WO2022246927A1 - 一种工业机器人的平衡*** - Google Patents
一种工业机器人的平衡*** Download PDFInfo
- Publication number
- WO2022246927A1 WO2022246927A1 PCT/CN2021/100285 CN2021100285W WO2022246927A1 WO 2022246927 A1 WO2022246927 A1 WO 2022246927A1 CN 2021100285 W CN2021100285 W CN 2021100285W WO 2022246927 A1 WO2022246927 A1 WO 2022246927A1
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- WIPO (PCT)
- Prior art keywords
- load
- bearing
- fixedly connected
- palm
- workpiece
- Prior art date
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- 230000008093 supporting effect Effects 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims abstract description 14
- 230000005484 gravity Effects 0.000 claims description 29
- 230000008569 process Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002439 hemostatic effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Definitions
- the invention relates to the technical field of robots, in particular to a balance system of an industrial robot.
- Industrial robots can replace people in simple, frequent and long-term operations in industrial production. Because industrial robots have certain versatility and adaptability, they are the first choice for people in multi-variety or small-batch production.
- the balance system used by industrial robots is a hydraulic balance system, so it can only make the industrial machine macro-control the lifting of the workpiece, but it is obvious that not all the lower surfaces of the workpiece are regular and flat. Moreover, the lifting of the workpiece by the industrial robot cannot ensure the balance of the force on both ends, so that the workpiece shakes during the lifting and moving process, thereby causing errors in the subsequent processing. Therefore, the proposal of the present invention solves the above technical problems. insufficient.
- the object of the present invention is to provide an air cushion type hemostatic device to solve the problems mentioned in the background art.
- a balance system for an industrial robot including a balance device and a balance operation method
- the balance device includes a rotating body, a movable arm is mechanically connected above the rotating body, and one side of the movable arm is movably connected to a mechanical arm through a movable shaft. arm;
- Both ends of one side of the mechanical arm are provided with a hand holding mechanism, and the holding hand mechanism supports and holds up the processed workpiece on its upper surface;
- the upper surface of the hand holding mechanism is provided with a balance adjusting part, and after the balance adjusting part is adjusted, the processed workpieces on the upper surfaces of the hand holding mechanism at both ends are force balanced.
- the handle mechanism includes a load-bearing pallet, one side surface of the load-bearing pallet is fixedly connected to one side surface of the mechanical arm, and a concave groove is opened on the surface of the load-bearing pallet, and the load-bearing pallet
- the lower surface of the plate is fixedly connected with a supporting side plate, and one side surface of the load-bearing supporting plate is fixedly connected with a drive housing;
- the load-bearing pallet supports and lifts the whole workpiece, which facilitates the movable arm to move the workpiece by the mechanical arm.
- the driving motor is installed inside the drive housing, and at the same time, the two ends of the load-bearing pallet are connected to the mechanical arm. The distances are different, and the right end of the drive housing acts as a balance effect for the load-bearing pallet.
- the upper surfaces of both ends of the load-bearing pallet are fixedly connected with micro-buffer telescopic rods, the upper surface of the micro-buffer telescopic rods is fixedly connected with a support tray, and one side surface of the load-bearing pallet is provided with a limit card. groove;
- the supporting pallet moves to the lower surface of the processed workpiece, the supporting pallet holds up the lower surface of the workpiece, thereby supporting the workpiece under the action of the miniature cushioning telescopic rod.
- the balance adjustment component includes a level adjustment device, a limit support device and a fine adjustment device.
- the level adjustment device is installed on the upper surface of the load-bearing pallet. After the adjustment, the level adjustment device makes all the The load-bearing pallet is balanced in force, the limit support device is connected with the horizontal adjustment device, the limit support device limits the movement process of the horizontal adjustment device, and the fine adjustment device is installed on the The upper surface of the load-bearing pallet, the fine adjustment device adjusts the stress point at the bottom of the lifted workpiece, and the fine adjustment device includes an arc-shaped turntable;
- the level adjustment device includes a load-bearing palm, the load-bearing palm is arranged on the upper surface of one end of the load-bearing pallet, and a movable opening is opened through the upper surface of the load-bearing pallet, and the two ends of the movable opening
- the inner side walls are all fixedly connected with bearing seats, and the inner side walls of the bearing seats are fixedly sleeved with screws, and the outer surface of the screw rods is threaded with threaded sleeves, and the outer surface of the threaded sleeves is in contact with the movable opening.
- the inner wall is slidingly connected, and the upper surface of the threaded sleeve is fixedly connected with the lower surface of the load-bearing palm;
- the supporting pallets at both ends of the workpiece bear force on it, and it is mainly supported by the load-bearing palm, and the surface on one side of the screw and the drive motor inside the drive housing
- the output shaft is connected by a coupling, so that the internal drive motor of the drive housing drives the screw to rotate inside the bearing seat, so that the threaded sleeve drives the load-bearing palm to move horizontally.
- the level adjusting device further includes a gravity sensor, the lower surface of the threaded sleeve is fixedly connected to the upper surface of the gravity sensor by bolts, and one side of the gravity sensor is provided with a connection signal line;
- the gravity sensor utilizes the characteristic of its internal crystal deformation caused by acceleration. Since this deformation will generate voltage, as long as the relationship between the generated voltage and the applied acceleration is calculated, the acceleration can be converted into Voltage output, the connection signal line of the gravity sensor is connected to the electronic components inside the load-bearing palm. When the load-bearing palms at both ends of the mechanical arm hold the workpiece, the gravity sensors at both ends detect the gravity at both ends, and transmit the detected data to the host.
- the limit support device includes a connecting rod, the outer surface of the connecting rod is slidingly engaged with the inner wall of the limit card slot, and one side surface of the connecting rod is connected to one side surface of the load-bearing palm.
- the upper surface of the load-bearing pallet is provided with a convex chute, the inner wall of the convex chute is slidably engaged with a convex block, the upper surface of the convex block and the lower surface of the load-bearing palm fixed connection;
- the load-bearing palm is connected with the limit slot of the load-bearing pallet through the connecting rod, thus fixing the horizontal direction of the load-bearing palm, and the load-bearing palm is connected with the convex groove of the load-bearing pallet through the convex block, thus ensuring The vertical direction of the load-bearing palm is fixed, and at the same time, the moving state of the load-bearing palm is limited and supported during the horizontal movement process.
- the fine-tuning device includes a hinged lug, one side surface of the hinged lug is fixedly connected to one side surface of the load-bearing palm, and the inner wall of the hinged lug is hinged with a mechanical finger through a connecting shaft.
- the inner wall of the mechanical finger is fixedly connected with a pressure sensor, the lower surface of the mechanical finger is fixedly connected with an adjustment ball, the surface of the arc-shaped turntable is provided with an arc groove, and the outer surface of the adjustment ball is in contact with the arc.
