CN111936277B

CN111936277B - Device and method for increasing the impact speed of a robot

Info

Publication number: CN111936277B
Application number: CN201980024788.0A
Authority: CN
Inventors: 维萨·希尔沃宁; 维尔·希尔沃宁
Original assignee: Masnova Ltd
Current assignee: Masnova Ltd
Priority date: 2018-02-06
Filing date: 2019-02-06
Publication date: 2024-06-21
Anticipated expiration: 2039-02-06
Also published as: WO2019155121A1; FI130255B; FI20185101A1; CN111936277A

Abstract

The present invention relates to an apparatus and method for increasing the stroke speed of a robot by rapidly adjusting the stroke length and by balancing the robot. A problem with increasing the stroke speed is vibrations, which may make the stroke inaccurate and may damage the robot device in question. In the present invention, the apparatus includes: a double crankshaft (106); a flywheel (108) connected to the crankshaft (106); two motors (102, 104) for adjusting the stroke length by adjusting the position of the crankshaft relative to the flywheel, wherein one motor is used to rotate the crankshaft and the other motor is used to rotate the flywheel.

Description

Device and method for increasing the impact speed of a robot

Technical Field

The present invention relates generally to apparatus and methods for robotic devices, and more particularly, to apparatus and methods for adjusting stroke length during operating speeds and for balancing the Z-axis of robotic devices at high speeds.

Background

The robotic device may be programmed to provide stroke or pressing along the Z-axis. However, adjusting the stroke length may be difficult to perform. Typically, the robot has to be stopped when adjusting the stroke length, which takes time.

The strokes along the Z-axis are typically arranged in a sinusoidal pattern such that the percussion device performs a reciprocating movement. Unfortunately, this is known to wear out the motor and machinery in the robot, which may shorten the life cycle of the robot or at least cause costs due to maintenance or replacement of worn parts.

The stroke speed of the robot may be difficult to increase because vibration caused by the weight of the impact ram may increase when attempting to increase the stroke speed. Vibration reduces stroke accuracy and may damage robotic equipment.

Attempts have been made to solve this problem by balancing the punches by increasing the weight of the apparatus, but in many cases these solutions create very heavy apparatus which may also require a lot of space. For example, in clean indoor environments where space is lacking, it is particularly impractical to use such large and heavy robotic devices therein.

Disclosure of Invention

The object of the present invention is to implement a solution that eliminates the aforementioned drawbacks of the prior art. In particular, the invention implies a solution to how to increase the impact speed of the robot.

According to an embodiment of the present invention, an apparatus for increasing an impact speed of a robot includes: double crankshafts; a flywheel connected to the crankshaft; two motors for adjusting the stroke length by adjusting the position of the crankshaft relative to the flywheel, wherein one motor is for rotating the crankshaft and the other motor is for rotating the flywheel.

In this embodiment, the stroke speed may be increased by: wherein the stroke length can be adjusted at the operating speed without stopping the robot for stroke length adjustment.

In one embodiment, the apparatus further comprises: a balance weight for balancing the Z-axis such that the balance weight is connected in one crankshaft and the movable weight of the Z-axis is connected in the other crankshaft, and wherein the phase difference between the crankshafts is 180 degrees. In this embodiment, the stroke speed of the robot can be increased by a scheme in which vibration caused by inertia of the movable block is reduced by the balance weight.

In one embodiment, the mass of the balance weight is selected to be the same as the mass of the movable weight. This feature may further minimize vibration and help increase stroke speed.

In one embodiment, the shape of the balance weight is columnar so that its center of gravity can be arranged on the same vertical axis as the movable weight. In this way, it is possible to minimize lateral vibrations caused by moving the counterweight at a high speed.

In another embodiment, at least one tension spring is arranged on the Z-axis for reducing the weight of the movable weight and/or the balancing weight. In this feature, the static weight of the robot in the Z-axis can be compensated.

In one embodiment, the horizontal arm of the robotic device includes an adjustable balance weight. This feature may enable the horizontal arms of the robotic device to also be balanced so as to avoid or at least minimize vibrations caused by movement of the arms.

According to an embodiment of the invention, the method for increasing the impact velocity of an automatic mechanical device comprising an apparatus according to the invention comprises at least the following steps: the stroke length is adjusted by adjusting the position of the crankshaft relative to the flywheel.

In one embodiment, the method further comprises the steps of: the balance weight is arranged to be connected with one crankshaft, and the movable weight of the Z-axis is arranged in the other crankshaft, and the phase difference between the crankshafts is arranged to be 180 degrees.

Compared with the prior art, the invention can realize remarkable advantages. The device with double crankshafts according to the invention can be used for fast linear movements. Linear rotational movement may eliminate or at least reduce motor and mechanical wear of the stroking system in the robot as compared to reciprocating movement. In addition, acceleration and deceleration of the two ends of the linear movement can be optimized with respect to speed. In this way, the stroke speed of the robot can be increased.

