WO2021036352A1 - Horizontal lifting apparatus for industrial robot, and method for use thereof - Google Patents

Horizontal lifting apparatus for industrial robot, and method for use thereof Download PDF

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Publication number
WO2021036352A1
WO2021036352A1 PCT/CN2020/090313 CN2020090313W WO2021036352A1 WO 2021036352 A1 WO2021036352 A1 WO 2021036352A1 CN 2020090313 W CN2020090313 W CN 2020090313W WO 2021036352 A1 WO2021036352 A1 WO 2021036352A1
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WO
WIPO (PCT)
Prior art keywords
clamping
support platform
telescopic
industrial
lifting
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PCT/CN2020/090313
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French (fr)
Chinese (zh)
Inventor
张娟娟
唐德
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南京涵曦月自动化科技有限公司
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Publication of WO2021036352A1 publication Critical patent/WO2021036352A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/08Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
    • B66F7/085Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated pneumatically operated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions

Definitions

  • the invention relates to the technical field of robots, in particular to a horizontal lifting device for industrial robots and a use method thereof.
  • An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans, and it can also be run in accordance with pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology.
  • the object of the present invention is to provide a horizontal lifting device for industrial robots and a method of use thereof, so as to solve the above-mentioned problems in the background art.
  • a horizontal lifting device for an industrial robot comprising a base.
  • the base is provided with a plurality of main lifting cylinders whose telescopic ends are arranged upwards.
  • the telescopic ends of the main lifting cylinders are fixedly connected to a support platform, and the base and the support platform are both horizontally arranged.
  • the upper end of the support table is provided with a placement plate, the upper end surface of the placement plate is provided with densely opened upper end installation grooves, the installation grooves on the upper end of the placement plate are distributed on the upper end of the placement plate in a matrix, and the installation grooves are all installed
  • a telescopic limit structure, and a plurality of sets of clamping structures arranged oppositely are also provided on the support table.
  • the telescopic limit structure is a telescopic rod
  • the telescopic rods are all independently connected to the programming controller of the robot, and the lower end of the telescopic rod is fixedly installed in the installation slot.
  • a rubber sleeve is also installed on the upper end of the telescopic rod.
  • the clamping structure includes a clamping cylinder and a clamping plate, the clamping cylinders are symmetrically arranged on both sides of the placement plate, and the clamping cylinders are installed on the telescopic end of the auxiliary lifting cylinder.
  • the auxiliary lifting cylinder is vertically fixed and installed on the supporting table, and the telescopic end of the clamping cylinder is fixedly connected with a splint, and the end of the splint is fixedly installed with a rubber strip.
  • a pressure sensor is also installed in the splint.
  • the clamping structure is one group or two groups.
  • the placement plate is installed on the support table by rotating the adapter plate, the center of the lower end of the adapter plate is fixedly connected with a disc-shaped convex block, and the supporting table is provided with the convex block.
  • a matched movable groove, a driven gear is fixedly installed on the convex block, a driving gear meshing with the driven gear is arranged in the supporting table, and the driving gear is connected to the output end of the motor through a rotating shaft.
  • two groups of supporting sliding structures are provided between the adapter plate and the supporting table, the first group of supporting sliding structures are a slider and a sliding groove, and the lower end of the adapter plate is provided with There is a ring-shaped protruding sliding block, the support table is provided with a sliding block groove in the box that fits with the sliding block, and the sliding block is slidably installed in the sliding block rotation groove; the second group of supporting sliding structures It is a ball and a ball sliding groove, the bottom of the convex block is connected with a plurality of annularly distributed balls, the bottom of the movable groove is provided with a ball sliding groove matching the driven gear, and the balls are installed in the ball sliding groove.
  • Another purpose of this application is to provide a method for using a horizontal lifting device for industrial robots, which includes the following steps:
  • the horizontal lifting device uses a stable base, a main lifting cylinder, and a support platform to form a horizontal lifting body, and uses the matrix-arranged telescopic rods on the placement plate and the clamping structure on the support platform to complete the fixation, which provides sufficient support for While lifting horizontally, the lifting components are firmly fixed, and it is suitable for lifting large industrial components of different shapes and sizes.
  • One machine can meet most lifting tasks, greatly improving the lifting ability of industrial robots and promoting Further development of transportation and assembly in industrial workshops.
  • Figure 1 is a schematic diagram of the structure of a horizontal lifting device for industrial robots.
  • Fig. 2 is a schematic diagram of the structure of the supporting table in the horizontal lifting device for industrial robots.
  • Fig. 3 is a schematic diagram of the structure of the placing board in the horizontal lifting device for industrial robots.
  • base 1 main lifting cylinder 2, support table 3, sliding block rotary groove 4, sliding block 5, clamping cylinder 6, splint 7, placing plate 8, mounting groove 9, telescopic rod 10, rubber sleeve 11, rotation
  • the connecting plate 12 the bump 13, the rubber strip 14, the pressure sensor 15, the auxiliary lifting cylinder 16, the ball 17, the driven gear 18, the movable groove 19, the ball sliding groove 20, the driving gear 21, and the motor 22.
  • a horizontal lifting device for industrial robots includes a base 1.
  • the base 1 is provided with a plurality of main lifting cylinders 2 whose telescopic ends are upwardly arranged, and the main lifting cylinders 2
  • the telescopic end is fixedly connected to the support platform 3, the base platform 1 and the support platform 3 are both horizontally arranged, the upper end of the support platform 3 is provided with a placement plate 8, and the upper end surface of the placement plate 8 is provided with a dense installation groove 9 with an opening at the upper end ,
  • the mounting grooves 9 at the upper end of the placement plate 8 are distributed in a matrix on the upper end of the placement plate 8, and a telescopic limit structure is installed in the mounting grooves 9;
  • the telescopic limit structure is a telescopic rod 10, the telescopic rod 10 They are all independently connected to the programming controller of the robot.
  • the lower end of the telescopic rod 10 is fixedly installed in the installation slot 9, and the upper end of the telescopic rod 10 is also installed with a rubber sleeve 11 to limit and protect the lifting member.
