A short-time disconnection device

Abstract

The present invention provides a short-time disconnect device, including an upper flange, a support plate, a cylinder, a locating pin, a lower flange, a box linear bearing, an optical axis and a spring, wherein the support plate is fixed to the bottom surface of the upper flange, and a plurality of supporting angles are arranged on the outer edge of the support plate; the cylinder is fixed to the base and / or the support plate of the upper flange, and the locating pin is arranged on the push rod of the cylinder; the starting end of the optical axis is flexibly connected to the lower flange, and the other end is arranged in the box linear bearing, and the box linear bearing is fixed below the supporting angle; the starting end of the spring is fixed to the lower flange, and the end is fixed below the supporting angle; the optical axis and the spring are arranged at intervals, and a locating hole is arranged on the lower flange, and when the push rod of the cylinder is extended, the locating pin is adapted to the position and shape of the locating hole. The short-time disconnect device provided by the present invention is installed between the end shaft of the mechanical arm and the construction tool head, and can instantly disconnect the external force during operation to ensure that the mechanical arm is not damaged; at the same time, it can automatically restore the initial position without affecting the continuous construction of automation.

Description

Technical Field

[0001] The invention relates to the technical field of protective devices for over-torque in the field of flexible construction. Background Art

[0002] Rebar bending, curved surface grinding, etc. are important components of the construction field and are also indispensable processes. The existing floor-standing rebar bending machines on the market are already quite mature and highly efficient. There are also special machines for single batch production of complex rebar bending shapes, but the repeatability is low. There are few equipment and processes that meet the needs of flexible rebar bending with complex shapes and complex curvatures. The pioneering buildings and devices based on the BIM construction process require more complex steel skeletons to cooperate, so as to achieve the structural strength in the construction field and meet the requirements of large-load structural mechanics and seismic resistance. There is a large gap in large-scale curved surface grinding equipment at this stage. The main configuration is gantry-type CNC equipment, which is expensive and requires a more economical grinding method. The robotic arm can support the above processing needs because of its general low price and production flexibility.

[0003] The hydraulic cylinder used to bend thick steel bars is a high-pressure hydraulic cylinder with a cylinder diameter greater than or equal to Φ60mm, and the theoretical maximum output force is more than 20 tons. The steel bar bending tool head based on the robotic arm will cause its overall rotation due to the process characteristics when the hydraulic cylinder bends the steel bars, causing the reaction force of the steel bars on the hydraulic cylinder to be transmitted to the motion actuator such as the robotic arm body through the rigid structure, causing the robotic arm to alarm, and even damage the robotic arm. During grinding, due to the roughness and burrs that may appear on the surface of the workpiece, the end sand disc will rotate rapidly and encounter a large resistance surface, which will also cause the above-mentioned torque exceeding the end of the robotic arm. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies existing in the above-mentioned existing construction equipment and to provide a protection device for over-torque in construction processes that can be applied to a mechanical arm or other motion mechanism and meet the structural mechanics and seismic requirements of large loads.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A short-time disconnect device comprises an upper flange, a support plate, a cylinder, a locating pin, a lower flange, a box linear bearing, an optical axis and a spring, wherein the support plate is fixed to the bottom surface of the upper flange, and a plurality of supporting angles are arranged on the outer edge of the support plate; the cylinder is fixed to the base and / or the support plate of the upper flange, and the locating pin is arranged on the push rod of the cylinder; the starting end of the optical axis is flexibly connected to the lower flange, and the other end is arranged in the box linear bearing, and the box linear bearing is fixed below the supporting angle; the starting end of the spring is fixed to the lower flange, and the end thereof is fixed below the supporting angle; the optical axis and the spring are spaced apart, and a locating hole is arranged on the lower flange, and when the push rod of the cylinder is extended, the locating pin is adapted to the position and shape of the locating hole.

[0007] Furthermore, there are multiple box linear bearings, optical axes and springs, and the number of corresponding support angles is greater than the total number of optical axes and springs. Furthermore, the axis of each optical axis is on the same first plane, and the center line of each spring is on the same second plane, and the first plane and the second plane can overlap. Furthermore, each optical axis and each adjacent spring are arranged in groups, and each group is evenly spaced.

[0008] Furthermore, the support angle includes a first support angle and a second support angle, the first support angle is an extended protruding strip of the support plate mainboard, which is used to fix the box linear bearing; the second support angle is an extended protruding angle of the support plate mainboard, which is used to fix the spring; the first support angle and the second support angle are arranged at intervals.

