CN113319866B - Intelligent robot load balancing lifting appliance - Google Patents
Intelligent robot load balancing lifting appliance Download PDFInfo
- Publication number
- CN113319866B CN113319866B CN202110645890.1A CN202110645890A CN113319866B CN 113319866 B CN113319866 B CN 113319866B CN 202110645890 A CN202110645890 A CN 202110645890A CN 113319866 B CN113319866 B CN 113319866B
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- tail
- balance
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- adapter
- head
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- 238000001514 detection method Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 description 6
- 239000012636 effector Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
Abstract
The invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent robot load balancing lifting appliance. The intelligent robot comprises a load balancing branched chain, an intelligent robot, an intelligent actuator, a receiving and transmitting flexible cable device and a bracket, wherein the intelligent actuator is arranged at the execution tail end of the intelligent robot, and the receiving and transmitting flexible cable device connected with the intelligent actuator is arranged on the bracket; the intelligent actuator is connected with the bracket through a plurality of load balance branched chains. The invention dynamically compensates load disturbance in real time through the plurality of load balancing branched chains, and can be suitable for workpiece grabbing and carrying of automatic production lines and intelligent robots.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent robot load balancing lifting appliance.
Background
A large number of load balancing lifting appliances can be adopted in the current intelligent robot and automation industry, and with the progress of the times, the manpower production cost of the traditional manufacturing industry is gradually increased, and the popularization of the automatic production of the manufacturing industry is becoming urgent. In this situation, automated equipment such as robots, manipulators, etc. has been unprecedented in the field of manufacturing due to its many advantages, and has spread rapidly. In each carrying and stacking industry, the phenomenon that the manual production is converted into the robot automatic production is more obvious due to the severe production environment. In addition to the fact that robots play a vital role in the whole automated production process, a component is also critical, namely the smart tooling. The intelligent end picking device is used for picking and putting down workpieces, and serves as a connecting tie between the robot and the workpieces, the connecting tie has the same effect, replaces two hands for picking parts, and assists the robot in carrying and assembling the parts in automatic production. For example, a smart robotic arm is mounted with an end effector (hand) for gripping a workpiece (pin). The robotic system is configured to grasp a pin by a hand provided on the robotic arm and to fit the pin grasped by the hand into the hole of the fitting member. It is contemplated that the operation of fitting the pins gripped by the hands of the robot arm into the holes of the fitting member is taught in advance in the intelligent robot system.
However, when the deformation working condition of the nonlinear system is large in size and heavy in load for the workpiece, the nonlinear flexural deformation of the whole mechanical system is caused; in particular, intelligent end effectors are subject to cable uncertainty disturbances, and the pose of the workpiece is subject to uncertainty in terms of state from time to time relative to the object to be assembled. When not appropriate, even if the robot arm is operated based on the operation taught in advance, it is difficult to fit the pin into the hole of the fitting member, or it may take a considerable time to perform the fitting operation. How to reach through new technology, expand the application of current intelligent robot to more accurate assembly and accurate cutting is the urgent problem that needs to solve.
Disclosure of Invention
Aiming at the problems, the invention aims to provide an intelligent robot load balancing lifting appliance so as to compensate uncertain load disturbance on line, improve process precision in the six-degree-of-freedom process of an intelligent actuator and counteract disturbance of part of uncertain load.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the intelligent robot load balancing lifting appliance comprises a load balancing branched chain, an intelligent robot, an intelligent actuator, a receiving and transmitting flexible cable device and a bracket, wherein the intelligent actuator is arranged at the execution tail end of the intelligent robot, and the receiving and transmitting flexible cable device connected with the intelligent actuator is arranged on the bracket; the intelligent actuator is connected with the bracket through a plurality of load balancing branched chains.
In one possible implementation, the load balancing branch is a balancing cylinder;
the balance cylinder comprises a balance cylinder body and a balance pull rod in sliding fit with the balance cylinder body, and the balance cylinder body is connected with the bracket through a movable joint assembly; the balance pull rod is connected with the intelligent actuator through the tail movable connecting component.
In one possible implementation, the head articulating assembly includes a head mount and a head adapter, wherein the head mount is coupled to the bracket and the head adapter is rotatably coupled to the head mount;
the tail of the balance cylinder body is rotationally connected with the head adapter.
In one possible implementation, the axis of rotation between the balancing cylinder and the head adapter is perpendicular to the axis of rotation between the head adapter and the head support.
In one possible implementation manner, the first support is provided with a first support rotary code disc, and the first support rotary code disc is used for detecting the rotation angle of the first adapter relative to the first support;
the head adapter is provided with a head swing angle sensor, and the head swing angle sensor is used for detecting the rotation angle of the balance cylinder body relative to the head adapter.
