connected with a plurality of counterweight units.
5. The robot with the automatic weight balancing device according to claim 4, characterized in that the weight balancing unit of the lower guide rail (20) is the same as the weight balancing unit of the upper guide rail (19), the sliding block (23) is connected with the lower guide rail (20) in a sliding way, the rotating gear (16) is meshed with the lower toothed ring (17), and the other end of the counterweight block (6) is connected with a third electric hoist (22) through a main steel wire rope (24); the third electric hoist (22) is connected with the controller.
6. Robot with automatic balancing device according to claim 4, characterized in that the weight (6) on the upper plate (9) is in sliding contact with the upper plate (9) and the weight (6) on the lower plate (15) is in sliding contact with the lower plate (15).
7. A method for using a robot with an automatic counterweight device, which is characterized in that the robot with the automatic counterweight device in any one of claims 1-5 is adopted, and comprises the following steps:
s1, controlling the driving mechanism to enable the connecting rod (26) to rotate through the controller, then controlling the first motor (2) to work through the controller, driving the mechanical claw (5) to move to the upper surface of an article to be grabbed through the first motor (2), and controlling the mechanical claw (5) to grab the article through the controller;
s2: under the action of the tension sensor (25), the weight of the article is detected, a corresponding signal is transmitted to the controller, and meanwhile, according to the angle of the connecting rod (26) at the moment, the controller controls the second motor (3) to work after receiving the signal, the second motor (3) drives the rotating gear (16) to rotate, the rotating gear (16) moves on the upper-layer toothed ring (18) and further drives the sliding block (23) to slide on the upper-layer guide rail (19), so that the counterweight block (6) is driven to rotate for a specified angle by taking the second electric hoist (7) as the circle center;
s3: the controller controls the second electric hoist (7) to drive the main steel wire rope (24) to move for a specified length, meanwhile, the first electric hoist (4) drives the secondary steel wire rope (21) to move for a specified length, and according to the numerical value measured by the tension sensor (25), the counterweight block (6) moves for a specified distance in the direction far away from the second electric hoist (7);
s4: when controller control actuating mechanism made connecting rod (26) rotate, gripper (5) drove the article and rotate this moment, and according to connecting rod (26) pivoted angle, controller control balancing weight (6) use second electric block (7) to rotate appointed angle as the centre of a circle to realize the automatic counter weight work of robot.
8. The use method of a robot with an automatic counterweight device according to claim 7, characterized in that the method for driving the connecting rod (26) to rotate by the driving mechanism comprises that the controller controls the third motor (12) to work, the third motor (12) drives the first gear (11) to rotate, and the first gear (11) further drives the gear disc (10) to rotate, so as to drive the connecting rod (26) to rotate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011579984.5A CN112743573B (en) | 2020-12-28 | 2020-12-28 | Robot with automatic counterweight device and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011579984.5A CN112743573B (en) | 2020-12-28 | 2020-12-28 | Robot with automatic counterweight device and use method thereof |
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| CN112743573A CN112743573A (en) | 2021-05-04 |
| CN112743573B true CN112743573B (en) | 2022-04-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114030002B (en) * | 2021-12-10 | 2023-09-22 | 国网福建省电力有限公司宁德供电公司 | Dynamic gravity center adjusting mechanism of GIS inspection robot |
| CN116423472A (en) * | 2023-06-14 | 2023-07-14 | 北京建工环境修复股份有限公司 | Manipulator for carrying earth and stone |
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| DE19517330A1 (en) * | 1995-05-11 | 1996-11-14 | Heigl Helmuth | Handling device for tester heads of wafer testing machine |
| CN103196685A (en) * | 2013-03-04 | 2013-07-10 | 重庆大学 | Two-wheel differential wheel type mobile robot experimental platform with adjustable gravity center |
| CN107253179A (en) * | 2017-08-10 | 2017-10-17 | 安徽理工大学 | The removable heavily loaded foundry robot of series-parallel connection truss-like |
| CN109590997A (en) * | 2019-01-15 | 2019-04-09 | 白城师范学院 | A kind of adjustable multi-angle robot arm of damping |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009053032B4 (en) * | 2009-11-12 | 2019-07-18 | Kuka Deutschland Gmbh | Manipulator with a self-supporting arms weight compensation device |
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2020
- 2020-12-28 CN CN202011579984.5A patent/CN112743573B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19517330A1 (en) * | 1995-05-11 | 1996-11-14 | Heigl Helmuth | Handling device for tester heads of wafer testing machine |
| CN103196685A (en) * | 2013-03-04 | 2013-07-10 | 重庆大学 | Two-wheel differential wheel type mobile robot experimental platform with adjustable gravity center |
| CN107253179A (en) * | 2017-08-10 | 2017-10-17 | 安徽理工大学 | The removable heavily loaded foundry robot of series-parallel connection truss-like |
| CN109590997A (en) * | 2019-01-15 | 2019-04-09 | 白城师范学院 | A kind of adjustable multi-angle robot arm of damping |
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