CN209131641U - A kind of robot load deformation quantity detecting tool - Google Patents
A kind of robot load deformation quantity detecting tool Download PDFInfo
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- CN209131641U CN209131641U CN201821948915.5U CN201821948915U CN209131641U CN 209131641 U CN209131641 U CN 209131641U CN 201821948915 U CN201821948915 U CN 201821948915U CN 209131641 U CN209131641 U CN 209131641U
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- link block
- bridge joint
- deformation quantity
- connecting shaft
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Abstract
The utility model discloses a kind of robots to load deformation quantity detecting tool, it is intended to solve the deficiency that present detecting tool cannot detect robot flange in each self-supported lower deformation quantity.The utility model includes head connecting shaft, link block, supporting block, bridge joint block and the distance measuring sensor being mounted on bridge joint block, link block includes link block A and head is arranged in connects the link block B of shaft end, link block one end is equipped with for the axis hole by head connecting shaft, the screw for clamping head connecting shaft is equipped with above axis hole, supporting block is connected between link block A and link block B, supporting block is connected to the one end of link block far from axis hole, bridging block includes bridge joint block B and bridge joint block A, and distance measuring sensor is mounted on link block B.Deformation quantity detecting tool is loaded by robot, can be very good to detect deformation quantity, meets design function under the conditions of the maximization of material use to reach so that robot flange is done corresponding reinforcement or be weakened.
Description
Technical field
The utility model relates to metering of solids deformation fields, more specifically, it relates to which a kind of robot loads shape
Variable detecting tool.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.
There is a large amount of axis joint, each axis joint is in addition to being responsible for transmission, it is also necessary to which load one is scheduled in industrial robot
Load, the load that different axis joint needs to face is different.Load is not often simple regular geometric body, is difficult to lead to
It crosses and is directly calculated.Robot flange is the joint of connecting shaft, by robot flange simulate it is corresponding load to
Measure the deformation to robot flange.
Chinese patent notification number CN201711099322.6, a kind of entitled deformation measuring device, this application discloses
A kind of deformation measuring device, including sequentially put laser, optical filter, object mounting rack, condenser lens, photodetector and
The geometric center of oscillograph, the laser, condenser lens and photodetector is kept on an axis, and principal plane is mutual
It is parallel, the photodetector and oscillograph electrical connection；The laser, object mounting rack, optical filter, condenser lens and light
Electric explorer is installed on the sliding rail of workbench；Installing tache is provided on the object mounting rack.The present invention realizes material
The measurement of transverse deformation.It does not need to paste measurement device on object under test when measuring object deformation, only passes through laser irradiation
With oscilloscope measurement, present invention measurement accuracy with higher can capture any small lateral change of test specimen generation
Shape.But the deformation quantity in transverse direction can only be detected, robot flange cannot be detected in each self-supported lower deformation quantity
Deficiency.
Utility model content
The utility model overcomes present detecting tool and cannot carry out to robot flange in each self-supported lower deformation quantity
The deficiency of detection provides a kind of robot load deformation quantity detecting tool, it can detect the deformation quantity of robot well,
Corresponding reinforce or weaken to meet design function under reaching the maximization of material use to be done to robot flange.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme:
A kind of robot load deformation quantity detecting tool, including head connecting shaft, the connection being sleeved in head connecting shaft
Block, the supporting block being fastenedly connected on link block, bridge joint block and the distance measuring sensor being mounted on bridge joint block, link block include
Link block A connects the link block B of shaft end with head is arranged in, and link block one end is equipped with for the axis by head connecting shaft
Hole, axis hole top are equipped with the screw for clamping head connecting shaft, supporting block are connected between link block A and link block B, support
Block is connected to the one end of link block far from axis hole, and bridge joint block includes the bridge joint block B being removably attachable on link block B and removable
The bridge joint block A being connected in supporting block unloaded, distance measuring sensor are mounted in one side of the link block B far from link block A.
