CN118081721A - Flexible robot arm for intelligent manufacturing equipment and use method - Google Patents
Flexible robot arm for intelligent manufacturing equipment and use method Download PDFInfo
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- CN118081721A CN118081721A CN202410526293.0A CN202410526293A CN118081721A CN 118081721 A CN118081721 A CN 118081721A CN 202410526293 A CN202410526293 A CN 202410526293A CN 118081721 A CN118081721 A CN 118081721A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 109
- 238000005096 rolling process Methods 0.000 claims abstract description 28
- 230000003014 reinforcing effect Effects 0.000 claims description 25
- 238000012544 monitoring process Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 230000005389 magnetism Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 239000002699 waste material Substances 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- B25J19/02—Sensing devices
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible robot arm for intelligent manufacturing equipment and a use method thereof, and relates to the technical field of industrial robots. According to the invention, the dynamic auxiliary supporting component is configured, the first fan arc structure and the second fan arc structure are arranged on the dynamic auxiliary supporting component, the first-stage rolling component matched with the first fan arc structure is configured at the bottom side of the first-stage rotating arm, the second-stage rolling component matched with the second fan arc structure is configured at the bottom side of the second-stage rotating arm, and when the industrial robot performs no-load, electromagnetic grabbing and carrying work piece carrying operation, the air pressure of the first-stage rolling component and the second-stage rolling component is supported upwards in real time through driving and controlling adjustment, so that the first rotating mechanism and the second rotating mechanism are timely protected, and under the condition of adopting conventional rotating mechanism accessories, the load born by the industrial robot in different operation states is shared, and the excessive damage to the rotating mechanism of the industrial robot under the condition of high load is reduced.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a flexible robot arm for intelligent manufacturing equipment and a use method.
Background
Along with the rapid development of intelligent industrial production, the industrial robot is widely applied to various production and manufacturing processes, and when some multi-axis industrial robots perform industrial operations, when carrying out grabbing operations on heavy workpieces, cargoes and other loads, the heavy workpiece loads can cause a large burden on a rotating mechanism of the industrial robot, and the rotating mechanism is in the state for a long time, so that adverse effects can be caused on the precision and the service life of the rotating mechanism of the industrial robot.
In order to enable the industrial robot rotating mechanism to bear the workpiece load with large weight, the existing rotating mechanism of the industrial robot is directly subjected to parameter lifting, and generally, a bearing with higher strength is adopted. However, this method has the following problems:
1) The price difference of the bearings of the rotating mechanism of the industrial robot is extremely large and is as low as tens of yuan, and thousands of yuan, if the rotating mechanism adopts high strength, the cost of a single bearing is greatly increased, the number of the bearings adopted by a plurality of rotating mechanisms of the industrial robot is also great, and if the rotating mechanism is additionally provided with the maintenance and replacement of the expensive bearings, the use cost of the industrial robot is greatly increased.
2) The industrial robot is used for grabbing and moving the workpiece when in idle running, and the real-time load of the industrial robot rotating mechanism is also quite different in the moving states, for example, the real-time load of the industrial robot rotating mechanism is quite low when in idle running, the real-time load of the industrial robot rotating mechanism is quite high when the workpiece is moved, and the cost is directly not counted by using a high-price rotating mechanism bearing, so that waste exists in the operation cost performance of the working procedure.
In the face of the technical contradiction between the problem of 'load' born by the industrial robot in different running states and the high-cost bearing of the rotating mechanism in the running process, how to effectively solve the problem becomes the problem to be solved.
Disclosure of Invention
In order to solve the technical problems, the invention provides the flexible robot arm for the intelligent manufacturing equipment and the use method thereof, so that under the condition of adopting conventional rotating mechanism accessories, the load born by the industrial robot in different running states in the running process of the industrial robot is pertinently, appropriately and dynamically shared, the excessive damage to the rotating mechanism of the industrial robot under the condition of high load is reduced, and the long-term use precision and the long service life of the industrial robot are ensured.
