Adopt light load robot to realize heavy load hoisting and carrying follow-up system

Abstract

The utility model discloses a kind of realizations heavy load hoisting and carrying servo system using light-load robot, system includes track system, stressed frame, robot linkage handle, robot, controller, and with the X direction drive module, Y direction drive module, Z direction drive module, one-dimensional force sensor, two-dimensional sensor and operating handle of controller connection;Crossbeam is equipped with X direction sliding base, X direction sliding base bottom installs one-dimensional force sensor, Z direction drive module is connected in one-dimensional force sensor lower end, Z direction drive module lower end then installs stressed frame and two-dimensional sensor;Operating handle includes sliding sleeve and linear displacement sensor and elastic device;Robot linkage handle one end is connected with operating handle, other end is connected with the end joint of robot. By balancing hoisting, robot is synthesized a new hoisting and carrying servo device, realizes heavy load automation hoisting and carrying under lower cost.

Description

Technical Field

[0001] This utility model belongs to the field of crane transportation technology, specifically relating to a follow-up system that uses a light-load robot to achieve heavy-load hoisting and handling. Background Technology

[0002] Traditional balancing cranes use servo motors to drive the lifting mechanism. Based on the weight of the load measured by sensors, they apply lifting torque to achieve force balance in the direction of gravity. The servo system then responds to manual operation to reduce labor intensity. Balancing cranes include jib cranes, gantry cranes, and KBK ("Kombiniert Kran," German for "combined crane"), etc. The lifting force in the lifting direction is provided by the servo motor, while translation and boom rotation are performed manually. Due to their large weight, these cranes not only suffer from high manual labor intensity and low flexibility but are also inconvenient to use and inefficient.

[0003] Existing heavy-duty robots are automated devices capable of accurately grasping, lifting, transporting, and positioning heavy objects. These include linear guide robotic arms (Cartesian coordinate robotic arms), six-joint robots, and SCARA robots. However, due to the need to increase load capacity, and considering the requirements for output and strength, the robots are designed to be very heavy, significantly increasing their cost and maintenance costs.

[0004] Given the shortcomings of traditional balancing hoisting devices and heavy-duty robots, it is necessary to research a low-cost, flexible, and lightweight heavy-duty hoisting device that can be operated manually. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a follow-up system that uses a light-load robot to achieve heavy-load hoisting and handling. By combining balanced hoisting and a robot into a new hoisting and handling follow-up device, heavy-load automated hoisting and handling can be achieved at a lower cost.

[0006] To achieve the above objectives, this utility model provides a follow-up system for heavy-duty lifting and handling using a light-duty robot, including a track system, an X-axis drive module, a Y-axis drive module, and a Z-axis drive module. The track system includes a support frame, and a crossbeam and a longitudinal beam mounted on the support frame. An X-axis slide is provided on the crossbeam. The X-axis drive module is mounted on the crossbeam and is connected to the X-axis slide via an X-axis transmission mechanism to drive the X-axis slide to move along the crossbeam. The Y-axis drive module is mounted on the track system and is connected to the crossbeam via a Y-axis transmission mechanism to drive the crossbeam to move along the longitudinal beam.

[0007] It also includes a controller, a one-dimensional force sensor, a two-dimensional sensor, a force frame, an operating handle, a robot linkage handle, and a robot;

[0008] A one-dimensional force sensor is installed at the bottom of the X-axis slide block, and the Z-axis drive module is connected to the lower end of the one-dimensional force sensor. A force-bearing frame and a two-dimensional sensor are installed at the lower end of the Z-axis drive module. The force-bearing frame and the two-dimensional sensor are connected and also connected to the suspension cable, which is used to transmit the lateral thrust on the suspension cable to the two-dimensional sensor.

[0009] The operating handle is mounted on the hook of the suspension cable. The operating handle also includes a sliding sleeve and a linear displacement sensor installed in the sliding sleeve, as well as an elastic device connecting the sliding sleeve and the handle core. When the sliding sleeve moves up and down under the action of external force, the linear displacement sensor sends the detected displacement change to the controller. When the external force is removed, the elastic device resets the sliding sleeve.

