CN108381518A - A kind of the 7th axis of robot - Google Patents
A kind of the 7th axis of robot Download PDFInfo
- Publication number
- CN108381518A CN108381518A CN201810137248.0A CN201810137248A CN108381518A CN 108381518 A CN108381518 A CN 108381518A CN 201810137248 A CN201810137248 A CN 201810137248A CN 108381518 A CN108381518 A CN 108381518A
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- China
- Prior art keywords
- axis
- roller group
- robot
- idler wheels
- groups
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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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Classifications
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- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of the 7th axis of robot, including：The 7th axis of No.1, No. two the 7th axis, level gauge, drag chain guide groove, roller group and its mirror image roller group, high-accuracy planetary reducer, privates take motor and robot table top, the level gauge is fixed on by positioning pin on the 7th axis, the roller group is identical with mirror image roller group structure, includes：Roller mount, 62 idler wheels of pk, 52 idler wheels of MCFD, excentric sleeve and nut, roller group and mirror image roller group have two groups respectively, and robot table top is fixedly installed on four rolling seat, and private is installed on robot table top and takes motor, high-accuracy planetary reducer.The present invention is linked by four groups of roller groups, is ensured the stability that robot moves playing surface, is controlled using servo motor, is driven by accurate retarding machine, high-speed roller rack and pinion mechanism, and repeatable accuracy is high, and stability is good.
Description
Technical field
The present invention relates to robot field, the 7th axis of specifically a kind of robot.
Background technology
Industry refers to collection raw material-pretreatment, and they is processed into work and the process of product.Industry is the weight of secondary industry
Component part and the mainstay of the national economy, industry is wanted to be divided into light industry and heavy industry two major classes.The bulky work of unit of the product
Industry department is exactly heavy industry, and light-weight just belongs to light industry.The industrial department for belonging to heavy industry has steel and iron industry, nonferrous metallurgy work
Industry, metal material industry and mechanical industry etc..The popularization produced with the development of science and technology with industrial scale, people have developed
Robot helps people to work, and robot is a kind of high-tech automatic producing device that recent decades grow up, operation
The ability to fulfil assignment in accuracy and environment, the sharpest edges of robot be it is recursive do same action, machinery just
It will not always feel tired in the case of often.
The 7th axis of robot is also known as axis, walking axle or track, long guideway, such as the 7th axis of 11.4m, guide rail outside robot
System coordinates distance, and operational process stability is poor, and to the machining accuracies such as welding, carrying, stacking and safety, there are unfavorable shadows
It rings.
Invention content
The purpose of the present invention is to provide a kind of the 7th axis of robot, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides the following technical solutions：
A kind of the 7th axis of robot, including：The 7th axis of No.1, No. two the 7th axis, level gauge, drag chain guide groove, roller group and its
Mirror image roller group, high-accuracy planetary reducer, private take motor and robot table top, and the length of the 7th axis of the No.1 is 1.7m,
No. two the 7th shaft lengths are 2m, and the 7th axis of No.1 has two groups, and the quantity of No. two the 7th axis has four groups, and No. two the 7th axis are mutually solid
Even, the 7th axis of No.1 is located at the both ends of No. two the 7th axis, the 7th axis of No.1 and No. two the 7th between centers, No. two the 7th axis and two
Number the 7th between centers is fixedly connected by connecting plate；
The level gauge is fixed on by positioning pin on the 7th axis, and the roller group is identical with mirror image roller group structure, includes：
Roller mount, pk-62 idler wheels, MCFD-52 idler wheels, excentric sleeve and nut, MCFD-52 number of rollers be 2, pk-62 idler wheels and
MCFD-52 idler wheels are installed on by excentric sleeve in roller mount, and pk-62 idler wheels and one of MCFD-52 idler wheels distinguish position
In the both sides up and down of level gauge, roller group and mirror image roller group have two groups respectively, and robot table top is fixedly installed in four rolling
Private is installed on seat, on robot table top and takes motor, high-accuracy planetary reducer, private takes motor and connects high-accuracy planetary reducer
Input shaft, the output axis connection helical gear of high-accuracy planetary reducer, helical gear are engaged with level gauge right side upper rack structure.
