CN113027142B

CN113027142B - Connecting device and construction robot

Info

Publication number: CN113027142B
Application number: CN201911350019.8A
Authority: CN
Inventors: 葛敏; 刘珏铭; 张强军
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2023-02-17
Anticipated expiration: 2039-12-24
Also published as: CN113027142A

Abstract

The invention relates to the technical field of construction machinery, and discloses a connecting device and a robot, wherein the connecting device is used for auxiliary connection of a rotating device and a robot body, the rotating device is rotationally connected with the robot body through a slewing bearing, the connecting device comprises a clamping groove mechanism and a clamping mechanism, the clamping groove mechanism is fixed on the robot body and is positioned on the side of the slewing bearing, the clamping groove mechanism comprises a clamping groove piece, and a clamping groove is arranged on the clamping groove piece; the clamping mechanism is fixed on the rotating device and comprises a clamping piece, and when the rotating device rotates to a preset position, the clamping piece can stretch into the clamping groove. The robot comprises the connecting device. The clamping piece and the clamping groove piece are matched to limit the rotating device, so that the rotating device is prevented from deflecting due to stress, and the stability of the rotating device is maintained. The stability of the rotating device can be maintained without replacing the slewing bearing with larger size or higher precision, and the manufacturing and maintenance cost of the whole robot is saved.

Description

Connecting device and construction robot

Technical Field

The invention relates to the technical field of construction machinery, in particular to a connecting device and a construction robot.

Background

Use slewing bearing on certain degree of freedom in the wallboard installation robot, the robot body that specifically is the robot is connected with rotary device through slewing bearing, and rotary device is when bearing the great and heavier article of size to drive the article and rotate. The position far away from the rotation center can give a larger torque to the slewing bearing after being stressed, and the object can have larger position change, so that the stability is poorer.

At present, the problem is mainly improved by increasing the diameter of the slewing bearing or improving the precision of the slewing bearing, but both methods increase the manufacturing cost of the slewing bearing, and increase the manufacturing and maintenance cost of the whole equipment.

Therefore, a connecting device and a construction robot are needed to solve the above technical problems.

Disclosure of Invention

The invention aims to provide a connecting device and a construction robot, which can limit a rotating device and maintain the stability of the rotating device.

In order to achieve the purpose, the invention adopts the following technical scheme:

in one aspect, a connection device is provided for assisting connection of a rotating device and a robot body, the rotating device and the robot body are rotatably connected through a slewing bearing, and the connection device includes:

the clamping groove mechanism is fixed on the robot body and positioned on the side of the slewing bearing, and comprises a clamping groove piece, and a clamping groove is formed in the clamping groove piece;

the clamping mechanism is fixed on the rotating device and comprises a clamping piece, and when the rotating device rotates to a preset position, the clamping piece can stretch into the clamping groove.

Preferably, the clamping mechanism further comprises an installation part, the installation part is fixed on the rotating device, and the clamping part is fixed on the installation part.

Preferably, the clamping member comprises a cam bearing follower, a bolt of the cam bearing follower is fixed on the mounting member, and a bearing of the cam bearing follower can move in the clamping groove.

Preferably, the joint spare include first connecting block with connect perpendicularly in the second connecting block of first connecting block, the free end of first connecting block is fixed in on the installed part, the second connecting block can be in the draw-in groove internal motion.

Preferably, chamfers are arranged on the inner side walls of the two ends of the clamping groove.

Preferably, the opening of the clamping groove is arranged towards the slewing bearing, and the surface of the clamping groove piece close to the slewing bearing is an arc surface; or the opening of the clamping groove is arranged back to the slewing bearing, and the surface of the clamping groove piece, which is far away from the slewing bearing, is an arc surface.

Preferably, the opening of the clamping groove faces the rotating device, a stop block is arranged on at least one inner side wall of the clamping groove, and the clamping piece can abut against the stop block.

Preferably, the clamping groove is an arc-shaped groove.

Preferably, the clamping groove mechanism further comprises a fixing part and an ejector block, the fixing part is fixed on the robot body, the clamping groove piece is arranged on the fixing part, the ejector block is arranged on the fixing part, an adjusting piece is arranged on the ejector block, and the adjusting piece can adjust the position of the clamping groove piece on the fixing part.

Preferably, a threaded hole is formed in the top block, the adjusting piece is a screw rod screwed in the threaded hole, one end of the screw rod abuts against the slot clamping piece, a waist-shaped hole is formed in the fixing piece, the slot clamping piece is fixed on the fixing piece through a bolt, and the position of the slot clamping piece relative to the fixing piece can be adjusted through adjusting the screw rod.

Preferably, the clamping groove mechanism further comprises a reinforcing rib, and the reinforcing rib is fixed on the robot body and the fixing piece.