[0009] Furthermore, the cylinder adopts a three-rod cylinder, and a diamond pin and a cylindrical pin are fixed on the cylinder push rod. In the extended state, the positioning holes on the lower flange match them for positioning the two pins on one side.

[0010] Furthermore, the box linear bearing has a built-in box linear slider, which can rotate around the optical axis, and the optical axis can slide axially at the same time. The starting end of the optical axis is hinged and fixed to the lower flange, and multiple optical axes jointly support the lower flange.

[0011] Both ends of the spring are rigidly fixed. Further, a bolt is provided on the lower flange to extend into the spring to limit the movement of the spring end within a certain range; further, a nut is sleeved on the bolt to further block and constrain the spring, and the elastic force of the spring can be fine-tuned by rotating the nut to adjust the position. Further, a cylindrical protrusion is also provided on the protruding corner of the second support angle to limit the movement of the end of the spring within a certain range.

[0012] Furthermore, the box linear bearing includes a rotating shaft, a nut 2 is sleeved on the shaft section extending above the supporting angle, a metal sheet is connected to the rotating shaft, and proximity sensors are provided on the upper surfaces of the supporting angles on both sides of the metal sheet to detect whether the displacement of the lower flange reaches the limit.

[0013] Furthermore, the upper flange and the lower flange are arranged in parallel, and the deflection line of each optical axis is on the same plane.

[0014] Beneficial effects of the present invention:

[0015] The short-time disconnection device provided by the present invention is installed between the end shaft of the robot arm and the construction tool head. When working, it can instantly disconnect the reaction force of the construction tool head on the robot arm. At the same time, the device can also be used in conjunction with a traditional robot arm quick changer as an intermediate layer between the end shaft and the quick changer. Regardless of whether the final tool will have an over-torque and require a short-time disconnection, the position of the end tool can be kept accurate.

[0016] Taking the three-point hydraulic tool as an example, the high-pressure hydraulic cylinder with a diameter of Φ60mm has a theoretical maximum output force of more than 20 tons, which can bend HPB400φ32 threaded steel bars. When the steel bar bending tool head is bent, due to the existence of the short-time disconnection device, the relative displacement and rotation of the bending tool head and the robot connection flange are well buffered, ensuring that the robot arm is used normally without being damaged. At the same time, the short-time disconnection device of the present invention can automatically and quickly restore the initial position without affecting the continuous construction of automation.

[0017] The specific embodiments of the present invention are described below with reference to the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a diagram illustrating the positioning principle of the short-time disconnect device provided by the present invention.

[0019] Figure 2 It is a bottom view schematic diagram of the short-time disconnect device according to an embodiment of the present invention.

[0020] Figure 3 Schematic diagram of a top view of a short-time disconnect device according to an embodiment of the present invention.

[0021] Figure 4 Schematic cross-sectional view of a short-time disconnect device according to an embodiment of the present invention.

[0022] Figure 5 It is a schematic diagram of the rotation of the lower flange of the short-time disconnect device according to an embodiment of the present invention when it is subjected to a planar impact force.

[0023] Figure 6 Schematic diagram of the displacement of the short-time disconnecting device according to an embodiment of the present invention.

[0024] Figure 7 It is a schematic plan view of the movement of the short-time disconnect device mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The specific embodiments described herein are only used to explain the technical solution of this patent, rather than to limit the disclosed technical solution. It should also be noted that, for ease of description, only the parts related to the disclosed technical solution are shown in the drawings, rather than all structures.

[0026] Before discussing the exemplary embodiments in more detail, it should be mentioned that the structures of the device components and / or modules themselves mentioned in the embodiments, if not described in detail, are understandable to those skilled in the art based on the existing public technology or commercially available products.

[0027] Taking the case of the robot arm bending complex steel bars as an example, it is necessary to buffer the relative displacement and rotation of the robot arm and the steel bar bending tool. Complex steel bar bending is spatial bending, but essentially each bend can be regarded as a bend in a plane. According to the process characteristics and the six-point positioning principle, it is necessary to remove the restrictions on translation and plane rotation, allowing the two flange surfaces to have horizontal displacement and horizontal rotation freedom, that is, Figure 1 The displacements x and y; the rotation x is a plane pair.

