WO2018161201A1 - Positioning device for forming hole in processing of joint of robot - Google Patents

Positioning device for forming hole in processing of joint of robot Download PDF

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Publication number
WO2018161201A1
WO2018161201A1 PCT/CN2017/075680 CN2017075680W WO2018161201A1 WO 2018161201 A1 WO2018161201 A1 WO 2018161201A1 CN 2017075680 W CN2017075680 W CN 2017075680W WO 2018161201 A1 WO2018161201 A1 WO 2018161201A1
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Prior art keywords
fixed
positioning device
rotating shaft
robot
angle measurement
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PCT/CN2017/075680
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French (fr)
Chinese (zh)
Inventor
肖丽芳
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肖丽芳
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Application filed by 肖丽芳 filed Critical 肖丽芳
Priority to PCT/CN2017/075680 priority Critical patent/WO2018161201A1/en
Publication of WO2018161201A1 publication Critical patent/WO2018161201A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B39/00—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines
    • B23B39/14—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines with special provision to enable the machine or the drilling or boring head to be moved into any desired position, e.g. with respect to immovable work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means

Definitions

  • the invention relates to an opening positioning device for robot joint machining.
  • a robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work. It is the product of advanced integrated cybernetics, mechatronics, computers, materials, and bionics. It has important applications in the fields of industry, medicine, agriculture, construction and even military. The concept of robots in the world has gradually come to a close. In general, people can accept the idea that robots are machines that rely on their own power and control to achieve various functions.
  • the United Nations Standards Organization has adopted the definition of robots by the American Robot Society: "a programmable and versatile manipulator; or a specialized system with computer-changeable and programmable actions for performing different tasks.
  • the actuator is a robot
  • the body generally adopts a space open chain link mechanism, and the motion pair (rotary pair or moving pair) is often called a joint, and the number of joints is usually the degree of freedom of the robot.
  • the robot actuators can be divided into Cartesian coordinates, cylindrical coordinates, polar coordinates and joint coordinates.
  • the relevant parts of the robot body are often referred to as the base, waist, and arm.
  • the driving device is a mechanism that drives the movement of the actuator, and the robot is driven by the power component according to a command signal from the control system. The action is performed. It inputs the electrical signal, and the output is the line and angular displacement.
  • the driving device used by the robot If electric drive devices, such as stepper motors, servo motors, etc., there are also hydraulic, pneumatic and other driving devices.
  • the detection device is to detect the movement and working conditions of the robot in real time, feedback to the control system according to needs, and compare with the setting information. After that, the actuator is adjusted to ensure that the movement of the robot meets the predetermined requirements.
  • the sensors used as the detection device can be roughly divided into two categories: one is an internal information sensor for detecting the internal condition of each part of the robot, such as each joint. Position, speed, acceleration, etc., and send the measured information as a feedback signal To the controller, a closed loop control is formed.
  • One type is an external information sensor for obtaining information about the robot's work object and the external environment, so that the robot's action can adapt to changes in the external situation, enabling it to achieve higher levels of automation, and even making the robot have some kind of "Feeling", to the intelligent development, such as visual, acoustic and other external sensors give information about the working object, the working environment, using this information to form a large feedback loop, which will greatly improve the working accuracy of the robot.
  • the control system one is centralized control, that is, the entire control of the robot is done by a microcomputer.
  • the other is distributed (level) control, that is, multiple microcomputers are used to share the control of the robot.
  • level control that is, multiple microcomputers are used to share the control of the robot.
  • the host is often responsible for system management, communication, and kinematics. And dynamics calculation, and send instruction information to the lower-level microcomputer; as the lower-level slave, each joint corresponds to a CPU, performs interpolation operation and servo control processing, realizes given motion, and feeds back information to the host.
  • the control mode of the robot can be divided into point control, continuous track control and force (torque) control.
  • An opening positioning device for robot joint machining is provided.