In order to solve the technical problems, the invention is realized by the following technical scheme:
The invention provides a flexible robot arm for intelligent manufacturing equipment, which comprises a fixed base, a first rotating mechanism, a first-stage rotating arm, a second rotating mechanism, a second-stage rotating arm and an electromagnetic grabbing mechanism, wherein the first rotating mechanism and the second rotating mechanism are respectively provided with a torque sensing module, the robot arm is also provided with a dynamic auxiliary supporting component, and the dynamic auxiliary supporting component comprises: the fixed frame body of fixed base, a plurality of first oblique arms with fixed frame body fixed connection are fixed to the fixed mount, and a flat lever arm is all connected to every first oblique arm upper end, and a second oblique arm is all connected to every flat lever arm upper end.
The upper sides of the plurality of flat lever arms are connected with a first fan arc structure, the first fan arc structure is provided with a first fan cavity and a first piston plate vertically movably arranged in the first fan cavity, a first connecting pipe head communicated with the first fan cavity is arranged on the lower side of the first fan arc structure, and a first air pressure monitoring module is arranged at the position of the first connecting pipe head. The upper ends of the second inclined arms are jointly connected with a second fan arc structure, the second fan arc structure is provided with a second fan cavity and a second piston plate vertically and movably arranged in the second fan cavity, a second connecting pipe head communicated with the second fan cavity is arranged on the lower side of the second fan arc structure, and a second air pressure monitoring module is arranged at the position of the second connecting pipe head. The first-stage rolling assembly is fixedly arranged at the bottom side of the first-stage rotating arm, the first-stage rolling assembly is provided with a first-stage roller in rolling contact with the upper surface of the first piston plate, the second-stage rolling assembly is fixedly arranged at the bottom side of the second-stage rotating arm, and the second-stage rolling assembly is provided with a second-stage roller in rolling contact with the upper surface of the second piston plate.
The robot arm is also provided with a control part and an air supply mechanism, wherein the control part comprises a first electric control valve connected with the first connecting pipe head through an air pipe, a second electric control valve connected with the second connecting pipe head through an air pipe, and a controller for controlling the first electric control valve and the second electric control valve, and the first electric control valve and the second electric control valve are connected with the air supply mechanism through the air pipe. The controller is also connected with the torque sensing modules of the first rotating mechanism and the second rotating mechanism through electric signals.
As a preferred technical scheme of the invention: the first inclined arm and the lower side of the flat lever arm are provided with first-stage reinforcing ribs for reinforcing the connection strength of the first inclined arm and the flat lever arm.
As a preferred technical scheme of the invention: and a second-level upper reinforcing rib and a second-level lower reinforcing rib for reinforcing the connection strength of the two flat lever arms and the second inclined arm are arranged between the flat lever arms and the second inclined arm. Wherein, second grade upper reinforcing rib is located the second oblique arm upside, and second grade lower reinforcing rib is located the second oblique arm downside.
As a preferred technical scheme of the invention: the first piston plate distribution range of the first fan arc structure is matched with the rotation range of the first-stage rotating arm, and the second piston plate distribution range of the second fan arc structure is matched with the rotation range of the second-stage rotating arm.
As a preferred technical scheme of the invention: the controller is configured with an air pressure information acquisition module, and the first air pressure monitoring module and the second air pressure monitoring module are connected with the air pressure information acquisition module through electric signals.
As a preferred technical scheme of the invention: the controller is provided with a valve control module, and the valve control module is connected with the first electric control valve and the second electric control valve through driving control lines.
The invention provides a use method of a flexible robot arm for intelligent manufacturing equipment, which comprises the following steps:
S1, according to the position of a workpiece to be grabbed, a first rotating mechanism drives a first-stage rotating arm to rotate, a second rotating mechanism drives a second-stage rotating arm to rotate, and after an electromagnetic grabbing mechanism reaches a grabbing station, the first rotating mechanism and the second rotating mechanism stop rotating. When the electromagnetic grabbing mechanism is not used for grabbing a workpiece in an idle load mode: the controller drives the first electric control valve to adjust the air pressure of the first fan cavity area below the first piston plate to be P 11, so that P 11=（M1·g）/S1 is achieved, wherein M 1 is the mass of the first piston plate, and S 1 is the bottom side area of the first piston plate.
