CN108312129B - Planetary seven-axis robot - Google Patents
Planetary seven-axis robot Download PDFInfo
- Publication number
- CN108312129B CN108312129B CN201810253826.7A CN201810253826A CN108312129B CN 108312129 B CN108312129 B CN 108312129B CN 201810253826 A CN201810253826 A CN 201810253826A CN 108312129 B CN108312129 B CN 108312129B
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- CN
- China
- Prior art keywords
- sliding
- gear
- felt
- robot
- speed reducer
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 34
- 238000005461 lubrication Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 abstract description 10
- 239000003921 oil Substances 0.000 description 27
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000001050 lubricating effect Effects 0.000 description 3
- 239000010687 lubricating oil Substances 0.000 description 3
- 239000004519 grease Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention relates to the technical field of automation, in particular to a planetary seven-axis robot, wherein the upper end surface of a combined support is provided with a sliding rail and a rack which are arranged along the length direction of the combined support, a sliding plate is arranged on the sliding rail in a sliding way, a transmission system and a robot are arranged on the sliding plate, an output shaft key of the transmission system is connected with a gear, and the gear and the rack are meshed to drive the sliding plate to reciprocate on the sliding rail; and servo motor is adopted to provide power, and the control system of the servo motor is compatible with the control system of the robot, so that the combination of the motion and the linear movement of the robot can be realized, and the linkage control is formed.
Description
Technical field:
the invention relates to the technical field of automation, in particular to a planetary seven-axis robot.
The background technology is as follows:
along with the rapid development of the current industrial productivity level, the automation degree of production and manufacturing equipment of enterprises is higher and higher, and mechanical automation technology is applied to all links of production and manufacturing, and a plurality of links are finished by robots, such as steel casting, welding of complex structural members, assembling of complete machine equipment, welding and assembling of electronic components and the like. These links are often independently completed by one robot fixed at one station, or cooperatively completed by a plurality of robots fixed at the station. However, with the advent of some new application fields, especially for intelligent automatic warehouse, a robot is required to move on a specific track, and to realize this function, a matching device is required to assist the robot to complete the work.
The invention comprises the following steps:
the invention overcomes the defects of the prior art and provides a planetary seven-axis robot.
The technical problems to be solved by the invention are realized by adopting the following technical scheme: the utility model provides a seven robots of planet, includes a plurality of stand that link firmly on subaerial and set up the sectional shelf-unit on the stand, the up end of sectional shelf-unit is equipped with slide rail and the rack of arranging along sectional shelf-unit length direction, it is equipped with the slide to slide on the slide rail, be equipped with transmission system and robot on the slide, transmission system's output shaft key is connected with gear and rack meshing drive slide on the slide rail reciprocating motion.
Preferably, the number of the racks is two, the racks are oppositely arranged, the racks are arranged between the two sliding rails, the racks and the upper end face of the combined support are enclosed to form a rack accommodating cavity for being meshed with a gear, the gear is embedded into the rack accommodating cavity, and the gear is driven by a transmission system to be meshed in the rack accommodating cavity and drive the sliding plate to reciprocate on the sliding rails.
Preferably, the transmission system comprises a servo motor and a speed reducer, the servo motor and the speed reducer are connected through screws, the gear is arranged at the output end of the speed reducer, and the speed reducer is fixedly connected with the sliding plate through a speed reducer mounting seat.
Preferably, the speed reducer mounting seat is further provided with an adjusting bolt for adjusting the meshing side gap of the gear and rack accommodating cavity, and one end of the adjusting bolt extends out through a mounting hole in the speed reducer mounting seat and is propped against the side wall of the speed reducer.
Preferably, the lower end face of the sliding plate is fixedly connected with a sliding block matched with the sliding rail through a bolt, and the lower end face of the sliding block is provided with a sliding groove which is sleeved on the sliding rail and can reciprocate on the sliding rail.
Preferably, the upper end of the sliding plate is fixedly connected with a connecting block, the upper end face of the connecting block is fixedly connected with a robot mounting plate, and the robot mounting plate is fixedly connected with a robot and an oil pump.
Preferably, the sliding plate is further provided with a lubrication system, the lubrication system comprises an oil pump, a distributor and a felt wheel assembly, the oil pump is connected with one end of the distributor through an oil pipe, the distributor is fixedly connected with the sliding plate through a screw, and the other end of the distributor is supplied with oil through the oil pipe and the felt wheel assembly respectively.
Preferably, the felt assembly comprises a felt adjusting plate fixedly connected to the sliding plate, one end of the felt adjusting plate is fixedly connected with one end of a felt wheel shaft, the other end of the felt wheel shaft is provided with a felt wheel, and the felt wheel is meshed in the rack accommodating cavity.