By using the device according to the invention, the stroke length of the robot can be adjusted in each round and at full speed. This allows for faster operation and easy programming of the stroke length function. Furthermore, the stroke length can be steplessly adjusted from zero to the maximum stroke length. The device according to the invention can also realize a start and an end of stroke length.

The arrangement according to the invention in a robot can be small and compact, which can mean that a robot with the arrangement in question can reach a stroke speed of even 360 stroke rpm/min much faster than a normal robot, for example ten times faster. However, the robot with the arrangement in question may not need a large space itself, but it may be able to adapt to the space of the average robot. The robot with the device in question can be used for various purposes and under various conditions, such as clean room conditions.

The expression "high speed" herein refers to crankshaft speeds, which may be 300rpm/min or more.

The expression "number" means herein any positive integer starting from one (1), such as one, two or three.

The terms "a" and "an", as used herein, are defined as one or more than one.

Drawings

The invention is described in more detail below with reference to the attached drawing figures, wherein:

Figure 1 depicts a perspective view of an apparatus according to an embodiment of the invention in a robotic device,

Fig. 2a depicts a perspective view of an apparatus according to an embodiment of the invention in a down-stroke position in a robot,

Figure 2b depicts a perspective view of the device of figure 2a in a mid-stroke position or a zero stroke length position,

Fig. 2c depicts a perspective view of the device of fig. 2a in an upper stroke (up, up) position,

Figure 3a depicts a front view of a double crankshaft and flywheel in a lower stroke position in accordance with an embodiment of the present invention in a robotic device,

Figure 3b depicts a front view of the dual crankshaft and flywheel of figure 3a in a mid-stroke position or zero stroke length position,

Figure 3c depicts a front view of the dual crankshaft and flywheel of figure 3a in an upper stroke position,

Figure 4a depicts a perspective view of figure 3a,

Figure 4b depicts a perspective view of figure 3b,

Figure 4c depicts a perspective view of figure 3c,

Figures 5a and 5b depict an adjustable counterweight in other arms of a robotic device,

Fig. 6 is a method according to an embodiment of the invention.

Detailed Description

In the drawings herein, unique features receive unique reference numerals, while like features receive like reference numerals throughout more than one drawing. Furthermore, certain directional terms may be used, such as "upper," lower, "" top, "" bottom, "" left, "" right, "" inside, "" outside, "" inner "and" outer. These terms are generally intended to be convenient for reference and should be construed as such unless otherwise required by the particular embodiment.

Fig. 1 depicts a perspective view of an apparatus according to an embodiment of the invention in a robotic device. The device comprises two motors 102 and 104 for the Z-axis of the robot in question, a double crankshaft 106 and a flywheel 108 connected to the crankshaft 106. The motors 102 and 104 are used to adjust the stroke length by adjusting the position of the crankshaft 106 relative to the flywheel 108 in such a way that one motor is used to rotate the crankshaft 106 and the other motor is used to rotate the flywheel 108, as described in more detail below.

In one embodiment, the apparatus further comprises a balancing weight 110 for balancing the Z-axis. The movable counterweight 114 in the Z-axis includes other components of the robot in question, such as an arm unit for the X-axis and the Y-axis and a motor unit for moving the arm unit in question.

The balance weight 110 is connected in one crankshaft and the movable weight 114 is connected in the other crankshaft. Flywheel 108 is preferably disposed at and between the two ends of crankshaft 106, as will be described in more detail below.

In one embodiment, the mass of the balance weight 110 is selected to be the same as the weight of the movable weight 114. The balance weight 110 is advantageously cylindrical in shape so that its center of gravity can be disposed on the same vertical axis as the movable weight.

According to an embodiment, at least one tension spring 112 is arranged on the Z-axis for reducing the weight of the movable counterweight. Those skilled in the art will appreciate that the device may include more than one tension spring and that the characteristics of the springs may be different. The tension spring is connected from its upper end to the upper part of the robot, preferably above the balancing weight, and from its lower part to the movable weight.

Fig. 2a depicts a front view of the device according to an embodiment of the invention in a lower stroke position in a robot, fig. 2b depicts the device in fig. 2a in an intermediate stroke position or a zero stroke length position, and fig. 2c depicts the device in fig. 2a in an upper stroke position.

As seen in fig. 2 a-2 c, a balance weight 110 is connected in one crankshaft 106a and a movable weight is connected in the other crankshaft 106 b. In one embodiment, the phase difference between the balance weight 110 and the movable weight 114 is 180 degrees such that when the movable weight is in the lower stroke position, the balance weight is in the upper position, and vice versa.