The controller drives the second electric control valve to adjust the air pressure of the second fan cavity area below the second piston plate to be P 21, so that P 21=（M2·g）/S2 is achieved, wherein M 2 is the mass of the second piston plate, and S 2 is the bottom side area of the second piston plate.
S2, electrifying the electromagnetic grabbing mechanism and attracting and grabbing the lower workpiece through electromagnetic magnetism: the controller drives the first electric control valve to adjust the air pressure of the first fan cavity area below the first piston plate to be P 12, so that P 12=P11+△P=（M1·g）/S1 < + > delta P is achieved. The controller drives the second electric control valve to adjust the air pressure of the second fan cavity area below the second piston plate to be P 22, so that P 22=P21+△P=（M2·g）/S2 < + > delta P is achieved. Wherein DeltaP is the grabbing action compensation air pressure, and the grabbing action compensation air pressure DeltaP is the workpiece mass M 3.
S3, after the electromagnetic grabbing mechanism grabs the workpiece: the second rotating mechanism drives the second rotating arm to rotate, and in the rotating process of the second rotating arm, the controller drives the second electric control valve to adjust the air pressure of the second fan cavity area below the second piston plate to be P 23, so that P 23=（M2·g+M3·g）/S2 is achieved. After the second rotating mechanism drives the second rotating arm to rotate in place, the first rotating mechanism drives the first rotating arm to rotate, and in the rotating process of the first rotating arm, the controller drives the first electric control valve to adjust the air pressure of the first fan cavity area below the first piston plate to be P 13, so that P 13=（M1·g+M3·g）/S1 is achieved.
S4, after the first rotating mechanism drives the first-stage rotating arm to rotate in place: the controller drives the first electric control valve to adjust the air pressure of the first fan cavity area below the first piston plate to be P 12, so that P 12=P11+△P=（M1·g）/S1 < + > delta P is achieved. The controller drives the second electric control valve to adjust the air pressure of the second fan cavity area below the second piston plate to be P 22, so that P 22=P21+△P=（M2·g）/S2 < + > delta P is achieved.
S5, after the electromagnetic grabbing mechanism places the workpiece well, the electromagnetic grabbing mechanism is powered off to release the magnetic attraction effect: the controller drives the first electric control valve to adjust the air pressure of the first fan cavity area below the first piston plate to be P 11. The controller drives the second electric control valve to adjust the air pressure of the second fan cavity area below the second piston plate to be P 22.
S6, the first rotating mechanism drives the first-stage rotating arm to reset, the second rotating mechanism drives the second-stage rotating arm to reset, and the steps S1-S5 are repeated.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, the dynamic auxiliary supporting component is configured, the first fan arc structure and the second fan arc structure are arranged on the dynamic auxiliary supporting component, the first-stage rolling component matched with the first fan arc structure is configured at the bottom side of the first-stage rotating arm, the second-stage rolling component matched with the second fan arc structure is configured at the bottom side of the second-stage rotating arm, and when the industrial robot performs no-load, electromagnetic grabbing and carrying work piece carrying operation, the air pressure of the first-stage rolling component and the second-stage rolling component is supported upwards in real time through driving and controlling adjustment, so that the first rotating mechanism and the second rotating mechanism are timely protected, and the load born by the industrial robot in different operation states in the specific, proper and dynamic operation process is shared under the condition of adopting conventional rotating mechanism accessories, so that the excessive damage to the rotating mechanism of the industrial robot under the condition of high load is reduced, and the long-term use precision and service life of the industrial robot are ensured.
According to the invention, by designing a dynamic air pressure regulation mode, the primary rotating arm and the secondary rotating arm are subjected to adaptive dynamic support, and the situation that the rotating machine is constructed to be in operation burden and damage due to excessive air pressure support is avoided.
Drawings
FIG. 1 is a schematic diagram of the device and the driving system of the present invention.
FIG. 2 is a schematic view of the main structural features of the dynamic auxiliary supporting assembly according to the present invention.
Fig. 3 is a schematic view of fig. 1 at a partially enlarged scale.
Fig. 4 is a schematic view of fig. 1 at B partially enlarged.
FIG. 5 is a schematic view of the overall structure of the dynamic auxiliary supporting assembly according to the present invention.
