CN114161480A - Robot with auxiliary supporting device - Google Patents
Robot with auxiliary supporting device Download PDFInfo
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- CN114161480A CN114161480A CN202111654498.XA CN202111654498A CN114161480A CN 114161480 A CN114161480 A CN 114161480A CN 202111654498 A CN202111654498 A CN 202111654498A CN 114161480 A CN114161480 A CN 114161480A
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- 238000009434 installation Methods 0.000 description 9
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- 238000004364 calculation method Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
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- 125000000174 L-prolyl group Chemical group [H]N1C([H])([H])C([H])([H])C([H])([H])[C@@]1([H])C(*)=O 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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- 230000005674 electromagnetic induction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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- QJGQUHMNIGDVPM-UHFFFAOYSA-N nitrogen group Chemical group [N] QJGQUHMNIGDVPM-UHFFFAOYSA-N 0.000 description 1
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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Abstract
A robot with an auxiliary supporting device comprises a large arm, a large arm mounting seat, the auxiliary supporting device and a large arm motor; one end of the large arm is hinged with the large arm mounting seat, and the large arm swings around a shaft between a first limit position and a second limit position relative to the large arm mounting seat under the driving of the large arm motor; the auxiliary supporting device comprises an elastic supporting piece, one end of the elastic supporting piece is hinged with the large arm mounting seat, and the other end of the elastic supporting piece is hinged with the large arm; the axial line of the rotating shaft of the big arm is parallel to the axial lines of the rotating shafts at the two hinged positions of the elastic supporting piece; and adjusting the mounting position of the elastic support piece on the large arm mounting seat, so that the absolute value of the large arm motor torque at the first extreme position is equal to that at the second extreme position. Compared with the prior art, the robot can reduce the condition that the torque of the single-side large-arm motor is overlarge, reduce the torque required by the whole large-arm motor and reduce the cost and the volume of the large-arm motor.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot with an auxiliary supporting device.
Background
In warehouses, docks, large factories, etc., in order to save storage space or remove finished products from the equipment, the products are typically handled and stacked manually. The manual carrying mode is not only high in working strength and low in working efficiency, but also needs to consume a large amount of manpower, and the safety problem that articles fall down due to untidy stacking easily occurs, so that people gradually adopt a palletizing robot capable of bearing high load to replace manual carrying. The design of the palletizing robot also becomes an important component in a modern mechanical manufacturing production system.
The palletizing robot is generally provided with a gripper, and the gripper is controlled by a control unit to perform multi-axis motion so as to drive the gripper to move to a place where a product is placed and perform gripping and carrying. However, in the process of transporting goods, the robot generally needs to bear a high load, and if the robot is not protected, the robot can easily impact a motor driving the robot to move, so that the motor is damaged, and the service life of the robot is affected. For this reason, in the prior art, an auxiliary support is used to share the stress of the robot motor shaft. As shown in fig. 1, patent publication No. CN214269393U discloses a manipulator for a palletizing robot, which includes a rotating base 1, a main arm 2, an auxiliary arm 3, an object-taking gripper 4, a first swing lever 5, a second swing lever 6, and a third swing lever 7. One end of the main arm 2 is hinged to the rotating base 1, and the other end of the main arm is hinged to the auxiliary arm 3. The fetching hand grip 4 is hinged to one end, far away from the main arm 2, of the auxiliary arm 3. The first swinging rod 5, the second swinging rod 6 and the third swinging rod 7 form a linkage device and are hinged to the main arm 2 and the auxiliary arm 3 respectively. The rotating base 1 drives the main arm 2 to rotate around a shaft, and the main arm 2, the auxiliary arm 3 and the fetching gripper 4 rotate relatively to grab goods. The linkage device composed of the first swinging rod 5, the second swinging rod 6 and the third swinging rod 7 is matched with the main arm 2 and the auxiliary arm 3 to move for supporting.
As can be seen from the above-mentioned palletizing robot, the design of the auxiliary supporting device of the robot in the prior art is mainly considered from the aspect of mechanical structure to provide stable support, thereby resulting in a complex structure of the supporting device. And the condition that the torque of the motor required by different limit positions is inconsistent is not considered, so that the torque of the motor on one side is overlarge, the torque required by the motor is greatly improved, and the cost and the volume of the motor are increased.
Disclosure of Invention
Therefore, the invention provides a robot with an auxiliary supporting device, which reduces the maximum torque required by a motor by reasonably setting the installation position of the auxiliary supporting device on the robot.
