A column robot handling device with a nitrogen counterbalance cylinder mechanism

Abstract

The utility model discloses a kind of nitrogen balance cylinder mechanism's vertical column robot handling device, it includes vertical column, nitrogen balance cylinder mechanism being arranged in the one side of the vertical column, support frame being movably arranged in the other side of the vertical column, first driving part driving the up-and-down movement of the support frame, transmission unit being arranged on the support frame and gripper being arranged in the end of the transmission unit;The nitrogen balance cylinder mechanism includes nitrogen cylinder, gas control unit and nitrogen balance cylinder connected by pipeline in turn, the gas control unit includes the proportional valve of adjusting gas pressure value and the pressure sensor of detecting gas pressure value, the bottom of the nitrogen balance cylinder is connected on the support frame.The utility model its counterweight stability, effectively reduce the actual load of robot support frame, also can realize the accurate control to nitrogen balance cylinder inner gas pressure, improve the stability and response precision of pneumatic balance system.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical handling technology, and in particular relates to a column robot handling device with a nitrogen balance cylinder mechanism. Background Technology

[0002] Most common robot counterweight systems are mechanical, which use counterweight blocks and cable structures. Mechanical counterweight systems are bulky and large, affecting the integration and application of equipment. They also prevent robots from efficiently and stably carrying heavy loads.

[0003] To address this issue, a pneumatic balancing device is used for counterweight. For example, a robot lifting platform disclosed in Chinese Patent Publication No. CN221089019U includes a column with a linear guide rail on its front side. A robot support is connected to the linear guide rail via a slider. A pneumatic balancing device is installed in the column, comprising a pneumatic balancing cylinder and a nitrogen cylinder. The input end of the pneumatic balancing cylinder is connected to the nitrogen cylinder via a pipeline, and the output rod of the pneumatic balancing cylinder is connected to the robot support via a connecting seat. Although this solution can achieve pneumatic balance, the direct connection between the pneumatic balancing cylinder and the nitrogen cylinder makes it impossible to precisely control the gas output or adjust the output gas pressure, thus failing to ensure stable operation of the pneumatic balancing cylinder.

[0004] Therefore, it is necessary to provide a column robot handling device with a nitrogen balance cylinder mechanism to solve the above-mentioned technical problems. Utility Model Content

[0005] The main purpose of this utility model is to provide a column robot handling device with a nitrogen balance cylinder mechanism. Its counterweight is stable, which effectively reduces the actual load on the robot support frame. It can also achieve precise control of the gas pressure in the nitrogen balance cylinder, thereby improving the stability and response accuracy of the pneumatic balance system.

[0006] The present invention achieves the above objectives through the following technical solution: a column robot handling device with a nitrogen balance cylinder mechanism, comprising a column, a nitrogen balance cylinder mechanism disposed on one side of the column, a support frame disposed vertically on the other side of the column, a first driving member for driving the support frame to move vertically, a transmission unit disposed on the support frame, and a gripper disposed at the end of the transmission unit.

[0007] The nitrogen balance cylinder mechanism includes a nitrogen cylinder, a gas control unit, and a nitrogen balance cylinder connected in sequence through pipelines. The gas control unit includes a proportional valve for adjusting the gas pressure value and a pressure sensor for detecting the gas pressure value. The bottom of the nitrogen balance cylinder is connected to the support frame.

[0008] Furthermore, the gas control unit also includes a safety valve and a gas-controlled shut-off valve, with the proportional valve, the pressure sensor, the safety valve, and the gas-controlled shut-off valve connected sequentially to the pipeline.

[0009] Furthermore, the nitrogen balance cylinder includes a piston rod at the lower end and a cylinder body sleeved on the upper end of the piston rod. The upper end of the cylinder body is sealed, and the lower end is provided with a sealed cavity for the piston rod to move up and down. The pipeline is connected to the sealed cavity to facilitate the delivery of gas from the nitrogen cylinder into the sealed cavity.