  • the support platform 3 There are also several sets of relatively set clamping structures. When performing specific lifting operations, the components are placed on the placement plate 8 through the suspension components in the industrial workshop. At this time, according to the bottom mechanism and the peripheral contour structure of the components, Control the extension of the telescopic rod 10 in the corresponding installation slot 9 to construct a concave-convex limiting structure matching the lifted member on the originally horizontal placement plate 8.
  • the horizontal lifting device uses a stable base 1, the main lifting cylinder 2 and the support platform 3 to form a horizontal lifting body, and uses the matrix-arranged telescopic rods 10 on the placement plate 8 and the clamping structure on the support platform 3 to complete the fixation , While providing sufficient support for horizontal lifting, the lifting components are firmly fixed, and it is suitable for lifting large industrial components of different shapes and sizes.
  • One machine can meet most lifting tasks, greatly improving The lifting ability of industrial robots promotes the further development of transportation and assembly in industrial workshops.
  • the clamping structure includes a clamping cylinder 6 and a clamping plate 7.
  • the clamping cylinders 6 are symmetrically arranged on both sides of the placement plate 8, and the clamping cylinders 6 are installed on the telescopic end of the auxiliary lifting cylinder 16, so
  • the auxiliary lifting cylinder 16 is vertically and fixedly installed on the support platform 3, and the telescopic end of the clamping cylinder 6 is fixedly connected to the splint 7.
  • the end of the splint 7 is fixedly installed with a rubber strip 14 which is used for clamping during clamping. Industrial components are protected.
  • a pressure sensor 15 is also installed in the splint 7, and the pressure sensor 15 is used to detect the pressure when the splint 7 is clamped, so as to ensure sufficient pressing force on the lifting member and avoid underwork or overwork of the clamping cylinder 6 .
  • the clamping structure is one or two groups to ensure the secondary fixation of the lifting member.
  • the embodiment of the present invention performs a functional upgrade of a horizontal lifting device for industrial robots on the basis of embodiment 1, specifically:
  • the placement plate 8 is rotated and installed on the support platform 3 through the adapter plate 12, so that the angle of placing the member to be lifted can be adjusted when the member is placed and the clamping structure is clamped, so as to avoid damage to the member and improve the fixing quality.
  • a disc-shaped protrusion 13 is fixedly connected to the center of the lower end of the adapter plate 12, and a movable groove 19 matching the protrusion 13 is provided on the support 3, and the protrusion 13 is fixedly installed with
  • the driving gear 18, the support 3 is provided with a driving gear 21 meshing with the driven gear 18, the driving gear 21 is connected to the output end of the motor 22 through a rotating shaft, so that the driving gear 21 drives the movable groove 19 to rotate when the motor 22 is working, Therefore, the adapter plate 12 can follow the rotation to realize the angle adjustment of the placement plate 8 and the upper end of the placement plate 8, avoiding the tightening of the rubber strip 14 on parts such as displays, buttons, etc., and facilitate the adjustment of the components to make the components and the splint 7 better. Function to improve the fixed effect.
  • the first group of support sliding structures is a slider 5 and a sliding structure.
  • Block rotating slot 4 the lower end of the adapter plate 12 is provided with an annular protruding slider 5, and the support 3 is provided with a slider rotating slot 4 recessed in the box that fits with the slider 5.
  • the block 5 is slidably installed in the sliding groove 4, and the adapter plate 12 is stably supported by the sliding block 5 and the sliding groove 4, and at the same time, it is convenient for the rotation of the adapter plate 12 during adjustment;
  • the sliding structure is a ball 17 and a ball chute 20.
  • the bottom of the bump 13 is connected with a number of annularly distributed balls 17, and the bottom of the movable groove 19 is provided with a ball chute 20 that matches the driven gear 18.
  • the balls 17 are all Installed in the ball chute 20, the ball 17 and the ball chute 20 also play the role of support and auxiliary rotation to ensure the stability of the robot structure.
  • Embodiment 1 On the basis of Embodiment 1, a method for using a horizontal lifting device for industrial robots is proposed, which includes the following steps:
  • the working principle of the present invention is: the base 1 is provided with a plurality of main lifting cylinders 2 whose telescopic ends are upwardly arranged, the telescopic ends of the main lifting cylinders 2 are fixedly connected to the support platform 3, and the base 1 and the support platform 3 are both arranged horizontally,
  • the upper end of the supporting table 3 is provided with a placement plate 8, and the upper end surface of the placement plate 8 is provided with densely opened upper end installation grooves 9; the upper end of the placement plate 8 has the installation grooves 9 distributed on the upper end of the placement plate 8 in a matrix form,
  • a telescopic limit structure is installed in the installation slots 9.
  • the telescopic limit structure is a telescopic rod 10.
  • the telescopic rods 10 are independently connected to the programming controller of the robot.
  • the lower end of the telescopic rod 10 is fixedly installed in the installation slot.
  • the upper end of the telescopic rod 10 is also installed with a rubber sleeve 11 to limit and protect the lifting member.
  • the support platform 3 is also provided with several sets of clamping structures arranged oppositely.
  • the horizontal lifting device uses the stable base 1, the main lifting cylinder 2 and the support table 3.
  • the horizontal lifting body is formed, and the telescopic rods 10 arranged in a matrix on the placement plate 8 and the clamping structure on the support platform 3 are used to complete the fixation. While providing sufficient support for horizontal lifting, the lifting members are firmly fixed, And it is suitable for lifting large industrial components of different shapes and sizes.