- the inner wall of the shaped groove is rotated and clamped, the upper surface of the bearing plate is provided with a moving opening, the lower surface of the arc-shaped turntable is fixedly connected with a rotating rod, and one side surface of the rotating rod is fixedly connected with a electric motor;
- the mechanical finger touches the lower surface of the workpiece to support the workpiece, detects the force received by the mechanical finger according to the pressure sensor, and transmits the detection data to the host computer for analysis.
- the host When multiple machines When the force on the finger is uneven, the host will output commands to control the electric motor to work, so that the rotating rod drives the arc-shaped turntable to rotate, so that the adjustment ball on the lower surface of the mechanical finger rotates on the inner wall of the arc-shaped groove, and because one end of the mechanical finger is connected to the load-bearing One side of the palm is hinged by the hinged ear plate, and the other end of the mechanical finger is opened with the rotation of the adjustment ball until the pressure sensor detects that the force of the mechanical finger is balanced, thereby increasing the balance of the load-bearing pallet supporting the workpiece.
- a sliding bar is fixedly connected to the surface of one side of the supporting side plate, and a sliding block is slidably connected to the outer surface of the sliding bar, and a connecting plate is fixedly connected to one side surface of the sliding block, and the connecting plate
- the surface of the linkage plate is fixedly connected with a linkage plate, and one side surface of the linkage plate is fixedly connected with one side surface of the threaded sleeve.
- the fine adjustment device also includes a micro hydraulic rod, and the outer surface of the micro hydraulic rod is in contact with the mechanical One end of the finger is fixedly socketed inside, the upper surface of the miniature hydraulic rod is fixedly connected with a pressure switch, and the outer surface of the upper end of the miniature hydraulic rod is fixedly connected with a telescopic cushion;
- the mechanical fingers are provided with three groups, and each group is respectively equipped with an electric motor.
- the electric motor is arranged on the outer surface of the slide rod through the slider. One side is connected, so the movement of the threaded sleeve drives the slider to move on the slider, and the slider drives the arc-shaped turntable to move with the load-bearing palm.
- the micro-hydraulic rod works after the force balance on the surface of the mechanical finger, so that the telescopic soft pad contacts The lower surface of the workpiece, and compress the flexible cushion to make it touch the pressure switch, the micro hydraulic rod stops working, so that the mechanical fingers adapt to the curvature of the lower surface of the workpiece, thus playing a better supporting role.
- the supporting force of the processed workpiece is balanced.
- the load-bearing pallets at both ends are adjusted to balance the force.
- the electronic components are connected.
- the gravity sensors at both ends detect the gravity at both ends respectively, and transmit the detected data to the host computer.
- the analysis software on the host computer performs analysis and calculation and issues instructions, so that The end that bears the heavier force drives the drive motor inside the shell to work, so that the screw rotates inside the bearing seat and drives the load-bearing palm to move horizontally until the gravity sensor detects that the load-bearing force of the load-bearing palms at both ends is equal, realizing the mechanical arm. balance support.
- the micro-hydraulic rod works after the force balance on the surface of the mechanical finger, so that the telescopic cushion touches the lower surface of the workpiece, and after compressing the telescopic cushion, it touches the pressure switch, and the micro-hydraulic rod stops. Work, so that the mechanical fingers adapt to the curvature of the lower surface of the workpiece, so as to play a better supporting role.
- Fig. 1 is the schematic diagram of the balance system of a kind of industrial robot that the present invention proposes
- Fig. 2 is a three-dimensional view of the load-bearing pallet structure of the balance system of an industrial robot proposed by the present invention
- Fig. 3 is a perspective view of the structure of a limit support device of a balance system of an industrial robot proposed by the present invention
- Fig. 4 is a three-dimensional view of a load-bearing palm structure of a balance system of an industrial robot proposed by the present invention
- Fig. 5 is a structural perspective view of a gravity sensor of a balance system of an industrial robot proposed by the present invention
- Fig. 6 is a three-dimensional view of the mechanical finger structure of a balance system of an industrial robot proposed by the present invention.
- Fig. 7 is a three-dimensional view of a sliding bar structure of a balance system of an industrial robot proposed by the present invention.
- Fig. 8 is a three-dimensional view of an arc-shaped turntable structure of a balance system of an industrial robot proposed by the present invention.
- Fig. 9 is a three-dimensional view of a micro-hydraulic rod structure of a balance system of an industrial robot proposed by the present invention.
- a balance system for an industrial robot includes a balance device, the balance device includes a rotating body 1, and the movable arm 2 is mechanically connected above the rotating body 1 as a steering structure.
- a hydraulic system is installed inside the rotating body 1 to control the steering of the movable arm 2
- the mechanical arm 3 is installed on one side of the movable arm 2 through the movable shaft as the main support structure.
- the mechanical arm 3 has a concave plate shape, which is divided into left and right hands, so that it is convenient to adjust one end to achieve balanced transportation when the workpiece is unbalanced by the industrial robot;
- Both ends of one side of the mechanical arm 3 are provided with a hand holding mechanism 4, and the holding hand mechanism 4 supports and holds up the processed workpiece on its upper surface;
- the hand support mechanism 4 includes a load-bearing pallet 41, which is fixedly installed on one side surface of the mechanical arm 3.
- a load-bearing pallet 41 which is fixedly installed on one side surface of the mechanical arm 3.
- the adjustment of the upper surface is increased. path, so that the load-bearing pallet 41 is arranged in a cuboid, and the distance from one end to the mechanical arm 3 is greater than the distance from the other end to the mechanical arm 3, and the load-bearing pallets 41 at both ends are oppositely arranged, thereby facilitating the loading of the two ends.
- the mechanisms on the 41 are adjusted separately; in order to install other mechanisms on the surface of the load-bearing pallet 41, a concave groove 42 is set on its surface, and one side of the concave groove 42 runs through the load-bearing pallet 41 in order to make the mechanism adjust on its surface.
- a support side plate 43 is installed on the lower surface of the load-bearing pallet 41; in order to balance the quality of the left and right ends of the load-bearing pallet 41, eliminate The mass imbalance between the two ends caused by the different distances from the two ends to the mechanical arm 3, the drive housing 44 is fixedly installed on one side surface of the load-bearing pallet 41;
- the two ends of the load-bearing pallet 41 are installed on the upper surface.
