CN109693229A - The modularization robot of the length of connecting rod can be adjusted - Google Patents
The modularization robot of the length of connecting rod can be adjusted Download PDFInfo
- Publication number
- CN109693229A CN109693229A CN201810890037.4A CN201810890037A CN109693229A CN 109693229 A CN109693229 A CN 109693229A CN 201810890037 A CN201810890037 A CN 201810890037A CN 109693229 A CN109693229 A CN 109693229A
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- CN
- China
- Prior art keywords
- connecting rod
- length
- robot
- modularization robot
- attack
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
Abstract
The modularization robot of the length that connecting rod can be adjusted of the embodiment of the present invention includes: first connecting rod, is formed as certain length；Second connecting rod in conjunction with first connecting rod and is formed as certain length；And more than one fixed part, fixed combined first connecting rod and second connecting rod, in addition, multiple cap nuts are formed in the side of first connecting rod to attack, multiple slots are formed in the side of second connecting rod, the side of first connecting rod is inserted into the side of second connecting rod and slides, more than one fixed part be inserted into multiple slots at least any one, and it is fixed on multiple cap nuts and any of attacks, cap nut any of is attacked according to multiple cap nuts of first connecting rod attack be configured at by the position of any of multiple slots of second connecting rod of length direction configuration of second connecting rod slot and adjust the length of combined first connecting rod and second connecting rod.
Description
Technical field
The present invention relates to modularization robots, and the connecting rod for being mounted on modularization robot can be adjusted more particularly to one kind
Length the length that can adjust connecting rod modularization robot.
Background technique
Recently industrial robot in the market, pass through modularization actuator types (actuator type) design hang down
Straight articulated robot is concerned.
Fig. 1 is the various forms of attached drawings for showing widely used modularization robot recently.Modularization robot
(Module-Type Robot) is the robot for referring to constitute the form of component independent assortment of robot, the modularization
The case where robot is the manufacturing process for changing product, changes corresponding robot shape, causes operating environment
The correspondence situation of variation.
Before use modularization robot, robot building company only battle array corresponding with several robot products is being disclosed
It is the mode of a kind of selection and the matched robot product of production technology disclosed in the user in battle array in the case where appearance.In the presence of
Battle array disclosed in the customer-side insufficient aspect exists in terms of robot building company and wants for disclosing again with customer
The problem of seeking matched battle array and spending a large amount of running costs.
For example, for be made of executor module and connecting rod modularization robot the case where, be appropriately combined actuator
Module and connecting rod, in the position of robot building company, only have with the matched executor module of design structure, for exist
The case where requirement of customer, robot building company jointed connecting rod and module and correspond to immediately, thereby, it is possible to save operating charges
With.Fig. 2 is that combination actuator module and connecting rod are manufactured attached drawing as an example of the method for modularization robot by display.
Research relevant to modularization robot can be carried out differently in all areas of industry.For example, right
In present steel industry in most part, there is the part for only relying upon manpower and carrying out, up to the present, in robot
A large amount of effort is carried out on being applicable in, but because of reasons such as the applicable problems of current environment deterioration, individual element technological synthesis, it is practical
Automation is divided into few a part.Thus the various robot technology developed so far are kept, it is desirable that comprehensive operation is flat
Platform.Also, for modular robot, in the mode for connecting it, in response to concurrent activity with connect, thus, exist and be difficult to
The problem of realization.In order to solve this problem, the research for supporting the modularization robot device of factory automation is executed.
Existing technical literature
[patent document]
(patent document 1) Ebrean Registered Patent the 1272008th (date of declaration on 06 05th, 2013)
Summary of the invention
Problems to be solved by the invention
It is an object of the present invention to provide the modularization robots that one kind can adjust the length of connecting rod, for change product
The case where manufacturing process, user directly change robot shape in corresponding mode, and thereby, it is possible to corresponding operating environments
Variation.
Also, another object of the present invention is to provide a kind of modularization robot of length that can adjust connecting rod, for
The case where expanding or shrinking working space adjusts the length of connecting rod in the case where in addition not manufacturing modularization robot, from
And it can effectively correspond to the change of working space.