In one possible implementation, the tail movable connection assembly comprises a tail support and a tail adapter, wherein the tail support is arranged on the intelligent actuator, and the tail adapter is rotationally connected with the tail support;
the tail end of the balance pull rod is rotationally connected with the tail adapter.
In one possible implementation, the axis of rotation between the balancing tie and the trailing adapter is perpendicular to the axis of rotation between the trailing adapter and the trailing abutment.
In one possible implementation manner, a tail support rotating code disc is arranged on the tail support, and the tail support rotating code disc is used for detecting the rotation angle of the tail adapter relative to the tail support;
the tail adapter is provided with a tail swing angle sensor, and the tail swing angle sensor is used for detecting the rotation angle of the balance pull rod relative to the tail adapter.
In one possible implementation manner, the balance cylinder body is provided with a balance cylinder stretching distance sensor and a balance cylinder rotating angle sensor, and detection light rays of the balance cylinder stretching distance sensor and the balance cylinder rotating angle sensor are parallel to the axis of the balance cylinder body;
the tail end of the balance pull rod is provided with a balance pull rod distance reflector and a balance pull rod rotation angle dial; the balance cylinder stretching distance sensor detects the stretching distance of the balance pull rod by sensing the reflecting effect of the balance pull rod from the reflecting plate; the balance cylinder rotation angle sensor detects the rotation angle of the balance pull rod relative to the balance cylinder body by detecting the optical detection scale on the balance pull rod rotation angle dial.
In one possible implementation manner, the load balancing branches are six and symmetrically arranged on two sides of the intelligent actuator.
The invention has the advantages and beneficial effects that:
1. the invention can be suitable for grabbing and carrying workpieces of automatic production lines and intelligent robots, dynamically compensates load disturbance in real time through six load balancing branched chains and six groups of air circuits between the support and the intelligent actuator, and simultaneously balances disturbance of space dynamic cables in uncertain space vector force.
2. The invention can improve the process precision of the cutting type actuator and the process assembly type actuator; the process accuracy of the cut-type actuator and the process-assembly-type actuator can be detected.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is an isometric view of an intelligent robot load balancing sling according to an embodiment of the present invention;
FIG. 2 is an enlarged view of the portion I of FIG. 1;
FIG. 3 is an enlarged view of the area II in FIG. 1;
fig. 4 is a front view of an intelligent robot load balancing sling according to an embodiment of the present invention;
fig. 5 is an enlarged view at iii in fig. 4.
In the figure: 1 is a load balancing branched chain, 2 is an intelligent robot, 3 is a conveying line, 4 is an intelligent actuator, 5 is a workpiece, 6 is a receiving and transmitting flexible cable device, 7 is a bracket, 8 is a head support, 9 is a head support rotary code disc, 10 is a head adapter, 11 is a head swing angle sensor, 12 is a balancing cylinder body, 13 is a balancing cylinder stretching distance sensor, 14 is a balancing cylinder rotary angle sensor, 15 is a balancing pull rod, 16 is a balancing pull rod distance reflecting plate, 17 is a balancing pull rod rotary angle dial, 18 is a tail swing angle sensor, 19 is a tail adapter, 20 is a tail support rotary code disc, and 21 is a tail support.
Detailed Description
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
According to the intelligent robot load balancing lifting appliance provided by the embodiment of the invention, load balancing branched chains and gas circuits are adopted to dynamically compensate load disturbance in real time, and meanwhile, a cable which balances space dynamics is disturbed in uncertain space vector force. Referring to fig. 1 to 5, the intelligent robot load balancing sling comprises a load balancing branched chain 1, an intelligent robot 2, an intelligent actuator 4, a receiving and transmitting flexible cable device 6 and a bracket 7, wherein the intelligent robot 2 and the bracket 7 are fixed on the ground, the intelligent actuator 4 is arranged at the execution end of the intelligent robot 2, and the receiving and transmitting flexible cable device 6 connected with the intelligent actuator 4 is arranged on the bracket 7; the intelligent actuator 4 is connected with the bracket 7 through a plurality of load balancing branched chains 1, and the intelligent robot 2 can lock or unlock the intelligent actuator 4 to or from the workpiece 5 on the conveying line 3.
In the embodiment of the invention, the load balance branched chain 1 is a balance cylinder; referring to fig. 5, the balancing cylinder includes a balancing cylinder body 12 and a balancing pull rod 15 slidably engaged with the balancing cylinder body 12, and the balancing pull rod 15 is opposite to the balancing cylinder body 12. The balance cylinder body 12 is connected with the bracket 7 through a header movable connecting component; the balance pull rod 15 is connected with the intelligent actuator 4 through a tail movable connecting component. The balance cylinder body 12 and the balance pull rod 15 form an internal closed cavity, and gases with different pressures are dynamically added into the internal closed cavity, so that different dynamic tensile forces between the balance cylinder body 12 and the balance pull rod 15 can be provided.