- Miniature cushioning expansion rod 45, and support tray 46 is installed on its upper surface to reach the buffer support effect to workpiece, the surface of support tray 46 adopts rubber sucker material, increases the adsorption of support tray 46 surfaces, thereby increases support effect;
- the structure on the upper surface of the supporting plate 41 is limited, and a limiting card slot 47 is opened on the side surface of the load-bearing supporting plate 41;
- the upper surface of the hand holding mechanism 4 is provided with a balance adjustment part, and after the balance adjustment part is adjusted, the processed workpieces on the upper surface of the hand holding mechanism 4 at both ends are force balanced;
- the balance adjustment components include a horizontal adjustment device 5, a limit support device 6 and a fine adjustment device 7.
- the horizontal adjustment device 5 is installed on the upper surface of the load-bearing pallet 41. After the horizontal adjustment device 5 is adjusted, the load-bearing pallets 41 at both ends are stressed. Balance, the limit support device 6 is connected with the horizontal adjustment device 5, the limit support device 6 limits the movement process of the horizontal adjustment device 5, the fine adjustment device 7 is installed on the upper surface of the load-bearing pallet 41, and the fine adjustment device 7 pairs The force point at the bottom of the lifted workpiece is adjusted, and the fine adjustment device 7 includes an arc-shaped turntable 71;
- the horizontal adjustment device 5 is installed on the upper surface of the load-bearing pallet 41. After adjustment, the load-bearing pallet 41 at both ends is balanced in force, including the load-bearing palm 51. In order to hold up the workpiece, the surface of the load-bearing palm 51 is opened. palm shape, thereby increasing the stress area, and then when the movable arm 2 is moved with the load-bearing pallet 41, the load-bearing palm 51 and the workpiece also move; in order to make the load-bearing palm 51 move on the upper surface of the load-bearing pallet 41, the load-bearing The palm 51 reaches the balanced force point, and the upper surface of the load-bearing supporting plate 41 penetrates and offers a movable opening 411.
- the width of the load-bearing palm 51 is greater than the width of the movable opening 411, so as to avoid the load-bearing palm 51 from tilting; in order to drive the load-bearing palm 51 to move left and right,
- the lower surface of the load-bearing palm 51 is fixedly installed with the threaded pipe sleeve 414, and the outer surface of the threaded pipe sleeve 414 is slid on the inwall of the sliding opening.
- the shape is a cross shape; in order to make the threaded sleeve 414 drive the load-bearing palm 51 to move, the screw 413 is threaded on the inner wall of the threaded sleeve 414, and further, in order to make the screw 413 rotate stably, bearing seats are provided at both ends of the screw 413 412, and one end of the screw rod 413 is fixedly connected with the output shaft of the motor inside the drive housing 44 through a coupling;
- the gravity sensor 52 In order to detect the pressure that the load-bearing palm 51 bears in the moving process, the gravity sensor 52 is fixedly installed by bolts on the lower surface of the threaded sleeve 414, and a connection line is provided to connect with the load-bearing palm 51, so that the gravity sensor 52 is opposite to the load-bearing palm.
- the pressure 51 bears is detected, so that the gravity sensor 52 feeds back the detected data to the analysis software on the host, and the host issues instructions to control the motor inside the drive housing to work;
- the position-limiting support device 6 is installed on the surface of the load-bearing palm 51, and the movement of the load-bearing palm 51 is limited.
- the horizontal direction of the connecting rod 61 is fixed so that the outer surface of the other end of the connecting rod 61 is connected with the limiting slot 47 of the load-bearing pallet 41.
- a plurality of connecting rods 61 are evenly spaced;
- the vertical direction is fixed, and at the same time in the process of the load-bearing palm 51 moving horizontally, the state of its movement is limited and supported, and a convex block 416 is installed on the lower surface of the load-bearing palm 51, and a convex chute is opened on the surface of the load-bearing palm 51 415, so that the inwall of the convex block 416 and the convex chute 415 is slidably connected, the outer surface of the convex block 416 and the inwall of the convex chute 415 are flat and smooth, and the shapes of the two are matched simultaneously, thereby facilitating sliding;
- the fine-tuning device 7 is installed on one side surface of the load-bearing palm 51, and includes a hinged ear plate 72.
- a hinged ear plate 72 In order to make the fine-tuning device 7 and the load-bearing palm 51 link, one side of the hinged ear plate 72 is fixed to one side of the load-bearing palm 51;
- the mechanical fingers 73 are hinged on the inner wall of the hinged ear plate 72 through a hinge shaft.
- the mechanical fingers 73 are provided with multiple sets , and the mechanical finger is a long plate shape, thereby increasing the force-bearing area; in order to detect the pressure on the mechanical finger 73, a pressure sensor 74 is installed inside the mechanical finger 73; in order to make the adjustment of the mechanical finger 73 follow the pressure sensor 74 detection The data is adjusted, and the adjustment clamping ball 75 is installed on the lower surface of the mechanical finger 73; in order to make the adjustment clamping ball 75 drive the mechanical finger 73 to adjust, the lower surface of the mechanical finger 73 is provided with an arc-shaped turntable 71, and the arc-shaped turntable 71 The surface is provided with an arc groove 76, so that the outer surface of the adjustment ball 75 is rotated and engaged with the inwall of the arc groove 76.
- the arc rotating disk 71 is a symmetrical spiral design, so that the arc groove 76 provided is arc-shaped. Thereby increase the movement path of adjusting the stuck ball, make the mechanical finger 73 open bigger, adjust the outer surface of the stuck ball and the shape of the inner wall of the arc groove; Focusing on the movement of the load-bearing palm 51, a movement opening 417 is opened through the upper surface of the load-bearing pallet 41;
- a rotating rod 77 is installed on the lower surface of the arc-shaped rotating disk 71, and an electric motor 78 is installed through a coupling on the lower surface of the rotating rod 77, so that the electric motor 78 works to drive the rotating rod 77, and then It drives the arc turntable 71 to rotate, and the lower surface of the arc turntable 71 is smooth, so it rotates with it, and the outer surface of the electric motor 78 slides on the inner wall of the moving opening 417; Block 432; Further, in order to make the slide block 432 move with the movement of the threaded sleeve 414, a slide bar 431 is installed on the side surface of the support side plate 43, so that the slide block 432 slides on the outer surface of the slide bar 431; In order to make a plurality of sliders 432 carry out linkage, a connecting plate 433 is installed on one side surface of the slider 432, and further, a linkage plate 434 is installed on one
- a miniature hydraulic rod 8 is installed on the upper surface of the mechanical finger 73, and further, in order to control the movement of the miniature hydraulic rod 8, a Pressure switch 81, and in order to support pressure switch 81, reach and start pressure switch 81, telescopic soft pad 82 is set on the upper surface of pressure switch 81, and make telescopic soft pad 82 and the outer surface of miniature hydraulic rod 8 connect and install, telescopic soft pad
- the upper surface of 82 is a rubber cushion, which will not cause wear to the surface of the workpiece, and the two sides of the rubber cushion 82 are connected with expansion plates, so that the lower surface of the expansion plate is fixedly socketed with the upper outer surface of the miniature hydraulic rod 8,
- the telescopic plate is made of rigid material and has the effect of supporting the telescopic cushion 82 .
