A robot assist mechanism

Abstract

A robot power-assist mechanism hinges a swinging member at the rotational center of the robot's power-assisted driven component. Both components are provided with interlaced concave and convex portions and contact surfaces. The two contact surfaces can be separated. When the two components rotate relative to each other to a certain swing angle where the robot arm requires power assistance, the contact surfaces come into contact, and the swinging member is hingedly connected to the power-assist cylinder. This power-assist mechanism not only provides effective power assistance when necessary, but also avoids the reaction of power assistance when it is not needed. Furthermore, since the power-assist cylinder does not need to be actuated in the non-power-assisting position, the stroke of the power-assist cylinder and its idle wear are significantly reduced.

Description

Technical Field

[0001] This invention belongs to the field of mechanical transmission technology, and in particular relates to a robot force-boosting mechanism. Background Technology

[0002] Hydraulic, pneumatic, and spring cylinder-driven mechanical assistance is very common, frequently used in articulated robots, and sometimes even essential. The basic form typically involves the tail end of the assistance cylinder hinged to the base, with its cylinder rod directly hinged to the robot arm. This method has significant drawbacks: First, due to gravity, the robot arm doesn't require assistance in every posture; it's primarily needed in horizontal and near-horizontal positions. In other situations, especially when the robot arm is vertical or near-vertical, excessive assistance requires the opposite main driving force to counteract it, thus acting as resistance. Second, even when no assistance is needed for changes in working posture, the assistance cylinder continues its reciprocating extension and retraction motion, increasing wear.

[0003] Therefore, there is a need to invent a limited working range assist mechanism that provides assistance only when the main force cannot meet the needs and separates from the robot arm when not needed. This mechanism will play a significant role in improving robot performance. Summary of the Invention

[0004] To overcome the above-mentioned shortcomings, the present invention provides a robot arm assist mechanism that can limit the assist range, reasonably output assist, and reduce the idle wear of the assist cylinder under certain postures of the robot arm.

[0005] The robot assist mechanism of the present invention includes a swing body coaxially hinged to the rotational central axis of the robot arm joint or its drive device, which requires assistance. The two components can rotate and swing relative to each other around the central axis. An assist cylinder is hinged to the swing body, and the configuration of the assist cylinder is the same as in conventional technology. A boss or recess is provided on the assisted drive component to prevent rotation of the swing body, or a boss or recess is provided on the swing body to prevent rotation of the robot's assisted drive component. That is, the robot's assisted drive component and the swing body each have interlocking protrusions and recesses and contact surfaces. The two contact surfaces can be separated. When the two components rotate relative to each other to a certain swing angle position where the robot arm requires assistance, their contact surfaces come into contact, thereby initiating power transmission.

[0006] During operation, the oscillating body only swings within the swing angle range required by the robot arm. When the robot arm is in a horizontal or near-horizontal position, it requires significant assistance. The contact surfaces of the robot's assisted drive component and the oscillating body are in contact, and the assist cylinder pushes the hinged oscillating body to rotate around the rotation center line of the robot's assisted drive component. This converts the push-pull force of the assist cylinder into rotational assist torque, which is transmitted to the robot arm through the contact surface between the robot's assisted drive component and the oscillating body. When the robot arm deviates significantly from a horizontal position and approaches a vertical position where no assistance is needed, the contact surface between the robot's assisted drive component and the oscillating body separates, disengaging the assist.

[0007] This type of assist mechanism not only provides effective assistance when necessary but also avoids the counter-effect of assistance when no assistance is needed. Furthermore, since the assist cylinder does not require movement in non-assisted postures, it significantly reduces the stroke and wear of the assist cylinder. This mechanism is simple and efficient, effectively improving the robot's load capacity and can also be applied to other similar mechanical devices that require assistance.

[0008] The aforementioned robot-assisted drive component can be a robot arm or a drive device that transmits force to the robot arm.

[0009] The aforementioned swinging body can be an arm-shaped swinging arm, with one end of the swinging arm hinged to the rotation center axis of the robot's assisted drive component, and the other end hinged to the power output end of the assist cylinder.

[0010] The aforementioned oscillating body can also be a disc-shaped oscillating disk. The oscillating disk and the robot's power-assisted drive component are respectively provided with corresponding staggered bosses. The bosses can be one or more distributed circumferentially. The end face of the disk is also provided with a shaft that is hinged to the power-assisted cylinder.

[0011] The two intersecting and corresponding boss contact surfaces mentioned above can also be combinations of bosses and grooves.

[0012] In addition, although the oscillating plate is coaxial with the robot's assisted drive components, its own rotation axis support structure can be independent.

[0013] A power-assisted cylinder can be a hydraulic cylinder, a pneumatic cylinder, or a spring cylinder, and its output can be either thrust or pull. Attached Figure Description

[0014] Appendix Figure 1 This is a simplified schematic diagram of the assist mechanism of the present invention when it is engaged in operation.

[0015] Appendix Figure 2 This is a simplified schematic diagram of the assist mechanism of the present invention when it is disengaged from operation.

[0016] Appendix Figure 3 This is another simplified structural diagram of the present invention.

[0017] Appendix Figure 4 This is another simplified structural diagram of the present invention. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings.

[0019] Example 1.

