TWI566905B - Intelligent balance suspension arm and control method - Google Patents

Description

Intelligent balance suspension arm and control method

The invention relates to the technical field of a mechanical arm or a suspension arm, in particular to a suspension arm and a control method thereof, which can automatically achieve a balance effect without pressing any button or switch.

Because the suspension arm has the advantages of convenient use of air source, no pollution to the environment, flexible and quick action, safe and reliable work, easy operation and maintenance, and suitable for working in harsh environments, in the modern production process, in order to cope with the handling of large components. As well as assembly, reducing the labor burden of the operator and improving work efficiency, the suspension arm is used, and the operator can move the heavy workpiece up and down and left and right with a small force.

The basic principle of the suspension arm is to balance the load with a constant pressure control air path, and then use a parallel linkage mechanism to achieve balance at any position. The traditional suspension arm balances the arm by manual adjustment of the load and load or manually setting the pressure. However, the attitude of the suspension arm changes with the movement of the load, and the gas itself has extremely remarkable compressibility, so the method of constant pressure control of the gas path does not achieve the best balance between the air pressure and the load.

A technical means for balancing the load and the output to form a gravity-free state can be achieved by using a pneumatic device such as, for example, Taiwan Patent No. I439709, I490513, WO 05015245A2, WO 04031782A1, and U.S. Patent No. 4,705,447.

The object of the present invention is to provide a smart balance suspension arm and a control side The method has the effect of being able to automatically achieve dynamic balance according to the weight of the load and the posture of the arm.

In order to achieve the above purpose and effect, the suspension arm comprises an arm mechanism, a plurality of rotation angle sensors, a pneumatic cylinder, a load sensor, a workpiece picker, a load detection air pressure ratio module and a A combination of balance control modules. The posture of the arm mechanism is changed, and each of the rotation angle sensor and the load sensor transmits a detection signal to the balance control module, and the balance control module outputs a control signal for controlling the load inspection. The air pressure ratio module is output, and the load detection air pressure ratio module controls the air pressure input to the air cylinder.

The control method of the suspension arm includes a suspension arm attitude changing mechanism, a rotation angle signal feedback mechanism, a load weight signal feedback mechanism, a pressure control mechanism, and a pneumatic cylinder thrust adjustment mechanism. The air pressure control mechanism uses a balance control module and a closed loop algorithm to differentially process a rotation angle signal, and the weight signal and the differentially processed rotation angle signal are subjected to proportional-product-derivative. The compensation process further forms an air pressure control signal output.

Other objects and effects of the present invention can be further disclosed in the following embodiments and drawings.

10‧‧‧suspension arm

20‧‧‧arm body

22‧‧‧ Column

24‧‧‧ linkage group

26‧‧‧ Connecting rod

28‧‧‧ Joint Department

30‧‧‧ pneumatic cylinder

40‧‧‧Rotary angle sensor

50‧‧‧Load sensor

52‧‧‧Workpiece

60‧‧‧Workpiece picker

70‧‧‧Balance Control Module

80‧‧‧Load detection air pressure ratio module

82‧‧‧Air pressure source

90‧‧‧Car discs

92‧‧‧ brake control

94‧‧‧Operator

96‧‧‧ Displacement Sensor Module

100‧‧‧Hovering arm posture change mechanism

102‧‧‧ Rotation angle signal feedback mechanism

104‧‧‧Load weight signal feedback mechanism

106‧‧‧Pneumatic control mechanism

108‧‧‧Pneumatic cylinder thrust adjustment mechanism

110‧‧‧Automatic brake stop mechanism

112‧‧‧Assisted output mechanism

Fig. 1 is a schematic view showing the structure of the present invention.

Figure 2 is a block diagram of the components of the present invention.

Figure 3 is a schematic view of the ascending state of the present invention.

Fig. 4 is a schematic view showing the arrangement and operation of the displacement sensor module and the operating lever of the present invention.

Fig. 5 is a block diagram showing the connection between the brake control sensor and the disc of the present invention.

Figure 6 is a block diagram of the various mechanisms of the control method of the present invention.

Figure 7 is a schematic diagram of the composition of the balance control module of the present invention and the closed loop of each signal fed back to the balance control module.

Figure 8 is a control flow chart of the automatic braking stop mechanism and the power assisting mechanism of the present invention.