The technical scheme adopted by the invention is as follows:
a robot with an auxiliary supporting device comprises a large arm, a large arm mounting seat, the auxiliary supporting device and a large arm motor; one end of the large arm is hinged with the large arm mounting seat, and the large arm swings around a shaft between a first limit position and a second limit position relative to the large arm mounting seat under the driving of the large arm motor; the auxiliary supporting device comprises an elastic supporting piece, one end of the elastic supporting piece is hinged with the large arm mounting seat, and the other end of the elastic supporting piece is hinged with the large arm; the axial line of the rotating shaft of the big arm is parallel to the axial lines of the rotating shafts at the two hinged positions of the elastic supporting piece; and adjusting the mounting position of the elastic support piece on the large arm mounting seat, so that the absolute value of the large arm motor torque at the first extreme position is equal to that at the second extreme position.
Compared with the prior art, adjust first extreme position behind the mounted position of auxiliary stay with big arm motor moment of torsion of second extreme position department equals to reduce the too big condition of unilateral big arm motor moment of torsion, reduce the whole required moment of torsion of big arm motor, reduce the cost and the volume of big arm motor.
Furthermore, in a plane perpendicular to the axis of the big arm revolving shaft, the axis of the hinged position of the elastic supporting piece and the big arm mounting seat is a first connecting point, and the axis of the hinged position of the elastic supporting piece and the big arm is a second connecting point; before the elastic supporting piece is arranged, the torque of the large arm motor at the first limit position is not equal to that at the second limit position; after the elastic supporting piece is arranged, the first connecting point is close to the side with larger torque in the first limit position or the second limit position, so that the torque required by the side with larger torque of the large-arm motor is adjusted.
Furthermore, in a plane perpendicular to the axis of the big arm rotating shaft, an included angle gamma is formed between a connecting line between the first connecting point and the big arm rotating shaft center and a connecting line which passes through the big arm rotating shaft center and is perpendicular to the horizontal plane, and the size of the included angle gamma is determined by the torque of the big arm motor at the first limit position and the second limit position. The number of times of adjusting the elastic supporting piece is reduced through calculation, and the installation efficiency is improved.
Further, when a connecting line between the first connecting point and the second connecting point and a connecting line between the large arm rotating axis and the first connecting point are on the same straight line in a plane perpendicular to the axis of the large arm rotating shaft, the deformation amount of the elastic supporting piece is zero, so that the condition that the torque of the single-side large arm motor is overlarge is further reduced.
Furthermore, the elastic supporting part is a hydraulic cylinder so as to simplify the structure of the elastic supporting part.
Furthermore, the elastic support member is a nitrogen cylinder, so that the structure of the elastic support member is simplified and the occupied space of the elastic support member is reduced.
Furthermore, the number of the elastic supporting pieces is more than two, and the elastic supporting pieces are symmetrically distributed on two sides of the large arm along the axis of the large arm rotating shaft so as to provide balanced supporting force.
Further, the auxiliary supporting device also comprises a flexible support; the flexible support comprises a first flexible support which is arranged on the side surface of the large arm mounting seat facing the large arm; when the large arm swings to be close to the first limit position or the second limit position, the first flexible support is elastically deformed and pushes the large arm in the direction far away from the large arm mounting seat, so that the movement of the large arm is buffered.
Further, the auxiliary supporting device also comprises a flexible support; the flexible support comprises a second flexible support which is arranged on the side surface of the large arm mounting seat facing the large arm; when the large arm swings to the first limit position or the second limit position, the second flexible support is elastically deformed and pushes the large arm in the direction away from the large arm mounting seat, so that the large arm mounting seat is prevented from colliding with the large arm.
Further, the auxiliary supporting device also comprises a rigid support; the rigid support comprises a first lug protruding from the large arm and a second lug protruding from the large arm mounting seat; when the large arm swings and exceeds the first limit position or the second limit position, the second bump is abutted against the first bump to prevent the large arm from continuously rotating, so that the large arm mounting seat is prevented from colliding with the large arm when the elastic supporting piece fails, and the safety is improved.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a robot palletizer as known in the prior art;
FIG. 2 is a perspective view of a robot with an auxiliary support device according to the present invention;
FIG. 3 is a front view of a robot with an auxiliary support device in a first extreme position after completion of the installation of the robot according to the present invention;
FIG. 4 is a front view of the robot with auxiliary support in a second extreme position after completion of the installation of the present invention;
FIG. 5 is a projection view in the Z direction of FIG. 3;
FIG. 6 is a partial perspective view of a robot with an auxiliary support device according to the present invention;
FIG. 7 is a perspective view of a first flexible support of the present invention;
FIG. 8 is a perspective view of a second flexible support of the present invention;
FIG. 9 is a front view of the auxiliary supporting device of the robot with the auxiliary supporting device in the initial position state at the first extreme position;
FIG. 10 is a front view of the auxiliary supporting device of the robot with the auxiliary supporting device in the initial position state and at the second extreme position;
FIG. 11 is a simplified diagram of the geometry of FIG. 3;
FIG. 12 is a simplified diagram of the geometry of FIG. 4;
FIG. 13 is a schematic flow chart illustrating a method of installing a robotic auxiliary support device according to the present invention;
fig. 14 is a schematic flow chart of the present invention for obtaining the first torque and the second torque of the large arm motor.
