WO2021036352A1

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

Info

Publication number: WO2021036352A1
Application number: PCT/CN2020/090313
Authority: WO
Inventors: 张娟娟; 唐德
Original assignee: 南京涵曦月自动化科技有限公司
Priority date: 2019-08-28
Filing date: 2020-05-14
Publication date: 2021-03-04
Also published as: CN110550574B; CN110550574A

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

Horizontal lifting device for industrial robot and use method thereof

Technical field

The invention relates to the technical field of robots, in particular to a horizontal lifting device for industrial robots and a use method thereof.

Background technique

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.

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.

technical problem

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.

Technical solutions

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.

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.

As a further solution of the present invention: a rubber sleeve is also installed on the upper end of the telescopic rod.

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.

As a further solution of the present invention: a pressure sensor is also installed in the splint.

As a further solution of the present invention: the clamping structure is one group or two groups.

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.

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.

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. Place the industrial components to be lifted on the placement board;

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. Start the motor, make the adapter plate drive the placement plate to rotate, and adjust the angle of the finished component;

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. 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.

Beneficial effect

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.

Description of the drawings

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.

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.

Embodiments of the present invention

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.

Example 1:

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.

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.

Example 2:

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:

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.

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.

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.

Example 3:

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. Place the industrial component to be lifted on the placement board 8;

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. 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. 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. 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.

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.

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.

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.

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

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.
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).
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).
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).
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).
The horizontal lifting device for industrial robots according to claim 4, wherein the clamping structure is one group or two groups.
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.
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):

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);

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).
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:

Step 1. Place the industrial component to be lifted on the placement board (8);

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);

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;

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;

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.