Preferably, the lower end surface of the sliding plate is also provided with a collision block for preventing the sliding plate from sliding out of the sliding rail, two ends of the upper end surface of the combined support are respectively provided with a limiting block, and the limiting blocks and the collision blocks are collinear.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the planetary seven-axis robot provided by the invention, the position of the robot can be regulated by the servo motor and can reciprocate on the slide rail, so that the problems of unique fixed position and small working range of the robot in the prior art are solved; the servo motor is adopted to provide power, the control system of the servo motor is compatible with the control system of the robot, and the combination of the motion and the linear movement of the robot can be realized, so that the linkage control is formed;
2. the speed reducer with a precise planetary structure is selected as a power output part, the transmission precision of the speed reducer is high, the requirement of a customer on the high positioning precision of a robot can be met, grease lubrication is adopted in the speed reducer, the maintenance is convenient, the operation is stable, the noise is low, the structure is compact, the weight is light, and the occupied space is small;
3. the meshing side gap between the output gear of the speed reducer and the rack accommodating cavity is regulated by adopting an adjusting bolt, the regulating mode is simple and flexible, zero-side gap meshing of the gear and the rack can be realized, and the reciprocating positioning precision in the linear motion direction of the robot is ensured to a great extent;
4. the oil pump which selects electric lubricating oil is used for lubricating the sliding rail sliding block and the gear rack at regular time and quantity, and the oil supply frequency and the oil supply quantity can be flexibly set;
5. the felt gear is used for lubricating the rack, the felt gear is made of felt, the felt after being solidified can be processed to be meshed with the rack, the oil pump supplies oil to the felt gear through the oil pipe, the felt gear is wetted by oil, when the robot moves linearly, the felt gear rolls on the rack, lubricating oil is uniformly coated on the tooth surface of the rack, the lubricating effect is good, the efficiency is high, the device is clean and environment-friendly, and no excessive lubricating oil drops fall on the table top of the device to form greasy dirt;
6. the travel is customizable, the equipment main body adopts a sectional structure, and the required appearance length can be spliced according to the specific use requirements of customers;
7. the whole equipment can be heightened to the upper part of the ground through the upright post, so that the original equipment or obstacles below the equipment can be avoided when the equipment is installed, and the adaptability of the equipment to the field is improved;
8. the mounting hole sites of a plurality of robots are reserved on the robot mounting plate, so that the robots can be replaced conveniently.
Description of the drawings:
FIG. 1 is a front elevational view of the structure of the present invention;
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a schematic view in section at position A-A in FIG. 2;
FIG. 4 is a diagram of a lubrication system according to the present invention;
FIG. 5 is a schematic view of the felt assembly of the present invention;
in the figure: 1 to a servo motor; 2-speed reducer; 3-gear; 4-racks; 5-sliding blocks; 6-sliding rail; 7-robot mounting plate; 8-connecting blocks; 9-bumping block; 10-a speed reducer mounting seat; 11-skateboard; 12-adjusting bolts; 13-an oil pump; 14-distributor; 15-felt wheel adjusting plate; 16-felt wheel shaft; 17-felt gear; 18-limiting blocks; 19-combination support; 20 to the upright post.
The specific embodiment is as follows:
the invention will be further elucidated with reference to the specific drawings and embodiments in order to make the technical means, the creation characteristics, the achievement of the objects and the effects achieved by the invention more obvious.
Example 1:
as shown in fig. 1 and 2, a planetary seven-axis robot comprises a plurality of stand columns 20 fixedly connected to the ground and a combined support 19 arranged on the stand columns 20, wherein a slide rail 6 and a rack 4 which are arranged along the length direction of the combined support 19 are arranged on the upper end face of the combined support 19, a slide plate 11 is arranged on the slide rail 6 in a sliding manner, a transmission system and the robot are arranged on the slide plate 11, an output shaft key of the transmission system is connected with a gear 3, and the gear 3 and the rack 4 are meshed to drive the slide plate 11 to reciprocate on the slide rail 6.
However, with the advent of some new application fields, especially for intelligent automatic warehouse, a robot is required to move on a specific track, and to realize this function, a matching device is required to assist the robot to complete the work. The planetary seven-axis robot provided by the invention has the advantages that the position of the robot can be regulated by the servo motor 1 and can reciprocate on the slide rail 6, so that the problem that the position of the robot is uniquely fixed and the working range is small in the prior art is solved; and the servo motor 1 is adopted to provide power, the control system of the servo motor can be compatible with the control system of the robot, and the combination of the motion and the linear movement of the robot can be realized, so that the linkage control is formed.