  • the utility model relates to an opening positioning device for robot joint processing, which mainly comprises: a measuring angle plate a, a measuring angle plate b, a shaft base, a bearing sleeve, a rotating shaft, a hollow drill bit, a spacer block, a fixing block, a hook rod,
  • the threaded sleeve, the threaded rod and the rotating handle are fixed by the axle pin between the measuring angle plate a and the measuring angle plate b;
  • the yoke plate a has two symmetric bolt slots therein, and the measuring angle A shaft base is fixed on one side of the plate a by bolts, and a bearing sleeve is built in the shaft base, and a rotating shaft is inserted through the bearing sleeve; the end of the rotating shaft is sleeved with a hollow drill bit.
  • the yoke plate b has two symmetrical bolt slots therein, and one side of the horn plate b is fixed with a block by bolts, and a fixed block is stuck on the block; the fixed block is penetrated by the hook rod A threaded sleeve is built in one end of the hook rod, and a threaded rod is screwed in the threaded sleeve, and one end of the threaded rod is buckled on the side of the fixed block, and the other end is provided with a rotating handle. Further, the yoke plate a and the yaw plate b are fixed with a damping ring at the pin pin.
  • the ends of the measuring angle plate a and the measuring angle plate b are provided with an angular index mark. Further, the outer side of the hook rod is provided with a length scale mark. Further, a rubber pad is adhered to the inner side surface of the fixing block and the inner side surface of the hook-shaped hook head. Further, the other end of the rotating shaft is clamped by the rotating shaft of the hand drill .
  • the use of the gusset a and the gusset b as the base member of the rotating shaft and the fixing block and the hook rod respectively realizes the fixing of the use component on the one hand and the optional clamp for the clamping component and the rotating component on the other hand.
  • the angle so that the angle and orientation of the hollow drill bit into the robot joint can be controlled.
  • FIG. 1 is an overall structural view of an opening positioning device for robot joint machining according to the present invention.
  • 2 is an exploded structural view of an opening positioning device for robot joint processing according to the present invention.
  • Embodiment An opening positioning device for robot joint machining, the main structure thereof is: a measuring angle plate a1, a measuring angle plate b2, a shaft base 3, a bearing sleeve 4, a rotating shaft 5, a hollow drill bit 6, and a spacer 7 , the fixing block 8, the hook rod 9, the threaded sleeve 10, the threaded rod 11, the rotating handle 12, the measuring angle plate a1, the measuring angle plate b2 are fixed by the axle pin; the measuring angle board There are two symmetrical bolt slots in the a1, and the shaft base 3 is fixed by bolts on the side of the angle plate a1.
  • the shaft base 3 has a bearing sleeve 4 therein, and the bearing sleeve 4 has a rotating shaft 5 therein; the rotating shaft 5
  • a hollow drill bit 6 is sleeved at the end.
  • the yoke plate b2 has two symmetrical bolt slots therein, and one side of the yaw plate b2 is fixed with a block 7 by bolts, and a fixed block 8 is stuck on the block 7; the fixed block 8 is hooked
  • the rod 9 is penetrated, and a threaded sleeve 10 is built in one end of the hook rod 9 .
  • the threaded rod 11 is screwed into the threaded sleeve 10 .
  • the threaded rod 11 is fastened at one end to the side of the fixed block 8 and the other end is provided with a rotating handle 12 .
  • the yoke plate a1 and the yaw plate b2 are fixed with a damping ring at the pin pin.
  • the ends of the measuring angle plate a1 and the measuring angle plate b2 are provided with an angular index mark.
  • the outer side of the hook rod 9 is provided with a length scale mark.
  • a rubber pad is attached to the inner side surface of the fixing block 8 and the inner side surface of the hook-shaped rod 9 hook.
  • the other end of the rotating shaft 5 is clamped by the rotating shaft of the hand drill.