Moreover, another object of the present invention is to provide a kind of modularization robot of length that can adjust connecting rod, user
By with operational characteristic it is matched in a manner of adjust the performances such as operating speed, payload.
Also, another object of the present invention is to provide a kind of modularization robot of length that can adjust connecting rod, can
Shorten the time and expense consumed when manufacturing product.
But the purpose of the present invention is not limited to the purpose, in the range for not departing from thought and field of the invention
Inside it is able to carry out various extensions.
Technical teaching for solving the problem was
In order to achieve the object of the present invention, the modularization robot of the length that connecting rod can be adjusted of the embodiment of the present invention
Include: first connecting rod, is formed as certain length；Second connecting rod in conjunction with first connecting rod and is formed as certain length；And one with
Upper fixed part, fixed combined first connecting rod and second connecting rod, is formed with multiple cap nuts in the side of first connecting rod and attacks,
The side of second connecting rod is formed with multiple slots, and the side of first connecting rod is inserted into the side of second connecting rod and slides, one with
Upper fixed part be inserted into multiple slots at least any one, and be fixed on multiple cap nuts attack at least any one, also, root
According to multiple cap nuts of first connecting rod attack in any one cap nut attack and be configured at the of the length direction configuration by second connecting rod
The position of any of multiple slots of two connecting rods slot and the length for adjusting combined first connecting rod and second connecting rod.
According to an embodiment, certain length is formed with by the length direction of first connecting rod in the outer lateral side of first connecting rod
Protruding portion is formed with the groove of certain length by the length direction of second connecting rod in the inner side surface of second connecting rod and dashes forward for being inserted into
Portion out.
According to an embodiment, certain length is formed with by the length direction of first connecting rod in the outer lateral side of first connecting rod
Groove is formed with the protruding portion of certain length by the length direction of second connecting rod in the inner side surface of second connecting rod and is inserted into recessed
Slot.
According to an embodiment, protruding portion and groove are T font.
According to an embodiment, the side of second connecting rod is attacked and be formed in the multiple cap nuts for being formed in the side of first connecting rod
Multiple slots configure at a certain distance respectively.
The effect of invention
The modularization robot of the length that connecting rod can be adjusted of the embodiment of the present invention has the following advantages that, for change
The case where manufacturing process of product, user is directly matched and change robot shape, and thereby, it is possible to carry out and operating environment
Variation correspondence.
Also, the case where for expanding or shrinking working space, adjusts in the case where in addition not manufacturing modularization robot
The length of connecting rod is saved, thus, it is effectively corresponding with the change of working space.
Also, user by with operational characteristic it is matched in a manner of adjust operating speed, payload etc..
Moreover, shortening the consumed time and expense when manufacturing product.
But effect of the invention is not with effect restriction, in the range of not departing from thought of the invention and field
It is able to carry out various extensions.
Detailed description of the invention
Fig. 1 is the various forms of attached drawings of display module robot；
Fig. 2 is the attached drawing for showing combination actuator module and connecting rod and manufacturing an example of the method for modularization robot；
Fig. 3 is the attached drawing of the state of the length of the connecting rod of the modularization robot of display reduction the embodiment of the present invention；
Fig. 4 is the attached drawing of the state of the length of the connecting rod for the modularization robot that the embodiment of the present invention is elongated in display；
Fig. 5 is the method for the first connecting rod and second connecting rod for the modularization robot that display combines the embodiment of the present invention
Attached drawing；
Fig. 6 is the first connecting rod for the modularization robot that display is formed in the embodiment of the present invention and the groove of second connecting rod
Or the attached drawing of protruding portion.
Description of symbols
10: first connecting rod 13: cap nut is attacked
15,15-1,27: protruding portion 20: second connecting rod
23: slot 17,25,25-1: groove
30: fixed part 40-1,40-2: executor module
Specific embodiment
In the following, being more particularly described referring to attached drawing to the embodiment of the present invention.It is existing in constituent element according to the present invention
There is technology, reproduction can be clearly grasped and be easy for those of ordinary skill, it is omitted and illustrates, to avoid this hair is obscured
Bright main idea.
