Action execution device

Abstract

The embodiment of the utility model relates to an action executing device. The action executing device comprises a support, an executing mechanism and an action control mechanism, the action control mechanism comprises a positioning unit, a driving unit and a transmission unit, and the positioning unit is connected with the transmission unit; the action control mechanism is fixed to the support through a positioning unit and connected to the executing mechanism through a transmission unit. The driving unit comprises a servo motor, and the servo motor provides rotating power for the multiple sets of pulley blocks so as to control the multiple cables to be wound and unwound and further control the executing mechanism to act. The technical scheme provided by the embodiment of the utility model can be used for spraying operation, can realize an effective operation range which is the same as or even larger than that of a common six-joint robot with lower hardware cost, and has the characteristics of simple structure, light dead weight, low cost, small inertia and low energy consumption.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying, in particular to an action execution device. Background Art

[0002] At present, industrial robots are widely used in the industrial field, and have been widely used in welding, spraying, grinding, loading and unloading and other scenarios. Most industrial robots are multi-joint serial structures, typically six joints, and some are five joints and four joints. Taking the common six-joint robot as an example, six joints are connected in series in sequence to form a certain arm length. Each joint is generally powered by a servo motor, which drives the joint to rotate after being decelerated by a reducer. Each joint rotates to a suitable angle according to certain kinematic laws, so that the welding gun, spray gun and other tools carried by the end of the robot can complete the operation according to the corresponding trajectory. The range of positions that an industrial robot can reach in space can be described by the arm length. In order to obtain a relatively large arm length, the serial structure must be made relatively long. The technical problems brought about by this are: high cost, large inertia, high energy consumption, and complex structure and high maintenance cost. Utility Model Content

[0003] In view of the above-mentioned problems in the prior art, the purpose of the utility model is to provide an action execution device that can be used for spraying operations. It can achieve the same or even larger effective operating range as a common six-joint robot with a lower hardware cost, and at the same time has the characteristics of simple structure, light weight, low cost, small inertia and low energy consumption.

[0004] To achieve the above object, according to one aspect of the utility model, an action execution device is provided, the device comprising a bracket, an execution mechanism and an action control mechanism;

[0005] The motion control mechanism comprises a positioning unit, a driving unit and a transmission unit, and the positioning unit is connected to the transmission unit;

[0006] The motion control mechanism is fixed to the bracket through a positioning unit, and is connected to the actuator through a transmission unit; the positioning unit includes a plurality of fixing frames, each of which is fixedly connected to the bracket; the transmission unit includes a plurality of pulley blocks and a plurality of cables, one end of the plurality of pulley blocks and the plurality of cables are connected one by one, and the other ends of the plurality of cables are respectively connected to a first end face and a second end face of the actuator, and the first end face and the second end face are parallel to each other;

[0007] The driving unit comprises a servo motor, which provides rotational power for the plurality of pulley blocks to control the retraction and extension of the plurality of cables, thereby controlling the action of the actuator.

[0008] Furthermore, the bracket is a cubic frame; the positioning unit includes 6 fixed frames, the transmission unit includes 6 sets of pulley blocks and 6 cables, and each fixed frame is fixedly connected to a set of pulley blocks.

[0009] Furthermore, the six fixing frames are respectively arranged on three sides of the first plane and three sides of the second plane of the cubic frame, and the first plane and the second plane are parallel to the first end face and the second end face.

[0010] Furthermore, the bracket is a rectangular frame; the positioning unit includes three fixed frames, and the transmission unit includes six sets of pulley blocks and six cables, and each fixed frame is fixedly connected to two sets of pulley blocks.

[0011] Furthermore, the three fixing frames are respectively arranged on three sides of the rectangular frame, and the plane where the rectangular frame is located is parallel to the first end face and the second end face.

[0012] Furthermore, the bracket is a rectangular frame; the positioning unit includes 4 fixed frames, the transmission unit includes 8 sets of pulley blocks and 8 cables, and each fixed frame is fixedly connected to 2 sets of pulley blocks.