The drawings are not necessarily drawn to scale unless otherwise indicated.
The invention and its various embodiments may be better understood by the following detailed description of illustrative embodiments. It should be clearly understood that the illustrated embodiments are illustrative only and are not limiting of the invention, which is defined by the claims and their equivalents.
Detailed Description
The invention provides a robot with an auxiliary supporting device, wherein an auxiliary supporting device is arranged on a large arm which swings greatly, and the installation position of the auxiliary supporting device is arranged according to the torque of a motor driving the large arm to swing, so that the motor torques are approximately equal when the large arm swings to two limit positions, the condition that a large-torque motor is arranged for meeting the requirement of one side with large torque due to large torque difference of the limit positions is reduced, and the torque required by the motor is reduced.
Specifically, referring to fig. 2 to 4, the robot with the auxiliary supporting device according to the present invention includes a base 10, a large arm mounting base 20, a large arm 30, a three-axis small arm 40, a four-axis swivel arm 50, a five-axis swivel arm 60, a six-axis terminal 70, a gripper 80, an auxiliary supporting device 90, and a control unit (not shown). The base 10 is arranged on a horizontal working platform. The upper arm mount 20 is installed above the base 10 and rotates about a rotation axis perpendicular to a horizontal plane. The upper arm 30 is hinged at one end to the upper arm mounting base 20 and is rotatable about a pivot axis parallel to the horizontal plane. The said three-axis small arm 40 is hinged at the other end of the said large arm 30 and can rotate around the axis parallel to the axis of the said large arm 30. The four-axis swivel arm 50 is installed at one side of the three-axis small arm 40 and can rotate around a swivel axis parallel to a horizontal plane and having an axis perpendicular to the axis of the swivel axis of the large arm 30. The five-axis rotating arm 60 is connected to one end of the four-axis rotating arm 50 far away from the three-axis small arm 40 and rotates coaxially relative to the four-axis rotating arm 50. The six axis terminal 70 is located on the side of the five axis pivot arm 60 remote from the four axis pivot arm 50 and is rotatable about an axis parallel to the axis of the pivot axis of the upper arm 30. The hand grip 80 is fixed to the six-axis terminal 70 and moves therewith, and grips the object 100 to be moved. The large arm mounting seat 20, the large arm 30, the three-axis small arm 40, the four-axis rotating arm 50, the five-axis rotating arm 60, the six-axis terminal 70 and the hand grip 80 are respectively and correspondingly provided with a rotating seat motor 21, a large arm motor 31, a three-axis motor 41, a four-axis motor 51, a five-axis motor 61, a six-axis motor (not shown) and a hand grip driver (not shown) so as to respectively drive the large arm mounting seat 20, the large arm 30, the three-axis small arm 40, the four-axis rotating arm 50, the five-axis rotating arm 60 and the six-axis terminal 70 to rotate around an axis and drive the hand grip 80 to grip goods. The swivel base motor 21, the large arm motor 31, the three-axis motor 41, the four-axis motor 51, the five-axis motor 61, the six-axis motor and the gripper driver are respectively and electrically connected with the control unit, and under the control of the control unit, the swivel base motor 21, the large arm motor 31, the three-axis motor 41, the four-axis motor 51, the five-axis motor 61, the six-axis motor 71 and the gripper driver 81 respectively rotate around an axis, so that the gripper 80 is controlled to move to a position where the object 100 to be moved is placed for gripping. Wherein, the hand grip 80 can be a mechanical hand grip, a pneumatic chuck, a magnetic chuck or other fixtures. Correspondingly, the gripper driver can be a device provided with a motor, a cylinder and an electromagnetic induction coupling circuit. The control unit may be a computer with a CPU or a control device such as a single chip microcomputer, and since the hand grip 80 and the control unit are conventionally provided in the prior art, they will not be described in detail herein. The auxiliary support device 90 is connected between the upper arm mounting seat and the upper arm 30 to provide support for the swing of the upper arm 30.
Wherein the auxiliary supporting means 90 comprises an elastic supporting member 91. The elastic support 91 is a device capable of generating elastic stress. One end of the elastic supporting member 91 is hinged to the large arm mounting base 20, the other end is hinged to the large arm 30 and moves therewith, and the axes of the rotating shafts at the two hinged positions are parallel to the axis of the rotating shaft of the large arm 30. In a plane perpendicular to the axis of the rotation shaft of the large arm 30, the axis of the hinge joint between the elastic support 91 and the large arm mounting base 20 is set as a first connection point a, the axis of the hinge joint between the elastic support 91 and the large arm 30 is set as a second connection point B, and the axis of the rotation shaft of the large arm 30 is set as an axis O. The elastic supporting member 91 is elastically deformed by being stretched along a first connection line AB connecting the first connection point a and the second connection point B, and the generated elastic force acts as an auxiliary supporting force to support the large arm 30, and the elastic force generates a moment relative to the axis O, and exerts an influence on the magnitude of the torque of the large arm motor 31 in cooperation with the load borne by the large arm 30. Preferably, the first connection line AB is parallel to a plane perpendicular to the axis of the rotation axis of the large arm 30. The torque of the large arm motor 31 is reduced by the elastic support 91.