Referring to fig. 2, in the embodiment of the present invention, the head movable connection assembly includes a head support 8 and a head adapter 10, wherein the head support 8 is connected with the bracket 7, the head adapter 10 is rotatably connected with the head support 8, and the tail of the balance cylinder 12 is rotatably connected with the head adapter 10.
Further, the axis of rotation between the balance cylinder 12 and the head adapter 10 is perpendicular to the axis of rotation between the head adapter 10 and the head mount 8. The head support 8 is provided with a head support rotary code disc 9, and the head support rotary code disc 9 is used for detecting the rotation angle of the head adapter 10 relative to the head support 8; the head adapter 10 is provided with a head angle sensor 11, and the head angle sensor 11 is used for detecting the rotation angle of the balance cylinder 12 relative to the head adapter 10.
Referring to fig. 3, in the embodiment of the present invention, the tail movable connection assembly includes a tail support 21 and a tail adaptor 19, wherein the tail support 21 is disposed on the intelligent actuator 4, the tail adaptor 19 is rotatably connected to the tail support 21, and the tail end of the balance pull rod 15 is rotatably connected to the tail adaptor 19.
Further, the axis of rotation between the balance lever 15 and the trailing adapter 19 is perpendicular to the axis of rotation between the trailing adapter 19 and the trailing abutment 21. The tail support 21 is provided with a tail support rotary code disc 20, and the tail support rotary code disc 20 is used for detecting the rotation angle of the tail adapter 19 relative to the tail support 21; the tail adapter 19 is provided with a tail swing angle sensor 18, and the tail swing angle sensor 18 is used for detecting the rotation angle of the balance pull rod 15 relative to the tail adapter 19.
Referring to fig. 2, in the embodiment of the present invention, a balance cylinder stretching distance sensor 13 and a balance cylinder rotation angle sensor 14 are disposed on a balance cylinder 12, and detection light rays of the balance cylinder stretching distance sensor 13 and the balance cylinder rotation angle sensor 14 are parallel to an axis of the balance cylinder 12 and are disposed at intervals; the tail end of the balance pull rod 15 is provided with a balance pull rod distance reflecting plate 16 and a balance pull rod rotating angle dial 17, the balance pull rod distance reflecting plate 16 and the balance pull rod rotating angle dial 17 are concentric rings with different diameters, and therefore any gesture position is guaranteed, and work can be effectively completed at all times. The balance cylinder stretching distance sensor 13 detects the stretching distance of the balance pull rod 15 by sensing the reflection effect of the balance pull rod from the reflection plate 16; the balance cylinder rotation angle sensor 14 detects the rotation angle of the balance rod 15 relative to the balance cylinder 12 by detecting the optical detection scale on the balance rod rotation angle dial 17.
In this embodiment, the transceiver flexible cable device 6 is connected to the intelligent actuator 4 through a cable with space dynamic, and the cable with space dynamic provides signal electricity, power electricity, visual light signals, cooling water, compressed air, vacuum and the like for the intelligent actuator 4. However, spatially dynamic cables also have an uncertainty of six-directional disturbance forces on the smart actuator 4 with spatially uncertain forces. In the embodiment of the invention, six load balance branched chains 1 are symmetrically arranged at two sides of the intelligent actuator 4, and the six load balance branched chains 1 between the bracket 7 and the intelligent actuator 4 are used for dynamically compensating load disturbance in real time. Meanwhile, through real-time monitoring of each sensor, online deviation correction is performed, so that the actual running track of the intelligent actuator 4 is more attached to the theoretical track, and the control precision is improved.
