Manual displacement and automatic positioning device

Abstract

The utility model provides a manual displacement and automatic positioning device which comprises more than one degree-of-freedom cantilever, a fine positioning camera and an electrical control cabinet, when the manual displacement and automatic positioning device is used, a mechanical arm is arranged on the cantilever, and the fine positioning camera is arranged on a flange at the tail end of the mechanical arm; and the electrical control cabinet is arranged on a base platform of the cantilever or is independently arranged and is used for automatically controlling the device. According to the utility model, through manual displacement and automatic fine positioning, discontinuous process machining of workpieces in a larger space range than that of a mechanical arm is realized at low cost and high efficiency. Through combined use of the device and cooperation of the mechanical arm, man-machine cooperation of a part of processes can be achieved, and the adaptive capacity of the system is further improved. The device is light and handy in structure and low in manufacturing cost, and optimizes the complex problems of cooperation of various machines in a construction site, on-site construction management and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of displacement and positioning of industrial automation mechanical arms. Background Art

[0002] At present, most processing tasks beyond the reach of the robot body require the use of linear guide external axes, C-shaped inversions or gantry, and the precise displacement of the robot body through the cooperation of servo motors, reducers and racks. This approach has a high degree of automation and high precision, and can be used to link the robot and displacement mechanism, but it is also expensive and occupies a large area; it is also large in size and needs to be fixed to the ground, which is inconvenient to transport; in addition, the interactive function of the robot arm's displacement process is poor, and a safety fence is generally required between the operator and the equipment.

[0003] For some automation needs, such as short-seam welding, cutting, and grinding in a large space, the single process does not need to be linked with the positioner within the reach of the robot arm, but needs to be moved when changing to the next process in the space; or during the process, personnel are required to enter the work area to cooperate in the work; or the site does not have the foundation or site space requirements of a traditional positioner.

[0004] Therefore, how to reduce costs, be widely applicable to complex construction sites, and complete the precise displacement of the robot arm body is a technical problem that the applicant wants to study. Utility Model Content

[0005] The purpose of the utility model is to solve the above-mentioned deficiencies in the prior art and to provide a manual displacement and automatic positioning device for a mechanical arm.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A manual displacement and automatic positioning device comprises a cantilever with more than one degree of freedom, a precision positioning camera and an electrical control cabinet. When in use, a mechanical arm is arranged on the cantilever, and the precision positioning camera is arranged on the end flange of the mechanical arm; the electrical control cabinet is arranged on the base platform of the cantilever or is independently arranged for automatic control of the device.

[0008] Furthermore, the cantilever with more than one degree of freedom is a cantilever with manually adjustable degrees of freedom, and the starting thrust is preferably 50-100N; and a locking piece is provided.

[0009] Furthermore, one of the cantilevers with more than one degree of freedom includes a column, a first articulated arm, a second articulated arm, a first-level hydraulic pressure or a first-level pneumatic pressure, a second-level hydraulic pressure or a second-level pneumatic pressure, and three absolute value encoders; the beginning of the first articulated arm is hinged to the column, and the end is hinged to the beginning of the second articulated arm; the first-level hydraulic pressure or the first-level pneumatic pressure is fixed to the column, and forms an upward angle with the column; the second-level hydraulic pressure or the second-level pneumatic pressure is fixed to the middle of the first articulated arm, and its moving rod is connected to the hinge axis of the first articulated arm and the second articulated arm; the moving rod of the first-level hydraulic pressure or the first-level pneumatic pressure is connected to the middle of the first articulated arm; the three absolute value encoders are respectively arranged at the rotation axis at the root of the column, the hinge axis of the column and the first articulated arm, and the hinge axis of the first articulated arm and the second articulated arm. Furthermore, a connecting flange is provided at the end of the second articulated arm.

[0010] Furthermore, another type of cantilever with more than one degree of freedom is a rectangular coordinate cantilever crane, including a column, a screw, a cantilever beam and an absolute value encoder. The screw is arranged vertically, and the top end of the screw is arranged in the top shaft of the column. The starting end of the cantilever is fixedly connected to the moving nut of the screw; a mechanical arm connecting flange is provided on the cantilever. Furthermore, the base of the column is a forklift plate, and when necessary, a forklift can be used to directly deliver the manual displacement and automatic positioning device loaded with the mechanical arm to the construction site. Therefore, further, the manual displacement and automatic positioning device of the mechanical arm of this patent can also include a forklift or a trolley.