  • the threaded rod 11 is screwed in the opposite direction by the rotating handle 12, so that the clamping space formed by the fixing block 8 and the hook rod 9 is relaxed (large); the relaxed lateral distance can be read by the length of the hook rod 9
  • the clamping space distance formed by the appropriate fixing block 8 and the hook rod 9 is selected, and the fixing block 8 and the hook rod 9 are looped on the robot joint, and then the handle is rotated.
  • the threaded rod 11 is screwed so that the clamping space formed by the fixing block 8 and the hook rod 9 is contracted (small), thereby clamping the device to the robot joint.
  • the angle between the angle plate a1 and the angle plate b2 is adjusted, and the specific clamping angle is according to the design and installation requirements of the electrician, and the specific angle parameter can pass through the angle plate a1.
  • An angular scale mark is provided on the end of the gusset b2 to indicate the reading.
  • a hollow drill bit 6 requiring an opening aperture size is mounted at one end of the rotating shaft 5, and is clamped at the other end of the rotating shaft 5 by the rotating shaft of the hand drill.
  • the hand drill can be used to open the hole at a fixed angle of the robot at a fixed angle of the joint, ensuring the purpose of installing the hole at one time.

Abstract

A positioning device for forming a hole in processing of a joint of a robot comprises an angle measurement plate a (1) and an angle measurement plate b (2), and the angle measurement plate a (1) and the angle measurement plate b (2) are fixed by a means of shaft pin. Two symmetrical bolt grooves are formed in the angle measurement plate a (1), a shaft base (3) is fixed to one side of the angle measurement plate a (1) by means of a bolt, a bearing sleeve (4) is built in the shaft base (3), and a rotating shaft (5) runs through the bearing sleeve (4). A hollow drill bit (6) is sleeved to the tail end of the rotating shaft (5). Two symmetrical bolt grooves are formed in the angle measurement plate b (2), a cushion block (7) is fixed to one side of the angle measurement plate b (2) by means of a bolt, and a fixing block (8) is clamped on the cushion block (7). By using the angle measurement plate a (1) and the angle measurement plate b (2) as base members of the rotating shaft (5) and the fixing block (8) respectively, used components are fixed on one hand; and on the other hand, selectable included angels are provided for clamping components and rotating components, and accordingly, angles and directions by which the hollow drill bit (6) drills into the joint of the robot can be controlled and selected.

Description

一种用于机器人关节加工的开孔定位装置Opening positioning device for robot joint processing 技术领域Technical field
本发明涉及一种用于机器人关节加工的开孔定位装置。The invention relates to an opening positioning device for robot joint machining.
背景技术Background technique
机器人(Robot)是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。它的任务是协助或取代人类工作的工作，例如生产业、建筑业，或是危险的工作。它是高级整合控制论、机械电子、计算机、材料和仿生学的产物。在工业、医学、农业、建筑业甚至军事等领域中均有重要用途。国际上对机器人的概念已经逐渐趋近一致。一般来说，人们都可以接受这种说法，即机器人是靠自身动力和控制能力来实现各种功能的一种机器。联合国标准化组织采纳了美国机器人协会给机器人下的定义：“一种可编程和多功能的操作机；或是为了执行不同的任务而具有可用电脑改变和可编程动作的专门系统。执行机构即机器人本体，其臂部一般采用空间开链连杆机构，其中的运动副(转动副或移动副)常称为关节，关节个数通常即为机器人的自由度数。根据关节配置型式和运动坐标形式的不同，机器人执行机构可分为直角坐标式、圆柱坐标式、极坐标式和关节坐标式等类型。出于拟人化的考虑，常将机器人本体的有关部位分别称为基座、腰部、臂部、腕部、手部(夹持器或末端执行器)和行走部(对于移动机器人)等。驱动装置，是驱使执行机构运动的机构，按照控制系统发出的指令信号，借助于动力元件使机器人进行动作。它输入的是电信号，输出的是线、角位移量。机器人使用的驱动装置主要是电力驱动装置，如步进电机、伺服电机等，此外也有采用液压、气动等驱动装置。检测装置，是实时检测机器人的运动及工作情况，根据需要反馈给控制系统，与设定信息进行比较后，对执行机构进行调整，以保证机器人的动作符合预定的要求。作为检测装置的传感器大致可以分为两类：一类是内部信息传感器，用于检测机器人各部分的内部状况，如各关节的位置、速度、加速度等，并将所测得的信息作为反馈信号送 至控制器，形成闭环控制。一类是外部信息传感器，用于获取有关机器人的作业对象及外界环境等方面的信息，以使机器人的动作能适应外界情况的变化，使之达到更高层次的自动化，甚至使机器人具有某种“感觉”，向智能化发展，例如视觉、声觉等外部传感器给出工作对象、工作环境的有关信息，利用这些信息构成一个大的反馈回路，从而将大大提高机器人的工作精度。控制系统，一种是集中式控制，即机器人的全部控制由一台微型计算机完成。另一种是分散(级)式控制，即采用多台微机来分担机器人的控制，如当采用上、下两级微机共同完成机器人的控制时，主机常用于负责系统的管理、通讯、运动学和动力学计算，并向下级微机发送指令信息；作为下级从机，各关节分别对应一个CPU，进行插补运算和伺服控制处理，实现给定的运动，并向主机反馈信息。