Wherein: 1-fixing a base station; 2-a first rotation mechanism; 3-first-level rotating arms, 301-first-level rolling assemblies and 3011-first-level rollers; 4-a second rotation mechanism; 5-second-level rotating arms, 501-second-level rolling assemblies and 5011-second-level rollers; 6-an electromagnetic grabbing mechanism; 7-dynamic auxiliary supporting components, 701-fixed frame bodies, 702-first inclined arms, 703-flat lever arms, 7031-first fan arc structures, 70311-first fan cavities, 70312-first piston plates, 7032-first connecting heads, 7033-first air pressure monitoring modules, 7034-first-stage reinforcing ribs, 704-second inclined arms, 7041-second fan arc structures, 70411-second fan cavities, 70412-second piston plates, 7042-second connecting heads, 7043-second air pressure monitoring modules, 7044-second-stage upper reinforcing ribs and 7045-second-stage lower reinforcing ribs; 8-a control part, 801-a controller, 802-a first electric control valve, 803-a second electric control valve; 9-air supply mechanism.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The first embodiment of the invention designs a flexible robot arm for intelligent manufacturing equipment, which mainly comprises a fixed base 1, a first rotating mechanism 2, a first-stage rotating arm 3, a second rotating mechanism 4, a second-stage rotating arm 5, an electromagnetic grabbing mechanism 6, a dynamic auxiliary supporting component 7, a control part 8, an air supply mechanism 9 and other components, wherein the specific structure and the mutual matching content are as follows:
Referring to fig. 2 and 5, the dynamic auxiliary supporting component 7 includes a fixed frame 701 and a plurality of first inclined arms 702, the fixed frame 701 is fixedly mounted on the fixed base 1, the lower ends of the first inclined arms 702 are fixedly connected with the fixed frame 701, the upper ends of each first inclined arm 702 are connected with a flat arm 703, the first fan-arc structure 7031 is fixedly mounted on the upper sides of the flat arms 703, the upper ends of each flat arm 703 are connected with a second inclined arm 704, and the second fan-arc structure 7041 is fixedly mounted on the upper ends of the second inclined arms 704.
Referring to fig. 2, the first arc structure 7031 is provided with a first fan cavity 70311 and a first piston plate 70312, the first piston plate 70312 is vertically movably disposed in the first fan cavity 70311, and a first reinforcing rib 7034 is disposed at the lower sides of the first inclined arm 702 and the flat arm 703, so that the connection strength of the first inclined arm 702 and the flat arm 703 is reinforced by the first reinforcing rib 7034.
The first fan arc structure 7031 downside has still set up first connecting tube head 7032, and first connecting tube head 7032 communicates with first fan chamber 70311, and first air pressure monitoring module 7033 installs in first connecting tube head 7032 position department, carries out the air pressure monitoring to first fan chamber 70311.
Second fan arc structure 7041 is provided with a second fan chamber 70411, a second piston plate 70412, and a second piston plate 70412 is vertically movably disposed within second fan chamber 70411. The first piston plate 70312 and the second piston plate 70412 are also designed into a fan shape, and after the piston plate is used for a long time, there may be a problem of reduced sealing performance, but the sealing performance is allowed to be reduced in the invention, because ventilation of the first fan cavity 70311 and the second fan cavity 70411 is sustainable, as long as the air pressure can be kept at the parameters required by the working procedure, the normal use is not affected due to the reduced sealing performance to a certain extent, and timely maintenance is also required.
A second-stage upper reinforcing rib 7044 and a second-stage lower reinforcing rib 7045 are arranged between the flat lever arm 703 and the second inclined arm 704, the second-stage upper reinforcing rib 7044 is located on the upper side of the second inclined arm 704, the second-stage lower reinforcing rib 7045 is located on the lower side of the second inclined arm 704, and the connection strength of the flat lever arm 703 and the second inclined arm 704 is reinforced by the second-stage upper reinforcing rib 7044 and the second-stage lower reinforcing rib 7045. The second connection pipe head 7042 is installed on the lower side of the second arc structure 7041, the second connection pipe head 7042 is communicated with the second fan cavity 70411, and the second air pressure monitoring module 7043 is installed at the position of the second connection pipe head 7042 and is used for monitoring air pressure of the second fan cavity 70411.