[0011] The precise positioning camera can obtain point cloud information within its field of view, thereby obtaining the relative position of the end flange of the robot arm relative to the required workpiece through digital-analog comparison. Further, the precise positioning camera adopts a line structured light camera.

[0012] Furthermore, the manual displacement and automatic positioning device also includes a mobile trolley, and the manual displacement and automatic positioning device loaded with a mechanical arm is arranged on the mobile trolley, so as to move and enter and exit the construction site by itself. Furthermore, the mobile trolley is a crawler type mobile trolley with auxiliary support of a balancing cylinder or a hydraulic cylinder to adapt to the complex environment of the construction site.

[0013] Furthermore, the electrical control cabinet includes an industrial computer and a PLC, integrating the circuits of the entire device control system and all control switches. Furthermore, an O / I control module is built in to facilitate the storage and replacement of the path program of the end effector.

[0014] Beneficial effects of the utility model:

[0015] The utility model balances the weight of the end load of the mechanical arm, processing tools and precision positioning camera through air pressure, hydraulic balance or screw locking, so that the spatial position of the mechanical arm can be easily moved manually. At the same time, an absolute encoder is set for each degree of freedom axis of manual displacement, which can automatically determine the spatial position relative to the base after reaching the required position. The precision positioning camera then identifies the local features of the workpiece to further improve the position accuracy of the processing technology.

[0016] The manual displacement and automatic positioning device of the mechanical arm of the utility model can directly use the mobile trolley or forklift and other tools at the construction site to move freely between different sites. It is highly flexible and stable and does not take up space when not in use. It can also be equipped with a special mobile trolley or other mobile tools, and leave after use or perform other tasks, which also does not take up space and is flexible and efficient.

[0017] The utility model realizes non-continuous process processing of workpieces with a larger spatial range than that of the robot arm through manual displacement and automatic precision positioning at low cost and high efficiency. By combining the utility model device with the robot arm, human-machine collaboration in some processes can be realized, further improving the adaptability of the system.

[0018] The manual displacement and automatic positioning device of the utility model has a light structure and a low cost, and optimizes the complex problems of the coordination of various machines at the construction site, on-site construction management, and the like.

[0019] The following is an example of the specific implementation of the present invention in conjunction with the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a schematic diagram of the overall structure of a manual displacement and automatic positioning device according to an embodiment of the present invention.

[0021] Figure 2 yes Figure 1 Schematic diagram of the motion of the cantilever with three degrees of freedom.

[0022] Figure 3 It is a schematic diagram of the overall structure of the second manual displacement and automatic positioning device of the embodiment of the utility model.

[0023] Figure 4 The present invention is a flowchart of the manual displacement and automatic positioning device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0024] The specific embodiments described herein are only used to explain the technical solution of this patent, rather than to limit the disclosed technical solution. It should also be noted that, for ease of description, only the parts related to the disclosed technical solution are shown in the drawings, rather than all structures.

[0025] Before discussing the exemplary embodiments in more detail, it should be mentioned that the structures of the device components and / or modules themselves mentioned in the embodiments, if not described in detail, are understandable to those skilled in the art based on the existing public technology or commercially available products.

[0026] refer to Figure 1 The manual displacement and automatic positioning device provided in this embodiment includes a cantilever 1 with more than one degree of freedom, a precision positioning camera 2 and an electrical control cabinet 3. When used, a mechanical arm 5 is arranged on the cantilever 1 with more than one degree of freedom, and the precision positioning camera 2 and a processing tool 6 are arranged on the end flange of the mechanical arm; the electrical control cabinet 3 is arranged on the base platform of the cantilever 1 with more than two degrees of freedom or is independently arranged for automatic control of the device.

[0027] The cantilever with more than one degree of freedom can manually move and roughly position the position of the robot arm, and the fine positioning camera is used to locate the relative position of the workpiece to be processed and the flange at the end of the robot arm. The processing tool loaded on the robot arm processes the workpiece. The electrical control cabinet 3 can integrate the circuit of the whole device control system and all control switches. A wireless operation panel can also be provided for users to control the switches of various components.