- the sensors 52 respectively detect the gravitational forces at both ends, and transmit the detected data to the host computer, analyze and calculate through the analysis software on the host computer and issue instructions, so that the end bearing the heavier gravity drives the drive motor inside the housing 44 to work, and drives the screw 413 rotates inside the bearing seat 412, so that the threaded sleeve 414 drives the load-bearing palm 51 to move horizontally to the left, and the gravity sensor 52 detects its load-bearing force in real time.
- the driving motor inside the body 44 stops working, thereby reaching the force balance at both ends of the mechanical arm 3;
- the connecting rod 61 is connected to the limit slot 47 of the load-bearing pallet 41, so the load-bearing palm 51 drives the connecting rod 61 to move on the inner wall of the limit chute, and the load-bearing palm 51
- the convex block 416 is connected with the convex chute 415 of the load-bearing pallet 41, thus the load-bearing palm 51 drives the convex block 416 to slide on the inner wall of the convex chute 415, and the movement of the threaded sleeve 414 drives the slider 432 to slide on the inner wall of the convex chute 415.
- Move on the rod 431, and the slider 432 drives the arc-shaped turntable 71 to move on the inner wall of the moving opening 417 along with the load-bearing palm 51;
- the fine-tuning device 7 After the force on the load-bearing palm 51 is balanced, the fine-tuning device 7 starts to work. Because the mechanical finger 73 contacts the lower surface of the workpiece, the workpiece is supported by the load, and the pressure sensor 74 detects the force received by the mechanical finger 73, and the detection data It is transmitted to the host computer for analysis. When multiple mechanical fingers 73 are under uneven force, the host computer outputs instructions to control the electric motor 78 to work, so that the rotary rod 77 drives the arc-shaped turntable 71 to rotate, so that the adjustment ball on the lower surface of the mechanical finger 73 is stuck.
- the micro hydraulic rod 8 works after the force on the surface of the mechanical finger 73 is balanced, so that the telescopic soft pad 82 contacts the lower surface of the workpiece surface, and after compressing the telescopic cushion 82, make it touch the pressure switch 81, the micro-hydraulic rod 8 stops working, so that the mechanical finger 73 adapts to the curvature of the lower surface of the workpiece, thereby playing a better supporting role.
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- Robotics (AREA)
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- Manipulator (AREA)
Abstract
一种工业机器人的平衡***，包括平衡设备和平衡操作方法，属于机器人技术领域，平衡设备包括转动机体，转动机体的上方机械连接有活动臂，活动臂的一侧通过活动轴活动连接有机械臂；机械臂的一侧两端均设置有托手机构，托手机构的上表面设置有平衡调节部件，平衡调节部件调节后对两端托手机构上表面的加工工件进行受力平衡。工业机器人的平衡***，通过设置细微调节装置，通过控制电动马达进行工作，使转杆带动弧形转盘转动，从而使得机械手指下表面的调节卡球在弧形槽内壁转动，随着调节卡球的转动使得机械手指的另一端打开，直至压力传感器检测到机械手指受力均衡，从而增加承重托板承托工件的平衡性。
