Robot joint control device and robot

Abstract

The invention provides a robot joint control device and a robot. The control device comprises a balance assembly and a medium pipeline. The balance assembly comprises a balance cavity used for containing a pressure medium and a piston rod slidably matched in the balance cavity, the balance cavity is arranged at a target joint of the robot, and the tail end of the piston rod is connected with a target component matched at the downstream of the target joint; the medium pipeline is connected with the balance cavity and the medium source, and the medium pipeline is constructed to be capable of controlling the pressure in the balance cavity by controlling the pressure medium in the balance cavity. According to the technical scheme, the balance assembly and the medium pipeline are combined with the pressure medium to form the balance structure capable of balancing the gravity of the component at the corresponding joint of the robot, so that the corresponding component cannot rapidly fall even if the brake of the joint is relieved. And the balance structure can also perform auxiliary driving or buffering on the adjustment of the component by adjusting the mass of the pressure medium, so that the burden of personnel is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot joint control device and a robot. Background Art

[0002] At present, in the field of industrial robots, some robots will set brake control devices at the corresponding joints based on demand to achieve braking at the joints and meet the needs of joint adjustment. For example, the existing SCARA robot is equipped with a brake control structure at its 3rd and 4th joints. Most of the brake control structures currently used are to directly control the power on and off of the brakes of the 3rd and 4th joints through a button switch (momentary type) to achieve joint braking and release. When the user needs to manually adjust the position of the 3rd and 4th joints, press the brake release switch button on the robot arm cover, and the brakes of the 3rd and 4th joints will be released at the same time. However, when a heavy fixture is installed at the end of the robot, due to the deadweight of the end fixture, even if there is no other external force acting on the fixture or the ball screw spline shaft connected to the fixture, the ball screw spline shaft will accelerate down under the action of the deadweight of the fixture, which is not conducive to the adjustment of the position of the 3rd and 4th joints.

[0003] At present, in order to slow down the descending speed of the ball screw spline shaft and facilitate the adjustment of the position of the 3rd and 4th joints, the user usually presses the brake release switch with one hand and puts the other hand on the fixture to lift it up with a large force to prevent the ball screw spline shaft from descending quickly, and completes the position adjustment of the 3rd and 4th joints. However, this requires the user to bear a large part of the weight of the fixture, and there is a safety risk of injuring people.

[0004] In addition, once the button switch is accidentally touched, the brakes of the 3rd and 4th joints will be quickly released. Under the deadweight of the end fixture, the ball screw spline shaft will run downward at an acceleration close to free fall, and the upper limit block of the ball screw spline shaft will be subjected to a very large impact force, causing serious damage to the ball screw spline shaft and the upper limit block. Summary of the invention

[0005] In order to solve the problem that the joint braking structure of the existing robot cannot buffer the rapid falling of the robot's terminal component after the brake is released, the present invention provides a robot joint control device and a robot.

[0006] In a first aspect, the present invention provides a robot joint control device, comprising:

[0007] A balancing assembly, comprising a balancing chamber for accommodating a pressure medium and a piston rod slidably engaged in the balancing chamber, wherein the balancing chamber is disposed at a target joint of the robot, and a distal end of the piston rod is connected to a target member engaged downstream of the target joint; and

[0008] A medium pipeline connects the balancing chamber with a medium source, and the medium pipeline is configured to control the pressure in the balancing chamber by controlling the pressure medium in the balancing chamber.

[0009] In one embodiment, the piston rod is vertically arranged, the bottom of the piston rod is fitted in the balance chamber, and the top of the piston rod is connected to the target member.

[0010] In one embodiment, the piston rod is connected to the target component via a connecting rod passing through the target joint, the connecting rod is parallel and juxtaposed with the piston rod, the top of the connecting rod is connected to the top of the piston rod, and the bottom of the connecting rod is connected to the target component.

[0011] In one embodiment, a check valve and a pressure relief valve are sequentially arranged on the medium pipeline, and the pressure relief valve is arranged between the check valve and the balance chamber.

[0012] In one embodiment, a pressure regulating valve and a pressure reducing valve are sequentially arranged on the medium pipeline, and the pressure reducing valve is arranged at an end of the medium pipeline that is closest to the medium source.

[0013] In one embodiment, a pressure gauge is provided on the medium pipeline, and the pressure gauge is provided at an end of the medium pipeline closest to the balancing chamber.

[0014] In one embodiment, the balancing chamber includes a first balancing chamber and a second balancing chamber separated by a piston at the end of the piston rod, the first balancing chamber is connected to the medium pipeline, and the second balancing chamber is provided with a pressure balancing interface connected to the external environment, and a muffler is provided at the pressure balancing interface.

[0015] In one embodiment, the pressure medium is compressed air.

[0016] In one embodiment, the robot further includes a brake disposed at the target joint and a brake controller disposed on the robot, wherein the brake controller is electrically connected to the brake.

