Manipulator and bolt looseness monitoring method

Abstract

The invention relates to a manipulator and a bolt looseness monitoring method.The manipulator comprises a base and a pressure sensor, a first sliding mechanism and a second sliding mechanism which are arranged in a crossed mode are fixedly arranged on the base, a connecting plate is fixedly arranged on the side, away from the first sliding mechanism, of the second sliding mechanism, and the connecting plate and the second sliding mechanism are fixed through a bolt; the connecting plate is fixedly provided with a first rotating cylinder and a second rotating cylinder which are connected with each other, and the second rotating cylinder is connected with a clamping jaw; and the pressure sensor is mounted between the connecting plate and the bolt. By installing the pressure sensor between the connecting plate and the bolt, the looseness condition of the bolt is detected in real time, the situation that the instrument is collided or broken due to the fact that the grabbing position of the mechanical arm deviates after looseness is avoided, and the problems that in the related technology, the bolt is loosened in the reciprocating motion process of the mechanical arm, the grabbing position of the mechanical arm deviates, and the instrument is damaged are solved. Therefore, the instrument is damaged by collision or falling, the rejection rate is increased, and the bolt loosening condition needs to be detected regularly.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a manipulator and a method for monitoring bolt loosening. Background Art

[0002] At present, robots are widely used in intelligent manufacturing. Robots can accurately locate a point in three-dimensional or two-dimensional space to perform operations, greatly improving the corresponding operation efficiency.

[0003] In the related art, bolts may loosen during the reciprocating motion of the manipulator, causing the gripping position of the manipulator to shift, thereby causing damage to or breaking the instrument, increasing the scrap rate, and requiring regular inspection for bolt loosening.

[0004] Therefore, it is necessary to design a new manipulator to overcome the above problems. Summary of the Invention

[0005] The present application provides a manipulator and a method for monitoring bolt loosening, which can solve the technical problem in related technologies that the bolts of the manipulator may loosen during the reciprocating motion, causing the manipulator's grasping position to shift, thereby causing the instrument to be hit or broken, and the scrap rate to increase, and the need to regularly check the loosening of the bolts.

[0006] In the first aspect, an embodiment of the present application provides a manipulator, which includes: a base and a pressure sensor, wherein the base is fixed with a first sliding mechanism and a second sliding mechanism arranged crosswise, the second sliding mechanism is fixed with a connecting plate on a side away from the first sliding mechanism, the connecting plate and the second sliding mechanism are fixed by bolts, the connecting plate is fixed with a first rotating cylinder and a second rotating cylinder connected to each other, and the second rotating cylinder is connected to a claw; the pressure sensor is installed between the connecting plate and the bolt.

[0007] Among them, the overall weight of the first rotating cylinder, the second rotating cylinder and the claw is borne by the connecting plate, and the looseness of the bolt between the connecting plate and the second sliding mechanism affects the accuracy of the gripping position of the claw. The pressure sensor is in contact with the surface of the connecting plate and the surface of the bolt. The pressure value detected by the pressure sensor can reflect the tightness of the bolt, and realize real-time detection of the looseness of the bolt. The staff can retighten the bolt in time according to the signal of the pressure sensor to avoid the displacement of the gripping position of the manipulator after loosening, which may cause damage to the instrument or break the instrument. The test range of the pressure sensor is set to 500g~50kg.

[0008] In combination with the first aspect, in one embodiment, the first sliding mechanism includes a beam and a first motor, the beam is fixed to the top of the base, the first motor is installed at one end of the beam, and the first motor is configured to drive the first gear belt in the beam to rotate; the second sliding mechanism includes a cantilever beam and a second motor, the cantilever beam is arranged perpendicular to the beam and is slidably connected to the beam, the second motor is installed at one end of the cantilever beam, the second motor is configured to drive the screw in the cantilever beam to rotate, the cantilever beam is connected to the first gear belt and the screw teeth, and the cantilever beam is fixed to the connecting plate. In which, the crossbeam is arranged parallel to the ground, the first gear belt rotates under the action of the first motor, so that the suspension beam can move left and right, the suspension beam is arranged perpendicular to the ground, and the lead screw rotates under the action of the second motor, so that the suspension beam can move up and down, and the manipulator can move in the X and Y directions through the first sliding mechanism and the second sliding mechanism, so that the claw can freely switch between the initial position and the installation position of the instrument.