  • One machine can meet most lifting tasks, greatly improving the lifting capacity of industrial robots and promoting the further development of transportation and assembly in industrial workshops.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

Provided are a horizontal lifting apparatus for an industrial robot, and a method for use thereof, comprising a base platform (1); the base platform (1) is provided with a plurality of main lifting cylinders (2) having the telescopic ends arranged facing upward; the telescopic end of the main lifting cylinder (2) is fixedly connected to a support platform (3); the upper end of the support platform (3) is provided with a placement plate (8); mounting slots (9) at the upper end of the placement plate (8) are distributed in a matrix on the upper end of the placement plate (8); telescopic position-limiting structures are mounted in the mounting slots (9); the support platform (3) is also provided with a plurality of sets of clamping mechanisms arranged opposite to each other; in the horizontal lifting apparatus, the stable base platform (1), main lifting cylinder (2), and support platform (3) are used to constitute a horizontal lifting body, and the telescopic rods (10) arranged as a matrix on the placement plate (8) and the clamping structure on the support platform (3) are used to perform fixation, and while providing sufficient support for horizontal lifting, firmly fix the lifting member; the invention is suitable for lifting large industrial components of different shapes and sizes, one machine can perform the vast majority of lifting tasks, significantly enhancing the lifting capability of the industrial robot.

Description

一种工业机器人用水平抬举装置及其使用方法Horizontal lifting device for industrial robot and use method thereof 技术领域Technical field
本发明涉及机器人技术领域,具体是一种工业机器人用水平抬举装置及其使用方法。 The invention relates to the technical field of robots, in particular to a horizontal lifting device for industrial robots and a use method thereof.
背景技术Background technique
工业机器人是面向工业领域的多关节机械手或多自由度的机器装置,它能自动执行工作,是靠自身动力和控制能力来实现各种功能的一种机器。它可以接受人类指挥,也可以按照预先编排的程序运行,现代的工业机器人还可以根据人工智能技术制定的原则纲领行动。An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans, and it can also be run in accordance with pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology.
随着现代工业的发展,对运输和装配的要求不断提高,在进行中大型设备的装配中,现有的类似的多关节型的机器人支撑力不足、难以保证稳定的抬举,且对于不同造型、尺寸的构件需要采用不同的举爪结构,因而,从稳定性及适用性的角度出发,需要一种新型的工业机器人用水平抬举装置。With the development of modern industry, the requirements for transportation and assembly continue to increase. In the assembly of medium and large equipment, the existing similar multi-joint robots have insufficient support force, difficult to ensure stable lifting, and for different shapes, Dimensional components need to adopt different claw lifting structures. Therefore, from the perspective of stability and applicability, a new type of horizontal lifting device for industrial robots is required.
技术问题technical problem
本发明的目的在于提供一种工业机器人用水平抬举装置及其使用方法,以解决上述背景技术中提出的问题。The object of the present invention is to provide a horizontal lifting device for industrial robots and a method of use thereof, so as to solve the above-mentioned problems in the background art.
技术解决方案Technical solutions
一种工业机器人用水平抬举装置,包括基台,所述基台中设有若干伸缩端向上设置的主升降气缸,主升降气缸的伸缩端固定连接支撑台,基台与支撑台均水平设置,所述支撑台上端设有放置板,所述放置板的上端面设有密集的上端开口的安装槽,放置板的上端的安装槽呈矩阵式分布在放置板上端,所述安装槽中均安装有伸缩限位结构,所述支撑台上还设有若干组相对设置的夹紧结构。A horizontal lifting device for an industrial robot, comprising a base. The base is provided with a plurality of main lifting cylinders whose telescopic ends are arranged upwards. The telescopic ends of the main lifting cylinders are fixedly connected to a support platform, and the base and the support platform are both horizontally arranged. The upper end of the support table is provided with a placement plate, the upper end surface of the placement plate is provided with densely opened upper end installation grooves, the installation grooves on the upper end of the placement plate are distributed on the upper end of the placement plate in a matrix, and the installation grooves are all installed A telescopic limit structure, and a plurality of sets of clamping structures arranged oppositely are also provided on the support table.
作为本发明进一步的方案:所述伸缩限位结构为伸缩杆,所述伸缩杆均独立的连接机器人的编程控制器,伸缩杆的下端固定安装在安装槽中。As a further solution of the present invention: the telescopic limit structure is a telescopic rod, the telescopic rods are all independently connected to the programming controller of the robot, and the lower end of the telescopic rod is fixedly installed in the installation slot.
作为本发明再进一步的方案:所述伸缩杆的上端还安装有橡胶套。As a further solution of the present invention: a rubber sleeve is also installed on the upper end of the telescopic rod.
作为本发明再进一步的方案:所述的夹紧结构包括夹紧气缸和夹板,所述夹紧气缸对称设置在放置板的两侧,夹紧气缸安装在副升降气缸的伸缩端上,所述副升降气缸竖直固定安装在支撑台上,夹紧气缸的伸缩端固定连接夹板,所述夹板的端头固定安装有橡胶条。As a further solution of the present invention: the clamping structure includes a clamping cylinder and a clamping plate, the clamping cylinders are symmetrically arranged on both sides of the placement plate, and the clamping cylinders are installed on the telescopic end of the auxiliary lifting cylinder. The auxiliary lifting cylinder is vertically fixed and installed on the supporting table, and the telescopic end of the clamping cylinder is fixedly connected with a splint, and the end of the splint is fixedly installed with a rubber strip.
作为本发明再进一步的方案:所述夹板中还安装有压力传感器。As a further solution of the present invention: a pressure sensor is also installed in the splint.
作为本发明再进一步的方案:所述夹紧结构为一组或两组。As a further solution of the present invention: the clamping structure is one group or two groups.
作为本发明再进一步的方案:所述放置板通过转接板转动安装在支撑台上,所述转接板的下端中心处固定连接圆盘状的凸块,支撑台上设有与凸块相匹配的活动槽,所述凸块上固定安装有从动齿轮,支撑台中设有与从动齿轮相啮合的主动齿轮,主动齿轮通过转轴连接电机的输出端。As a further solution of the present invention: the placement plate is installed on the support table by rotating the adapter plate, the center of the lower end of the adapter plate is fixedly connected with a disc-shaped convex block, and the supporting table is provided with the convex block. A matched movable groove, a driven gear is fixedly installed on the convex block, a driving gear meshing with the driven gear is arranged in the supporting table, and the driving gear is connected to the output end of the motor through a rotating shaft.
