Multidirectional supporting spring device for robot joint

Abstract

The utility model relates to the technical field of supporting devices, in particular to a multidirectional supporting spring device for a robot joint. According to the technical scheme, the joint limb fixing device comprises a joint limb sleeve and further comprises an upper supporting plate and a lower supporting plate which are fixedly installed on the two sides of the joint limb sleeve, fixing plates are fixedly connected between the two ends of the lower supporting plate and the two ends of the upper supporting plate, positioning plates are fixedly installed between the two fixing plates, a supporting rod is fixedly connected between the positioning plates, and the supporting rod is fixedly connected with the joint limb sleeve. And a supporting spring is arranged between the upper supporting plate and the lower supporting plate. The limiting stress of the spring is effectively adjusted, the telescopic performance is improved, the phenomenon that a spring material is fatigued due to long-time repeated elastic deformation is avoided, the supporting stability is improved, a worker is reminded of the limiting condition of the supporting spring in time, and timely maintenance of the worker is facilitated.

Description

Technical Field

[0001] This utility model relates to the field of support device technology, and in particular to a multi-directional support spring device for robot joints. Background Technology

[0002] A robot is a machine that performs tasks automatically, including all machines that mimic human behavior or thought, as well as those that mimic other living beings. In a narrower sense, there are many classifications and controversies surrounding the definition of a robot; some computer programs are even referred to as robots.

[0003] During the frequent movement of robot joints, the spring device will continuously undergo compression, stretching and other deformation operations. Long-term repeated elastic deformation will cause fatigue of the spring material, resulting in a gradual decrease in elastic performance. It will be unable to provide stable support force and cushioning effect, affecting the movement accuracy and stability of the robot joint. Therefore, this application proposes a multi-directional support spring device for robot joints. Summary of the Invention

[0004] The purpose of this invention is to address the problem in the prior art that repeated elastic deformation over a long period of time can cause fatigue in spring materials, leading to a gradual decrease in elastic performance, an inability to provide stable support and cushioning, and an impact on the motion accuracy and stability of robot joints. This invention proposes a multi-directional support spring device for robot joints.

[0005] The technical solution of this utility model is: a multi-directional support spring device for robot joints, including a joint sleeve, and further comprising:

[0006] An upper support plate and a lower support plate are fixedly installed on both sides of the joint limb sleeve. A fixing plate is fixedly connected between both ends of the lower support plate and the upper support plate. A positioning plate is fixedly installed in the middle of the two fixing plates. A support rod is fixedly connected between the positioning plates. A support spring is provided between the upper support plate and the lower support plate.

[0007] A buffer device, which is mounted on a support rod to buffer the spring force.

[0008] An early warning device is installed inside the joint sleeve to provide an alarm and reminder regarding the degree of deformation of the support spring.

[0009] Optionally, both the upper support plate and the lower support plate are provided with mounting frames.

[0010] Optionally, the buffer device includes a box body fixedly connected to one end of a support rod. A connecting groove is fixedly connected to the top of the box body. A threaded rod is rotatably installed between the inner walls of the connecting groove. Two threaded sleeves are threaded onto the surface of the threaded rod. A push plate is fixedly connected to the bottom end of each threaded sleeve.

[0011] Optionally, one end of the support spring is fixedly connected to the upper support plate and the lower support plate, and the other end of the support spring is fixedly connected to the push plate.

[0012] Optionally, the connection between the two threaded sleeves and the threaded rod is provided with opposite internal threads.

[0013] Optionally, the warning device includes a fixed rod fixedly installed at one end of the push plate. One end of the fixed rod is located inside the joint sleeve and is fixedly connected to a positioning block. A striking rod is fixedly installed on one side of the positioning block. Metal plates are provided on both sides of the inner wall of the joint sleeve. Pressure sensors are provided on the metal plates. The pressure sensors are connected to an alarm through a controller.

[0014] Optionally, both the housing and the articulated limb sleeve are provided with slots for the movement of the fixing rod.

[0015] In summary, this application includes at least one of the following beneficial technical effects:

[0016] This invention incorporates a threaded sleeve, a housing, a connecting groove, a push plate, a support rod, and a fixing plate. The rotation of the threaded rod causes the threaded sleeve to move the push plate forward, allowing the two push plates to press against the support spring in advance. This effectively changes the spring's ultimate stress, improves its elasticity, avoids fatigue of the spring material caused by repeated elastic deformation over a long period, and enhances stability.

