WO2012019324A1 - Procédé et dispositif pour renforcer un robot - Google Patents

Procédé et dispositif pour renforcer un robot Download PDF

Info

Publication number
WO2012019324A1
WO2012019324A1 PCT/CN2010/001231 CN2010001231W WO2012019324A1 WO 2012019324 A1 WO2012019324 A1 WO 2012019324A1 CN 2010001231 W CN2010001231 W CN 2010001231W WO 2012019324 A1 WO2012019324 A1 WO 2012019324A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
lifting
power
rigging
power source
Prior art date
Application number
PCT/CN2010/001231
Other languages
English (en)
Chinese (zh)
Inventor
范红兵
Original Assignee
Fan Hongbing
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fan Hongbing filed Critical Fan Hongbing
Priority to PCT/CN2010/001231 priority Critical patent/WO2012019324A1/fr
Publication of WO2012019324A1 publication Critical patent/WO2012019324A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices

Definitions

  • the present invention relates to a robot assisted power method and apparatus and a robot, and more particularly to a robot boosting method and apparatus and a robot.
  • the present invention is directed to the deficiencies of the prior art, and proposes a robot boosting method and apparatus and a robot which are simple in operation, low in cost, and can effectively improve the load capacity of the robot.
  • the technical solution adopted by the present invention is a robot boosting method, which is provided with a robot boosting device composed of a power mechanism, a follower mechanism and a supporting mechanism, and the robot boosting device passes through the following mechanism
  • the moving parts of the robot are connected and move in accordance with the movement of the robot.
  • the robot booster gives the robot a fixed or variable auxiliary lifting force, so that the robot and the boosting device share the gravity of the workpiece.
  • the invention provides a robot boosting device, including a a power mechanism for increasing the lifting force, a connecting mechanism connected to the power mechanism, a transmission mechanism for transmitting the power mechanism pulling force following the robot, and a support for supporting the power mechanism and the follower mechanism
  • the power mechanism includes a power source
  • the support mechanism includes a fixed column, a beam, and a guide wheel set, one end of the beam is fixed to a top end of the fixed column, and the guide wheel set is disposed at the The two ends of the beam
  • the follower mechanism includes a lifting rigging, the initial end of the lifting rigging is connected to a power source, and the middle section of the lifting rigging sequentially passes around the guiding wheel at both ends of the beam, The terminating end of the lifting rigging is connected to the moving part of the robot via the guiding wheel set.
  • a still further improvement of the present invention is to further include at least one spiral arm disposed in parallel with the other end of the beam, wherein the two ends of the arm are respectively provided with guide wheels, and the arm is in the robot And the traction of the lifting rigging rotates with the rotation of the moving parts of the robot around the hinge axis below the end of the beam to increase the working area of the robot.
  • the power source includes a large stroke cylinder, the large stroke cylinder is matched to be mounted on an outer side or a body of the fixed column or the beam, and the end of the piston rod of the large stroke cylinder and the lifting rigging The initial end of the fixed connection, the large stroke cylinder provides an auxiliary lifting force for the robot by outputting power.
  • the power source includes a hydraulic cylinder that is matched to an outer side or a body of the fixed column or the beam, and the end of the piston rod of the hydraulic cylinder is connected to the initial end of the lifting rigging.
  • the hydraulic cylinder provides an auxiliary lifting force to the robot by outputting power.
  • the power source comprises a variable frequency speed regulating motor, and the variable frequency speed regulating motor is connected with the lifting rigging through an additional take-up shaft, and the output power of the variable frequency speed regulating motor is input to provide an auxiliary for the robot. Lifting power.
  • the power source includes a free body weight body, the weight body is coupled to the initial end of the lifting rigging, and the weight body provides an auxiliary lifting force to the robot by a predetermined weight.
  • the upper and lower guide wheels of the beam and the hinged end of the arm are respectively disposed on opposite sides of the common tangent, and the common tangent is approximately perpendicular to the arm or the beam.
  • Another object of the present invention is to provide a robot having a robot booster.
  • the robot booster device of the invention has unique concept, reasonable design, simple structure and low cost, and the lifting ability of the robot is significantly improved with minimal input, and does not affect the flexibility and work reliability of the robot movement, and is applicable. A wide range.