[0009] In combination with the first aspect, in one embodiment, a slider is provided between the suspension beam and the cross beam, the slider is slidably connected to the cross beam, and the slider is slidably connected to the suspension beam.

[0010] The slider is fixed to the first gear belt, so that the suspension beam moves left and right under the action of the first gear belt. The slider is connected to the screw through a screw nut, so that the suspension beam moves up and down under the action of the screw. The suspension beam slides in the X and Y directions on the beam through the slider.

[0011] In combination with the first aspect, in one embodiment, the first rotary cylinder is fixed to one side of the connecting plate, a mounting plate is fixedly provided on the side of the first rotary cylinder away from the connecting plate, a second rotary cylinder is fixedly provided on the side of the mounting plate away from the first rotary cylinder, and the axis of the drive shaft of the first rotary cylinder is arranged perpendicular to the axis of the drive shaft of the second rotary cylinder.

[0012] Among them, the first rotating cylinder is fixed on one side of the mounting plate, and the second rotating cylinder is fixed on the other side of the mounting plate. The initial position of the second rotating cylinder is set to one end of the connecting plate close to the crossbeam, ensuring that the rotation space of the first rotating cylinder and the rotation space of the second rotating cylinder are misaligned, thereby avoiding mutual interference between the first rotating cylinder and the second rotating cylinder during rotation.

[0013] In combination with the first aspect, in one embodiment, the clamping claw includes a baffle and a clamping plate that are spaced apart, the baffle and the clamping plate are slidably mounted on the second rotary cylinder, and the baffle is connected to a push rod.

[0014] The baffle and the clamping plate are plugged into the second rotary cylinder, and the push rod is fixed to the baffle. When the claw grasps the instrument, the baffle and the clamping plate move relative to each other to clamp the instrument. In other embodiments, the baffle and the clamping plate are fixed to the second rotary cylinder, and when the claw grasps the instrument, the push rod moves relative to the clamping plate.

[0015] In combination with the first aspect, in one embodiment, the clamping plate protrudes toward a side away from the baffle to form a limiting block, and the limiting block is provided with a limiting hole.

[0016] Among them, the limit block cooperates with the push rod to clamp the instrument, and a boss is provided at one end of the push rod close to the limit block. The diameter of the limit hole is larger than the diameter of the boss. When the baffle and the clamping plate move relative to each other, the boss is inserted into the limit hole to limit the instrument.

[0017] In combination with the first aspect, in one embodiment, the length of the limit block is smaller than the length of the push rod.

[0018] The length of the limit block is related to the thickness of the clamping portion of the instrument, and the length of the limit block is smaller than the length of the push rod to optimize the gap setting between the baffle and the clamping plate.

[0019] In combination with the first aspect, in one embodiment, the connecting plate is configured to be L-shaped, one end of the connecting plate is fixed to the second sliding mechanism, and the other end of the connecting plate is fixed to the first rotating cylinder.

[0020] Among them, the connecting plate includes a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are arranged vertically, the first connecting plate is fixed to the cantilever beam by the bolts, and the first rotating cylinder is fixed to one side of the second connecting plate so that the moving space of the claw is spaced apart from the moving space of the second sliding mechanism.

[0021] In combination with the first aspect, in one embodiment, the pressure sensor is connected to a display device and an alarm.

[0022] The pressure sensor is connected to a controller, which receives a signal from the pressure sensor and controls the alarm to output an alarm signal. The display device can display the pressure value of the pressure sensor in real time.

[0023] In a second aspect, an embodiment of the present application provides a method for monitoring bolt loosening, which includes the following steps: When the pressure value detected by the pressure sensor in real time between the connecting plate and the bolt is less than the set value, an alarm signal is output.

[0024] Among them, when the pressure sensor detects in real time that the pressure value between the connecting plate and the bolt is less than the set value, the alarm outputs an alarm signal, and the staff promptly retightens the bolt according to the alarm signal to ensure the normal operation of the production line, greatly reducing the scrap rate of the instrument and reducing the maintenance time. Demonstratively, the set value is set to 7kN, which is related to the load-bearing capacity of the connecting plate.