Further, the elastic support member 91 is provided with a piston linearly reciprocating along the first connection line AB to compress a medium, and obtains a supporting force by compressing the medium. Preferably, the elastic supporting member 91 is a hydraulic cylinder, such as an oil cylinder, a piston of the hydraulic cylinder linearly reciprocates along the first connection line AB, and the variable stress generated by compressing the liquid is an elastic supporting force, and compared with the same supporting force provided by using a spring, the hydraulic cylinder can simplify the structure, reduce the volume occupied by the elastic supporting member 91, and save the cost; further, the elastic supporting member 91 is a cylinder, such as a nitrogen cylinder, and a piston of the cylinder linearly reciprocates along the first connection line AB, so that the volume occupied by the elastic supporting member 91 can be further reduced while providing the same supporting force as that of the hydraulic cylinder. And a connecting line of the first connecting point A and the axis O is a second connecting line AO, and the second connecting line AO is not superposed with a straight line which passes through the axis O and is vertical to the horizontal plane and forms a rotation angle gamma. The rotation angle γ is determined according to the motor torque of the large arm 30 at the limit positions at both sides, and the first connection point a is close to the limit position at the side where the motor torque is larger compared with the motor torque at the limit positions at both sides. Preferably, the rotation angle γ and the position of the second connection point B on the large arm 30 are adjusted so that the elastic deformation of the elastic support 91 is zero when the large arm 3 rotates around the axis O to a position where the first connection line AB and the second connection line AO are located on the same straight line. Further, referring to fig. 5, the number of the elastic supporting members 91 is two or more, and the elastic supporting members are symmetrically disposed on both sides of the large arm 30 along the axial direction of the rotation shaft of the large arm 30.
Further, referring to fig. 6 to 8, the auxiliary supporting device 90 further includes a flexible support 92 and a rigid support 93 to further provide a supporting force or buffer the movement of the large arm 30 when the elastic support 91 has a failure such as air leakage or insufficient supporting force, so as to reduce the damage of the large arm 30. The flexible support 92 is disposed on the upper arm mount 20 and provides a flexible support to cushion the movement of the upper arm 30 when the upper arm 30 rotates about the pivot axis near or beyond the limit position. In this embodiment, the flexible supports 92 include a first flexible support 921 and a second flexible support 922. The first flexible support 921 includes a first spring group 9211, a first mounting block 9212 and a first top plate 9213, the first mounting block 9212 is fixed on the side of the large arm mounting base 20 facing the large arm 30, and the surface of the first top plate 9213 is parallel to the horizontal plane. The first spring group 9211 is connected between the first mounting block 9212 and the first top plate 9213, and the direction of elastic deformation is perpendicular to the horizontal plane direction, and flexible support is provided through elastic deformation. The second flexible support 922 comprises a second spring group 9221, a second mounting block 9222 and a second top plate 9223, the second mounting block 9222 is fixed on the side surface of the large arm mounting seat 20 facing the large arm 30, and the plate surface of the second top plate 9223 is parallel to the horizontal plane. The second spring group 9221 is connected between the second mounting block 9222 and the second top plate 9223, and the direction of elastic deformation is perpendicular to the horizontal plane direction, and flexible support is provided through elastic deformation. And the vertical distance from the second top plate 9223 to the large arm mounting seat 20 is smaller than the vertical distance from the first top plate 9213 to the large arm mounting seat 20, when the large arm 30 rotates and approaches a limit position of one side, the large arm 30 presses against the first top plate 9213 of the first flexible support 921, so that the first spring group 9211 is elastically deformed and generates upward elastic force to support and cushion the large arm 3. When the large arm 30 rotates to the extreme position of one side, the large arm 30 presses the second top plate 9223 of the second flexible support 922, the second spring group 9221 elastically deforms, and generates elastic force pointing to the large arm 30, so as to further support and buffer the movement of the large arm 30. The rigid support 93 includes a first tab 931 disposed on the large arm 30 and a second tab 932 disposed on the large arm mount 20. When the large arm 30 rotates beyond the limit position of one side, the first protrusion 931 is connected to the second protrusion 932 and the second protrusion 932 is supported against the first protrusion 931, so that the large arm 30 is restricted from further rotation. In this embodiment, in a plane perpendicular to the axis of the rotation shaft of the large arm 30, one side limit position of the large arm 30 is rotated clockwise around the shaft to a position where an angle between the line connecting the axis O of the large arm 30 and the axis O2 of the three-axis small arm 40 with respect to a horizontal plane is 30 degrees. When the large arm 30 rotates to a position where an included angle between a connecting line of the axis O of the large arm 30 and the axis O2 of the small three-axis arm 40 with respect to a horizontal plane is 32 degrees, the large arm 30 presses on the first top plate 9213; when the large arm 30 rotates to a position where an included angle between a connecting line of the axis O of the large arm 30 and the axis O2 of the three-axis small arm 40 relative to a horizontal plane is 30 degrees, the large arm 30 presses on the second top plate 9223; when the large arm 30 rotates to a position where an angle between a connection line of the axis O of the large arm 30 and the axis O2 of the three-axis small arm 40 with respect to a horizontal plane is 28 degrees, the second protrusion 932 abuts against the first protrusion 931 and restricts the large arm 30 from further clockwise rotation.