In the following, being illustrated to the modularization robot of the length that can adjust connecting rod of the invention.
Fig. 3 is the attached drawing of the state of the length of the connecting rod for the modularization robot that the embodiment of the present invention is shortened in display, Fig. 4
The attached drawing of the state of the length of the connecting rod of the modularization robot of the embodiment of the present invention is elongated for display, Fig. 5 is that display combines
The attached drawing of the method for the first connecting rod and second connecting rod of the modularization robot of the embodiment of the present invention.
Referring to Fig. 3 to Fig. 5, the modularization robot of the length that can adjust connecting rod of the embodiment of the present invention includes: the
One connecting rod 10 (Link), second connecting rod 20 and fixed part 30.Lower mask body is illustrated each constituent element.
The modularization robot of the embodiment of the present invention is expanding or shrinking the working space of modularization robot execution
In the case of, it is executed by the length effectively respective modules robot of the connecting rod of the constituent element of adjustment module robot
The change of working space.The length of connecting rod is according to the first connecting rod 10 of the modularization robot for being bonded the embodiment of the present invention
It is adjusted with the method for second connecting rod 20.
First connecting rod 10 and second connecting rod 20 are formed as set length.
The shape of first connecting rod 10 and second connecting rod 20 with set length is the hollow circle penetrated through with two sides
Cylinder.But it is not limited to cylinder, also can be polygon cylinder.Also, first connecting rod 10 and second with set length connect
Bar 20 is cylinder or polygon cylinder with the open groove of either side in two sides.Also, first with set length connects
Bar 10 and second connecting rod 20 also can not open for two sides, and internal empty hollow cylinder or polygon cylinder.
Multiple cap nuts, which are formed with, in the side of first connecting rod 10 attacks 13 (tap).Cap nut attack on 13 be combined with it is following
The bolt (bolt) of an example of the fixed part of explanation.Cap nut attacks 13 and refers to hole (hole) or recessed for bolt insertion and fixed
Slot.
Multiple slots 23 (slot) are formed in the side of second connecting rod 20.Slot 23 refers to the length side by second connecting rod
The hole (hole) long and narrow to formation.An example i.e. bolt of fixed part described below is inserted on slot 23.
The multiple cap nuts for being respectively formed in the side of first connecting rod 10 and second connecting rod 20 attack 13 with slot 23 by with the
The length direction of one connecting rod 10 and second connecting rod 20 is formed at right angle orientation.
Fig. 5 (a) is that the cap nut of the first connecting rod 10 for the modularization robot that display is formed in the embodiment of the present invention is attacked
13 attached drawing, Fig. 5 (b) are the slot 23 of the second connecting rod 20 for the modularization robot that display is formed in the embodiment of the present invention
Attached drawing.
Be formed with cap nut in the first connecting rod 10 of Fig. 5 (a) and attack 13, insertion fixed part an example, that is, bolt and fixation
In the case of, as the slot 23 of second connecting rod 20 for being formed in Fig. 5 (b), slot 23 is also capable of forming in first connecting rod.Scheming
5 (b) second connecting rod 20 is formed with slot 23, but in the case where being inserted into an example, that is, bolt of fixed part and fix, with formation
As the cap nut of the first connecting rod 10 of Fig. 5 (a) attacks 13, cap nut has also been capable of forming in second connecting rod and has attacked 13.Also,
First connecting rod 10 and second connecting rod 20 can be mixed to form cap nut and attack 13 and slot 23.
The case where be combineding with each other for first connecting rod 10 and second connecting rod 20, is formed with screw in the side of first connecting rod 10
Cap attacks 13, is formed with slot 23 in the side of second connecting rod 20.In contrast, slot is formed in the side of first connecting rod 10
23, cap nut, which is formed with, in the side of second connecting rod 20 attacks 13.Also, it is formed in the side of first connecting rod 10 and second connecting rod 20
Multiple holes 13,23 be identical shape.