[0013] Furthermore, the four fixing frames are respectively arranged on four sides of the rectangular frame, and the plane where the rectangular frame is located is parallel to the first end face and the second end face.

[0014] Furthermore, the bracket includes a first bracket and a second bracket connected to each other, the first bracket is a rectangular frame, the second bracket is a rectangular frame, and the height of the second bracket is lower than that of the first bracket; the positioning unit includes 4 fixed frames, and the transmission unit includes 4 sets of pulley blocks and 4 cables, and each fixed frame is fixedly connected to a set of pulley blocks.

[0015] Furthermore, among the four fixing frames, three fixing frames are respectively arranged on three sides of the first bracket, and the remaining one fixing frame is arranged on one side of the second bracket.

[0016] Furthermore, the pulley block includes a first pulley, a second pulley and a third pulley, and the cable is connected to the actuator after being guided by the first pulley, the second pulley and the third pulley.

[0017] In summary, the embodiment of the utility model provides an action execution device, the device includes a bracket, an actuator and an action control mechanism; the action control mechanism includes a positioning unit, a driving unit and a transmission unit, the positioning unit is connected to the transmission unit; the action control mechanism is fixed to the bracket through the positioning unit, and is connected to the actuator through the transmission unit; the positioning unit includes a plurality of fixed frames, each of which is fixedly connected to the bracket; the transmission unit includes a plurality of pulley blocks and a plurality of cables, the plurality of pulley blocks and one end of the plurality of cables are connected one by one, and the other ends of the plurality of cables are respectively connected to the first end face and the second end face of the actuator, and the first end face and the second end face are parallel to each other; the driving unit includes a servo motor, and the servo motor provides rotational power for the plurality of pulley blocks to control the plurality of cables to be retracted and released, thereby controlling the action of the actuator. The technical solution provided by the embodiment of the utility model can be used for spraying operations, and can achieve the same or even larger effective operating range as the common six-joint robot with a lower hardware cost, and has the characteristics of simple structure, light weight, low cost, small inertia and low energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the first embodiment of the action execution device of the utility model;

[0019] Figure 2 It is a three-dimensional structural schematic diagram of a second embodiment of the action execution device of the utility model;

[0020] Figure 3 It is a three-dimensional structural schematic diagram of a third embodiment of the action execution device of the utility model;

[0021] Figure 4 It is a three-dimensional structural schematic diagram of the fourth embodiment of the action execution device of the utility model;

[0022] Figure 5 A three-dimensional structural diagram of another perspective of the second embodiment of the action execution device of the utility model;

[0023] Figure 6 yes Figure 5 A schematic diagram of the partially enlarged structure of the middle part I;

[0024] Figure 7 yes Figure 5 Schematic diagram of the partially enlarged structure of part II in the middle.

[0025] Reference numerals:

[0026] 101- bracket; 1011- first bracket; 1012- second bracket; 102- actuator; 1021- fixed frame; 1022- pulley block; 1023- cable; 10221- first pulley; 10222- second pulley; 10223- third pulley; 10224- first support plate; 10225- second support plate; 103- servo motor. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the utility model. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.

[0028] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in one or more embodiments of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0029] Common industrial robots usually have a six-joint structure in series. The six joints move according to a certain pattern so that the tool carried at the end can reach the preset trajectory. The motion trajectory of a rigid object in space can generally be described by six quantities, namely three positions (xyz coordinates) and three postures (three rotation angles). The range of positions that an industrial robot can reach in space can be described by the arm length. In order to obtain a relatively large arm length, the series structure must be made relatively long. The series structure requires the current joint to drive all the mechanical structures of all the subsequent joints, including the weight of the servo motor and the reducer. This makes the load on the axis closer to the front greater, thereby increasing the robot's own weight. This is especially true for the first, second, and third axes in front. Taking spraying as an example, the common spraying robot with an arm length of 1.7 meters and a payload of 10 kilograms basically weighs two hundred to three hundred kilograms. The weight is distributed on each joint according to a certain pattern. In order to drive such a heavy self-weight structure, the first three joints of the robot are usually quite sturdy, and the corresponding motor power basically reaches one or two kilowatts or even higher. The corresponding reducer also needs to be selected with a relatively large model specification, otherwise it will not work. Moreover, the longer the arm is, the thicker the first three joints are, and the greater the motor power is.