[0028] The cantilever 1 with more than one degree of freedom is set as a cantilever with manually adjustable degrees of freedom, and the starting thrust is set at 50-100N; and a locking piece is provided.

[0029] refer to Figure 1 and Figure 2 The present embodiment provides a cantilever 1 with three degrees of freedom, comprising a column 101, a first joint arm 102, a second joint arm 103, a first-stage hydraulic pressure or a first-stage pneumatic pressure 104, a second-stage hydraulic pressure or a second-stage pneumatic pressure 105, and three absolute value encoders; the first joint arm 102 is hinged at its beginning end to the column 101, and its end end is hinged at its beginning end to the second joint arm 103; the first-stage hydraulic pressure or the first-stage pneumatic pressure 104 is fixed on the column 101, and is at an upward angle to the column 101; the second-stage hydraulic pressure or the second-stage pneumatic pressure 105 is fixed to the middle part of the first articulated arm 102, and its moving rod is connected to the hinge axis of the first articulated arm 102 and the second articulated arm 103; the moving rod of the first-stage hydraulic or first-stage pneumatic 104 is connected to the fixed seat of the second-stage hydraulic or second-stage pneumatic 105; the three absolute encoders are respectively arranged on the rotating axis at the root of the column 101, the hinge axis of the column 101 and the first articulated arm 102, and the hinge axis of the first articulated arm 102 and the second articulated arm 103; a connecting flange is provided at the end of the second articulated arm 103.

[0030] The above-mentioned cantilever is a pneumatic or hydraulically balanced tandem articulated arm cantilever crane, which can achieve gravity balance for a 100kg object attached to the end, and the maximum articulated arm span is 3500mm. Under human thrust, it can move up and down and forward and backward within the reach of the cantilever; after reaching the position, it can be locked, such as by setting a brake clamp on the connecting shaft. The absolute encoder set at each shaft position is connected to the electrical control cabinet through RS485 electrical and signal connections to correctly solve the coordinate position of the end of the mounting flange. A mounting flange is set at the end of the cantilever, which is fastened to the robotic arm through M6 bolts.

[0031] refer to Figure 3 This embodiment provides a cantilever 1 with one degree of freedom, which is a rectangular coordinate cantilever crane, including a column 101, a screw rod 106, a cantilever beam 107 and an absolute value encoder. The screw rod 106 is arranged vertically, and the top end of the screw rod 106 is arranged in the top shaft of the column 101. The starting end of the cantilever beam 107 is fixedly connected to the moving nut of the screw rod 106; a mechanical arm connection flange is provided on the cantilever beam 107. The base of the column 101 can directly adopt a steel forklift plate, which is convenient for manual displacement and automatic positioning devices loaded with mechanical arms / robots to be directly delivered to the construction site by a forklift. Therefore, the manual displacement and automatic positioning device of this patent can also be equipped with a forklift or a trolley 7.

[0032] The precision positioning camera 2 is used to obtain point cloud information within its field of view, so as to obtain the relative position of the end flange of the robot arm relative to the workpiece to be processed through digital-analog comparison. The precision positioning camera 2 can be a line structured light camera, such as mechmind pro xs, with a near-end field of view of 370 × 240mm @ 0.5m, a far-end field of view of 800 × 450mm @ 1m, and a resolution of 1920 × 1200.

[0033] The manual displacement and automatic positioning device can also be equipped with a mobile trolley 4, and the cantilever 1 is set on the mobile trolley 4 and fixed by bolts. The manual displacement and automatic positioning device loaded with a mechanical arm 5 and a processing tool 6 can move and enter and exit the construction site by itself. In order to adapt to the ground of the construction site, it is preferred to use a crawler-type mobile trolley with an obstacle crossing function and a balancing cylinder or hydraulic cylinder. A balancing cylinder or hydraulic cylinder auxiliary support is set to maintain the stability of the mobile trolley platform. The crawler-type mobile trolley with an equipment platform size of 600x1100mm and a crawler width of 250mm can basically meet the conventional construction site environment such as welding.

[0034] The electrical control cabinet 3 includes an industrial computer and a PLC, which can integrate the circuits of the entire device control system and all control switches. A more preferred configuration is a built-in O / I control module, which is convenient for storing and changing the path program of the end effector. The electrical control cabinet 3 can also be placed on the mobile trolley 4, or on the forklift board, or can be set up independently.

