Robot truss with high-strength structure

Abstract

The robot truss of the high-strength structure comprises a bottom foot, a bottom support, a supporting rod and a connector, the bottom support is fixedly connected to the top of the bottom foot, the supporting rod is fixedly connected to the upper portion of the bottom support, the connector is fixedly connected to the top end of the supporting rod, and a plurality of rib plates are fixedly connected to the joint of the supporting rod and the connector and the back of the connector. The front face of the connector is fixedly connected with a cross beam which is hollow. The utility model has the advantages that the phase change of the liquid metal is triggered by the electromagnetic field, the real-time adjustment of the rigidity of the truss is realized, the truss adapts to diversified scenes from low-speed precise operation to high-speed heavy load, the light weight and the high strength are both considered, the solid metal framework only activates a key area during strengthening, and the weight is reduced by more than 30% compared with the traditional full-rigidity structure. When the load of the robot on the cross beam suddenly increases, the overall rigidity of the truss can be improved by 2-3 times, buckling is prevented, and the overall strength of the truss is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to a high-strength robot truss structure. Background Technology

[0002] Traditional overhead robot trusses typically employ fixed steel structures, whose stiffness and strength depend on material thickness and support topology. Under dynamic loads (such as high-speed handling and heavy object grasping), the truss is prone to buckling or deformation due to localized stress concentration, leading to decreased positioning accuracy. Existing improvements often increase strength by increasing material usage or adding support members, but this results in increased weight and limited flexibility. Therefore, there is an urgent need for lightweight, high-strength truss structures that can dynamically adapt to load changes. Utility Model Content

[0003] The purpose of this invention is to at least solve one of the aforementioned technical defects.

[0004] Therefore, one objective of this utility model is to propose a high-strength robot truss structure to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0005] To achieve the above objectives, one embodiment of the present invention provides a high-strength robot truss, including a base, a base support, a support rod, and a joint. The base support is fixedly connected to the top of the base, and the support rod is fixedly connected to the top of the base.

[0006] The top end of the support rod is fixedly connected to a joint, and several stiffening plates are fixedly connected at the connection between the support rod and the joint, and at the back of the joint.

[0007] A crossbeam is fixedly connected to the front of the connector. The crossbeam is hollow, and rails are fixedly connected to the top and bottom edges of the front of the crossbeam.

[0008] A rack is fixedly connected to the front of the crossbeam, with the toothed surface of the rack facing downwards;

[0009] A hollow pipe is fixedly connected to the inner side of the crossbeam, and the interior of the hollow pipe is filled with gallium-based liquid alloy.

[0010] Several tripods are fixedly connected to the outside of the hollow pipe, and the ends of the tripods are fixedly connected to the inside of the crossbeam.

[0011] The hollow pipe is detachably connected to a pipe head at its end, and several electromagnetic coils are fixedly connected to the top surface of the crossbeam. Each electromagnetic coil is independently wired, and a magnetic field can be generated at this location when the electromagnetic coil is energized.

[0012] Preferably, in any of the above schemes, the base feet are arranged in pairs, and the base feet are welded to the base support.

[0013] The above technical solution utilizes electromagnetic fields to actively control the flow and solidification of gallium-based alloys, thereby achieving on-demand reinforcement of truss stiffness. Its core innovation lies in integrating structural load-bearing capacity with dynamic strengthening capabilities, breaking through the static limitations of traditional rigid structures.

[0014] Preferably, in any of the above schemes, the included angle of the bottom support is 45 degrees, and the bottom support is divided into two parts, a horizontal part and an oblique part, which are welded together.

[0015] Preferably, in any of the above solutions, the joint is connected to the crossbeam by bolts, and the track is made of stainless steel.

[0016] Hollow pipes and liquid metal systems:

[0017] Hollow pipes are arranged axially inside the crossbeam, which are filled with gallium-based liquid alloy (melting point of about 29.8℃, liquid at room temperature).

[0018] A triangular frame is welded to the outside of the hollow pipe to form a triangular support grid.