[0030] It can be seen that the current robot structure results in a very small proportion of the effective load at the end of the robot relative to its own weight, usually only about 5%. In other words, in order to drive a very small effective load, the existing robot has to drive a much larger weight at the same time. This brings several problems:

[0031] (1) High cost: The motor reducer must be selected according to large specifications, resulting in very high hardware costs for the entire machine, making it difficult to promote in large quantities in low value-added industries. The longer the robot arm, the more obvious this phenomenon is, because the cantilever effect brought by the end is greater, and thicker first, second, and third joints are required to drive the entire robot;

[0032] (2) Large inertia: Large deadweight or inertia limits speed and acceleration, affecting dynamic performance. For some application scenarios that require frequent acceleration and deceleration, too much inertia is obviously not favorable. Simply increasing the motor power may exceed the performance of the metal material and increase the loss of the reducer;

[0033] (3) High energy consumption: This is obvious. Most of the energy of the servo motor is used to drive the robot's own weight. It is estimated that more than 70% of the power of the servo motor on the robot body is used to drive its own weight, and only a small part of the energy is used to drive the effective load. The energy waste is quite serious;

[0034] (4) Complex structure and high maintenance cost: The reducer is a precision transmission mechanism that requires regular replacement of lubricating oil. Daily maintenance is relatively complex and costly.

[0035] In response to the above-mentioned technical problems existing in the use of industrial robots for spraying, an embodiment of the utility model provides an execution device that can be used for spraying operations. It can achieve the same or even larger effective operating range as a common six-joint robot at a lower hardware cost, and at the same time has the characteristics of simple structure, light weight, low cost, small inertia and low energy consumption.

[0036] The technical solution of the utility model is described in detail below with reference to the accompanying drawings. The embodiment of the utility model provides an action execution device, Figure 1 FIG. 4 is a schematic diagram showing a three-dimensional structure of a first embodiment of the action execution device. Figure 1 As shown, the device includes a bracket 101, an actuator 102 and a motion control mechanism. The motion control mechanism includes a positioning unit, a driving unit and a transmission unit, and the positioning unit is connected to the transmission unit. The motion control mechanism is fixed to the bracket 101 through the positioning unit, and is connected to the actuator 102 through the transmission unit. The positioning unit includes a plurality of fixed frames 1021, each of which is fixedly connected to the bracket 101; the transmission unit includes a plurality of pulley blocks 1022 and a plurality of cables 1023, and one end of the plurality of pulley blocks 1022 and the plurality of cables 1023 is connected one by one, and the other ends of the plurality of cables 1023 are respectively connected to the first end face and the second end face of the actuator 102, and the first end face and the second end face are parallel to each other. The driving unit includes a servo motor 103, and the servo motor 103 provides rotational power for the plurality of pulley blocks 1022 to control the plurality of cables 1023 to be retracted and released, thereby controlling the actuator 102 to move to the desired spatial position.

