CN108136601A - 用于机器人校准的剪断销 - Google Patents
用于机器人校准的剪断销 Download PDFInfo
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- CN108136601A CN108136601A CN201580083225.0A CN201580083225A CN108136601A CN 108136601 A CN108136601 A CN 108136601A CN 201580083225 A CN201580083225 A CN 201580083225A CN 108136601 A CN108136601 A CN 108136601A
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- break pin
- pin
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- robot
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- 230000003313 weakening effect Effects 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 229910001369 Brass Inorganic materials 0.000 description 2
- 229910000760 Hardened steel Inorganic materials 0.000 description 2
- 239000010951 brass Substances 0.000 description 2
- 238000010073 coating (rubber) Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
-
- 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
- B25J19/0095—Means or methods for testing manipulators
-
- 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
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
- B25J19/065—Mechanical fuse
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B19/00—Bolts without screw-thread; Pins, including deformable elements; Rivets
- F16B19/02—Bolts or sleeves for positioning of machine parts, e.g. notched taper pins, fitting pins, sleeves, eccentric positioning rings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B31/00—Screwed connections specially modified in view of tensile load; Break-bolts
- F16B31/02—Screwed connections specially modified in view of tensile load; Break-bolts for indicating the attainment of a particular tensile load or limiting tensile load
- F16B31/021—Screwed connections specially modified in view of tensile load; Break-bolts for indicating the attainment of a particular tensile load or limiting tensile load by means of a frangible part
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39024—Calibration of manipulator
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/49—Protective device
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
本发明涉及一种用于校准工业机器人(10)的剪断销(80),所述剪断销(80)包括细长主体(90),其包括限定在过载情况下的断裂位置的弱化部。所述剪断销(80)被配置成安装至机器人(10)上的校准销保持件(20)。在校准期间校准销可施加至机器人(10)的最大力可容易地通过适当地确定弱化部的尺寸而受限制。
Description
技术领域
本发明涉及用于校准工业机器人的校准工具。
背景技术
传统已知在机器人校准期间将校准销安装至工业机器人上的校准销保持件。典型的校准销是柱状钢销。JP2010089213公开一种柱状校准销。
在校准期间,通过移动机器人使校准销与对应件接触。传统校准销具有下面的缺点,如果机器人移动时使用过大的力或速度,当校准销与对应件接触时,那么机器人可能被损坏。
发明内容
本发明的目的是提供一种改进的校准销。
这些目的通过根据随附的权利要求1的装置来实现。
本发明基于如下而实现:通过为校准销提供适当的弱化部而可以容易地限制在校准期间校准销可施加至机器人的最大力。
根据本发明的第一方面,提供一种用于校准工业机器人的剪断销,所述剪断销包括细长主体,其包括限定在过载情况下的断裂位置的弱化部。所述剪断销被配置成安装至机器人上的校准销保持件。
根据本发明的一个实施例,所述弱化部包括与所述主体的整体形状相比具有较窄尺寸的腰部。
根据本发明的一个实施例,所述断裂位置被保护件覆盖,以防止当所述剪断销断裂时散开。
根据本发明的一个实施例,所述主体具有柱状接触部件,其在使用期间被配置成与对应件接触。
根据本发明的一个实施例,所述主体具有柱状安装部件,其被配置成被插入到所述校准销保持件中。
根据本发明的一个实施例,所述安装部件还包括在其外表面的槽和在所述槽中用于将所述剪断销在所述校准销保持件中保持就位的弹簧。
根据本发明的一个实施例,所述主体由硬化钢制成。
根据本发明的一个实施例,所述剪断销还包括在所述主体内的芯,所述芯的材料比所述主体的材料软。
根据本发明的一个实施例,所述芯包括在所述剪断销的纵向方向上在所述弱化部的各侧的套环。
根据本发明的一个实施例,所述弱化部的尺寸被确定成断裂以保护所述机器人。
根据本发明的第二方面,提供一种工业机器人,包括根据前述公开任一实施例所述的剪断销。
附图说明
现在将参考附图更详细地描述本发明,其中:
图1示出具有校准销保持件的工业机器人;以及
图2示出本发明的实施例。
具体实施方式
参照图1,工业机器人10包括在下臂30上的筒状衬套形式的校准销保持件20。在图1中,衬套用插塞35保护。机器人框架40包括对应件50,在图1中,对应件50用盖60保护。下臂30可围绕轴线70相对于机器人框架40可旋转。在机器人10的正常使用期间,当下臂30围绕轴线70旋转时,校准销保持件20可以被对应件50自由地通过。为了对机器人10执行校准,插塞35和盖60被去除,并且将校准销(未示出)插入衬套中。结果,当下臂30围绕轴线70旋转时,校准销保持件20不再能被对应件50通过,而是校准销与对应件50碰撞。在校准期间,使校准销与对应件50接触。