As shown in fig. 3, two racks 4 are arranged oppositely, the racks 4 are arranged between two slide rails 6, the upper end faces of each rack 4 and a combined support 19 are enclosed to form a rack accommodating cavity for being meshed with a gear 3, the gear 3 is embedded into the rack accommodating cavity, the gear 3 is driven to be meshed in the rack accommodating cavity through a transmission system and drive a slide plate 11 to reciprocate on the slide rails 6, the lower end face of the slide plate 11 is fixedly connected with a slide block 5 matched with the slide rails 6 through bolts, the lower end face of the slide block 5 is provided with a slide groove and is sleeved on the slide rails 6 and can reciprocate on the slide rails 6, so that the gear accommodating cavity is arranged can enable the gear 3 to be more stable in the meshing process, and the long-strip-shaped gear accommodating cavity plays a role in guiding, so that the robot can reciprocate on the slide rails 6.
As shown in fig. 3, the transmission system comprises a servo motor 1 and a speed reducer 2, the servo motor 1 and the speed reducer 2 are connected through screws, a gear 3 is arranged at the output end of the speed reducer 2, and the speed reducer 2 is fixedly connected with a slide plate 11 through a speed reducer mounting seat 10, so that the speed reducer 2 with a precise planetary structure is selected as a power output component, the transmission precision of the speed reducer 2 is high, the requirement of a customer on the high positioning precision of a robot can be met, grease lubrication is adopted in the speed reducer, the maintenance is convenient, the operation is stable, the noise is low, the structure is compact, the weight is light, and the occupied space is small.
As shown in fig. 4 and 5, the upper end of the sliding plate 11 is fixedly connected with the connecting block 8, the upper end surface of the connecting block 8 is fixedly connected with the robot mounting plate 7, the robot mounting plate 7 is fixedly connected with the robot and the oil pump 13, the sliding plate 11 is further provided with a lubrication system, the lubrication system comprises the oil pump 13, the distributor 14 and a felt wheel assembly, the oil pump 13 is connected with one end of the distributor 14 through an oil pipe, the distributor 14 is fixedly connected with the sliding plate 11 through a screw, the other end of the distributor 14 is respectively supplied with oil through an oil pipe with the sliding block 5 and the felt assembly, specifically, the felt assembly comprises a felt adjusting plate 15 fixedly connected with the sliding plate 11, one end of the felt adjusting plate 15 is fixedly connected with one end of the felt wheel shaft 16, the other end of the felt wheel shaft 16 is provided with a felt gear 17, and the felt gear 17 is meshed with the felt gear 17, so that the felt is arranged in a rack accommodating cavity, the felt is used for lubrication of the rack 4, the felt gear 17 is made of the felt after the solidification treatment, the felt can be meshed with the rack 4, after the oil pump 13 supplies oil to the felt 17 through the oil pipe, the felt 17 is soaked by the oil, when the robot makes a linear motion, the felt 17 rolls on the rack 4, the uniform oil surface on the rack 4, the surface of the rack is not well, and the excessive oil can roll on the rack 4, and the surface is not well cleaned, and the excessive oil can form on the surface of the equipment.
Example 2:
as shown in fig. 2, the structure of the present embodiment is substantially the same as that of embodiment 1, and the details are not repeated, except that: the lower end face of the sliding plate 11 is also provided with a collision block 9 for preventing the sliding plate 11 from sliding out of the sliding rail 6, two ends of the upper end face of the combined bracket 19 are respectively provided with a limiting block 18, and the limiting blocks 18 and the collision block 9 are collinear, so that the sliding plate 11 can be prevented from being separated from the sliding rail 6 in the moving process, and the safety and stability of the invention are ensured.
Example 3:
the structure of the embodiment is basically the same as that of the embodiment 1, and the same is not repeated, and the difference is that as shown in fig. 3, an adjusting bolt 12 for adjusting the meshing side gap of the gear 3 and the rack accommodating cavity is further arranged on the speed reducer mounting seat 10, one end of the adjusting bolt 12 extends out through a mounting hole on the speed reducer mounting seat 10 and is propped against the side wall of the speed reducer 2, so that the meshing side gap of the gear 3 output by the speed reducer 2 and the rack accommodating cavity is adjusted by adopting the adjusting bolt 12, the adjusting mode is simple and flexible, zero-side gap meshing of the gear 3 and the rack 4 can be realized, and the reciprocating positioning precision in the linear motion direction of the robot is ensured to a great extent.
