CN215240893U - Intelligent robot load balancing lifting appliance - Google Patents
Intelligent robot load balancing lifting appliance Download PDFInfo
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- CN215240893U CN215240893U CN202121304622.5U CN202121304622U CN215240893U CN 215240893 U CN215240893 U CN 215240893U CN 202121304622 U CN202121304622 U CN 202121304622U CN 215240893 U CN215240893 U CN 215240893U
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Abstract
The utility model belongs to the technical field of intelligent robot, in particular to intelligent robot load balancing hoist. The intelligent actuator is arranged at the execution tail end of the intelligent robot, and the flexible cable transceiver connected with the intelligent actuator is arranged on the support; the intelligent actuator is connected with the bracket through a plurality of load balancing branched chains. The utility model discloses a many load balance branch chains carry out the dynamic compensation load disturbance often, and the work piece that can be applicable to automation line, intelligent robot snatchs and carries.
Description
Technical Field
The utility model belongs to the technical field of intelligent robot, in particular to intelligent robot load balancing hoist.
Background
A large amount of load balance hoists can be adopted in current intelligent robot and automation industry, and along with the era gos forward, the human production cost of traditional manufacturing industry promotes gradually, and the popularization of manufacturing industry automated production is more and more urgent. In this situation, automated equipment such as robots, manipulators, etc. has been unprecedentedly developed in the manufacturing field due to its many advantages and rapidly spread. Wherein, in each transport and pile up neatly trade, because the abominable of production environment, the phenomenon that manual production changes robot automated production into is more obvious. In addition to the robot playing a very important role throughout the automated production process, a component is also of critical importance, which is the intelligent end effector. The intelligent end effector is used for grabbing and putting down workpieces and used as a connecting link between the robot and the workpieces, the functions of the intelligent end effector are different, two hands for grabbing parts are replaced, and the intelligent end effector assists the robot in carrying and assembling the parts during automatic production. For example, an intelligent robot arm is mounted with an end effector (hand) for grasping a workpiece (pin). The robot system is configured to grasp a pin by a hand provided on a robot arm and fit the pin grasped by the hand into a hole of a fitting member. It is considered that an operation of fitting a pin gripped by a hand of a robot arm into a hole of a fitting member is taught in advance in the intelligent robot system.
However, when the deformation condition of the nonlinear system is large for the workpiece and heavy load, the nonlinear deflection deformation of the whole mechanical system is caused; in particular, the intelligent end effector is disturbed by the uncertainty of the cable, and the posture of the workpiece has uncertainty relative to the state of the object to be assembled from time to time. When inappropriate, even if the robot arm operates based on the operation taught in advance, it is difficult to fit the pin into the hole of the fitting member, or it may take a considerable time to perform the fitting operation. How to reach through new technology, expand current intelligent robot and be applied to more accurate assembly and accurate cutting, be the problem that urgent need be solved.
SUMMERY OF THE UTILITY MODEL
To the problem, an object of the utility model is to provide an intelligent robot load balance hoist to the uncertain load disturbance of on-line compensation reaches intelligent executor and improves the process precision at the in-process of six degrees of freedom, offsets the disturbance of the uncertain load of part.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the embodiment of the utility model provides an intelligent robot load balancing hoist, including load balancing branch chain, intelligent robot, intelligent executor, receiving and dispatching flexible cable ware and support, wherein intelligent executor sets up in the execution end of intelligent robot, the receiving and dispatching flexible cable ware that is connected with intelligent executor sets up on the support; the intelligent actuator is connected with the bracket through a plurality of load balancing branched chains.
In one possible implementation, the load balancing branch chain is a balancing cylinder;
the balance cylinder comprises a balance cylinder body and a balance pull rod in sliding fit with the balance cylinder body, and the balance cylinder body is connected with the support through a head part movable connecting assembly; the balance pull rod is connected with the intelligent actuator through a tail movable connecting assembly.
In one possible implementation manner, the header movable connection assembly includes a header support and a header adapter, wherein the header support is connected to the support, and the header adapter is rotatably connected to the header support;
the afterbody of balanced cylinder body with head adapter swivelling joint.
In one possible implementation, the axis of rotation between the balancing cylinder and the head adapter is perpendicular to the axis of rotation between the head adapter and the head support.
In a possible implementation manner, a head support rotating coded disc is arranged on the head support, and the head support rotating coded disc is used for detecting a rotation angle of the head adapter relative to the head support;
the balance cylinder is characterized in that a head swing angle sensor is arranged on the head adapter and used for detecting the rotation angle of the head adapter, and the balance cylinder is relative to the head adapter.
In one possible implementation manner, the tail movable connection assembly includes a tail support and a tail adapter, wherein the tail support is arranged on the intelligent actuator, and the tail adapter is rotatably connected with the tail support;
the tail end of the balance pull rod is rotatably connected with the tail adapter.