[0020] like Figure 1 As shown, a swing arm (2) is hinged at the rotation center of the joint of the robot arm (1). The robot arm (1) and the swing arm (2) can rotate and swing relative to the base (4) around the joint center. The other end of the swing arm (2) is hinged to the power output end of a thrust cylinder (3). The tail end of the thrust cylinder (3) is hinged to the base (4). The rotation swing amplitude of the swing arm (2) is limited by the stroke of the thrust cylinder or external limit, and the swing angle range is smaller than the swing angle of the robot arm. A boss (6) is provided on the robot arm (1), and another boss (5) is provided at a relative position on the swing arm (2).

[0021] When the robot arm rotates to the swing angle range requiring assistance, i.e., when the robot arm is in a horizontal or near-horizontal posture, the contact surfaces of the two bosses (5) and (6) of the robot arm (1) and the swing arm (2) can contact each other. The assist cylinder (3) pushes the swing arm (2) to rotate and swing, converting the linear thrust of the assist cylinder (3) into a rotational assist torque, which is then transmitted to the robot arm (1) through the contact surfaces of the robot arm and the swing body bosses (5) and (6). Figure 2 As shown, when the robot arm deviates far from the horizontal posture and approaches the vertical posture without assistance, the boss (5) on the robot arm swings with the robot arm, leaving the working range of the assist swing arm (2), and the contact surface of the boss of the robot arm and the swing body separates, thus disengaging from the assist.

[0022] Such a power-assist mechanism not only provides effective assistance when necessary, but also avoids the adverse effects of assistance when no assistance is needed. Furthermore, since the power-assist cylinder does not need to move in the non-assisted posture, it greatly reduces the stroke and wear of the power-assist cylinder.

[0023] Example 2.

[0024] like Figure 3As shown, a circular swing disk (7) coaxial with the joint of the robot arm (1) is hinged at the rotation center of the joint. The outer edge of the swing disk (7) is hinged to the power output end of the power cylinder (3). Under the drive of the power cylinder (3), the swing disk (7) can swing around the axis in a limited circumferential angle. The swing angle range is smaller than the swing angle of the robot arm. Two grooves (8) and (9) distributed along the circumference of the disk are provided on the swing disk (7). Two bosses (10) and (11) corresponding to the grooves of the swing disk are provided on the robot arm (1). When the robot arm rotates to the swing angle range requiring assistance, i.e., when the robot arm is in a horizontal or near-horizontal posture, one side of the robot arm's bosses (10), (11) and the swing disk grooves (8), (9) can contact each other. The assist cylinder (3) pushes the swing disk (7) to rotate and swing, converting the linear thrust of the assist cylinder into a rotational assist torque. This assist torque is transmitted to the robot arm (1) through the contact surfaces of the robot arm's bosses (10), (11) and the swing disk grooves (8), (9). When the robot arm deviates far from the horizontal posture and approaches a vertical posture where no assistance is needed, the bosses on the robot arm swing with the robot arm, leaving the working range of the assist swing arm. The contact surfaces of the robot arm's bosses and the swing disk grooves separate, and the assist is discontinued.

[0025] Example 3.

[0026] like Figure 4 As shown, the other structures of this embodiment are the same as those of embodiment 1, except that: a robot arm drive plate (12) is also fixed on the robot arm (1), and its boss (6) is set on the robot arm drive plate (12). The main driving force of the robot arm drives the robot arm to swing through the drive arm; the swing arm (2) and the end of the robot joint are hinged and coaxial with the rotation center of the drive plate.

[0027] The robot assistance mechanism provided by this invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A robot assist mechanism, characterized in that, A swing body is coaxially hinged on the rotation center axis of the robot's assisted drive component. The robot's assisted drive component and the swing body are respectively provided with intersecting concave and convex parts and contact surfaces. The two contact surfaces can be separated. When the two components rotate relative to each other to a certain swing angle position where the robot arm needs assistance, the contact surfaces of the two come into contact with each other. An assist cylinder is hinged on the swing body. The assisted driving component is a robot arm (1), which rotates and swings relative to the base (4) around its joint center, and the tail end of the assist cylinder (3) is hinged to the base (4). The swing body is a disc-shaped swing disk (7), and its end face is provided with a shaft that is hinged to the assist cylinder; the swing disk (7) is coaxially hinged at the rotation center of the robot arm (1) joint, and the outer edge of the swing disk (7) is hinged to the power output end of the assist cylinder (3). Under the drive of the assist cylinder (3), the swing disk (7) can swing around the axis in a limited circumferential angle, and the swing angle range is smaller than the swing angle of the robot arm; the swing disk (7) is provided with two grooves (8, 9) distributed along the circumference of the disk, and the robot arm (1) is provided with two bosses (10, 11) corresponding to the grooves of the swing disk; when the robot arm rotates to the swing angle range that requires assistance, that is, the machine arm... When the robot arm is in a horizontal or near-horizontal position, the bosses (10, 11) of the robot arm and one side of the grooves (8, 9) of the swing disk can contact each other. The assist cylinder (3) pushes the swing disk (7) to rotate and swing, converting the linear thrust of the assist cylinder into a rotational assist torque. The assist torque is transmitted to the robot arm (1) through the contact surface between the robot arm bosses (10, 11) and the grooves (8, 9) of the swing disk. When the robot arm deviates far from the horizontal position and approaches the vertical position without assistance, the bosses on the robot arm swing with the robot arm, leaving the working range of the assist swing arm. The contact surface between the robot arm bosses and the grooves of the swing disk separates, and the assist is disengaged. The swing disc (7) has an independent rotation shaft support structure; the power cylinder outputs thrust or pull.

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