Heavy-load robot with tail end load balancing device and movement method of heavy-load robot

Abstract

The invention relates to a heavy-load robot with a tail end load balancing device and a movement method of the heavy-load robot, and belongs to the field of robots. The heavy-load robot with the tail end load balancing device comprises the tail end load balancing device, three sets of linear moving trolleys are arranged on three sets of linear modules correspondingly, parallelogram connecting rods are arranged between the linear moving trolleys and a movable platform, the movable platform is provided with a balance connecting ring, and the tail end load balancing device is arranged on the tail end load balancing device. The tail end load balancing device is arranged above the linear module at the top and located above the middle position of the moving path of the linear moving trolley on the linear module, the tail end load balancing device is connected to a balancing connecting ring of the movable platform through flexible traction, and a load is installed at the front end of the movable platform. The end load is balanced in cooperation with movement of the movable platform, so that the end load of the robot is relieved, the driving power of a heavy-load robot is reduced, and a small-power robot can drive a servo motor to precisely push a large load.

Description

Technical Field

[0001] The present invention relates to a heavy-duty robot provided with an end load balancing device and a motion method thereof, belonging to the field of robots. Background Art

[0002] At present, most robots drive the machine joints through the cooperation of servo motors and speed reducers to drive the robotic arm to swing around the joints and realize the movement of the robot.

[0003] For a heavy-duty robot in this process, its driving joints require high-power servo motors (above 10 Kw). However due to the influence of the international market, foreign mature high-power servo motors restrict exports to China, and the domestic supply cycle of high-power servo motors is long, the work is unstable, and the continuous fault-free working time is short.

[0004] Especially in the field of loading and unloading, such as the handling of ton bags, compared with the frame-type hoisting mechanism, the heavy-duty robot occupies less space.

[0005] The hoisting mechanism uses a wire rope winding machine as the power, which has a large load, but its spatial movement is not flexible enough.

[0006] If the wire rope winding machine and the linear movement mechanism can be combined, it can not only meet the requirements of movement accuracy and speed, but also achieve heavy-duty handling, which will be a research and development direction of robots. Summary of the Invention

[0007] In view of the above problems, the present invention provides a heavy-duty robot provided with an end load balancing device and a motion method thereof, solving the problems of slow movement speed, insufficient accuracy of the hoisting mechanism and small load of the mobile module robot.

[0008] To achieve the above object, the technical solution adopted by the present invention is: The heavy-duty robot of the present invention provided with an end load balancing device includes three linear modules, three linear mobile trolleys corresponding to the linear modules and a moving platform, and further includes an end load balancing device. The three linear mobile trolleys are respectively arranged on the three linear modules, and a parallelogram link is provided between the linear mobile trolley and the moving platform. The three linear modules are parallel to each other and arranged in a triangle. The moving platform is provided with a balance connection ring, and the end load balancing device is arranged above the top linear module and is located at the linear mobile trolley Above the middle position of the moving path on the linear module, the end load balancing device balances the moving platform through flexible traction connection On the connecting ring, a load is installed at the front end of the moving platform, and the load is a handling and grasping carrier

[0009] According to the heavy-duty robot provided with the end load balancing device, there are three groups of parallelogram linkages, which are respectively The first parallelogram linkage, the second parallelogram linkage and the third parallelogram linkage; the four linkages of the parallelogram linkage are divided into long linkages and short linkages, and the adjacent linkages are hinged to each other

[0010] According to the heavy-duty robot provided with the end load balancing device, the hinge axes in the first parallelogram linkage and the second parallelogram linkage are perpendicular to the plane where the first parallelogram linkage and the second parallelogram linkage are located. The plane where the first parallelogram linkage and the second parallelogram linkage are located is vertically arranged to connect the two lower linear moving trolleys. And the front short linkages of the first parallelogram linkage and the second parallelogram linkage are rotatably arranged on the moving platform, and the rear short linkages of the first parallelogram linkage and the second parallelogram linkage are rotatably arranged on the corresponding linear moving trolleys; the front short linkage of the third parallelogram linkage is rotatably arranged on the linear moving trolley, and the rear short linkage is arranged below or in front of the top linear moving trolley, and the front short linkage and the rear short linkage are horizontal

[0011] According to the heavy-duty robot provided with the end load balancing device, the three groups of linear modules are arranged in an isosceles triangle. Two groups of linear modules are at the same height position. The linear module includes two parallel linear tracks and a track mounting frame; the linear tracks are fixed on the track mounting frame

