CN213499194U

CN213499194U - Arm system

Info

Publication number: CN213499194U
Application number: CN202022122833.9U
Authority: CN
Inventors: 郑辉; 朱龙泉
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2021-06-22
Anticipated expiration: 2030-09-24

Abstract

The present application relates to a robot arm system. The mechanical arm system comprises a base, a power device, a bearing device and a counterweight device. The base includes a first surface. The power device is arranged on the first surface. The bearing device is arranged on the power device. The bearing device is used for bearing load. The power device is used for driving the bearing device to move along the first surface. The counterweight device is arranged on the base. The counterweight device is connected with the bearing device. The counterweight device is used for applying force opposite to the gravity direction to the bearing device. The mechanical arm system offsets the gravity of the bearing device by arranging the counterweight device, so that the kinetic energy of the power device is mainly used for driving a load, and the power device can drive heavier loads. Therefore, the mechanical arm system improves the capacity of driving the load by arranging the counterweight device.

Description

Arm system

Technical Field

The application relates to the technical field of robots, in particular to a mechanical arm system.

Background

The mechanical arm is used for realizing the functions of carrying, positioning or transferring in a single direction or multiple directions, and the like, and the mechanical arm is widely applied to the field of automation.

The bearing device in the mechanical arm is used for bearing loads. The load bearing device itself has a weight. When the power device in the mechanical arm drives the load to move, the gravity action of the bearing device needs to be overcome, and the load driving capacity of the power device is reduced.

How to improve the load driving capability of the mechanical arm is an urgent problem to be solved.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a robot arm system for improving the load driving capability of the robot arm.

A mechanical arm system comprises a base, a power device, a bearing device and a counterweight device. The base includes a first surface. The power device is arranged on the first surface. The bearing device is arranged on the power device. The bearing device is used for bearing load. The power device is used for driving the bearing device to move along the first surface. The counterweight device is arranged on the base. The counterweight device is connected with the bearing device. The counterweight device is used for applying force opposite to the gravity direction to the bearing device.

In one embodiment, the base includes a second surface opposite or contiguous with the first surface. The counterweight device comprises a counterweight component and a traction body. The counterweight component is arranged on the second surface. One end of the traction body is connected with the counterweight component. The other end of the traction body is connected with the bearing device. The counterweight assembly is used for applying tension to the bearing device through the traction body. The pulling force has a component opposite to the direction of gravity.

In one embodiment, the power device comprises a first guide mechanism and a power mechanism.

The first guide mechanism is arranged on the first surface.

The power mechanism is arranged on the first guiding device. The bearing device is arranged on the power mechanism. The power structure is used for driving the bearing device to move along the first guide mechanism.

In one embodiment, the counterweight device further comprises a second guide mechanism. The second guide mechanism is arranged on the base. The second guide mechanism includes a guide groove. The traction body is at least partially arranged in the guide groove.

In one embodiment, the second guide mechanism includes a support body and a pulley. The support body is arranged on the base. The center of the pulley is fixed on the support body. And the surface of the pulley is provided with a guide groove.

In one embodiment, the base includes a third surface. The third surface is connected between the first surface and the second surface. And the third surface is remote from the ground. The support is arranged on the third surface.

In one embodiment, the first surface is parallel to the direction of gravity. The first guide mechanism extends parallel to the direction of gravity.

In one embodiment, the number of the second guide mechanisms is two. The two second guide mechanisms are symmetrically arranged on the third plane.

In one embodiment, the counterweight device further comprises a detection unit and a control unit. The detection unit is arranged on the traction body. The detection unit is used for detecting the tensile force borne by the traction body. The control unit is connected with the detection unit and the counterweight component. The control unit is used for controlling the tensile force output by the counterweight component according to the tensile force borne by the traction body.

In one embodiment, the weight assembly includes a cylinder, a piston, and an air pump. The piston is arranged in the cylinder. One end of the piston is connected with the traction body. The air pump is communicated with the air cylinder. The air pump is connected with the control unit. The control unit is used for controlling the air pump to inflate the air cylinder according to the tension applied to the traction body.