[0017] In a second aspect, the present invention provides a robot, comprising the robot joint control device described above, wherein the control device is arranged at a target joint of the robot;

[0018] Wherein, a screw mechanism is arranged at the target joint, one end of the screw rod of the screw mechanism is connected to the control device, and the other end is connected to the target component cooperating with the target joint.

[0019] The above technical features can be combined in various suitable ways or replaced by equivalent technical features as long as the purpose of the present invention can be achieved.

[0020] Compared with the prior art, the robot joint control device and the robot provided by the present invention have at least the following beneficial effects:

[0021] A robot joint control device and a robot of the present invention form a balancing structure capable of balancing the gravity of components at corresponding joints of the robot by combining a balancing component and a medium pipeline with a pressure medium, so that even after the joint is released from braking, the corresponding components will not fall rapidly. The balancing structure can also assist in driving or buffering the adjustment of the components by adjusting the amount of pressure medium, thereby reducing the burden on personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0023] Figure 1 A schematic diagram showing the structure of the robot joint control device of the present invention applied to a SCARA robot;

[0024] Figure 2 A schematic diagram showing the principle structure of the robot joint control device of the present invention is shown;

[0025] Figure 3 Shows Figure 2 Schematic diagram of the structure of the pressure relief valve.

[0026] In the drawings, like reference numerals are used for like parts. The drawings are not necessarily to scale.

[0027] Reference numerals:

[0028] 1-Balancing assembly, 11-Balancing chamber, 111-First balancing chamber, 112-Second balancing chamber, 12-Piston rod, 2-Medium pipeline, 21-Check valve, 22-Pressure relief valve, 221-Plunger, 222-Valve pad, 223-Diaphragm, 224-Adjusting screw, 225-Protective cover, 23-Pressure regulating valve, 24-Pressure reducing valve, 25-Pressure gauge, 3-Medium source, 4-Pressure balancing interface, 41-Muffler, 5-Robot, 51-Target joint, 52-Base, 53-First joint, 54-Second joint, 6-Target component, 7-Brake controller, 8-Screw mechanism, 81-Screw, 82-Screw nut, 83-Bearing. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] Example 1

[0031] An embodiment of the present invention provides a robot joint control device, which includes a balancing component 1 and a medium pipeline 2; the balancing component 1 includes a balancing chamber 11 for accommodating a pressure medium and a piston rod 12 slidably engaged in the balancing chamber 11, the balancing chamber 11 is arranged at a target joint 51 of a robot 5, and the end of the piston rod 12 is connected to a target component 6 engaged downstream of the target joint 51; the medium pipeline 2 connects the balancing chamber 11 with a medium source 3, and the medium pipeline 2 is constructed to be able to control the pressure in the balancing chamber 11 by controlling the pressure medium in the balancing chamber 11.

[0032] Specifically, the robot 5 joint control device of the present invention is mainly used to control the components matched with the corresponding joints to prevent them from falling rapidly when the corresponding joints of the robot 5 are released from braking, balance the gravity on the components, and cushion the falling of the components. Figure 1 Taking the SCARA robot shown in the figure as an example, usually according to actual needs, the height of the fixture at the end of the robot 5 needs to be adjusted in some application scenarios. At this time, it is necessary to unlock the 3rd and 4th joints where the fixture is located (the 3rd and 4th joints are actually integrated into one structure, that is, the attached figure Figure 1 The clamp can be adjusted only after the target joint 51 is released from the brake. The purpose of the present invention is to apply a force to the clamp (i.e., the target component 6) after the target joint 51 is released from the brake, balance the deadweight of the clamp, and apply a force to the clamp to assist in driving or buffering when the clamp needs to be adjusted.

[0033] The robot 5 joint control device includes a balancing component 1 and a medium pipeline 2 on its main body. The balancing component 1 includes a balancing chamber 11 and a piston rod 12. The medium pipeline 2 is connected to the balancing chamber 11. The medium pipeline 2 can input pressure medium from the medium source 3 into the balancing chamber 11 or discharge part of the pressure medium in the balancing chamber 11. The piston rod 12 includes a piston arranged at one end thereof, and the piston is slidably fitted in the balancing chamber 11. The other end of the piston rod 12 is connected to the target component 6.

[0034] Under normal conditions, the balancing chamber 11 is filled with pressure medium, and the direction of the force exerted by the pressure medium on the piston rod 12 is opposite to the direction of movement of the target component 6 under the action of gravity. Therefore, the pressure of the pressure medium in the balancing chamber 11 can balance the gravity of the target component 6, so that even after the brakes of the target joint 51 are released, the target component 6 will not fall rapidly at the first time, but will maintain its original state.

