A lifting robotic arm with a self-balancing device

Abstract

This utility model relates to a lifting robotic arm with a self-balancing device, aiming to solve the problems of poor stability, slow response, and insufficient balancing accuracy of existing lifting robotic arm self-balancing systems. The robotic arm includes a base, a lifting arm, a lifting section, and a self-balancing section. The base consists of a base plate, a vertical main column, and a first rotating section. The lifting arm is divided into a main arm and a secondary arm, with an arc-shaped protrusion in the middle of the secondary arm to optimize stress distribution. The self-balancing section is installed at the top of the main column and drives the counterweight through symmetrically arranged double-acting tie-rod balancing cylinders, forming a lever structure with the rear end of the lifting arm. Air pressure is used to adjust the torque of the counterweight in real time to dynamically compensate for load imbalance. A drive motor is installed on one side of the gripper of the lifting section, driving the extension and retraction of the balance block on the other side through a threaded rod, achieving precise adjustment of local imbalances. In addition, a laser level is installed above the front end of the lifting arm to monitor the balance status in real time and provide intuitive feedback. This invention significantly improves the balance response speed and accuracy of the lifting robot arm under complex working conditions through the coordinated design of dynamic torque compensation, symmetrical pneumatic control and local balance adjustment, and enhances the stability and safety of operation. It is suitable for scenarios with stringent balance performance requirements, such as industrial lifting and construction.

Description

Technical Field

[0001] The utility model relates to the technical field of hoisting equipment, in particular to a hoisting robotic arm with a self-balancing device. Background Art

[0002] In many fields such as modern industrial production and construction, hoisting operations are extremely crucial operational links. As the core equipment for performing hoisting tasks, the performance of the hoisting robotic arm directly affects the efficiency and safety of operations.

[0003] At present, there are various types of self-balancing systems for hoisting robotic arms on the market. A relatively common self-balancing system uses a ball screw to drive a counterweight for balance adjustment. It drives the ball screw through a motor, and the counterweight moves on a specific track, thereby changing the center of gravity position of the robotic arm to achieve the purpose of balance. However, this system has certain defects. On the one hand, during long-term operation, the ball screw is prone to wear, resulting in a decrease in accuracy, which in turn affects the movement accuracy of the counterweight and greatly reduces the balance adjustment effect. On the other hand, the response speed of this system is relatively slow. When faced with sudden load changes or the need for robotic arm attitude adjustment, it cannot respond effectively in a timely manner, causing the robotic arm to be in an unbalanced state for a short time and increasing the risk of hoisting operations.

[0004] At the same time, existing hoisting equipment also has deficiencies in balance state monitoring. Operators usually rely on experience judgment or simple tilt sensors, lacking intuitive and accurate balance visualization means, resulting in low efficiency and error-prone adjustment processes. For example, although some equipment is equipped with load sensors, it cannot directly display the balance state of the robotic arm in real time, making it difficult to quickly adjust during dynamic operations.

[0005] Therefore, developing a hoisting robotic arm with a self-balancing device to achieve self-balancing adjustment of hoisting equipment and increase hoisting safety is an urgent technical problem for those skilled in the art. Summary of the Utility Model

[0006] In order to solve the problems in the background art, the utility model has developed a hoisting robotic arm with a self-balancing device, aiming to achieve efficient and precise balance adjustment through the combination of a dynamic balance compensation system and a laser marking instrument. This device includes a base, a hoisting arm, and a hoisting part. The base includes a base plate, and a main column is vertically arranged on the base plate. The hoisting arm is arranged at the top of the main column, and a first rotating part is arranged between the hoisting arm and the main column. The hoisting part is arranged at the front end of the hoisting arm.

[0007] The base is used to support the entire equipment, the hoisting arm is used to connect the base and the hoisting part to achieve hoisting operations within a certain range, and the hoisting part is used to fix and grasp the hoisted items.

[0008] Furthermore, the device also includes a self-balancing part, which is disposed at the top of the main column. The self-balancing part includes a balancing base, and a balancing cylinder is disposed behind the balancing base. A counterweight is connected to the upper working part of the balancing cylinder, and a connecting part is disposed at the front end of the counterweight. An adjusting bracket is disposed directly above the balancing base. The adjusting bracket is a hollow rectangle. The rear end of the lifting arm is connected to the connecting part, and the rear end of the lifting arm is rotatably connected to the inside of the adjusting bracket at a slightly forward position.