根据作业任务要求的不同，机器人的控制方式又可分为点位控制、连续轨迹控制和力(力矩)控制。A robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work. It is the product of advanced integrated cybernetics, mechatronics, computers, materials, and bionics. It has important applications in the fields of industry, medicine, agriculture, construction and even military. The concept of robots in the world has gradually come to a close. In general, people can accept the idea that robots are machines that rely on their own power and control to achieve various functions. The United Nations Standards Organization has adopted the definition of robots by the American Robot Society: "a programmable and versatile manipulator; or a specialized system with computer-changeable and programmable actions for performing different tasks. The actuator is a robot The body generally adopts a space open chain link mechanism, and the motion pair (rotary pair or moving pair) is often called a joint, and the number of joints is usually the degree of freedom of the robot. According to the joint configuration type and the motion coordinate form Different, the robot actuators can be divided into Cartesian coordinates, cylindrical coordinates, polar coordinates and joint coordinates. For the purpose of anthropomorphism, the relevant parts of the robot body are often referred to as the base, waist, and arm. , wrist, hand (gripper or end effector) and walking (for mobile robots), etc. The driving device is a mechanism that drives the movement of the actuator, and the robot is driven by the power component according to a command signal from the control system. The action is performed. It inputs the electrical signal, and the output is the line and angular displacement. The driving device used by the robot If electric drive devices, such as stepper motors, servo motors, etc., there are also hydraulic, pneumatic and other driving devices. The detection device is to detect the movement and working conditions of the robot in real time, feedback to the control system according to needs, and compare with the setting information. After that, the actuator is adjusted to ensure that the movement of the robot meets the predetermined requirements. The sensors used as the detection device can be roughly divided into two categories: one is an internal information sensor for detecting the internal condition of each part of the robot, such as each joint. Position, speed, acceleration, etc., and send the measured information as a feedback signal To the controller, a closed loop control is formed. One type is an external information sensor for obtaining information about the robot's work object and the external environment, so that the robot's action can adapt to changes in the external situation, enabling it to achieve higher levels of automation, and even making the robot have some kind of "Feeling", to the intelligent development, such as visual, acoustic and other external sensors give information about the working object, the working environment, using this information to form a large feedback loop, which will greatly improve the working accuracy of the robot. The control system, one is centralized control, that is, the entire control of the robot is done by a microcomputer. The other is distributed (level) control, that is, multiple microcomputers are used to share the control of the robot. For example, when the upper and lower levels of microcomputers are used to complete the control of the robot, the host is often responsible for system management, communication, and kinematics. And dynamics calculation, and send instruction information to the lower-level microcomputer; as the lower-level slave, each joint corresponds to a CPU, performs interpolation operation and servo control processing, realizes given motion, and feeds back information to the host. According to different job requirements, the control mode of the robot can be divided into point control, continuous track control and force (torque) control.