[0010] One end of the robot linkage handle is connected to the operating handle, and the other end is connected to the robot's end joint, so that the operating handle follows the robot's movement when the robot moves.

[0011] The controller is connected to a one-dimensional force sensor, a two-dimensional sensor, a linear displacement sensor, an operating handle, an X-axis drive module, a Y-axis drive module, and a Z-axis drive module.

[0012] Preferably, the buttons on the operating handle include move up, move down, X forward, X backward, Y forward, Y backward, Z up, and Z down.

[0013] Preferably, the two-dimensional sensor is a two-dimensional force sensor capable of measuring the translational force of the suspended cable in the X and Y directions, or an angular displacement sensor capable of detecting the tilt angle of the suspended cable in the X and Y directions from the vertical line.

[0014] Preferably, the linear displacement sensor is installed between the slide sleeve and the handle core, and it can also be a force sensor capable of detecting the force acting on the slide sleeve in the vertical direction.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1. This utility model combines a common light-load robot with a traditional balancing hoisting device to create a new hoisting and handling follow-up device, which can perform actions that only existing heavy-load robots can achieve.

[0017] 2. This utility model uses a robot to control the movement trajectory of the balancing hoisting device and uses a balancing hoisting system to carry out the load hoisting movement. It is an automated device that can follow the robot to operate.

[0018] 3. This utility model solves the problems of high cost of existing heavy-duty robots and high manual operation intensity and low flexibility of traditional balancing hoisting devices. It realizes low-cost automated hoisting and handling actions, and can easily follow the manual actions of operators to realize flexible and convenient complex actions. It can also switch between automatic and manual operation at will to lift, transport, and position suspended heavy objects. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of one direction of the follow-up system of the present invention, which uses a light-load robot to achieve heavy-load hoisting and handling.

[0020] Figure 2 This is a schematic diagram of another direction of the follow-up system of the present invention, which uses a light-load robot to achieve heavy-load hoisting and handling.

[0021] Figure 3 This is a block diagram of a follow-up system that uses a light-load robot to achieve heavy-load hoisting and handling according to this utility model.

[0022] Figure 4 This is a schematic diagram of the internal structure of the operating handle of this utility model.

[0023] Reference numerals: 1. Track system; 2. X-axis drive module; 3. Y-axis drive module; 4. Z-axis drive module; 5. X-axis slide; 6. One-dimensional force sensor; 7. Two-dimensional sensor; 8. Force frame; 9. Operating handle; 10. Robot linkage handle; 11. Robot; 901. Handle core; 902. Handle slide sleeve; 903. Handle elastic device; 904. Handle linear displacement sensor. Detailed Implementation

[0024] To make the objectives and advantages of this utility model clearer, the present utility model will be described in detail below with reference to the accompanying drawings and embodiments.

[0025] This utility model relates to a follow-up system that uses a light-load robot to achieve heavy-load lifting and handling, such as... Figure 1 , 2 As shown, the system includes a KBK track system 1, a support frame 8, a controller, an X-axis drive module 2, a Y-axis drive module 3, a Z-axis drive module 4, a one-dimensional force sensor 6, a two-dimensional sensor 7, an operating handle 9, a robot linkage handle 10, and a robot 11. The controller is connected to the X-axis drive module 2, Y-axis drive module 3, Z-axis drive module 4, one-dimensional force sensor 6, two-dimensional sensor 7, operating handle 9, and robot linkage handle 10.

[0026] The KBK track system 1 includes a support frame fixedly installed on the ground, and crossbeams and longitudinal beams installed on the support frame. The crossbeams are equipped with an X-axis slide block 5 and an X-axis drive module 2. Figure 1 (Only the servo motor is shown in the diagram; its driver is not shown.) The X-axis slide 5 is connected to the X-axis servo motor in the X-axis drive module 2 via the X-axis transmission mechanism. The X-axis drive module 2 includes the X-axis servo motor and the X-axis driver. It can receive controller commands to start the X-axis servo motor and drive the X-axis slide 5 to move along the crossbeam via the X-axis transmission mechanism. The X-axis transmission mechanism can be a lead screw, chain, or belt, etc.