The foregoing has outlined and described the basic principles, main features and features of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The planetary seven-axis robot comprises a plurality of stand columns (20) fixedly connected to the ground and a combined support (19) arranged on the stand columns (20), and is characterized in that the upper end face of the combined support (19) is provided with a sliding rail (6) and a rack (4) which are arranged along the length direction of the combined support (19), the sliding rail (6) is provided with a sliding plate (11) in a sliding manner, the sliding plate (11) is provided with a transmission system and a robot, an output shaft key of the transmission system is connected with a gear (3), and the gear (3) and the rack (4) are meshed to drive the sliding plate (11) to reciprocate on the sliding rail (6);
the two racks (4) are oppositely arranged, the racks (4) are arranged between the two slide rails (6), the upper end faces of the racks (4) and the combined support (19) are enclosed to form a rack accommodating cavity for being meshed with the gear (3), the gear (3) is embedded into the rack accommodating cavity, and the gear (3) is driven by a transmission system to be meshed in the rack accommodating cavity and drive the slide plate (11) to reciprocate on the slide rails (6);
the transmission system comprises a servo motor (1) and a speed reducer (2), wherein the servo motor (1) and the speed reducer (2) are connected through screws, the gear (3) is arranged at the output end of the speed reducer (2), and the speed reducer (2) is fixedly connected with the sliding plate (11) through a speed reducer mounting seat (10);
the lower end face of the sliding plate (11) is fixedly connected with a sliding block (5) matched with the sliding rail (6) through a bolt, the lower end face of the sliding block (5) is provided with a sliding groove, and the sliding groove is sleeved on the sliding rail (6) and can reciprocate on the sliding rail (6);
the upper end of the sliding plate (11) is fixedly connected with a connecting block (8), the upper end surface of the connecting block (8) is fixedly connected with a robot mounting plate (7), and the robot mounting plate (7) is fixedly connected with a robot and an oil pump (13);
the sliding plate (11) is also provided with a lubrication system, the lubrication system comprises an oil pump (13), a distributor (14) and a felt wheel assembly, the oil pump (13) is connected with one end of the distributor (14) through an oil pipe, the distributor (14) is fixedly connected with the sliding plate (11) through a screw, and the other end of the distributor (14) is supplied with oil through the oil pipe and the sliding block (5) and the felt wheel assembly respectively;
the felt assembly comprises a felt adjusting plate (15) fixedly connected to the sliding plate (11), one end of the felt adjusting plate (15) is fixedly connected with one end of a felt wheel shaft (16), a felt gear (17) is arranged at the other end of the felt wheel shaft (16), and the felt gear (17) is meshed with the rack accommodating cavity;
an adjusting bolt (12) for adjusting the meshing side gap of the gear (3) and the rack accommodating cavity is further arranged on the speed reducer mounting seat (10), and one end of the adjusting bolt (12) extends out through a mounting hole on the speed reducer mounting seat (10) and is pressed against the side wall of the speed reducer (2).
2. The planetary seven-axis robot according to claim 1, wherein the lower end surface of the sliding plate (11) is further provided with a collision block (9) for preventing the sliding plate (11) from sliding out of the sliding rail (6), two ends of the upper end surface of the combined support (19) are respectively provided with a limiting block (18), and the limiting blocks (18) and the collision block (9) are collinear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253826.7A CN108312129B (en) | 2018-03-26 | 2018-03-26 | Planetary seven-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253826.7A CN108312129B (en) | 2018-03-26 | 2018-03-26 | Planetary seven-axis robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108312129A CN108312129A (en) | 2018-07-24 |
| CN108312129B true CN108312129B (en) | 2023-12-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810253826.7A Active CN108312129B (en) | 2018-03-26 | 2018-03-26 | Planetary seven-axis robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108312129B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108916627A (en) * | 2018-07-25 | 2018-11-30 | 安徽瑞祥工业有限公司 | A kind of lubricating system and its application method for welding and assembling production lines |
| CN111604224A (en) * | 2019-02-23 | 2020-09-01 | 希为工业自动化设备（上海）有限公司 | Steel pipe internal oiling device and using method thereof |
| CN219665906U (en) | 2020-03-25 | 2023-09-12 | 米沃奇电动工具公司 | Dust collector for use with a hand-held power tool |
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| CN208196774U (en) * | 2018-03-26 | 2018-12-07 | 安徽城市智慧停车科技有限公司 | Seven axis robot of planet |
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| WO2014012304A1 (en) * | 2012-07-20 | 2014-01-23 | 重庆市电力公司电力科学研究院 | Electrical energy meter verification system and robot therefor |
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| CN105328692A (en) * | 2014-07-29 | 2016-02-17 | 沈阳众拓机器人设备有限公司 | Telescopic device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108312129A (en) | 2018-07-24 |
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