CN207971952U - It can be changed the robot and its force aid system of spring boost system with multistation - Google Patents
It can be changed the robot and its force aid system of spring boost system with multistation Download PDFInfo
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- CN207971952U CN207971952U CN201820121171.3U CN201820121171U CN207971952U CN 207971952 U CN207971952 U CN 207971952U CN 201820121171 U CN201820121171 U CN 201820121171U CN 207971952 U CN207971952 U CN 207971952U
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Abstract
The utility model provides a kind of robot can be changed spring boost system with multistation, including robot body and force aid system；Robot body includes：Rack, Switch of working position connecting rod and execution connecting rod.Rack, Switch of working position connecting rod and execution connecting rod are hinged successively；Force aid system includes：Cylinder body, power assistant spring, spring guide, piston and piston rod, spring guide is arranged on cylinder interior axis, power assistant spring is oriented to, the both ends of power assistant spring respectively with the interior bottom of cylinder body and piston contact, piston rod passes through hollow spring guide, and according to position and piston contact or detaches；The outer bottom of cylinder body is hinged with rack, and the outer end of piston rod is hinged with connecting rod is executed.It provides simultaneously a kind of with the variable spring boost system of multistation.The utility model realizes the power-assisted in high-torque joint in robot application simultaneously, solves influence of the high-torque power-assisted in other stations, avoids using powerful motor, saves complete machine cost.
Description
Technical field
The utility model is related to robotic technology fields, and in particular, to there is one kind multistation can be changed spring assist system
The robot and its force aid system of system enable robot to have variable joint assistance in different stations.
Background technology
In robot application, it may appear that some joint is in the different feelings of requirement of the different stations to torque and speed
Condition, for example in multi-angle healing robot, the position that lies low needs hip joint high-torque to export, and vertical position needs hip joint to have comparatively fast
Speed, therefore be difficult choose suitable servo motor.
Existing robot balances force aid system mostly just for a kind of operating mode, as large arm is overhanging in industrial robot now
When high-torque demand.When using this balance force aid system, in order to meet a kind of joint of the robot under station energetically
Square requirement, it may be necessary to force aid system provides very big torque, and this power-assisted has been likely to become a kind of resistance in other stations,
The case where if too big may cause motor output inadequate, and robot can not work.
Utility model content
Aiming at the above shortcomings existing in the prior art, providing one kind, there is the utility model the variable spring of multistation to help
The robot and its force aid system of Force system, the robot and its force aid system are a kind of variable balance force aid systems, are machine
Device person joint does not influence the normal of other stations while the different variable power-assisted of station offer, small electromotor high-torque demand
Work.
The utility model is achieved through the following technical solutions.
On one side according to the utility model, a kind of robot can be changed spring boost system with multistation is provided,
Including robot body and force aid system；Wherein：
The force aid system includes：Cylinder body, power assistant spring, spring guide, piston and piston rod, the spring guide setting
On cylinder interior axis, power assistant spring is oriented to, the both ends of the power assistant spring respectively with the interior bottom of cylinder body and work
Plug contact, the piston rod passes through hollow spring guide, and according to position and piston contact or detaches；
The outer bottom of the cylinder body and the outer end of piston rod are hinged with robot body respectively.
Preferably, the drift of the power assistant spring is less than cylinder body length.
Preferably, the drift of the power assistant spring is the 2/3 of cylinder body length.
Preferably, the robot body includes：Rack, Switch of working position connecting rod and execution connecting rod, the rack, station are cut
It changes connecting rod and executes connecting rod and be hinged successively；The end-effector for executing connecting rod connection robot, completes the required task of robot,
The switching between robot different station may be implemented in the action of Switch of working position connecting rod.
The outer bottom of the cylinder body is hinged with rack, and the outer end of the piston rod is hinged with connecting rod is executed.
On one side according to the utility model, a kind of force aid system is provided, which is that a kind of multistation is variable
Spring boost system, including：Cylinder body, power assistant spring, spring guide, piston and piston rod, the spring guide are arranged in cylinder body
On internal axis, power assistant spring is oriented to, the both ends of the power assistant spring respectively with the interior bottom of cylinder body and piston contact,
The piston rod passes through hollow spring guide, and according to position and piston contact or detaches.
Preferably, the drift of the power assistant spring is less than cylinder body length.