The intelligent robot load balancing lifting appliance provided by the invention can be suitable for grabbing and carrying workpieces of an automatic production line and an intelligent robot, solves the problem of nonlinear flexural deformation of the whole mechanical system caused by deformation working conditions of a large-size workpiece and a large-load nonlinear system, can compensate uncertain load disturbance on line, improves the precision of an intelligent actuator in the six-degree-of-freedom movement process, and counteracts the disturbance of partial uncertain load. The intelligent actuator is applied to intelligent robot assembly, and is a clamping hand; the plasma cutting device can also be applied to plasma cutting, the intelligent actuator is a cutting torch, and the workpiece is equivalent to plasma flame.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. The intelligent robot load balancing lifting appliance is characterized by comprising a load balancing branched chain (1), an intelligent robot (2), an intelligent actuator (4), a receiving and transmitting flexible cable device (6) and a bracket (7), wherein the intelligent actuator (4) is arranged at the execution tail end of the intelligent robot (2), and the receiving and transmitting flexible cable device (6) connected with the intelligent actuator (4) is arranged on the bracket (7); the intelligent actuator (4) is connected with the bracket (7) through a plurality of load balancing branched chains (1);
the load balancing branched chain (1) is a balancing cylinder; the balance cylinder comprises a balance cylinder body (12) and a balance pull rod (15) which is in sliding fit with the balance cylinder body (12), and the balance cylinder body (12) is connected with the bracket (7) through a header movable connecting component; the balance pull rod (15) is connected with the intelligent actuator (4) through a tail movable connecting component;
the head movable connecting assembly comprises a head support (8) and a head adapter (10), wherein the head support (8) is connected with the bracket (7), and the head adapter (10) is rotationally connected with the head support (8); the tail part of the balance cylinder body (12) is rotationally connected with the head adapter (10);
the tail movable connecting assembly comprises a tail support (21) and a tail adapter (19), wherein the tail support (21) is arranged on the intelligent actuator (4), and the tail adapter (19) is rotationally connected with the tail support (21); the tail end of the balance pull rod (15) is rotationally connected with the tail adapter (19).
2. The intelligent robotic load balancing sling according to claim 1, wherein the axis of rotation between the balancing cylinder (12) and the head adapter (10) is perpendicular to the axis of rotation between the head adapter (10) and the head support (8).
3. The intelligent robot load balancing sling according to claim 2, wherein the head support (8) is provided with a head support rotary code disc (9), and the head support rotary code disc (9) is used for detecting the rotation angle of the head adapter (10) relative to the head support (8);
the head adapter (10) is provided with a head angle sensor (11), and the head angle sensor (11) is used for detecting the rotation angle of the balance cylinder body (12) relative to the head adapter (10).
4. The intelligent robotic load balancing sling according to claim 1, wherein the axis of rotation between the balancing pull rod (15) and the trailing adapter (19) is perpendicular to the axis of rotation between the trailing adapter (19) and the trailing abutment (21).
5. The intelligent robot load balancing sling according to claim 4, wherein a tail support rotary code disc (20) is arranged on the tail support (21), and the tail support rotary code disc (20) is used for detecting the rotation angle of the tail adapter (19) relative to the tail support (21);
the tail adapter (19) is provided with a tail swing angle sensor (18), and the tail swing angle sensor (18) is used for detecting the rotation angle of the balance pull rod (15) relative to the tail adapter (19).
6. The intelligent robot load balancing sling according to claim 1, wherein the balancing cylinder body (12) is provided with a balancing cylinder stretching distance sensor (13) and a balancing cylinder rotating angle sensor (14), and the detecting light rays of the balancing cylinder stretching distance sensor (13) and the balancing cylinder rotating angle sensor (14) are parallel to the axis of the balancing cylinder body (12);
the tail end of the balance pull rod (15) is provided with a balance pull rod distance reflecting plate (16) and a balance pull rod rotation angle dial (17);
the balance cylinder stretching distance sensor (13) detects the stretching distance of the balance pull rod (15) by sensing the reflecting effect of the balance pull rod from the reflecting plate (16);
the balance cylinder rotation angle sensor (14) detects the rotation angle of the balance pull rod (15) relative to the balance cylinder body (12) by detecting the optical detection scale on the balance pull rod rotation angle dial (17).
7. The intelligent robot load balancing sling according to any one of claims 1-6, wherein six load balancing branches (1) are symmetrically arranged at two sides of the intelligent actuator (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110645890.1A CN113319866B (en) | 2021-06-10 | 2021-06-10 | Intelligent robot load balancing lifting appliance |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110645890.1A CN113319866B (en) | 2021-06-10 | 2021-06-10 | Intelligent robot load balancing lifting appliance |
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| CN113319866A CN113319866A (en) | 2021-08-31 |
| CN113319866B true CN113319866B (en) | 2024-03-26 |
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| CN215240893U (en) * | 2021-06-10 | 2021-12-21 | 潍坊新松机器人自动化有限公司 | Intelligent robot load balancing lifting appliance |
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| US4177002A (en) * | 1977-06-08 | 1979-12-04 | Motoda Denshi Kogyo Kabushiki Kaisha | Cooperative drive robot |
| JP2009262304A (en) * | 2008-04-28 | 2009-11-12 | Nachi Fujikoshi Corp | Cargo conveying device |
| JP2009262302A (en) * | 2008-04-28 | 2009-11-12 | Nachi Fujikoshi Corp | Cargo conveying device |
| DE102008032322A1 (en) * | 2008-07-09 | 2009-04-02 | Daimler Ag | Method for mounting differential gear housing and rear axle gear unit housing by lightweight construction robot, involves contacting housings by robots such that differential gear housing is partially and oscillatingly moved by robot |
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| CN113319866A (en) | 2021-08-31 |
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