[0010] Furthermore, the cylinder body is mounted on the column via a first mounting base, and the bottom of the piston rod is mounted on the support frame via a connecting assembly.

[0011] Furthermore, the connecting assembly includes a connecting block fixed at one end to the support frame, a support shaft disposed at the other end of the connecting block, and a support ring sleeved on the support shaft. The upper end of the support ring is connected to the bottom of the piston rod, and the connecting block is provided with a receiving groove for installing the support ring.

[0012] Furthermore, the nitrogen cylinder is vertically arranged on one side of the column, and the column is provided with a first support plate at the bottom of the nitrogen cylinder to support the nitrogen cylinder; a first slide rail extending vertically is provided on the other side of the column, and the support frame is slidably arranged on the first slide rail by a first slider; a rack extending vertically is provided on one side of the column on the first slide rail, and a gear that cooperates with the rack is provided at the output shaft end of the first drive member.

[0013] Furthermore, the transmission unit includes a first transmission motor mounted on the support frame, a first robotic arm with one end connected to the first transmission motor, a second transmission motor mounted on the other end of the first robotic arm, a second robotic arm with one end connected to the second transmission motor, and a third transmission motor mounted on the other end of the second robotic arm.

[0014] Furthermore, the gripper includes a gripper frame and a pair of gripping modules disposed opposite to each other on the gripper frame, namely a first gripping module gripping one side of the product and a second gripping module gripping the other side of the product, and a clamping component for clamping the product is also provided on the gripper frame.

[0015] Furthermore, both the first gripping module and the second gripping module include a second support plate disposed on the gripper frame, a gripping component disposed below the second support plate, and a gripping drive component disposed on the second support plate that drives the gripping component to swing back and forth to achieve the gripping action.

[0016] Furthermore, the first gripping module and / or the second gripping module are movably mounted on the gripper frame.

[0017] Compared with the prior art, the advantages of this utility model of a column robot handling device with a nitrogen balance cylinder mechanism are as follows:

[0018] (1) The nitrogen balance cylinder mechanism is used for counterweight. Its counterweight is stable and effectively reduces the actual load on the robot support frame. The nitrogen balance cylinder mechanism is small in size, compact in structure, stable and reliable, and easy to maintain.

[0019] (2) A gas control unit is installed between the nitrogen cylinder and the nitrogen balance cylinder. The gas control unit includes a proportional valve and a pressure sensor. Through the combined use of the proportional valve and the pressure sensor, the gas pressure in the nitrogen balance cylinder can be accurately controlled, thereby improving the stability and response accuracy of the pneumatic balance system.

[0020] (3) The bottom of the piston rod of the nitrogen balance cylinder is mounted on the support frame through the connecting assembly. The cooperation structure between the support ring of the connecting assembly and the receiving groove effectively restricts the forward and backward movement of the piston rod, significantly improving the stability of the nitrogen balance cylinder during operation.

[0021] (4) The coordinated operation of the clamping component of the gripper and the gripping module can adapt to the gripping needs of different shaped items, and is especially suitable for the efficient and stable handling of loose bagged products.

[0022] (5) The first gripping module and / or the second gripping module are movably mounted on the gripper frame, which can adjust the distance between the first gripping module and / or the second gripping module so as to adapt to products of different sizes and improve versatility;

[0023] (6) The transmission unit adopts a multi-stage robotic arm structure, which has a lower cost and a larger number of transmission motors, representing a larger range of motion and higher flexibility. It can complete complex handling, sorting and other actions, and can move flexibly in three-dimensional space to reach more positions and angles, adapting to various complex work scenarios. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the column robot handling device with a nitrogen balance cylinder mechanism according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the column robot handling device with nitrogen balance cylinder mechanism according to an embodiment of the present invention, after removing the transmission unit and gripper.