Referring to fig. 13, the above structure calculates the positions of the first connection point a and the second connection point B and sets the auxiliary supporting device 90 by the following method:
step S10: arranging a robot, wherein the torques of the large arm motor 31 at two polar positions are unequal; the extreme positions of both sides of the large arm 30 are obtained and the total weight m of the load of the large arm 30 is obtained.
The limit positions are positions where the swing amplitude is maximum when the large arm 30 rotates around the shaft, and include a first limit swing position when the large arm rotates clockwise and a second limit swing position when the large arm rotates counterclockwise, and the limit positions can be designed according to actual working requirements.
In the present embodiment, in the plane perpendicular to the axis of the rotation shaft of the upper arm 30, the first limit pivot position is as shown in fig. 3, and the upper arm 30 can be pivoted to a position where the first limit pivot angle β 1 of the line connecting the axis O of the upper arm 30 and the axis O2 of the three-axis lower arm 40 with respect to the horizontal plane is 70 degrees at maximum; as shown in fig. 4, the second limit pivot position is a position where the maximum clockwise rotation of the large arm 30 is 30 degrees relative to a second limit pivot angle β 2 of a horizontal plane, which is a line connecting the axis O of the large arm 30 and the axis O2 of the three-axis small arm 40.
The total weight m is the total weight of the load driven by the large arm motor 31, and includes the total weight of the large arm 30 and all the components driven by the large arm 30, and the maximum weight of the object 100 to be moved. In the present embodiment, the total weight of all the components includes the sum of the weights of the large arm 30, the three-axis small arm 40 moving with the large arm 30, the four-axis swivel arm 50, the five-axis swivel arm 60, the six-axis terminal 70, and the grip 80.
Step S20: when the elastic support member 91 is pre-set to the large arm mounting seat 20 and the large arm 30 is rotated to a certain position, the elastic deformation amount of the elastic support member 91 is 0, which is an initial mounting position, and an initial distance L0 between two end points of the elastic support member 91 is measured at the initial mounting position.
In this embodiment, for example, one elastic supporting member 91 is disposed on one side, as shown in fig. 9, a straight line passing through the axis O of the rotation axis of the large arm 30 and perpendicular to the horizontal plane is set as a center line a in a plane perpendicular to the axis of the rotation axis of the large arm 30, one end of the elastic supporting member 91 is hinged to the large arm mounting base 20, the axis thereof is parallel to the axis of the rotation axis of the large arm 30 and the axis thereof is a first connection point a, and the other end thereof is hinged to the large arm 30, the axis thereof is parallel to the axis of the rotation axis of the large arm 30 and the axis thereof is a second connection point B. The second connecting point B is located on the connecting line of the axle center O of the revolving shaft of the big arm 30 and the axle center O2 of the revolving shaft of the small arm 40. And adjusting the position of the second connection point B along the connecting line of the axle center O of the revolving shaft of the big arm 30 and the axle center of the revolving shaft of the small arm 40, so that when the big arm 30 revolves around the axle center O and the connecting line of the second connection point B and the axle center O of the revolving shaft of the big arm 30 is superposed with the central line a, the elastic deformation of the elastic support piece 91 is 0, and the elastic support piece 91 is at the initial installation position. Measuring a first distance R between the first connection point A and the axis O, and a second distance L between the second connection point B and the axis O. Since the first connection point a is fixed on the large arm mounting base 20 and the second connection point B rotates with the large arm 30 around the axis O, the first distance R and the second distance L are kept constant during the movement.
Step S30: the first gravitational moment Tm1 generated at the first limit position and the second gravitational moment Tm2 generated at the second limit position with respect to the axis center O of the rotation axis of the upper arm 30 are calculated with respect to the total weight m.