[0012] According to the heavy-duty robot provided with the end load balancing device, it further includes a frame. The frame is of a frame structure and includes a left frame, a right frame, a top frame, a front mounting cross beam and a rear mounting cross beam; the top frame is arranged on the top of the left and right frames, the front mounting cross beam is installed between the left and right frames at the lower front end of the top frame, and the rear mounting cross beam is installed between the left and right frames at the lower rear end of the top frame

[0013] According to the heavy-duty robot provided with the end load balancing device, on the left frame, right frame and top frame​​​​​​​​​​​​ There is an installation beam. A clamping bracket installation frame is provided at the rear of the track installation frame. The clamping bracket installation frame is clamped and fixed on the installation beam. The track installation frames on both sides protrude from the inner sides of the left frame or the right frame. The two ends of the installation beam at the top are fixed on the front installation cross beam and the rear installation cross beam.

[0014] For the heavy-duty robot provided with the end load balancing device, a nitrogen gas balancing cylinder is provided at the front end of the moving platform. The connecting end of the nitrogen gas balancing cylinder is provided with the steel wire rope connecting ring described above. A steel wire rope guiding mechanism is provided above the steel wire rope connecting ring. The steel wire rope of the steel wire rope winding machine passes through the steel wire rope guiding mechanism to connect the steel wire rope connecting ring.

[0015] For the heavy-duty robot provided with the end load balancing device, the end load balancing device is a steel wire rope winding machine. The steel wire rope winding machine is fixed at the front end of the top cross beam through a fixed frame. The release of the steel wire rope is at the lower rear of the front end of the top linear module.

[0016] For the heavy-duty robot provided with the end load balancing device, the moving platform has degrees of freedom in three directions: up and down, left and right, and front and back.

[0017] The motion method of the heavy-duty robot provided with the end load balancing device in the present invention includes the following three degrees of freedom motions. 1) Forward or backward motion of the moving platform. The three groups of linear moving trolleys move forward or backward simultaneously on the linear module. The steel wire rope of the steel wire rope winding machine is wound or released. The moving platform moves forward or backward driven by the three groups of linear moving trolleys. 2) Leftward motion of the moving platform. The upper linear moving trolley remains unchanged. The lower left linear moving trolley moves forward. The lower left and right linear moving trolleys move backward. The steel wire rope of the steel wire rope winding machine is wound or released synchronously. The front end of the moving platform moves to the right. 3) Rightward motion of the moving platform. The upper linear moving trolley remains unchanged. The lower left linear moving trolley moves backward. The lower right linear moving trolley moves forward. The steel wire rope of the steel wire rope winding machine is wound or released synchronously. The front end of the moving platform moves to the left. 4) Rightward motion of the moving platform. The upper linear moving trolley remains unchanged. The lower left linear moving trolley moves backward. The lower right linear moving trolley moves forward. The steel wire rope of the steel wire rope winding machine is wound or released synchronously. The front end of the moving platform moves to the left. ​ 5) When the moving platform moves upward or downward, the relative positions of the three sets of linear moving trolleys on the linear modules remain unchanged, and the steel wire rope winding machine synchronously winds or releases the steel wire rope, and the moving platform moves upward or downward.

[0018] The present invention coordinates with the movement of the moving platform to balance the end load, so as to reduce the end load of the robot and reduce the driving power of the heavy-duty robot, and can realize the precise pushing of a large load by a small-power robot driving servo motor.

[0019] In this device, the steel wire rope of the steel wire rope winding machine passes through the guiding ring and is connected to the telescopic rod of the nitrogen balance cylinder. During the movement of the end moving platform of the robot, the steel wire rope winding machine realizes gravity balance by matching the position and speed of the steel wire rope winding and unwinding of the steel wire rope winding machine and the position and speed of the end moving platform. The nitrogen balance cylinder can eliminate the traction force generated by the incomplete coincidence of the steel wire rope traction and the position of the robot end while ensuring that the traction force of the steel wire rope is within a certain range. Description of the Drawings