技术问题technical problem
提供一种用于机器人关节加工的开孔定位装置。An opening positioning device for robot joint machining is provided.
问题的解决方案Problem solution
技术解决方案Technical solution
一种用于机器人关节加工的开孔定位装置，其主要构造有：量角板a、量角板b、轴基座、轴承套、转轴、空心钻头、垫块、固定块、钩形杆、螺纹套、螺纹杆、转柄，所述的量角板a、量角板b两者之间通过轴销相固定；所述的量角板a内开有两条对称的螺栓槽，量角板a一侧通过螺栓固定有轴基座，轴基座内置有轴承套，轴承套内贯通有转轴；所述的转轴末端套接有空心钻头。所述的量角板b内开有两条对称的螺栓槽，量角板b一侧通过螺栓固定有垫块，在垫块上卡有固定块；所述的固定块被钩形杆所贯穿，钩形杆一端内置有螺纹套，螺纹套内拧接有螺纹杆，螺纹杆一端末顶扣于固定块侧面，另一端末设有转柄。进一步地，所述的量角板a与量角板b两者轴销固定之处夹杂有阻尼环。进一步地，所述的量角板a、量角板b的末端均设有量角度刻度标识。进一步地，所述的钩形杆外侧面设有长度刻度标识。进一步地，所述的固定块内侧面、钩形杆钩头内侧面均粘贴有橡胶垫。进一步地，所述的转轴另一端末被手电钻的转动轴所夹持 。The utility model relates to an opening positioning device for robot joint processing, which mainly comprises: a measuring angle plate a, a measuring angle plate b, a shaft base, a bearing sleeve, a rotating shaft, a hollow drill bit, a spacer block, a fixing block, a hook rod, The threaded sleeve, the threaded rod and the rotating handle are fixed by the axle pin between the measuring angle plate a and the measuring angle plate b; the yoke plate a has two symmetric bolt slots therein, and the measuring angle A shaft base is fixed on one side of the plate a by bolts, and a bearing sleeve is built in the shaft base, and a rotating shaft is inserted through the bearing sleeve; the end of the rotating shaft is sleeved with a hollow drill bit. The yoke plate b has two symmetrical bolt slots therein, and one side of the horn plate b is fixed with a block by bolts, and a fixed block is stuck on the block; the fixed block is penetrated by the hook rod A threaded sleeve is built in one end of the hook rod, and a threaded rod is screwed in the threaded sleeve, and one end of the threaded rod is buckled on the side of the fixed block, and the other end is provided with a rotating handle. Further, the yoke plate a and the yaw plate b are fixed with a damping ring at the pin pin. Further, the ends of the measuring angle plate a and the measuring angle plate b are provided with an angular index mark. Further, the outer side of the hook rod is provided with a length scale mark. Further, a rubber pad is adhered to the inner side surface of the fixing block and the inner side surface of the hook-shaped hook head. Further, the other end of the rotating shaft is clamped by the rotating shaft of the hand drill .
发明的有益效果Advantageous effects of the invention
有益效果Beneficial effect
采用量角板a、量角板b分别作为转轴及固定块、钩形杆的基座件，实现了一方面固定了使用部件，另外一方面为夹持部件与转动部件提供了可选的夹角，从而实现了空心钻头钻入机器人关节的角度、方位可控可选。The use of the gusset a and the gusset b as the base member of the rotating shaft and the fixing block and the hook rod respectively realizes the fixing of the use component on the one hand and the optional clamp for the clamping component and the rotating component on the other hand. The angle, so that the angle and orientation of the hollow drill bit into the robot joint can be controlled.
