Servo hoisting system with adaptive height adjustment of robot arm

Abstract

The utility model discloses a kind of servo hoisting systems of mechanical arm self-adapting height adjustment, it is related to robot technical field, solve the problem that existing technology in promoting mechanical arm load needs to replace high-cost mechanical arm, auxiliary lifting appliance cannot be self-adapting following. Including mechanical arm and lifting appliance system;Lifting appliance system includes lifting appliance pillar, lifting appliance module, grating ruler detection module, lifting appliance control module and lifting appliance servo driver;Lifting appliance module includes lifting appliance rotating mechanism, slide rail, lifting appliance servo motor, speed reducer, lifting rope, sliding wheel, tow fixed seat and lifting hook, wherein, lifting rope, tow fixed seat and lifting hook form lifting appliance, grating ruler detection module includes grating ruler and reading head;The utility model can promote mechanical arm load capacity without replacing mechanical arm, improve the flexibility and work efficiency of robot without substantially increasing cost.

Description

Technical Field

[0001] This utility model relates to the technical field of robots, and in particular to a servo hoisting system for adaptive height adjustment of a robotic arm. Background Technology

[0002] In industrial automation, robotic arms are widely used in tasks such as cargo handling and assembly due to their high precision and stability. However, in existing technologies, the load capacity of robotic arms is limited by their own structural design and power system parameters. When it is necessary to move heavy objects exceeding the rated load of the robotic arm, the traditional solution is usually to replace it with a robotic arm with a stronger load capacity.

[0003] However, replacing the robotic arm with a high-load robotic arm has obvious drawbacks: First, the manufacturing cost of a high-load robotic arm is much higher than that of a light-load robotic arm, which greatly increases the equipment investment cost; second, the high-load robotic arm is larger and heavier, and has higher requirements for installation space, which some existing production workshops cannot accommodate due to space limitations; third, the high-load robotic arm has lower movement flexibility, and its response speed for starting, stopping and turning is slower, which will reduce the overall production efficiency.

[0004] Furthermore, while some existing auxiliary lifting devices attempt to share the load with the robotic arm, these devices are mostly fixed-height or manually adjustable structures, unable to adaptively adjust to changes in the position of the robotic arm's end effector in real time. During the robotic arm's movement, the relative position of the lifting device and the end effector is prone to shift, causing the load to sway. This not only affects handling accuracy but may also lead to safety accidents, failing to meet the stability and safety requirements of industrial production.

[0005] Therefore, how to improve the load capacity of a robotic arm without replacing it, through a low-cost and easy-to-install auxiliary system, while achieving adaptive following between the lifting device and the end effector of the robotic arm, has become an urgent problem to be solved by existing technologies. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a servo hoisting system with adaptive height adjustment of the robotic arm that improves the robot's load capacity while maintaining its flexibility without replacing the robotic arm.

[0007] To achieve the above objectives, the solution of this utility model is: A servo-driven hoisting system with adaptive height adjustment for a robotic arm, comprising: a robotic arm and a hoisting device system; The robotic arm is connected to the robot control system, and a dragging device is provided at the end of the robotic arm; The lifting device system includes a lifting device support, a lifting device module, a linear encoder detection module, a lifting device control module, and a lifting device servo driver. The lifting device module includes a lifting device rotation mechanism, a slide rail, a lifting device servo motor, a reducer, a lifting rope, a pulley, a drag anchor, and a hook. The lifting rope, drag anchor, and hook constitute the lifting device. The lifting device support is mounted on the outer periphery of the robotic arm, the lifting device rotation mechanism is mounted on the lifting device support, the slide rail connects to the lifting device rotation mechanism, the pulley is slidably mounted on the slide rail, and the lifting device servo motor is mounted on the slide rail. The output end of the lifting servo motor is connected to the reducer, which is connected to the pulley and the dragging fixed seat via a lifting rope. The hook is located below the dragging fixed seat. The grating ruler detection module includes a grating ruler and a reading head used in conjunction with the grating ruler. The reading head is installed on the dragging device of the robotic arm, and the grating ruler is installed on the dragging fixed seat. The lifting control module is connected to the reading head of the grating ruler detection module, the lifting servo driver, and the robot control system. The lifting servo driver is connected to the lifting servo motor.

[0008] Furthermore, the lifting support is vertically fixed to the ground or work platform, the lifting rotation mechanism is installed at the top of the lifting support, one end of the slide rail is fixedly installed at the top of the lifting rotation mechanism, and the servo motor is fixedly installed on one end of the slide rail corresponding to the rotation mechanism.