Fig. 3a depicts a front view of the dual crankshaft and flywheel in a lower stroke position in a robot according to an embodiment of the present invention, fig. 3b depicts the dual crankshaft and flywheel in fig. 3a in a mid-stroke position or a zero stroke length position, and fig. 3c depicts the dual crankshaft and flywheel in fig. 3a in an upper stroke position. Fig. 4a to 4c depict perspective views of fig. 3a to 3c, respectively.

In one embodiment, the stroke length is adjusted by adjusting the position of the crankshafts 106a, 106b relative to the flywheel 108. According to this embodiment, the motors (not shown in fig. 3a to 3c, fig. 4a to 4 c) are arranged to rotate the flywheel 108 and the crankshafts 106a, 106b independently, such that one motor rotates the flywheel 108 and the other motor rotates the crankshafts 106a, 106 b.

As can be seen in fig. 3a and 3c and fig. 4a and 4c, the position of the crankshafts 106a, 106b relative to the flywheel 108 is arranged in an outermost position, which means the longest stroke. In other words, when the crankshaft is directed straight down, the end of the flywheel connected to the crankshaft is also directed down, and when the crankshaft is directed straight up, the end of the flywheel in question is also directed up.

The zero stroke length position can be seen in fig. 3c and 4 c. In this position, the crankshafts 106a, 106b are rotated 180 degrees from the maximum stroke position to an innermost position between the flywheels. In this case, the stroke length is zero when the motor rotates the flywheel and the crankshaft.

By adjusting the angle between the flywheel and the crankshaft between zero and 180 degrees, the stroke length can be continuously adjusted between zero and a maximum value.

Fig. 5a and 5b depict an adjustable balance weight 402 in other arms 404a, 404b of a robotic device. Typically, the robotic device includes at least two arms that are connected together to cover the x-y axis. The arms are moved to different positions relative to each other. According to the invention, a balancing weight 402 is arranged on the horizontal axis of the arms 404a, 404b to compensate the mass of the arms with respect to the working axis.

The balance weight 402 is arranged to be movable on a horizontal axis, when the arms 404a, 404b are moved, the balance weight 402 is moved to the following position: in this position, the weight of the arm is balanced from the perspective of the working shaft 406.

Fig. 6 is a flow chart of a method according to an embodiment of the invention. In step 502, a balance weight is arranged in connection with one crankshaft and a movable weight is arranged in connection with the other crankshaft. At step 504, the crankshafts are arranged with a 180 ° phase difference such that when the movable weights move downward, the balance weights move upward, and vice versa.

Another embodiment includes step 506, wherein the stroke length of the robotic device is adjusted by adjusting a position of the crankshaft relative to the flywheel. This step is repeated while the impact procedure is run using the robot.

The scope of the invention is to be determined by the appended claims and their equivalents. The skilled person will again recognize the fact that the explicitly disclosed embodiments are constructed for illustrative purposes only and that the scope will cover other embodiments, combinations of embodiments, manufacturing processes and equivalents that are better suited for each particular use case of the invention.

Claims

1. Apparatus for increasing the impact velocity of a robotic device, comprising:

-a double crankshaft (106),

A flywheel (108) connected to the crankshaft (106),

Two motors (102, 104) for adjusting the stroke length,

Characterized in that one motor is used to rotate the crankshaft (106) and the other motor is used to rotate the flywheel (108) for adjusting the angle between the flywheel (108) and the crankshaft (106) between substantially zero and 180 degrees.

2. The apparatus of claim 1, wherein the apparatus further comprises a balancing weight (110) for balancing the vertical shafts such that the balancing weight (110) is connected in one crankshaft (106 a) and the movable weight (114) of the vertical shafts is connected in the other crankshaft (106 b), and wherein the phase difference between the crankshafts is 180 degrees.

3. The device according to claim 2, wherein the mass of the balancing weight (110) and the mass of the movable weight (114) are selected such that the device is balanced on a vertical axis.

4. A device according to claim 2 or 3, wherein the shape of the balancing weight (110) is columnar, such that the centre of gravity of the balancing weight can be arranged on the same vertical axis as the movable weight (114).

5. A device according to claim 2 or 3, wherein at least one tension spring (112) is arranged on the vertical shaft for reducing the weight of the movable counterweight (114).

6. A device according to any one of claims 1 to 3, wherein the horizontal arm of the robotic apparatus comprises at least one adjustable balancing weight.

7. Method for increasing the impact velocity of a robot comprising an apparatus according to any of claims 2 to 5, comprising at least the steps of:

-adjusting a stroke length (506) by adjusting a position of the crankshaft relative to the flywheel.

8. The method of claim 7, further comprising the step of:

-arranging a balancing weight in connection with one crankshaft and arranging a movable weight of the vertical shaft in the other crankshaft (502);

-arranging the phase difference between the crankshafts at 180 degrees (504).