CN214520286U - Robot assist drive device - Google Patents

Abstract

A robot booster mechanism is characterized in that a swinging body is hinged to the rotation center of a robot driven part by a booster, the swinging body and the robot driven part are respectively provided with a concave-convex part and a contact surface which are mutually staggered, the two contact surfaces can be separated, when two components rotate relatively to a certain swing angle position needing boosting of a robot arm, the contact surfaces of the two components are mutually contacted, and the swinging body is hinged to a booster cylinder. The boosting mechanism not only plays an effective boosting role when necessary, but also avoids the reaction of boosting when boosting is not needed, and the stroke and the idle wear of the boosting cylinder are greatly reduced because the boosting cylinder does not need to act in a non-boosting posture.

Description

Robot assist drive device

Technical Field

The invention belongs to the technical field of mechanical transmission, and particularly relates to a robot force-increasing and boosting mechanism.

Background

Hydraulic, pneumatic and spring cylinders are widely used as power assistance for mechanical device driving, and are often used on articulated robots and are sometimes a necessary means. The basic form is that the tail end of the power cylinder is hinged on the base, and the cylinder rod is directly hinged with the robot arm. There are significant disadvantages to this approach: firstly, due to the action of gravity, the robot arm does not need assistance in every posture, basically only needs assistance in horizontal and nearly horizontal postures, and under other conditions, especially when the robot arm is in a vertical or nearly vertical posture, the excessive assistance needs to consume opposite main driving force to offset the assistance, and the assistance can play a role of resistance; secondly, when the working posture without assistance changes, the power cylinder still performs reciprocating telescopic motion, and abrasion is increased.

Therefore, the assistance mechanism which provides assistance only when the main power cannot meet the requirement and is separated from the robot arm when not needed and limits the working range needs to be invented, and the assistance mechanism plays a great role in improving the performance of the robot.

Disclosure of Invention

In order to overcome the defects, the invention provides the robot arm assistance mechanism capable of limiting the assistance range, so that assistance is reasonably output, and the idle wear of the assistance cylinder under the partial posture of the robot arm is reduced.

The robot booster mechanism of the invention is characterized in that a swinging body is coaxially hinged on a rotation central axis of a robot arm joint or a driving device thereof and the like needing to be driven by a booster driving piece, the swinging body and the swinging body can swing around the central axis relatively, a booster cylinder is hinged on the swinging body, and the arrangement of the booster cylinder is the same as that of the conventional technology. A boss or a concave platform for blocking the swinging body from rotating is arranged on the power-assisted driving piece, or a boss or a concave platform for blocking the robot from rotating by the power-assisted driving piece is arranged on the swinging body. The robot is provided with a power-assisted driving piece and a swinging body which are respectively provided with a concave-convex part and a contact surface which are mutually staggered, the two contact surfaces can be separated, when the two components relatively rotate to a certain swinging angle position where the robot arm needs power assistance, the contact surfaces of the two components are mutually contacted, and power transmission can be started.

During operation, the swinging body only swings within a swing angle range of the robot arm needing assistance. When the robot arm is in a horizontal or nearly horizontal posture, a larger assistance force is needed, the contact surfaces of the robot driven by the assistance driving piece and the swinging body are contacted with each other, the assistance cylinder pushes the swinging body hinged with the assistance cylinder to rotate and swing around the rotation center line of the robot driven by the assistance driving piece, the push-pull force of the assistance cylinder is converted into a rotary assistance torque, and the assistance torque is transmitted to the robot arm through the contact surfaces of the robot driven by the assistance driving piece and the swinging body. When the robot arm is far away from the horizontal posture and is close to the vertical posture without assistance, the contact surface of the robot and the swinging body are separated by the assistance driving piece and separated from the assistance.

The boosting mechanism not only plays an effective boosting role when necessary, but also avoids the reaction of boosting when boosting is not needed, and the stroke and the idle wear of the boosting cylinder are greatly reduced because the boosting cylinder does not need to act in a non-boosting posture. The mechanism is simple and efficient, can effectively improve the load capacity of the robot, and can be applied to other similar mechanical devices needing assistance.

The robot assisted driving member may be a robot arm or a driving device for transmitting force to a robot arm.

The swing body can be an arm-shaped swing arm, one end of the swing arm is hinged on the rotation central axis of the robot driven part, and the other end of the swing arm is hinged with the power output end of the power cylinder.

The swing body can also be a disc-shaped swing disc, bosses which correspond to each other in a staggered mode are respectively arranged on the swing disc and the robot driven piece by the aid of the power, the bosses can be one or more bosses which are distributed along the circumferential direction, and a shaft hinged with the power cylinder is further arranged on the end face of the disc.

The two boss contact surfaces which are mutually staggered and correspond can also be respectively a combination consisting of bosses and grooves.

In addition, the wobble plate may be coaxial with the robot assisted drive member, but its own rotational axis support structure may be independent.