In the operation process of the robot, the base 10, the upper arm mounting base 20 and the upper arm 30 are responsible for large movement, and drive the three-axis small arm 40, the four-axis rotating arm 50, the five-axis rotating arm 60, the six-axis terminal 70 and the hand grip 80 to be positioned at the object 100 to be moved, and then the three-axis small arm 40, the four-axis rotating arm 50, the five-axis rotating arm 60, the six-axis terminal 70 and the hand grip 80 perform fine actions to accurately grip the object to be moved. Particularly, the large arm 30 swings greatly, and the movement range of the three-axis small arm 40, the four-axis rotating arm 50, the five-axis rotating arm 60, the six-axis terminal 70 and the hand grip 80 is much smaller than the movement range of the large arm 30, so that in a plane perpendicular to the axis of the rotating shaft of the large arm 30, the change of the distance between the center of gravity O1 of the total weight m loaded on the large arm 30 in the movement process of the large arm 30 and the axis O of the rotating shaft of the large arm 30 is negligible, that is, the distance Lm between the center of gravity O1 formed by the total weight m and the axis O of the rotating shaft of the large arm 30 is considered to be constant, the center of gravity O1 moves along a circle with the axis O of the rotating shaft of the large arm 30 as the center and Lm as the radius, and the included angle with the horizontal plane changes along the rotation of the large arm 30 and the rotating shaft of the large arm 30. The position of the center of gravity O1 and the distance Lm between the center of gravity O1 and the axis O of the rotating shaft of the large arm 30 can be calculated and obtained by combining the size of the total weight m, the shape and the limit pivot angle of the three-axis small arm 40, the four-axis pivot arm 50, the five-axis pivot arm 60 and the six-axis terminal 70 with the mechanical calculation formula in the prior art, and the distance Lm is kept unchanged in the movement process. Preferably, modeling is performed in three-dimensional software, and relevant data such as weight and the like are input into the three-dimensional software to directly calculate and measure the position of the center of gravity O1 and the distance Lm, so that the time for calculating and measuring is shortened, and the efficiency is improved. The three-dimensional software is Pro/E, solidworks, Zhongqing 3D, etc., which are conventional measurement means in the prior art and will not be described in detail here.
According to the moment calculation formula M ═ FL, the moment Tm generated by the total weight M with respect to the axis O of the rotating shaft of the large arm 30 is:
Tm＝m*g*cosα*Lm
wherein m is the total weight; g is the acceleration of gravity; α is an included angle between a line connecting the axis O of the rotating shaft of the large arm 30 and the center of gravity O1 and a horizontal line in a plane perpendicular to the axis of the rotating shaft of the large arm 30, and varies with the rotation of the large arm 30; lm is the position of the center of gravity O1 and the distance from the axis O of the rotation shaft of the upper arm 30, and thus, Tm is independent of the mounting position of the elastic support 91.
Therefore, as shown in fig. 3, in the first extreme position, the first gravitational moment Tm1 is m × g × cos α 1 × Lm, and Tm1 remains unchanged while α 1 and Lm remain unchanged. As shown in fig. 4, in the second limit position, the first gravitational moment Tm2 is m × g × cos α 2 × Lm, and when α 2 and Lm are kept unchanged, Tm2 is kept unchanged, and α 1 is greater than α 2 as the large arm 30 rotates.
S40: a first torque Md1 required for the large arm motor 31 to be at the first limit position before adjustment and a second torque Md2 required for the second limit position before adjustment are acquired, respectively.
The first torque Md1 and the second torque Md2 can be obtained by actual operation measurement of the robot, or calculated as shown in fig. 14 by:
step S41: a first moment Tc1 provided by the elastic support 91 at the first extreme swinging position and a second moment Tc2 provided by the elastic support 91 at the second extreme swinging position are calculated, respectively.
The elastic force generated by the elastic support 91 due to the elastic deformation can be divided into a first component force directed from the second connection point B to the axis O and a second component force directed perpendicular to the first component force, so that the moment Tc provided by the elastic support 91 is Δ L k0 sin θ L, where Δ L is the elastic deformation of the elastic support 91; k0 is the elastic coefficient, which is determined by the type and material of the elastic supporting member 91. θ is an angle between a line connecting the first connection point a and the second connection point B with respect to the axis O of the large arm 30 and the axis O2 of the small arm 40 after the large arm 30 rotates a certain angle in a plane perpendicular to the axis of the rotation axis of the large arm 30; l is a distance between the second connecting point B of the elastic supporting member 91 and the axis O of the rotation axis of the large arm 30, which can be directly measured or calculated by geometric relationship, and L is kept constant during the movement because the elastic supporting member 91 rotates around the axis O1 with the large arm 30.
In this embodiment, according to the measurement, as shown in fig. 9, at the first swing position,
Tc1＝(L1-L0)*k0*sinθ1*L
wherein L1 is the distance of the first connection point a to the second connection point B at the first swing position a1, L0 is obtained in step S30. L1, θ 1 were obtained by actual measurement.
As shown in fig. 10, in the second swing position,
Tc2＝(L2-L0)*k0*sinθ2*L
wherein L2 is the distance from the first connection point A to the second connection point B in the second swing position A2. L2, θ 2 were obtained by actual measurement.