[0025] The beneficial effects of the technical solutions provided in the embodiments of the present application include: By installing a pressure sensor between the connecting plate and the bolt, the pressure value detected by the pressure sensor reflects the tightness of the bolt, realizing real-time detection of the looseness of the bolt, avoiding the deviation of the gripping position of the manipulator after loosening, resulting in damage to the instrument or breaking the instrument, and solving the technical problem in the related technology that the bolts of the manipulator may loosen during the reciprocating motion, causing the gripping position of the manipulator to deviate, thereby causing damage to the instrument or breaking the instrument, increasing the scrap rate, and requiring regular detection of the looseness of the bolts. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] Figure 1 A schematic diagram of the structure of a manipulator provided in an embodiment of the present application; Figure 2 A schematic diagram of a connecting plate and bolts provided in an embodiment of the present application; Figure 3 A cross-sectional view of the installation position of the pressure sensor provided in an embodiment of the present application; Figure 4 A schematic diagram of a slider provided in an embodiment of the present application; Figure 5 Schematic diagram of the first rotary cylinder and the second rotary cylinder provided in an embodiment of the present application; Figure 6 A schematic diagram of the clamping claw provided in an embodiment of the present application.

[0028] In the figure: 1. first sliding mechanism; 11. crossbeam; 12. first motor; 13. first gear belt; 2. second sliding mechanism; 21. suspension beam; 22. second motor; 23. lead screw; 3. connecting plate; 4. bolt; 5. first rotary cylinder; 6. second rotary cylinder; 7. claw; 71. baffle; 72. splint; 721. limit block; 73. push rod; 8. pressure sensor; 9. slider; 10. mounting plate. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] The embodiment of the present application provides a manipulator and a method for monitoring bolt loosening, which can solve the technical problem that bolts may loosen during the reciprocating motion of the manipulator, causing the manipulator's grasping position to shift, thereby causing damage to the instrument or breaking the instrument, increasing the scrap rate, and requiring regular detection of bolt loosening.

[0031] See also Figure 1-3 As shown, an embodiment of the present application provides a manipulator, which includes: a base and a pressure sensor 8, the base is fixed with a first sliding mechanism 1 and a second sliding mechanism 2 arranged crosswise, the second sliding mechanism 2 is fixed with a connecting plate 3 on the side away from the first sliding mechanism 1, the connecting plate 3 and the second sliding mechanism 2 are fixed by bolts 4, the connecting plate 3 is fixed with a first rotating cylinder 5 and a second rotating cylinder 6 connected to each other, the second rotating cylinder 6 is connected with a claw 7; the pressure sensor 8 is installed between the connecting plate 3 and the bolt 4.

[0032] In this embodiment, the overall weight of the first rotating cylinder 5, the second rotating cylinder 6 and the claw 7 is borne by the connecting plate 3. The looseness of the bolt 4 between the connecting plate 3 and the second sliding mechanism 2 affects the accuracy of the grasping position of the claw 7. The pressure sensor 8 is in contact with the surface of the connecting plate 3 and the surface of the bolt 4. The pressure value detected by the pressure sensor 8 can reflect the tightness of the bolt 4, and realize real-time detection of the looseness of the bolt 4. The staff can retighten the bolt 4 in time according to the signal of the pressure sensor 8 to avoid the displacement of the manipulator grasping position after loosening, which may cause damage to the instrument or break the instrument. The test range of the pressure sensor 8 is set to 500g~50kg.

[0033] This embodiment installs the pressure sensor 8 between the connecting plate 3 and the bolt 4. The pressure value detected by the pressure sensor 8 reflects the tightness of the bolt 4, thereby realizing real-time detection of the looseness of the bolt 4, avoiding the deviation of the gripping position of the manipulator after loosening, which may cause damage to the instrument or break the instrument. This solves the technical problem in the related art that the bolts of the manipulator may loosen during the reciprocating motion, causing the gripping position of the manipulator to shift, thereby causing damage to the instrument or break the instrument, increasing the scrap rate, and requiring regular detection of the looseness of the bolts.

[0034] Further, see Figure 1 and Figure 4 As shown, in some embodiments, the first sliding mechanism 1 includes a beam 11 and a first motor 12, the beam 11 is fixed to the top of the base, the first motor 12 is installed at one end of the beam 11, and the first motor 12 is configured to drive the first gear belt 13 in the beam 11 to rotate; the second sliding mechanism 2 includes a suspension beam 21 and a second motor 22, the suspension beam 21 is vertically arranged to the beam 11 and is slidingly connected to the beam 11, the second motor 22 is installed at one end of the suspension beam 21, and the second motor 22 is configured to drive the screw 23 in the suspension beam 21 to rotate, the suspension beam 21 is tooth-connected to the first gear belt 13 and the screw 23, and the suspension beam 21 is fixed to the connecting plate 3.