The boosting cylinder can be a hydraulic cylinder, an air cylinder, a spring cylinder and other power sources, and the output can be a pushing force or a pulling force.

Drawings

FIG. 1 is a schematic diagram of the power-assisted mechanism of the present invention in operation.

FIG. 2 is a schematic diagram of the power assist mechanism of the present invention when it is disengaged from operation.

FIG. 3 is a schematic diagram of another embodiment of the present invention.

FIG. 4 is a schematic diagram of yet another embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Example 1.

As shown in figure 1, a swing arm (2) is hinged at the rotation center of a joint of a robot arm (1), the robot arm (1) and the swing arm (2) can swing around the joint center relative to a base (4) in a rotating mode, the other end of the swing arm (2) is hinged with a power output end of a thrust boosting cylinder (3), the tail end of the boosting cylinder (3) is hinged to the base (4), the rotating swing amplitude of the swing arm (2) is limited by the stroke of the boosting cylinder or external limit, and the swing angle range is smaller than the swing angle of the robot arm. A boss (6) is arranged on the robot arm (1), and another boss (5) is arranged on the opposite position of the swing arm (2).

When the robot arm rotates to the swing angle range needing assistance, namely the robot arm is in a horizontal or nearly horizontal posture, contact surfaces of two bosses (5) and (6) of the robot arm (1) and the swing arm (2) can be in contact with each other, the power cylinder (3) pushes the swing arm (2) to swing in a rotating mode, linear thrust of the power cylinder (3) is converted into rotation assistance torque, and the assistance torque is transmitted to the robot arm (1) through the contact surfaces of the robot arm and the swing body bosses (5) and (6). As shown in figure 2, when the robot arm is far away from the horizontal posture and approaches to the vertical posture without assistance, the boss (5) on the robot arm swings along with the robot arm and is separated from the working range of the assistance swing arm (2), and the contact surface of the robot arm and the boss of the swing body is separated and is separated from assistance.

The boosting mechanism not only plays an effective boosting role when necessary, but also avoids the reaction of boosting when boosting is not needed, and the stroke and the idle wear of the boosting cylinder are greatly reduced because the boosting cylinder does not need to act in a non-boosting posture.

Example 2.

As shown in figure 3, a circular swing disc (7) coaxial with the robot arm (1) is hinged at the rotation center of the joint of the robot arm, the outer edge of the swing disc (7) is hinged with the power output end of the power cylinder (3), the swing disc (7) can circumferentially swing around the axis by a limited angle under the drive of the power cylinder (3), and the swing angle range is smaller than the swing angle of the robot arm. Two grooves (8) and (9) distributed along the circumferential direction of the disk are arranged on the swinging disk (7), and two bosses (10) and (11) corresponding to the grooves of the swinging disk are arranged on the robot arm (1). When the robot arm rotates to the swing angle range needing assistance, namely the robot arm is in a horizontal or nearly horizontal posture, one sides of bosses (10) and (11) of the robot arm and grooves (8) and (9) of the swing disc can be contacted with each other respectively, the power cylinder (3) pushes the swing disc (7) to swing in a rotating mode, linear thrust of the power cylinder is converted into rotation assistance torque, and the assistance torque is transmitted to the robot arm (1) through contact surfaces of the bosses (10) and (11) of the robot arm and the grooves (8) and (9) of the swing disc. When the robot arm is far away from the horizontal posture and approaches to the vertical posture without assistance, the boss on the robot arm swings along with the robot arm to separate from the working range of the assistance swing arm, and the contact surface of the robot arm boss and the groove of the swing disc is separated from assistance.

Example 3.

As shown in fig. 4, the other structure of the present embodiment is the same as embodiment 1, except that: a robot arm driving plate (12) is further arranged and fixed on the robot arm (1), a boss (6) of the robot arm driving plate is arranged on the robot arm driving plate (12), and the main driving force of the robot arm drives the robot arm to swing through a driving arm; one end of the swing arm (2) hinged with the robot joint is coaxial with the rotation center of the driving plate.

The robot assist mechanism according to the present invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (5)

1. A robot booster mechanism is characterized in that a swinging body is coaxially hinged on a rotation central axis of a robot assisted driving part, the robot assisted driving part and the swinging body are respectively provided with a concave-convex part and a contact surface which are mutually staggered, the two contact surfaces can be separated, when two components rotate to a certain swing angle position needing power assistance of a robot arm relatively, the contact surfaces of the two components are mutually contacted, and a booster cylinder is hinged on the swinging body.

2. A robot booster according to claim 1, further characterized in that the oscillating body has a disk shape, and a shaft hinged to the booster cylinder is provided on an end surface of the disk.

3. A robot booster according to claim 1, further characterized in that the oscillating body is in the form of an arm, and one end of the arm is hinged to the booster cylinder.

4. A robot booster mechanism as in claim 1 further characterized in that said boosted drive is a robotic arm.

5. A robot booster mechanism as claimed in claim 1, further characterized in that the assisted driving member is a driving device for transmitting force to the robot arm.

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