WO2018170633A1

WO2018170633A1 - Movable joint for loading robot

Info

Publication number: WO2018170633A1
Application number: PCT/CN2017/077183
Authority: WO
Inventors: 肖丽芳
Original assignee: 深圳市方鹏科技有限公司
Priority date: 2017-03-18
Filing date: 2017-03-18
Publication date: 2018-09-27

Abstract

A movable joint for a loading robot, comprising a deformation plate (1), deformation slots (2), a nut latching groove a (3), a nut latching groove b (4), a U-shaped member fabrication hole a (5), a U-shaped member fabrication hole b (6), a high-strength-bolt hole (7), a high strength bolt (8), an instrument clamping groove (9), a U-shaped member (10), a left torsion block (11), and a right torsion block (12); the high-strength-bolt hole (7) is provided at the upper portion of the left torsion block (11) in the lateral direction, and the instrument clamping groove (9) is provided at the top of the left torsion block; the U-shaped member fabrication hole b (6) is provided at the lower portion of the right torsion block (12), and the nut latching groove b (4) is milled on a side of the U-shaped member fabrication hole b (6); the bottom of the left torsion block (11) and the bottom of the right torsion block (12) are integrated by fusing by means of the deformation plate (1), and the deformation slots (2) are respectively milled on each side of the middle portion of the deformation plate (1). The movable joint for a loading robot has a simple structure and is easy to assemble; the movable joint for a loading robot is wholly made of steel, ensuring that the service life thereof is consistent with the service life of a steel beam robot, detecting omnidirectional deformation throughout the entire process; furthermore, the movable joint for a loading robot reads, in a digital manner, a periodical loading deformation value by means of a clamping-type laser displacement measure instrument.

Description

Title of Invention: Active Joint of a Weight-Loaded Robot

Technical field

[0001] The present invention relates to a movable joint of a load-bearing robot.

Background technique

[0002] Chinese robotics experts divide the robot into two categories, namely industrial robots and special robots. The so-called industrial robot is a multi-joint robot or a multi-degree-of-freedom robot for the industrial field. Special robots are various advanced robots other than industrial robots used for non-manufacturing and serving humans, including: service robots, underwater robots, entertainment robots, military robots, agricultural robots, robotic machines, etc. In special robots, some branches develop rapidly and have independent trends, such as service robots, underwater robots, military robots, and micro-manipulators. International robotics scholars have divided robots into two categories based on the application environment: industrial robots in the manufacturing environment and services and humanoid robots in the non-manufacturing environment, which is consistent with the Chinese classification. The aerial robot is also called the unmanned machine. In the military robot family, the drone is the most active research activity, the largest technological advancement, the most research and procurement investment, and the most practical experience. For more than 80 years, the development of the world's drones has basically been driven by the United States. Regardless of the level of technology or the type and number of drones, the United States ranks first in the world.

technical problem

[0003] An active joint of a load-bearing robot is provided.

Problem solution

Technical solution

[0004] The present invention solves the above technical problems and adopts the following technical solutions: A movable joint of a load-bearing robot, the main structures thereof are: a deformation plate, a deformation joint, a nut card slot, and a nut card slot. Process hole a, U-shaped process hole b, high-strength bolt hole, high-strength bolt, instrument clamping groove, U-shaped piece, left twist block, right twist block, the upper horizontal position of the left twist block is high The bolt hole of the strength, the instrument clamping groove is arranged at the top, the U-shaped process hole a is arranged at the lower part of the left twist block, and the nut slot a is milled on the side of the U-shaped process hole a; the horizontal position of the upper part of the right twist block 幵High-strength bolt holes, instrument clamping groove at the top, lower right block There is a U-shaped process hole b, and the U-shaped process hole b is milled with a nut slot b on the side. The bottom of the left twisting block and the right twisting block are integrally formed by a deformation plate, and each of the two sides of the deformation plate is milled with a deformation slit; the deformation seam depth is one-seventh of the thickness of the deformation plate to Between one thirteenth, the length is between one-twelfth and one-ninth of the width of the deformation plate. A high-strength bolt is inserted through the high-strength bolt hole provided in the upper portion of the right twist block, and the screw end of the high-strength bolt penetrates into the high-strength bolt hole of the left twist block and is tightened with the nut disposed therein. After the U-shaped member is sleeved into the U-shaped process hole a, the two end points of the U-shaped member are welded to the force-receiving ribs of the steel body abutment, and are poured and poured in the setting liquid. After the U-shaped member is sleeved into the U-shaped process hole b, the two end points of the U-shaped member are welded to the main rib of the steel beam of the steel body beam, and are poured and poured in the setting liquid. The steel body abutment setting liquid is poured, and a screw with a nut is embedded, and the nut part is hooked into the nut card slot a; the steel body steel beam setting liquid is poured and a snail is embedded. The screw of the cap and the nut portion are hooked into the nut slot b. Further, the U-shaped member is provided with two hex nuts in a lateral position and is fixed by electric welding. Further, the U-shaped process hole a and the U-shaped process hole b are each hex nut groove milled on both sides. Further, the instrument clamping groove clamps the laser displacement measuring instrument. Further, the surface of the deformation joint is engraved with a scale, and the unit of measurement is accurate to the silk meter. Further, the high-strength bolt can be selected from the four types of the steel beam load of 8.8, 9.8, 10.9, and 12.9.