In one possible implementation, the axis of rotation between the balancing lever and the tail adapter is perpendicular to the axis of rotation between the tail adapter and the tail support.
In a possible implementation manner, a tail support rotary coded disc is arranged on the tail support and used for detecting the rotation angle of the tail adapter relative to the tail support;
the tail adapter is provided with a tail swing angle sensor, and the tail swing angle sensor is used for detecting that the balance pull rod is opposite to the rotation angle of the tail adapter.
In a possible implementation manner, a balance cylinder stretching distance sensor and a balance cylinder rotation angle sensor are arranged on the balance cylinder body, and detection light rays of the balance cylinder stretching distance sensor and the balance cylinder rotation angle sensor are parallel to the axis of the balance cylinder body;
the tail end of the balance pull rod is provided with a balance pull rod distance reflecting plate and a balance pull rod rotation angle dial; the balance cylinder stretching distance sensor detects the stretching distance of the balance pull rod by sensing the light reflecting effect of the balance pull rod from the light reflecting plate; the balance cylinder rotation angle sensor detects the optical detection scale on the balance pull rod rotation angle dial to realize the rotation angle detection of the balance pull rod relative to the balance cylinder body.
In a possible implementation manner, the load balancing branched chains are six and are symmetrically arranged on two sides of the intelligent actuator.
The utility model has the advantages and beneficial effects that:
1. the utility model discloses can be applicable to automatic production line, intelligent robot's work piece snatchs and transport, carries out the dynamic compensation load disturbance often through six load balance branch chains that contain between support and the intelligent actuator and six gas circuits, and the cable of balanced space developments is at the disturbance of uncertain space vector power simultaneously.
2. The utility model can improve the process precision of the cutting type actuator and the process assembly type actuator; the process accuracy of the cutting-type actuator and the process-assembly-type actuator can be detected.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is an axonometric view of a load balancing sling of an intelligent robot according to an embodiment of the present invention;
FIG. 2 is an enlarged view taken at point I in FIG. 1;
FIG. 3 is an enlarged view taken at point II in FIG. 1;
fig. 4 is a front view of an intelligent robot load balancing sling according to an embodiment of the present invention;
fig. 5 is an enlarged view of fig. 4 at point iii.
In the figure: the device comprises a load balancing branched chain, an intelligent robot, a conveying line, an intelligent actuator, a workpiece, a receiving and transmitting flexible cable device, a support, a head support rotating coded disc, a head adapter, a head swing angle sensor, a balance cylinder body, a balance cylinder stretching distance sensor, a balance cylinder rotating angle sensor, a balance pull rod distance reflecting plate, a balance pull rod rotating angle dial, a tail swing angle sensor, a tail adapter, a tail support rotating coded disc and a tail support, wherein the load balancing branched chain is 1, the intelligent robot is 2, the conveying line is 3, the intelligent actuator is 4, the workpiece is 5, the receiving and transmitting flexible cable device is 6, the support is 7, the head support is 8, the head support rotating coded disc is 9, the head support rotating coded disc is 10, the head adapter, the head swing angle sensor is 11, the balance cylinder body is 12, the balance cylinder stretching distance sensor is 13, the balance cylinder stretching distance sensor is 14, the balance cylinder rotating angle sensor, the balance pull rod is 15, the balance pull rod distance reflecting plate is 16, the balance pull rod rotating angle dial is 17, the tail swing angle sensor, the tail adapter is 18, the tail support rotating coded disc is the tail adapter, the tail support is 20.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
The embodiment of the utility model provides a pair of intelligent robot load balance hoist adopts load balance branch chain and gas circuit to carry out dynamic real-time compensation load disturbance, and the cable of balanced space developments is at uncertain space vector force disturbance simultaneously. Referring to fig. 1 to 5, the intelligent robot load balancing sling includes a load balancing branched chain 1, an intelligent robot 2, an intelligent actuator 4, a flexible cable transceiver 6 and a bracket 7, wherein the intelligent robot 2 and the bracket 7 are fixed on the ground, the intelligent actuator 4 is disposed at an execution end of the intelligent robot 2, and the flexible cable transceiver 6 connected to the intelligent actuator 4 is disposed on the bracket 7; the intelligent actuator 4 is connected with the support 7 through the load balancing branched chains 1, and the intelligent robot 2 can enable the intelligent actuator 4 to lock or unlock the workpiece 5 on the conveying line 3.