As a further solution of the present invention：Also set up on the 7th axis of No.1 and No. two the 7th axis the first drag chain guide groove,
Second drag chain guide groove and third drag chain guide groove.
As a further solution of the present invention：The 7th axis of No.1 and No. two the 7th axis bottoms are respectively provided with several groups lower margin and fix
Component.
As a further solution of the present invention：Anticollision rubber cushion is respectively set in the end of the 7th axis of the No.1.
As a further solution of the present invention：A WLD2 travel switch is respectively set on the 7th axis of the No.1.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is linked by four groups of roller groups, ensures robot
The stability moved playing surface, is controlled using servo motor, is passed by accurate retarding machine, high-speed roller rack and pinion mechanism
Dynamic, repeatable accuracy is high, and stability is good.
Description of the drawings
Fig. 1 is a kind of main structure diagram of the 7th axis of robot.
Fig. 2 is a kind of overlooking structure diagram of the 7th axis of robot.
Fig. 3 is a kind of structural schematic diagram of the 7th axis of No.1 in the 7th axis of robot.
Fig. 4 is a kind of structural schematic diagram of No. two the 7th axis in the 7th axis of robot.
Fig. 5 is a kind of structural schematic diagram of roller group in the 7th axis of robot.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig.1~4, in the embodiment of the present invention, a kind of the 7th axis of robot, including：The 7th axis of No.1 1, No. two
Seven axis 2, level gauge 3, drag chain guide groove, roller group 12 and its mirror image roller group 13, high-accuracy planetary reducer 15, private take motor
16 and robot table top 18, the length of the 7th axis 1 of the No.1 is 1.7m, and No. two 2 length of the 7th axis are 2m, the 7th axis 1 of No.1
There are two groups, the quantity of No. two the 7th axis 2 there are four groups, and No. two the 7th axis 2 are mutually connected, and the 7th axis 1 of No.1 is located at No. two the
The both ends of seven axis 2, between the 7th axis 1 of No.1 and No. two the 7th axis 2, No. two the 7th axis and No. two the 7th between centers pass through connecting plate 7
It is fixedly connected, constitutes the 7th axial length guide rail that length is 11.4m；
Such as Fig. 5, the level gauge 3 is fixed on by positioning pin 4 on the 7th axis, 13 structure of the roller group 12 and mirror image roller group
It is identical, include：Roller mount 121, pk-62 idler wheels 122, MCFD-52 idler wheels 123, excentric sleeve 124 and nut 125, MCFD-
52 idler wheel, 123 quantity is that 2, pk-62 idler wheels 122 and MCFD-52 idler wheels 123 are installed on roller mount 121 by excentric sleeve 124
On, pk-62 idler wheels 122 and one of MCFD-52 idler wheels 123 are located at the both sides up and down of level gauge 3, roller group 12 and mirror
As roller group 13 has two groups respectively, robot table top 18 is fixedly installed on four rolling seat 121, is installed on robot table top 18
Private takes motor 16, high-accuracy planetary reducer 15, and private takes the input shaft that motor 16 connects high-accuracy planetary reducer 15, high-accuracy
The output axis connection helical gear 17 of planetary reducer 15, helical gear 17 are engaged with 3 right side upper rack structure of level gauge, pass through four
Group roller group linkage, is ensured the stability of 18 movement of robot table top, is controlled using servo motor, pass through accurate retarding machine, height
Fast idler wheel rack and pinion mechanism is driven, and repeatable accuracy is high, and stability is good.
The first drag chain guide groove 8, the second drag chain guide groove 9 and third are also set up on the 7th axis 1 of No.1 and No. two the 7th axis 2
Drag chain guide groove 10.
The 7th axis 1 of No.1 and No. two 2 bottoms of the 7th axis are respectively provided with several groups lower margin fixation kit 11.