对附图的简要说明Brief description of the drawing
附图说明DRAWINGS
图1为本发明一种用于机器人关节加工的开孔定位装置整体结构图。图2为本发明一种用于机器人关节加工的开孔定位装置爆炸结构图。图中1-量角板a，2-量角板b，3-轴基座，4-轴承套，5-转轴，6-空心钻头，7-垫块，8-固定块，9-钩形杆，10-螺纹套，11-螺纹杆，12-转柄。1 is an overall structural view of an opening positioning device for robot joint machining according to the present invention. 2 is an exploded structural view of an opening positioning device for robot joint processing according to the present invention. In the figure - 1 angular plate a, 2-angle gusset b, 3-axis pedestal, 4-bearing sleeve, 5-turn shaft, 6-hole drill, 7-pad, 8-fixed block, 9-hook Rod, 10-threaded sleeve, 11-threaded rod, 12-turn handle.
发明实施例Invention embodiment
本发明的实施方式Embodiments of the invention
下面结合附图1-2对本发明的具体实施方式做一个详细的说明。实施例：一种用于机器人关节加工的开孔定位装置，其主要构造有：量角板a1、量角板b2、轴基座3、轴承套4、转轴5、空心钻头6、垫块7、固定块8、钩形杆9、螺纹套10、螺纹杆11、转柄12，所述的量角板a1、量角板b2两者之间通过轴销相固定；所述的量角板a1内开有两条对称的螺栓槽，量角板a1一侧通过螺栓固定有轴基座3，轴基座3内置有轴承套4，轴承套4内贯通有转轴5；所述的转轴5末端套接有空心钻头6。所述的量角板b2内开有两条对称的螺栓槽，量角板b2一侧通过螺栓固定有垫块7，在垫块7上卡有固定块8；所述的固定块8被钩形杆9所贯穿，钩形杆9一端内置有螺纹套10，螺纹套10内拧接有螺纹杆11，螺纹杆11一端末顶扣于固定块8侧面，另一端末设有转柄12。所述的量角板a1与量角板b2两者轴销固定之处夹杂有阻尼环。所述的量角板a1、量角板b2的末端均设有量角度刻度标识。所述的钩形杆9外侧面设有长度刻度标识。所述的固定块8内侧面、钩形杆9钩头内侧面均粘贴有橡胶垫。所述的转轴5另一端末被手电钻的转动轴所夹持。本发明 工作过程是：通过转柄12反方面拧动螺纹杆11，使得固定块8、钩形杆9形成的夹持空间放松(变大)；放松的横向距离可以通过钩形杆9的长度标识读知，根据实际需要开孔的机器人关节位置，选择适当的固定块8、钩形杆9形成的夹持空间距离，将固定块8、钩形杆9环套于机器人关节上，再通过转柄12正方面拧动螺纹杆11，使得固定块8、钩形杆9形成的夹持空间紧缩(变小)，从而将本装置夹持于机器人关节上。完成上述的步骤后，调整量角板a1、量角板b2之间的夹角位置，具体的夹角度数根据电工设计安装要求来，并且这个具体的夹角参数可以通过量角板a1、量角板b2的末端均设有的量角度刻度标识读知。然后在转轴5一末端安装好需要开孔孔径大小的空心钻头6，在转轴5另一末端被手电钻的转动轴所夹持。启动手电钻即可在固定的机器人关节位置，在预先设置的倾斜角度上开孔，保证了一次性安装成孔的目的。以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。 A detailed description of the specific embodiments of the present invention will be made in conjunction with the accompanying drawings 1-2. Embodiment: An opening positioning device for robot joint machining, the main structure thereof is: a measuring angle plate a1, a measuring angle plate b2, a shaft base 3, a bearing sleeve 4, a rotating shaft 5, a hollow drill bit 6, and a spacer 7 , the fixing block 8, the hook rod 9, the threaded sleeve 10, the threaded rod 11, the rotating handle 12, the measuring angle plate a1, the measuring angle plate b2 are fixed by the axle pin; the measuring angle board There are two symmetrical bolt slots in the a1, and the shaft base 3 is fixed by bolts on the side of the angle plate a1. The shaft base 3 has a bearing sleeve 4 therein, and the bearing sleeve 4 has a rotating shaft 5 therein; the rotating shaft 5 A hollow drill bit 6 is sleeved at the end. The yoke plate b2 has two symmetrical bolt slots therein, and one side of the yaw plate b2 is fixed with a block 7 by bolts, and a fixed block 8 is stuck on the block 7; the fixed block 8 is