[0035] When it is necessary to adjust the position of the target component 6 relative to the target joint 51, the direction is adjusted as needed: if the adjustment direction of the position of the target component 6 relative to the target joint 51 is along the gravity direction of the target component 6, at this time, a part of the pressure medium can be gradually released through the medium pipeline 2, and the force of the pressure medium on the piston rod 12 is reduced within a certain range, so that the target component 6 can be smoothly adjusted with the buffering of the pressure medium, so that there is no need for personnel to bear the dead weight of the target component 6 by manpower during adjustment; if the adjustment direction of the position of the target component 6 relative to the target joint 51 is opposite to the gravity direction of the target component 6, at this time, more pressure medium can be gradually injected into the balance chamber 11 through the medium pipeline 2, and the force of the pressure medium on the piston rod 12 is increased within a certain range, so that the target component 6 can be smoothly adjusted with the auxiliary drive of the pressure medium, reducing the force required for personnel to push the target component 6.

[0036] Therefore, the robot 5 joint control device of the present invention forms a balancing structure capable of balancing the gravity of the components at the corresponding joints of the robot 5 through the balancing assembly 1 and the medium pipeline 2 combined with the pressure medium, so that even after the joint brake is released, the corresponding components will not fall rapidly. And the balancing structure can also assist in driving or buffering the adjustment of the components by adjusting the amount of pressure medium, thereby reducing the burden on personnel.

[0037] Preferably, the pressure medium is compressed air, and the balancing assembly 1 as a whole can be constructed as a cylinder structure.

[0038] Optionally, the pressure medium is hydraulic oil.

[0039] Furthermore, the piston rod 12 is vertically arranged, the bottom of the piston rod 12 is fitted in the balance chamber 11 , and the top of the piston rod 12 is connected to the target component 6 .

[0040] Specifically, according to the need to balance the deadweight of the target component 6 and the need to adjust the height of the target component 6, the piston rod 12 is vertically arranged (that is, parallel to the direction of gravity) and the bottom is fitted in the balancing chamber 11, and the top is connected to the target component 6. The purpose of this design is that the gravity of the target component 6 will drive the piston rod 12 to move into the balancing chamber 11. Compared with the gravity of the target component 6 driving the piston rod 12 to move out of the balancing chamber 11, the reliability is higher.

[0041] Furthermore, the piston rod 12 is connected to the target component 6 via a connecting rod passing through the target joint 51 , the connecting rod is parallel and juxtaposed to the piston rod 12 , the top of the connecting rod is connected to the top of the piston rod 12 , and the bottom of the connecting rod is connected to the target component 6 .

[0042] Specifically, in this embodiment, the target member 6 and the target joint 51 are relatively movable structures, which can also achieve the adjustment of the position of the target member 6 relative to the target joint 51. In this embodiment, the target member 6 cooperates with the target joint 51 through a connecting rod, and the connecting rod is inserted into the target joint 51 and can slide relative to the target joint 51. In addition, the setting of the connecting rod is also convenient for the position layout of the balancing component 1 and the target member 6 at the target joint 51, as shown in the figure. Figure 1 As an example of the SCARA robot shown in the figure, the connecting rod (that is, Figure 1 The screw rod 81) is parallel and juxtaposed with the piston rod 12, so that the balancing assembly 1 as a whole can be arranged above the target joint 51, and the target member 6 is arranged below the target joint 51, which is convenient for structural layout.

[0043] Example 2

[0044] An embodiment of the present invention provides a robot joint control device, which includes a balancing component 1 and a medium pipeline 2; the balancing component 1 includes a balancing chamber 11 for accommodating a pressure medium and a piston rod 12 slidably engaged in the balancing chamber 11, the balancing chamber 11 is arranged at a target joint 51 of a robot 5, and the end of the piston rod 12 is connected to a target component 6 engaged downstream of the target joint 51; the medium pipeline 2 connects the balancing chamber 11 with a medium source 3, and the medium pipeline 2 is constructed to be able to control the pressure in the balancing chamber 11 by controlling the amount of pressure medium in the balancing chamber 11.

[0045] Specifically, the robot 5 joint control device of the present invention is mainly used to control the components matched with the corresponding joints to prevent them from falling rapidly when the corresponding joints of the robot 5 are released from braking, balance the gravity on the components, and cushion the falling of the components. Figure 1 Taking the SCARA robot shown in the figure as an example, usually according to actual needs, the height of the fixture at the end of the robot 5 needs to be adjusted in some application scenarios. At this time, it is necessary to unlock the 3rd and 4th joints where the fixture is located (the 3rd and 4th joints are actually integrated into one structure, that is, the attached figure Figure 1 The clamp can be adjusted only after the target joint 51 is released from the brake. The purpose of the present invention is to apply a force to the clamp (i.e., the target component 6) after the target joint 51 is released from the brake, balance the deadweight of the clamp, and apply a force to the clamp to assist in driving or buffering when the clamp needs to be adjusted.