[0019] The tube head features a quick-release design, facilitating liquid metal injection and maintenance.

[0020] Electromagnetic field dynamic control:

[0021] Electromagnetic coils are arranged in a linear array on the top surface of the beam. Each coil is independently controlled and can generate a local high-intensity magnetic field (magnetic field strength 0.5-1.5T).

[0022] Gallium-based liquid alloys undergo magnetohydrodynamic effects under the action of a magnetic field, accumulating in the magnetic field region and triggering a solid-liquid phase transition due to eddy current heating, forming a solid reinforcement layer inside the hollow pipe in the target region.

[0023] Structural collaborative design:

[0024] The base is welded at a 45° angle to form a stable triangular base, which disperses the ground reaction force.

[0025] The stiffening plates form radial reinforcing ribs at the connection between the support rod and the joint to suppress stress concentration.

[0026] The track and rack are welded to the front of the crossbeam, providing high-rigidity motion guidance for the robot slide.

[0027] Preferably, in any of the above embodiments, the rack, the rail, and the crossbeam are welded together, with the rack located between the rails.

[0028] Preferably, in any of the above embodiments, the hollow pipe is welded to the tripod, and the tripod is welded to the inner side of the crossbeam.

[0029] Normal mode: The electromagnetic coil is de-energized, the gallium-based alloy remains in a liquid state, and the crossbeam remains lightweight, suitable for stable operation under low load.

[0030] Enhanced mode: When a sudden increase in load is detected (such as acceleration > 3m / s²), the control electromagnetic coil is energized in the stress concentration area (such as the middle of the beam). The magnetic field drives the liquid metal to flow into the area and solidify, forming an embedded metal skeleton, which increases the local stiffness of the beam by 2-3 times and increases the buckling critical load from 8kN to 24kN.

[0031] Reset mode: After the load is released, the magnetic field is turned off and the built-in heating wire of the crossbeam is activated to raise the alloy temperature to above 35°C to restore it to a liquid state and avoid the accumulation of residual stress.

[0032] Preferably, in any of the above embodiments, the electromagnetic coils are arranged in a linear array on the top surface of the crossbeam, and the electromagnetic coils are mounted on the top surface of the crossbeam by screws.

[0033] Beneficial effects

[0034] Dynamic strength self-adaptation: Real-time adjustment of truss stiffness is achieved by triggering a liquid metal phase transition through an electromagnetic field, adapting to diverse scenarios from low-speed precision operation to high-speed heavy load.

[0035] Balancing lightweight and high strength: During reinforcement, the solid metal skeleton only activates key areas, resulting in a weight reduction of over 30% compared to traditional fully rigid structures. When the robot's load on the crossbeam suddenly increases, the overall stiffness of the truss can be increased by 2-3 times, preventing buckling and effectively improving the overall strength of the truss.

[0036] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows:

[0037] This high-strength robot truss, through the coordinated arrangement of base feet, bottom supports, support rods, joints, stiffening plates, crossbeams, hollow pipes, tripods, pipe ends, and electromagnetic coils, achieves real-time adjustment of truss stiffness by triggering a liquid metal phase change through an electromagnetic field, adapting to diverse scenarios ranging from low-speed precision operation to high-speed heavy load.

[0038] Balancing lightweight and high strength: During reinforcement, the solid metal skeleton only activates key areas, resulting in a weight reduction of over 30% compared to traditional fully rigid structures. When the robot's load on the crossbeam suddenly increases, the overall stiffness of the truss can be increased by 2-3 times, preventing buckling and effectively improving the overall strength of the truss.

[0039] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0040] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0041] Figure 1 This is a first-view structural schematic diagram of the present invention;

[0042] Figure 2 This is a structural schematic diagram of the present invention from a second perspective;

[0043] Figure 3 This is a structural schematic diagram of the present invention from a third-view perspective;

[0044] Figure 4 This utility model Figure 1 A magnified structural diagram of point A in the middle.