[0037] According to some optional embodiments, Figure 1 As shown, the bracket 101 is a cubic frame, and the bracket 101 can be constructed or welded from aluminum profiles. The positioning unit includes 6 fixed frames 1021, and the transmission unit includes 6 pulley blocks 1022 and 6 cables 1023. Each fixed frame 1021 is fixedly connected with a pulley block 1022. In this embodiment, the 6 fixed frames 1021 can be respectively arranged on the 3 edges of the first plane and the 3 edges of the second plane of the cubic frame, and the first plane and the second plane are parallel to the first end face and the second end face. For example, Figure 1As shown in , on the first plane on the front side of the cubic frame, three fixing frames 1021 are respectively arranged on the left side, the right side and the bottom side, and a set of pulley blocks 1022 are fixedly arranged on each fixing frame 1021. On the second plane on the rear side of the cubic frame, another three fixing frames 1021 are respectively arranged on the left side, the right side and the bottom side corresponding to the first plane, and a set of pulley blocks 1022 are fixedly arranged on each fixing frame 1021. The fixing frames 1021 can also be arranged at the top angles where the edges of the bracket 101 intersect, which is not specifically limited in this embodiment, and is based on the standard of being able to stably support the actuator 102 and being able to control its flexible movement in all directions. In this embodiment, the actuator 102 is, for example, a component such as a spray gun used for spraying operations, which is usually a regular rigid object, such as Figure 1 The actuator 102 shown can be a cylinder. Among the six cables 1023, one end of three of the cables 1023 is connected to the first end face of the cylinder, and the other end is connected to the pulley block 1022 corresponding to the three fixing frames 1021 on the first plane. Figure 1 The front end face of the middle cylinder, one end of the other three cables 1023 is connected to the second end face of the cylinder, and the other end is connected to the pulley block 1022 corresponding to the three fixing frames 1021 on the second plane. Figure 1 The end surface of the rear side of the middle cylinder, the first plane and the second plane are parallel to the first end surface and the second end surface to maintain the stability of the actuator 102.

[0038] According to certain optional embodiments, the bracket 101 is a rectangular frame; the positioning unit includes three fixed frames 1021, the transmission unit includes six sets of pulley groups 1022 and six cables 1023, and each fixed frame 1021 is fixedly connected to two sets of pulley groups 102. The three fixed frames 1021 are respectively arranged on the three sides of the rectangular frame, and the plane where the rectangular frame is located is parallel to the above-mentioned first end face and second end face. Figure 2 FIG. 4 is a schematic diagram showing a three-dimensional structure of a second embodiment of the action execution device. Figure 2 As shown, three fixing frames 1021 are fixedly arranged on the upper side, left side and right side of the rectangular frame, and two sets of pulley blocks 1022 are fixedly arranged on each fixing frame 1021. The two sets of pulley blocks 1022 on each fixing frame 1021 are respectively oriented to the front side and the rear side of the rectangular frame. Figure 2 The actuator 102 shown can be a cylinder. Among the six cables 1023, one end of three of the cables 1023 is connected to the first end face of the cylinder, and the other end is connected to the pulley block 1022 facing the front side of the corresponding fixing frame 1021. Figure 2The front end face of the middle cylinder, one end of the other three cables 1023 is connected to the second end face of the cylinder, and the other end is connected to the pulley block 1022 facing the rear side of the corresponding fixing frame 1021. Figure 2 The end surface of the rear side of the middle cylinder, the first plane and the second plane are parallel to the first end surface and the second end surface to maintain the stability of the actuator 102.

[0039] According to some optional embodiments, the bracket 101 is a rectangular frame; the positioning unit includes four fixing frames 1021 , the transmission unit includes eight pulley blocks 1022 and eight cables 1023 , and two pulley blocks 102 are fixedly connected to each fixing frame 1021 . Figure 3 FIG. 4 is a schematic diagram showing a three-dimensional structure of a third embodiment of the action execution device. Figure 3 As shown, four fixing frames 1021 are fixedly arranged on the four sides of the rectangular frame, and two sets of pulley blocks 1022 are fixedly arranged on each fixing frame 1021. The other configurations of this embodiment are the same as those of the previous embodiment, and their repeated description will be omitted here.