[0046] The robot 5 joint control device includes a balancing component 1 and a medium pipeline 2 on its main body. The balancing component 1 includes a balancing chamber 11 and a piston rod 12. The medium pipeline 2 is connected to the balancing chamber 11. The medium pipeline 2 can input pressure medium from the medium source 3 into the balancing chamber 11 or discharge part of the pressure medium in the balancing chamber 11. The piston rod 12 includes a piston arranged at one end thereof, and the piston is slidably fitted in the balancing chamber 11. The other end of the piston rod 12 is connected to the target component 6.

[0047] Under normal conditions, the balancing chamber 11 is filled with pressure medium, and the direction of the force exerted by the pressure medium on the piston rod 12 is opposite to the direction of movement of the target component 6 under the action of gravity. Therefore, the pressure of the pressure medium in the balancing chamber 11 can balance the gravity of the target component 6, so that even after the brakes of the target joint 51 are released, the target component 6 will not fall rapidly at the first time, but will maintain its original state.

[0048] When it is necessary to adjust the position of the target component 6 relative to the target joint 51, the direction is adjusted as needed: if the adjustment direction of the position of the target component 6 relative to the target joint 51 is along the gravity direction of the target component 6, at this time, a part of the pressure medium can be gradually released through the medium pipeline 2, and the force of the pressure medium on the piston rod 12 is reduced within a certain range, so that the target component 6 can be smoothly adjusted with the buffering of the pressure medium, so that there is no need for personnel to bear the dead weight of the target component 6 by manpower during adjustment; if the adjustment direction of the position of the target component 6 relative to the target joint 51 is opposite to the gravity direction of the target component 6, at this time, more pressure medium can be gradually injected into the balance chamber 11 through the medium pipeline 2, and the force of the pressure medium on the piston rod 12 is increased within a certain range, so that the target component 6 can be smoothly adjusted with the auxiliary drive of the pressure medium, reducing the force required for personnel to push the target component 6.

[0049] Therefore, the robot 5 joint control device of the present invention forms a balancing structure capable of balancing the gravity of the components at the corresponding joints of the robot 5 through the balancing assembly 1 and the medium pipeline 2 combined with the pressure medium, so that even after the joint brake is released, the corresponding components will not fall rapidly. And the balancing structure can also assist in driving or buffering the adjustment of the components by adjusting the amount of pressure medium, thereby reducing the burden on personnel.

[0050] Preferably, the pressure medium is compressed air, and the balancing assembly 1 as a whole can be constructed as a cylinder structure.

[0051] Optionally, the pressure medium is hydraulic oil.

[0052] Furthermore, the piston rod 12 is vertically arranged, the bottom of the piston rod 12 is fitted in the balance chamber 11 , and the top of the piston rod 12 is connected to the target component 6 .

[0053] Specifically, according to the need to balance the deadweight of the target component 6 and the need to adjust the height of the target component 6, the piston rod 12 is vertically arranged (that is, parallel to the direction of gravity) and the bottom is fitted in the balancing chamber 11, and the top is connected to the target component 6. The purpose of this design is that the gravity of the target component 6 will drive the piston rod 12 to move into the balancing chamber 11. Compared with the gravity of the target component 6 driving the piston rod 12 to move out of the balancing chamber 11, the reliability is higher.

[0054] Furthermore, the piston rod 12 is connected to the target component 6 via a connecting rod passing through the target joint 51 , the connecting rod is parallel and juxtaposed to the piston rod 12 , the top of the connecting rod is connected to the top of the piston rod 12 , and the bottom of the connecting rod is connected to the target component 6 .

[0055] Specifically, in this embodiment, the target member 6 and the target joint 51 are relatively movable structures, which can also achieve the adjustment of the position of the target member 6 relative to the target joint 51. In this embodiment, the target member 6 cooperates with the target joint 51 through a connecting rod, and the connecting rod is inserted into the target joint 51 and can slide relative to the target joint 51. In addition, the setting of the connecting rod is also convenient for the position layout of the balancing component 1 and the target member 6 at the target joint 51, as shown in the figure. Figure 1 As an example of the SCARA robot shown in the figure, the connecting rod (that is, Figure 1 The screw rod 81) is parallel and juxtaposed with the piston rod 12, so that the balancing assembly 1 as a whole can be arranged above the target joint 51, and the target member 6 is arranged below the target joint 51, which is convenient for structural layout.

[0056] Furthermore, a check valve 21 and a pressure relief valve 22 are sequentially arranged on the medium pipeline 2 , and the pressure relief valve 22 is arranged between the check valve 21 and the balancing chamber 11 .