[0026] Figure 3 This is a schematic diagram of the structure of the nitrogen balance cylinder and connecting assembly in an embodiment of this utility model;

[0027] Figure 4 This is a schematic diagram of the gas control unit on the pipeline according to an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of the support frame, the first driving component, the transmission unit, and the gripper in an embodiment of this utility model;

[0029] Figure 6 This is a schematic diagram of the gripper structure according to an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the gripper after removing the gripper frame in an embodiment of this utility model;

[0031] The numbers in the image represent:

[0032] 100 - Column robot handling device with nitrogen balance cylinder mechanism;

[0033] 1-Column, 11-First slide rail, 12-First slider, 13-Rack, 14-First support plate;

[0034] 2-Nitrogen balance cylinder mechanism, 21-Nitrogen cylinder, 22-Gas control unit, 221-Proportional valve, 222-Pressure sensor, 223-Safety valve, 224-Pneumatic shut-off valve, 23-Nitrogen balance cylinder, 231-Piston rod, 232-Cylinder body, 24-Pipeline;

[0035] 3-Support frame; 4-First driving component; 41-Gear;

[0036] 5-Transmission unit, 51-First transmission motor, 52-First robotic arm, 53-Second transmission motor, 54-Second robotic arm, 55-Third transmission motor;

[0037] 6-Gripper, 61-Gripper frame, 62-First gripping module, 621-Gripping assembly, 6211-Mounting bracket, 6212-Clamping rod, 6213-First clamping plate, 622-Gripping drive assembly, 6221-First cylinder, 6222-Rotating shaft, 6223-Connecting bracket, 623-Second support plate, 63-Second gripping module, 64-Clamping assembly, 641-Second cylinder, 642-Second clamping plate, 65-Screw, 66-Nut, 67-Second mounting base;

[0038] 7-Connecting component, 71-Connecting block, 72-Support shaft, 73-Support ring, 74-Accommodating groove;

[0039] 8-First mounting bracket. Detailed Implementation

[0040] Please refer to Figures 1-7This embodiment describes a column robot handling device 100 with a nitrogen balance cylinder mechanism. It includes a column 1, a nitrogen balance cylinder mechanism 2 mounted on one side of the column 1, a support frame 3 vertically movable on the other side of the column 1, a first driving component 4 for driving the support frame 3 vertically, a transmission unit 5 mounted on the support frame 3, and a gripper 6 at the end of the transmission unit 5. The nitrogen balance cylinder mechanism 2 includes a nitrogen cylinder 21, a gas control unit 22, and a nitrogen balance cylinder 23 connected sequentially via a pipeline 24. The gas control unit 22 includes a proportional valve 221 for adjusting gas pressure and a pressure sensor 222 for detecting gas pressure. The bottom of the nitrogen balance cylinder 23 is connected to the support frame 3. Using the nitrogen balance cylinder mechanism 2 for counterweight provides stable counterweight, effectively reducing the actual load on the robot support frame 3. The nitrogen balance cylinder mechanism 2 is small in size, compact in structure, stable and reliable, and easy to maintain.

[0041] The nitrogen balance cylinder 23 includes a piston rod 231 at the lower end and a cylinder body 232 sleeved on the upper end of the piston rod 231. The upper end of the cylinder body 232 is sealed, and the lower end is provided with a sealed cavity for the piston rod 231 to move up and down. The pipeline 24 is connected to the sealed cavity to facilitate the delivery of gas from the nitrogen cylinder 21 to the sealed cavity.

[0042] In this embodiment, nitrogen balance cylinders 23 are provided on both the front and rear sides of the column 1. In order to install the nitrogen balance cylinders 23 on the column 1, the cylinder body 232 is installed on the column 1 through the first mounting seat 8. The bottom of the piston rod 231 is installed on the support frame 3 through the connecting assembly 7. Specifically, the bottom of the piston rod 231 is connected to the connecting assembly 7.