Referring to fig. 1 and 5, in the rotation range of the primary rotation arm 3, the first piston plate 70312 of the first fan-arc structure 7031 can be effectively supported, and in the rotation range of the secondary rotation arm 5, the second piston plate 70412 of the second fan-arc structure 7041 can be effectively supported.
Referring to fig. 1, 3 and 4, the primary rolling assembly 301 is fixedly installed at the bottom side of the primary rotating arm 3, the primary rolling assembly 301 is configured with a primary roller 3011, and the primary roller 3011 is in rolling contact with the upper surface of the first piston plate 70312. The secondary rolling assembly 501 is fixedly installed at the bottom side of the secondary rotating arm 5, the secondary rolling assembly 501 is provided with a secondary roller 5011, and the secondary roller 5011 is in rolling contact with the upper surface of the second piston plate 70412.
There is no relation between the wear generated between the primary roller 3011 and the first piston plate 70312, because the first piston plate 70312 is vertically movable, and the wear generated between the primary roller 3011 and the first piston plate 70312 does not affect the normal support of the rotating arm and mechanism under conditions that the air pressure parameters are up to standard.
Referring to fig. 1 and 2, the control portion 8 includes a controller 801, a first electric control valve 802, and a second electric control valve 803, where the controller 801 is configured with an air pressure information acquisition module, and the first air pressure monitoring module 7033 and the second air pressure monitoring module 7043 are electrically connected to the air pressure information acquisition module.
The first rotating mechanism 2 and the second rotating mechanism 4 are respectively and independently provided with a torque sensing module, and the controller 801 is also electrically connected with the torque sensing modules of the first rotating mechanism 2 and the second rotating mechanism 4.
The first electric control valve 802 is connected with the first connecting pipe head 7032 through an air pipe, the second electric control valve 803 is connected with the second connecting pipe head 7042 through an air pipe, the controller 801 controls the first electric control valve 802 and the second electric control valve 803, and the air supply mechanism 9 is connected with the first electric control valve 802 and the second electric control valve 803 through air pipes.
The controller 801 is further provided with a valve control module, and the valve control module is connected with the first electric control valve 802 and the second electric control valve 803 through driving control lines.
The second embodiment of the invention designs a use method of the flexible robot arm of the intelligent manufacturing equipment, which carries out corresponding air pressure support regulation and control according to different operation states generated by an industrial robot in real time, and comprises the following specific contents:
Firstly, according to the position of a workpiece to be grabbed, the first rotating mechanism 2 drives the first-stage rotating arm 3 to rotate, the second rotating mechanism 4 drives the second-stage rotating arm 5 to rotate, and after the electromagnetic grabbing mechanism 6 reaches the grabbing station, the first rotating mechanism 2 and the second rotating mechanism 4 stop rotating.
Step one, when the electromagnetic grabbing mechanism 6 is empty and does not grab a workpiece:
(1) The controller 801 drives the first electric control valve 802 to adjust the air pressure in the area of the first fan cavity 70311 below the first piston plate 70312 to P 11, so that P 11=（M1·g）/S1 is achieved, wherein M 1 is the mass of the first piston plate 70312, S 1 is the bottom area of the first piston plate 70312, and thus the air pressure in the area of the first fan cavity 70311 below the first piston plate 70312 can form a balanced support for the first piston plate 70312 in a normal state, and the first piston plate 70312 cannot excessively squeeze the first-stage rotating arm 3 upwards, so that the additional load on the first rotating mechanism 2 is avoided.
(2) The controller 801 drives the second electric control valve 803 to adjust the air pressure in the area of the second fan chamber 70411 below the second piston plate 70412 to P 21, so that P 21=（M2·g）/S2 is achieved, wherein M 2 is the mass of the second piston plate 70412, S 2 is the bottom area of the second piston plate 70412, so that the air pressure in the area of the second fan chamber 70411 below the second piston plate 70412 can form a balanced support for the second piston plate 70412 in a normal state, and the second piston plate 70412 does not excessively squeeze the second rotary arm 5 upwards, thereby avoiding adding additional load to the second rotary mechanism 4.