[0057] Specifically, as shown in the attached figure Figure 2 As shown, a check valve 21 and a pressure relief valve 22 are respectively provided on the medium pipeline 2, and the pressure relief valve 22 is closer to the balancing chamber 11 than the check valve 21. Among them, the check valve 21 is used to prevent the pressure medium from flowing out of the balancing chamber 11 in the reverse direction through the medium pipeline 2, and can maintain the amount of pressure medium in the balancing chamber 11 and the pressure in the balancing chamber 11. The pressure relief valve 22 can be pushed open when the pressure in the balancing chamber 11 increases to a certain value, thereby discharging a part of the pressure medium. For example, when the target component 6 needs to adjust its position relative to the target joint 51 along the gravity direction of the target component 6, at this time, the target component 6 is driven by an external force (for example, in the accompanying drawings). Figure 1The height is lowered under the drive of the screw mechanism 8 shown in the figure, thereby compressing the pressure medium in the balance chamber 11 through the piston rod 12, so that the pressure in the balance chamber 11 gradually increases. When the pressure increases to be greater than the set pressure of the pressure relief valve 22, the pressure relief valve 22 is opened and gradually releases a part of the pressure medium, thereby reducing the force of the pressure medium on the piston rod 12 within a certain range, so that the target component 6 can gradually and continuously lower its height.

[0058] Furthermore, the specific structure of the pressure relief valve 22 is shown in the accompanying drawings. Figure 3 As shown, the pressure relief valve 22 is internally constructed with a medium channel, the middle of which is blocked by a movable plunger 221, a valve pad 222 for maintaining the sealing of the blocking portion is provided at the bottom of the plunger 221, and a pressure mechanism composed of a preload spring is provided at the top of the plunger 221. The adjusting screw 224 in the pressure mechanism can adjust the preload degree of the preload spring, that is, adjust the set pressure of the pressure relief valve 22. The pressure of the pressure medium directly acts on the bottom of the plunger 221. When the pressure of the pressure medium increases to be greater than the set pressure of the pressure relief valve 22, the plunger 221 is pushed up and compresses the preload spring. At this time, the medium channel is opened, and the pressure medium can be discharged until the pressure of the pressure medium is reduced to not more than the set pressure of the pressure relief valve 22.

[0059] In addition, a sealing diaphragm 223 is provided at the interface where the top of the plunger 221 contacts the pressure mechanism, which is used to ensure the independence and sealing of the medium channel without affecting the action of the plunger 221. A protective cover 225 is provided at the top of the adjusting screw 224. It should be noted that the other structures of the pressure relief valve 22 are not the main invention of the present invention, so its further specific structure can refer to the existing literature.

[0060] Furthermore, a pressure regulating valve 23 and a pressure reducing valve 24 are sequentially arranged on the medium pipeline 2 , and the pressure reducing valve 24 is arranged at an end of the medium pipeline 2 closest to the medium source 3 .

[0061] Specifically, as shown in the attached figure Figure 2 As shown, a pressure regulating valve 23 and a pressure reducing valve 24 are respectively provided on the medium pipeline 2, which are used together to adjust the pressure. Among them, the pressure reducing valve 24 is used to adjust the pressure of the pressure medium output by the medium source 3, and the pressure is first controlled from the source. The pressure regulating valve 23 is used to adjust the input flow of the pressure medium of the balancing chamber 11 (that is, to adjust the pressure of the pressure medium entering the balancing chamber 11), so as to adjust the pressure of the pressure medium acting on the piston rod 12. Specifically, the force F of the balancing component 1 on the target component 6 and the pressure P of the pressure medium satisfy the relationship:

[0062] P=F / S=mg / (π×r 2 );

[0063] Wherein: r=D / 2, D is the inner diameter of the balancing cavity 11; m is the mass of the target component 6, in kg; g is the gravitational acceleration constant, whose approximate value is 9.8 N / kg.

[0064] Furthermore, a pressure gauge 25 for measuring and feeding back the pressure in the balancing chamber 11 is provided on the medium pipeline 2 . The pressure gauge 25 is provided at an end of the medium pipeline 2 that is closest to the balancing chamber 11 .

[0065] Example 3

[0066] An embodiment of the present invention provides a robot joint control device, which includes a balancing component 1 and a medium pipeline 2; the balancing component 1 includes a balancing chamber 11 for accommodating a pressure medium and a piston rod 12 slidably engaged in the balancing chamber 11, the balancing chamber 11 is arranged at a target joint 51 of a robot 5, and the end of the piston rod 12 is connected to a target component 6 engaged downstream of the target joint 51; the medium pipeline 2 connects the balancing chamber 11 with a medium source 3, and the medium pipeline 2 is constructed to be able to control the pressure in the balancing chamber 11 by controlling the amount of pressure medium in the balancing chamber 11.

[0067] Specifically, the robot 5 joint control device of the present invention is mainly used to control the components matched with the corresponding joints to prevent them from falling rapidly when the corresponding joints of the robot 5 are released from braking, balance the gravity on the components, and cushion the falling of the components. Figure 1 Taking the SCARA robot shown in the figure as an example, usually according to actual needs, the height of the fixture at the end of the robot 5 needs to be adjusted in some application scenarios. At this time, it is necessary to unlock the 3rd and 4th joints where the fixture is located (the 3rd and 4th joints are actually integrated into one structure, that is, the attached figure Figure 1 The clamp can be adjusted only after the target joint 51 is released from the brake. The purpose of the present invention is to apply a force to the clamp (i.e., the target component 6) after the target joint 51 is released from the brake, balance the deadweight of the clamp, and apply a force to the clamp to assist in driving or buffering when the clamp needs to be adjusted.