[0035] The device of this patent can load common robotic arms, such as six-axis robot arms. The JAKA Zu 12 collaborative robot, with a self-weight of 41kg, a load of 12kg, and a working radius of 1327mm, has its base connected to the cantilever on the manual displacement and automatic positioning device and locked, and is connected to the electrical control cabinet through electrical and signal connections.

[0036] Processing tools 6, such as gas-cooled welding guns and automatic welding power supplies, ABIROB A 500 (gas-cooled) MIG / MAG welding gun system and Artsen Plus 500 automatic welding power supply can realize arc welding work on metal components such as carbon steel, galvanized steel plates, stainless steel, etc. Or other cutting tools, etc.

[0037] Figure 4 It is the work flow of the manual displacement and automatic positioning device of the patented robot arm under welding conditions.

[0038] The above is an example of the preferred implementation of the utility model, but the invention of the utility model is not limited to the described embodiments. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the utility model. These equivalent deformations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A manual displacement and automatic positioning device, characterized in that: The invention comprises a cantilever with more than one degree of freedom (1), a precision positioning camera (2) and an electrical control cabinet (3); when in use, the mechanical arm is arranged on the cantilever (1), and the precision positioning camera (2) is arranged on the flange at the end of the mechanical arm; the electrical control cabinet (3) is arranged on the base platform of the cantilever (1) or is independently arranged, and is used for automatic control of the device.

2. The manual displacement and automatic positioning device according to claim 1, characterized in that: The cantilever with more than one degree of freedom (1) is a cantilever with manually adjustable degrees of freedom, with a starting thrust of 50-100N; and is provided with a locking member.

3. The manual displacement and automatic positioning device according to claim 2, characterized in that: The cantilever with more than one degree of freedom (1) comprises a column (101), a first joint arm (102), a second joint arm (103), a first-stage hydraulic pressure or a first-stage pneumatic pressure (104), a second-stage hydraulic pressure or a second-stage pneumatic pressure (105), and three absolute value encoders; the starting end of the first joint arm (102) is hinged to the column (101), and the end thereof is hinged to the starting end of the second joint arm (103); the first-stage hydraulic pressure or the first-stage pneumatic pressure (104) is fixed to the column (101) and forms an upward angle with the column (101); the The second-stage hydraulic pressure or the second-stage pneumatic pressure (105) is fixed to the middle of the first joint arm (102), and its moving rod is connected to the hinge axis of the first joint arm (102) and the second joint arm (103); the moving rod of the first-stage hydraulic pressure or the first-stage pneumatic pressure (104) is connected to the middle of the first joint arm (102); the three absolute value encoders are respectively arranged on the rotation axis at the root of the column (101), the hinge axis of the column (101) and the first joint arm (102), and the hinge axis of the first joint arm (102) and the second joint arm (103).

4. The manual displacement and automatic positioning device according to claim 3, characterized in that: A connecting flange is provided at the end of the second articulated arm (103).

5. The manual displacement and automatic positioning device according to claim 2, characterized in that: The cantilever with more than one degree of freedom (1) is a rectangular coordinate cantilever crane, comprising a column (101), a screw rod (106), a cantilever beam (107) and an absolute value encoder, wherein the screw rod (106) is arranged vertically, the top end of the screw rod (106) is arranged in the top shaft of the column (101), and the starting end of the cantilever beam (107) is fixedly connected to the movable nut of the screw rod (106).

6. The manual displacement and automatic positioning device according to claim 5, characterized in that: The base of the column (101) is a forklift plate.

7. The manual displacement and automatic positioning device according to claim 1, characterized in that: The precise positioning camera (2) is a line structured light camera.

8. The manual displacement and automatic positioning device according to claim 1, characterized in that: The electrical control cabinet (3) comprises an industrial computer and a PLC, and has a built-in O / I control module for storing and changing the path program of the end effector.

9. The manual displacement and automatic positioning device according to any one of claims 1 to 8, characterized in that: It also comprises a moving trolley (4), on which the cantilever (1) with more than one degree of freedom is arranged.

10. The manual displacement and automatic positioning device according to claim 9, characterized in that: The mobile trolley (4) is a crawler-type mobile trolley and is provided with a balancing cylinder or a hydraulic cylinder.

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