The mechanical arm system provided by the embodiment of the application comprises a base, a power device, a bearing device and a counterweight device. The base includes a first surface. The power device is arranged on the first surface. The bearing device is arranged on the power device. The bearing device is used for bearing load. The power device is used for driving the bearing device to move along the first surface. The counterweight device is arranged on the base. The counterweight device is connected with the bearing device. The counterweight device is used for applying force opposite to the gravity direction to the bearing device.

The mechanical arm system offsets the gravity of the bearing device by arranging the counterweight device, so that the kinetic energy of the power device is mainly used for driving a load, and the power device can drive heavier loads. Therefore, the mechanical arm system improves the capacity of driving the load by arranging the counterweight device.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of the structure of the robotic arm system provided in one embodiment of the present application;

fig. 2 is a schematic structural diagram of the arm system provided in the second embodiment of the present application.

Reference numerals:

10. a robotic arm system; 20. a base; 210. a first surface; 220. a second surface; 230. a third surface; 30. a power plant; 310. a first guide mechanism; 320. a power mechanism; 40. a carrying device; 50. a counterweight device; 510. a counterweight assembly; 511. a cylinder; 512. a piston; 513. an air pump; 520. a traction body; 530. a second guide mechanism; 531. a support body; 532. a pulley; 540. a detection unit; 550. a control unit.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the embodiments disclosed below.

The numbering of the components as such, e.g., "first", "second", etc., is used herein for the purpose of describing the objects only, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, the present embodiment provides a robot arm system 10, which includes a base 20, a power device 30, a carrying device 40, and a counterweight device 50. The base 20 includes a first surface 210. The power device 30 is disposed on the first surface 210. The carrying device 40 is disposed on the power device 30. The carrying device 40 is used for carrying a load. The power device 30 is used for driving the bearing device 40 to move along the first surface 210. The weight device 50 is disposed on the base 20. The weight device 50 is connected to the carrying device 40. The weight device 50 is used for applying a force opposite to the gravity direction to the bearing device 40.

The arm system 10 provided by the embodiment of the present application offsets the gravity of the carrying device 40 by providing the counterweight device 50, and the kinetic energy of the power device 30 is mainly used for driving a load. The kinetic energy of the power plant 30 is converted into kinetic energy of the load. The counterweight device 50 allows the power unit 30 to drive heavier loads. Therefore, the arm system 10 improves the load driving capability by providing the weight device 50.

The carrying device 40 is used for fixing the load, so that the power device 30 drives the carrying device 40 and the load to move together. The weight device 50 applies a force opposite to the gravity direction to the carrying device 40, and completely offsets or partially offsets the gravity of the carrying device 40.

The carrying device 40 includes a holding device, a pasting device or a suction device, etc.

The shape of the base 20 includes regular structures such as a cylinder, a cuboid, a cube, or a cone, and also includes irregular structures.

The load comprises a robotic arm. The mechanical arm system 10 is used for driving the mechanical arm to move along the first plane.

The form of the power device 30 for driving the carrying device 40 to move along the first surface 210 includes a planar motion or a linear motion.

In one embodiment, the weight device 50 applies a pushing or pulling force to the load bearing device 40 opposite to the direction of gravity.

In one embodiment, the force applied to the carrier 40 by the weight device 50 is at an acute angle to the weight of the carrier 40. The component of the force applied to the bearing device 40 by the counterweight device 50 is opposite to the gravity direction of the bearing device 40, so as to counteract the gravity of the bearing device 40.

In one embodiment, the base 20 includes a second surface 220 opposite or contiguous with the first surface 210. The counterweight device 50 includes a counterweight assembly 510 and a traction body 520. The weight component 510 is disposed on the second surface 220. One end of the traction body 520 is connected to the weight assembly 510. The other end of the traction body 520 is connected with the carrying device 40. The weight assembly 510 is used for applying a pulling force to the carrying device 40 through the traction body 520. The pulling force has a component opposite to the direction of gravity.

The traction body 520 includes a traction wire or a traction assembly, etc. The material of the traction wire can be metal, fiber or rubber.

The weight assembly 510 applies a pulling force to the traction body 520. The pulling body 520 further exerts a pulling force on the carrying device 40.