[0043] The connecting assembly 7 includes a connecting block 71 fixed at one end to the support frame 3, a support shaft 72 disposed at the other end of the connecting block 71, and a support ring 73 sleeved on the support shaft 72. The upper end of the support ring 73 is connected to the bottom of the piston rod 231. The connecting block 71 is provided with a receiving groove 74 for mounting the support ring 73. The front-to-back distance of the receiving groove 74 is contoured to the thickness of the support ring 73 so that the support ring 73 can be just accommodated in the receiving groove 74, which can prevent the piston rod 231 from moving back and forth, thereby ensuring the stability of the nitrogen balance cylinder 23.

[0044] The gas control unit 22 also includes a safety valve 223 and a pneumatic shut-off valve 224. A proportional valve 221, a pressure sensor 222, a safety valve 223, and a pneumatic shut-off valve 224 are sequentially connected to the pipeline 24. The safety valve 223 automatically releases pressure when the gas pressure exceeds a set pressure (e.g., 15 MPa), providing protection. In the event of a power outage, the pneumatic shut-off valve 224 controls the gas input, thereby locking the position of the piston rod 231 for emergency locking to prevent injury. The proportional valve 221 adjusts the gas pressure within the pipeline 24, while the pressure sensor 222 detects the gas pressure within the pipeline 24. The combined use of these two components precisely controls the gas pressure within the nitrogen balance cylinder 23, ensuring the stability of the piston rod 231's vertical movement. The precise control of the gas pressure within the nitrogen balance cylinder 23 through the combined use of the proportional valve 221 and the pressure sensor 222 improves the stability and response accuracy of the pneumatic balancing system.

[0045] A nitrogen cylinder 21 is vertically mounted on one side of a column 1, and a first support plate 14 supporting the nitrogen cylinder 21 is mounted on the bottom of the column 1. A first slide rail 11 extending vertically is mounted on the other side of the column 1, and the support frame 3 is slidably mounted on the first slide rail 11 via a first slider 12. A rack 13 extending vertically is mounted on one side of the first slide rail 11 on the column 1, and a gear 41 that engages with the rack 13 is mounted on the output shaft end of the first drive member 4. The first drive member 4 drives the gear 41 to engage with the rack 13, thereby realizing the up and down movement of the support frame 3.

[0046] The transmission unit 5 includes a first transmission motor 51 mounted on the support frame 3, a first robotic arm 52 connected at one end to the first transmission motor 51, a second transmission motor 53 mounted at the other end of the first robotic arm 52, a second robotic arm 54 connected at one end to the second transmission motor 53, and a third transmission motor 55 mounted at the other end of the second robotic arm 54. The first transmission motor 51 can drive the first robotic arm 52 to rotate around a vertical axis. Due to the setting of the column 1, the rotation angle of the first robotic arm 52 will be less than 360°, but the second transmission motor 53 can drive the second robotic arm 54 to rotate 360° around the vertical axis, and the third transmission motor 55 can also drive the gripper 6 to rotate 360° around the vertical axis. Compared to traditional industrial robots, the transmission unit 5 adopts a multi-stage robotic arm structure, which is lower in cost and has a larger number of drive motors, meaning it has a greater range of motion and higher flexibility. It can perform complex handling and sorting actions, and can move flexibly in three-dimensional space, reaching more positions and angles, adapting to various complex work scenarios. In this embodiment, three drive motors and two robotic arms are sufficient to meet the range of motion requirements. In other embodiments, the number of drive motors and robotic arms can be set according to actual conditions and is not limited here.

[0047] In this embodiment, the product being transported is a bagged product, such as a cement bag, and the structure of the gripper 6 is configured accordingly based on the structure of the cement bag. The gripper 6 includes a gripper frame 61 and a pair of gripping modules disposed opposite each other on the gripper frame 61, namely a first gripping module 62 gripping one side of the product and a second gripping module 63 gripping the other side of the product.