作为本发明再进一步的方案:所述转接板与支撑台间设有两组支撑滑动结构,所述第一组支撑滑动结构为滑块和滑块转槽,所述转接板的下端设有圆环状的凸出的滑块,支撑台上设有箱内凹陷的与滑块相契合的滑块转槽,滑块滑动安装在滑块转槽中;所述第二组支撑滑动结构为滚珠和滚珠滑槽,所述凸块的底部连接若干圆环状分布的滚珠,活动槽底部设有与从动齿轮相匹配的滚珠滑槽,滚珠均安装在滚珠滑槽内。As a further solution of the present invention, two groups of supporting sliding structures are provided between the adapter plate and the supporting table, the first group of supporting sliding structures are a slider and a sliding groove, and the lower end of the adapter plate is provided with There is a ring-shaped protruding sliding block, the support table is provided with a sliding block groove in the box that fits with the sliding block, and the sliding block is slidably installed in the sliding block rotation groove; the second group of supporting sliding structures It is a ball and a ball sliding groove, the bottom of the convex block is connected with a plurality of annularly distributed balls, the bottom of the movable groove is provided with a ball sliding groove matching the driven gear, and the balls are installed in the ball sliding groove.
本申请的另一个目的在于,提出一种工业机器人用水平抬举装置使用方法,包括以下步骤:Another purpose of this application is to provide a method for using a horizontal lifting device for industrial robots, which includes the following steps:
1、将待抬举的工业构件置于放置板上;1. Place the industrial components to be lifted on the placement board;
2、利用工业构件的底部特征及底部接触轮廓特征,控制相应的安装槽中的伸缩杆升起;2. Use the bottom feature and bottom contact profile feature of the industrial component to control the rise of the telescopic rod in the corresponding installation slot;
3、启动电机,使转接板带动放置板转动,调节限位完成的构件角度;3. Start the motor, make the adapter plate drive the placement plate to rotate, and adjust the angle of the finished component;
4、启动副升降气缸调节合适的夹紧高度,同时启动对应的夹紧气缸,利用夹板在合适的结构面夹紧工业构件;4. Start the auxiliary lifting cylinder to adjust the appropriate clamping height, and at the same time start the corresponding clamping cylinder, use the clamping plate to clamp the industrial component on the appropriate structural surface;
5、启动主升降气缸抬举支撑台,至合适高度后,依次解除夹板和伸缩杆对工业构件的固定。5. Start the main lifting cylinder to lift the support platform, and after reaching the appropriate height, successively release the fixing of the splint and the telescopic rod to the industrial components.
有益效果Beneficial effect
该水平抬举装置利用稳定的基台、主升降气缸和支撑台构成水平抬举主体,并利用放置板上矩阵式排布的伸缩杆和支撑台上的夹紧结构完成固定,在提供足够支撑力进行水平抬举的同时,对抬举构件进行稳固的固定,且适用于不同造型、尺寸的大件工业构件的抬举,一机即可满足绝大多数的抬举任务,大大提升了工业机器人的抬举能力,促进工业车间内运输及装配的进一步发展。The horizontal lifting device uses a stable base, a main lifting cylinder, and a support platform to form a horizontal lifting body, and uses the matrix-arranged telescopic rods on the placement plate and the clamping structure on the support platform to complete the fixation, which provides sufficient support for While lifting horizontally, the lifting components are firmly fixed, and it is suitable for lifting large industrial components of different shapes and sizes. One machine can meet most lifting tasks, greatly improving the lifting ability of industrial robots and promoting Further development of transportation and assembly in industrial workshops.
附图说明Description of the drawings
图1为工业机器人用水平抬举装置的结构示意图。Figure 1 is a schematic diagram of the structure of a horizontal lifting device for industrial robots.
图2为工业机器人用水平抬举装置中支撑台的结构示意图。Fig. 2 is a schematic diagram of the structure of the supporting table in the horizontal lifting device for industrial robots.
图3为工业机器人用水平抬举装置中放置板的结构示意图。Fig. 3 is a schematic diagram of the structure of the placing board in the horizontal lifting device for industrial robots.
其中:基台1、主升降气缸2、支撑台3、滑块转槽4、滑块5、夹紧气缸6、夹板7、放置板8、安装槽9、伸缩杆10、橡胶套11、转接板12、凸块13、橡胶条14、压力传感器15、副升降气缸16、滚珠17、从动齿轮18、活动槽19、滚珠滑槽20、主动齿轮21、电机22。Among them: base 1, main lifting cylinder 2, support table 3, sliding block rotary groove 4, sliding block 5, clamping cylinder 6, splint 7, placing plate 8, mounting groove 9, telescopic rod 10, rubber sleeve 11, rotation The connecting plate 12, the bump 13, the rubber strip 14, the pressure sensor 15, the auxiliary lifting cylinder 16, the ball 17, the driven gear 18, the movable groove 19, the ball sliding groove 20, the driving gear 21, and the motor 22.