Referring to FIG. 1 , a suspension arm 10 includes an arm mechanism 20 , a pneumatic cylinder 30 , a plurality of rotary angle sensors 40 , a load sensor 50 , a workpiece picker 60 , and a balance control . Module 70. The arm mechanism 20 is a column 22 connected to a link set 24. The link set 24 is composed of a plurality of links 26 adjacently connected, and the connecting positions of the adjacent two of the links 26 form a joint portion 28. The pneumatic cylinder 30 is disposed on the arm mechanism 20, and further, the pneumatic cylinder 30 is connected to the column 22 and the link group 24. The workpiece picker 60 can be a suction cup, a jaw or other similarly functioning device. The illustrated form of the suspension arm 10 is merely illustrative of the invention and is not intended to be limiting.

The swing angle sensor 40 is disposed on the arm mechanism 20. Further, the swing angle sensor 40 can be coupled to the pneumatic cylinder 30, and the swing angle sensor 40 can be disposed at each joint portion 28. The load sensor 50 is disposed at one end of the link set 24. The workpiece picker 60 is coupled to the load sensor 50. The balance control module 70 is disposed at one end of the link set 24 of the arm mechanism 20.

The balancing control module 70 described above is based on a controller developed by the applicant (Fengshuo Company). The balance control module 70 can integrate different hardware communication formats into the controller.

Referring to FIG. 2, the balance control module 70 is electrically connected to the sense of rotation angle. The detector 40 and the load sensor 50. In addition, a load detection air pressure ratio module 80 is electrically connected to the balance control module 70 and connected to an air pressure source 82. Further, the load detection air pressure ratio module 70 is connected to the air cylinder 30.

Referring to FIGS. 2 and 3, the posture of the arm mechanism 20 is changed. For example, the link group 24 is lifted up and the telescopic end of the pneumatic cylinder 30 is extended. The swing angle sensor 40 and the load sensor 50 are attached. A detection signal can be transmitted to the balance control module 70. The balance control module 70 can calculate the attitude of the link group 24, the angle of the pneumatic cylinder 30, and the weight of the workpiece 52 according to the signals of the rotation angle sensor 40 and the load sensor 50, and then output a The control signal is used to control the load detection air pressure ratio module 80 (see FIG. 2), so that the air pressure output by the air pressure source 82 is appropriately adjusted after the load detection air pressure ratio module 80 functions. The load detection air pressure ratio module 80 can be used to control the air pressure input to the air cylinder 30, whereby the output end of the air cylinder 30 can change the force, thereby causing the attitude of the suspension arm 10 and the action of the pneumatic cylinder 30. The force and the weight of the workpiece 52 achieve a dynamic balance effect.

Referring again to FIG. 1, the present invention further includes a plurality of brake discs 90. The brake disc 90 is attached to the joint portion 28 of the link set 24. Referring to Figure 4, the present invention includes a brake control sensor 92. Referring to FIG. 5, the brake control sensor 92 is used to control the brake disc 90. When the brake control sensor 92 detects that the operator wants to use the suspension arm 10 (see FIG. 1), for example, the operator's hand approaches the brake control sensor 92, the brake discs 90 are released from the brake action. . When the brake control sensor 92 detects that the operator does not want to use the suspension arm 10 (see FIG. 1), for example, the operator's hand is away from the brake control sensor 92, each of the brake discs 90 is immediately locked. Live, so that the suspension arm 10 can no longer move. According to the present invention, the suspension arm 10 can be surely moved in a state in which the operator deliberately operates, and the brake control sensor 92 is matched with the brake. The disc 90 has the effect of preventing malicious malfunction and can form a security device having a foolproof effect.

Referring again to Figure 4, the present invention also includes a pair of operating levers 94. The operating lever 94 is movably mounted at one end of the link set 24, and the brake control sensor 92 is disposed at one end of the link set 24 and adjacent to the operating lever 94. The operator's hand grips the operating lever 94 to control the suspension arm, so the brake sensor 92 can control the brake disc 90 by detecting the presence or absence of the operator's hand on the operating lever 94. effect.

Still further, the present invention includes at least one set of displacement sensor modules 96. The two sets of displacement sensor modules 96 are respectively disposed on the link set 24 and opposite to the operating rod 94. Next, referring to FIG. 2 , the displacement sensor module 96 is electrically connected to the balance control module 70 . When the operating lever 94 contacts the displacement sensor module 96, the balance control module 70 controls the air pressure input to the pneumatic cylinder 30 according to the displacement direction of the link group (not shown). For example, the operating lever 94 contacts the displacement sensing module 96 downwardly, indicating that the connecting rod group is displaced downward, so that the balancing control module 70 can control the air pressure input to the pneumatic cylinder 30, thereby preventing the operator from laborious. On the contrary, the operating lever 94 is in contact with the displacement sensing module 96, indicating that the connecting rod group is displaced upward, and the balancing control module 70 controls to increase the air pressure input to the pneumatic cylinder 30, thereby allowing the operator to operate. More effort.