[0028] like Figure 2-4 As shown, the short-time disconnecting device provided in this embodiment includes an upper flange 1, a support plate 2, a cylinder 3, a locating pin 4, a lower flange 5, a box linear bearing 6, an optical axis 7 and a spring 8, wherein the support plate 2 is fixed to the bottom surface of the upper flange 1, and a plurality of supporting angles 201 are provided on the outer edge of the support plate 2; the cylinder 3 is fixed to the base of the upper flange 1 and / or the support plate 2, and the locating pin 4 is provided on the push rod of the cylinder 3; the starting end of the optical axis 7 is flexibly connected to the lower flange 5, and the other end is provided in the box linear bearing 6, and the box linear bearing 6 is fixed below the supporting angle 201; the starting end of the spring 8 is fixed to the lower flange 5, and the end is fixed below the supporting angle 201; the optical axis 7 and the spring 8 are arranged at intervals, and a locating hole 501 is provided on the lower flange 5, and when the push rod of the cylinder 3 is extended, the locating pin 4 is adapted to the position and shape of the locating hole 501.

[0029] A preferred solution is that the box linear bearing 6, optical axis 7 and spring 8 are all provided in plurality, and the number of corresponding support angles 201 is greater than the total number of optical axis 7 and spring 8. For example, three linear bearings 6, optical axis 7 and spring 8 are provided, and each optical axis 7 and each adjacent spring 8 are provided in groups, and each group is evenly spaced. A further preferred solution is that the axis of each optical axis 7 is on the same first plane, the center line of each spring 8 is on the same second plane, and the first plane and the second plane overlap.

[0030] The support angle 201, one of the preferred schemes, includes a first support angle 201a and a second support angle 201b, wherein the first support angle 201a is an extended protruding strip of the main board of the support plate 2, which is used to fix the box linear bearing 6; the second support angle 201b is an extended protruding angle of the main board of the support plate 2, which is used to fix the spring 8; the first support angle 201a and the second support angle 201b are arranged at intervals.

[0031] For accurate positioning, the cylinder 3 is preferably a three-rod cylinder, on which a diamond pin and a cylindrical pin are fixed. In the extended state, the positioning holes 501 on the lower flange match them to achieve two-pin and one-side positioning.

[0032] The box linear bearing 6 has a built-in box linear slider, which can rotate around the optical axis, and the optical axis 7 can slide axially at the same time. The starting end of the optical axis 7 is hinged and fixed to the lower flange 5, and multiple optical axes 7 jointly support the lower flange.

[0033] Both ends of the spring 8 are rigidly fixed and fixed between the second support angle 201b and the lower flange 5 by welding. In one preferred solution, a bolt 9 is provided on the lower flange 5 and extends into the spring 8 to limit the movement of the spring end within a certain range; a nut 10 is sleeved on the bolt 9 to further block and constrain the spring 8, and the elastic force of the spring 8 is finely adjusted by rotating the nut 10 to adjust the position. Furthermore, a cylindrical protrusion 11 is also provided on the protruding corner of the second support angle 201b to limit the movement of the end of the spring 8 within a certain range.

[0034] The box linear bearing 6 includes a rotating shaft 601. In order to further detect the displacement and control the offset, a nut 602 is sleeved on the shaft section extending above the support angle 201. The top of the rotating shaft 601 is connected to a metal sheet 603. Proximity sensors 12 are respectively arranged on the upper surfaces of the support angles 201 on both sides of the metal sheet 603 to detect whether the displacement of the lower flange 5 has reached the limit.

[0035] Further Figure 5-7 The upper flange 1 and the lower flange 5 are arranged in parallel, and the deflection lines of each optical axis 7 are also on the same plane.

[0036] The main technical parameters of the short-time disconnect device of the embodiment of this patent can be set according to the following table:

[0037] Box linear bearing optical axis assembly 30 inner and outer diameters, optical axis length 230mm Restraining spring OD 30mm, diameter 3mm, pitch 9mm, length 90mm Displacement range ±50mm Rotation range ±30° Vertical load 400kg cylinder Three-axis cylinder, inner diameter 20mm, stroke 20mm

[0038] The working process of the short-time disconnection device of the embodiment of the present invention is as follows:

[0039] 1) Rotate the fine-tuning nut so that the cylinder push rod is exactly in place when it extends out of the positioning flange and is almost not subject to lateral force and torque.

[0040] 2) As the initial state, the cylinder extends out to position the lower flange, and the steel bar bending tool reaches the working position for pre-tightening. At this time, the displacement is very small or non-existent.

[0041] 3) The cylinder is recovered. When the bending tool starts to work, it gradually drives the lower flange to move and rotate. At this time, because the end effector of the robot arm cannot accurately predict the movement trajectory, it drives the upper and lower flanges to move and rotate, but the optical axis can move freely in the box linear bearing, and the box linear bearing can also rotate, realizing displacement and rotation buffering. Figure 5 and Figure 6 Schematic diagram of displacement and rotation.