In one embodiment, the base 20 is shaped as a rectangular parallelepiped. The cuboid comprises the first surface 210 and the second surface 220 opposite. The power device 30 is disposed on the first surface 210, and the weight component 510 is disposed on the second surface 220. The traction body 520 is connected across the first surface 210 and the second surface 220, one end of the traction body 520 is connected to the end of the power device 30 away from the ground, and the other end of the traction body 520 is connected to the end of the counterweight assembly 510 away from the ground. The pulling force exerted by the weight assembly 510 on the traction body 520 is parallel to and opposite to the direction of gravity. The pulling force applied by the pulling body 520 to the power device 30 is parallel to the gravity and opposite to the gravity.

When the power device 30 moves the carrying device 40 and the load along the first surface 210, the carrying device 40 and the load are raised or lowered. The weight assembly 510 is lowered or raised.

The arm system 10 counteracts the gravity of the carrying device 40 by providing the counterweight device 50, so that the kinetic energy of the power device 30 is mainly used for driving the load, and the power device 30 can drive heavier loads. Therefore, the arm system 10 improves the load driving capability by providing the weight device 50. Furthermore, even if the motor in the power plant 30 fails or the components in the power train fail. The weight device 50 counteracts the gravity of the bearing device 40, reduces the falling speed of the bearing device 40 and the load, reduces the impact force with other parts, and improves the safety.

In one embodiment, the first surface 210 is connected to the second surface 220, and the included angle between the first surface 210 and the second surface 220 is acute. The second surface 220 is perpendicular to the ground. The pulling force exerted by the weight assembly 510 on the traction body 520 is parallel to and opposite to the direction of gravity. The pulling force exerted by the pulling body 520 on the power device 30 is parallel to the first surface 210. The component force of the pulling body 520 on the power device 30 is opposite to the gravity direction. The component of the pulling force of the pulling body 520 on the power device 30 is used to completely or partially counteract the gravity of the carrying device 40. When the power device 30 moves the carrying device 40 and the load along the first surface 210, the carrying device 40 and the load are raised or lowered. The weight assembly 510 is lowered or raised.

When the component of the pulling force of the pulling body 520 on the power device 30 is equal to the gravity of the carrying device 40, the component of the pulling force of the pulling body 520 on the power device 30 is used to completely offset the gravity of the carrying device 40. The kinetic energy of the power plant 30 is all used to drive the load.

When the component of the pulling force of the pulling body 520 on the power device 30 is smaller than the gravity of the carrying device 40, the component of the pulling force of the pulling body 520 on the power device 30 is used for partially offsetting the gravity of the carrying device 40. Part of the kinetic energy of the power means 30 is used to drive the carrying means 40 and the remaining kinetic energy of the power means 30 is used to drive the load. The robot arm system 10 is capable of driving heavier loads, improving the driving performance of the robot arm system 10.

The weight assembly 510 includes a weight block, a spring assembly, a pneumatic assembly, or the like. The weight assembly 510 generates a pulling force to the load bearing device 40 by its own weight or deformation.

In one embodiment, the weight assembly 510 is a gas spring. The traction body 520 is a steel wire rope.

The gas spring is an industrial accessory which can play a role in supporting, buffering, braking, height adjustment, angle adjustment and the like. The principle is that inert gas or oil-gas mixture is filled in a closed pressure cylinder, the pressure in a cavity is several times or dozens of times higher than the atmospheric pressure, and the movement of a piston 512 rod is realized by utilizing the pressure difference generated by the cross section area of the piston 512 rod being smaller than that of the piston 512. Due to the fundamental difference in principle, the gas spring has very remarkable advantages compared with the common spring: the speed is relatively slow, the dynamic force change is not large (generally within 1: 1.2), and the control is easy.

In this embodiment, the gas spring is normally in a contracted state, and when the spring of the gas spring is stretched, a substantially stable contraction force is provided.

The carrier 40 and the gas spring are on either side of the base 20. Connected by a steel wire rope, and guided by the pulley 532 in the middle. In the initial installation state, the carrier 40 is at the highest position, and the gas spring is in a normal contracted state. After the installation is completed, the power device 30 is not started, and the bearing device 40 descends under the action of gravity. Through the transmission of wire rope, can stretch the air spring, trigger the contractile force of air spring. When the power device 30 drives the carrying device 40 to ascend and descend, the driving force of the power device 30 is the power without compensation minus the contraction force of the gas spring. The required output of the power plant 30 has a significantly reduced driving force compared to the situation without compensation.