Beneficial effect

[0005] The structure is simple and easy to install; the product adopts all steel products to ensure the same cycle life as the steel beam robot, and can monitor the deformation in all directions; further, by clamping the laser displacement measuring instrument, it can be digitized Read periodic negative weight changes.

Brief description of the drawing

DRAWINGS

1 is an overall structural view of a movable joint of a load-bearing robot according to the present invention. 2 is a structural diagram of a left twisted block of a movable joint of a load-bearing robot according to the present invention. 3 is a structural view of an integral (inverted) structure of a movable joint of a load-bearing robot according to the present invention. 4 is a structural view of a movable joint U-shaped member of a load-bearing robot according to the present invention. In the figure, 1-shaped deformation plate, 2-shaped deformation joint, 3-nut card groove a, 4-nut card groove b, 5-U-shaped process hole a, 6-U-shaped process hole b, 7-high strength Bolt hole, 8- high strength bolt, 9-instrument clamping groove, 10-U-shaped piece, 11-left twisting block, 12- Right twist block.

Embodiments of the invention

The specific embodiments of the present invention will be described in detail below with reference to FIGS. Embodiments: A movable joint of a load-bearing robot, the main structures thereof are: a deformation plate 1, a deformation slit 2, a nut card slot a3, a nut card slot b4, a U-shaped process hole a5, a U-shaped process hole b6, a high-strength bolt hole 7, a high-strength bolt 8, an instrument clamping groove 9, a U-shaped member 10, a left twisting block 11, and a right twisting block 12, wherein the left twisting block 11 has a high-strength bolt hole 7 at an upper lateral position thereof. The top of the left twist block 11 is provided with a U-shaped process hole a5, and the U-shaped process hole a5 is milled with a nut slot a3; the upper twist block 12 has an upper lateral position The high-strength bolt hole 7 has an instrument clamping groove 9 at the top, a U-shaped process hole b6 at the lower portion of the right twist block 12, and a nut card groove b4 at the side of the U-shaped process hole b6. The bottom of the left twisting block 11 and the right twisting block 12 are integrally formed by a deformed plate 1 , and the deformed slits 2 are respectively milled on both sides of the intermediate position of the deformed plate 1; the depth of the deformed slit 2 is the thickness of the deformed plate 1 Between one-seventeenth and one-third of the length, the length is between one-twelfth and one-ninth of the width of the deformation plate 1. A high-strength bolt 8 is inserted into the high-strength bolt hole 7 provided in the upper portion of the right twist block 12, and the screw end of the high-strength bolt 8 penetrates into the high-strength bolt hole 7 of the left twist block 11 and is disposed therein. The nut phase is tightened. After the U-shaped member 10 is inserted into the U-shaped process hole a5, the two end points of the U-shaped member 10 are welded to the force-receiving ribs of the steel body abutment, and are poured and poured in the setting liquid. After the U-shaped member 10 is inserted into the U-shaped process hole b6, the two end points of the U-shaped member 10 are welded to the main rib of the steel beam of the steel body beam, and poured into the casting liquid. The steel body abutment setting liquid is poured, and a screw with a nut is embedded, and the nut portion is hooked into the nut card slot a3. The steel body steel beam setting liquid is poured, and a screw with a nut is embedded, and the nut portion is hooked into the nut card slot b4. The U-shaped member 10 is provided with two hex nuts in a lateral position and is fixed by electric welding. The U-shaped process hole a5 and the U-shaped process hole b6 are each hex nut groove milled on both sides. The laser displacement measuring instrument is clamped in the instrument clamping groove 9. The surface of the deformation slit 2 is engraved with a scale, and the unit of measurement is accurate to the silk meter. The high-strength bolt 8 can be selected from one of 8.8, 9.8, 10.9, and 12.9 according to the steel beam load. On the detail of the design of the workpiece, the design principle of fixing one workpiece at two points is considered: the steel body abutment is fixed to the left twist block 11, and the two points are fixed by a U-shaped member 10 welded to the steel body pier. On the force rib of the table, the second is through a screw with a nut, the nut portion is hooked into the nut slot a3, and the left twist block 11 is integrated with the steel body pier by two points; Steel beam in and The right twisting block 12 is fixed to the right side, and the two points are that one U-shaped member 10 is fixedly welded to the main rib of the steel beam of the steel body beam; the second is through a screw with a nut, and the nut portion is hooked into the nut Inside the card slot b4. The right twist block 12 is integrated with the steel body beam by two points. The monitoring component is actually a high-strength bolt 8 , because the left twisting block 11 and the right twisting block 12 are respectively fixed on the steel steel beam and the steel body steel pier, and when the two are unsewed, the high strength The bolt 8 is subjected to longitudinal shear force. Since the high-strength bolt 8 has a small stroke yield value, when the high-strength bolt 8 is deformed within the yield value, the deformation plate 1 is distorted because the entire deformation plate 1 is in the middle. Since the position has a deformation slit 2, the torsion resistance of the intermediate position is the weakest, so that the deformation plate 1 is twisted by two poles, and the scale is provided on the deformation slit 2, so that the degree of distortion can be read by numerical value. In addition, by clamping the laser displacement measuring instrument through the instrument holding groove 9, a whole measurement of the overall steel body deformation can be performed. The biggest benefit of clamping the laser displacement measuring instrument through the instrument holding groove 9 is that the original position of the measuring point is accurate, and the drawback of the manual stepping point is eliminated. 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 embodiments and the description of the present invention, without departing from the spirit and scope of the invention. Various changes and modifications are intended to fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.