[0042] 4) The bending tool is retracted, the external force disappears, and under the action of the restraining spring, the lower flange gradually returns to its original position.

[0043] 5) Extend the cylinder push rod and position the lower flange at the exact zero position.

[0044] The above is an example of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A short-time disconnect device, characterized in that: The invention comprises an upper flange (1), a support plate (2), a cylinder (3), a positioning pin (4), a lower flange (5), a box linear bearing (6), an optical axis (7) and a spring (8), wherein the support plate (2) is fixed to the bottom surface of the upper flange (1), and the outer edge of the support plate (2) is provided with a plurality of supporting angles (201); the cylinder (3) is fixed to the base of the upper flange (1) and / or the support plate (2), and the positioning pin (4) is provided on the push rod of the cylinder (3); the starting end of the optical axis (7) is in contact with the lower flange (5) is flexibly connected, and the other end is arranged in the box linear bearing (6), and the box linear bearing (6) is fixed below the support angle (201); the starting end of the spring (8) is fixed on the lower flange (5), and the end is fixed below the support angle (201); the optical axis (7) and the spring (8) are arranged at intervals, and a positioning hole (501) is provided on the lower flange (5), and when the push rod of the cylinder (3) is extended, the positioning pin (4) is adapted to the position and shape of the positioning hole (501).

2. The short-time disconnect device according to claim 1, characterized in that: The box linear bearing (6), optical axis (7) and spring (8) are all in plurality, and the number of support angles (201) is greater than the total number of optical axes (7) and springs (8).

3. The short-time disconnect device according to claim 2, characterized in that: The axis and the moving line of each optical axis (7) are on the same first plane.

4. The short-time disconnect device according to claim 2, characterized in that: The center line of each spring (8) is on the same second plane.

5. The short-time disconnect device according to claim 2, characterized in that: The axis of each optical axis (7) is on the same first plane, the center line of each spring (8) is on the same second plane, and the first plane and the second plane overlap.

6. The short-time disconnect device according to claim 2, characterized in that: Each optical axis (7) and each adjacent spring (8) are arranged in a group, and each group is evenly spaced.

7. The short-time disconnect device according to claim 6, characterized in that: The box linear bearing (6), optical axis (7) and spring (8) are each provided with three.

8. The short-time disconnect device according to claim 1, characterized in that: The support angle (201) comprises a first support angle (201a) and a second support angle (201b); the first support angle (201a) is an extended protruding strip of the main board of the support plate (2) and is used to fix the box linear bearing (6); the second support angle (201b) is an extended protruding angle of the main board of the support plate (2) and is used to fix the spring (8); the first support angle (201a) and the second support angle (201b) are arranged at intervals.

9. The short-time disconnect device according to claim 1, characterized in that: The cylinder (3) is a three-rod cylinder, and a diamond pin and a cylindrical pin are fixed on the cylinder push rod; in the extended state, the positioning holes (501) on the lower flange match it and are used for positioning the two pins on one side.

10. The short-time disconnect device according to claim 1, characterized in that: The box linear bearing (6) has a built-in box linear slider, which can rotate around the optical axis, and the optical axis (7) can slide axially at the same time; the starting end of the optical axis (7) is hinged and fixed to the lower flange (5), and each optical axis (7) jointly supports the lower flange.

11. The short-time disconnect device according to claim 1, characterized in that: A bolt (9) is arranged on the lower flange (5) and extends into the spring (8), and a nut (10) is sleeved on the bolt (9).

12. The short-time disconnect device according to claim 8, characterized in that: A cylindrical protrusion (11) is provided on the protruding corner of the second supporting angle (201b) and extends into the spring (8).

13. The short-time disconnect device according to claim 1, characterized in that: The box linear bearing (6) comprises a rotating shaft (601), a nut (602) is sleeved on the shaft section of the rotating shaft (601) extending above the supporting angle (201), a metal sheet (603) is connected to the top of the rotating shaft (601), and proximity sensors (12) are provided on the upper surfaces of the supporting angles (201) on both sides of the metal sheet (603).

14. The short-time disconnect device according to claim 1, characterized in that: The upper flange (1) and the lower flange (5) are arranged in parallel, and the deflection lines of each optical axis (7) are on the same plane.

15. A robotic arm, characterized in that: A short-time disconnect device as described in any one of claims 1 to 14 is provided on the end shaft of the robot arm.

Images