Step two, when the electromagnetic grabbing mechanism 6 is electrified and grabs the lower workpiece through electromagnetic attraction:
(1) The controller 801 drives the first electrically controlled valve 802 to adjust the air pressure in the region of the first fan chamber 70311 below the first piston plate 70312 to P 12, so that P 12=P11+△P=（M1·g）/S1 + [ delta ] P is achieved.
(2) The controller 801 drives the second electrically controlled valve 803 to adjust the air pressure in the area of the second fan chamber 70411 below the second piston plate 70412 to P 22, so that P 22=P21+△P=（M2·g）/S2 + [ delta ] P.
Wherein DeltaP is the grabbing action compensation air pressure, and the grabbing action compensation air pressure DeltaP is the workpiece mass M 3;
Gripping motion compensated barometric pressure Δp: when the electromagnetic grabbing mechanism 6 magnetically attracts the workpiece, the interaction force of the magnetic attraction and the gravity of the workpiece which is newly added after the workpiece is grabbed cause new loads to the first rotating mechanism 2 and the second rotating mechanism 4, and in order to reduce the load of the state process, the air pressures of the first fan cavity 70311 and the second fan cavity 70411 are compensated.
Step three, after the electromagnetic grabbing mechanism 6 grabs the workpiece:
(1) The second rotating mechanism 4 drives the second rotating arm 5 to rotate, in the rotating process of the second rotating arm 5, the controller 801 drives the second electric control valve 803 to adjust the air pressure of the second fan cavity 70411 area below the second piston plate 70412 to be P 23, so that P 23=（M2·g+M3·g）/S2 is formed, in the rotating process of the second rotating arm 5, the air pressure of the second fan cavity 70411 area below the second piston plate 70412 forms a complete compensation support for the air pressure of the workpiece.
(2) After the second rotating mechanism 4 drives the second rotating arm 5 to rotate in place, the first rotating mechanism 2 drives the first rotating arm 3 to rotate, in the rotating process of the first rotating arm 3, the controller 801 drives the first electric control valve 802 to adjust the air pressure of the first fan cavity 70311 area below the first piston plate 70312 to be P 13, so that P 13=（M1·g+M3·g）/S1 is achieved, and in the rotating process of the first rotating arm 3, the air pressure of the first fan cavity 70311 area below the first piston plate 70312 forms a complete compensation support for the air pressure of a workpiece.
After the first rotating mechanism 2 drives the first-stage rotating arm 3 to rotate in place:
(1) The controller 801 drives the first electrically controlled valve 802 to adjust the air pressure in the region of the first fan chamber 70311 below the first piston plate 70312 to P 12, so that P 12=P11+△P=（M1·g）/S1 + [ delta ] P is achieved.
(2) The controller 801 drives the second electrically controlled valve 803 to adjust the air pressure in the area of the second fan chamber 70411 below the second piston plate 70412 to P 22, so that P 22=P21+△P=（M2·g）/S2 + [ delta ] P.
Step five, after the electromagnetic grabbing mechanism 6 places the workpiece well, the electromagnetic grabbing mechanism is powered off to release the magnetic attraction effect:
(1) The controller 801 drives the first electrically controlled valve 802 to regulate the air pressure in the region of the first sector 70311 below the first piston plate 70312 to P 11.
(2) The controller 801 controls the second electronic control valve 803 to adjust the air pressure in the area of the second fan chamber 70411 below the second piston plate 70412 to P 22.