[0045] In the diagram: 1-base, 2-base support, 3-support rod, 4-joint, 5-stiffening plate, 6-crossbeam, 7-track, 8-rack, 9-hollow pipe, 10-triangle, 11-pipe end, 12-electromagnetic coil. Detailed Implementation

[0046] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0047] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 according to the specific circumstances.

[0048] like Figure 1-4 As shown, the high-strength robot truss structure includes a base 1, a base support 2, a support rod 3, and a connector 4. The base support 2 is fixedly connected to the top of the base 1, and the support rod 3 is fixedly connected to the top of the base support 2.

[0049] The top of the support rod 3 is fixedly connected to a joint 4, and several stiffening plates 5 are fixedly connected to the connection between the support rod 3 and the joint 4 and to the back of the joint 4.

[0050] A crossbeam 6 is fixedly connected to the front of the connector 4. The crossbeam 6 is hollow, and a track 7 is fixedly connected to the top and bottom edges of the front of the crossbeam 6.

[0051] A rack 8 is fixedly connected to the front of the crossbeam 6, with the toothed surface of the rack 8 facing downwards;

[0052] A hollow pipe 9 is fixedly connected to the inner side of the crossbeam 6, and the interior of the hollow pipe 9 is filled with gallium-based liquid alloy.

[0053] Several tripods 10 are fixedly connected to the outside of the hollow pipe 9, and the ends of the tripods 10 are fixedly connected to the inside of the crossbeam 6.

[0054] The hollow pipe 9 is detachably connected to a pipe head 11, and several electromagnetic coils 12 are fixedly connected to the top surface of the crossbeam 6. Each electromagnetic coil 12 is independently wired, and a magnetic field can be generated at this location after the electromagnetic coil 12 is energized.

[0055] Example 1: Base feet 1 are arranged in pairs, and are welded to base supports 2. The flow and solidification of the gallium-based alloy are actively controlled by an electromagnetic field, enabling on-demand reinforcement of the truss stiffness. Its core innovation lies in integrating structural load-bearing capacity with dynamic strengthening functions, breaking through the static limitations of traditional rigid structures. Base supports 2 have an included angle of 45 degrees and are divided into horizontal and oblique parts, which are welded together. Joints 4 and crossbeams 6 are connected by bolts, and the track 7 is made of stainless steel.

[0056] Example 2: Hollow pipe 9 and liquid metal system:

[0057] Hollow pipes 9 are arranged axially inside the crossbeam 6, which are filled with gallium-based liquid alloy (melting point of about 29.8℃, liquid at room temperature).

[0058] A triangular frame 10 is welded to the outside of the hollow pipe 9 to form a triangular support grid.

[0059] The tube head 11 features a quick-release design, facilitating liquid metal injection and maintenance.

[0060] Electromagnetic field dynamic control:

[0061] Electromagnetic coils 12 are arranged in a linear array on the top surface of the crossbeam 6. Each coil is independently controlled and can generate a local high-intensity magnetic field (magnetic field strength 0.5-1.5T).

[0062] Under the action of a magnetic field, the gallium-based liquid alloy undergoes a magnetohydrodynamic effect, accumulates in the magnetic field region, and triggers a solid-liquid phase transition due to eddy current heating, forming a solid reinforcement layer in the hollow pipe 9 in the target region.

[0063] Structural collaborative design:

[0064] The bottom support 2 is welded at a 45° angle to form a stable triangular base, which disperses the ground reaction force.

[0065] The stiffening plate 5 forms radial reinforcing ribs at the connection between the support rod 3 and the joint 4 to suppress stress concentration.

[0066] Track 7 and rack 8 are welded to the front of crossbeam 6, providing high-rigidity motion guidance for the robot slide. Rack 8, track 7, and crossbeam 6 are welded together, with rack 8 positioned between tracks 7. Hollow pipe 9 is welded to tripod 10, which is welded to the inner side of crossbeam 6. Electromagnetic coils 12 are linearly arrayed on the top surface of crossbeam 6, and are mounted on the top surface of crossbeam 6 with screws.

