WO2021036352A1 - Appareil de levage horizontal pour robot industriel et son procédé d'utilisation - Google Patents

Appareil de levage horizontal pour robot industriel et son procédé d'utilisation 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
Authority
WO
WIPO (PCT)
Prior art keywords
clamping
support platform
telescopic
industrial
lifting
Prior art date
Application number
PCT/CN2020/090313
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English (en)
Chinese (zh)
Inventor
张娟娟
唐德
Original Assignee
南京涵曦月自动化科技有限公司
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 南京涵曦月自动化科技有限公司 filed Critical 南京涵曦月自动化科技有限公司
Publication of WO2021036352A1 publication Critical patent/WO2021036352A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, 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
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
    • B66F7/085—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated pneumatically operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, 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
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional 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.

Landscapes

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

Abstract

L'invention concerne un appareil de levage horizontal pour un robot industriel, et un procédé d'utilisation de celui-ci, comprenant une plateforme de base (1). La plateforme de base (1) est pourvue d'une pluralité de vérins de levage principaux (2) dont les extrémités télescopiques sont disposées en vis-à-vis vers le haut. L'extrémité télescopique du vérin de levage principal (2) est reliée de manière fixe à une plateforme de support (3). L'extrémité supérieure de la plateforme de support (3) est pourvue d'une plaque de placement (8). Des fentes de montage (9) au niveau de l'extrémité supérieure de la plaque de placement (8) sont réparties dans une matrice sur l'extrémité supérieure de la plaque de placement (8). Des structures de limitation de position télescopiques sont montées dans les fentes de montage (9). La plateforme de support (3) est également pourvue d'une pluralité d'ensembles de mécanismes de serrage agencés à l'opposé l'un de l'autre. Dans l'appareil de levage horizontal, la plateforme de base stable (1), un vérin de levage principal (2) et une plateforme de support (3) sont utilisés pour constituer un corps de levage horizontal, et les tiges télescopiques (10) disposées sous la forme d'une matrice sur la plaque de placement (8) et la structure de serrage sur la plateforme de support (3) sont utilisées pour effectuer la fixation, et tout en fournissant un support suffisant pour le levage horizontal, fixent fermement l'élément de levage. L'invention est appropriée pour lever de grands composants industriels de formes et de tailles différentes, une seule machine pouvant effectuer la grande majorité des tâches de levage, ce qui améliore significativement la capacité de levage du robot industriel.
PCT/CN2020/090313 2019-08-28 2020-05-14 Appareil de levage horizontal pour robot industriel et son procédé d'utilisation WO2021036352A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910799535.2A CN110550574B (zh) 2019-08-28 2019-08-28 一种工业机器人用水平抬举装置及其使用方法
CN201910799535.2 2019-08-28

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WO2021036352A1 true WO2021036352A1 (fr) 2021-03-04

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110550574B (zh) * 2019-08-28 2020-04-14 南京涵曦月自动化科技有限公司 一种工业机器人用水平抬举装置及其使用方法
CN111196579B (zh) * 2020-03-03 2021-06-15 绍兴市高砚智生物科技有限公司 一种可调节的机动车维修升降台的固定装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5339749A (en) * 1992-06-23 1994-08-23 Hihasuto Seiko Co., Ltd. Table positioning mechanism
CN106742536A (zh) * 2017-03-10 2017-05-31 石嘴山市金辉科贸有限公司 一种汽车零件搬运防滑托板
CN107364803A (zh) * 2017-07-05 2017-11-21 太仓旺泰净化设备有限公司 一种物流搬运平台
CN107601352A (zh) * 2017-08-03 2018-01-19 安徽工程大学 一种载物装置及具有其的运输机器人
CN207861791U (zh) * 2018-02-08 2018-09-14 四川岚强石油天然气工程勘察设计有限责任公司 一种用于天然气管道铺设辅助旋转工装
CN109436510A (zh) * 2018-12-25 2019-03-08 重庆具码科技有限公司 一种发动机固定用自适应底座
CN209010071U (zh) * 2018-08-01 2019-06-21 杭州南江机器人股份有限公司 一种用于移动机器人的举升结构及一种移动机器人
CN110550574A (zh) * 2019-08-28 2019-12-10 南京涵曦月自动化科技有限公司 一种工业机器人用水平抬举装置及其使用方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5339749A (en) * 1992-06-23 1994-08-23 Hihasuto Seiko Co., Ltd. Table positioning mechanism
CN106742536A (zh) * 2017-03-10 2017-05-31 石嘴山市金辉科贸有限公司 一种汽车零件搬运防滑托板
CN107364803A (zh) * 2017-07-05 2017-11-21 太仓旺泰净化设备有限公司 一种物流搬运平台
CN107601352A (zh) * 2017-08-03 2018-01-19 安徽工程大学 一种载物装置及具有其的运输机器人
CN207861791U (zh) * 2018-02-08 2018-09-14 四川岚强石油天然气工程勘察设计有限责任公司 一种用于天然气管道铺设辅助旋转工装
CN209010071U (zh) * 2018-08-01 2019-06-21 杭州南江机器人股份有限公司 一种用于移动机器人的举升结构及一种移动机器人
CN109436510A (zh) * 2018-12-25 2019-03-08 重庆具码科技有限公司 一种发动机固定用自适应底座
CN110550574A (zh) * 2019-08-28 2019-12-10 南京涵曦月自动化科技有限公司 一种工业机器人用水平抬举装置及其使用方法

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CN110550574A (zh) 2019-12-10
CN110550574B (zh) 2020-04-14

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