Step S42: a first torque Md1 at the first limit swing position and a second torque Md2 at the second limit swing position are calculated according to the directions of the first gravity moment Tm1 and the first torque Tc1, respectively, and the directions of the second gravity moment Tm2 and the second torque Tc 2.
According to the force analysis, in the first extreme position, the first moment Tc1 generated by the elastic force of the elastic support 91 is in the same direction as the first gravity moment Tm1 generated by gravity, so Md1 is | Tm1+ nTc1 |; in the second limit position, the second moment Tc2 generated by the elastic force of the elastic support 91 is opposite to the second gravity moment Tm2 generated by gravity, so Md2 is | Tm2-nTc2|, where n is the total number of the elastic supports.
Step S50: comparing the magnitude of the first torque Md1 and the second torque Md2 and determining the turning direction of the first connecting point A.
The direction of gyration is toward the side of the first torque Md1 or the second torque Md2 where the value is greater. During rotation, in a plane perpendicular to the axis of the rotation shaft of the large arm 30, the first connection point a is turned to the side of the large first torque Md1 or the large second torque Md2 around the axis O of the rotation shaft of the large arm 30. After moving the first connection point a to the first limit position or the second limit position near the larger side of the first torque Md1 or the second torque Md2, the motor torque at the limit position at the side with larger motor torque will decrease, and the motor torque at the limit position at the side with smaller motor torque will increase, so that the difference between the motor torques at the two limit positions is reduced.
In the present embodiment, the first torque Md1 is calculated and compared to be greater than the second torque Md 2. Therefore, in the adjustment, the first connecting point a rotates counterclockwise around the rotation axis O of the large arm 30 in the plane perpendicular to the rotation axis of the large arm 30.
Step S60: and calculating the size of the rotation angle gamma. The rotation angle γ is calculated according to the following two ways:
the first method is as follows:
step S61: the arithmetic mean Md' of the absolute values of the first and second torques Md1 and Md2 is calculated.
Wherein an arithmetic mean M'd of the first torque Md1 and the second torque Md2 (| Md1| + | Md2 |)/2.
Step S62: the turning angle γ is calculated by the torque calculation formula of the boom motor 31 at the first limit position or the second limit position with the turning angle γ as an unknown number, wherein the torque is equal to the arithmetic average value Md'.
Referring to fig. 11, in the present embodiment, the first torque Md1 is calculated according to the calculation formula of the first limit position. In a plane perpendicular to the axis of the rotation shaft of the large arm 30, after the first connection point a rotates counterclockwise around the shaft center O by the rotation angle γ, at the first swing position, the elastic force generated by the elastic support 91 is divided into a first component directed from the shaft center O2 of the small arm 40 to the shaft center O of the large arm 30 and a second component directed perpendicular to the first component, wherein a moment generated by the second component is Tc3, and Tc3 is (L3-L0) k sin θ 3L according to a mechanical calculation formula. Wherein according to the cosine theorem:
L32＝R2+L2-2RLcos(90°-β1-γ)，
namely, it is
In a plane perpendicular to the axis of the rotation shaft of the arm 30, a straight line AC perpendicular to the line connecting the axis O of the arm 30 and the second connecting point B is formed through the first connecting point A. In the right triangle ACO, the side length AC ═ sin (90 °)- β 1- γ) R. In the case of a right-angled triangle ACB,
namely, it is
Meanwhile, after the first connection point a rotates by the rotation angle γ, at the first swing position, Md3, Md 'Tm 1, nTc3 is set, and thus, the first connection point a rotates by the rotation angle γ, and thus, at the first swing position, Md3, Md' Tm1, and nTc3 are set
Since Md', Tm1, R, L, L0, β 1, and n are known values, the magnitude of the rotation angle γ can be obtained by solving the equation.
The second method comprises the following steps:
step S63: solving for the gyration angle γ, listing the first torque Md1 and the second torque Md2 and making Md1 Md2, respectively with the gyration angle γ as an unknown.
In the present embodiment, after the first connection point a is rotated according to the rotation angle γ, as shown in fig. 11, at the first limit swing position, the first torque Md1 is Tm1+ n (L3-L0) k sin θ 3 is Tm1+ n
*L。
As shown in fig. 12, in the second limit oscillation position, the second torque
Since Md1 is Md2 and Tm1, Tm2, R, L, L0, β 1, β 2, and n are known values, the magnitude of the rotation angle γ can be obtained by solving an equation.
It is to be noted that, for different limit positions, the pivot angle γ can also be calculated from the above-described geometric relationship, and when only one elastic support 91 is provided on one side, n is 1.
Step S70: and rotating the first connecting point A around the rotating shaft axis O of the large arm 30 according to the rotating direction and the rotating angle gamma.
And rotating the first connecting point A around the rotating shaft axis O of the big arm 30 in the plane vertical to the rotating shaft axis of the big arm 30 according to the rotation angle gamma and the rotation direction.