Anticollision rubber cushion 6 is respectively set in the end of the 7th axis 1 of the No.1.
A WLD2 travel switch 14 is respectively set on the 7th axis 1 of the No.1.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (5)
1. a kind of the 7th axis of robot, including：The 7th axis of No.1（1）, No. two the 7th axis（2）, level gauge（3）, drag chain guide groove,
Roller group（12）And its mirror image roller group（13）, high-accuracy planetary reducer（15）, private take motor（16）With robot table top
（18）, the 7th axis of the No.1（1）Length be 1.7m, No. two the 7th axis（2）Length is 2m, the 7th axis of No.1（1）There are two groups,
No. two the 7th axis（2）Quantity have four groups, No. two the 7th axis（2）Mutually it is connected, the 7th axis of No.1（1）It is located at No. two the 7th
Axis（2）Both ends, the 7th axis of No.1（1）With No. two the 7th axis（2）Between, No. two the 7th axis pass through with No. two the 7th between centers and connect
Plate（7）It is fixedly connected；
It is characterized in that：The level gauge（3）Pass through positioning pin（4）It is fixed on the 7th axis, the roller group（12）And mirror image
Roller group（13）Structure is identical, includes：Roller mount（121）, pk-62 idler wheels 122, MCFD-52 idler wheels（123）, excentric sleeve
（124）And nut（125）, MCFD-52 idler wheels（123）Quantity is 2, pk-62 idler wheels（122）With MCFD-52 idler wheels（123）It is logical
Cross excentric sleeve（124）It is installed on roller mount（121）On, pk-62 idler wheels（122）With one of MCFD-52 idler wheels（123）Point
It Wei Yu not level gauge（3）Both sides up and down, roller group（12）With mirror image roller group（13）There are two groups respectively, robot table top（18）
It is fixedly installed in four rolling seat（121）On, robot table top（18）Upper installation private takes motor（16）, high-accuracy planetary reducer
（15）, private takes motor（16）Connect high-accuracy planetary reducer（15）Input shaft, high-accuracy planetary reducer（15）Output
Axis connection helical gear（17）, helical gear（17）With level gauge（3）Right side upper rack structure engagement.
2. the 7th axis of a kind of robot according to claim 1, it is characterised in that：The 7th axis of No.1（1）With No. two the 7th
Axis（2）On also set up the first drag chain guide groove（8）, the second drag chain guide groove（9）With third drag chain guide groove（10）.
3. the 7th axis of a kind of robot according to claim 1, it is characterised in that：The 7th axis of No.1（1）With No. two the 7th
Axis（2）Bottom is respectively provided with several groups lower margin fixation kit（11）.
4. the 7th axis of a kind of robot according to claim 1, it is characterised in that：The 7th axis of the No.1（1）End
Anticollision rubber cushion is respectively set（6）.