hooked The rod 9 is penetrated, and a threaded sleeve 10 is built in one end of the hook rod 9 . The threaded rod 11 is screwed into the threaded sleeve 10 . The threaded rod 11 is fastened at one end to the side of the fixed block 8 and the other end is provided with a rotating handle 12 . The yoke plate a1 and the yaw plate b2 are fixed with a damping ring at the pin pin. The ends of the measuring angle plate a1 and the measuring angle plate b2 are provided with an angular index mark. The outer side of the hook rod 9 is provided with a length scale mark. A rubber pad is attached to the inner side surface of the fixing block 8 and the inner side surface of the hook-shaped rod 9 hook. The other end of the rotating shaft 5 is clamped by the rotating shaft of the hand drill. this invention The working process is: the threaded rod 11 is screwed in the opposite direction by the rotating handle 12, so that the clamping space formed by the fixing block 8 and the hook rod 9 is relaxed (large); the relaxed lateral distance can be read by the length of the hook rod 9 It is known that, according to the position of the robot joint that is actually required to be opened, the clamping space distance formed by the appropriate fixing block 8 and the hook rod 9 is selected, and the fixing block 8 and the hook rod 9 are looped on the robot joint, and then the handle is rotated. In the front side, the threaded rod 11 is screwed so that the clamping space formed by the fixing block 8 and the hook rod 9 is contracted (small), thereby clamping the device to the robot joint. After the above steps are completed, the angle between the angle plate a1 and the angle plate b2 is adjusted, and the specific clamping angle is according to the design and installation requirements of the electrician, and the specific angle parameter can pass through the angle plate a1. An angular scale mark is provided on the end of the gusset b2 to indicate the reading. Then, a hollow drill bit 6 requiring an opening aperture size is mounted at one end of the rotating shaft 5, and is clamped at the other end of the rotating shaft 5 by the rotating shaft of the hand drill. The hand drill can be used to open the hole at a fixed angle of the robot at a fixed angle of the joint, ensuring the purpose of installing the hole at one time. The basic principles, main features, and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, and that the present invention is only described in the foregoing description and the description of the present invention, without departing from the spirit and scope of the invention. Various changes and modifications are intended to be included within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.