[0027] The Y-axis drive module 3 is installed on the track system 1 and includes a Y servo motor and a Y driver. The Y servo motor is connected to the crossbeam through a Y-axis transmission mechanism installed on the longitudinal beam. The Y-axis drive module 3 can receive controller commands to start the Y servo motor and drive the crossbeam to move along the longitudinal beam (Y direction) through the Y-axis transmission mechanism.

[0028] A one-dimensional force sensor 6 is installed at the bottom of the X-axis slide block 5, and the Z-axis drive module 4 is connected to the lower end of the one-dimensional force sensor. The Z-axis drive module 4 is used for lifting workpieces and includes a Z servo motor and a Z driver ( Figure 1 (Not shown in the diagram) The system includes a winch mechanism, suspension cable, and hook. A Z-servo motor is connected to the winch mechanism to drive its rotation. One end of the suspension cable is connected to the winch mechanism, and the other end is connected to the hook. Specifically, a one-dimensional force sensor 6 is installed between the slide and the winch mechanism to detect the weight of the suspended load and transmit the data to the controller for lifting control and overload protection. The Z-axis drive module 4 receives controller commands and enables Z-axis movement of the suspended load. A two-dimensional sensor 7 and a force-bearing frame 8 are connected to the lower end of the Z-axis drive module 4. The force-bearing frame 8 is connected to both the two-dimensional sensor 7 and the suspension cable. The force-bearing frame 8 transmits the lateral thrust from the suspension cable to the two-dimensional sensor 7 without affecting the vertical movement of the suspension cable. Specifically, one end of the two-dimensional sensor 7 is fixed to the winch mechanism body, and the other end is connected to the suspension cable via the force-bearing frame 8. It senses the X or Y direction force transmitted from the suspension cable and transmits it to the controller for X and Y direction drive.

[0029] The operating handle 9 is installed on the upper part of the hook of the suspension cable in a convenient position, and is connected to the controller for operation and control of the entire system. The operating handle 9 is equipped with X-forward, X-reverse, Y-forward, Y-reverse, Z-up, and Z-down buttons. When the operator operates these buttons, the servo motors of the three axes perform corresponding actions according to the instructions.

[0030] The operating handle 99 includes a sliding sleeve 902, and a linear displacement sensor 904, a handle core 901, and a spring 903 installed inside the sliding sleeve. The linear displacement sensor 904 is connected between the inner wall of the sliding sleeve 902 and the handle core 901. The handle core 901 extends through both ends of the sliding sleeve 902, and the spring 903 is fitted onto the handle core 901, with both ends abutting against the steps of the handle core 901. When the sliding sleeve moves upward or downward under the action of an external force, the linear displacement sensor sends positive and negative voltage signals, which are transmitted to the controller as control input signals for the Z-axis upward and downward displacement. When the external force is removed, the elastic device returns the sliding sleeve to its original position.

[0031] When the operator moves the handle 9 horizontally or the robot 11 horizontally, the force in the translational direction is applied to the two-dimensional sensor. The two-dimensional sensor then sends X and Y direction sensing signals to the controller to control the X and Y direction movement. When the operator releases the handle 9, the workpiece can be pulled and translated in the X and Y directions using both hands. The two-dimensional sensor can detect the force or tilt angle in the translational direction and send signals to the controller to control the X and Y direction movement. When the operator holds the workpiece and lifts or presses it down in the Z direction, the one-dimensional force sensor 6 detects this force change and similarly sends a signal to the controller. The controller then controls the Z direction to achieve the workpiece's rising or falling motion.

[0032] The robot linkage handle 10 is a device that connects the operating handle 9 and the end joint of the robot 11. One end of the handle is fixed to the operating handle 9, and the other end is fixed to the end joint of the robot 11. When the robot 11 moves, the robot linkage handle 10 can make the operating handle 9 move accordingly.