[0048] The first gripping module 62 and the second gripping module 63 have the same structure and both include a second support plate 623 mounted on the gripper frame 61, a gripping component 621 mounted below the second support plate 623, and a gripping drive component 622 mounted on the second support plate 623 that drives the gripping component 621 to swing back and forth to achieve the gripping action. When the two gripping drive components 622 simultaneously drive the two gripping components 621 to swing inward, they grip the product. When the two gripping drive components 622 simultaneously drive the two gripping components 621 to swing outward, they release the product.

[0049] The gripping assembly 621 includes a mounting bracket 6211 extending horizontally, a plurality of clamping rods 6212 arranged horizontally on the mounting bracket 6211, and a first pressure plate 6213 disposed on the mounting bracket 6211 and located above and inside the clamping rods 6212. The clamping rods 6212 clamp the lower part of the product side, while the first pressure plate 6213 presses against the upper part of the product side. The cooperation between the clamping rods 6212 and the first pressure plate 6213 enables stable gripping of the product.

[0050] The gripping drive assembly 622 includes a first cylinder 6221 mounted on a second support plate 623, a rotating shaft 6222 driven by the first cylinder 6221 to rotate about a horizontal axis, and connecting brackets 6223 mounted at both ends of the rotating shaft 6222. The connecting brackets 6223 are connected to the mounting bracket 6211. When the first cylinder 6221 drives the rotating shaft 6222 to rotate, it can cause the gripping assembly 621 to swing back and forth, thereby realizing the action of gripping and releasing the product.

[0051] The first gripping module 62 and / or the second gripping module 63 are movably mounted on the gripper frame 61, and the spacing between the first gripping module 62 and / or the second gripping module 63 can be adjusted to accommodate products of different sizes and improve versatility.

[0052] In this embodiment, the gripper frame 61 is provided with a screw 65 extending in the front-to-back direction. The second support plates 623 of the first gripping module 62 and the second gripping module 63 are respectively set at the front and rear ends of the screw 65 by nuts 66. The nuts 66 are set on the second support plates 623 by a second mounting seat 67. The second support plates 623 are set on the gripper frame 61 by a slide rail slider. If it is necessary to adjust the front-to-back position of the first gripping module 62 and / or the second gripping module 63, the position of the nuts 66 can be adjusted by turning them back and forth.

[0053] In other embodiments, the first gripping module 62 and / or the second gripping module 63 are connected to a servo motor, and the second support plate 623 is set on the gripper frame 61 by means of a slide rail slider. The front and rear positions of the first gripping module 62 and / or the second gripping module 63 are adjusted by the servo motor, so that one-click switching can be achieved when changing products of different sizes, which is simpler and more convenient.

[0054] In another embodiment, the first gripping module 62 and / or the second gripping module 63 are movably configured. The second support plate 623 of the first gripping module 62 and / or the second gripping module 63 is set on the gripper frame 61 by means of a slide rail slider and locked with screws. When it is necessary to adjust the position of the first gripping module 62 and / or the second gripping module 63, the screws are loosened. After the first gripping module 62 and / or the second gripping module 63 is adjusted, the screws are tightened again to realize the adjustment of the front and rear positions of the first gripping module 62 and / or the second gripping module 63.

[0055] Since the cement bags being gripped are somewhat loose, a product-pressing assembly 64 is also provided on the gripping frame 61 to facilitate gripping by the gripping module 62 and the second gripping module 63. The pressing assembly 64 includes a second cylinder 641 and a second pressing plate 642 that moves up and down driven by the second cylinder 641. The coordinated work of the pressing assembly 64 and the gripping modules can adapt to the gripping needs of items of different shapes, and is especially suitable for the efficient and stable handling of loosely bagged products.

[0056] The structure of gripper 6 is not limited to the structure described above. In other embodiments, it can be adjusted according to the actual product to be gripped. Therefore, the structure of gripper 6 is not limited here.