[0009] Furthermore, one end of the lifting rope is connected to the output end of the reducer, and after passing around the pulley and through the slide rail, it is connected to the drag fixing seat, with the hook suspended below the drag fixing seat.

[0010] Furthermore, the dragging device at the end of the robotic arm is arranged adjacent to the dragging fixing seat.

[0011] Furthermore, the spreader control module is connected to the servo driver via a bus or pulse / analog signal; the spreader servo motor is connected to the servo driver via a power cable.

[0012] Furthermore, the output shaft of the lifting servo motor is directly connected to the input shaft of the reducer via a coupling or gear, and the output shaft of the reducer is connected to the lifting rope of the lifting device to drive the lifting device to move.

[0013] Furthermore, when the robotic arm is stationary, the reading head is positioned in the middle of the grating ruler. Furthermore, when the robotic arm moves, it drives the rolling wheel to move on the slide rail, and a limiting post is provided at the end of the slide rail, which is set within the range of the robotic arm's reach.

[0014] With the above structure, the servo lifting system of this utility model with adaptive height adjustment of the robotic arm uses the servo motor of the lifting device to drive the lifting rope, pulley, drag fixing seat and hook, and with the grating ruler detection module, the hook can autonomously follow the drag device at the end of the robotic arm to rise and fall in the Z-axis direction, ensuring that the distance between the hook of the lifting device module and the end of the robotic arm remains unchanged during the picking and placing process. With the drag of the robotic arm, the lightly loaded robotic arm can carry goods that exceed its own load capacity.

[0015] Compared with existing technologies, this utility model has a simple structure, low installation cost, and can be quickly adapted to different robotic arms, effectively improving the load capacity of the robotic arm and enhancing its adaptability. The lifting system enables the hook to quickly and automatically follow the relative position changes of the robotic arm end, and can keep the height of the lifting device and the robotic arm constant during the robotic arm's loading and unloading process. This utility model can improve the load capacity of the robotic arm without replacing it, and improve the robot's flexibility and work efficiency without significantly increasing costs. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the present invention.

[0017] Figure 2 This is a schematic diagram of the overall structure of the robotic arm and lifting device in a preferred embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram illustrating the working principle of the robotic arm and lifting module in a preferred embodiment of the present invention. Detailed Implementation

[0019] To further explain the technical solution of this utility model, the following detailed description is provided through specific embodiments.

[0020] like Figures 1 to 3 As shown, this utility model discloses a servo hoisting system with adaptive height adjustment of a robotic arm, which includes a robotic arm 10 and a hoisting system 20. The hoisting system 20 includes a hoisting support 1, a hoisting module 2, a grating ruler detection module 3, a hoisting control module 4, and a hoisting servo driver 5.

[0021] The robotic arm 10 is connected to the robot control system 102, and the end of the robotic arm 10 is equipped with a dragging device 101.

[0022] The lifting device module 2 includes a lifting device rotation mechanism 22, a slide rail 23, a lifting device servo motor 24, a reducer 25, a lifting rope 26, a sliding wheel 27, a drag-fixed seat 28, and a hook 29. The lifting rope 26, the drag-fixed seat 28, and the hook 29 constitute the lifting device. The lifting device support column 1 is set on the outer periphery of the robotic arm 10. The lifting device rotation mechanism 22 is set on the lifting device support column 1. The slide rail 23 is connected to the lifting device rotation mechanism 22. The sliding wheel 27 is slidably set on the slide rail 23. The lifting device servo motor 24 is set on the slide rail 23. The output end of the lifting device servo motor 24 is connected to the reducer 25. The reducer 25 is connected to the sliding wheel 27 and the drag-fixed seat 28 through the lifting rope 26. The hook 29 is set below the drag-fixed seat 28.

[0023] The grating ruler detection module 3 includes a grating ruler 31 and a reading head 32 used in conjunction with the grating ruler 31. The reading head 32 is installed on the dragging device 101 of the robotic arm 10, and the grating ruler 31 is installed on the dragging fixing seat 28. When the robotic arm 10 is stationary, the reading head 32 is in the middle position of the grating ruler 31.