Claims (6)

  1. 一种用于机器人关节加工的开孔定位装置，其主要构造有：量角板a(1)、量角板b(2)、轴基座(3)、轴承套(4)、转轴(5)、空心钻头(6)、垫块(7)、固定块(8)、钩形杆(9)、螺纹套(10)、螺纹杆(11)、转柄(12)，其特征在于：量角板a(1)、量角板b(2)两者之间通过轴销相固定；所述的量角板a(1)内开有两条对称的螺栓槽，量角板a(1)一侧通过螺栓固定有轴基座(3)，轴基座(3)内置有轴承套(4)，轴承套(4)内贯通有转轴(5)；所述的转轴(5)末端套接有空心钻头(6)。所述的量角板b(2)内开有两条对称的螺栓槽，量角板b(2)一侧通过螺栓固定有垫块(7)，在垫块(7)上卡有固定块(8)；所述的固定块(8)被钩形杆(9)所贯穿，钩形杆(9)一端内置有螺纹套(10)，螺纹套(10)内拧接有螺纹杆(11)，螺纹杆(11)一端末顶扣于固定块(8)侧面，另一端末设有转柄(12)。An opening positioning device for robot joint processing, the main structures thereof are: a measuring angle plate a (1), a measuring angle plate b (2), a shaft base (3), a bearing sleeve (4), a rotating shaft (5) ), a hollow drill bit (6), a spacer (7), a fixed block (8), a hook rod (9), a threaded sleeve (10), a threaded rod (11), a rotating handle (12), characterized in that: The gusset a (1) and the gusset b (2) are fixed by a shaft pin; the yoke plate a (1) has two symmetrical bolt slots, and the yaw plate a (1) The shaft base (3) is fixed by bolts on one side, the bearing base (4) is built in the shaft base (3), and the rotating shaft (5) is penetrated in the bearing sleeve (4); the end sleeve of the rotating shaft (5) A hollow drill bit (6) is attached. The yaw plate b(2) has two symmetrical bolt slots therein, and one side of the yaw plate b(2) is fixed with a block (7) by bolts, and a fixed block is stuck on the block (7). (8); the fixing block (8) is penetrated by the hook-shaped rod (9), a threaded sleeve (10) is built in one end of the hook-shaped rod (9), and a threaded rod is screwed in the threaded sleeve (10) (11) ), one end of the threaded rod (11) is fastened to the side of the fixed block (8), and the other end is provided with a rotating handle (12).
  2. 根据权利要求1所述的一种用于机器人关节加工的开孔定位装置，其特征在于所述的量角板a(1)与量角板b(2)两者轴销固定之处夹杂有阻尼环。The opening positioning device for robot joint machining according to claim 1, wherein the angle plate a (1) and the angle plate b (2) are pinned and fixed. Damping ring.
  3. 根据权利要求1所述的一种用于机器人关节加工的开孔定位装置，其特征在于所述的量角板a(1)、量角板b(2)的末端均设有量角度刻度标识。The opening positioning device for robot joint processing according to claim 1, wherein the ends of the angle plate a (1) and the angle plate b (2) are provided with an angular index mark. .
  4. 根据权利要求1所述的一种用于机器人关节加工的开孔定位装置，其特征在于所述的钩形杆(9)外侧面设有长度刻度标识。The opening positioning device for robot joint machining according to claim 1, characterized in that the outer side of the hook rod (9) is provided with a length scale mark.
  5. 根据权利要求1所述的一种用于机器人关节加工的开孔定位装置，其特征在于所述的固定块(8)内侧面、钩形杆(9)钩头内侧面均粘贴有橡胶垫。The opening positioning device for robot joint processing according to claim 1, characterized in that the inner side surface of the fixing block (8) and the inner side surface of the hook rod (9) are adhered with a rubber pad.
  6. 根据权利要求1所述的一种用于机器人关节加工的开孔定位装置，其特征在于所述的转轴(5)另一端末被手电钻的转动轴所夹持。 The opening positioning device for robot joint machining according to claim 1, characterized in that the other end of the rotating shaft (5) is clamped by the rotating shaft of the hand drill.
PCT/CN2017/075680 2017-03-05 2017-03-05 Positioning device for forming hole in processing of joint of robot WO2018161201A1 (en)

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CN109759614A (en) * 2019-03-30 2019-05-17 杨冬霞 A kind of multi-angle adjustable drilling lathe

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US3843276A (en) * 1972-11-10 1974-10-22 M Williams Bowling ball drilling machines
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Publication number Priority date Publication date Assignee Title
CN109759614A (en) * 2019-03-30 2019-05-17 杨冬霞 A kind of multi-angle adjustable drilling lathe
CN109759614B (en) * 2019-03-30 2019-11-05 上海美客铝制品有限公司 A kind of multi-angle adjustable drilling lathe

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