The arm system 10 is used not only for single axis robotic arms, but also for multi-axis robotic arms where there is one or more axes to lift.

In one embodiment, the power device 30 includes a first guiding mechanism 310 and a power mechanism 320. The first guiding mechanism 310 is disposed on the first surface 210. The power mechanism 320 is disposed on the first guiding device. The bearing device 40 is disposed on the power mechanism 320. The power structure is used for driving the carrying device 40 to move along the first guiding mechanism 310.

The power device 30 includes an electric driving device, a hydraulic driving device, a pneumatic driving device, or the like.

In one embodiment, the power device 30 includes a lead screw and a motor. The lead screw extends parallel to the first surface 210. The bearing device 40 is disposed on the screw rod. The direction of rotation of the lead screw is different and the carrier 40 is raised or lowered.

In one embodiment, the first surface 210 is parallel to the direction of gravity. The first guide mechanism 310 extends parallel to the direction of gravity. The lead screw extends along the first surface 210 and is perpendicular to the ground. When the lead screw rotates clockwise, the load bearing device 40 raises the load. The weight assembly 510 is lowered.

The first guide mechanism 310 includes a guide rail or a guide table, etc. The first guiding mechanism 310 is used for limiting the motion track of the carrying device 40 together with the lead screw.

In one embodiment, the counterweight device 50 further includes a second guide mechanism 530. The second guiding mechanism 530 is disposed on the base 20. The second guide mechanism 530 includes a guide groove. The traction body is at least partially arranged in the guide groove. The traction body 520 slides along the guide groove to restrict the degree of freedom of the traction body 520.

In one embodiment, the base 20 includes a third surface 230. The third surface 230 is connected between the first surface 210 and the second surface 220. And the third surface 230 is remote from the ground. The guide groove is formed at an edge where the first surface 210 meets the third surface 230 or an edge where the second surface 220 meets the third surface 230, so as to reduce friction between the traction body 520 and a contacted surface.

In one embodiment, the grooves of the guide grooves are rounded to further reduce friction between the traction body 520 and the contacting surfaces.

In one embodiment, the second guide mechanism 530 includes a support 531 and a pulley 532. The support 531 is disposed on the base 20. The center of the pulley 532 is fixed to the support 531. The surface of the pulley 532 is provided with a guide groove.

When the traction body 520 slides along the guide groove, the pulley 532 rotates, reducing the friction force to which the traction body 520 is subjected.

The support body 531 supports the center of the pulley 532 so that the pulley 532 can rotate around a support position.

The shape of the support 531 may be a line, a 7, or an L shape.

The support 531 is disposed on the first surface 210, the second surface 220, the third surface 230, or the like.

The material of the pulley 532 can be metal, plastic or rubber.

In one embodiment, the number of the second guide mechanisms 530 is two. Each of the second guiding mechanisms 530 includes the supporting body 531 and the pulley 532. One of the supporters 531 is disposed on the first surface 210, and the other supporter 531 is disposed on the second surface 220, and both of the supporters are disposed near an edge of the third surface 230. The pulley 532 is provided to one of the support bodies 531. The traction body 520 is mounted on the pulley 532, so that the traction body 520 is prevented from directly contacting with the first surface 210 and the second surface 220, the friction force applied to the traction body 520 is reduced, and the waste of energy is avoided.

In one embodiment, the support 531 is disposed on the third surface 230. The pulley 532 is disposed on the support 531 to prevent the traction body 520 from directly contacting the third surface 230, thereby reducing the friction force applied to the traction body 520 and avoiding the waste of energy.

In one embodiment, the number of the second guide mechanisms 530 is two. Two of the second guiding mechanisms 530 are symmetrically disposed on the third plane. One of the second guiding mechanisms 530 is disposed near an edge where the first surface 210 meets the third surface 230. Another one of the second guiding mechanisms 530 is disposed near an edge where the second surface 220 meets the third surface 230. The second guiding mechanism 530 of the robotic arm system 10 prevents the pulling body 520 from contacting the edge, and prevents the pulling body 520 from being stuck due to pressure.