[0024] The lifting device control module 4 is electrically connected to the grating ruler detection module 3 and the lifting device servo driver 5, respectively. The lifting device servo driver 5 is electrically connected to the lifting device servo motor 24. The lifting device control module 4 is used to capture the pulse signal generated by the displacement of the reading head 32 relative to the grating ruler 31, and adjust the speed of the lifting device servo motor 24 according to the position deviation of the reading head 32 displacement, so as to drive the lifting rope 26, the drag fixing seat 28 and the hook 29 to rise and fall, so that the hook 29 and the dragging device 101 at the end of the robotic arm 10 remain in a constant relative position.

[0025] like Figure 2 As shown, the lifting support 1 is vertically fixed to the ground or work platform. The lifting rotation mechanism 22 is installed on the top of the lifting support 1. The lifting servo motor 24 and the reducer 25 are fixed on the lifting rotation mechanism 22. One end of the lifting rope 26 is connected to the output end of the reducer 25, and passes through the sliding wheel 27 and the slide rail 23 in sequence before being connected to the drag fixing seat 28. The hook 29 is suspended below the drag fixing seat 28. The dragging device 101 at the end of the robotic arm 10 is arranged adjacent to the drag fixing seat 28 to ensure that the relative position of the two can be monitored in real time by the grating ruler detection module.

[0026] like Figure 3 As shown, the lifting device control module 4 is electrically connected to the grating ruler 31 with the reading head 32 and the lifting device servo driver 5, respectively. The lifting device servo driver 5 is electrically connected to the lifting device servo motor 24. The robot control system 102 is electrically connected to the robotic arm 10 and communicates with the lifting device control module 4 to form a complete control link and realize closed-loop control of "position detection-signal processing-speed control-action execution".

[0027] This utility model's servo-driven lifting system for adaptive height adjustment of the robotic arm utilizes a lifting device control module 4 to send control commands via bus or pulse / analog signals. The servo driver 5 receives, parses, and executes the corresponding control commands. The lifting device servo motor 24 receives three-phase power from the servo driver 5 via a power cable and simultaneously feeds back its real-time position / speed to the servo driver 5 via an encoder cable, forming a closed-loop control. The output shaft of the lifting device servo motor 24 is directly connected to the input shaft of the reducer 25 via a coupling or gears. The output shaft of the reducer 25 is then connected to the lifting rope of the lifting device, driving the lifting device's movement. The lifting device 26, pulley 27, drag fixing seat 28 and hook 29 are driven by the lifting servo motor 24 and reducer 25 to cooperate with the grating ruler detection module 3 to achieve autonomous following of the drag device 101 at the end of the robotic arm 10 in the Z-axis direction. This ensures that the distance between the lifting device of the lifting module 2 and the drag device 101 at the end of the robotic arm 10 remains unchanged during the picking and placing process. With the dragging of the robotic arm 10, the lightly loaded robotic arm 10 can carry goods that exceed its own load capacity.

[0028] like Figure 2 As shown, this utility model constructs a lifting system 20 outside the robotic arm 10 as an auxiliary device for the robotic arm 10. The lifting support column 1 serves as the main support of the lifting system 20. A lifting rotating mechanism 22 capable of rotating 360 degrees is installed at the top of the lifting support column 1. When the lifting rotating mechanism 22 rotates, it drives the slide rail 23 and the lifting servo motor 24 fixed thereto to rotate, thereby driving the lifting rope 26, the sliding wheel 27, the drag fixing seat 28 and the hook 29 to rotate. The grating ruler 31 is installed on the drag fixing seat 28. When the robotic arm 1... When stationary, the reading head 32 is always in the middle position of the grating ruler 31. When the robotic arm 10 starts to move from stationary, the reading head 32 of the grating ruler 31 will be displaced on the grating ruler 31, and the generated pulse signal will be captured by the lifting device control module 4. The moving roller 27 of the robotic arm 10 will be pulled to move on the slide rail 23. A limit post is set at the end of the slide rail 23 to prevent the roller 27 from leaving the slide rail 23. The limit post is set within the arm extension range of the robotic arm 10 to ensure that the roller 27 can move accordingly with the robotic arm 10.