[0020] Figure 1 is the structure of the present invention Figure 1 , Figure 2 is the structure of the present invention Figure 2 , Figure 3 is the side view of the present invention, Figure 4 is the rear view of the present invention, Figure 5 is the sectional view of the present invention, Figure 6 is the top view of the present invention, Reference numerals: 1 first linear module, 11 first linear moving trolley, 12 first parallelogram link, 14 linear track, 2 second linear module, 21 second linear moving trolley, 22 second parallelogram link, 3 third linear module, 31 third linear moving trolley, 32 third parallelogram link, 4 moving platform, 41 nitrogen balance cylinder, 42 steel wire rope guiding mechanism, 43 steel wire rope connection ring, 5 end load balancing device, 6 frame, 61 left frame, 62 right frame, 63 top frame, 64 front mounting cross beam, 65 rear mounting cross beam, 66 track mounting bracket, 67 mounting beam, 68 clamp mounting bracket. Detailed Embodiments

[0021] The following is a further description of the specific content of the present invention: The heavy-duty robot of the present invention provided with an end load balancing device includes a frame 5, three groups of linear modules, three linear moving carts corresponding to the linear module groups, a moving platform 4 and an end load balancing device 5.

[0022] The frame 5 of this device is as Figure 1 and Figure 2 shown. The frame 5 is of a frame structure and includes a left frame 61, a right frame 62, a top frame 63, a front mounting cross beam 64 and a rear mounting cross beam 65; the top frame 63 is arranged on the tops of the left and right frames 62, the front mounting cross beam is mounted between the lower parts of the left and right frames at the front end of the top frame 63, and the rear mounting cross beam is mounted between the lower parts of the left and right frames at the rear end of the top frame 63.

[0023] Mounting beams 67 are provided on the left frame 61, the right frame 62 and the top frame 63 of this device. A clamping mounting frame 68 is provided at the rear of the track mounting frame 65. The clamping mounting frame 68 is clamped and fixed on the mounting beam 67. The track mounting frames 65 on both sides protrude from the inner sides of the left frame 61 or the right frame 62, and both ends of the mounting beam 67 at the top are fixed to the front mounting cross beam 64 and the rear mounting cross beam 65.

[0024] The space between the left frame 61, the right frame 62 and the top frame 63 inside the frame is the movement space of this robot. The goods to be transported or palletized are placed by a conveyor in this movement space.

[0025] The linear modules of this device are fixed on the track mounting frame 65. The linear modules of this device include two parallel linear tracks and the track mounting frame 65; wherein the linear tracks are fixed on the track mounting frame 65.

[0026] Specifically, the three groups of linear modules of this device are arranged in an isosceles triangle, with two groups of linear modules at the same height position, and the three groups of linear modules are parallel to each other. That is, the first linear module is arranged on the left frame, the second linear module is arranged on the right frame, and the third linear module is arranged at the lower part of the top frame. The first linear moving cart is arranged on the first linear module, the second linear moving cart is arranged on the second linear module, and the third linear moving cart is arranged on the third linear module. ​​

[0027] A first parallelogram linkage is provided between the first linear moving trolley and the moving platform 4, a second parallelogram linkage is provided between the second linear moving trolley and the moving platform 4, and a third parallelogram linkage is provided between the third linear moving trolley and the moving platform 4.

[0028] The moving platform 4 is provided with a balance connection ring. The end load balancing device 5 is arranged above the linear module at the top and is located above the middle position of the moving path of the linear moving trolley on the linear module. The end load balancing device 5 is connected to the balance connection ring of the moving platform 4 through a flexible traction connection. A load is installed at the front end of the moving platform 4, and the load is a handling and grasping carrier.

[0029] Specifically, the end load balancing device 5 of the present device is a wire rope winding machine. The wire rope winding machine is fixed to the front end of the top cross beam through a fixed frame 5, and the front end of the top linear module is located behind the lower part of the wire rope winding machine.

[0030] A nitrogen balance cylinder 41 is provided at the front end of the moving platform 4 of the present device. The connection end of the nitrogen balance cylinder 41 is provided with the above-mentioned wire rope connection ring 43. A wire rope guiding mechanism 42 is provided above the wire rope connection ring 43. The wire rope of the wire rope winding machine passes through the wire rope guiding mechanism 42 and is connected to the wire rope connection ring 43.

[0031] Specifically, the four connecting rods of the parallelogram linkage of the present device are divided into long connecting rods and short connecting rods, and the adjacent connecting rods are hinged to each other.