Preferably, the drift of the power assistant spring is the 2/3 of cylinder body length.
The operation principle of the utility model is：
From needing during high-torque station goes to and do not need high-torque station, piston rod progressively disengages cylinder for robot
Body, it is smaller and smaller to the decrement of power assistant spring, until no longer being contacted with power assistant spring, high-torque is not being needed to realize
Force aid system does not provide torque output in station, into without forming resistance to robot motion, can be protected by the output of motor
Card is in the proper motion for not needing high-torque station.
Compared with prior art, the utility model has following advantageous effect：
1, the power-assisted that the utility model realizes high-torque joint in robot application simultaneously, solves high-torque power-assisted and exists
Influence in other stations avoids using powerful motor, saves complete machine cost；
2, the utility model realizes that, in different stations, force aid system automatic adjustment exports different torque, meets machine
Demand of the people in different station；
3, the utility model provides variable power-assisted for joint of robot in different stations, small electromotor high-torque demand
The normal work of other stations is not influenced simultaneously.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is force aid system status diagram when not needing high-torque station；
Fig. 2 is force aid system status diagram when needing high-torque station；
In figure：1 is rack, and 2 be cylinder body, and 3 be power assistant spring, and 4 be spring guide, and 5 be piston, and 6 be piston rod, and 7 be work
Position switching connecting rod, 8 be execution connecting rod.
Specific implementation mode
It elaborates below to the embodiments of the present invention：The present embodiment before being with technical solutions of the utility model
It puts and is implemented, give detailed embodiment and specific operating process.It should be pointed out that the common of this field
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.
It is a kind of embodiment of force aid system referring to Fig.1 shown in -2, which is that a kind of multistation can be changed spring and help
Force system is a kind of balance force aid system, realizes that force aid system automatic adjustment exports different torque, full in different stations
Demand of the biped robot in different station.
Specifically, as shown, the multistation can be changed spring boost system, including such as lower component：Cylinder body 2, power assistant spring
3, spring guide 4, piston 5, piston rod 6.
Wherein spring guide 4 is arranged on 2 inside axis of cylinder body, plays power assistant spring guiding role.3 both ends of power assistant spring
It is contacted respectively with cylinder base (bottom in cylinder body) and piston 5, the drift of power assistant spring 3 is less than cylinder body length, is 2/3 left
It is right.Piston rod 6 passes through hollow spring guide 4, can be contacted and can also be detached with piston 5 according to position.
Although it is simple that above-mentioned multistation can be changed spring boost system structure, it is arranged by cleverly modular construction,
Automatic adjustment exports different torque, meets robot the different station the needs of.
On the basis of above-mentioned multistation can be changed spring boost system, the utility model is furthermore provided with multistation
The robotic embodiment of variable spring boost system, it includes robot that should can be changed the robot of spring boost system with multistation
Ontology and force aid system；Wherein：
The robot body includes：Rack 1, Switch of working position connecting rod 7 and execution connecting rod 8, rack 1, Switch of working position connecting rod 7
It is hinged successively with connecting rod 8 is executed, constitute robot body；
The structure of the force aid system includes cylinder body 2, power assistant spring 3, spring guide 4, piston 5, piston rod 6, and spring is led
Bar 4 is arranged on 2 inside axis of cylinder body, plays power assistant spring guiding role.3 both ends of power assistant spring respectively with cylinder base (cylinder
Internal bottom) and piston 5 contact, the drift of power assistant spring 3 is less than cylinder body length, is 2/3 or so.During piston rod 6 passes through
Empty spring guide 4, can contact and can also detach with piston 5 according to position.
The cylinder base (cylinder body outer bottom) of force aid system and the rack of robot body are hinged, the outer end of piston rod with
It is hinged to execute connecting rod.
As shown in Figure 1, force aid system shape when not needing high-torque station for robot described in the utility model embodiment
State schematic diagram.Spring guide 4 plays power assistant spring guiding role on cylinder interior axis.3 both ends of power assistant spring respectively with cylinder
Body bottom and piston 5 contact, and the drift of power assistant spring is 2/3 or so of cylinder body length.Piston rod 6 passes through hollow spring
Guide rod can also be detached according to position with piston contact.Cylinder base is hinged with rack 1, piston rod 6 and execution connecting rod 8
It is hinged.