Finally, the first rotating mechanism 2 drives the first-stage rotating arm 3 to reset, the second rotating mechanism 4 drives the second-stage rotating arm 5 to reset, namely, the workpiece is returned to the position where the workpiece is grabbed again, and the link control process is repeated.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. The utility model provides an intelligent manufacturing equipment is with flexible robot arm, includes fixed base (1), first rotary mechanism (2), one-level swinging boom (3), second rotary mechanism (4), second swinging boom (5) and electromagnetism snatchs mechanism (6), and first rotary mechanism (2), second rotary mechanism (4) all independently dispose torque sensing module, its characterized in that:
The robot arm is also configured with a dynamic auxiliary support assembly (7), the dynamic auxiliary support assembly (7) comprising: the fixed base comprises a fixed frame body (701) fixedly arranged on a fixed base (1), a plurality of first inclined arms (702) fixedly connected with the fixed frame body (701), a flat lever arm (703) connected to the upper end of each first inclined arm (702), and a second inclined arm (704) connected to the upper end of each flat lever arm (703);
The upper sides of the plurality of flat lever arms (703) are commonly connected with a first fan arc structure (7031), the first fan arc structure (7031) is provided with a first fan cavity (70311) and a first piston plate (70312) vertically and movably arranged in the first fan cavity (70311), a first connecting tube head (7032) communicated with the first fan cavity (70311) is arranged at the lower side of the first fan arc structure (7031), and a first air pressure monitoring module (7033) is arranged at the position of the first connecting tube head (7032);
The upper ends of the second inclined arms (704) are commonly connected with a second fan arc structure (7041), the second fan arc structure (7041) is provided with a second fan cavity (70411) and a second piston plate (70412) vertically and movably arranged in the second fan cavity (70411), a second connecting tube head (7042) communicated with the second fan cavity (70411) is arranged at the lower side of the second fan arc structure (7041), and a second air pressure monitoring module (7043) is arranged at the position of the second connecting tube head (7042);
The primary rolling assembly (301) is fixedly arranged on the bottom side of the primary rotating arm (3), the primary rolling assembly (301) is provided with a primary roller (3011) in rolling contact with the upper surface of the first piston plate (70312), the secondary rolling assembly (501) is fixedly arranged on the bottom side of the secondary rotating arm (5), and the secondary rolling assembly (501) is provided with a secondary roller (5011) in rolling contact with the upper surface of the second piston plate (70412);
The robot arm is further provided with a control part (8) and an air supply mechanism (9), wherein the control part (8) comprises a first electric control valve (802) connected with a first connecting tube head (7032) through an air pipe, a second electric control valve (803) connected with a second connecting tube head (7042) through an air pipe, and a controller (801) for controlling the first electric control valve (802) and the second electric control valve (803), and the first electric control valve (802) and the second electric control valve (803) are connected with the air supply mechanism (9) through the air pipe;
the controller (801) is also electrically connected with torque sensing modules of the first rotating mechanism (2) and the second rotating mechanism (4).
2. The flexible robotic arm for intelligent manufacturing apparatus according to claim 1, wherein:
The lower sides of the first inclined arm (702) and the flat lever arm (703) are provided with first-stage reinforcing ribs (7034) for reinforcing the connection strength of the first inclined arm (702) and the flat lever arm (703).
3. The flexible robotic arm for intelligent manufacturing apparatus according to claim 1, wherein:
A second-level upper reinforcing rib (7044) and a second-level lower reinforcing rib (7045) for reinforcing the connection strength of the flat lever arm (703) and the second inclined arm (704) are arranged between the flat lever arm (703) and the second inclined arm (704);
the second-stage upper reinforcing rib (7044) is located on the upper side of the second inclined arm (704), and the second-stage lower reinforcing rib (7045) is located on the lower side of the second inclined arm (704).
4. The flexible robotic arm for intelligent manufacturing apparatus according to claim 1, wherein:
The first piston plate (70312) distribution range of the first fan arc structure (7031) is matched with the rotation range of the first-stage rotating arm (3), and the second piston plate (70412) distribution range of the second fan arc structure (7041) is matched with the rotation range of the second-stage rotating arm (5).
5. The flexible robotic arm for intelligent manufacturing apparatus according to claim 1, wherein:
The controller (801) is configured with an air pressure information acquisition module, and the first air pressure monitoring module (7033) and the second air pressure monitoring module (7043) are electrically connected with the air pressure information acquisition module.
6. The flexible robotic arm for intelligent manufacturing apparatus according to claim 1, wherein:
The controller (801) is provided with a valve control module, and the valve control module is connected with the first electric control valve (802) and the second electric control valve (803) through driving control lines.