[0009] The lifting arm and the adjusting bracket are rotatably connected, forming a lever structure with the connection point inside the adjusting bracket as the fulcrum. When the front end of the lifting arm carries a heavy load, a clockwise torque is generated around the fulcrum. The counterweight is connected to the rear end of the lifting arm through the connecting part. Its weight and the force exerted by the balancing cylinder on the counterweight generate a counterclockwise torque around the same fulcrum. By adjusting the torque on the counterweight side through the balancing cylinder, the torque generated by the load on the front end of the lifting arm can be counteracted, achieving static or dynamic balance.

[0010] The balancing cylinder, driven by pneumatic pressure, changes the force applied to the counterweight in real time. When the load on the lifting arm changes, causing imbalance, if the front load torque increases, the working part of the balancing cylinder pushes the counterweight upward, increasing the torque on the counterweight side to counteract the front imbalance torque; if the front load torque decreases, the balancing cylinder can retract its force, reducing the torque on the counterweight side to avoid over-balancing. The high-response characteristics of pneumatic drive enable the system to quickly respond to sudden load changes and achieve dynamic compensation.

[0011] Furthermore, the self-balancing unit includes two balancing cylinders, which are respectively disposed on both sides of the counterweight.

[0012] The two symmetrically arranged balancing cylinders ensure a uniform distribution of force on the counterweight, avoiding torque deviation caused by unilateral force application. When the load on the lifting arm changes, the output force of the balancing cylinders on both sides can be adjusted synchronously or differentially to more accurately compensate for unbalanced torques, keeping the lifting arm balanced in three-dimensional space and reducing swaying or tilting caused by lateral forces.

[0013] Preferably, the balancing cylinder is a lever-type double-acting cylinder.

[0014] The lever-type cylinder boasts a robust structure, capable of withstanding significant axial and lateral forces, making it suitable for harsh industrial environments such as vibration and impact during lifting robotic arm operation. The double-acting cylinder allows for independent pressure control via two side air inlets, enabling bidirectional piston rod movement and force output adjustment. In the self-balancing system, when the lifting arm load increases, the cylinder rapidly outputs thrust to lift the counterweight; when the load decreases, it recovers the force through reverse air pressure. Combined with a symmetrical layout, this achieves precise bidirectional compensation of dynamic forces, meeting the high-frequency response requirements of the self-balancing system.

[0015] Furthermore, the hoisting part includes a connecting rod, which is connected to the front end of the hoisting arm. A gripper is provided at the lower part of the connecting rod. A drive motor is provided on one side of the gripper, and a balance block is provided on the other side of the gripper. A threaded rod is connected between the drive motor and the balance block. The drive motor drives the threaded rod to rotate, causing the balance block to extend and retract on one side of the gripper.

[0016] When the grippers grasp a load, changes in the load's weight and position can cause the lifting unit to become unbalanced. The balance block, driven by the threaded rod, extends and retracts, changing the length of its extension between itself and the grippers. By utilizing the lever principle, it increases the counter-torque, counteracting the unbalanced torque generated by the load and ensuring the overall balance of the grippers.

[0017] Furthermore, a balance sensor is provided above the front end of the lifting arm. The balance sensor is used to detect the balance state of the lifting arm and to control the balance of the device by adjusting the self-balancing part and the drive motor.

[0018] Preferably, the balance sensor is a laser line marker.

[0019] The balance sensor can display the balance status of the hoisting equipment in real time, and the operator or control system can make fine adjustments accordingly until the robotic arm is restored to balance.

[0020] Furthermore, the lifting arm is divided into a main arm and a secondary arm, a second rotating part is provided between the main arm and the secondary arm, and an arc-shaped protrusion is provided in the middle of the secondary arm.

[0021] When a straight boom is under load, stress tends to concentrate at the connection between the boom and the base or load, which may lead to fatigue damage over long-term use. The curved design of the raised section in the middle of the secondary boom disperses concentrated stress over a larger area through its curved surface structure, reducing local stress peaks and improving the boom's fatigue life. The curved structure has a larger moment of inertia perpendicular to the load direction, which can more effectively resist bending deformation. When the secondary boom is subjected to bending moment, the raised curvature can reduce boom deflection, improve overall rigidity, and ensure stability during lifting.