In the embodiment of the utility model, the load balance branch chain 1 is a balance cylinder; referring to fig. 5, the balance cylinder includes a balance cylinder body 12 and a balance rod 15 slidably engaged with the balance cylinder body 12, and the balance rod 15 is capable of opposing to the balance cylinder body 12. The balance cylinder body 12 is connected with the bracket 7 through a head part movable connecting assembly; the balance pull rod 15 is connected with the intelligent actuator 4 through a tail movable connecting assembly. The balance cylinder body 12 and the balance pull rod 15 form an internal closed cavity, and gases with different pressures are dynamically added into the internal closed cavity, so that different dynamic pulling forces between the balance cylinder body 12 and the balance pull rod 15 can be provided.
Referring to fig. 2, in the embodiment of the present invention, the head part movable connection assembly includes a head support 8 and a head adapter 10, wherein the head support 8 is connected to the support 7, the head adapter 10 is rotatably connected to the head support 8, and the tail part of the balance cylinder 12 is rotatably connected to the head adapter 10.
Further, the axis of rotation between the balance cylinder 12 and the head joint 10 is perpendicular to the axis of rotation between the head joint 10 and the head support 8. A head support rotary coded disc 9 is arranged on the head support 8, and the head support rotary coded disc 9 is used for detecting the rotation angle of the head adapter 10 relative to the head support 8; the head joint 10 is provided with a head swing angle sensor 11, and the head swing angle sensor 11 is used for detecting the rotation angle of the balance cylinder body 12 relative to the head joint 10.
Referring to fig. 3, in the embodiment of the present invention, the tail movable connection assembly includes a tail support 21 and a tail adapter 19, wherein the tail support 21 is disposed on the intelligent actuator 4, the tail adapter 19 is rotatably connected to the tail support 21, and the end of the balance rod 15 is rotatably connected to the tail adapter 19.
Further, the axis of rotation between the balance link 15 and the tail joint 19 is perpendicular to the axis of rotation between the tail joint 19 and the tail support 21. The tail support 21 is provided with a tail support rotating coded disc 20, and the tail support rotating coded disc 20 is used for detecting the rotation angle of the tail adapter 19 relative to the tail support 21; the tail adapter 19 is provided with a tail swing angle sensor 18, and the tail swing angle sensor 18 is used for detecting the rotation angle of the balance pull rod 15 relative to the tail adapter 19.
Referring to fig. 2, in the embodiment of the present invention, a balance cylinder stretching distance sensor 13 and a balance cylinder rotation angle sensor 14 are disposed on the balance cylinder body 12, and the detection light of the balance cylinder stretching distance sensor 13 and the balance cylinder rotation angle sensor 14 is parallel to the axis of the balance cylinder body 12 and is disposed at intervals; the tail end of the balance pull rod 15 is provided with a balance pull rod distance reflecting plate 16 and a balance pull rod rotation angle dial 17, the balance pull rod distance reflecting plate 16 and the balance pull rod rotation angle dial 17 are concentric rings with different diameters, any posture position is guaranteed, and work can be effectively completed in real time. The stretching distance sensor 13 of the balance cylinder detects the stretching distance of the balance pull rod 15 by sensing the light reflecting effect of the balance pull rod from the reflector 16; the balance cylinder rotation angle sensor 14 detects the rotation angle of the balance rod 15 relative to the balance cylinder body 12 by detecting the optical detection scale on the balance rod rotation angle dial 17.
In this embodiment, the flexible cable transceiver 6 has a space-dynamic cable connected to the intelligent actuator 4, and the space-dynamic cable provides signal power, power, visual light signal, cooling water, compressed air, vacuum, and the like for the intelligent actuator 4. However, spatially dynamic cables disturb forces in six directions where spatially undefined forces also have an uncertainty for the smart actuator 4. The embodiment of the utility model provides an in, load balancing branch chain 1 is six, and the symmetry sets up in intelligent executor 4's both sides, and six load balancing branch chains 1 between support 7 and the intelligent executor 4 are used for compensating load disturbance often in the developments. Meanwhile, real-time monitoring of each sensor is used for online deviation correction, so that the actual running track of the intelligent actuator 4 is more fit with the theoretical track, and the control precision is improved.
The utility model provides a pair of intelligent robot load balance hoist, its work piece that can be applicable to automation line, intelligent robot snatchs and carries, solves jumbo size work piece and the problem that the nonlinear system of heavy load warp the operating mode and leads to the nonlinear flexural deformation of whole mechanical system, can compensate uncertain load disturbance on line, improves the precision of intelligent executor in six degrees of freedom motion processes, offsets the disturbance of the uncertain load of part. The intelligent actuator is applied to the assembly of the intelligent robot, and is a clamping hand; the plasma cutting torch can also be applied to plasma cutting, the intelligent actuator is a cutting torch, and a workpiece is equivalent to plasma flame.