[0029] The spreader control module 4 is matched according to the position and speed ratio as follows: like Figure 1 and Figure 3 As shown, the lifting method of the servo lifting system with adaptive height adjustment of the robotic arm according to this utility model includes the following steps: S1: Start the robotic arm 10 and the lifting system 20. The lifting control module 4 controls the lifting servo motor 24 to drive the hook 29 to move, so that the reading head 32 is aligned with the middle position of the grating ruler 31. The lifting control module 4 feeds back to the robot control system 102 that the lifting position has been reached and the system initialization is completed. S2: The robotic arm 10 starts and drives the end-effector 101 to move. The reading head 32 moves synchronously with the end-effector 10's dragging device 101, generating displacement relative to the grating ruler 31 and generating a pulse signal. The lifting device control module 4 captures this pulse signal. The grating ruler's stroke is 2X, and the middle position is X. The real-time feedback position of the reading head of the grating ruler in the lifting device control module is P. The position difference ΔX between the reading head and the middle position of the grating ruler is calculated as: ΔX = XP. The absolute value of the position difference ΔX is ABS(ΔX). When ΔX is negative, the lifting device moves upward; when ΔX is positive, the lifting device moves downward. S3: The lifting device control module 4 calculates the position deviation ΔX=XP based on the stroke 2X of the grating ruler 31 and the real-time feedback position P of the reader 32, and simultaneously uses the formula... Calculate the speed ratio Override of the spreader servo motor, where Override is the speed ratio of the spreader servo motor; k is the speed ratio coefficient, which defaults to 1; S4: The lifting control module 4 determines the lifting direction of the lifting device based on the sign of ΔX, and controls the operation of the lifting servo motor through the lifting servo driver in combination with the speed multiplier Override, so as to drive the lifting device to lift and lower, and keep the relative position of the hook 29 and the dragging device 101 at the end of the robotic arm 10 unchanged. S5: During operation, the lifting device control module 4 monitors in real time whether the reading head 32 is at the upper or lower limit of the grating ruler 31. If the reading head is at the upper limit and the duration exceeds the preset time (e.g., 1 second), it is determined that the lifting device speed is faster than the robotic arm speed. The lifting device control module 4 sends a pause control command to the servo driver 5, and the servo driver 5 controls the lifting device servo motor 24 to pause until the reading head 32 leaves the upper limit and then resumes operation. If the reading head 32 is at the lower limit of the grating ruler 31 and the duration exceeds the preset time (e.g., 1 second), it is determined that the robotic arm 10 speed is faster than the lifting device speed. The lifting device control module 4 sends a pause signal to the robot control system 102 of the robotic arm 10 and controls the robotic arm 10 to resume operation after the reading head 32 leaves the lower limit. S6: After the robotic arm 10 and the lifting system 20 complete the lifting and placing of heavy objects, the lifting control module 4 controls the lifting device to reset to the middle position of the reading head 32 in the grating ruler 31 and enter the standby state.

[0030] The lifting device control module is used to detect whether the reading head of the grating ruler is at the upper limit position of the grating ruler. If the reading head is at the upper limit position for more than 1 second, it is determined that the speed of the lifting device is faster than the speed of the robotic arm. The lifting device control module sends a pause control command to the servo driver. The servo driver controls the lifting device servo motor to stop running until the reading head leaves the upper limit position. Then the lifting device servo motor resumes running, forming an upper limit protection mechanism.

[0031] The lifting device control component is also used to detect whether the reading head is at the lower limit of the grating ruler. If the reading head is at the lower limit for more than 1 second, it is determined that the speed of the robotic arm is faster than the speed of the lifting device. The lifting device control module sends a pause signal to the robot control system to stop the robotic arm from running until the reading head leaves the lower limit. Then, the robotic arm is controlled to resume running, forming a lower limit protection mechanism.

[0032] This utility model's servo lifting system with adaptive height adjustment for the robotic arm uses a servo motor 24 to drive the lifting device's lifting and lowering, which, in conjunction with the dragging action of the robotic arm 10, effectively enhances the load capacity of the robotic arm 10. The lifting device control module 4 receives real-time feedback from the reader 32 of the grating ruler detection module 3, and automatically adjusts the lifting position of the lifting device by monitoring the position changes of the grating ruler 31, thereby maintaining a constant relative position between the lifting device and the end of the robotic arm 10. Simultaneously, the system employs a matching strategy based on the position deviation and speed ratio of the grating ruler detection module 3: when the deviation is large, the speed measurement response speed is increased; when the deviation is small, the speed is decreased, thereby avoiding overshoot and oscillation during the adjustment process and ensuring the stability of the system operation.