It is in order to which the load of dummy robot's flange causes corresponding axis joint that robot, which loads deformation quantity detecting tool,
Deformation quantity.Head connecting shaft has very strong rigidity, avoids its deformation that error is caused to cause error.In use, by head
Connect axis connection robot flange.Head connecting shaft extends the center of robot flange in a z-direction.Link block suspension is fixed
In head connecting shaft, so that center of gravity be extended to the direction y.Supporting block abutting is fixed between two link blocks, and solid with screw
It is fixed.Supporting block and link block extend center of gravity in y-direction.Bridge joint block is mounted on supporting block, on link block, and bridge joint block is in length
Bar shaped, longest edge are vertical with link block longest edge and head connecting shaft.The work of supporting block, bridge joint block and head connecting shaft
The center of gravity loaded for quantitative dummy robot.Supporting block and bridge joint block are strip, center of gravity can approximate simulation be phase
The vertical direction of the xyz answered spatially.It can realize that detecting tool simulates really by exchanging supporting block or bridge joint block
The position of centre of gravity of load.After simulating the position of centre of gravity of real load, pass through the ranging being mounted on link block B lateral surface
Sensor can detect the offset distance of distance measuring sensor, and here it is corresponding robots to load bring deformation quantity.It will survey
It is the distance in order to make distance measuring sensor apart from robot flange as far as possible away from the lateral surface that sensor is mounted on link block B
It is remote enough, by the enough obvious of deformation quantity amplification.Deformation quantity detecting tool is loaded by robot, can be very good to detect machine
The deformation quantity of device people, to do corresponding reinforcement to robot flange or weaken to reach the maximization of material use.
Preferably, link block A adjustable position is fixed on head connecting shaft one end and link block far from link block B
Between B.Link block A adjustable position, the center of gravity that detecting tool is simulated can deviate in y-direction, have bigger
Wide usage.
Preferably, supporting block includes interior piece and two are connected to the support sleeve at interior piece of both ends, support sleeve can be sliding on block inside
It is dynamic, connecting rod is hingedly connected between two support sleeves, support sleeve is equipped with the slot vertical with head connecting shaft axial direction, even
The end of extension bar is hingedly connected in slot.The support sleeve of supporting block can slide on block inside, and interior piece is solid, two supports
Set is limited by connecting rod, by pulling support sleeve that can elongate supporting block under the premise of not changing supporting block center of gravity.It can
The supporting block drawn high can be adapted to different location of the link block A in head connecting shaft.
Preferably, link block B is equipped with the limit plate of protrusion far from the one side of link block A, bridge joint block B setting is being limited
Below plate and it is bonded limit plate.The installation of limited block auxiliary bridge joint block B, bridge joint block B alignment limited block have good position essence
Degree, thus junior range sensor measurement deformation quantity.
Preferably, bridge joint block includes thin portion and thickness portion, the thin portion of bridge joint block A connects supporting block, bridges the thin portion of block B
It connects on link block B, thick portion is far from supporting block.The center of gravity for bridging block is concentrated in the thick part, and quantitative extension simulation is in the x direction
Center of gravity.
Preferably, bridge joint block is equipped with installation position, the counterweight of regulating weight is placed on installation position.Counterweight can be used for adjusting
Weight is saved, changes its center of gravity and carrys out more approximate dummy robot's load.
Compared with prior art, the utility model has the beneficial effects that (1), which loads deformation quantity by robot, detects work
Dress, can be very good the deformation quantity for detecting robot, to do corresponding reinforcement to robot flange or weaken to reach
Meet design function under the conditions of the maximization of material use；(2) link block A adjustable position, bridge joint block can be changed by replacement
Weight can be adapted to different robot flanges.
Detailed description of the invention
Fig. 1 is the main view of the utility model；
Fig. 2 is the right view of the utility model；
Fig. 3 is the top view of the utility model；
Fig. 4 is the schematic diagram of the supporting block of the opening in the utility model；
In figure: 1, head connecting shaft, 2, supporting block, 3, distance measuring sensor, 4, link block A, 5, link block B, 6, axis hole, 7,
Bridge block B, 8, bridge joint block A, 9, interior piece, 10, support sleeve, 11, connecting rod, 12, slot, 13, limit plate, 14, thin portion, 15, thickness
Portion, 16, installation position.