Fig. 2 is force aid system status diagram when robot described in the utility model embodiment needs high-torque station.
In figure, when needing high-torque, force aid system shortens at a distance from two hinge joints of robot body, and piston rod 6 heads on piston
Compressed spring forms the power-assisted square to executing connecting rod.
When not needing high-torque station, the distance of two hinge joints is elongated, and piston rod is detached from piston, and spring affranchises length
Degree no longer generates torque to executing connecting rod, avoid the power-assisted of the force aid system in the case where being not carried out connecting rod gravitational moment at
For resistance.
As it can be seen that the above-mentioned robot that can be changed spring boost system with multistation goes to Fig. 1 stations from the station of Fig. 2
In the process, piston rod 6 progressively disengages cylinder body 2, smaller and smaller to the decrement of power assistant spring 3, until no longer being connect with power assistant spring
Touch, to realize the force aid system in Fig. 1 stations do not provide torque output, into without to robot motion formed resistance, according to
Output by motor can ensure the proper motion in vertical position.
The utility model realizes the power-assisted in high-torque joint in robot application simultaneously, solves high-torque power-assisted at it
Influence in its station avoids using powerful motor, saves complete machine cost.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on the substantive content of the utility model.
Claims (8)
1. a kind of robot can be changed spring boost system with multistation, which is characterized in that including robot body and help
Force system；Wherein：
The force aid system includes：Cylinder body, power assistant spring, spring guide, piston and piston rod, the spring guide are arranged in cylinder
On internal portion axis, power assistant spring is oriented to, the both ends of the power assistant spring connect with the interior bottom of cylinder body and piston respectively
It touches, the piston rod passes through hollow spring guide, and according to position and piston contact or detaches；The outer bottom of the cylinder body and
The outer end of piston rod is hinged with robot body respectively.
2. the robot according to claim 1 that can be changed spring boost system with multistation, which is characterized in that described to help
The drift of power spring is less than cylinder body length.
3. the robot according to claim 2 that can be changed spring boost system with multistation, which is characterized in that described to help
The drift of power spring is the 2/3 of cylinder body length.
4. the robot according to any one of claim 1 to 3 that can be changed spring boost system with multistation, feature
It is, the robot body includes：Rack, Switch of working position connecting rod and connecting rod is executed, the rack, Switch of working position connecting rod and held
Row connecting rod is hinged successively.
5. the robot according to claim 4 that can be changed spring boost system with multistation, which is characterized in that the cylinder
The outer bottom of body is hinged with rack, and the outer end of the piston rod is hinged with connecting rod is executed.
6. a kind of force aid system, which is characterized in that it is a kind of variable spring boost system of multistation, including：Cylinder body, power-assisted bullet
Spring, spring guide, piston and piston rod, the spring guide are arranged on cylinder interior axis, are oriented to power assistant spring,
The both ends of the power assistant spring respectively with the interior bottom of cylinder body and piston contact, the piston rod pass through hollow spring guide,
And it according to position and piston contact or detaches.
7. force aid system according to claim 6, which is characterized in that it is long that the drift of the power assistant spring is less than cylinder body
Degree.
8. force aid system according to claim 7, which is characterized in that the drift of the power assistant spring is cylinder body length
2/3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820121171.3U CN207971952U (en) | 2018-01-24 | 2018-01-24 | It can be changed the robot and its force aid system of spring boost system with multistation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820121171.3U CN207971952U (en) | 2018-01-24 | 2018-01-24 | It can be changed the robot and its force aid system of spring boost system with multistation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207971952U true CN207971952U (en) | 2018-10-16 |
Family
ID=63770139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820121171.3U Active CN207971952U (en) | 2018-01-24 | 2018-01-24 | It can be changed the robot and its force aid system of spring boost system with multistation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207971952U (en) |
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2018
- 2018-01-24 CN CN201820121171.3U patent/CN207971952U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191210 Address after: 201615 building B, No.8 Chaofu Road, Jiuting Town, Songjiang District, Shanghai Patentee after: Faroche (Shanghai) Medical Technology Co., Ltd. Address before: 201206 Shanghai, Pudong New Area, China (Shanghai) free trade zone, new Jinqiao Road, No. 13, building 2, floor 27 Patentee before: Jijing Robot Technology (Shanghai) Co., Ltd. |