  • the auxiliary lifting force increasing device of the invention can be used as an accessory device of the robot or can be made integral with the robot.
  • the robot booster device of the present invention is easy to implement due to its reasonable design and simple structure, and has strong practicability, further improving the working efficiency of the robot.
  • the robot booster is equipped with a robot.
  • the whole working cycle is driven by a power source.
  • the equipment cost and operating cost are relatively low, easy to install and maintain, suitable for wide-scale promotion, and conducive to energy conservation.
  • FIG. 1 is a schematic structural view of a robot booster device according to the present invention.
  • a robot booster includes a power mechanism for increasing the lifting force, a servo mechanism coupled to the power mechanism, a transmission mechanism for transmitting the power mechanism tension following robot 7, and a support mechanism for supporting the power mechanism.
  • the support mechanism of the follower mechanism includes a power mechanism for increasing the lifting force, a servo mechanism coupled to the power mechanism, a transmission mechanism for transmitting the power mechanism tension following robot 7, and a support mechanism for supporting the power mechanism.
  • the support mechanism of the follower mechanism is a power mechanism for increasing the lifting force, a servo mechanism coupled to the power mechanism, a transmission mechanism for transmitting the power mechanism tension following robot 7, and a support mechanism for supporting the power mechanism.
  • the power mechanism comprises a power source 2, and the support mechanism comprises a fixed column 1, a beam 4, a guide wheel set 3, one end of the beam 4 is fixed on the top end of the fixed column 1, and the arm 5 is parallelly hinged below the other end of the beam 4, the arm
  • Each of the two ends of the 5 is provided with a guide wheel
  • the guide wheel set 3 is disposed at two ends of the beam 4
  • the follower mechanism includes a lifting rigging 6, the initial end of the lifting rigging 6 is connected to the power source 2, and the middle section of the lifting rigging 6
  • the guide wheels of the cross member 4 and the both ends of the swing arm 5 are sequentially wound, and the terminating end of the lifting rigging 6 is redirected to the wrist of the robot 7 via the guide wheel set 3.
  • the upper and lower guide wheels of the beam 4 and the hinged end of the arm 5 are respectively located on both sides of the common tangent, and the common tangent is approximately perpendicular to the arm 5 or the beam 4.
  • the arm 5 is a one-piece design, and of course, it can also be a multi-section design, and each adjacent two-section arm is hinged, for example, the two-section arm 5 is an end of one arm and is hinged.
  • One arm, multi-section design of the arm 5 makes the mechanism more flexible, the transmitted force is more vertical, and the end of the arm 5 is closer to the point of force of the robot 7.
  • the arm 5 is rotated by the rotation of the robot 7 and the lifting rigging 6 with the rotation of the wrist of the robot 7 around the hinge axis below the beam end thereof to increase the working area of the robot 7.
  • the lifting rigging 6 is guided by the guide wheel on the right side of the swing arm 5 as an axis.
  • the lifting rigging 6 is moved downward against the preset force of the power source 2; when the robot 7 arm moves upward, the lifting rigging 6 powers The preset force of the source 2 is converted into a lifting assisting force to the robot 7, counteracting the weight of the workpiece.
  • the lifting rigging 6 is moved to the left.
  • the swinging of the lifting rigging 6 can complete the leftward movement step. If the distance to the left is large, The lifting rigging 6 further drives the swing arm 5 to rotate leftward along the hinge axis to complete the leftward movement step, and the swing arm 5 enlarges the swinging range of the lifting rigging 6.
  • the position at which the lifting rigging 6 is connected to the robot 7 may be any moving part of the robot 7, such as a head, a wrist, an arm, etc., depending on the position at which the lifting sling 6 is connected to the robot 7, in order to grasp the robot 7.
  • the components provide the same auxiliary lifting force and require different tensioning forces for the lifting rigging 6. '
  • the lifting rigging 6 can not only directly apply the lifting power to the moving parts of the robot 7 through the guiding wheels, but also through the intermediate shifting mechanism, and then to the moving parts of the robot 7, to provide a more matching force and movement stroke.
  • the power source 2 uses a large stroke cylinder, and the large stroke cylinder is matched and mounted on the outer side of the fixed column 1.
  • the piston rod end of the large stroke cylinder is fixedly connected with the initial end of the lifting rigging 6
  • the stroke cylinder provides an auxiliary lifting force to the robot 7 by using a preset air pressure as an output power.