It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An intelligent robot load balancing lifting appliance is characterized by comprising a load balancing branched chain (1), an intelligent robot (2), an intelligent actuator (4), a flexible cable transceiver (6) and a support (7), wherein the intelligent actuator (4) is arranged at the execution tail end of the intelligent robot (2), and the flexible cable transceiver (6) connected with the intelligent actuator (4) is arranged on the support (7); the intelligent actuator (4) is connected with the support (7) through a plurality of load balancing branched chains (1).
2. The intelligent robot load balancing sling according to claim 1, wherein the load balancing branch chain (1) is a balancing cylinder;
the balance cylinder comprises a balance cylinder body (12) and a balance pull rod (15) in sliding fit with the balance cylinder body (12), and the balance cylinder body (12) is connected with the support (7) through a head part movable connecting assembly; the balance pull rod (15) is connected with the intelligent actuator (4) through a tail movable connecting assembly.
3. The intelligent robot load balancing sling according to claim 2, wherein the head part movable connection assembly comprises a head support (8) and a head adapter (10), wherein the head support (8) is connected with the support (7), and the head adapter (10) is rotatably connected with the head support (8);
the tail part of the balance cylinder body (12) is rotatably connected with the head adapter (10).
4. The intelligent robot load balancing spreader according to claim 3, wherein the axis of rotation between the balancing cylinder (12) and the head joint (10) is perpendicular to the axis of rotation between the head joint (10) and the head support (8).
5. The intelligent robot load balancing sling according to claim 4, wherein a head support rotating coded disc (9) is arranged on the head support (8), and the head support rotating coded disc (9) is used for detecting the rotation angle of the head adapter (10) relative to the head support (8);
be equipped with head pivot angle sensor (11) on head adapter (10), head pivot angle sensor (11) are used for detecting balanced cylinder body (12) is relative the turned angle of head adapter (10).
6. The intelligent robot load balancing sling according to claim 2, wherein the tail articulated connection assembly comprises a tail support (21) and a tail adapter (19), wherein the tail support (21) is arranged on the intelligent actuator (4), and the tail adapter (19) is rotatably connected with the tail support (21);
the tail end of the balance pull rod (15) is rotatably connected with the tail adapter (19).
7. The intelligent robotic load balancing spreader according to claim 6, wherein the axis of rotation between the balancing tie rod (15) and the tailjoint (19) is perpendicular to the axis of rotation between the tailjoint (19) and the tailmount (21).
8. The intelligent robot load balancing sling according to claim 7, wherein a tail support rotary coded disc (20) is arranged on the tail support (21), and the tail support rotary coded disc (20) is used for detecting the rotation angle of the tail adapter (19) relative to the tail support (21);
be equipped with tail pendulum angle sensor (18) on tail adapter (19), tail pendulum angle sensor (18) are used for detecting balanced pull rod (15) is relative the turned angle of tail adapter (19).
9. The intelligent robot load balancing sling according to claim 2, wherein a balancing cylinder stretching distance sensor (13) and a balancing cylinder rotation angle sensor (14) are arranged on the balancing cylinder body (12), and detection light rays of the balancing cylinder stretching distance sensor (13) and the balancing cylinder rotation angle sensor (14) are parallel to the axis of the balancing cylinder body (12);
the tail end of the balance pull rod (15) is provided with a balance pull rod distance reflecting plate (16) and a balance pull rod rotation angle dial (17);
the stretching distance sensor (13) of the balance cylinder detects the stretching distance of the balance pull rod (15) by sensing the light reflecting effect of the balance pull rod from the light reflecting plate (16);
the balance cylinder rotation angle sensor (14) detects optical detection scales on the balance pull rod rotation angle dial (17) to realize the rotation angle detection of the balance pull rod (15) relative to the balance cylinder body (12).
10. The intelligent robot load balancing sling according to any one of claims 1-9, wherein the load balancing branched chains (1) are six and symmetrically arranged on two sides of the intelligent actuator (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121304622.5U CN215240893U (en) | 2021-06-10 | 2021-06-10 | Intelligent robot load balancing lifting appliance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121304622.5U CN215240893U (en) | 2021-06-10 | 2021-06-10 | Intelligent robot load balancing lifting appliance |
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| CN215240893U true CN215240893U (en) | 2021-12-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319866A (en) * | 2021-06-10 | 2021-08-31 | 潍坊新松机器人自动化有限公司 | Intelligent robot load balance lifting appliance |
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2021
- 2021-06-10 CN CN202121304622.5U patent/CN215240893U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319866A (en) * | 2021-06-10 | 2021-08-31 | 潍坊新松机器人自动化有限公司 | Intelligent robot load balance lifting appliance |
| CN113319866B (en) * | 2021-06-10 | 2024-03-26 | 潍坊新松机器人自动化有限公司 | Intelligent robot load balancing lifting appliance |
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