Referring to FIG. 6 , according to the above structural form and operation mode, the control method for a suspension arm of the present invention may include a suspension arm attitude changing mechanism 100, a rotation angle signal feedback mechanism 102, and a load weight signal feedback mechanism. 104. An air pressure control mechanism 106 and a pneumatic cylinder thrust adjustment mechanism 108.

Referring to FIG. 6 and in conjunction with FIGS. 1 and 3, the suspension arm posture changing mechanism 100 refers to an arm mechanism 20 that an operator drives the suspension arm 10 to connect the arm mechanism 20 and the arm mechanism 20. The pneumatic cylinder 30 is raised or lowered. The rotation angle signal feedback mechanism The 102 system detects the rotation angle of the arm mechanism 20 and the pneumatic cylinder 30 by using the rotation angle sensor 40 mounted on the suspension arm 10, and outputs a rotation angle signal. The load weight signal feedback mechanism 104 detects the weight of the workpiece 52 by using the load sensor 50 mounted on the suspension arm 10, and outputs a load weight signal.

Referring to Figures 6 and 7, the air pressure control mechanism 106 receives the rotation angle signal and the load weight signal by using a balance control module 70, and outputs a pressure control signal from the balance control module 70 after processing and calculation. The pressure detection ratio module 80 is detected to the load. The load detection air pressure ratio module 80 receives the air pressure control signal. Referring to the first and third figures, the load detection air pressure ratio module 80 can further adjust the air pressure input to the air cylinder 30 according to the air pressure control signal, thereby making the arm mechanism 20 and the air cylinder 30 of the suspension arm 10 The output and the weight of the workpiece 52 are in a state of dynamic balance.

Referring again to FIG. 7, the balance control module 70 has a closed loop algorithm. The rotation angle signal output by the rotation angle sensor 40 is subjected to a differential processing to form an angular velocity signal. The load weight signal outputted by the load sensor 50 and the differentially processed rotation angle signal may be subjected to a proportional-product-differential compensation process to form the air pressure control signal, and the air pressure control signal is output. The pressure detection ratio module 80 is detected to the load.

In the present invention, the swing angle sensor 40 and the load sensor 50 are used to instantly collect the posture change state of the suspension arm 10 and the load weight, and then the closed loop algorithm of the balance control module 70 and The load detection air pressure ratio module 80 allows the air cylinder 30 to immediately output a sufficient amount of air pressure to achieve a dynamic balance between the cantilever mechanism 20 and the weight of the workpiece 50.

Referring to Figures 1 and 5, the present invention has a brake control sensor 92 for controlling the safety. Mounted on each of the brake discs 90 of the arm mechanism 20, therefore, referring to Fig. 8, the present invention further includes an automatic brake stop mechanism 110. The automatic brake stop mechanism 110 is configured to detect whether the operator drives the arm mechanism, and if an operator drives the arm mechanism, the brake discs are released; if the operator does not operate, the arm mechanism is driven. Or when the operator's hand suddenly leaves the operating position, the brake control sensor controls each of the brake discs to form a locked state, so that the arm mechanism cannot generate an action.

Further, the fourth embodiment of the present invention has a displacement sensing module 96 for detecting the displacement direction of the arm mechanism 24. Referring to Figure 8 and with reference to Figure 2, the present invention has an auxiliary output mechanism 112. The auxiliary output mechanism 112 detects the displacement direction of the arm mechanism 24 by using the displacement sensor module 96, and the displacement sensor module 96 outputs a power assist signal to the balance control module 70, and is processed and After the calculation, the balance control module 70 outputs an auxiliary air pressure control signal to the load detection air pressure ratio module 80, thereby adjusting the air pressure input to the air cylinder 30. For example, the arm mechanism 20 is displaced upward to increase the air pressure. Can be more labor-saving. If the arm mechanism 20 is displaced downward, the air pressure is reduced, thereby achieving the operator's saving of force.

The above is a preferred embodiment and the design of the present invention. The preferred embodiments and the drawings are merely illustrative and not intended to limit the scope of the invention. The scope of the rights covered by the content of the "Scope of Patent Application" is not within the scope of the invention and is the scope of the applicant's rights.