[0068] The robot 5 joint control device includes a balancing component 1 and a medium pipeline 2 on its main body. The balancing component 1 includes a balancing chamber 11 and a piston rod 12. The medium pipeline 2 is connected to the balancing chamber 11. The medium pipeline 2 can input pressure medium from the medium source 3 into the balancing chamber 11 or discharge part of the pressure medium in the balancing chamber 11. The piston rod 12 includes a piston arranged at one end thereof, and the piston is slidably fitted in the balancing chamber 11. The other end of the piston rod 12 is connected to the target component 6.

[0069] Under normal conditions, the balancing chamber 11 is filled with pressure medium, and the direction of the force exerted by the pressure medium on the piston rod 12 is opposite to the direction of movement of the target component 6 under the action of gravity. Therefore, the pressure of the pressure medium in the balancing chamber 11 can balance the gravity of the target component 6, so that even after the brakes of the target joint 51 are released, the target component 6 will not fall rapidly at the first time, but will maintain its original state.

[0070] When it is necessary to adjust the position of the target component 6 relative to the target joint 51, the direction is adjusted as needed: if the adjustment direction of the position of the target component 6 relative to the target joint 51 is along the gravity direction of the target component 6, at this time, a part of the pressure medium can be gradually released through the medium pipeline 2, and the force of the pressure medium on the piston rod 12 is reduced within a certain range, so that the target component 6 can be smoothly adjusted with the buffering of the pressure medium, so that there is no need for personnel to bear the dead weight of the target component 6 by manpower during adjustment; if the adjustment direction of the position of the target component 6 relative to the target joint 51 is opposite to the gravity direction of the target component 6, at this time, more pressure medium can be gradually injected into the balance chamber 11 through the medium pipeline 2, and the force of the pressure medium on the piston rod 12 is increased within a certain range, so that the target component 6 can be smoothly adjusted with the auxiliary drive of the pressure medium, reducing the force required for personnel to push the target component 6.

[0071] Therefore, the robot 5 joint control device of the present invention forms a balancing structure capable of balancing the gravity of the components at the corresponding joints of the robot 5 through the balancing assembly 1 and the medium pipeline 2 combined with the pressure medium, so that even after the joint brake is released, the corresponding components will not fall rapidly. And the balancing structure can also assist in driving or buffering the adjustment of the components by adjusting the amount of pressure medium, thereby reducing the burden on personnel.

[0072] Preferably, the pressure medium is compressed air, and the balancing assembly 1 as a whole can be constructed as a cylinder structure.

[0073] Optionally, the pressure medium is hydraulic oil.

[0074] Furthermore, the piston rod 12 is vertically arranged, the bottom of the piston rod 12 is fitted in the balance chamber 11 , and the top of the piston rod 12 is connected to the target component 6 .

[0075] Specifically, according to the need to balance the deadweight of the target component 6 and the need to adjust the height of the target component 6, the piston rod 12 is vertically arranged (that is, parallel to the direction of gravity) and the bottom is fitted in the balancing chamber 11, and the top is connected to the target component 6. The purpose of this design is that the gravity of the target component 6 will drive the piston rod 12 to move into the balancing chamber 11. Compared with the gravity of the target component 6 driving the piston rod 12 to move out of the balancing chamber 11, the reliability is higher.

[0076] Furthermore, the piston rod 12 is connected to the target component 6 via a connecting rod passing through the target joint 51 , the connecting rod is parallel and juxtaposed to the piston rod 12 , the top of the connecting rod is connected to the top of the piston rod 12 , and the bottom of the connecting rod is connected to the target component 6 .

[0077] Specifically, in this embodiment, the target member 6 and the target joint 51 are relatively movable structures, which can also achieve the adjustment of the position of the target member 6 relative to the target joint 51. In this embodiment, the target member 6 cooperates with the target joint 51 through a connecting rod, and the connecting rod is inserted into the target joint 51 and can slide relative to the target joint 51. In addition, the setting of the connecting rod is also convenient for the position layout of the balancing component 1 and the target member 6 at the target joint 51, as shown in the figure. Figure 1 As an example of the SCARA robot shown in the figure, the connecting rod (that is, Figure 1 The screw rod 81) is parallel and juxtaposed with the piston rod 12, so that the balancing assembly 1 as a whole can be arranged above the target joint 51, and the target member 6 is arranged below the target joint 51, which is convenient for structural layout.

[0078] Furthermore, a check valve 21 and a pressure relief valve 22 are sequentially arranged on the medium pipeline 2 , and the pressure relief valve 22 is arranged between the check valve 21 and the balancing chamber 11 .