Description
本发明涉及机器人技术领域，尤其涉及一种工业机器人的平衡***。
工业机器人在工业生产中可以代替人做一些简单的、频繁的长时间作业，由于工业机器人具有一定的通用性和适应性，所以在多品种或小批量的生产中是人们首选的机械设备。
在现有技术中，工业机器人所采用的平衡***是液压式平衡***，因而只能使得工业机器对工件的托起进行宏观调控，但是显而易见，并不是所有的工件的下表面都是规则平整，且工业机器人对工件的托起并不能保证两端受力均衡，从而使得工件在托起移动的过程中产生晃动，从而对后序加工产生误差，所以本发明的提出，解决了上述技术问题的不足。
针对背景技术中提到的问题，本发明的目的是提供一种气垫型止血装置，以解决背景技术中提到的问题。
本发明的上述技术目的是通过以下技术方案得以实现的：
一种工业机器人的平衡***，包括平衡设备和平衡操作方法，所述平衡设备包括转动机体，所述转动机体的上方机械连接有活动臂，所述活动臂的一侧通过活动轴活动连接有机械臂；
所述机械臂的一侧两端均设置有托手机构，所述托手机构对其上表面的加工工件进行支撑托起；
所述托手机构的上表面设置有平衡调节部件，所述平衡调节部件调节后对两端所述托手机构上表面的加工工件进行受力平衡。
优选地，所述托手机构包括承重托板，所述承重托板的一侧表面与所述机械臂的一侧表面固定连接，所述承重托板的表面开设有凹面槽，所述承重托板的下表面固定连接有支撑侧板，所述承重托板的一侧表面固定连接有驱动壳体；
通过上述技术方案，承重托板对加工工件的整体进行支撑托起，便于活动臂依靠机械臂对加工工件进行移动，驱动壳体的内部安装有驱动电机，同时承重托板的两端到机械臂的距离不同，而右端驱动壳体起到承重托板的平衡效果。
优选地，所述承重托板的两端上表面均固定连接有微型缓冲伸缩杆，所述微型缓冲伸缩杆的上表面固定连接有支撑托盘，所述承重托板的一侧表面开设有限位卡槽；
通过上述技术方案，当支撑托板移动至加工工件的下表面时，支撑托盘对工件的下表面进行托起，从而在微型缓冲伸缩杆的作用下，对工件进行支撑。
优选地，所述平衡调节部件包括水平调节装置、限位支撑装置及细微调节装置，所述水平调节装置安装至所述承重托板的上表面，所述水平调节装置经过调节后使两端的所述承重托板受力平衡，所述限位支撑装置与所述水平调节装置连接，所述限位支撑装置对所述水平调节装置的移动过程进行限位，所述细微调节装置安装在所述承重托板的上表面，所述细微调节装置对托起的工件底部的受力点进行调节，所述细微调节装置包括弧形转盘；
优选地，所述水平调节装置包括承重手掌，所述承重手掌的设置在所述承重托板的一端上表面，所述承重托板的上表面贯穿开设有活动开口，所述活动开口的两端内侧壁均固定连接有轴承座，所述轴承座的内侧壁固定套接有螺杆，所述螺杆的外表面螺纹套接有螺纹管套，所述螺纹管套的外表面与所述活动开口的内壁滑动连接，所述螺纹管套的上表面与所述承重手掌的下表面固定连接；
通过上述技术方案，将工件置于承重托板上时，其两端的支撑托盘对其受力，主要的依靠承重手掌对其进行托起，螺杆的一侧表面与驱动壳体内部的驱动电机的输出轴由联轴器进行连接，从而驱动壳体的内部的驱动电机工作时带动螺杆在轴承座的内部进行转动，从而使得螺纹管套带动承重手掌进行水平移动。
优选地，所述水平调节装置还包括重力传感器，所述螺纹管套的下表面通过螺栓与所述重力传感器的上表面固定连接，所述重力传感器的一侧设置有连接信号线；
通过上述技术方案，重力传感器就是利用了其内部的由于加速度造成的晶体变形这个特性，由于这个变形会产生电压，只要计算出产生电压和所施加的加速度之间的关系，就可以将加速度转化成电压输出，重力传感器的连接信号线与承重手掌内部的电子元件相连，当机械臂两端的承重手掌托起工件时，两端的重力传感器分别检测两端的受重力，并将检测的数据传输至主机，通过主机上的分析软件进行分析计算并下达指令，使得承受较重力的一端驱动壳体内部的驱动电机工作，带动承重手掌左移，重力传感器实时检测其承重的力，因而当两端承重手掌承重的力相等时，驱动壳体内部的驱动电机停止工作，从而达到了机械臂的两端受力平衡，避免工件托起时掉落。
优选地，所述限位支撑装置包括连接杆，所述连接杆的外表面与所述限位卡槽的内壁滑动卡接，所述连接杆的一侧表面与所述承重手掌的一侧表面固定连接，所述承重托板的上表面开设有凸型滑槽，所述凸型滑槽的内壁滑动卡接有凸型块，所述凸型块的上表面与所述承重手掌的下表面固定连接；
通过上述技术方案，承重手掌通过连接杆与承重托板的限位卡槽进行连接，因而对承重手掌的水平方向进行固定，承重手掌通过凸型块与承重托板的凸型槽连接，因而对承重手掌的垂直方向进行固定，同时在承重手掌水平移动的过程，对其移动的状态进行限位支撑。
优选地，所述细微调节装置包括铰接耳板，所述铰接耳板的一侧表面与所述承重手掌的一侧表面固定连接，所述铰接耳板的内壁通过连接轴铰接有机械手指，所述机械手指的内壁固定连接有压力传感器，所述机械手指的下表面固定连接有调节卡球，所述弧形转盘的表面开设有弧形槽，所述调节卡球的外表面与所述弧形槽的内壁转动卡接，所述承重托板的上表面开设有移动开口，所述弧形转盘的下表面固定连接有转杆，所述转杆的一侧表面通过联轴器固定连接有电动马达；
通过上述技术方案，当工件置于承重手掌时，机械手指接触工件的下表面，对工件进行承重支撑，根据压力传感器检测机械手指受到的力，并将检测数据传输至主机分析，当多个机械手指受力不均匀时，主机输出指令，控制电动马达进行工作，使转杆带动弧形转盘转动，从而使得机械手指下表面的调节卡球在弧形槽内壁转动，又因为机械手指一端与承重手掌一侧通过铰接耳板铰接，随着调节卡球的转动使得机械手指的另一端打开，直至压力传感器检测到机械手指受力均衡，从而增加承重托板承托工件的平衡性。
优选地，所述支撑侧板的一侧板表面固定连接有滑杆，所述滑杆的外表面滑动连接有滑块，所述滑块的一侧表面固定连接有连接板，所述连接板的表面固定连接有联动板，所述联动板的一侧表面与所述螺纹管套的一侧表面固定连接，所述细微调节装置还包括微型液压杆，所述微型液压杆的外表面与机械手指的一端内部固定套接，所述微型液压杆的上表面固定连接有压力开关，所述微型液压杆的上端外表面固定连接有伸缩软垫；
通过上述技术方案，机械手指设置有三组，每组分别安装有电动马达，电动马达通过滑块设置在滑杆的外表面，三个滑块通过连接板进行相连，并通过联动板与螺纹管道的一侧连接，因而螺纹管套的移动带动滑块在滑杆上移动，滑块带动弧形转盘随着承重手掌移动，微型液压杆在机械手指的表面受力平衡后工作，使得伸缩软垫接触工件的下表面，并压缩伸缩软垫后使其触碰压力开关，微型液压杆停止工作，使得机械手指适应工件下表面的弧度，从而起到更好的支撑作用。
1、通过设置平衡调节部件，对加工工件的承托进行受力平衡，通过设置水平调节装置，经过调节后使两端的承重托板受力平衡，通重力传感器的连接信号线与承重手掌内部的电子元件相连，当机械臂两端的承重手掌托起工件时，两端的重力传感器分别检测两端的受重力，并将检测的数据传输至主机，通过主机上的分析软件进行分析计算并下达指令，使得承受较重力的一端驱动壳体内部的驱动电机工作，从而实现螺杆在轴承座的内部进行转动并带动承重手掌进行水平移动，直至重力传感器检测到两端承重手掌承重的力相等，实现了机械臂的平衡承托。