Being formed in multiple cap nuts of the side of first connecting rod 10, to attack 13 multiple with the side that is formed in second connecting rod 20
Slot 23 is configured by certain spacing respectively, can also be configured by uncertain spacing.
The multiple cap nuts for being formed in the side of first connecting rod 10 attack 13 and be formed in second connecting rod 20 side it is more
At least any one is inserted into fixed part 30 described below in a slot 23.
Fig. 5 (c) is the first connecting rod 10 and second connecting rod 20 for the modularization robot that display combines the embodiment of the present invention
State attached drawing.The relationship be combineding with each other to first connecting rod 10 with second connecting rod 20 is explained as follows.
First connecting rod 10 be combined with each other with second connecting rod 20.Specifically, second connecting rod 20 is inserted into the side of first connecting rod 10
Side and slide.In contrast, the side of second connecting rod 20 is inserted into the side of first connecting rod 10 and is slided.
Specifically, the case where being inserted into second connecting rod 20 for first connecting rod 10, first connecting rod 10 and second connecting rod 20 are tool
The case where hollow cylinder for having two sides to penetrate through, the diameter of first connecting rod 10 are less than the diameter of second connecting rod 20.On the contrary,
In the case that two connecting rods 20 are inserted into first connecting rod 10, the diameter of second connecting rod 20 is less than the diameter of first connecting rod 10.
First connecting rod 10 is inserted into second connecting rod 20, and second connecting rod 20 is inserted into first connecting rod 10, as a result, first connecting rod 10 and the
Two connecting rods 20 are formed as mutual corresponding shape.Specifically, the case where first connecting rod is cylinder, second connecting rod is also cylinder, the
The case where one connecting rod is four square tube, second connecting rod is also four square tubes.But it be combined with each other in first connecting rod 10 and second connecting rod 20,
And by fixed part 30 described below it is fixed in the case where, it is mutually different that first connecting rod 10 and second connecting rod 20, which are capable of forming,
Shape.
Fig. 6 is the first connecting rod for the modularization robot that display is formed in the embodiment of the present invention and the groove of second connecting rod
Or the attached drawing of protruding portion.
Referring to Fig. 6, fluted or protruding portion is respectively formed in first connecting rod 10 and second connecting rod 20.
Fig. 6 (a) is that display is formed in the attached of the protruding portion 15 of first connecting rod 10 and the groove 25 for being formed in second connecting rod 20
Figure.Specifically, the case where being slided for the side of the side insertion second connecting rod 20 of connecting rod 10, in the outside of first connecting rod 10
Side is formed with the protruding portion 15 of certain length with the length direction of first connecting rod 10, second connecting rod 20 inner side surface with
The length direction of two connecting rods 20 is formed with the groove 25 of certain length.In the protruding portion 15 that the outer lateral side of first connecting rod 10 is formed
Insertion is formed in the groove 25 in terms of the inside of second connecting rod 20.The groove 25 for being formed in the inner side surface of second connecting rod 20 plays
Guidance is so that be formed in the effect of the sliding of protruding portion 15 of the outer lateral side of first connecting rod 10, and playing prevents first connecting rod 10 from existing
The effect rotated in second connecting rod 20.
Fig. 6 (b) is that display is formed in the attached of the groove 17 of first connecting rod 10 and the protruding portion 27 for being formed in second connecting rod 20
Figure.It is formed with the length direction of first connecting rod 10 groove 17 of certain length in the outer lateral side of first connecting rod 10, second
The inner side surface of connecting rod 20 is formed with the protruding portion 27 of certain length with the length direction of second connecting rod 20.It is formed in second connecting rod
The protruding portion 27 of 20 inner side surface is inserted into the groove 17 in terms of the outside for being formed in first connecting rod 10.It is formed in first connecting rod 10
The protruding portion 27 that plays the role of in terms of guidance is formed in the inside of second connecting rod 20 of groove 17 of outer lateral side slide, and rise
To the effect for preventing first connecting rod 10 from rotating in second connecting rod 20.