Specific embodiment
Below by specific embodiment, and in conjunction with attached drawing, the technical solution of the utility model work is further specifically retouched
It states:
Embodiment:
A kind of robot load deformation quantity detecting tool, as shown in Figure 1-3, include head connecting shaft 1, be sleeved on head company
Link block in spindle 1, the supporting block 2 being fastenedly connected on link block, bridge joint block and the ranging being mounted on bridge joint block pass
Sensor 3, link block include link block A4 and the link block B5 that 1 end of head connecting shaft is arranged in, and link block one end is equipped with and is used for
By the axis hole 6 of head connecting shaft 1, the screw for clamping head connecting shaft 1, link block A4 and connection are equipped with above axis hole 6
Supporting block 2 is connected between block B5, supporting block 2 is connected to the one end of link block far from axis hole 6, and bridge joint block includes removably connecting
The bridge joint block A8 for meeting the bridge joint block B7 on link block B5 and being removably attachable in supporting block 2, distance measuring sensor 3 are mounted on
In one side of the link block B5 far from link block A4.Link block A4 adjustable position is fixed on head connecting shaft 1 far from link block
Between one end and link block B5 of B5.As shown in figure 4, supporting block 2 includes that interior piece 9 and two are connected to the support sleeve at interior piece of 9 both ends
10, support sleeve 10 can slide on block 9 inside, be hingedly connected with connecting rod 11 between two support sleeves 10, support sleeve 10 be equipped with
The vertical slot 12 of 1 axial direction of head connecting shaft, the end of connecting rod 11 is hingedly connected in slot 12.Link block B5 is separate
The one side of link block A4 is equipped with the limit plate 13 of protrusion, and bridge joint block B7 is arranged below limit plate 13 and is bonded limit plate 13.
Bridge joint block includes thin portion 14 and thickness portion 15, and the thin portion 14 of bridge joint block A8 connects supporting block 2, and the thin portion 14 of bridge joint block B7, which connects, to be connected
It connects on block B5, thick portion 15 is far from supporting block 2.It bridges block and is equipped with installation position 16, the counterweight of regulating weight is placed on installation position 16.
It is in order to which the load of dummy robot's flange causes corresponding axis joint that robot, which loads deformation quantity detecting tool,
Deformation quantity.Head connecting shaft 1 has very strong rigidity, avoids its deformation that error is caused to cause error.In use, by head
Connecting shaft 1 connects robot flange.Head connecting shaft 1 extends the center of robot flange in a z-direction.Link block suspension is solid
It is scheduled in head connecting shaft 1, so that center of gravity be extended to the direction y.The abutting of supporting block 2 is fixed between two link blocks, and uses spiral shell
Nail is fixed.Supporting block 2 and link block extend center of gravity in y-direction.Bridge joint block is mounted on supporting block 2, on link block, bridge joint
Block is elongated, and longest edge is vertical with link block longest edge and head connecting shaft 1.Supporting block 2, bridge joint block and head connect
The center of gravity for acting on quantitative dummy robot's load of spindle 1.Supporting block 2 and bridge joint block are strip, and center of gravity can be close
Seemingly it is modeled as the vertical direction of corresponding xyz spatially.Detecting tool can be realized by exchanging supporting block 2 or bridge joint block
Simulate the position of centre of gravity of real load.After simulating the position of centre of gravity of real load, by being mounted on outside link block B5
Distance measuring sensor 3 on side can detect the offset distance of distance measuring sensor 3, and here it is corresponding robots to load bring
Deformation quantity.It is to make 3 distance of distance measuring sensor as far as possible by the lateral surface that distance measuring sensor 3 is mounted on link block B5
The distance of robot flange is remote enough, by the enough obvious of deformation quantity amplification.Deformation quantity detecting tool is loaded by robot, it can
To detect the deformation quantity of robot well, to do corresponding reinforcement to robot flange or weaken to reach material benefit
Maximization.Link block A4 adjustable position, the center of gravity that detecting tool is simulated can deviate in y-direction, tool
There is bigger wide usage.The support sleeve 10 of supporting block 2 can slide on block 9 inside, and two support sleeves 10 are limited by connecting rod 11
Position, by pulling support sleeve 10 that can elongate supporting block 2 under the premise of not changing 2 center of gravity of supporting block.The supporting block 2 that can be drawn high
Different location of the link block A4 in head connecting shaft 1 can be adapted to.The installation of limited block auxiliary bridge joint block B7, bridges B7 pairs of block
Neat limited block has good position precision, so that junior range sensor 3 measures deformation quantity.The center of gravity of bridge joint block concentrates on thickness
In portion 15, the center of gravity of quantitative extension simulation in the x direction.Counterweight can be used for regulating weight, and it is next more approximate to change its center of gravity
Dummy robot load.