[0033] The lifting device control module 4 can automatically adjust the lifting height of the lifting device according to the real-time position change of the end of the robotic arm 10 in the Z-axis direction, ensuring that the relative position of the lifting device and the dragging device 101 at the end of the robotic arm 10 remains constant. Based on the position deviation and speed ratio matching strategy fed back by the reader 32, the speed measurement response speed is dynamically adjusted: the speed is increased when the position deviation value is large, and the speed is decreased when the position deviation value is small, thereby effectively avoiding overshoot and oscillation during the adjustment process of the lifting device, and ensuring the stability of the operation of the robotic arm 10 and the lifting device system 20.

[0034] This invention provides a lifting system with adaptive height adjustment for a robotic arm. The system utilizes a servo motor 24 to drive the lifting device in conjunction with a grating ruler detection module 3, enabling autonomous lifting and lowering along the Z-axis direction of the TCP at the end of the robotic arm 10. This ensures that the distance between the hook 29 and the end of the robotic arm 10 remains constant during loading and unloading. Combined with the dragging action of the robotic arm 10, this allows the lightly loaded robotic arm 10 to handle goods exceeding its own load capacity. This invention increases the load capacity of the robotic arm without replacing it, improving the robot's flexibility and work efficiency without significantly increasing costs.

[0035] The above embodiments and figures are not intended to limit the product form and style of this utility model. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of this utility model.

Claims

1. A servo hoisting system for adaptive height adjustment of a robotic arm, characterized in that, include: robotic arm and lifting system; The robotic arm is connected to the robot control system, and a dragging device is provided at the end of the robotic arm; The lifting device system includes a lifting device support, a lifting device module, a linear encoder detection module, a lifting device control module, and a lifting device servo driver. The lifting device module includes a lifting device rotation mechanism, a slide rail, a lifting device servo motor, a reducer, a lifting rope, a pulley, a drag anchor, and a hook. The lifting rope, drag anchor, and hook constitute the lifting device. The lifting device support is mounted on the outer periphery of the robotic arm, the lifting device rotation mechanism is mounted on the lifting device support, the slide rail connects to the lifting device rotation mechanism, the pulley is slidably mounted on the slide rail, and the lifting device servo motor is mounted on the slide rail. The output end of the lifting servo motor is connected to the reducer, which is connected to the pulley and the dragging fixed seat via a lifting rope. The hook is located below the dragging fixed seat. The grating ruler detection module includes a grating ruler and a reading head used in conjunction with the grating ruler. The reading head is installed on the dragging device of the robotic arm, and the grating ruler is installed on the dragging fixed seat. The lifting control module is connected to the reading head of the grating ruler detection module, the lifting servo driver, and the robot control system. The lifting servo driver is connected to the lifting servo motor.

2. The servo hoisting system for adaptive height adjustment of a robotic arm as described in claim 1, characterized in that: The lifting support column is vertically fixed to the ground or working platform, the lifting rotation mechanism is installed at the top of the lifting support column, one end of the slide rail is fixedly installed at the top of the lifting rotation mechanism, and the servo motor is fixedly installed on one end of the slide rail corresponding to the rotation mechanism.

3. The servo hoisting system for adaptive height adjustment of the robotic arm as described in claim 2, characterized in that: One end of the lifting rope is connected to the output end of the reducer, and after passing through the sliding wheel and the slide rail, it is connected to the drag fixing seat. The hook is suspended below the drag fixing seat.

4. The servo hoisting system for adaptive height adjustment of a robotic arm as described in claim 1, characterized in that: The dragging device at the end of the robotic arm is arranged adjacent to the dragging mounting base.

5. The servo hoisting system for adaptive height adjustment of a robotic arm as described in claim 1, characterized in that: The lifting device control module is connected to the servo driver via a bus or pulse / analog signal; the lifting device servo motor is connected to the servo driver via a power cable.

6. The servo hoisting system for adaptive height adjustment of a robotic arm as described in claim 1, characterized in that: The output shaft of the servo motor of the lifting device is directly connected to the input shaft of the reducer via a coupling or gear. The output shaft of the reducer is connected to the lifting rope of the lifting device to drive the lifting device to move.

7. The servo hoisting system for adaptive height adjustment of a robotic arm as described in claim 1, characterized in that: When the robotic arm is stationary, the reading head is located in the middle position of the grating ruler.

8. The servo hoisting system for adaptive height adjustment of a robotic arm as described in claim 1, characterized in that: When the robotic arm moves, it drives the rolling wheel to move on the slide rail. The end of the slide rail is provided with a limiting post, which is set within the range of the robotic arm's reach.

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