Self-adjusting anti-collision bearing parallel actuator of compact structure

A technology with compact structure and actuators, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of locality, mechanical collision, and destruction of traditional sensor detection space, etc., and achieve the effect of compact structure and increased safety

Active Publication Date: 2020-02-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the end tool of the existing universal manipulator is obstructed and collided with the processing receptor in close contact, causing mechanical damage and the locality of the detection space of the traditional sensor, a compact self-adjusting Anti-collision loadable parallel actuators

Method used

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  • Self-adjusting anti-collision bearing parallel actuator of compact structure
  • Self-adjusting anti-collision bearing parallel actuator of compact structure
  • Self-adjusting anti-collision bearing parallel actuator of compact structure

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specific Embodiment approach 1

[0013] Specific implementation mode one: combine Figure 1 to Figure 4 This embodiment is described. A compact self-adjusting anti-collision load-carrying parallel actuator in this embodiment includes an actuator dynamic platform 1, an actuator static platform 2 and multiple actuator mechanisms. The actuator dynamic platform 1 and the actuator The static platform 2 of the actuator is arranged oppositely, and a plurality of actuator mechanisms are uniformly arranged between the dynamic actuator platform 1 and the static actuator platform 2. The actuator mechanism includes an actuator bearing rod 3, a ball hinge 4 and a Hookee One end of the actuator bearing rod 3 is connected to the inner end surface of the actuator moving platform 1 through a ball hinge 4, and the other end of the actuator bearing rod 3 is connected to the inner end surface of the actuator static platform 2 through a Hooke hinge 5,

[0014] The actuator bearing rod 3 includes a Hooke hinge connecting rod 3-1, ...

specific Embodiment approach 2

[0016] Specific implementation mode two: combination Figure 1 to Figure 4 To illustrate this embodiment, the actuator carrying rod 3 in this embodiment also includes a hollow cock 3-14 and an air quick change joint 3-15. One end of the hollow cock 3-14 communicates with the bottom of the piston cylinder 3-8 and is hollow. The other end of the cock 3-14 is connected with the quick-change joint 3-15 of the air circuit. Other compositions and connection methods are the same as those in Embodiment 1.

[0017] In this embodiment, the upper end of the piston cylinder 3-8 is connected with a 90° hollow cock 3-14 and an air circuit quick change joint 3-15. 8 inflation, to realize the extension and retraction of piston telescopic rod 3-4.

specific Embodiment approach 3

[0018] Specific implementation mode three: combination Figure 4 Illustrate this embodiment, the cylinder mouth of piston barrel 3-8 described in this embodiment is provided with hollow ring type electromagnet 3-11, and piston telescoping rod 3-4 is inserted in the middle part of ring type electromagnet 3-11, ring type The outside of the electromagnet 3-11 is provided with a piston barrel screw cap 3-12, and the piston barrel screw cap 3-12 is arranged at the mouth of the piston barrel 3-8. Other compositions and connection methods are the same as those in the second embodiment.

[0019] In this embodiment, a hollow ring-type electromagnet 3-11 is installed at the bottom of the piston barrel 3-8, and is pre-tightened and attached to the mouth of the piston barrel 3-8 through the piston barrel screw cap 3-12, so as to limit the expansion and contraction of the piston. The role of rods 3-4. The piston telescopic rod 3-4 can be sucked during work, and the piston telescopic rod ...

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Abstract

The invention discloses a self-adjusting anti-collision bearing parallel actuator of a compact structure, and relates to the technical field of universal robots. The self-adjusting anti-collision bearing parallel actuator of the compact structure aims to solve the problems of mechanical damage caused by obstruction and collision when an end tool of an existing universal mechanical arm makes closecontact with a processing receptor and the local side of the detection space of a traditional sensor. The self-adjusting anti-collision bearing parallel actuator comprises an actuator moving platform,an actuator static platform and a plurality of actuator mechanisms, wherein the actuator moving platform and the actuator static platform are oppositely arranged, the plurality of actuator mechanismsare uniformly distributed and arranged between the actuator moving platform and the actuator static platform, the actuator mechanisms comprise actuator carrying rods, spherical hinges and Hooke hinges, one end of the actuator carrying rods is connected with the end surface of the inner side of the actuator moving platform through the spherical hinges, and the other ends of the actuator carrying rods are connected with the end surface of the inner side of the actuator static platform through the Hooke hinges. The self-adjusting anti-collision bearing parallel actuator is used for the universalmechanical arm.

Description

technical field [0001] The invention relates to the technical field of general robots, in particular to a self-adjusting anti-collision load-carrying parallel actuator with compact structure. Background technique [0002] In the field of general robots, the end of the mechanical arm, such as ABB and KUKA, needs to carry a professional tool end for a specific working environment to work. In precise mechanized automatic operations such as ultra-precision spraying and grinding, the tool end of the robotic arm needs to be closely or zero-distance attached to the processing receptor, and collisions will inevitably occur during the movement of the robot. Therefore, it is necessary to invent and design a general-purpose self-adjusting anti-collision load-carrying parallel actuator, which is used to connect the mechanical arm and the tool end so as to play the role of flexible protection in case of danger. Contents of the invention [0003] In order to solve the problem that the ...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J19/06
CPCB25J9/0045B25J19/06
Inventor 樊继壮王力任斐刘刚峰冯冰
Owner HARBIN INST OF TECH
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