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A Compact Self-Adjusting Anti-Collision Loadable Parallel Actuator

A technology with a compact structure and an actuator, which is applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as mechanical collision, locality, and obstruction, and achieve the effect of taking into account work quality and efficiency, and increasing safety

Active Publication Date: 2022-06-24
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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  • A Compact Self-Adjusting Anti-Collision Loadable Parallel Actuator
  • A Compact Self-Adjusting Anti-Collision Loadable Parallel Actuator
  • A Compact Self-Adjusting Anti-Collision Loadable Parallel Actuator

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specific Embodiment approach 1

[0013] Embodiment 1: Combining Figure 1 to Figure 4 Describing this embodiment, a compact self-adjusting anti-collision and load-bearing parallel actuator described in this embodiment includes an actuator moving platform 1, an actuator static platform 2 and a plurality of actuator mechanisms, an actuator moving platform 1 and an actuator moving platform 1. The static platform 2 is arranged opposite to each other, and a plurality of actuator mechanisms are evenly arranged between the moving platform 1 of the actuator and the static platform 2 of the actuator. One end of the actuator carrying rod 3 is connected to the inner end face of the actuator moving platform 1 through the ball hinge 4, and the other end of the actuator carrying rod 3 is connected to the inner end face of the actuator static platform 2 through the Hooke hinge 5.

[0014] The actuator carrying rod 3 includes a Hooker hinge connecting rod 3-1, a telescopic disk 3-2, a piston telescopic rod 3-4, a compression...

specific Embodiment approach 2

[0016] Specific implementation mode 2: Combining Figure 1 to Figure 4 Describing this embodiment, the actuator bearing rod 3 in this embodiment further includes a hollow cock 3-14 and a quick-change air joint 3-15. One end of the hollow cock 3-14 is communicated with the bottom of the piston cylinder 3-8, and the hollow The other end of the cock 3-14 is connected with the gas circuit quick-change joint 3-15. Other compositions and connection methods are the same as those in the first embodiment.

[0017] In this embodiment, the upper end of the piston cylinder 3-8 is connected with a 90° hollow cock 3-14 and a gas path quick-change joint 3-15, which can be supplied to the piston cylinder 3-15 through the gas path quick-change joint 3-15 during operation. 8 Inflate to achieve the extension and retraction of the piston telescopic rod 3-4.

specific Embodiment approach 3

[0018] Specific implementation mode three: combination Figure 4 Illustrating this embodiment, the cylinder mouth of the piston cylinder 3-8 is provided with a hollow ring electromagnet 3-11, and the piston telescopic rod 3-4 is inserted in the middle of the ring electromagnet 3-11. The outside of the electromagnet 3-11 is provided with a piston cylinder screw cap 3-12, and the piston cylinder screw cap 3-12 is arranged at the cylinder opening of the piston cylinder 3-8. Other compositions and connection modes 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 to be pre-tightly attached to the cylinder mouth of the piston barrel 3-8 through the piston barrel screw cover 3-12 to limit the expansion and contraction of the piston. The role of rods 3-4. When working, the piston telescopic rod 3-4 can be sucked, and the piston telescopic rod 3-4 can be controlled to...

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Abstract

A self-adjusting anti-collision loadable parallel actuator with compact structure relates to the technical field of general robots. The invention aims to solve the problems of mechanical damage caused by obstacles and collisions caused by the end tool of the existing general-purpose manipulator when it is in close contact with the processing receptor and the locality of the detection space of the traditional sensor. The present invention includes an actuator dynamic platform, an actuator static platform and multiple actuator mechanisms, the actuator dynamic platform and the actuator static platform are arranged oppositely, and multiple actuator mechanisms are uniformly arranged between the actuator dynamic platform and the actuator static platform. Between, the actuator mechanism includes the actuator load rod, ball hinge and Hooke hinge, one end of the actuator load rod is connected with the inner end surface of the actuator moving platform through the ball hinge, and the other end of the actuator load rod is connected with the actuator through the Hooke hinge. The inner end face connection of the static platform. The invention is used for a universal mechanical arm.

Description

technical field [0001] The invention relates to the technical field of general robots, in particular to a self-adjusting, anti-collision and load-bearing parallel actuator with compact structure. Background technique [0002] In the field of general-purpose robots, the end of the robotic 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 in close or zero-distance contact with the processing receptor, and obstacles and collisions will inevitably occur during the movement of the robot. Therefore, it is necessary to invent and design a universal self-adjusting anti-collision load-bearing parallel actuator for connecting the mechanical arm and the tool end so as to play the role of flexible protection in the event of danger. SUMMARY OF THE INVENTION [0003] In order to solve the problems...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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