[0022] The advantages and beneficial effects of this utility model are as follows: By combining a dynamic balance compensation system with structural optimization design, this utility model effectively solves the problems of poor stability, slow response, and insufficient balance accuracy of existing self-balancing systems for lifting manipulators. The self-balancing unit adopts a pneumatic active balance cylinder and counterweight linkage design. Utilizing the high response characteristics of pneumatic drive, the torque on the counterweight side can be adjusted in real time according to changes in the load of the lifting arm. This design achieves millisecond-level response to dynamic loads, significantly improving the balance stability of the manipulator under complex working conditions. The lifting unit, through the linkage design of the drive motor, threaded rod, and balance block, can compensate for local imbalances when the gripper grasps the load in real time. When changes in load weight or position cause gripper imbalance, the balance block adjusts the torque through the extension and retraction of the threaded rod, quickly offsetting the imbalance torque using the lever principle, reducing the impact on the overall balance of the manipulator, thereby reducing the adjustment burden of the self-balancing unit and improving the overall balance efficiency and stability of the system. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the present invention.

[0024] Figure 2 This is a schematic diagram of the lifting arm of this utility model.

[0025] Figure 3 This is a schematic diagram of the hoisting part of this utility model.

[0026] Figure 4 This is a schematic diagram of the self-balancing part of this utility model.

[0027] Among them, 1-base, 11-base, 12-main column, 13-first rotating part, 2-lifting arm, 21-main arm, 22-secondary arm, 23-second rotating part, 3-lifting part, 31-connecting rod, 32-gripper, 33-drive motor, 34-balance block, 35-threaded rod, 4-self-balancing part, 41-balance base, 42-balance cylinder, 43-counterweight, 44-connecting part, 45-adjusting bracket. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of the present utility model and are not intended to limit the present utility model. In the present utility model, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0029] like Figures 1 to 4 As shown, a lifting robotic arm with a self-balancing device is provided. The device mainly includes a base 1, a lifting arm 2, a lifting section 3, and a self-balancing section 4.

[0030] In this embodiment, the base 1 includes a base 11, a main column 12 vertically fixed on the base 11, and a first rotating part 13 connecting the lifting arm 2 to the top of the main column 12. The base 11 provides stable support for the entire device, the main column 12 serves as a vertical load-bearing structure, and the first rotating part 13 allows the lifting arm 2 to rotate 360° around the main column 12.

[0031] The lifting boom 2 consists of a main boom 21 and a secondary boom 22. The rear end of the main boom 21 is connected to the main column 12 via a first slewing part 13, and the front end is hinged to the secondary boom 22 via a second slewing part 23. The secondary boom 22 has an arc-shaped protrusion in the middle to optimize mechanical performance. The rear end of the main boom 21 is fixed to the connecting part 44 of the self-balancing part 4, and the front end of the secondary boom 22 is connected to the connecting rod 31 of the lifting part 3, forming a lifting structure that can be adjusted at multiple angles.

[0032] The self-balancing unit 4 is installed at the top of the main column 12 and includes a balancing base 41, a double-acting tie-rod balancing cylinder 42 symmetrically arranged on both sides of the counterweight 43, a counterweight 43 connected to the upper end of the piston rod of the balancing cylinder 42, a connecting part 44 connecting the counterweight 43 and the rear end of the lifting arm 2, and a hollow rectangular adjusting bracket 45 located directly above the balancing base 41. The rear end of the lifting arm 2 is rigidly connected to the counterweight 43 through the connecting part 44, and is rotatably connected to a pin inside the adjusting bracket 45 at a position near the rear end, forming a lever structure with the connection point of the adjusting bracket 45 as the fulcrum.

[0033] The lifting section 3 is located at the front end of the secondary boom 22 and includes a connecting rod 31, a gripper 32 fixed to the lower part of the connecting rod 31, a drive motor 33 mounted on one side of the gripper 32, a counterweight 34 located on the other side of the gripper 32, and a threaded rod 35 connecting the drive motor 33 and the counterweight 34. The drive motor 33 drives the counterweight 34 to extend and retract along the length of the gripper 32 via the threaded rod 35 to adjust the local balance of the lifting section 3.

[0034] The balance sensor 5 is a laser line marker, installed above the front end of the secondary boom 22. It projects laser lines in real time to display the balance status of the boom 2, allowing operators or the control system to adjust the balance.