[0040] According to certain optional embodiments, the bracket 101 includes a first bracket 1011 and a second bracket 1012 connected to each other, the first bracket 1011 is a rectangular frame, the second bracket 1012 is a rectangular frame, and the height of the second bracket 1012 is lower than that of the first bracket 1011; the positioning unit includes 4 fixed frames 1021, the transmission unit includes 4 sets of pulley blocks 1022 and 4 cables 1023, and each fixed frame 1021 is fixedly connected to a set of pulley blocks 1022. Among the 4 fixed frames 1021, 3 fixed frames 1021 are respectively arranged on 3 sides of the first bracket 1011, and the remaining 1 fixed frame 1021 is arranged on 1 side of the second bracket 1012. Figure 4 FIG. 4 is a schematic diagram showing a three-dimensional structure of a fourth embodiment of the action execution device. Figure 4 As shown, three fixing frames 1021 are fixedly arranged on the upper side, left side and right side of the first bracket 1011, and a set of pulleys 1022 is fixedly arranged on each fixing frame 1021. One fixing frame 1021 is fixedly arranged on the upper side of the second bracket 1012, and one set of pulleys 1022 is fixedly arranged on the fixing frame 1021. In this embodiment, Figure 4 The actuator 102 shown may be a cylinder. Among the four cables 1023, one end of the three cables 1023 corresponding to the first bracket 1011 is connected to the three fixing brackets 1021 on the first bracket 1011, and the other end is connected to the first end face of the cylinder. Figure 4The front end face of the middle cylinder corresponds to a cable 1023 of the second bracket 1012, one end of which is connected to a fixing frame 1021 on the second bracket 1012, and the other end is connected to the second end face of the cylinder. Figure 4 The end surface of the rear side of the middle cylinder, the first end surface and the second end surface are parallel to the plane where the first bracket 1011 and the second bracket 1012 are located, so as to maintain the stability of the actuator 102.

[0041] According to some optional embodiments, the pulley block 1022 includes a first pulley, a second pulley, and a third pulley, and the cable 1023 is connected to the actuator 102 after being guided by the first pulley, the second pulley, and the third pulley. Figure 5 FIG. 4 shows a schematic diagram of a three-dimensional structure of the second embodiment of the action execution device from another perspective. Figure 6 and Figure 7 They are Figure 5 The schematic diagram of the partial enlarged structure of part I and part II in FIG. Figure 5-Figure 7 As shown, the pulley block 1022 includes a first pulley 10221, a second pulley 10222 and a third pulley 10223. Optionally, the pulley block 1022 may further include a first support plate 10224 and a second support plate 10225. The first pulley 10221 and the second pulley 10222 are disposed between the first support plate 10224 and the second support plate 10225, and are disposed on the fixed frame 1021 through the first support plate 10224 and the second support plate 10225. The third pulley 10223 is disposed on the fixed frame 1021. The driving unit may be a servo motor 103, which provides rotational power for each pulley block 1022 to control the retraction and extension of the cable 1023 connected to each pulley block 1022, thereby controlling the movement of the actuator 102 in various directions.

[0042] In summary, the utility model provides an action execution device, the device includes a bracket, an actuator and an action control mechanism; the action control mechanism includes a positioning unit, a driving unit and a transmission unit, the positioning unit is connected to the transmission unit; the action control mechanism is fixed to the bracket through the positioning unit, and is connected to the actuator through the transmission unit; the positioning unit includes a plurality of fixing frames, each of which is fixedly connected to the bracket; the transmission unit includes a plurality of pulley blocks and a plurality of cables, the plurality of pulley blocks and one end of the plurality of cables are connected one by one, and the other ends of the plurality of cables are respectively connected to the first end face and the second end face of the actuator, and the first end face and the second end face are parallel to each other; the driving unit includes a servo motor, the servo motor provides rotational power for the plurality of pulley blocks to control the plurality of cables to be retracted and released, and then control the action of the actuator. The technical solution provided by the embodiment of the utility model does not have a complex kinematic inversion process, nor does it have the common singular point problem of industrial robots, and the effective spraying range is relatively large, and the entire range is relatively linear. The technical solution provided by the utility model reduces the cost of the action execution device: the high-precision reducer is eliminated, and the motor power is significantly reduced; the deadweight of the active part of the equipment is reduced, and the servo motor and other components do not move with the equipment, so the inertia during movement is significantly reduced; due to the reduced deadweight, the energy of the servo motor is mainly used to drive the effective load, thereby reducing energy consumption; basically common standard industrial parts are adopted, the structure is simple and the maintenance cost is low; when the effective spraying range needs to be expanded, it is very simple and can be achieved by increasing the frame length; there is no need for a complicated inversion process, which reduces the requirements for the hardware configuration of the controller; the servo motors can be concentrated together through pulleys and other mechanisms, and are easy to be isolated and centralized to achieve explosion-proof functions.