7. A method of using the flexible robotic arm for intelligent manufacturing apparatus, characterized by using the flexible robotic arm for intelligent manufacturing apparatus as claimed in any one of claims 1 to 6, comprising the steps of:
S1, according to the position of a workpiece to be grabbed, a first rotating mechanism (2) drives a first-stage rotating arm (3) to rotate, a second rotating mechanism (4) drives a second-stage rotating arm (5) to rotate, and after an electromagnetic grabbing mechanism (6) reaches a grabbing station, the first rotating mechanism (2) and the second rotating mechanism (4) stop rotating;
When the electromagnetic grabbing mechanism (6) is not used for grabbing a workpiece in an idle load mode:
The controller (801) drives the first electric control valve (802) to adjust the air pressure of the area of the first fan cavity (70311) below the first piston plate (70312) to be P 11 so as to enable P 11=（M1·g）/S1, wherein M 1 is the mass of the first piston plate (70312), and S 1 is the bottom side area of the first piston plate (70312);
the controller (801) drives the second electric control valve (803) to adjust the air pressure of a second fan cavity (70411) area below the second piston plate (70412) to be P 21, so that P 21=（M2·g）/S2 is achieved, wherein M 2 is the mass of the second piston plate (70412), and S 2 is the bottom side area of the second piston plate (70412);
S2, electrifying an electromagnetic grabbing mechanism (6) and attracting and grabbing a lower workpiece through electromagnetic magnetism in the process of:
S2.1, a controller (801) drives a first electric control valve (802) to adjust the air pressure of a first fan cavity (70311) area below a first piston plate (70312) to be P 12, so that P 12=P11+△P=（M1·g）/S1 < + > delta P is achieved;
S2.2, a controller (801) drives a second electric control valve (803) to adjust the air pressure of a second fan cavity (70411) area below a second piston plate (70412) to be P 22, so that P 22=P21+△P=（M2·g）/S2 is plus delta P;
Wherein DeltaP is the grabbing action compensation air pressure, and the grabbing action compensation air pressure DeltaP is the workpiece mass M 3;
s3, after the electromagnetic grabbing mechanism (6) grabs the workpiece:
S3.1, the second rotating mechanism (4) drives the second-stage rotating arm (5) to rotate, and in the rotating process of the second-stage rotating arm (5), the controller (801) drives the second electric control valve (803) to adjust the air pressure of a second fan cavity (70411) area below the second piston plate (70412) to be P 23, so that P 23=（M2·g+M3·g）/S2 is achieved;
S3.2, after the second rotating mechanism (4) drives the second-stage rotating arm (5) to rotate in place, the first rotating mechanism (2) drives the first-stage rotating arm (3) to rotate, and in the rotating process of the first-stage rotating arm (3), the controller (801) drives the first electric control valve (802) to adjust the air pressure of a first fan cavity (70311) area below the first piston plate (70312) to be P 13, so that P 13=（M1·g+M3·g）/S1 is achieved;
s4, after the first rotating mechanism (2) drives the first-stage rotating arm (3) to rotate in place:
S4.1, a controller (801) drives a first electric control valve (802) to adjust the air pressure of a first fan cavity (70311) area below a first piston plate (70312) to be P 12, so that P 12=P11+△P=（M1·g）/S1 < + > delta P is achieved;
S4.2, a controller (801) drives a second electric control valve (803) to adjust the air pressure of a second fan cavity (70411) area below a second piston plate (70412) to be P 22, so that P 22=P21+△P=（M2·g）/S2 is plus delta P;
s5, after the electromagnetic grabbing mechanism (6) places the workpieces well, the electromagnetic grabbing mechanism is powered off to release the magnetic attraction effect:
s5.1, a controller (801) drives a first electric control valve (802) to adjust the air pressure of a first fan cavity (70311) area below a first piston plate (70312) to be P 11;
S5.2, a controller (801) drives a second electric control valve (803) to adjust the air pressure of a second fan cavity (70411) area below a second piston plate (70412) to be P 22;
S6, the first rotating mechanism (2) drives the first-stage rotating arm (3) to reset, the second rotating mechanism (4) drives the second-stage rotating arm (5) to reset, and the steps S1-S5 are repeated.
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