[0017] Furthermore, by setting up slots, fixing rods, positioning blocks, striking rods, and pressure sensors, the movement of the push plate allows the fixing rod to drive the striking rod to press against the collision pressure sensor. That is, when the elastic potential energy reaches its limit, the controller controls the alarm to sound an alarm and warn the staff in a timely manner, reminding them of the limit of the supporting spring, which is conducive to timely maintenance and repair.

[0018] This invention enables effective adjustment of the spring's ultimate stress, improves its elasticity, avoids fatigue of the spring material caused by repeated elastic deformation over a long period, enhances support stability, and promptly alerts staff to the spring's limits, facilitating timely maintenance. Attached Figure Description

[0019] Figure 1 A structural schematic diagram of one embodiment of this utility model is provided. Figure 1 ;

[0020] Figure 2 A structural schematic diagram of one embodiment of this utility model is provided. Figure 2 ;

[0021] Figure 3 This is a schematic diagram of the push plate connection structure;

[0022] Figure 4 This is a schematic diagram of the striking rod connection structure.

[0023] Reference numerals: 1. Joint sleeve; 2. Upper support plate; 3. Lower support plate; 4. Fixing plate; 5. Positioning plate; 6. Support rod; 7. Support spring; 8. Box body; 9. Connecting groove; 10. Mounting frame; 11. Threaded sleeve; 12. Push plate; 13. Fixing rod; 14. Positioning block; 15. Striking rod; 16. Metal sheet; 17. Threaded rod; 18. Groove; 19. Pressure sensor. Detailed Implementation

[0024] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0025] The components of the present invention embodiments described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0026] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0027] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] Example

[0031] like Figure 1 and Figure 2 As shown, the present invention proposes a multi-directional support spring device for robot joints, including a joint sleeve 1, and an upper support plate 2 and a lower support plate 3 fixedly installed on both sides of the joint sleeve 1. The upper support plate 2 and the lower support plate 3 are provided with mounting frames 10, which facilitates the overall installation and disassembly of the device and is beneficial for subsequent maintenance operations.

[0032] In addition, a fixing plate 4 is fixedly connected between both ends of the lower support plate 3 and the upper support plate 2. A positioning plate 5 is fixedly installed in the middle of the two fixing plates 4. The positioning plate 5 and the fixing plate 4 are fixedly connected by bolts, which facilitates the disassembly and replacement of the device. A support rod 6 is fixedly connected between the positioning plates 5. A support spring 7 is provided between the upper support plate 2 and the lower support plate 3.

[0033] like Figures 1-3 As shown, the device also includes a buffer device, which is installed on the support rod 6 to buffer the elastic force of the spring 7. The buffer device includes a box 8 fixedly connected to one end of the support rod 6. A connecting groove 9 is fixedly connected to the top of the box 8. A threaded rod 17 is rotatably installed between the inner walls of the connecting groove 9. Two threaded sleeves 11 are threadedly fitted onto the surface of the threaded rod 17. A push plate 12 is fixedly connected to the bottom end of each threaded sleeve 11. One end of the threaded rod 17 passes through the outer wall of the connecting groove 9 and is connected to a nut. Twisting the nut can rotate the threaded rod 17, causing the threaded sleeves 11 to drive the push plate 12 to move forward.

[0034] It is worth noting that one end of the support spring 7 is fixedly connected to the upper support plate 2 and the lower support plate 3, and the other end of the support spring 7 is fixedly connected to the push plate 12. The connection between the two threaded sleeves 11 and the threaded rod 17 is provided with opposite internal threads. That is, under the rotation of the threaded rod 17, the two push plates 12 move in opposite directions and press against the two ends of the support spring 7, thereby changing the ultimate stress of the support spring in advance and improving the telescopic performance.

[0035] like Figures 2-4As shown, the device also includes an early warning device, which is installed inside the articulated sleeve 1 to provide an alarm for the degree of deformation of the support spring 7. The early warning device includes a fixing rod 13 fixedly installed at one end of the push plate 12. One end of the fixing rod 13 is located inside the articulated sleeve 1 and is fixedly connected to a positioning block 14. A striking rod 15 is fixedly installed on one side of the positioning block 14. Metal plates 16 are provided on both sides of the inner wall of the articulated sleeve 1. Pressure sensors 19 are provided on the metal plates 16. The pressure sensors 19 are connected to an alarm through a controller. The output end of the pressure sensor 19 is connected to the input end of the controller. The sensor 19 converts the sensed pressure signal into an electrical signal, such as voltage, current, or digital signal light, and transmits it to the controller. The controller analyzes and processes the received pressure signal according to the preset pressure threshold. When the pressure signal exceeds or falls below the set threshold, the controller sends a trigger signal to the alarm, causing the alarm to sound successfully. The pressure sensor 19, the controller, and the alarm are all existing technologies and will not be described in detail here. The push plate 12 can be pushed to move the fixed rod 13 to move the positioning block 14, so that the striking rod 15 can be moved to the vicinity of the metal plate 16, providing conditions for early warning operations.