[0043] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation on the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the claims attached to the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the attached claims, or the equivalent forms of such scope and boundaries.

Claims

1. An action execution device, characterized in that: The device comprises a support (101), an actuator (102) and an action control mechanism; The motion control mechanism comprises a positioning unit, a driving unit and a transmission unit, and the positioning unit is connected to the transmission unit; The motion control mechanism is fixed to the bracket (101) through a positioning unit, and is connected to the actuator (102) through a transmission unit; the positioning unit comprises a plurality of fixing frames (1021), each fixing frame (1021) being fixedly connected to the bracket (101); the transmission unit comprises a plurality of pulley blocks (1022) and a plurality of cables (1023), one end of the plurality of pulley blocks (1022) and the plurality of cables (1023) being connected in a one-to-one correspondence, and the other ends of the plurality of cables (1023) are respectively connected to a first end face and a second end face of the actuator (102), and the first end face and the second end face are parallel to each other; The driving unit comprises a servo motor (103), and the servo motor (103) provides rotational power for the plurality of pulley sets (1022) to control the retraction and extension of the plurality of cables (1023), thereby controlling the action of the actuator (102).

2. The device according to claim 1, characterized in that The support (101) is a cubic frame; the positioning unit comprises six fixed frames (1021); the transmission unit comprises six pulley blocks (1022) and six cables (1023); and each fixed frame (1021) is fixedly connected with one pulley block (1022).

3. The device according to claim 2, characterized in that The six fixing frames (1021) are respectively arranged on three sides of the first plane and three sides of the second plane of the cubic frame, and the first plane and the second plane are parallel to the first end face and the second end face.

4. The device according to claim 1, characterized in that The support (101) is a rectangular frame; the positioning unit comprises three fixed frames (1021); the transmission unit comprises six sets of pulley blocks (1022) and six cables (1023); and each fixed frame (1021) is fixedly connected to two sets of pulley blocks (1022).

5. The device according to claim 4, characterized in that The three fixing frames (1021) are respectively arranged on three sides of the rectangular frame, and the plane where the rectangular frame is located is parallel to the first end face and the second end face.

6. The device according to claim 1, characterized in that The support (101) is a rectangular frame; the positioning unit comprises four fixed frames (1021); the transmission unit comprises eight pulley blocks (1022) and eight cables (1023); and each fixed frame (1021) is fixedly connected to two pulley blocks (1022).

7. The device according to claim 6, characterized in that The four fixing frames (1021) are respectively arranged on the four sides of the rectangular frame, and the plane where the rectangular frame is located is parallel to the first end face and the second end face.

8. The device according to claim 1, characterized in that The support (101) comprises a first support (1011) and a second support (1012) which are connected to each other, the first support (1011) is a rectangular frame, the second support (1012) is a rectangular frame, and the height of the second support (1012) is lower than that of the first support (1011); the positioning unit comprises four fixed frames (1021), the transmission unit comprises four sets of pulley blocks (1022) and four cables (1023), and each fixed frame (1021) is fixedly connected with one set of pulley blocks (1022).

9. The device according to claim 8, characterized in that Among the four fixing frames (1021), three fixing frames (1021) are respectively arranged on three sides of the first bracket (1011), and the remaining one fixing frame (1021) is arranged on one side of the second bracket (1012).

10. The device according to any one of claims 1 to 9, characterized in that: The pulley group (1022) includes a first pulley (10221), a second pulley (10222) and a third pulley (10223), and the cable (1023) is connected to the actuator (102) after being guided by the first pulley (10221), the second pulley (10222) and the third pulley (10223).

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