Referring also to fig. 2, in one embodiment, the counterweight device 50 further includes a detection unit 540 and a control unit 550. The detecting unit 540 is disposed at the traction body 520. The detecting unit 540 is used for detecting the magnitude of the pulling force applied to the pulling body 520. The control unit 550 is connected to the sensing unit 540 and the weight assembly 510. The control unit 550 is configured to control the magnitude of the pulling force output by the weight assembly 510 according to the magnitude of the pulling force applied to the traction body 520. Through the detection unit 540 and the control unit 550. The arm system 10 can adjust the tension output by the weight assembly 510 by providing the detection element and the control element, so that the driving force output of the power device 30 is more stable.

The detection device comprises a force sensor, a force variation meter, an acceleration sensor or a speed sensor and the like.

In one embodiment, the weight assembly 510 includes a cylinder 511, a piston 512, and a gas pump 513. The piston 512 is disposed in the cylinder 511. One end of the piston 512 is coupled to the traction body 520. The air pump 513 is in communication with the air cylinder 511. The air pump 513 is connected to the control unit 550. The control unit 550 is used for controlling the air pump 513 to inflate the air cylinder 511 according to the tension applied to the traction body 520.

The pressure at which the air pump 513 inflates the air cylinder 511 varies with the load. The pressure of the cylinder 511 also changes along with the load, so that the situation that an elastic atmospheric spring does not adapt to a small load or a small elastic gas spring does not work on a heavy load is avoided. The robotic arm system 10 effectively increases the load range.

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, 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 concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A robotic arm system, comprising:

a base comprising a first surface;

the power device is arranged on the first surface;

the bearing device is arranged on the power device and used for bearing a load, and the power device is used for driving the bearing device to move along the first surface;

the counterweight device is arranged on the base and connected with the bearing device, and the counterweight device is used for applying force opposite to the gravity direction to the bearing device.

2. The robotic arm system as claimed in claim 1, wherein the base includes a second surface opposite or contiguous with the first surface, the counterweight means comprising:

the counterweight component is arranged on the second surface;

the traction body, the one end of the traction body with the counter weight subassembly is connected, the other end of the traction body with bear the weight of the device and connect.

3. The robotic arm system as claimed in claim 2, wherein the motive means comprises:

the first guide mechanism is arranged on the first surface;

the power mechanism is arranged on the first guide mechanism, the bearing device is arranged on the power mechanism, and the power mechanism is used for driving the bearing device to move along the first guide mechanism.

4. The robot arm system of claim 3, wherein the counterweight further comprises:

the second guide mechanism is arranged on the base and comprises a guide groove, and at least part of the traction body is arranged in the guide groove.

5. The robotic arm system as claimed in claim 4, wherein the second guide mechanism comprises:

a support body provided to the base;

the center of the pulley is fixed on the support body, and a guide groove is formed in the surface of the pulley.

6. The boom system of claim 5, wherein the base includes a third surface, the third surface being coupled between the first surface and the second surface, and the third surface being remote from the ground, the support body being disposed on the third surface.

7. The robotic arm system as claimed in claim 3, wherein the first surface is parallel to the direction of gravity and the first guide means extends parallel to the direction of gravity.

8. The robotic arm system as claimed in claim 6, wherein there are two of the second guide mechanisms, and wherein the two second guide mechanisms are symmetrically disposed on the third surface.

9. The robotic arm system as set forth in claim 2 wherein said counterweight means further includes:

the detection unit is arranged on the traction body and is used for detecting the tension applied to the traction body;

the control unit is connected with the detection unit and the counterweight component and used for controlling the magnitude of the tension output by the counterweight component according to the magnitude of the tension borne by the traction body.

10. The robotic arm system as set forth in claim 9 wherein said counterweight assembly includes:

a cylinder;

the piston is arranged in the cylinder, and one end of the piston is connected with the traction body;

the air pump is communicated with the air cylinder and connected with the control unit, and the control unit is used for controlling the air pump to inflate into the air cylinder according to the tension applied to the traction body.