In another aspect, a construction robot is provided, which includes a robot body and a rotating device, the rotating device is rotatably connected to the robot body through a slewing bearing, and the rotating device is also connected to the robot body through the above-mentioned connecting device.

The invention has the beneficial effects that: rotating device rotates and to make joint spare stretch into in the draw-in groove, and joint spare and draw-in groove spare cooperate and to carry on spacingly to rotating device, avoid the rotating device atress to take place to deflect to maintain rotating device's stability. The stability of the rotating device can be maintained without replacing the slewing bearing with larger size or higher precision, and the manufacturing and maintenance cost of the whole robot is saved.

Drawings

FIG. 1 is a first partial structural diagram of a construction robot provided by the present invention;

FIG. 2 is a schematic view of the structure of the connection device provided by the present invention;

FIG. 3 is a schematic structural diagram of a card slot mechanism provided by the present invention;

FIG. 4 is a schematic diagram of a part of the construction robot provided by the present invention;

FIG. 5 is a schematic diagram of a part of the construction robot provided by the present invention;

in the figure: 10. a robot body; 20. a rotating device; 30. a slewing bearing;

1. a card slot mechanism; 11. a slot member; 111. a card slot; 112. chamfering; 12. a fixing member; 13. a top block; 131. an adjustment member; 14. reinforcing ribs;

2. a clamping mechanism; 21. a clamping piece; 22. a mounting member; 23. and a reinforcing block.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the product of the present invention is conventionally placed in use, and are only used for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Example one

As shown in fig. 1, the present embodiment discloses a construction robot, which includes a rotating device 20, a robot body 10, a pivoting support 30, and a connecting device. The rotating device 20 is rotatably connected with the robot body 10 through a slewing bearing 30, and the two are also connected in an auxiliary way through a connecting device.

The rotary device 20 can give a large torque to the slewing bearing after being stressed at a position far away from the rotation center, the position at the edge of the rotary device 20 can be greatly changed, the stability of the rotary device 20 can be deteriorated, and the robot cannot work according to construction requirements. Therefore, a connection device needs to be provided between the rotating device 20 and the robot body 10 to solve the above technical problem.

As shown in fig. 2 and 3, the connecting device includes a card slot mechanism 1 and a card slot mechanism 2, the card slot mechanism 1 is fixed on the robot body 10 and is located at a side of the pivoting support 30, specifically, at a position far from the pivoting support 30. The clamping mechanism 2 is fixed on the rotating device 20 and is arranged corresponding to the clamping groove mechanism 1.

Draw-in groove mechanism 1 includes draw-in groove spare 11, is provided with draw-in groove 111 on the draw-in groove spare 11, and clamping mechanism 2 includes joint spare 21, when rotary device 20 rotates to preset position (generally indicate the mounted position of treating the installed part that rotary device 20 bore), makes joint spare 21 can stretch into in the draw-in groove, and joint spare 21 and draw-in groove spare 11 cooperate and can carry out spacingly to rotary device 20, avoids rotary device 20 atress to take place to deflect to maintain rotary device 20's stability. The stability of the rotating device 20 can be maintained without replacing the slewing bearing 30 with larger size or higher precision, and the manufacturing and maintenance cost of the whole robot is saved.

The robot is mainly used for installing wallboards, tiles or curtain wall glass and the like, a clamping jaw (also can be a sucking disc) is arranged on a rotating device 20, and after the rotating device 20 grabs the wallboards, as shown in fig. 4; the rotating device 20 drives the wall board to rotate relative to the robot body 10, and when the clamping mechanism 2 is close to the clamping mechanism 1, as shown in fig. 5; the rotating device 20 continues to rotate, so that when the rotating device 20 rotates to a preset position, the clamping piece 21 of the clamping mechanism 2 extends into the clamping groove 111, as shown in fig. 1, the position of the wallboard is adjusted in place at this time, and the wallboard is installed subsequently. Joint 21 and draw-in groove piece 11 cooperate and to carry on spacingly to rotary device 20, and the moment of torsion that the wallboard was applied to slewing bearing 30 can act on joint 21 and draw-in groove piece 11, makes the moment that slewing bearing 30 received reduce, makes rotary device 20 can not take place great skew, has maintained rotary device 20 and whole robot's stability, makes the position of wallboard can not take place great change, can guarantee the installation accuracy of wallboard.