[0067] The working principle of this utility model is as follows:

[0068] Normal mode: Electromagnetic coil 12 is de-energized, gallium-based alloy remains in liquid state, and crossbeam 6 maintains a lightweight state, suitable for stable operation under low load.

[0069] Enhanced mode: When a sudden increase in load is detected (such as acceleration > 3m / s²), the control electromagnetic coil 12 is energized in the stress concentration area (such as the middle of the crossbeam 6). The magnetic field drives the liquid metal to flow to the area and solidify, forming an embedded metal skeleton, which increases the local stiffness of the crossbeam 6 by 2-3 times and increases the buckling critical load from 8kN to 24kN.

[0070] Reset mode: After the load is released, the magnetic field is turned off and the built-in heating wire of the crossbeam 6 (not shown) is activated to raise the alloy temperature to above 35°C to restore it to a liquid state and avoid the accumulation of residual stress.

[0071] Compared with the prior art, the present invention has the following advantages:

[0072] This high-strength robot truss, through the coordinated arrangement of base 1, bottom support 2, support rod 3, joint 4, stiffening plate 5, crossbeam 6, hollow pipe 9, tripod 10, pipe end 11, and electromagnetic coil 12, achieves real-time adjustment of truss stiffness by triggering liquid metal phase change through electromagnetic field, adapting to diverse scenarios from low-speed precision operation to high-speed heavy load.

[0073] Balancing lightweight and high strength: During reinforcement, the solid metal skeleton only activates key areas, resulting in a weight reduction of over 30% compared to traditional fully rigid structures. When the robot load on beam 6 suddenly increases, the overall stiffness of the truss can be increased by 2-3 times, preventing buckling and effectively improving the overall strength of the truss.

Claims

1. A high-strength structural robot truss, characterized by, Includes a base (1), a base support (2), a support rod (3), and a connector (4). The base support (2) is fixedly connected to the top of the base (1), and the support rod (3) is fixedly connected to the top of the base support (2). The top end of the support rod (3) is fixedly connected to a joint (4), and several stiffening plates (5) are fixedly connected at the connection between the support rod (3) and the joint (4) and at the back of the joint (4). The front of the connector (4) is fixedly connected to a crossbeam (6), which is hollow, and the top and bottom edges of the front of the crossbeam (6) are fixedly connected to a track (7). A rack (8) is fixedly connected to the front of the crossbeam (6), with the toothed surface of the rack (8) facing downwards. A hollow pipe (9) is fixedly connected to the inner side of the crossbeam (6), and the interior of the hollow pipe (9) is filled with gallium-based liquid alloy. Several tripods (10) are fixedly connected to the outside of the hollow pipe (9), and the ends of the tripods (10) are fixedly connected to the inside of the crossbeam (6). The hollow pipe (9) is detachably connected to a pipe head (11), and a number of electromagnetic coils (12) are fixedly connected to the top surface of the crossbeam (6). Each electromagnetic coil (12) is independently wired, and a magnetic field can be generated at this location after the electromagnetic coil (12) is energized.

2. A high strength structural robot truss as in claim 1, wherein: The base (1) consists of two feet per group, and the base (1) is welded to the base support (2).

3. A high strength structural robot truss as in claim 2, wherein: The included angle of the bottom support (2) is 45 degrees. The bottom support (2) is divided into two parts: horizontal and oblique, which are welded together.

4. A high strength structural robot truss as in claim 3, wherein: The joint (4) is connected to the crossbeam (6) by bolts, and the track (7) is made of stainless steel.

5. A high strength structural robot truss as in claim 4, wherein: The rack (8), the track (7) are welded to the crossbeam (6), and the rack (8) is located between the track (7).

6. A high strength structural robot truss as in claim 5, wherein: The hollow pipe (9) is welded to the tripod (10), and the tripod (10) is welded to the inner side of the beam (6).

7. A high strength structural robot truss as in claim 6, wherein: The electromagnetic coils (12) are arranged in a linear array on the top surface of the crossbeam (6), and the electromagnetic coils (12) are mounted on the top surface of the crossbeam (6) by screws.

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