Embodiment described above is a kind of preferable scheme of the utility model, is not made to the utility model any
Formal limitation, there are also other variations and modifications on the premise of not exceeding the technical scheme recorded in the claims.
Claims (6)
1. a kind of robot loads deformation quantity detecting tool, characterized in that including head connecting shaft, be sleeved in head connecting shaft
Link block, the supporting block being fastenedly connected on link block, bridge joint block and be mounted on bridge joint block on distance measuring sensor, connection
Block includes link block A and head is arranged in connects the link block B of shaft end, and link block one end is equipped with for passing through head connecting shaft
Axis hole, the screw for clamping head connecting shaft is equipped with above axis hole, is connected with supporting block between link block A and link block B,
Supporting block is connected to the one end of link block far from axis hole, bridge joint block include the bridge joint block B being removably attachable on link block B and
The bridge joint block A being removably attachable in supporting block, distance measuring sensor are mounted in one side of the link block B far from link block A.
2. a kind of robot according to claim 1 loads deformation quantity detecting tool, characterized in that link block A is adjustable
Position is fixed between the one end of head connecting shaft far from link block B and link block B.
3. a kind of robot according to claim 2 loads deformation quantity detecting tool, characterized in that supporting block includes interior piece
The support sleeve for being connected to interior piece of both ends with two, support sleeve can slide on block inside, be hingedly connected with connecting rod between two support sleeves,
Support sleeve is equipped with the slot vertical with head connecting shaft axial direction, and the end of connecting rod is hingedly connected in slot.
4. loading deformation quantity detecting tool to a kind of robot described in 3 any one according to claim 1, characterized in that even
The limit plate that block B is equipped with protrusion far from the one side of link block A is connect, bridge joint block B is arranged below limit plate and is bonded limit plate.
5. a kind of robot according to claim 4 loads deformation quantity detecting tool, characterized in that bridge joint block includes thin portion
With thick portion, the thin portion for bridging block A connects supporting block, and the thin portion of bridge joint block B connects on link block B, and thick portion is far from supporting block.
6. a kind of robot according to claim 1 loads deformation quantity detecting tool, characterized in that bridge joint block is equipped with peace
Position is filled, the counterweight of regulating weight is placed on installation position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821948915.5U CN209131641U (en) | 2018-11-23 | 2018-11-23 | A kind of robot load deformation quantity detecting tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821948915.5U CN209131641U (en) | 2018-11-23 | 2018-11-23 | A kind of robot load deformation quantity detecting tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209131641U true CN209131641U (en) | 2019-07-19 |
Family
ID=67246607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821948915.5U Active CN209131641U (en) | 2018-11-23 | 2018-11-23 | A kind of robot load deformation quantity detecting tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209131641U (en) |
-
2018
- 2018-11-23 CN CN201821948915.5U patent/CN209131641U/en active Active
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