5. the 7th axis of a kind of robot according to claim 1 or 4, it is characterised in that：The 7th axis of the No.1（1）Upper point
It She Zhi not a WLD2 travel switch（14）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810137248.0A CN108381518A (en) | 2018-02-10 | 2018-02-10 | A kind of the 7th axis of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810137248.0A CN108381518A (en) | 2018-02-10 | 2018-02-10 | A kind of the 7th axis of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381518A true CN108381518A (en) | 2018-08-10 |
Family
ID=63075758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810137248.0A Pending CN108381518A (en) | 2018-02-10 | 2018-02-10 | A kind of the 7th axis of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381518A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319484A (en) * | 2018-12-10 | 2019-02-12 | 武汉商学院 | Material transfer robot |
| CN109318206A (en) * | 2018-11-16 | 2019-02-12 | 上海君屹工业自动化股份有限公司 | Seven axis rail of roller type |
| CN109483512A (en) * | 2018-11-01 | 2019-03-19 | 湖北维胜机器人科技有限公司 | A kind of industrial machine arm outside walking axle |
| CN109809128A (en) * | 2019-03-21 | 2019-05-28 | 徐州华恒机器人系统有限公司 | Novel shifter |
| CN110873175A (en) * | 2018-08-31 | 2020-03-10 | 上海赛科利汽车模具技术应用有限公司 | Seventh shaft of industrial robot |
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| JP2009184024A (en) * | 2008-02-01 | 2009-08-20 | Ikd:Kk | Traveling device |
| CN104308829A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Turning device applicable to three-dimensional track path running and realization method of turning device |
| CN104533942A (en) * | 2014-12-26 | 2015-04-22 | 金石机器人常州有限公司 | Roller wheel type guide rail pair for truss manipulator |
| CN105710871A (en) * | 2016-03-05 | 2016-06-29 | 温州职业技术学院 | Fast handling-type Cartesian coordinate industrial robot |
| CN106181962A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Transportation industrial robot |
| CN107186693A (en) * | 2017-06-05 | 2017-09-22 | 上海发那科机器人有限公司 | A kind of walking axle of small scale robot |
| CN206536506U (en) * | 2017-01-10 | 2017-10-03 | 库比克智能装备（深圳）有限公司 | A kind of de-stacking manipulator |
| CN206537907U (en) * | 2017-01-10 | 2017-10-03 | 库比克智能装备（深圳）有限公司 | A kind of truss loading and unloading control device |
| CN206633041U (en) * | 2017-02-21 | 2017-11-14 | 南京洛福自动化科技有限公司 | A kind of axle of robot the 7th |
| CN206677950U (en) * | 2017-01-10 | 2017-11-28 | 库比克智能装备（深圳）有限公司 | A kind of truss manipulator |
-
2018
- 2018-02-10 CN CN201810137248.0A patent/CN108381518A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009184024A (en) * | 2008-02-01 | 2009-08-20 | Ikd:Kk | Traveling device |
| CN104308829A (en) * | 2014-10-21 | 2015-01-28 | 山东鲁能智能技术有限公司 | Turning device applicable to three-dimensional track path running and realization method of turning device |
| CN104533942A (en) * | 2014-12-26 | 2015-04-22 | 金石机器人常州有限公司 | Roller wheel type guide rail pair for truss manipulator |
| CN105710871A (en) * | 2016-03-05 | 2016-06-29 | 温州职业技术学院 | Fast handling-type Cartesian coordinate industrial robot |
| CN106181962A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Transportation industrial robot |
| CN206536506U (en) * | 2017-01-10 | 2017-10-03 | 库比克智能装备（深圳）有限公司 | A kind of de-stacking manipulator |
| CN206537907U (en) * | 2017-01-10 | 2017-10-03 | 库比克智能装备（深圳）有限公司 | A kind of truss loading and unloading control device |
| CN206677950U (en) * | 2017-01-10 | 2017-11-28 | 库比克智能装备（深圳）有限公司 | A kind of truss manipulator |
| CN206633041U (en) * | 2017-02-21 | 2017-11-14 | 南京洛福自动化科技有限公司 | A kind of axle of robot the 7th |
| CN107186693A (en) * | 2017-06-05 | 2017-09-22 | 上海发那科机器人有限公司 | A kind of walking axle of small scale robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110873175A (en) * | 2018-08-31 | 2020-03-10 | 上海赛科利汽车模具技术应用有限公司 | Seventh shaft of industrial robot |
| CN109483512A (en) * | 2018-11-01 | 2019-03-19 | 湖北维胜机器人科技有限公司 | A kind of industrial machine arm outside walking axle |
| CN109318206A (en) * | 2018-11-16 | 2019-02-12 | 上海君屹工业自动化股份有限公司 | Seven axis rail of roller type |
| CN109319484A (en) * | 2018-12-10 | 2019-02-12 | 武汉商学院 | Material transfer robot |
| CN109809128A (en) * | 2019-03-21 | 2019-05-28 | 徐州华恒机器人系统有限公司 | Novel shifter |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180810 |
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| RJ01 | Rejection of invention patent application after publication |