[0033] The robot 11 is a multi-axis manipulator, which is connected to the operating handle 9 via a linkage handle. The robot 11 control system plans the movement path of the operating handle 9 according to the operation requirements. When the robot moves the handle, the force or displacement in the X, Y, and Z directions is detected by the two-dimensional sensor and the linear displacement sensor, respectively, and then the controller controls the operation of the hoisting system.

[0034] like Figure 3 As shown, the controller, one-dimensional force sensor 6, two-dimensional sensor 7, linear displacement sensor, operating handle 9, X-axis drive module 2, Y-axis drive module 3 and Z-axis drive module 4 constitute the control system.

[0035] The controller is connected to the one-dimensional force sensor 6, receives the signal (load weight sensing data) sent by it, and sends the set torque value of the servo motor to the Z drive of the Z drive module according to the principle that the lifting force is equal to the load and the total weight of the lifting device. The Z drive controls the output torque of the Z servo motor to balance the weight of the lifted workpiece. At the same time, when the signal value sensed by the one-dimensional force sensor 6 is greater than the design limit, the controller issues an alarm signal and controls the Z drive to implement protection actions, lowering the workpiece to the ground or stopping operation and engaging the brake according to the predetermined protection scheme.

[0036] The two-dimensional sensor 7 is a two-dimensional force sensor capable of measuring the translational force of the suspended cable in the X and Y directions, or an angle sensor capable of detecting the tilt of the suspended cable.

[0037] When the two-dimensional sensor 7 is a two-dimensional force sensor capable of measuring the translational force of the suspended cable in both the X and Y directions, the controller connects to the two-dimensional force sensor, receives the translational force sensing data Fx and Fy in the X and Y directions sent by it, and performs PI calculations on Fx and Fy to obtain the motion velocities Vx and Vy in the X and Y directions respectively. The motion velocity Vx is sent to the X driver of the X drive module 2, which controls the X servo motor to drive the X-axis slide 5 to move in the X direction; at the same time, the motion velocity Vy is sent to the Y driver of the Y drive module 3, which controls the Y servo motor to drive the crossbeam to move in the Y direction. In this invention, when the operating handle or the robot moves, the force on the suspended cable is unbalanced. After the hoisting is completed, it reaches balance (the goal is to achieve force balance). That is, when the suspended cable is under force balance, the value measured by the two-dimensional sensor is 0; when there is an imbalance, positive or negative data will appear. In the controller, the set value (i.e., the goal that the controller wants to achieve) is the value measured by the two-dimensional sensor 7 as 0, and the feedback value is the actual measured data. In other words, the Fx and Fy measured by the two-dimensional sensor are actually equivalent to the difference between the given value and the feedback, which serves as the input for the PI calculation. Using the difference as input to perform a PI calculation to obtain the output is common knowledge in the field of automatic control and will not be elaborated upon here. Specifically, in this invention, using the difference in force, tilt angle, or displacement of the suspension cable as input to perform a PI calculation to obtain the motion speed is common knowledge in the field.

[0038] When the two-dimensional sensor 7 is a two-dimensional tilt sensor capable of measuring the tilt angles of the suspended cable in the X and Y directions (the tilt angle is zero when the suspended cable is perpendicular to the ground, indicating a balanced state), the controller connects to the two-dimensional tilt sensor and receives the tilt angle sensing data θx and θy in the X and Y directions sent by it (i.e., the tilt angle sensing data θx and θy are actually equivalent to the difference between the given and feedback values, which are used as inputs for PI calculations). The controller then performs PI calculations on θx and θy to obtain the motion speeds Vx and Vy in the X and Y directions, respectively. The motion speed Vx is sent to the X driver of the X drive module 2, which controls the X servo motor to drive the X-axis slide 5 to move in the X direction. At the same time, the motion speed Vy is sent to the Y driver of the Y drive module 3, which controls the Y servo motor to drive the crossbeam to move in the Y direction.