Claims

Claim

[Claim 1] A movable joint of a load-bearing robot, the main structure of which is: a deformation plate (1), a deformation joint

(2) , nut slot a (3), nut slot b (4), U-shaped process hole a (5), U-shaped process hole b (6), high-strength bolt hole (7), High-strength bolt (8), instrument holding groove (9), U-shaped piece (10), left twisting block (11), right twisting block (12), characterized by: Left twisting block (11) Upper lateral position幵High-strength bolt holes (7), instrument clamping groove (9) at the top, left twist block (11), U-shaped process hole a (5), U-shaped process hole a (5) side milling There is a nut slot a (3); the right twist block (12) has a high-strength bolt hole (7) at the upper lateral position, and an instrument holding groove (9) and a lower right block (12) at the top. There is a U-shaped process hole b (6), a U-shaped process hole b (6) has a nut slot b (4) on the side. The bottom of the left twisting block (11) and the right twisting block (12) are integrally formed by a deforming plate (1), and each side of the deforming plate (1) is milled with a deformation slit (2); Deformation joint (2) Depth is between one-seventh and one-third of the thickness of the deformation plate (1), and the length is between one-tenth and one-ninth of the width of the deformation plate (1) . The high-strength bolt hole (7) provided in the upper part of the right twisting block (12) is penetrated with a high-strength bolt (8), and the screw end of the high-strength bolt (8) penetrates the high-strength bolt of the left twisting block (11) Inside the hole (7) and tighten with the nut provided in it. After the U-shaped member ( ₁₀ ) is placed in the U-shaped process hole a (5), the two end points of the U-shaped member (10) are welded to the force-receiving rib of the robot, and are placed together in the setting liquid. Pouring. After the U-shaped member (10) is placed in the U-shaped process hole b (6), the two end points of the U-shaped member (10) are welded to the main rib of the steel beam of the steel body beam, and are poured in the setting liquid. Cast in one place. The robot styling liquid is poured, and a screw with a nut is embedded, and the nut portion is hooked into the nut slot a (3). The steel body steel beam setting liquid is poured, and a screw with a nut is embedded, and the nut portion is hooked into the nut card slot b (4).

[Claim 2] The movable joint of a load-bearing robot according to claim 1, wherein the U-shaped member (10) is provided with two hex nuts in a lateral position and is fixed by electric welding.

[Claim 3] The movable joint of a load-bearing robot according to claim 1, characterized in that The U-shaped process hole a (5) and the U-shaped process hole b (6) are each hex nut groove milled on both sides.

[Claim 4] The movable joint of a load-bearing robot according to claim 1, characterized in that the laser displacement measuring instrument is clamped in the instrument holding groove (9).

[Claim 5] The movable joint of a load-bearing robot according to claim 1, characterized in that the surface of the deformation slit (2) is engraved with a scale, and the unit of measurement is accurate to the silk meter.

[Claim 6] The movable joint of a load-bearing robot according to claim 1, characterized in that the high-strength bolt (8) is 8.8, 9.8, 10.9, 12.9 according to the steel beam load. One of four.