2、通过设置细微调节装置，对托起的工件底部的受力点进行调节，从而增加承重托板承托工件的平衡性，通过控制电动马达进行工作，使转杆带动弧形转盘转动，从而使得机械手指下表面的调节卡球在弧形槽内壁转动，又因为机械手指一端与承重手掌一侧通过铰接耳板铰接，随着调节卡球的转动使得机械手指的另一端打开，直至压力传感器检测到机械手指受力均衡，从而增加承重托板承托工件的平衡性。
3、通过设置微型液压杆，使得微型液压杆在机械手指的表面受力平衡后工作，使得伸缩软垫接触工件的下表面，并压缩伸缩软垫后使其触碰压力开关，微型液压杆停止工作，使得机械手指适应工件下表面的弧度，从而起到更好的支撑作用。
图1为本发明提出的一种工业机器人的平衡***的示意图；
图2为本发明提出的一种工业机器人的平衡***的承重托板结构立体图；
图3为本发明提出的一种工业机器人的平衡***的限位支撑装置结构立体图；
图4为本发明提出的一种工业机器人的平衡***的承重手掌结构立体图；
图5为本发明提出的一种工业机器人的平衡***的重力传感器结构立体图；
图6为本发明提出的一种工业机器人的平衡***的机械手指结构立体图；
图7为本发明提出的一种工业机器人的平衡***的滑杆结构立体图；
图8为本发明提出的一种工业机器人的平衡***的弧形转盘结构立体图；
图9为本发明提出的一种工业机器人的平衡***的微型液压杆结构立体图。
图中：1、转动机体；2、活动臂；3、机械臂；4、托手机构；41、承重托板；411、活动开口；412、轴承座；413、螺杆；414、螺纹管套；415、凸型滑槽；416、凸型块；417、移动开口；42、凹面槽；43、支撑侧板；431、滑杆；432、滑块；433、连接板；434、联动板；44、驱动壳体；45、微型缓冲伸缩杆；46、支撑托盘；47、限位卡槽；5、水平调节装置；51、承重手掌；52、重力传感器；53、连接信号线；6、限位支撑装置；61、连接杆；7、细微调节装置；71、弧形转盘；72、铰接耳板；73、机械手指；74、压力传感器；75、调节卡球；76、弧形槽；77、转杆；78、电动马达；8、微型液压杆；81、压力开关；82、伸缩软垫412。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。
参照图1-9，一种工业机器人的平衡***，包括平衡设备，所述平衡设备包括转动机体1，在转动机体1的上方机械连接活动臂2作为转向结构，为了使活动臂2进行转向作业，在转动机体1的内部设置有液压***控制活动臂2的转向，并在活动臂2的一侧通过活动轴安装机械臂3作为主支撑结构，为了使工业机器人托起工件易达到平衡状态，机械臂3呈凹板型，区分为左右手两端，便于在工业机器人托起工件不平衡时对一端进行调节后达到平衡运输；
机械臂3的一侧两端均设置有托手机构4，托手机构4对其上表面的加工工件进行支撑托起；
托手机构4包括承重托板41，其固定安装在机械臂3的一侧表面，为了对工件进行整体托起，同时为了对承重托板41的上表面机构进行调节，增加其上表面的调节路径，使承重托板41呈长方体设置，并使其一端到机械臂3的距离大于另一端到机械臂3的距离，同时两端的承重托板41呈相对设置，从而便于对两端的承重托板41上的机构进行分别调节；为了在承重托板41的表面安装其它机构，在其表面开设凹面槽42，为了使机构在其表面进行调节运动，凹面槽42的一侧贯穿承重托板41的一侧；为了使承重托板41的上下机构质量达到平衡，在承重托板41的下表面安装支撑侧板43；为了使得承重托板41的左右两端质量达到平衡，消除承重托板41的两端到机械臂3的距离不同带来的两端质量不平衡，在承重托板41的一侧表面固定安装驱动壳体44；
为了消除凹面槽42上安装的机构高度高于承重托板41的水平高度从而影响承托效果，更为了使承重托板41对工件起到支撑作用，在承重托板41的两端上表面安装微型缓冲伸缩杆45，并在其上表面安装支撑托盘46达到对工件的缓冲支撑作用，支撑托盘46的表面采用橡胶吸盘材质，增加支撑托盘46表面的吸附性，从而增加支撑效果；为了对承重托板41上表面的结构进行限位，在承重托板41的侧表面开设限位卡槽47；
托手机构4的上表面设置有平衡调节部件，平衡调节部件调节后对两端托手机构4上表面的加工工件进行受力平衡；
平衡调节部件包括水平调节装置5、限位支撑装置6及细微调节装置7，水平调节装置5安装至承重托板41的上表面，水平调节装置5经过调节后使两端的承重托板41受力平衡，限位支撑装置6与水平调节装置5连接，限位支撑装置6对水平调节装置5的移动过程进行限位，细微调节装置7安装在承重托板41的上表面，细微调节装置7对托起的工件底部的受力点进行调节，细微调节装置7包括弧形转盘71；
水平调节装置5，安装在承重托板41的上表面，经过调节后使两端的承重托板41受力平衡，包括承重手掌51，为了对工件进行托起，承重手掌51的表面呈张开的手掌形状，从而增加受力面积，进而使活动臂2带着承重托板41移动时，承重手掌51及工件也进行移动；为了使承重手掌51在承重托板41的上表面进行移动，使承重手掌51到达均衡受力点，在承重托板41的上表面贯穿开设活动开口411，承重手掌51的宽度大于活动开口411的宽度，避免承重手掌51产生倾斜；为了驱动承重手掌51进行左右移动，在承重手掌51的下表面固定安装螺纹管套414，并使螺纹管套414的外表面在滑动开口的内壁滑动，为了使螺纹管套414在移动的过程中趋于平稳，使螺纹管套414形状为十字形状；为了使螺纹管套414带动承重手掌51进行移动，在螺纹管套414的内壁螺纹套接螺杆413，进一步地，为了使螺杆413稳定转动，在螺杆413的两端设置轴承座412，并使螺杆413的一端与驱动壳体44内部的电机的输出轴通过联轴器固定连接；
为了检测承重手掌51在移动过程中所承受的压力，在螺纹管套414的下表面通过螺栓固定安装重力传感器52，并设有连接线号线与承重手掌51连接，使得重力传感器52对承重手掌51所承受的压力进行检测，使重力传感器52将检测的数据反馈至主机上的分析软件，由主机发布指令，控制驱动壳体内部的电机进行工作；
限位支撑装置6，安装在承重手掌51的表面，对承重手掌51的移动进行限位，包括连接杆61，连接杆61的一端与承重手掌51的一侧表面进行连接，为了对承重手掌51的水平方向进行固定，使连接杆61的另一端外表面与承重托板41的限位卡槽47进行连接，为了增加稳定性，连接杆61均匀间隔设置有多个；为了对承重手掌51的垂直方向进行固定，同时在承重手掌51水平移动的过程，对其移动的状态进行限位支撑，在承重手掌51的下表面安装凸型块416，并在承重手掌51的表面开设凸型滑槽415，使得凸型块416与凸型滑槽415的内壁滑动连接，凸型块416的外表面与凸型滑槽415的内壁平整光滑，同时两者形状相适配，从而便于滑动；