Referring to Fig. 6 (c), be formed in the protruding portion 15-1 of the outer lateral side of the first connecting rod 10 be it is T-shaped, be formed in
The groove 25-1 of the inner side surface of second connecting rod 20 is T-shaped.Also, it is formed in the groove of the outer lateral side of first connecting rod (not
Diagram) be it is T-shaped, it is T-shaped that it is (not shown), which to be formed in the protruding portion in terms of the inside of second connecting rod,.
Fixed the combined first connecting rod 10 of the fixed part 30 of the modularization robot of the embodiment of the present invention and second connects
Bar 20.Fixed part 30 includes more than one in the embodiment of the present invention modularization robot.
The fixed part 30 of the modularization robot of the embodiment of the present invention is the combination tools such as spiral shell peg or pin.In fixed part 30
13 and slot 23 are attacked to be inserted into the cap nut for the side for being formed in first connecting rod 10 and second connecting rod 20, and fix first connecting rod
In the case that 10 with the structure of second connecting rod 20, it is able to use various devices.
The multiple cap nuts for the side that the insertion of more than one fixed part 30 is formed in first connecting rod 10 attack 13 be formed in the
At least one in multiple slots 23 of the side of two connecting rods 20 and fix.
Fig. 5 (d) is the first connecting rod 10 and second connecting rod for the modularization robot that display is combined with the embodiment of the present invention
20, it is inserted into the attached drawing of the state of fixed part.Below to the first connecting rod 10 and second connecting rod of secure bond using fixed part 30
20 method is specifically described.
It includes that the first cap nut attacks 13 that the multiple cap nuts for being formed in the side of first connecting rod 10, which attack 13, is formed in the second company
Multiple slots 23 of the side of bar 20 include the first slot 23.The one of second connecting rod 20 is inserted into for the side of first connecting rod 10
The case where side, the first cap nut for being formed in the aspect of first connecting rod 10 attack the first of 13 and the side for being formed in second connecting rod 20
Slot 23 be overlapped, by the fixed parts such as spiral shell peg or pin 30 be inserted into the first cap nut attack 13 and first slot 23 and fix the first company
Bar 10 and second connecting rod 20.
The modularization robot of the embodiment of the present invention adjusts the knot of the first connecting rod 10 and second connecting rod 20 that be combined with each other
The length of conjunction, thus, adjust the entire length of the connecting rod for the modularization robot that user requires.Specifically, it is formed in the first company
Multiple cap nuts of the side of bar 10 attack any of 13 cap nuts and attack 13 according to the length direction being formed in by second connecting rod 20
Any of multiple slots 23 of side of second connecting rod 20 of configuration slot 23 adjusts combined first connecting rod 10 as a result,
And the length of second connecting rod 20.
Referring again to Fig. 3 and Fig. 4, the first connecting rod 10 and second connecting rod 20 of the modularization robot of the embodiment of the present invention
It is configured between executor module 40-1,40-2.The first connecting rod 10 and second being configured between executor module 40-1,40-2
The length of the combination of connecting rod 20 adjusts the length of combined first connecting rod 10 and second connecting rod 20.Fig. 3 is to be inserted into the second company
The length of the first connecting rod 10 of bar 20 is identical as the length of second connecting rod 20, in conjunction with first connecting rod 10 and second connecting rod 20
The length situation identical as the length of second connecting rod 20.Fig. 4 is only by a part insertion second in the length of first connecting rod 10
Connecting rod 20 and fixed situation, as a result, by the length 1 in the length for being not inserted into first connecting rod 10 than the of combination shown in Fig. 3
One connecting rod 10 situation long with the length of second connecting rod 20.
User adjusts the aspect that will be formed in the first connecting rod 10 of modularization robot of the embodiment of the present invention as a result,
Multiple cap nuts attack any of 13 cap nuts attack 13 be fixed on by second connecting rod 20 length direction configuration second connecting rod 20
Any of multiple slots 23 slot 23 position, thus, adjust the length of combined first connecting rod 10 and second connecting rod 20
Degree.
Manufacture work of the modularization robot of the length that connecting rod can be adjusted of the embodiment of the present invention for change product
The case where skill, user is directly corresponding and changes robot shape, and thereby, it is possible to carry out the correspondence of the variation of operating environment.