As shown in fig. 2, optionally, the clamping mechanism 2 further includes a mounting member 22 and a reinforcing block 23, the mounting member 22 is fixed on the rotating device 20, the clamping member 21 is fixed on the mounting member 22, the mounting member 22 provides a mounting point for the clamping member 21, and furthermore, when the space between the rotating device 20 and the robot body 10 is large, the mounting member 22 can make the clamping member 21 close to the clamping groove member 11, so that the clamping member 21 can be better matched with the clamping groove member 11. Moreover, when the clip member 21 is damaged, only the clip member 21 needs to be replaced, and the entire clip mechanism 2 does not need to be replaced. The reinforcing block 23 is fixedly connected to the mounting member 22 and the rotating device 20, which can increase the mounting strength of the mounting member 22.

The clamping member 21 includes a cam bearing follower, and in the present embodiment, the clamping member 21 includes two cam bearing followers arranged at an interval. The bolt of the cam bearing follower is fixed to the mounting member 22 by a nut, and the bearing of the cam bearing follower is movable in the slot 111. The width of the slot 111 is 0.2mm larger than the diameter of the bearing of the cam bearing follower, so that the bearing can roll in the slot 111.

In this embodiment, the opening of the locking groove 111 is provided toward the slewing bearing 30, and the cam bearing follower is provided away from the slewing bearing 30, so that the cam bearing follower can be inserted into the locking groove 111 to limit the rotation device 20. Chamfers 112 are arranged on the inner side walls of the two ends of the clamping groove 111, and the chamfers 112 can guide the cam bearing follower to enable the cam bearing follower to enter the clamping groove 111. Preferably, in the present embodiment, a surface of the snap-in member 21 close to the pivoting support 30 is a plane, an axis of the snap groove 111 is a straight line, and a depth of the snap groove 111 is greater than a width of a bearing of the cam bearing follower, so that the bearing can move in the snap groove 111 all the time. In other embodiments, the surface of the clip member 21 close to the pivoting support 30 is a circular arc surface, which is a concave arc surface having the same arc as that of a circle having a radius equal to the line connecting the axes of the clip member 21 and the pivoting support 30.

In other embodiments, it is also possible that the opening of the catch groove 111 is arranged opposite to the pivot bearing 30, i.e. the opening of the catch groove 111 faces the side of the catch member 11 facing away from the pivot bearing 30. At this time, the surface of the clamping member 21 away from the pivoting support 30 may be a plane or an arc surface, and the arc surface is a convex arc surface. At this time, the snap-in member 21 is disposed toward the slewing bearing 30 so that the cam bearing follower can be inserted into the catching groove 111. Alternatively, the opening of the slot 111 may be disposed toward the rotating device 20, and the slot 111 may be an arc-shaped slot. A stopper is disposed on at least one inner sidewall of the engaging groove 111 (preferably, both inner sidewalls are disposed with stoppers in this embodiment). When the rotating device 20 is stressed, the clamping piece 21 can be abutted against the stopper, namely, the end face of the bearing of the cam bearing follower, which is close to the mounting piece 22, can be abutted against the inner wall face of the stopper.

Optionally, as shown in fig. 2 and fig. 3, the card slot mechanism 1 further includes a fixing member 12, a top block 13, and a reinforcing rib 14, the fixing member 12 is fixed to the robot body 10, the reinforcing rib 14 is fixed to the robot body 10 and the fixing member 12, and the reinforcing rib 14 can increase the connection strength between the fixing member 12 and the robot body 10. The slot member 11 is disposed on the fixing member 12, the top block 13 is disposed on the fixing member 12, and the adjusting member 131 is disposed on the top block 13, and the adjusting member 131 can adjust a position of the slot member 11 on the fixing member 12. Specifically, the fixing member 12 is provided with a kidney-shaped hole, and the slot member 11 is fixed to the fixing member 12 by a bolt passing through the kidney-shaped hole. The top block 13 is fixed at the end of the fixing part 12 through bolts or welding, the adjusting part 131 is a screw rod, a threaded hole is formed in the top block 13, the screw rod is screwed in the threaded hole, the clamping groove part 11 can move along the length direction of the waist-shaped hole through the adjusting screw rod, so that the clamping groove part 11 is adjusted, and the clamping groove 111 corresponds to the clamping groove part 21.

Example two

The embodiment discloses a construction robot, which comprises a rotating device, a robot body, a slewing bearing and a connecting device, wherein the rotating device is rotatably connected with the robot body through the slewing bearing. The structure of the robot in this embodiment is different from that in the first embodiment in that: the structure of the clamping piece and the clamping groove is different.

In this embodiment, the joint spare includes first connecting block and connects in the second connecting block of first connecting block perpendicularly, and on the free end of first connecting block was fixed in the installed part, the second connecting block can be in the draw-in groove internal motion.