[0035] In this embodiment, the crossbeam 11 is arranged parallel to the ground, and the first gear belt 13 rotates under the action of the first motor 12, so that the suspension beam 21 can move left and right. The suspension beam 21 is arranged perpendicular to the ground, and the lead screw 23 rotates under the action of the second motor 22, so that the suspension beam 21 can move up and down. The manipulator moves in the X and Y directions through the first sliding mechanism 1 and the second sliding mechanism 2, so that the claw 7 can freely switch between the initial position and the installation position of the instrument.

[0036] Further, see Figure 1 and Figure 4 As shown, in some embodiments, a slider 9 is provided between the suspension beam 21 and the cross beam 11 , and the slider 9 is slidably connected to the cross beam 11 , and the slider 9 is slidably connected to the suspension beam 21 .

[0037] In this embodiment, the slider 9 is fixed to the first gear belt 13, so that the suspension beam 21 moves left and right under the action of the first gear belt 13. The slider 9 is connected to the screw 23 through a screw nut, so that the suspension beam 21 moves up and down under the action of the screw 23. The suspension beam 21 slides in both the X and Y directions on the beam 11 through the slider 9.

[0038] Further, see Figure 5 As shown, in some embodiments, the first rotary cylinder 5 is fixed to one side of the connecting plate 3, and a mounting plate 10 is fixedly provided on the side of the first rotary cylinder 5 away from the connecting plate 3, and a second rotary cylinder 6 is fixedly provided on the side of the mounting plate 10 away from the first rotary cylinder 5, and the axis of the driving shaft of the first rotary cylinder 5 is arranged perpendicular to the axis of the driving shaft of the second rotary cylinder 6.

[0039] In this embodiment, the first rotary cylinder 5 is fixed on one side of the mounting plate 10, and the second rotary cylinder 6 is fixed on the other side of the mounting plate 10. The initial position of the second rotary cylinder 6 is set to one end of the connecting plate 3 close to the crossbeam 11, ensuring that the rotation space of the first rotary cylinder 5 and the rotation space of the second rotary cylinder 6 are misaligned, thereby avoiding mutual interference between the first rotary cylinder 5 and the second rotary cylinder 6 during rotation.

[0040] Further, see Figure 5 and Figure 6 As shown, in some embodiments, the clamping claw 7 includes a baffle 71 and a clamping plate 72 that are spaced apart. The baffle 71 and the clamping plate 72 are slidably mounted on the second rotary cylinder 6 , and the baffle 71 is connected to a push rod 73 .

[0041] In this embodiment, the baffle 71 and the clamping plate 72 are inserted into the second rotary cylinder 6, and the push rod 73 is fixed to the baffle 71. When the claw 7 grasps the instrument, the baffle 71 and the clamping plate 72 move relative to each other to clamp the instrument. In other embodiments, the baffle 71 and the clamping plate 72 are fixed to the second rotary cylinder 6, and when the claw 7 grasps the instrument, the push rod 73 moves relative to the clamping plate 72.

[0042] Further, see Figure 6 As shown, in some embodiments, the clamping plate 72 protrudes toward a side away from the baffle 71 to form a limiting block 721 , and the limiting block 721 is provided with a limiting hole.

[0043] In this embodiment, the limit block 721 cooperates with the push rod 73 to clamp the instrument. A boss is provided at one end of the push rod 73 close to the limit block 721. The diameter of the limit hole is larger than the diameter of the boss. When the baffle 71 and the clamping plate 72 move relative to each other, the boss is inserted into the limit hole to limit the instrument.

[0044] Further, see Figure 6 As shown, in some embodiments, the length of the limit block 721 is smaller than the length of the push rod 73 .

[0045] In this embodiment, the length of the limit block 721 is related to the thickness of the clamping portion of the instrument. The length of the limit block 721 is smaller than the length of the push rod 73 to optimize the gap setting between the baffle 71 and the clamping plate 72.

[0046] Further, see Figure 1 and Figure 5 As shown, in some embodiments, the connecting plate 3 is configured to be L-shaped, one end of the connecting plate 3 is fixed to the second sliding mechanism 2 , and the other end of the connecting plate 3 is fixed to the first rotating cylinder 5 .

[0047] In this embodiment, the connecting plate 3 includes a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are vertically arranged, the first connecting plate is fixed to the suspension beam 21 by the bolt 4, and the first rotating cylinder 5 is fixed to one side of the second connecting plate so that the moving space of the claw 7 is spaced apart from the moving space of the second sliding mechanism 2.