[0039] The controller is connected to the operating handle 9, receives the displacement Lz of the Z-direction handle sleeve relative to the handle core sent by the linear position sensor (the displacement Lz is equivalent to the difference between the given value and the feedback value, which is used as the input for PI calculation), and performs PI calculation with Lz to obtain the Z-direction movement speed Vz. The movement speed Vz is then sent to the Z-drive module 4, and the Z-drive module 4 controls the Z-servo motor to move in the Z direction.

[0040] As another control system method, the operator directly operates the operating handle 9. The controller receives the movement button commands in the X, Y, and Z directions sent by the operating handle 9, and sends them to the drivers of the X, Y, and Z drive modules with predetermined movement speed settings Vx, Vy, and Vz. Each driver then controls each servo motor to move in each direction.

[0041] The above embodiments are merely specific examples to further illustrate the purpose, technical solution, and beneficial effects of this utility model, and this utility model is not limited thereto. Any modifications, equivalent substitutions, improvements, etc., made within the scope of the disclosure of this utility model are included within the protection scope of this utility model.

Claims

1. A follow-up system for heavy-duty lifting and handling using a light-duty robot, comprising a track system (1), an X-axis drive module (2), a Y-axis drive module (3), and a Z-axis drive module (4), wherein the track system (1) comprises a support frame, and a crossbeam and a longitudinal beam mounted on the support frame, and an X-axis slide block (5) is provided on the crossbeam; the X-axis drive module (2) is mounted on the crossbeam and is connected to the X-axis slide block (5) via an X-axis transmission mechanism to drive the X-axis slide block (5) to move along the crossbeam; the Y-axis drive module (3) is mounted on the track system (1) and is connected to the crossbeam via a Y-axis transmission mechanism to drive the crossbeam to move along the longitudinal beam; characterized in that: It also includes a controller, a one-dimensional force sensor (6), a two-dimensional sensor (7), a force frame (8), an operating handle (9), a robot linkage handle (10), and a robot; A one-dimensional force sensor (6) is installed at the bottom of the X-axis slide (5), and the Z-axis drive module (4) is connected to the lower end of the one-dimensional force sensor (6). A force-bearing frame (8) and a two-dimensional sensor (7) are installed at the lower end of the Z-axis drive module (4). The force-bearing frame (8) and the two-dimensional sensor (7) are connected and also connected to the suspension cable to transmit the lateral thrust on the suspension cable to the two-dimensional sensor (7). The operating handle (9) is installed on the hook of the suspension cable. The operating handle (9) also includes a sliding sleeve (902) and a linear displacement sensor (904) installed in the sliding sleeve, as well as an elastic device (903) connecting the sliding sleeve (902) and the handle core (901). When the sliding sleeve moves up and down under the action of external force, the linear displacement sensor sends the detected displacement change to the controller. When the external force is removed, the elastic device resets the sliding sleeve. One end of the robot linkage handle (10) is connected to the operating handle (9), and the other end is connected to the end joint of the robot (11), so that the operating handle (9) moves with the robot (11) when the robot (11) moves. The controller is connected to a one-dimensional force sensor (6), a two-dimensional sensor (7), a linear displacement sensor, an operating handle (9), an X-axis drive module (2), a Y-axis drive module (3), and a Z-axis drive module (4).

2. The follow-up system for heavy-duty lifting and handling using a light-duty robot according to claim 1, characterized in that: The buttons on the operating handle (9) include move up, move down, X forward, X backward, Y forward, Y backward, Z up, and Z down.

3. The follow-up system for heavy-duty lifting and handling using a light-duty robot according to claim 1, characterized in that: The two-dimensional sensor (7) is a two-dimensional force sensor capable of measuring the translational force of the suspended cable in the X and Y directions, or an inclination sensor capable of detecting the inclination angle of the suspended cable.

4. The follow-up system for heavy-duty lifting and handling using a light-duty robot according to claim 1, characterized in that: The linear displacement sensor is installed between the slide sleeve and the handle core, and it can also be a force sensor capable of detecting the force acting on the slide sleeve in the vertical direction.

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