本发明的实施方式Embodiments of the present invention
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
实施例1:Example 1:
请参阅图1~3,本发明实施例中,一种工业机器人用水平抬举装置,包括基台1,所述基台1中设有若干伸缩端向上设置的主升降气缸2,主升降气缸2的伸缩端固定连接支撑台3,基台1与支撑台3均水平设置,所述支撑台3上端设有放置板8,所述放置板8的上端面设有密集的上端开口的安装槽9,放置板8的上端的安装槽9呈矩阵式分布在放置板8上端,所述安装槽9中均安装有伸缩限位结构,所述伸缩限位结构为伸缩杆10,所述伸缩杆10均独立的连接机器人的编程控制器,伸缩杆10的下端固定安装在安装槽9中,伸缩杆10的上端还安装有橡胶套11,对进行抬举的构件进行限位保护,所述支撑台3上还设有若干组相对设置的夹紧结构,在进行具体的抬举作业时,通过工业车间内的悬吊组件将构件放置在放置板8上,此时根据构件的底部机构以及周边轮廓结构,控制相应的安装槽9中的伸缩杆10伸出,从而在原本水平的放置板8上构建出与抬举的构件相匹配的凹凸状限位结构,在进行伸缩杆10的伸缩限位后,再利用支撑台3上若干组夹紧结构进行二次固定,在主升降气缸2的竖直伸缩作用下,对工业车间内目标构件进行稳定的抬举作业,区别于传统的机器人多关节卡爪式抬举,该水平抬举装置利用稳定的基台1、主升降气缸2和支撑台3构成水平抬举主体,并利用放置板8上矩阵式排布的伸缩杆10和支撑台3上的夹紧结构完成固定,在提供足够支撑力进行水平抬举的同时,对抬举构件进行稳固的固定,且适用于不同造型、尺寸的大件工业构件的抬举,一机即可满足绝大多数的抬举任务,大大提升了工业机器人的抬举能力,促进工业车间内运输及装配的进一步发展。Referring to Figures 1 to 3, in an embodiment of the present invention, a horizontal lifting device for industrial robots includes a base 1. The base 1 is provided with a plurality of main lifting cylinders 2 whose telescopic ends are upwardly arranged, and the main lifting cylinders 2 The telescopic end is fixedly connected to the support platform 3, the base platform 1 and the support platform 3 are both horizontally arranged, the upper end of the support platform 3 is provided with a placement plate 8, and the upper end surface of the placement plate 8 is provided with a dense installation groove 9 with an opening at the upper end , The mounting grooves 9 at the upper end of the placement plate 8 are distributed in a matrix on the upper end of the placement plate 8, and a telescopic limit structure is installed in the mounting grooves 9; the telescopic limit structure is a telescopic rod 10, the telescopic rod 10 They are all independently connected to the programming controller of the robot. The lower end of the telescopic rod 10 is fixedly installed in the installation slot 9, and the upper end of the telescopic rod 10 is also installed with a rubber sleeve 11 to limit and protect the lifting member. The support platform 3 There are also several sets of relatively set clamping structures. When performing specific lifting operations, the components are placed on the placement plate 8 through the suspension components in the industrial workshop. At this time, according to the bottom mechanism and the peripheral contour structure of the components, Control the extension of the telescopic rod 10 in the corresponding installation slot 9 to construct a concave-convex limiting structure matching the lifted member on the originally horizontal placement plate 8. After the telescopic rod 10 is telescopically limited, then Using several sets of clamping structures on the support platform 3 for secondary fixation, under the vertical expansion and contraction of the main lifting cylinder 2, the target components in the industrial workshop are stably lifted, which is different from the traditional multi-joint claw lifting of the robot The horizontal lifting device uses a stable base 1, the main lifting cylinder 2 and the support platform 3 to form a horizontal lifting body, and uses the matrix-arranged telescopic rods 10 on the placement plate 8 and the clamping structure on the support platform 3 to complete the fixation , While providing sufficient support for horizontal lifting, the lifting components are firmly fixed, and it is suitable for lifting large industrial components of different shapes and sizes. One machine can meet most lifting tasks, greatly improving The lifting ability of industrial robots promotes the further development of transportation and assembly in industrial workshops.
具体的,所述的夹紧结构包括夹紧气缸6和夹板7,所述夹紧气缸6对称设置在放置板8的两侧,夹紧气缸6安装在副升降气缸16的伸缩端上,所述副升降气缸16竖直固定安装在支撑台3上,夹紧气缸6的伸缩端固定连接夹板7,所述夹板7的端头固定安装有橡胶条14,通过橡胶条14在夹紧时对工业构件进行保护。进一步的,所述夹板7中还安装有压力传感器15,通过压力传感器15对夹板7夹紧时的压力进行检测,保证对抬举构件的足够的压紧力,避免夹紧气缸6工作不足或过度。优选的,所述夹紧结构为一组或两组,保证对抬举构件的二次固定。Specifically, the clamping structure includes a clamping cylinder 6 and a clamping plate 7. The clamping cylinders 6 are symmetrically arranged on both sides of the placement plate 8, and the clamping cylinders 6 are installed on the telescopic end of the auxiliary lifting cylinder 16, so The auxiliary lifting cylinder 16 is vertically and fixedly installed on the support platform 3, and the telescopic end of the clamping cylinder 6 is fixedly connected to the splint 7. The end of the splint 7 is fixedly installed with a rubber strip 14 which is used for clamping during clamping. Industrial components are protected. Further, a pressure sensor 15 is also installed in the splint 7, and the pressure sensor 15 is used to detect the pressure when the splint 7 is clamped, so as to ensure sufficient pressing force on the lifting member and avoid underwork or overwork of the clamping cylinder 6 . Preferably, the clamping structure is one or two groups to ensure the secondary fixation of the lifting member.
实施例2:Example 2:
请参阅图1~3,本发明实施例在实施例1的基础上,对一种工业机器人用水平抬举装置进行功能升级,具体为:Referring to Figures 1 to 3, the embodiment of the present invention performs a functional upgrade of a horizontal lifting device for industrial robots on the basis of embodiment 1, specifically:
所述放置板8通过转接板12转动安装在支撑台3上,从而使构件在放置及夹紧结构在夹紧时可以调节放置待抬举构件的角度,避免对构件造成损伤,提升固定质量。The placement plate 8 is rotated and installed on the support platform 3 through the adapter plate 12, so that the angle of placing the member to be lifted can be adjusted when the member is placed and the clamping structure is clamped, so as to avoid damage to the member and improve the fixing quality.
具体的,所述转接板12的下端中心处固定连接圆盘状的凸块13,支撑台3上设有与凸块13相匹配的活动槽19,所述凸块13上固定安装有从动齿轮18,支撑台3中设有与从动齿轮18相啮合的主动齿轮21,主动齿轮21通过转轴连接电机22的输出端,从而在电机22工作时通过主动齿轮21带动活动槽19转动,从而使转接板12跟随转动,实现放置板8及放置放置板8上端的构件的角度调节,避免橡胶条14对如显示器、按钮等部位的加紧,便于调节构件使构件与夹板7更好的作用,提升固定效果。Specifically, a disc-shaped protrusion 13 is fixedly connected to the center of the lower end of the adapter plate 12, and a movable groove 19 matching the protrusion 13 is provided on the support 3, and the protrusion 13 is fixedly installed with The driving gear 18, the support 3 is provided with a driving gear 21 meshing with the driven gear 18, the driving gear 21 is connected to the output end of the motor 22 through a rotating shaft, so that the driving gear 21 drives the movable groove 19 to rotate when the motor 22 is working, Therefore, the adapter plate 12 can follow the rotation to realize the angle adjustment of the placement plate 8 and the upper end of the placement plate 8, avoiding the tightening of the rubber strip 14 on parts such as displays, buttons, etc., and facilitate the adjustment of the components to make the components and the splint 7 better. Function to improve the fixed effect.