10‧‧‧suspension arm control box

20‧‧‧arm body

22‧‧‧ Column

24‧‧‧ linkage group

26‧‧‧ Connecting rod

28‧‧‧ Joint Department

30‧‧‧ pneumatic cylinder

40‧‧‧Rotary angle sensor

50‧‧‧Load sensor

60‧‧‧Workpiece picker

70‧‧‧Balance Control Module

90‧‧‧Car discs

Claims (8)

A smart balance suspension arm control method for controlling a suspension arm arm mechanism to form a weight balance state with a workpiece, comprising: a suspension arm posture changing mechanism, the arm mechanism of an operator driving the suspension arm The arm mechanism and a pneumatic cylinder connected to the arm mechanism are lifted or rotated; a swing angle signal feedback mechanism detects the arm mechanism and the pneumatic cylinder by using a swing angle sensor mounted on the suspension arm Rotating angle, and outputting a rotation angle signal; a load weight signal feedback mechanism detects the weight of the workpiece by using a load sensor mounted on the suspension arm, and outputs a load weight signal; a pressure control mechanism Receiving the rotation angle signal and the load weight signal by using a balance control module, and outputting a pressure control signal by the balance control module after processing and calculating; a pneumatic cylinder thrust adjustment mechanism is using a load detection air pressure ratio The module receives the air pressure control signal, and the load detection air pressure ratio module controls the air pressure control signal according to the air pressure control signal The pressure of the air cylinder is input to achieve a dynamic balance between the arm mechanism and the weight of the workpiece; wherein the balance control module has a closed loop algorithm, wherein the rotation angle signal is differentially processed, and the load weight signal is The rotation angle signal after the differential processing can be subjected to a proportional-product-differential compensation process to form the air pressure control signal output to the load detection air pressure ratio module. The control method of the smart balance suspension arm according to claim 1 of the patent application further includes an automatic brake stop mechanism, wherein a brake control sensor controls each brake disc mounted on the arm mechanism, and the brake control The sensor is configured to detect whether the operator drives the arm mechanism, and if an operator drives the arm mechanism, the brake discs are removed; if there is no operation, the author drives When the arm mechanism or the operator's hand suddenly leaves the operating position, the brake control sensor controls each of the brake discs to form a locked state, so that the arm mechanism cannot generate an action. The control method of the smart balance suspension arm according to claim 1 of the patent application scope further includes an auxiliary output mechanism, wherein the displacement direction of the arm mechanism is detected by a displacement sensor module, and the displacement sensor The module outputs a power assist signal to the balance control module, and after processing and calculating, the balance control module outputs an auxiliary air pressure control signal to the load detection air pressure ratio module, thereby adjusting the air pressure input to the air cylinder. . A smart balance suspension arm for holding or hanging a workpiece and moving the workpiece, comprising: an arm mechanism, a column connected to a link set, wherein the link set is composed of a plurality of links And the adjacent two connecting points of the connecting rod form a joint portion; a pneumatic cylinder is disposed on the arm mechanism, and the pneumatic cylinder is connected to the column and the connecting rod group; the plurality of rotary angle sensors are Arranging in the arm mechanism, and a rotation angle sensor is connected to the pneumatic cylinder; a load sensor is disposed on one end of the linkage; a workpiece picker is connected to the load sensor and The utility model is characterized in that: a load detection air pressure proportional module is connected to the pneumatic cylinder, and the load detection air pressure proportional module is used for controlling the output air pressure of the pneumatic cylinder; a balance control module is configured in the The arm mechanism is electrically connected to the rotation angle sensor and the load sensor; wherein the posture of the arm mechanism is changed, and each of the rotation angle sensor and the load sensor transmits a detection signal to the balance control Module, into The control module outputs a balance control signal proportional pressure control module for controlling the transmission ratio of the load pressure detection module, and that the detected load Entering the air pressure of the pneumatic cylinder; wherein the balance control module has a closed loop algorithm, wherein the rotation angle signal is differentially processed, and the load weight signal and the differentially processed rotation angle signal can be passed through The proportional-product-differential compensation process further forms the air pressure control signal output to the load detection air pressure ratio module. The smart balance suspension arm of claim 4, further comprising a plurality of brake discs mounted on the joint portion of the link set. The smart balance suspension arm according to claim 5, further comprising an operating lever and a brake control sensor, the operating lever is movably mounted at one end of the linkage, the brake control sensor configuration At the end of the link set and adjacent to the operating lever, the brake control sensor is used to control the brake disc. The smart balance suspension arm of claim 6, further comprising a displacement sensor module disposed on the link set and opposite to the operation rod, and the displacement sense The measuring module is electrically connected to the balance control module, and the operating lever contacts the displacement sensor module, and the balancing control module increases or decreases the air pressure input to the pneumatic cylinder according to the displacement direction control of the connecting rod group. The smart balance suspension arm of claim 4, wherein the rotation angle sensor is disposed at the joint portion of the arm mechanism.