[0079] Specifically, as shown in the attached figure Figure 2 As shown, a check valve 21 and a pressure relief valve 22 are respectively provided on the medium pipeline 2, and the pressure relief valve 22 is closer to the balancing chamber 11 than the check valve 21. Among them, the check valve 21 is used to prevent the pressure medium from flowing out of the balancing chamber 11 in the reverse direction through the medium pipeline 2, and can maintain the amount of pressure medium in the balancing chamber 11 and the pressure in the balancing chamber 11. The pressure relief valve 22 can be pushed open when the pressure in the balancing chamber 11 increases to a certain value, thereby discharging a part of the pressure medium. For example, when the target component 6 needs to adjust its position relative to the target joint 51 along the gravity direction of the target component 6, at this time, the target component 6 is driven by an external force (for example, in the accompanying drawings). Figure 1 The height is lowered under the drive of the screw mechanism 8 shown in the figure, thereby compressing the pressure medium in the balance chamber 11 through the piston rod 12, so that the pressure in the balance chamber 11 gradually increases. When the pressure increases to be greater than the set pressure of the pressure relief valve 22, the pressure relief valve 22 is opened and gradually releases a part of the pressure medium, thereby reducing the force of the pressure medium on the piston rod 12 within a certain range, so that the target component 6 can gradually and continuously lower its height.

[0080] Furthermore, the specific structure of the pressure relief valve 22 is shown in the accompanying drawings. Figure 3As shown, the pressure relief valve 22 is internally constructed with a medium channel, the middle of which is blocked by a movable plunger 221, a valve pad 222 for maintaining the sealing of the blocking portion is provided at the bottom of the plunger 221, and a pressure mechanism composed of a preload spring is provided at the top of the plunger 221. The adjusting screw 224 in the pressure mechanism can adjust the preload degree of the preload spring, that is, adjust the set pressure of the pressure relief valve 22. The pressure of the pressure medium directly acts on the bottom of the plunger 221. When the pressure of the pressure medium increases to be greater than the set pressure of the pressure relief valve 22, the plunger 221 is pushed up and compresses the preload spring. At this time, the medium channel is opened, and the pressure medium can be discharged until the pressure of the pressure medium is reduced to not more than the set pressure of the pressure relief valve 22.

[0081] In addition, a sealing diaphragm 223 is provided at the interface where the top of the plunger 221 contacts the pressure mechanism, which is used to ensure the independence and sealing of the medium channel without affecting the action of the plunger 221. A protective cover 225 is provided at the top of the adjusting screw 224. It should be noted that the other structures of the pressure relief valve 22 are not the main invention of the present invention, so its further specific structure can refer to the existing literature.

[0082] Furthermore, a pressure regulating valve 23 and a pressure reducing valve 24 are sequentially arranged on the medium pipeline 2 , and the pressure reducing valve 24 is arranged at an end of the medium pipeline 2 closest to the medium source 3 .

[0083] Specifically, as shown in the attached figure Figure 2 As shown, a pressure regulating valve 23 and a pressure reducing valve 24 are respectively provided on the medium pipeline 2, which are used together to adjust the pressure. Among them, the pressure reducing valve 24 is used to adjust the pressure of the pressure medium output by the medium source 3, and the pressure is first controlled from the source. The pressure regulating valve 23 is used to adjust the input flow of the pressure medium of the balancing chamber 11 (that is, to adjust the pressure of the pressure medium entering the balancing chamber 11), so as to adjust the pressure of the pressure medium acting on the piston rod 12. Specifically, the force F of the balancing component 1 on the target component 6 and the pressure P of the pressure medium satisfy the relationship:

[0084] P=F / S=mg / (π×r 2 );

[0085] Wherein: r=D / 2, D is the inner diameter of the balancing cavity 11; m is the mass of the target component 6, in kg; g is the gravitational acceleration constant, whose approximate value is 9.8 N / kg.

[0086] Furthermore, a pressure gauge 25 for measuring and feeding back the pressure in the balancing chamber 11 is provided on the medium pipeline 2 . The pressure gauge 25 is provided at an end of the medium pipeline 2 that is closest to the balancing chamber 11 .

[0087] Furthermore, the balancing chamber 11 includes a first balancing chamber 111 and a second balancing chamber 112 separated by a piston at the end of the piston rod 12, the first balancing chamber 111 is connected to the medium pipeline 2, and the second balancing chamber 112 is provided with a pressure balancing interface 4 connected to the external environment, and a muffler 41 is provided at the pressure balancing interface 4.

[0088] Specifically, as shown in the attached figure Figure 2 As shown, the balancing chamber 11 is configured as a closed structure as a whole to improve the sealing performance. The balancing chamber 11 is separated into a first balancing chamber 111 and a second balancing chamber 112 by the piston at the end of the piston rod 12. The medium pipeline 2 is connected to the first balancing chamber 111 to drive the piston. Obviously, the movement of the piston will also affect the second balancing chamber 112. Therefore, the second balancing chamber 112 is connected to the external atmospheric environment through the pressure balancing interface 4, so that air can be introduced or discharged to match the movement of the piston. The muffler 41 provided on the pressure balancing interface 4 is used to eliminate noise such as airflow whistling when air enters and exits the second balancing chamber 112.