进一步的,为了便于转接板12在支撑台3上端进行转动,所述转接板12与支撑台3间设有两组支撑滑动结构,所述第一组支撑滑动结构为滑块5和滑块转槽4,所述转接板12的下端设有圆环状的凸出的滑块5,支撑台3上设有箱内凹陷的与滑块5相契合的滑块转槽4,滑块5滑动安装在滑块转槽4中,通过滑块5和滑块转槽4对转接板12进行稳定支撑的同时,便于转接板12进行调节时的转动;所述第二组支撑滑动结构为滚珠17和滚珠滑槽20,所述凸块13的底部连接若干圆环状分布的滚珠17,活动槽19底部设有与从动齿轮18相匹配的滚珠滑槽20,滚珠17均安装在滚珠滑槽20内,通过滚珠17和滚珠滑槽20同样起到了支撑及辅助转动的作用,保证机器人结构稳定。Further, in order to facilitate the rotation of the adapter plate 12 at the upper end of the support platform 3, two sets of support sliding structures are provided between the adapter plate 12 and the support platform 3. The first group of support sliding structures is a slider 5 and a sliding structure. Block rotating slot 4, the lower end of the adapter plate 12 is provided with an annular protruding slider 5, and the support 3 is provided with a slider rotating slot 4 recessed in the box that fits with the slider 5. The block 5 is slidably installed in the sliding groove 4, and the adapter plate 12 is stably supported by the sliding block 5 and the sliding groove 4, and at the same time, it is convenient for the rotation of the adapter plate 12 during adjustment; the second group of supports The sliding structure is a ball 17 and a ball chute 20. The bottom of the bump 13 is connected with a number of annularly distributed balls 17, and the bottom of the movable groove 19 is provided with a ball chute 20 that matches the driven gear 18. The balls 17 are all Installed in the ball chute 20, the ball 17 and the ball chute 20 also play the role of support and auxiliary rotation to ensure the stability of the robot structure.
实施例3:Example 3:
在实施例1的基础上,提出一种工业机器人用水平抬举装置的使用方法,其包括以下步骤:On the basis of Embodiment 1, a method for using a horizontal lifting device for industrial robots is proposed, which includes the following steps:
1、将待抬举的工业构件置于放置板8上;1. Place the industrial component to be lifted on the placement board 8;
2、利用工业构件的底部特征及底部接触轮廓特征,控制相应的安装槽9中的伸缩杆10升起;2. Use the bottom feature and bottom contact profile feature of the industrial component to control the rise of the telescopic rod 10 in the corresponding installation slot 9;
3、启动电机22,使转接板12带动放置板8转动,调节限位完成的构件角度;3. Start the motor 22, so that the adapter plate 12 drives the placement plate 8 to rotate, and adjusts the angle of the finished component with the limit;
4、启动副升降气缸16调节合适的夹紧高度,同时启动对应的夹紧气缸6,利用夹板7在合适的结构面夹紧工业构件;4. Start the auxiliary lifting cylinder 16 to adjust the appropriate clamping height, and at the same time start the corresponding clamping cylinder 6, and use the clamping plate 7 to clamp the industrial component on the appropriate structural surface;
5、启动主升降气缸2抬举支撑台3,至合适高度后,依次解除夹板7和伸缩杆10对工业构件的固定。5. Start the main lifting cylinder 2 to lift the support platform 3, and after reaching a suitable height, successively release the fixing of the splint 7 and the telescopic rod 10 to the industrial components.
本发明的工作原理是:所述基台1中设有若干伸缩端向上设置的主升降气缸2,主升降气缸2的伸缩端固定连接支撑台3,基台1与支撑台3均水平设置,所述支撑台3上端设有放置板8,所述放置板8的上端面设有密集的上端开口的安装槽9,放置板8的上端的安装槽9呈矩阵式分布在放置板8上端,所述安装槽9中均安装有伸缩限位结构,所述伸缩限位结构为伸缩杆10,所述伸缩杆10均独立的连接机器人的编程控制器,伸缩杆10的下端固定安装在安装槽9中,伸缩杆10的上端还安装有橡胶套11,对进行抬举的构件进行限位保护,所述支撑台3上还设有若干组相对设置的夹紧结构,在进行具体的抬举作业时,通过工业车间内的悬吊组件将构件放置在放置板8上,此时根据构件的底部机构以及周边轮廓结构,控制相应的安装槽9中的伸缩杆10伸出,从而在原本水平的放置板8上构建出与抬举的构件相匹配的凹凸状限位结构,在进行伸缩杆10的伸缩限位后,再利用支撑台3上若干组夹紧结构进行二次固定,在主升降气缸2的竖直伸缩作用下,对工业车间内目标构件进行稳定的抬举作业,区别于传统的机器人多关节卡爪式抬举,该水平抬举装置利用稳定的基台1、主升降气缸2和支撑台3构成水平抬举主体,并利用放置板8上矩阵式排布的伸缩杆10和支撑台3上的夹紧结构完成固定,在提供足够支撑力进行水平抬举的同时,对抬举构件进行稳固的固定,且适用于不同造型、尺寸的大件工业构件的抬举,一机即可满足绝大多数的抬举任务,大大提升了工业机器人的抬举能力,促进工业车间内运输及装配的进一步发展。The working principle of the present invention is: the base 1 is provided with a plurality of main lifting cylinders 2 whose telescopic ends are upwardly arranged, the telescopic ends of the main lifting cylinders 2 are fixedly connected to the support platform 3, and the base 1 and the support platform 3 are both arranged horizontally, The upper end of the supporting table 3 is provided with a placement plate 8, and the upper end surface of the placement plate 8 is provided with densely opened upper end installation grooves 9; the upper end of the placement plate 8 has the installation grooves 9 distributed on the upper end of the placement plate 8 in a matrix form, A telescopic limit structure is installed in the installation slots 9. The telescopic limit structure is a telescopic rod 10. The telescopic rods 10 are independently connected to the programming controller of the robot. The lower end of the telescopic rod 10 is fixedly installed in the installation slot. In 9, the upper end of the telescopic rod 10 is also installed with a rubber sleeve 11 to limit and protect the lifting member. The support platform 3 is also provided with several sets of clamping structures arranged oppositely. When performing specific lifting operations , The component is placed on the placement plate 8 through the suspension assembly in the industrial workshop. At this time, according to the bottom mechanism and peripheral contour structure of the component, the extension rod 10 in the