  • the robot boosting device can also use a hydraulic cylinder as the power source 2, and the hydraulic cylinder is matched and mounted on the outer side or the body of the fixed column 1 or the beam 4, and the piston rod end of the hydraulic cylinder and the initial end of the lifting rigging 6 Connected, the hydraulic cylinder provides a constant or variable auxiliary lift to the robot 7 by outputting power. It is also possible to use the variable frequency speed regulating motor as the power source 2, and input the power by inputting the electrical parameters of the frequency conversion speed regulating motor, and the frequency conversion speed regulating motor is connected with the lifting rigging 6 through the additional take-up shaft.
  • the robot booster applies an auxiliary lifting force to the robot 7.
  • the auxiliary lifting force is equal to 90N
  • the maximum grab weight of the robot 7 gripping mechanism is 100N.
  • the robot 7 drives the robot booster to move to the workpiece grab position, and the robot 7 grabs the workpiece.
  • the gravity of the workpiece is 170N, because the maximum gripping force of the robot 7 is 100N, the auxiliary lifting force is 90N, and the robot 7 cannot pull the workpiece, and the auxiliary lifting force provided by the robot boosting device is required, the robot 7 and The robot booster unit jointly bears the gravity of the workpiece, and the robot 7 drives the robot booster and the workpiece to move to the workpiece placement position.
  • the maximum gripping force of the robot 7 gripping mechanism is 100N
  • the auxiliary lifting force is 300N, that is, the gravity can be grasped and moved.
  • the workpiece of more than 400N greatly improves the performance of the robot 7 compared to the maximum gripping force of the robot ⁇ grabbing mechanism of 100N.
  • the auxiliary lifting force should preferably be set smaller than the maximum grab weight of the robot 7 gripping mechanism, the mechanical strength of the robot 7 and the workpiece gravity, when the robot 7 After being pulled to a certain height, the downward gripping force of the robot 7 gripping mechanism, the mechanical stress of the robot 7 and the downward gravity of the workpiece together overcome the auxiliary lifting force, preventing the auxiliary lifting force from continuing to pull the robot 7 to rise, and giving the robot 7 Cause damage.
  • the auxiliary lifting force can also be equal to zero in the no-load state, that is, in the no-load state, the robot boosting device does not provide the auxiliary lifting force to the robot 7.
  • the robot boosting device provides assistance to the robot 7. Lifting power.
  • Such an arrangement can save energy consumed by the robot booster.
  • the auxiliary lifting force can be a force that changes according to a specific program.
  • the robot boosting device gives the robot 7 a continuously increasing auxiliary lifting force until the robot 7 raises the workpiece to the highest point.
  • the robot booster gives the robot 7 a continuously decreasing auxiliary lifting force until the robot 7 lowers the workpiece.
  • the motion state of the person 7 changes the auxiliary lifting force of the robot booster, and the robot 7 can be assisted more accurately, and the robot 7 can be quickly moved to a designated position to improve the motion efficiency of the robot 7.
  • the magnitude and change state of the auxiliary lifting force do not limit the scope of protection of the present invention.
  • the robot 7 drives the robot booster and the workpiece to move to the workpiece placement position, the workpiece moves into position, the robot 7 releases the workpiece, and the robot 7 returns to the no-load state.
  • the present invention is a robot boosting method and apparatus and a robot thereof which are simple in operation, low in cost, and effective in improving the load capacity of the robot 7.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Dispositif pour renforcer un robot, comprenant un servomécanisme pour augmenter sa force de levage, un suiveur raccordé au servomécanisme pour transférer la force de traction de celui-ci et suivre le mouvement du robot (7) et un mécanisme de support pour soutenir le servomécanisme et le suiveur. Un procédé pour renforcer un robot comporte les étapes consistant à: mettre en place un dispositif pour renfort de robot, composé d'un servomécanisme, d'un suiveur et d'un mécanisme de support, raccorder le dispositif pour renfort de robot avec les pièces mobiles du robot (7) par l'intermédiaire du suiveur et suivre le mouvement dudit robot en lui apportant une force d'assistance de levage constante ou variable à l'aide du dispositif pour renfort de robot, de telle sorte que le robot et le dispositif pour renfort de robot supportent ensemble le poids de la pièce de fabrication. Le procédé et le dispositif pour renforcer un robot peuvent efficacement améliorer la capacité de charger des poids du robot et offrent les avantages d'un fonctionnement simple et d'un faible coût.
PCT/CN2010/001231 2010-08-13 2010-08-13 Procédé et dispositif pour renforcer un robot WO2012019324A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2010/001231 WO2012019324A1 (fr) 2010-08-13 2010-08-13 Procédé et dispositif pour renforcer un robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2010/001231 WO2012019324A1 (fr) 2010-08-13 2010-08-13 Procédé et dispositif pour renforcer un robot