[0048] Furthermore, in some embodiments, the pressure sensor 8 is connected to a display device and an alarm.

[0049] In this embodiment, the pressure sensor 8 is connected to a controller, which receives the signal from the pressure sensor 8 and controls the alarm to output an alarm signal. The display device can display the pressure value of the pressure sensor 8 in real time.

[0050] The present invention provides a method for monitoring bolt loosening, which includes the following steps: When the pressure value detected by the pressure sensor 8 between the connecting plate 3 and the bolt 4 in real time is less than the set value, an alarm signal is output.

[0051] In this embodiment, when the pressure sensor 8 detects in real time that the pressure value between the connecting plate 3 and the bolt 4 is less than the set value, the alarm outputs an alarm signal, and the staff promptly retightens the bolt 4 according to the alarm signal to ensure the normal operation of the production line, greatly reducing the scrap rate of the instrument and shortening the maintenance time. Demonstratively, the set value is set to 7kN, which is related to the load-bearing capacity of the connecting plate 3.

[0052] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0053] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0054] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A robot, characterized in that: It includes: A base, wherein the base is fixed with a first sliding mechanism (1) and a second sliding mechanism (2) arranged crosswise, a connecting plate (3) is fixed on a side of the second sliding mechanism (2) away from the first sliding mechanism (1), the connecting plate (3) and the second sliding mechanism (2) are fixed by bolts (4), the connecting plate (3) is fixed with a first rotating cylinder (5) and a second rotating cylinder (6) connected to each other, and the second rotating cylinder (6) is connected with a claw (7); A pressure sensor (8), the pressure sensor (8) being installed between the connecting plate (3) and the bolt (4).

2. The robot according to claim 1, wherein: The first sliding mechanism (1) comprises a crossbeam (11) and a first motor (12), wherein the crossbeam (11) is fixed to the top of the base, and the first motor (12) is mounted on one end of the crossbeam (11), and the first motor (12) is configured to drive a first gear belt (13) in the crossbeam (11) to rotate; The second sliding mechanism (2) includes a suspension beam (21) and a second motor (22), wherein the suspension beam (21) is arranged perpendicular to the cross beam (11) and is slidably connected to the cross beam (11), and the second motor (22) is mounted on one end of the suspension beam (21), and the second motor (22) is configured to drive a lead screw (23) in the suspension beam (21) to rotate, the suspension beam (21) is connected to the first gear belt (13) and the lead screw (23) through teeth, and the suspension beam (21) is fixed to the connecting plate (3).

3. The robot according to claim 2, wherein: A slider (9) is provided between the suspension beam (21) and the cross beam (11), the slider (9) being slidably connected to the cross beam (11), and the slider (9) being slidably connected to the suspension beam (21).

4. The robot according to claim 1, wherein: The first rotary cylinder (5) is fixed to one side of the connecting plate (3); a mounting plate (10) is fixedly provided on the side of the first rotary cylinder (5) away from the connecting plate (3); a second rotary cylinder (6) is fixedly provided on the side of the mounting plate (10) away from the first rotary cylinder (5); and the axis of the drive shaft of the first rotary cylinder (5) and the axis of the drive shaft of the second rotary cylinder (6) are arranged perpendicularly.

5. The robot according to claim 1, wherein: The clamping claw (7) comprises a baffle (71) and a clamping plate (72) arranged at intervals, the baffle (71) and the clamping plate (72) are slidably mounted on the second rotary cylinder (6), and the baffle (71) is plugged with a push rod (73).

6. The robot according to claim 5, characterized in that: The clamping plate (72) protrudes toward a side away from the baffle (71) to form a limiting block (721), and the limiting block (721) is provided with a limiting hole.

7. The robot according to claim 6, wherein: The length of the limiting block (721) is smaller than the length of the push rod (73).

8. The robot according to claim 1, wherein: The connecting plate (3) is configured to be L-shaped, one end of the connecting plate (3) is fixed to the second sliding mechanism (2), and the other end of the connecting plate (3) is fixed to the first rotary cylinder (5).

9. The robot according to claim 1, wherein: The pressure sensor (8) is connected to a display device and an alarm.

10. A method for monitoring bolt loosening of a manipulator according to any one of claims 1 to 9, characterized in that: It includes the following steps: When the pressure value detected by the pressure sensor (8) in real time between the connecting plate (3) and the bolt (4) is less than a set value, an alarm signal is output.

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