[0035] How to use: In use, the base 1 is fixed to the working plane via the base 11. The lifting arm 2 can rotate around the main column 12 via the first rotating part 13, and the secondary arm 22 can pitch or swing relative to the main arm 21 via the second rotating part 23, expanding the working range. When the gripper 32 grabs an item, if the load causes the front end of the lifting arm 2 to become unbalanced, the balance sensor 5 detects it in real time and provides feedback on the unbalanced state via laser marking. The two balancing cylinders 42 of the self-balancing part 4 extend and retract the piston rod through air pressure according to the unbalance signal: if the front load torque increases, the cylinder pushes the counterweight 43 upward, increasing the counterclockwise torque on the side of the counterweight 43; if the load torque decreases, the cylinder piston rod retracts, reducing the torque, thereby dynamically offsetting the front unbalanced torque.

[0036] Simultaneously, the drive motor 33 of the lifting unit 3 drives the threaded rod 35 to rotate, adjusting the extension length of the balance block 34, and using the lever principle to compensate for the local imbalance of the gripper 32 caused by changes in load position. The arc-shaped protrusion structure of the secondary arm 22 disperses stress when subjected to bending moment, improving overall rigidity and reducing deformation. Through the coordinated adjustment of the self-balancing unit 4 and the lifting unit 3, combined with the real-time monitoring of the balance sensor 5, the lifting robot arm can quickly and accurately achieve balance under static or dynamic loads, ensuring the safety and stability of the lifting operation.

[0037] The above provides a detailed description of a lifting robotic arm with a self-balancing device provided by this utility model. Specific examples have been used to illustrate the principles and implementation methods of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A lifting robotic arm with a self-balancing device, comprising a base (1), a lifting arm (2), and a lifting section (3), wherein the base (1) comprises a base (11), a main column (12) is vertically arranged on the base (11), the lifting arm (2) is disposed at the top of the main column (12), a first rotating section (13) is disposed between the lifting arm (2) and the main column (12), and the lifting section (3) is disposed at the front end of the lifting arm (2), characterized in that, The device also includes a self-balancing part (4), which is located at the top of the main column (12). The self-balancing part (4) includes a balancing base (41), a balancing cylinder (42) is provided behind the balancing base (41), a counterweight (43) is connected to the upper working part of the balancing cylinder (42), a connecting part (44) is provided at the front end of the counterweight (43), an adjusting bracket (45) is provided directly above the balancing base (41), the adjusting bracket (45) is a hollow rectangle, the rear end of the hoisting arm (2) is connected to the connecting part (44), and the rear end of the hoisting arm (2) is rotatably connected to the inside of the adjusting bracket (45) at a slightly forward position.

2. The hoisting robotic arm with self-balancing device according to claim 1, characterized in that, The self-balancing unit (4) includes two balancing cylinders (42), which are respectively disposed on both sides of the counterweight (43).

3. The hoisting robotic arm with self-balancing device according to claim 2, characterized in that, The balance cylinder (42) is a tie-rod type double-acting cylinder.

4. The hoisting robotic arm with self-balancing device according to claim 3, characterized in that, The hoisting part (3) includes a connecting rod (31), which is connected to the front end of the hoisting arm (2). A gripper (32) is provided at the lower part of the connecting rod (31). A drive motor (33) is provided on one side of the gripper (32), and a balance block (34) is provided on the other side of the gripper (32). A threaded rod (35) is connected between the drive motor (33) and the balance block (34). The drive motor (33) drives the threaded rod (35) to rotate, causing the balance block (34) to extend and retract on one side of the gripper (32).

5. A hoisting arm with self-balancing device according to claim 4, characterized in that, A balance sensor (5) is provided above the front end of the lifting arm (2). The balance sensor (5) is used to detect the balance state of the lifting arm (2) and to control the balance of the device by adjusting the self-balancing part (4) and the drive motor (33).

6. A hoisting robot arm with self-balancing device according to claim 5, characterized in that The balance sensor (5) is a laser line marker.

7. A hoisting robot arm with self-balancing device according to any one of claims 1 to 6, characterized in that, The lifting arm (2) is divided into a main arm (21) and a secondary arm (22). A second rotating part (23) is provided between the main arm (21) and the secondary arm (22). A curved protrusion is provided in the middle of the secondary arm (22).

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