Publications (1)

Publication Number Publication Date
WO2012019324A1 true WO2012019324A1 (fr) 2012-02-16

Family

ID=45567261

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2010/001231 WO2012019324A1 (fr) 2010-08-13 2010-08-13 Procédé et dispositif pour renforcer un robot

Country Status (1)

Country Link
WO (1) WO2012019324A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8812158B2 (en) 2011-04-07 2014-08-19 Kuka Roboter Gmbh Method and handling system for automatically moving a gravity-compensated load body
DE102017215642B3 (de) 2017-09-06 2018-12-27 Kuka Systems Gmbh Verfahren zum Steuern eines Roboters

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1250516A1 (ru) * 1984-07-24 1986-08-15 Московское научно-производственное объединение по строительному и дорожному машиностроению Манипулирующее устройство
EP0839614A1 (fr) * 1996-11-05 1998-05-06 Leenstra Machine- en Staalbouw B.V. Manipulateur
CN2356984Y (zh) * 1999-02-12 2000-01-05 苏本洪 便携式起重机
CN1559760A (zh) * 2004-03-11 2005-01-05 上海交通大学 高楼清洗机器人安全保护机构
CN101214645A (zh) * 2008-01-08 2008-07-09 哈尔滨工程大学 单滑道套筒机械手
US20090134107A1 (en) * 2007-10-09 2009-05-28 Usa As Represented By The Administrator Of The National Aeronautics And Space Administration Robotic-Movement Payload Lifter and Manipulator
CN101913153A (zh) * 2010-08-09 2010-12-15 范红兵 机器人增力方法和装置
CN201808065U (zh) * 2010-08-09 2011-04-27 范红兵 机器人增力装置以及机器人

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1250516A1 (ru) * 1984-07-24 1986-08-15 Московское научно-производственное объединение по строительному и дорожному машиностроению Манипулирующее устройство
EP0839614A1 (fr) * 1996-11-05 1998-05-06 Leenstra Machine- en Staalbouw B.V. Manipulateur
CN2356984Y (zh) * 1999-02-12 2000-01-05 苏本洪 便携式起重机
CN1559760A (zh) * 2004-03-11 2005-01-05 上海交通大学 高楼清洗机器人安全保护机构
US20090134107A1 (en) * 2007-10-09 2009-05-28 Usa As Represented By The Administrator Of The National Aeronautics And Space Administration Robotic-Movement Payload Lifter and Manipulator
CN101214645A (zh) * 2008-01-08 2008-07-09 哈尔滨工程大学 单滑道套筒机械手
CN101913153A (zh) * 2010-08-09 2010-12-15 范红兵 机器人增力方法和装置
CN201808065U (zh) * 2010-08-09 2011-04-27 范红兵 机器人增力装置以及机器人

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8812158B2 (en) 2011-04-07 2014-08-19 Kuka Roboter Gmbh Method and handling system for automatically moving a gravity-compensated load body
DE102017215642B3 (de) 2017-09-06 2018-12-27 Kuka Systems Gmbh Verfahren zum Steuern eines Roboters

Similar Documents

Publication Publication Date Title
US20150119998A1 (en) Exoskeleton arm having an actuator
CN101703829B (zh) 一种井下救援机器人
WO2013170560A1 (fr) Structure d'entraînement de robot
CN107717978A (zh) 一种工业机器人
CN110952443A (zh) 一种分体式缆索攀爬检测机器人
CN113021388A (zh) 一种气磁切换的多功能柔性卡爪机械臂
CN101913153A (zh) 机器人增力方法和装置
CN106144896A (zh) 一种牵引式小车行走机构
WO2012019324A1 (fr) Procédé et dispositif pour renforcer un robot
CN106514627B (zh) 一种气动外骨骼助力装置
CN105729487A (zh) 一种抱式矿用提升机巡检机器人
CN203125515U (zh) 一种软索机械手
CN209424903U (zh) 用于移动式液压支架四连杆机构的销轴拆装设备
CN113371628B (zh) 力感应运动自跟随起吊装置
CN106737590A (zh) 一种外骨骼助力装置
CN206307716U (zh) 一种蓄电池装配辅助工具
CN209242547U (zh) 单卷筒垃圾吊结构
CN105171741A (zh) 一种平面两自由度超跨度索并联机器人结构
CN201808065U (zh) 机器人增力装置以及机器人
CN112589777A (zh) 一种绳拉式上肢助力机器人
CN112338946A (zh) 一种摩擦辊式抓载装置及方法
CN107639632A (zh) 一种机器人手臂
CN206416161U (zh) 一种外骨骼助力装置
CN205838381U (zh) 一种基于plc的行车自动控制系统
CN106514628A (zh) 一种穿戴式外骨骼助力装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10855745

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10855745

Country of ref document: EP

Kind code of ref document: A1