[0089] Furthermore, it also includes a brake arranged at the target joint 51 and a brake controller 7 arranged on the robot 5, and the brake controller 7 is electrically connected to the brake.

[0090] Specifically, as shown in the attached figure Figure 1 As shown, the robot 5 is provided with a brake controller 7 electrically connected to a brake (not shown in the drawings). The brake is provided at the target joint 51 and is used to brake or unlock the target joint 51 .

[0091] In this embodiment, the robot 5 is a SCARA robot which includes a base 52, a first joint 53, a second joint 54, a target joint 51 and a fixture (i.e., a target component 6) in sequence. The target joint 51 is used to cooperate with the screw mechanism 8 of the SCARA robot 5 to provide the fixture with freedom in both lifting and rotating directions.

[0092] Example 4

[0093] An embodiment of the present invention provides a robot, which includes a robot joint control device of any one of the above embodiments, and the control device is arranged at the target joint 51 of the robot 5; wherein a screw mechanism 8 is arranged at the target joint 51, and one end of the screw rod 81 of the screw mechanism 8 is connected to the control device, and the other end is connected to the target component 6 that cooperates with the target joint 51.

[0094] Specifically, as shown in the attached figure Figure 1As shown, the robot 5 in this embodiment is a SCARA robot including a base 52, a first joint 53, a second joint 54, a target joint 51 and a fixture (i.e., a target member 6), wherein the target joint 51 is equipped with a screw mechanism 8 that provides lifting and rotating functions for the target member 6 (i.e., the fixture), and the screw mechanism 8 includes a screw nut 82 as a fixed member and a screw rod 81 as a movable member. The balance chamber 11 (i.e., a housing member having the balance chamber 11) of the control device is fixedly connected to the screw cylinder nut 82 of the screw mechanism 8, and the end of the piston rod 12 of the balance assembly 1 is fixedly connected to the limit block at the end of the screw rod 81 through a bearing 83. The bearing 83 can not only realize the connection between the piston rod 12 and the screw rod 81, but also be compatible with different motion states of the two, for example, the screw rod 81 needs to rotate, while the piston rod 12 does not rotate.

[0095] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0096] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A robot joint control device, characterized in that: include: A balancing assembly, comprising a balancing chamber for accommodating a pressure medium and a piston rod slidably engaged in the balancing chamber, wherein the balancing chamber is disposed at a target joint of the robot, and a distal end of the piston rod is connected to a target member engaged downstream of the target joint; as well as A medium pipeline connects the balancing chamber with a medium source, and the medium pipeline is configured to control the pressure in the balancing chamber by controlling the pressure medium in the balancing chamber.

2. The robot joint control device according to claim 1, characterized in that: The piston rod is vertically arranged, the bottom of the piston rod is fitted in the balance chamber, and the top of the piston rod is connected to the target component.

3. The robot joint control device according to claim 2, characterized in that: The piston rod is connected to the target component via a connecting rod passing through the target joint, the connecting rod is parallel and juxtaposed with the piston rod, the top of the connecting rod is connected to the top of the piston rod, and the bottom of the connecting rod is connected to the target component.

4. The robot joint control device according to any one of claims 1 to 3, characterized in that: A check valve and a pressure relief valve are sequentially arranged on the medium pipeline, and the pressure relief valve is arranged between the check valve and the balance chamber.

5. The robot joint control device according to claim 4, characterized in that: A pressure regulating valve and a pressure reducing valve are sequentially arranged on the medium pipeline, and the pressure reducing valve is arranged at an end of the medium pipeline that is closest to the medium source.

6. The robot joint control device according to claim 4, characterized in that: The medium pipeline is provided with a pressure gauge, and the pressure gauge is arranged at the end of the medium pipeline closest to the balance chamber.

7. The robot joint control device according to claim 1, characterized in that: The balancing chamber includes a first balancing chamber and a second balancing chamber separated by a piston at the end of the piston rod, the first balancing chamber is connected to the medium pipeline, and the second balancing chamber is provided with a pressure balancing interface connected to the external environment, and a muffler is provided at the pressure balancing interface.

8. The robot joint control device according to claim 1, characterized in that: The pressure medium is compressed air.

9. The robot joint control device according to claim 1, characterized in that: It also includes a brake arranged at the target joint and a brake controller arranged on the robot, wherein the brake controller is electrically connected to the brake.

10. A robot, characterized in that: It comprises a robot joint control device as claimed in any one of claims 1 to 9, wherein the control device is arranged at a target joint of the robot; Wherein, a screw mechanism is arranged at the target joint, one end of the screw rod of the screw mechanism is connected to the control device, and the other end is connected to the target component cooperating with the target joint.

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