[0057] The above descriptions are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and all such modifications and improvements fall within the protection scope of this utility model.

Claims

1. A column robot handling device with a nitrogen balance cylinder mechanism, characterized in that: It includes a column, a nitrogen balance cylinder mechanism disposed on one side of the column, a support frame that is movably disposed on the other side of the column, a first driving member that drives the support frame to move up and down, a transmission unit disposed on the support frame, and a gripper disposed at the end of the transmission unit. The nitrogen balance cylinder mechanism includes a nitrogen cylinder, a gas control unit, and a nitrogen balance cylinder connected in sequence through pipelines. The gas control unit includes a proportional valve for adjusting the gas pressure value and a pressure sensor for detecting the gas pressure value. The bottom of the nitrogen balance cylinder is connected to the support frame.

2. The column robot handling device with a nitrogen balance cylinder mechanism as described in claim 1, characterized in that: The gas control unit also includes a safety valve and a gas-controlled shut-off valve, and the proportional valve, the pressure sensor, the safety valve, and the gas-controlled shut-off valve are connected in sequence to the pipeline.

3. The column robot handling device with a nitrogen balance cylinder mechanism as described in claim 1, characterized in that: The nitrogen balance cylinder includes a piston rod at the lower end and a cylinder body sleeved on the upper end of the piston rod. The upper end of the cylinder body is sealed, and the lower end has a sealed cavity for the piston rod to move up and down. The pipeline is connected to the sealed cavity to facilitate the delivery of gas from the nitrogen cylinder into the sealed cavity.

4. The column robot handling device with a nitrogen balance cylinder mechanism as described in claim 3, characterized in that: The cylinder is mounted on the column via a first mounting base, and the bottom of the piston rod is mounted on the support frame via a connecting assembly.

5. A column robot handling device with a nitrogen balance cylinder mechanism as described in claim 4, characterized in that: The connecting assembly includes a connecting block fixed at one end to the support frame, a support shaft disposed at the other end of the connecting block, and a support ring sleeved on the support shaft. The upper end of the support ring is connected to the bottom of the piston rod, and the connecting block is provided with a receiving groove for installing the support ring.

6. The column robot handling device with a nitrogen balance cylinder mechanism as described in claim 1, characterized in that: The nitrogen cylinder is vertically arranged on one side of the column, and the column is provided with a first support plate at the bottom of the nitrogen cylinder to support the nitrogen cylinder; a first slide rail extending vertically is provided on the other side of the column, and the support frame is slidably arranged on the first slide rail by a first slider; a rack extending vertically is provided on one side of the column and the output shaft end of the first drive member is provided with a gear that cooperates with the rack for transmission.

7. A column robot handling device with a nitrogen balance cylinder mechanism as described in claim 1, characterized in that: The transmission unit includes a first transmission motor mounted on the support frame, a first robotic arm connected at one end to the first transmission motor, a second transmission motor mounted at the other end of the first robotic arm, a second robotic arm connected at one end to the second transmission motor, and a third transmission motor mounted at the other end of the second robotic arm.

8. A column robot handling device with a nitrogen balance cylinder mechanism as described in claim 1, characterized in that: The gripper includes a gripper frame and a pair of gripping modules disposed opposite to each other on the gripper frame, namely a first gripping module gripping one side of the product and a second gripping module gripping the other side of the product. The gripper frame is also provided with a clamping component for pressing the product.

9. A column robot handling device with a nitrogen balance cylinder mechanism as described in claim 8, characterized in that: Both the first gripping module and the second gripping module include a second support plate disposed on the gripper frame, a gripping component disposed below the second support plate, and a gripping drive component disposed on the second support plate that drives the gripping component to swing back and forth to achieve the gripping action.

10. A column robot handling device with a nitrogen balance cylinder mechanism as described in claim 8, characterized in that: The first gripping module and / or the second gripping module are movably mounted on the gripper frame.

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