[0036] It is worth mentioning that both the box body 8 and the joint sleeve 1 are provided with slots 18 for the fixed rod 13 to move. When the striking rod 15 moves to the vicinity of the metal plate 16, when the supporting spring 7 reaches its limit of elasticity and applies a counter-stress to the push plate 12, the striking rod 15 presses against the impact pressure sensor 19 and causes the alarm to successfully sound an alarm, reminding the staff to perform timely maintenance and repair.

[0037] In this embodiment, before using the robot joint, the screw cap is turned to rotate the threaded rod 17. As the threaded rod 17 rotates, the two threaded sleeves 11 drive the push plates 12 to move in opposite directions, causing the two push plates 12 to advance and clamp the two ends of the support spring 7. This effectively changes the ultimate stress of the support spring 7, improves its extension and contraction performance, avoids fatigue of the spring material caused by repeated elastic deformation over a long period of time, and improves stability. When the support spring 7 reaches its ultimate stress, an opposite force is applied to the push plates 12. At this time, the push plates 12 also drive the fixed rod 13 to move, causing the positioning block 14 to drive the striking rod 15 to press against the impact pressure sensor 19. Because the ultimate stress at this time is greater than the preset value of the pressure sensor 19, the pressure sensor 19 transmits a signal to the controller. The controller successfully triggers the alarm to issue a warning, reminding the staff to perform timely maintenance and repair.

[0038] The above specific embodiments are merely several optional embodiments of this utility model. Based on the technical solution of this utility model and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A multi-directional support spring device for robot joints, comprising a joint sleeve (1), characterized in that, Also includes: An upper support plate (2) and a lower support plate (3) are fixedly installed on both sides of the joint sleeve (1). A fixing plate (4) is fixedly connected between both ends of the lower support plate (3) and the upper support plate (2). A positioning plate (5) is fixedly installed in the middle of the two fixing plates (4). A support rod (6) is fixedly connected between the positioning plates (5). A support spring (7) is provided between the upper support plate (2) and the lower support plate (3). A buffer device is provided on the support rod (6) to buffer the elastic force of the spring (7); An early warning device is installed inside the joint sleeve (1) to provide an alarm reminder regarding the degree of deformation of the support spring (7).

2. The multi-directional support spring device for robot joints according to claim 1, characterized in that, Mounting frames (10) are provided on both the upper support plate (2) and the lower support plate (3).

3. A multi-directional support spring device for robot joints according to claim 1, characterized in that, The buffer device includes a box (8) fixedly connected to one end of a support rod (6). A connecting groove (9) is fixedly connected to the top of the box (8). A threaded rod (17) is rotatably installed between the inner walls of the connecting groove (9). Two threaded sleeves (11) are threadedly fitted onto the surface of the threaded rod (17). A push plate (12) is fixedly connected to the bottom end of each threaded sleeve (11).

4. A multi-directional support spring device for a robot joint according to claim 3, characterized in that, One end of the support spring (7) is fixedly connected to the upper support plate (2) and the lower support plate (3), and the other end of the support spring (7) is fixedly connected to the push plate (12).

5. A multi-directional support spring device for a robot joint according to claim 3, characterized in that, The connection between the two threaded sleeves (11) and the threaded rod (17) is provided with opposite internal threads.

6. A multi-directional support spring device for a robot joint according to claim 3, characterized in that, The warning device includes a fixed rod (13) fixedly installed at one end of the push plate (12). One end of the fixed rod (13) is located inside the joint sleeve (1) and is fixedly connected to a positioning block (14). A knocking rod (15) is fixedly installed on one side of the positioning block (14). Metal plates (16) are provided on both sides of the inner wall of the joint sleeve (1). A pressure sensor (19) is provided on the metal plate (16). The pressure sensor (19) is connected to an alarm through a controller.

7. A multi-directional support spring device for a robot joint according to claim 6, characterized in that, Both the box body (8) and the articulated limb sleeve (1) are provided with slots (18) for the fixed rod (13) to move.

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