细微调节装置7，安装在承重手掌51的一侧表面，包括铰接耳板72，为了使细微调节装置7与承重手掌51联动，使铰接耳板72的一侧与承重手掌51的一侧固定；为了对工件下表面的支撑达到更好的平衡，在铰接耳板72的内壁通过铰接轴铰接机械手指73，为了达到更好的支撑效果，机械手指73在承重手掌51的一侧设置有多组，且机械手指呈长板型，从而增加受力面积；为了检测机械手指73所承受的压力，在机械手指73的内部安装压力传感器74；为了使机械手指73的调节随着压力传感器74检测的数据进行调节，在机械手指73的下表面安装调节卡球75；为了使调节卡球75带动机械手指73进行调节，在机械手指73的下表面设置弧形转盘71，并在弧形转盘71的表面开设弧形槽76，便于使调节卡球75的外表面与弧形槽76的内壁转动卡接，弧形转盘71呈对称的螺旋设计，从而使得开设的弧形槽76呈圆弧形，从而增加调节卡球的移动路径，使机械手指73张开的更大，调节卡球的外表面与弧形槽内壁形状相适配；为了使弧形转盘71在承重托板41的上表面随着承重手掌51移动，在承重托板41的上表面贯穿开设移动开口417；
为了使弧形转盘71转动，在弧形转盘71的下表面安装转杆77，并在转杆77的下表面通过联轴器安装电动马达78，使得电动马达78工作带动转杆77，再由其带动弧形转盘71转动，弧形转盘71的下表面光滑，便与其转动，电动马达78外表面在移动开口417内壁滑动；为了对电动马达78进行支撑，在电动马达78的下表面安装滑块432；进一步的，为了使滑块432随着螺纹管套414的移动而移动，在支撑侧板43的一侧表面安装滑杆431，使得滑块432在滑杆431的外表面进行滑动；为了使得多个滑块432进行联动，在滑块432的一侧表面安装连接板433，进一步地，在连接板433的一侧表面安装联动板434，使联动板434与螺纹管套414的一侧表面连接，使得螺纹管套414带动滑块432进行移动；
为了使机械手指73的上表面适应不同工件的下表面的弧度，在机械手指73的上表面安装微型液压杆8，进一步地，为了控制微型液压杆8的运动，在微型液压杆8的上方设置压力开关81，并为了支撑压力开关81，达到启动压力开关81，在压力开关81的上表面设置伸缩软垫82，并使伸缩软垫82与微型液压杆8的外表面连接安装，伸缩软垫82的上表面呈橡胶软垫，不会对工件的表面造成磨损，且橡胶软垫82的两侧连接有伸缩板，使伸缩板的下表面与微型液压杆8的上部外表面固定套接，伸缩板为硬性材质，具有对伸缩软垫82进行支撑的效果。
工作原理：
S1、转动机体1控制活动臂2转向，使得活动臂2带动机械臂3移至工件的下表面，使得机械臂3的两端承重托板41托起加工工件，加工工件的下表面与支撑托盘46表面接触，其重力压缩微型缓冲伸缩杆45，而加工工件放置在承重托板41上表方的承重手掌51上表面，并在托起的过程中，两端的螺纹管套414下表面的重力传感器52分别检测两端的受重力，并将检测的数据传输至主机，通过主机上的分析软件进行分析计算并下达指令，使得承受较重力的一端驱动壳体44内部的驱动电机工作，并带动螺杆413在轴承座412的内部进行转动，从而使得螺纹管套414带动承重手掌51进行水平左移，重力传感器52实时检测其承重的力，因而当两端承重手掌51承重的力相等时，驱动壳体44内部的驱动电机停止工作，从而达到了机械臂3的两端受力平衡；
S2、在承重手掌51水平移动的过程中，通过连接杆61与承重托板41的限位卡槽47进行连接，因而承重手掌51带动连接杆61在限位滑槽的内壁移动，承重手掌51通过凸型块416与承重托板41的凸型滑槽415连接，因而承重手掌51带动凸型块416在凸型滑槽415的内壁滑动，螺纹管套414的移动，带动滑块432在滑杆431上移动，滑块432带动弧形转盘71在移动开口417的内壁随着承重手掌51移动；
S3、在承重手掌51受力均衡后，细微调节装置7开始工作，因机械手指73接触工件的下表面，对工件进行承重支撑，根据压力传感器74检测机械手指73受到的力，并将检测数据传输至主机分析，当多个机械手指73受力不均匀时，主机输出指令，控制电动马达78进行工作，使转杆77带动弧形转盘71转动，从而使得机械手指73下表面的调节卡球75在弧形槽76内壁转动，又因为机械手指73一端与承重手掌51一侧通过铰接耳板72铰接，随意调节卡球75的转动使得机械手指73的另一端打开，直至压力传感器74检测到机械手指73受力均衡，从而增加承重托板41承托工件的平衡性；
S4、为了使机械手指73适应工件下表面的弧度，从而起到更好的平衡承重效果，使微型液压杆8在机械手指73的表面受力平衡后工作，使得伸缩软垫82接触工件的下表面，并压缩伸缩软垫82后使其触碰压力开关81，微型液压杆8停止工作，使得机械手指73适应工件下表面的弧度，从而起到更好的支撑作用。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。
Claims (10)
- 一种工业机器人的平衡***，包括平衡设备和平衡操作方法，其特征在于：所述平衡设备包括转动机体（1），所述转动机体（1）的上方机械连接有活动臂（2），所述活动臂（2）的一侧通过活动轴活动连接有机械臂（3）；所述机械臂（3）的一侧两端均设置有托手机构（4），所述托手机构（4）对其上表面的加工工件进行支撑托起；所述托手机构（4）的上表面设置有平衡调节部件，所述平衡调节部件调节后对两端所述托手机构（4）上表面的加工工件进行受力平衡。
- 根据权利要求1所述的一种工业机器人的平衡***，其特征在于：所述托手机构（4）包括承重托板（41），所述承重托板（41）的一侧表面与所述机械臂（3）的一侧表面固定连接，所述承重托板（41）的表面开设有凹面槽（42），所述承重托板（41）的下表面固定连接有支撑侧板（43），所述承重托板（41）的一侧表面固定连接有驱动壳体（44）。
- 根据权利要求2所述的一种工业机器人的平衡***，其特征在于：所述承重托板（41）的两端上表面均固定连接有微型缓冲伸缩杆（45），所述微型缓冲伸缩杆（45）的上表面固定连接有支撑托盘（46），所述承重托板（41）的一侧表面开设有限位卡槽（47）。
- 根据权利要求3所述的一种工业机器人的平衡***，其特征在于：所述平衡调节部件包括水平调节装置（5）、限位支撑装置（6）及细微调节装置（7），所述水平调节装置（5）安装至所述承重托板（41）的上表面，所述水平调节装置（5）经过调节后使两端的所述承重托板（41）受力平衡，所述限位支撑装置（6）与所述水平调节装置（5）连接，所述限位支撑装置（6）对所述水平调节装置（5）的移动过程进行限位，所述细微调节装置（7）安装在所述承重托板（41）的上表面，所述细微调节装置（7）对托起的工件底部的受力点进行调节，所述细微调节装置（7）包括弧形转盘（71）。
- 根据权利要求4所述的一种工业机器人的平衡***，其特征在于：所述水平调节装置（5）包括承重手掌（51），所述承重手掌（51）设置在所述承重托板（41）的一端上表面，所述承重托板（41）的上表面贯穿开设有活动开口（411），所述活动开口（411）的两端内侧壁均固定连接有轴承座（412），所述轴承座（412）的内侧壁固定套接有螺杆（413），所述螺杆（413）的外表面螺纹套接有螺纹管套（414），所述螺纹管套（414）的外表面与所述活动开口（411）的内壁滑动连接，所述螺纹管套（414）的上表面与所述承重手掌（51）的下表面固定连接。