Also, the case where working space for expanding or shrinking, in the feelings for being manufactured without its corresponding other modularization robot
Under condition, adjusts the length of connecting rod and effectively correspond to the change of working space.Also, even if user changes manufacturing process, also can
It is corresponding immediately, without manufacturing according to connecting rod, the time and expense saved and consumed when manufacturing product can be crossed as a result,.With
Family by with operational characteristic it is matched in a manner of and adjust the performances such as operating speed, payload.For executing the operation of same area
The case where, the connecting rod of robot is shorter, it more can be reduced the power of mobile robot itself self weight, thereby, it is possible to improve payload,
And increase operating speed.
Feature, structure, the effect etc. that sum up embodiment illustrates are contained at least one embodiment of the present invention, it is not necessary to
It is defined in one embodiment.Moreover, the feature illustrated in each embodiment, structure, effect etc. pass through field belonging to embodiment
Those of ordinary skill other embodiments also can be combined or deformation implementation.Therefore, relevant with deformation to the combination
Content should be explained with being contained in the scope of the present invention.
Also, it is to sum up illustrated centered on embodiment, but it is only illustrated, and the non-limiting present invention, the present invention
Those of ordinary skill in the art are able to carry out and above-mentioned do not illustrate in the range of not departing from the substantive characteristics of the present embodiment
Various modifications and application.That is, each constituent element for being specifically shown in embodiment is able to carry out deformation and implements.Also, it should
Deformation is explained to the relevant difference of application with being contained in the scope of the present invention as defined in scope of the claims.
Claims (5)
1. a kind of modularization robot, which is characterized in that
Include:
First connecting rod is formed as certain length；
Second connecting rod in conjunction with the first connecting rod and is formed as certain length；And
More than one fixed part, it is fixed in conjunction with the first connecting rod and the second connecting rod,
Multiple cap nuts are formed in the side of the first connecting rod to attack,
Multiple slots are formed in the side of the second connecting rod,
The side of the first connecting rod is inserted into the side of the second connecting rod and slides,
One above fixed part be inserted into the multiple slot at least any one, and be fixed on the multiple cap nut and attack
Any of,
Cap nut any of is attacked according to the multiple cap nut of the first connecting rod attack be configured at by the second connecting rod
Any of multiple slots of second connecting rod position of slot of length direction configuration and adjust in conjunction with described first
The length of connecting rod and the second connecting rod.
2. modularization robot according to claim 1, which is characterized in that
It is formed with by the length direction of the first connecting rod protruding portion of certain length in the outer lateral side of the first connecting rod,
The groove of certain length is formed with by the length direction of the second connecting rod in the inner side surface of the second connecting rod and is inserted
Enter the protruding portion.
3. modularization robot according to claim 1, which is characterized in that
It is formed with by the length direction of the first connecting rod groove of certain length in the outer lateral side of the first connecting rod,
The second connecting rod inner side surface by the length direction of the second connecting rod be formed with certain length protruding portion and
It is inserted into the groove.
4. modularization robot according to claim 2 or 3, which is characterized in that
The protruding portion is T-shaped with the groove.
5. modularization robot according to claim 1, which is characterized in that
Be formed in the side of the first connecting rod the multiple cap nut attack and be formed in the second connecting rod side institute
Multiple slots are stated to configure by certain spacing respectively.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR20170138553 | 2017-10-24 | ||
| KR10-2017-0138553 | 2017-10-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109693229A true CN109693229A (en) | 2019-04-30 |
Family
ID=66229694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810890037.4A Pending CN109693229A (en) | 2017-10-24 | 2018-08-07 | The modularization robot of the length of connecting rod can be adjusted |
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| Country | Link |
|---|---|
| CN (1) | CN109693229A (en) |
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| CN111331630A (en) * | 2020-03-31 | 2020-06-26 | 电子科技大学中山学院 | Pneumatic control type distance-adjustable telescopic mechanism for mechanical arm |
| CN111347460A (en) * | 2020-03-31 | 2020-06-30 | 电子科技大学中山学院 | Mechanical arm |
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