Step S80: the large arm 30 is rotated around the axis O so that a first connection line AB connecting the first connection point a and the second connection point B and a second connection line AO connecting the first connection point a and the axis O are on the same straight line, and the second connection point B is moved in a direction of a connection line of the first connection point a and the axis O so that the deformation amount of the elastic support member 91 is 0.
Step S90: after the robot is operated for a period of time, detecting whether the first torque Md1 and the second torque Md2 are equal, and if so, finishing installation; if not, steps S60-S80 are repeated until the first torque Md1 is equal to the second torque Md 2.
Preferably, the period of time is 3 days or more. The first torque Md1 may be considered equal to the second torque Md2 when the absolute value of the difference between the first torque Md1 and the second torque Md2 is less than 10 n.m.
Compared with the prior art, the robot with the auxiliary support device has the advantages that the torque of the large-arm motor at the first extreme position is equal to that of the large-arm motor at the second extreme position by adjusting the mounting position of the auxiliary support, so that the conditions that the difference value of the large-arm motors at two sides is large and the torque of the large-arm motor at one side is overlarge are reduced, the torque required by the whole large-arm motor is reduced, and the cost and the volume of the large-arm motor are reduced. And the adjustment is convenient, and the installation efficiency is high. The elastic supporting piece has a simple structure, saves installation space and has even supporting force. In addition, a plurality of supporting structures are further arranged to buffer the rotation of the large arm, the large arm can be prevented from colliding with the large arm mounting seat when the elastic supporting piece fails, and the safety is high.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A robot with auxiliary supporting device is characterized in that: the large arm mounting seat is arranged on the upper arm; one end of the large arm is hinged with the large arm mounting seat, and the large arm swings around a shaft between a first limit position and a second limit position relative to the large arm mounting seat under the driving of the large arm motor; the auxiliary supporting device comprises an elastic supporting piece, one end of the elastic supporting piece is hinged with the large arm mounting seat, and the other end of the elastic supporting piece is hinged with the large arm; the axial line of the rotating shaft of the big arm is parallel to the axial lines of the rotating shafts at the two hinged positions of the elastic supporting piece; and adjusting the mounting position of the elastic support piece on the large arm mounting seat, so that the absolute value of the large arm motor torque at the first extreme position is equal to that at the second extreme position.
2. The robot of claim 1, wherein: in a plane vertical to the axis of the big arm revolving shaft, the axis of the hinged position of the elastic supporting piece and the big arm mounting seat is a first connecting point, and the axis of the hinged position of the elastic supporting piece and the big arm is a second connecting point; before the elastic supporting piece is arranged, the torque of the large arm motor at the first limit position is not equal to that at the second limit position; after the elastic supporting piece is arranged, the first connecting point is close to one side with larger torque in the first limit position or the second limit position.
3. The robot of claim 2, wherein: in a plane perpendicular to the axis of the big arm rotating shaft, an included angle gamma is formed between a connecting line between the first connecting point and the big arm rotating shaft center and a connecting line which passes through the big arm rotating shaft center and is perpendicular to the horizontal plane, and the size of the included angle gamma is determined by the torque of the big arm motor at the first limiting position and the second limiting position.
4. The robot of claim 2, wherein: and when a connecting line between the first connecting point and the second connecting point and a connecting line between the large arm rotating shaft center and the first connecting point are on the same straight line in a plane perpendicular to the axis of the large arm rotating shaft, the deformation of the elastic supporting piece is zero.
5. A robot as claimed in any of claims 1 to 3, characterized in that: the elastic supporting piece is a hydraulic cylinder.
6. A robot as claimed in any of claims 1 to 3, characterized in that: the elastic supporting piece is a nitrogen cylinder.
7. A robot as claimed in any of claims 1 to 3, characterized in that: the number of the elastic supporting pieces is more than two, and the elastic supporting pieces are symmetrically distributed on two sides of the large arm along the axis of the large arm rotating shaft.
8. The robot of claim 1, wherein: the auxiliary supporting device also comprises a flexible support; the flexible support comprises a first flexible support which is arranged on the side surface of the large arm mounting seat facing the large arm; when the large arm swings to be close to the first limit position or the second limit position, the first flexible support is elastically deformed and pushes the large arm in the direction away from the large arm mounting seat.
9. The robot of claim 1, wherein: the auxiliary supporting device also comprises a flexible support; the flexible support comprises a second flexible support which is arranged on the side surface of the large arm mounting seat facing the large arm; when the large arm swings to the first limit position or the second limit position, the second flexible support is elastically deformed and pushes the large arm in the direction away from the large arm mounting seat.
10. The robot of claim 1, wherein: the auxiliary supporting device also comprises a rigid support; the rigid support comprises a first lug protruding from the large arm and a second lug protruding from the large arm mounting seat; when the large arm swings and exceeds the first limit position or the second limit position, the second lug props against the first lug to prevent the large arm from continuing to rotate.
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