参照图2,根据本发明的剪断销80包括具有柱状部件110、120的主体90和腰部100。在一个远端部,主体具有柱状接触部件110,其在使用期间被配置成与根据图1的对应件50接触。在相反的远端部,主体90具有柱安装部件120,其被配置成被插入到根据图1的校准销保持件20。主体90由硬化钢制成。柱状部件110、120的直径为10mm,而腰部100具有6mm的最小直径。腰部100由此形成限定在剪断销80过载的情况下断裂位置的弱化部。腰部100被橡胶涂层130覆盖。主体90还包括在安装部件120处的槽140和在纵向方向上的通孔150。弹簧加载的钢环160被安装在槽140中,并且在通孔150中存在黄铜管形式的芯170,黄铜管借助在各端处的套环180附接至主体90。
在使用中,剪断销80通过插入至衬套而安装至例如图1的校准销保持件20,使得钢环160在衬套内部。钢环160压靠衬套的内壁,将剪断销80保持就位。腰部100和接触部件110在衬套的外部,并且接触部件110与在机器人框架40上的对应件50接触。如果施加在接触部件110上的力超过断裂极限,则主体90在腰部100处的断裂位置断裂。橡胶涂层130用作保护件,以防止当断裂时主体材料散开。芯170将在断裂位置的相反侧上的主体部件保持在一起(即使断裂后),由此吸收能量并且防止接触部件110以潜在危险的方式甩出。如果对应件50使接触部件110充分地移位,则芯170最终也将断裂。
腰部100的尺寸被确定成利用足够小而不会对机器人10造成任何损伤的断裂力而断裂。在移动机器人10时使用过大力或速度,当剪断销80与对应件50接触时,腰部100由此断裂以保护机器人10免受损伤。
本发明不限于上面所示的实施例,但是本领域技术人员可以在如权利要求所限定的本发明的范围内对其进行多种修改。因此,本发明可以例如应用至机器人10的任意轴线处。
Claims (11)
1.一种用于校准工业机器人(10)的剪断销(80),所述剪断销(80)包括:
细长主体(90),其包括限定在过载情况下的断裂位置的弱化部,
其特征在于,所述剪断销(80)被配置成安装至机器人(10)上的校准销保持件(20)。
2.根据权利要求1所述的剪断销(80),其中所述弱化部包括与所述主体(90)的整体形状相比具有较窄尺寸的腰部(100)。
3.根据前述权利要求中的任一项所述的剪断销(80),其中所述断裂位置被保护件覆盖,以防止当所述剪断销(80)断裂时散开。
4.根据前述权利要求中的任一项所述的剪断销(80),其中所述主体(90)具有柱状接触部件(110),其在使用期间被配置成与对应件(50)接触。
5.根据前述权利要求中的任一项所述的剪断销(80),其中所述主体(90)具有柱状安装部件(120),其被配置成被插入到所述校准销保持件(20)中。
6.根据前述权利要求中的任一项所述的剪断销(80),其中所述安装部件(120)还包括在其外表面上的槽(140)和在所述槽(140)中用于将所述剪断销(80)在所述校准销保持件(20)中保持就位的弹簧。
7.根据前述权利要求中的任一项所述的剪断销(80),其中所述主体(90)由硬化钢制成。
8.根据前述权利要求中的任一项所述的剪断销(80),其中所述剪断销(90)还包括在所述主体(90)内的芯(170),所述芯的材料比所述主体的材料软。
9.根据前述权利要求中的任一项所述的剪断销(80),其中所述芯(170)包括在所述剪断销(80)的纵向方向上在所述弱化部的各侧的套环(180)。
10.根据前述权利要求中的任一项所述的剪断销(80),其中所述弱化部的尺寸被确定成断裂以保护所述机器人(10)。
11.一种工业机器人(10),包括根据前述权利要求的任一项所述的剪断销(80)。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2015/074019 WO2017063711A1 (en) | 2015-10-16 | 2015-10-16 | Shear pin for robot calibration |
Publications (2)
Publication Number | Publication Date |
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CN108136601A true CN108136601A (zh) | 2018-06-08 |
CN108136601B CN108136601B (zh) | 2021-05-28 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201580083225.0A Active CN108136601B (zh) | 2015-10-16 | 2015-10-16 | 用于机器人校准的剪断销 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10960546B2 (zh) |
EP (1) | EP3362231B1 (zh) |
CN (1) | CN108136601B (zh) |
ES (1) | ES2799889T3 (zh) |
WO (1) | WO2017063711A1 (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11598356B2 (en) * | 2019-05-24 | 2023-03-07 | Hamilton Sundstrand Corporation | Fused alignment pin |
KR102516622B1 (ko) * | 2021-08-05 | 2023-03-31 | 주식회사 쓰리디오토매이션 | 캘리브레이션 측정용 핀 |
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FR2615586A1 (fr) * | 1987-05-19 | 1988-11-25 | Gen Electric | Raccord d'interface |
EP0194739B1 (en) * | 1985-02-20 | 1992-05-06 | Molex Incorporated | Method and apparatus for accurate positioning of a solid component for a robotic pickup |
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2015
- 2015-10-16 US US15/762,307 patent/US10960546B2/en active Active
- 2015-10-16 CN CN201580083225.0A patent/CN108136601B/zh active Active
- 2015-10-16 WO PCT/EP2015/074019 patent/WO2017063711A1/en active Application Filing
- 2015-10-16 EP EP15784613.0A patent/EP3362231B1/en active Active
- 2015-10-16 ES ES15784613T patent/ES2799889T3/es active Active
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JPS5769109A (en) * | 1980-10-17 | 1982-04-27 | Nippon Light Metal Co | Weak point pin |
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Also Published As
Publication number | Publication date |
---|---|
ES2799889T3 (es) | 2020-12-22 |
CN108136601B (zh) | 2021-05-28 |
EP3362231A1 (en) | 2018-08-22 |
WO2017063711A1 (en) | 2017-04-20 |
US10960546B2 (en) | 2021-03-30 |
US20180272536A1 (en) | 2018-09-27 |
EP3362231B1 (en) | 2020-04-01 |
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