In this embodiment, the opening of draw-in groove sets up towards slewing bearing, and joint spare slewing bearing setting dorsad can make the second connecting block stretch into in the draw-in groove to carry on spacingly to rotary device. The inner side walls at the two ends of the clamping groove are provided with chamfers, and the chamfers can guide the clamping piece to enable the clamping piece to enter the clamping groove. Preferably, in this embodiment, a surface of the clamping member close to the pivoting support is a plane, an axis of the clamping groove is a straight line, and a depth of the clamping groove is greater than a thickness of the second connecting block, so that the bearing can move in the clamping groove all the time. In other embodiments, the surface of the clamping member close to the slewing bearing is an arc surface which is a concave arc surface, and the radian of the arc surface is the same as that of a circle taking the axis connecting line of the clamping member and the slewing bearing as a radius.

In other embodiments, it is also possible for the opening of the clamping slot to be arranged opposite the pivot bearing, i.e. for the opening of the clamping slot to be directed towards the side of the clamping slot part remote from the pivot bearing. At the moment, the surface of the clamping piece, which is far away from the slewing bearing, can be a plane or an arc surface, and the annular surface is a convex arc surface. At this moment, the clamping piece is arranged towards the slewing bearing, so that the second connecting block can stretch into the clamping groove. The opening of the clamping groove is arranged towards the rotating device, and the clamping groove is an arc-shaped groove. Be provided with the dog on at least one inside wall of draw-in groove (preferably all be provided with the dog on two inside walls in this embodiment). When the rotating device is stressed, the two ends of the second connecting block can respectively abut against the two stop blocks.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A connecting device for enabling an auxiliary connection of a rotating device (20) to a robot body (10), said rotating device (20) being rotatably connected to the robot body (10) by means of a slewing bearing (30), characterized in that it comprises:

the clamping groove mechanism (1) is fixed on the robot body (10) and located on the side of the slewing bearing (30), the clamping groove mechanism (1) comprises a clamping groove piece (11), and a clamping groove (111) is arranged on the clamping groove piece (11);

clamping mechanism (2), it is fixed in on rotary device (20), clamping mechanism (2) include joint spare (21), work as when rotary device (20) rotate predetermines the position, joint spare (21) can stretch into in draw-in groove (111).

2. The connecting device according to claim 1, characterized in that the clamping mechanism (2) further comprises a mounting part (22), the mounting part (22) is fixed on the rotating device (20), and the clamping piece (21) is fixed on the mounting part (22).

3. A connection arrangement according to claim 2, characterized in that the snap-in element (21) comprises a cam bearing follower, which is bolted to the mounting element (22), the bearing of the cam bearing follower being movable in the snap-in slot (111).

4. The connecting device according to claim 2, characterized in that the snap-in element (21) comprises a first connecting block and a second connecting block connected perpendicularly to the first connecting block, the free end of the first connecting block being fixed to the mounting element (22), the second connecting block being movable within the slot (111).

5. The connecting device according to claim 1, wherein chamfers (112) are provided on inner side walls of both ends of the catching groove (111).

6. The connecting device according to claim 1, characterized in that the opening of the slot (111) is arranged towards the slewing bearing (30), and the surface of the slot member (11) close to the slewing bearing (30) is a circular arc surface; or the opening of the clamping groove (111) is arranged back to the slewing bearing (30), and the surface of the clamping groove piece (11) far away from the slewing bearing (30) is an arc surface.

7. The connecting device according to claim 1, characterized in that the opening of the slot (111) is arranged towards the rotating means (20), at least one inner side wall of the slot (111) is provided with a stop against which the snap-in element (21) can be pressed.

8. The connecting device according to claim 7, characterized in that the locking slot (111) is an arc-shaped slot.

9. The connecting device according to any one of claims 1 to 8, wherein the slot mechanism (1) further comprises a fixing member (12) and a top block (13), the fixing member (12) is fixed on the robot body (10), the slot member (11) is disposed on the fixing member (12), the top block (13) is disposed on the fixing member (12), and an adjusting member (131) is disposed on the top block (13), and the adjusting member (131) can adjust the position of the slot member (11) on the fixing member (12).

10. The connecting device according to claim 9, wherein the top block (13) is provided with a threaded hole, the adjusting member (131) is a threaded rod screwed into the threaded hole, one end of the threaded rod abuts against the slot member (11), the fixing member (12) is provided with a kidney-shaped hole, the slot member (11) is fixed on the fixing member (12) through a bolt, and the position of the slot member (11) relative to the fixing member (12) can be adjusted by adjusting the threaded rod.

11. The connecting device according to claim 9, wherein the slot mechanism (1) further comprises a reinforcing rib (14), and the reinforcing rib (14) is fixed on the robot body (10) and the fixing member (12).

12. Construction robot comprising a robot body (10) and a rotation device (20), said rotation device (20) being in rotational connection with the robot body (10) via a slewing bearing (30), characterized in that the rotation device (20) is additionally connected with the robot body (10) via a connection device according to any of claims 1-11.