corresponding installation slot 9 is controlled to extend, so as to place it horizontally. A concave-convex limiting structure matching the lifting member is constructed on the plate 8. After the telescopic rod 10 is telescopically limited, several sets of clamping structures on the support platform 3 are used for secondary fixing, and the main lifting cylinder 2 Under the action of vertical expansion and contraction, the target component in the industrial workshop can be stably lifted, which is different from the traditional multi-joint claw lifting of the robot. The horizontal lifting device uses the stable base 1, the main lifting cylinder 2 and the support table 3. The horizontal lifting body is formed, and the telescopic rods 10 arranged in a matrix on the placement plate 8 and the clamping structure on the support platform 3 are used to complete the fixation. While providing sufficient support for horizontal lifting, the lifting members are firmly fixed, And it is suitable for lifting large industrial components of different shapes and sizes. One machine can meet most lifting tasks, greatly improving the lifting capacity of industrial robots and promoting the further development of transportation and assembly in industrial workshops.
在本发明的描述中,需要理解的是,术语“中心”、“纵向”、“横向”、“顶”、“底”、“内”、“外”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。此外,术语“第一”、“第二”等仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,在本发明的描述中,除非另有说明,“多个”的含义是两个或两个以上。限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。In the description of the present invention, it needs to be understood that the terms "center", "longitudinal", "transverse", "top", "bottom", "inner", "outer", "upper", "lower", " The orientation or positional relationship indicated by “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and The description is simplified, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, in the description of the present invention, unless otherwise specified, "plurality" means two or more. Features defined as "first", "second", etc. may explicitly or implicitly include one or more of these features.
对于本领域技术人员而言,显然本发明不限于上述示范性实施例的细节,而且在不背离本发明的精神或基本特征的情况下,能够以其他的具体形式实现本发明。因此,无论从哪一点来看,均应将实施例看作是示范性的,而且是非限制性的,本发明的范围由所附权利要求而不是上述说明限定,因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。 For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description, and therefore it is intended to fall within the claims. All changes within the meaning and scope of the equivalent elements of are included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.
此外,应当理解,虽然本说明书按照实施方式加以描述,但并非每个实施方式仅包含一个独立的技术方案,说明书的这种叙述方式仅仅是为清楚起见,本领域技术人员应当将说明书作为一个整体,各实施例中的技术方案也可以经适当组合,形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described in accordance with the implementation manners, not each implementation manner only includes an independent technical solution. This narration in the specification is only for the sake of clarity, and those skilled in the art should regard the specification as a whole The technical solutions in the various embodiments can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (9)

  1. 一种工业机器人用水平抬举装置,包括基台(1),其特征在于,所述基台(1)中设有若干伸缩端向上设置的主升降气缸(2),主升降气缸(2)的伸缩端固定连接支撑台(3),基台(1)与支撑台(3)均水平设置,所述支撑台(3)上端设有放置板(8),所述放置板(8)的上端面设有密集的上端开口的安装槽(9),放置板(8)的上端的安装槽(9)呈矩阵式分布在放置板(8)上端,所述安装槽(9)中均安装有伸缩限位结构,所述支撑台(3)上还设有若干组相对设置的夹紧结构。A horizontal lifting device for industrial robots, comprising a base (1), characterized in that the base (1) is provided with a plurality of main lifting cylinders (2) whose telescopic ends are upwardly arranged, and the main lifting cylinder (2) The telescopic end is fixedly connected to the support platform (3), the base platform (1) and the support platform (3) are both horizontally arranged, the upper end of the support platform (3) is provided with a placing plate (8), and the upper part of the placing plate (8) The end surface is provided with densely-opened mounting slots (9) at the upper end, and the mounting slots (9) on the upper end of the placing plate (8) are distributed in a matrix on the upper end of the placing plate (8), and the mounting grooves (9) are all installed with With a telescopic limit structure, the supporting table (3) is also provided with a plurality of sets of clamping structures arranged oppositely.
  2. 根据权利要求1所述的工业机器人用水平抬举装置,其特征在于,所述伸缩限位结构为伸缩杆(10),所述伸缩杆(10)均独立的连接机器人的编程控制器,伸缩杆(10)的下端固定安装在安装槽(9)中。The horizontal lifting device for an industrial robot according to claim 1, wherein the telescopic limit structure is a telescopic rod (10), and the telescopic rod (10) is independently connected to the programming controller of the robot, and the telescopic rod The lower end of (10) is fixedly installed in the installation groove (9).
  3. 根据权利要求2所述的工业机器人用水平抬举装置,其特征在于,所述伸缩杆(10)的上端还安装有橡胶套(11)。The horizontal lifting device for an industrial robot according to claim 2, characterized in that a rubber sleeve (11) is also installed at the upper end of the telescopic rod (10).
