TWM519575U - Intelligent balanced suspension arm structure - Google Patents

Description

Smart balance suspension arm structure

This creation is about the technical field of a robotic arm or a suspension arm, especially a suspension arm structure that automatically reaches equilibrium.

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 purpose of this creation is to provide a smart balance suspension arm structure that can automatically input a pneumatic cylinder with appropriate and matched air pressure according to the load weight and arm posture, thereby making the posture of the arm, the output of the pneumatic cylinder and the workpiece. The weight achieves a good dynamic balance.

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 attitude of the arm mechanism changes, and the rotation angle sensor and the load sensor transmit a detection signal to the balance control module, and the balance control module outputs a control signal for controlling the load detection. The air pressure ratio module controls the air pressure proportional module to control the air pressure input to the air cylinder. In this way, a good dynamic balance effect is achieved.

Other purposes and functions of the present invention may be disclosed in the following description 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

Figure 1 is a schematic diagram of the structure of the creation.

Figure 2 is a block diagram of the components of this creation.

Figure 3 is a schematic diagram of the upward state of the creation.

Figure 4 is a schematic diagram of the configuration and operation of the displacement sensor module and the operating lever of the present invention.

Figure 5 is a block diagram of the brake control sensor and the disc of the disc.

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 , and a workpiece capture device . The controller 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 present invention and is not limited thereto.

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 above-mentioned balance control module 70 can be constructed by 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 rotation angle sensor 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 posture of the link group 24 according to the signals of the rotation angle sensor 40 and the load sensor 50. State, the angle of the pneumatic cylinder 30 and the weight of the workpiece 52, and further output a control signal for controlling the load detection air pressure ratio module 80 (see FIG. 2), so that the air pressure output by the air pressure source 82 can pass through the The load detects the effect of the air pressure ratio module 80 to obtain an appropriate adjustment. The load detection air pressure ratio module 80 can be used to control the air pressure input to the air cylinder 30, thereby achieving the effect of the dynamic balance of the attitude of the suspension arm 10, the output of the air cylinder, and the weight of the workpiece 52.

Referring to Figure 1, the creation also 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 creation 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. Therefore, the present invention can surely cause the suspension arm 10 to move in a state in which the operator deliberately operates, and the brake control sensor 92 is matched with the brake disc 90 to prevent malicious malfunction and can be formed to prevent A safety device that stays effective.

Please refer to Figure 4 again. This creation 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.

Again, the creation 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, please refer to the second 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 is in contact with the displacement sensing module 96, indicating that the connecting rod group is displaced downward. Thus, the balancing control module 70 controls the air pressure input to the pneumatic cylinder 30 to be reduced, thereby preventing the operator from laborious. On the contrary, the operating lever 94 is in upward contact with the displacement sensing module 96, indicating that the connecting rod group is displaced upward, and the balancing control module 70 controls the air pressure input to the pneumatic cylinder 30, thereby making the operation of the operator more labor-saving. .

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

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

60‧‧‧Workpiece picker

70‧‧‧Balance Control Module

90‧‧‧Car discs

Claims (5)

A smart balance suspension arm structure 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 connected by a plurality of links Composed, 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 The arm mechanism is disposed, and the rotation angle sensor is connected to the air cylinder; a load sensor is disposed on one end of the link group; and a workpiece picker is connected to the load sensor And for extracting the workpiece; a load detection air pressure ratio module is connected to the pneumatic cylinder, and the load detection air pressure ratio module is used for controlling the output air pressure of the pneumatic cylinder; a balance control module is configured 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 The balance control module further outputs a control signal for controlling the ratio of the load pressure detection module, and that the load detection module controls the pressure ratio of the input air pressure of the pneumatic cylinder. The smart balance suspension arm structure according to claim 1, further comprising a plurality of brake discs mounted on the joint portion of the link set. The smart balance suspension arm structure according to claim 2, 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 The brake lever is controlled at one end of the link set and adjacent to the operating lever, and the brake control sensor is used to control the brake disc. The smart balance suspension arm structure according to claim 3, further comprising a displacement sensor module, wherein the displacement sensor module is disposed on the link group and opposite to the operation rod, and the displacement The sensor module is electrically connected to the balance control module, and the operation lever contacts the displacement sensor module, and the balance control module controls the air pressure input to the air cylinder according to the displacement direction of the link group. The smart balance suspension arm structure of claim 1, wherein the rotation angle sensor is disposed at the joint portion of the arm mechanism.