- 根据权利要求5所述的一种工业机器人的平衡***，其特征在于：所述水平调节装置（5）还包括重力传感器（52），所述螺纹管套（414）的下表面通过螺栓与所述重力传感器（52）的上表面固定连接，所述重力传感器（52）的一侧设置有连接信号线（53）。
- 根据权利要求4所述的一种工业机器人的平衡***，其特征在于：所述限位支撑装置（6）包括连接杆（61），所述连接杆（61）的外表面与所述限位卡槽（47）的内壁滑动卡接，所述连接杆（61）的一侧表面与所述承重手掌（51）的一侧表面固定连接，所述承重托板（41）的上表面开设有凸型滑槽（415），所述凸型滑槽（415）的内壁滑动卡接有凸型块（416），所述凸型块（416）的上表面与所述承重手掌（51）的下表面固定连接。
- 根据权利要求5所述的一种工业机器人的平衡***，其特征在于：所述细微调节装置（7）包括铰接耳板（72），所述铰接耳板（72）的一侧表面与所述承重手掌（51）的一侧表面固定连接，所述铰接耳板（72）的内壁通过连接轴铰接有机械手指（73），所述机械手指（73）的内壁固定连接有压力传感器（74），所述机械手指（73）的下表面固定连接有调节卡球（75），所述弧形转盘（71）的表面开设有弧形槽（76），所述调节卡球（75）的外表面与所述弧形槽（76）的内壁转动卡接，所述承重托板（41）的上表面开设有移动开口（417），所述弧形转盘（71）的下表面固定连接有转杆（77），所述转杆（77）的一侧表面通过联轴器固定连接有电动马达（78）。
- 根据权利要求8所述的一种工业机器人的平衡***，其特征在于：所述支撑侧板（43）的一侧板表面固定连接有滑杆（431），所述滑杆（431）的外表面滑动连接有滑块（432），所述滑块（432）的一侧表面固定连接有连接板（433），所述连接板（433）的表面固定连接有联动板（434），所述联动板（434）的一侧表面与所述螺纹管套（414）的一侧表面固定连接，所述细微调节装置（7）还包括微型液压杆（8），所述微型液压杆（8）的外表面与机械手指（73）的一端内部固定套接，所述微型液压杆（8）的上表面固定连接有压力开关（81），所述微型液压杆（8）的上端外表面固定连接有伸缩软垫（82）。
- 基于权利要求1-9任意一项所述一种工业机器人的平衡***，其特征在于：所述平衡操作方法为；S1、所述转动机体（1）控制活动臂（2）转向，使得活动臂（2）带动机械臂（3）移至工件的下表面，使得机械臂（3）的两端承重托板（41）托起加工工件，加工工件的下表面与支撑托盘（46）表面接触，其重力压缩微型缓冲伸缩杆（45），而加工工件放置在承重托板（41）上表方的承重手掌（51）上表面，并在托起的过程中，两端的螺纹管套（414）下表面的重力传感器（52）分别检测两端的受重力，并将检测的数据传输至主机，通过主机上的分析软件进行分析计算并下达指令，使得承受较重力的一端驱动壳体（44）内部的驱动电机工作，并带动螺杆（413）在轴承座（412）的内部进行转动，从而使得螺纹管套（414）带动承重手掌（51）进行水平左移，重力传感器（52）实时检测其承重的力，因而当两端承重手掌（51）承重的力相等时，驱动壳体（44）内部的驱动电机停止工作，从而达到了机械臂（3）的两端受力平衡；S2、在承重手掌（51）水平移动的过程中，通过连接杆（61）与承重托板（41）的限位卡槽（47）进行连接，因而承重手掌（51）带动连接杆（61）在限位滑槽的内壁移动，承重手掌（51）通过凸型块（416）与承重托板（41）的凸型滑槽（415）连接，因而承重手掌（51）带动凸型块（416）在凸型滑槽（415）的内壁滑动，螺纹管套（414）的移动，带动滑块（432）在滑杆（431）上移动，滑块（432）带动弧形转盘（71）在移动开口417的内壁随着承重手掌（51）移动；S3、在承重手掌（51）受力均衡后，细微调节装置（7）开始工作，因机械手指（73）接触工件的下表面，对工件进行承重支撑，根据压力传感器（74）检测机械手指（73）受到的力，并将检测数据传输至主机分析，当多个机械手指（73）受力不均匀时，主机输出指令，控制电动马达（78）进行工作，使转杆（77）带动弧形转盘（71）转动，从而使得机械手指（73）下表面的调节卡球（75）在弧形槽（76）内壁转动，又因为机械手指（73）一端与承重手掌（51）一侧通过铰接耳板（72）铰接，随意调节卡球（75）的转动使得机械手指（73）的另一端打开，直至压力传感器（74）检测到机械手指（73）受力均衡，从而增加承重托板（41）承托工件的平衡性；S4、为了使机械手指（73）适应工件下表面的弧度，从而起到更好的平衡承重效果，使微型液压杆（8）在机械手指（73）的表面受力平衡后工作，使得伸缩软垫（82）接触工件的下表面，并压缩伸缩软垫（82）后使其触碰压力开关（81），微型液压杆（8）停止工作，使得机械手指（73）适应工件下表面的弧度，从而起到更好的支撑作用。
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| JPH0890467A (ja) * | 1994-09-22 | 1996-04-09 | Fanuc Ltd | 産業用ロボットの二指型ハンドとその作動制御方法 |
| JP2013124189A (ja) * | 2011-12-16 | 2013-06-24 | Hitachi Building Systems Co Ltd | エレベータのかご内監視装置 |
| CN105058380A (zh) * | 2015-08-28 | 2015-11-18 | 天津玛塔德科技有限公司 | 可准确定位的货物推平码放机械手 |
| CN106737747A (zh) * | 2017-01-10 | 2017-05-31 | 广东工业大学 | 一种机器人双臂自平衡方法及机器人 |
| CN107483781A (zh) * | 2017-08-17 | 2017-12-15 | 上海大学 | 一种无人艇云台摄像机自调平的稳定装置 |
| CN109484501A (zh) * | 2018-11-26 | 2019-03-19 | 国网江苏省电力有限公司徐州供电分公司 | 一种用于负载平衡的机器人 |
| CN109531545A (zh) * | 2018-12-25 | 2019-03-29 | 华中科技大学鄂州工业技术研究院 | 一种用于托举重物的机器人 |
| CN211867806U (zh) * | 2020-03-19 | 2020-11-06 | 四川玖越机器人科技有限公司 | 一种码垛机器人 |
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