  4. 根据权利要求1所述的工业机器人用水平抬举装置,其特征在于,所述的夹紧结构包括夹紧气缸(6)和夹板(7),所述夹紧气缸(6)对称设置在放置板(8)的两侧,夹紧气缸(6)安装在副升降气缸(16)的伸缩端上,所述副升降气缸(16)竖直固定安装在支撑台(3)上,夹紧气缸(6)的伸缩端固定连接夹板(7),所述夹板(7)的端头固定安装有橡胶条(14)。The horizontal lifting device for industrial robots according to claim 1, wherein the clamping structure comprises a clamping cylinder (6) and a clamping plate (7), and the clamping cylinder (6) is symmetrically arranged on the placement plate On both sides of (8), the clamping cylinders (6) are installed on the telescopic ends of the auxiliary lifting cylinders (16), and the auxiliary lifting cylinders (16) are vertically fixedly installed on the support platform (3), and the clamping cylinders ( The telescopic end of 6) is fixedly connected to the splint (7), and the end of the splint (7) is fixedly installed with a rubber strip (14).
  5. 根据权利要求4所述的工业机器人用水平抬举装置,其特征在于,所述夹板(7)中还安装有压力传感器(15)。The horizontal lifting device for industrial robots according to claim 4, characterized in that a pressure sensor (15) is also installed in the splint (7).
  6. 根据权利要求4所述的工业机器人用水平抬举装置,其特征在于,所述夹紧结构为一组或两组。The horizontal lifting device for industrial robots according to claim 4, wherein the clamping structure is one group or two groups.
  7. 根据权利要求1所述的工业机器人用水平抬举装置,其特征在于,所述放置板(8)通过转接板(12)转动安装在支撑台(3)上,所述转接板(12)的下端中心处固定连接圆盘状的凸块(13),支撑台(3)上设有与凸块(13)相匹配的活动槽(19),所述凸块(13)上固定安装有从动齿轮(18),支撑台(3)中设有与从动齿轮(18)相啮合的主动齿轮(21),主动齿轮(21)通过转轴连接电机(22)的输出端。The horizontal lifting device for industrial robots according to claim 1, characterized in that the placement plate (8) is mounted on the support platform (3) by rotating the adapter plate (12), and the adapter plate (12) A disc-shaped bump (13) is fixedly connected to the center of the lower end of the support platform (3) is provided with a movable groove (19) that matches the bump (13), and the bump (13) is fixedly installed The driven gear (18), the supporting table (3) is provided with a driving gear (21) meshing with the driven gear (18), and the driving gear (21) is connected to the output end of the motor (22) through a rotating shaft.
  8. 根据权利要求7所述的工业机器人用水平抬举装置,其特征在于,所述转接板(12)与支撑台(3)间设有两组支撑滑动结构:The horizontal lifting device for industrial robots according to claim 7, characterized in that, two groups of supporting sliding structures are provided between the adapter plate (12) and the supporting table (3):
    所述第一组支撑滑动结构为滑块(5)和滑块转槽(4),所述转接板(12)的下端设有圆环状的凸出的滑块(5),支撑台(3)上设有箱内凹陷的与滑块(5)相契合的滑块转槽(4),滑块(5)滑动安装在滑块转槽(4)中;The first group of supporting sliding structures is a sliding block (5) and a sliding block rotating groove (4), the lower end of the adapter plate (12) is provided with an annular protruding sliding block (5), and a supporting table (3) There is a sliding groove (4) recessed in the box that fits with the sliding block (5), and the sliding block (5) is slidably installed in the sliding groove (4);
    所述第二组支撑滑动结构为滚珠(17)和滚珠滑槽(20),所述凸块(13)的底部连接若干圆环状分布的滚珠(17),活动槽(19)底部设有与从动齿轮(18)相匹配的滚珠滑槽(20),滚珠(17)均安装在滚珠滑槽(20)内。The second set of supporting sliding structures are balls (17) and ball sliding grooves (20), the bottom of the bump (13) is connected with a number of annularly distributed balls (17), and the bottom of the movable groove (19) is provided with The ball chute (20) matched with the driven gear (18), and the balls (17) are installed in the ball chute (20).
  9. 一种包括权利要求1-8任一所述的工业机器人用水平抬举装置的使用方法,其特征在于,包括以下步骤:A method for using the horizontal lifting device for industrial robots according to any one of claims 1-8, characterized in that it comprises the following steps:
    步骤一、将待抬举的工业构件置于放置板(8)上;Step 1. Place the industrial component to be lifted on the placement board (8);
    步骤二、利用工业构件的底部特征及底部接触轮廓特征,控制相应的安装槽(9)中的伸缩杆(10)升起;Step 2: Use the bottom feature and bottom contact profile feature of the industrial component to control the rise of the telescopic rod (10) in the corresponding installation slot (9);
    步骤三、启动电机(22),使转接板(12)带动放置板(8)转动,调节限位完成的构件角度;Step 3: Start the motor (22), make the adapter plate (12) drive the placement plate (8) to rotate, and adjust the angle of the component with the limit position;
    步骤四、启动副升降气缸(16)调节合适的夹紧高度,同时启动对应的夹紧气缸(6),利用夹板(7)在合适的结构面夹紧工业构件;Step 4. Start the auxiliary lifting cylinder (16) to adjust the appropriate clamping height, and at the same time start the corresponding clamping cylinder (6), use the clamping plate (7) to clamp the industrial component on the appropriate structural surface;
    步骤五、启动主升降气缸(2)抬举支撑台(3),至合适高度后,依次解除夹板(7)和伸缩杆(10)对工业构件的固定。Step 5: Start the main lifting cylinder (2) to lift the support platform (3), and after reaching a suitable height, release the clamping plate (7) and the telescopic rod (10) from fixing the industrial components in turn.
PCT/CN2020/090313 2019-08-28 2020-05-14 Horizontal lifting apparatus for industrial robot, and method for use thereof WO2021036352A1 (en)

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CN110550574B (en) * 2019-08-28 2020-04-14 南京涵曦月自动化科技有限公司 Horizontal lifting device for industrial robot and use method thereof
CN111196579B (en) * 2020-03-03 2021-06-15 绍兴市高砚智生物科技有限公司 Adjustable fixing device for motor vehicle maintenance lifting table

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