[0032] The hinge axes in the first parallelogram linkage and the second parallelogram linkage are perpendicular to the plane where the first parallelogram linkage and the second parallelogram linkage are located. The planes where the first parallelogram linkage and the second parallelogram linkage are located are vertically arranged to connect the two lower linear moving trolleys. The front short connecting rods of the first parallelogram linkage and the second parallelogram linkage are rotatably arranged on the moving platform 4, and the rear short connecting rods of the first parallelogram linkage and the second parallelogram linkage are rotatably arranged on the corresponding linear moving trolleys; the front short connecting rod of the third parallelogram linkage is rotatably arranged on the linear moving trolley, and the rear short connecting rod is arranged below or in front of the top linear moving trolley, and the front short connecting rod and the rear short connecting rod are horizontal.

[0033] The heavy-duty robot of the present invention is provided with an end load balancing device, and the moving platform 4 has degrees of freedom in three directions: up and down, left and right, and front and back.

[0034] The following is a detailed description of the motion method of the heavy-duty robot with an end load balancing device according to the present invention, including the following motion processes: 1) Forward or backward movement of the moving platform 4. The three sets of linear moving carts move forward or backward simultaneously on the linear module, the wire rope of the wire rope winding machine is wound or released, and the moving platform 4 moves forward or backward driven by the three sets of linear moving carts. 2) Leftward movement of the moving platform 4. The upper linear moving cart remains unchanged, the lower left linear moving cart moves forward, the lower left and right linear moving carts move backward, the wire rope of the wire rope winding machine is wound or released synchronously, and the front end of the moving platform 4 moves to the right. 3) Rightward movement of the moving platform 4. The upper linear moving cart remains unchanged, the lower left linear moving cart moves backward, the lower right linear moving cart moves forward, the wire rope of the wire rope winding machine is wound or released synchronously, and the front end of the moving platform 4 moves to the left. 4) Rightward movement of the moving platform 4. The upper linear moving cart remains unchanged, the lower left linear moving cart moves backward, the lower right linear moving cart moves forward, the wire rope of the wire rope winding machine is wound or released synchronously, and the front end of the moving platform 4 moves to the left. 5) Upward or downward movement of the moving platform 4. The relative positions of the three sets of linear moving carts on the linear module remain unchanged, the wire rope of the wire rope winding machine is wound or released synchronously, and the moving platform 4 moves upward or downward.

[0035] The present invention balances the end load in cooperation with the movement of the moving platform to reduce the end load of the robot and the driving power of the heavy-duty robot, and can achieve precise pushing of a large load by a small-power robot driving servo motor.

[0036] The wire rope of the wire rope winding machine of this device is arranged to pass through the guide ring and be connected to the telescopic rod of the nitrogen balance cylinder. During the movement of the end moving platform of the robot, the wire rope winding machine realizes gravity balance by matching the position and speed of the wire rope winding and unwinding of the wire rope winding machine and the position and speed of the end moving platform. The nitrogen balance cylinder can eliminate the traction force generated by the incomplete coincidence of the wire rope traction and the position of the robot end while ensuring that the wire rope traction force is within a certain range.

Claims

1. A heavy-duty robot provided with a terminal load balancing device, comprising three sets of linear modules, three sets of linear moving carriages corresponding to the linear modules and a moving platform (4), Its characteristics are: It also includes an end load balancing device (5), the three groups of linear moving trolleys are respectively arranged on the three groups of linear modules, a parallelogram connecting rod is provided between the linear moving trolley and the moving platform (4), the three groups of linear modules are parallel to each other and arranged in a triangle, the moving platform (4) is provided with a balancing connection ring, the end load balancing device (5) is arranged above the top linear module and is located above the middle position of the moving path of the linear moving trolley on the linear module, the end load balancing device (5) is connected to the balancing connection ring of the moving platform (4) through flexible traction, and a load is installed at the front end of the moving platform (4), and the load is a handling and grabbing carrier.

2. The heavy-load robot provided with a terminal load balancing device according to claim 1, characterized in that: The parallelogram connecting rods are divided into three groups, namely a first parallelogram connecting rod, a second parallelogram connecting rod and a third parallelogram connecting rod; the four connecting rods of the parallelogram connecting rod are divided into a long connecting rod and a short connecting rod, and the connected connecting rods are hingedly connected.

3. The heavy-load robot with a terminal load balancing device according to claim 2 is characterized in that: The hinge axes in the first parallelogram link and the second parallelogram link are perpendicular to the plane where the first parallelogram link and the second parallelogram link are located. The plane where the first parallelogram link and the second parallelogram link are located is vertically arranged to connect the two lower linear moving trolleys, and the front end short links of the first parallelogram link and the second parallelogram link are rotatably arranged on the moving platform (4), and the rear end short links of the first parallelogram link and the second parallelogram link are rotatably arranged on the corresponding linear moving trolleys; the front short link of the third parallelogram link is rotatably arranged on the linear moving trolley, and the rear short link is arranged below or in front of the top linear moving trolley, and the front short link and the rear short link are horizontal.

4. The heavy-load robot with a terminal load balancing device according to claim 1 is characterized in that: The three groups of linear modules are arranged in an isosceles triangle, two groups of linear modules are at the same height, and the linear modules include two parallel linear rails and a rail mounting frame (65); the linear rails are fixed on the rail mounting frame (65).

5. The heavy-load robot with a terminal load balancing device according to claim 4 is characterized in that: The invention also comprises a frame (5), which is in a frame structure and comprises a left frame (61), a right frame (62), a top frame (63), a front mounting crossbeam (64) and a rear mounting crossbeam (65); the top frame (63) is arranged on the top of the left and right frames (62), the front mounting crossbeam is installed between the left and right frames (62) at the lower front end of the top frame (63), and the rear mounting crossbeam is installed between the left and right frames (62) at the lower rear end of the top frame (63).

6. The heavy-load robot with a terminal load balancing device according to claim 5 is characterized in that: The left frame (61), the right frame (62) and the top frame (63) are provided with mounting beams (67); a clamping mounting frame (68) is provided at the rear of the track mounting frame (65); the clamping mounting frame (68) is clamped and fixed on the mounting beam (67); the track mounting frames (65) on both sides protrude from the inner side of the left frame (61) or the right frame (62); and the two ends of the top mounting beam (67) are fixed on the front mounting crossbeam (64) and the rear mounting crossbeam (65).

7. The heavy-load robot with a terminal load balancing device according to claim 5, characterized in that: A nitrogen balance cylinder (41) is provided at the front end of the moving platform (4), a wire rope connection ring (43) is provided at the connection end of the nitrogen balance cylinder (41), a wire rope guide mechanism (42) is provided at the upper portion of the wire rope connection ring (43), and a wire rope of a wire rope winding machine passes through the wire rope guide mechanism (42) and is connected to the wire rope connection ring (43).

8. The heavy-duty robot with a terminal load balancing device according to claim 3 is characterized in that the terminal The load balancing device (5) is a wire rope winding machine, which is fixed to the front end of the top crossbeam through a fixed frame (5), and the front end of the wire rope release and the top linear module is located at the lower rear of the wire rope winding machine.

9. The heavy-load robot with a terminal load balancing device according to claim 8, characterized in that: The moving platform (4) has three degrees of freedom: up and down, left and right, and front and back.

10. A method for moving a heavy-duty robot provided with a terminal load balancing device according to claim 9, characterized in that it comprises: The following three degrees of freedom motion, 1) The moving platform (4) moves forward or backward, the three sets of linear moving trolleys move forward or backward simultaneously on the linear module, the wire rope of the wire rope winding machine is wound or released, and the moving platform (4) moves forward or backward driven by the three sets of linear moving trolleys; 2) The moving platform (4) moves to the left, the upper linear moving trolley remains unchanged, the lower left linear moving trolley moves forward, the lower left and right linear moving trolleys move backward, the wire rope of the wire rope winding machine is synchronously wound or released, and the front end of the moving platform (4) moves to the right; 3) The moving platform (4) moves to the right, the upper linear moving trolley remains unchanged, the lower left linear moving trolley moves backward, the lower right linear moving trolley moves forward, the wire rope of the wire rope winding machine is synchronously wound or released, and the front end of the moving platform (4) moves to the left; 4) The moving platform (4) moves to the right, the upper linear moving trolley remains unchanged, the lower left linear moving trolley moves backward, the lower right linear moving trolley moves forward, the wire rope of the wire rope winding machine is synchronously wound or released, and the front end of the moving platform (4) moves to the left; 5) The moving platform (4) moves upward or downward, the three sets of linear moving carriages remain relatively stationary on the linear module, the wire rope of the wire rope winding machine is synchronously wound or released, and the moving platform (4) moves upward or downward.

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