CN110091312A - A kind of universal type industrial robot additional shaft guide rail structure - Google Patents
A kind of universal type industrial robot additional shaft guide rail structure Download PDFInfo
- Publication number
- CN110091312A CN110091312A CN201910310053.6A CN201910310053A CN110091312A CN 110091312 A CN110091312 A CN 110091312A CN 201910310053 A CN201910310053 A CN 201910310053A CN 110091312 A CN110091312 A CN 110091312A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- base frame
- industrial robot
- guiderail base
- additional shaft
- Prior art date
- 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.)
- Pending
Links
- 238000009434 installation Methods 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000013461 design Methods 0.000 claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 claims description 7
- 230000007704 transition Effects 0.000 claims description 5
- 210000003205 muscle Anatomy 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 3
- 239000000356 contaminant Substances 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 8
- 239000012530 fluid Substances 0.000 abstract description 5
- 239000012535 impurity Substances 0.000 abstract description 5
- 239000002245 particle Substances 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000001681 protective effect Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
Classifications
-
- 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
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of universal type industrial robot additional shaft guide rail structure, the rack and pinion drive mechanism by the servo motor offer power with shield including the linear guide being symmetrically mounted on the axially external face of guiderail base frame and the axial side that the guiderail base frame is arranged in, the side of rack and pinion drive mechanism is axially disposed with drag chain component.Robot of the invention adds axis rail, there can be preferable mechanical protection performance for additional shaft internal structure, it can prevent the media such as extraneous splash fluid and impurity particle from polluting to internal electrically and mechanically structure, the occasion more severe in work condition environment can reliablely and stablely be applied, and structure design is simple, it is easy to make, good appearance；In addition, linear guide, servo motor, rack-and-pinion have complete containment envelope, servo motor and drag chain component are mounted on the side of additional axis rail, convenient for equipment installation and daily maintenance.
Description
Technical field
The present invention relates to robots to add axis rail technical field, additional more particularly to a kind of universal type industrial robot
Axis rail structure.
Background technique
Industrial robot plays increasingly important role in the flexibility and intelligent level for promoting manufacturing shop.
It is manufacture field that industrial robot, which is applied at most, especially auto manufacturing.In automobile manufacture Painting Shop, gluing, wiping
Only, paint, clean, carrying the stations such as assembly, surface treatment, quality and defects detection, the application of industrial robot has can not
The advantage of substitution.
In the integrated application of robot system, in order to increase the working flexibility of robot, expand job area, spindle guide is added
Standard configuration of the rail usually as robot system.The robot additional shaft guide rail structure form difference of existing market different brands
It is larger, and respectively have advantage and disadvantage, industrial robot additional spindle guide rail structure need to have preferable installation maintenance maintenance convenience, structure
Simple and stable is reliable, has the preferable rigidity of structure and bending strength, additional axis rail to have preferable protective for internal structure
Energy, processing and fabricating cost are lower.
However the design of the structure of existing industrial robot additional spindle guide rail it is upper there is internal structure protective performance deficiency or
The problems such as maintenance of person's installation maintenance is inconvenient.
Summary of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide a kind of universal type industrial robots
Additional shaft guide rail structure.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of universal type industrial robot additional shaft guide rail structure, the axis including being symmetrically mounted on guiderail base frame are outside
Linear guide on side and be arranged in the guiderail base frame axial side the servo motor by having shield
The rack and pinion drive mechanism of power is provided, the side of the rack and pinion drive mechanism is axially disposed with drag chain component；It is described
Rack and pinion drive mechanism include with by servo motor drive and be mounted on the gear on fixed bearing block and with the gear
The rack gear of engaged transmission, the rack gear are fixed on the guiderail base frame facet, and rack gear is arranged in the top of the rack gear
Cover board, the bottom of the linear guide and the axially external face of the guiderail base frame are fixed, the sliding block of the linear guide
It is connected by L shape connector with the side panel of pulley base, has guide rail cover board above the guiderail base frame, it will be described
Linear guide and guiderail base frame prevent the pollution of introduced contaminants in top surface and side progress effective protection.
The guiderail base frame includes two conduct branch welded by support plate and supported by height-adjustable lower margin
The clod wash hollow type rectangular tube of crossbeam is supportted, square hollow section steel, lower part weldering are welded in top between clod wash hollow type rectangular tube described in two
Support connection plate muscle is connect, the height-adjustable lower margin is installed in the support plate.
Transition square hollow section steel is welded on the guiderail base frame facet, the transition square hollow section steel welding rack gear installs base
Plate installs the rack gear with screw on the rack gear installation base plate.
The two sides moved back and forth on the guiderail base frame are disposed with the mechanical position limitation end gear of elastic material production,
The mechanical position limitation end gear is fixed on the rectangular tube support beam top of guiderail base frame by fastening screw.
The drag chain component is connected by assembled connection structure with the guiderail base frame, the drag chain component
Cross rail outer design have adjustable support lower margin, to improve the bearing capacity of drag chain component crossbeam.
The servo motor is connected to a fixed by the side of bearing sleeve and pulley base.
The guide rail cover board is C-shaped cover board.
The linear guide guide rail installation base plate bolt fixed with the axially external face top of guiderail base frame connects
It connects.
The guide rail cover board is supported by support plate, and the support plate is connect with the upper end of the guiderail base frame.
Compared with prior art, the beneficial effects of the present invention are:
Robot of the invention adds axis rail, can have preferable mechanical protection for additional shaft guide rail interior structure
Can, it can prevent the media such as extraneous splash fluid and impurity particle from polluting to internal electrically and mechanically structure, can stablize
It is reliably employed in the more severe occasion of work condition environment, and structure design is simple, easy to make, good appearance.
In addition, linear guide, servo motor, rack gear have complete containment envelope, servo motor and the installation of drag chain component
In the side of additional axis rail, convenient for equipment installation and daily maintenance.
Detailed description of the invention
Fig. 1 show the schematic diagram of universal type industrial robot additional shaft guide rail structure；
Fig. 2 show the sectional schematic diagram of universal type industrial robot additional shaft guide rail structure；
Fig. 3 show the schematic diagram of linear guide；
Fig. 4 show the connection structure diagram of servo motor and gear；
Fig. 5 show the connection axonometric drawing of pulley base and servo motor；
Fig. 6 show the connecting end surface view of servo motor Yu guiderail base frame；
Fig. 7 show the axonometric drawing of drag chain component；
Fig. 8 show the structural schematic diagram of mechanical position limitation end gear component.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
As shown in figures 1-8, universal type industrial robot additional shaft guide rail structure of the present invention, comprising:
The linear guide 2 being symmetrically mounted on the axially external face of guiderail base frame and setting are in the guiderail base
The motor-driven mechanism 4 of the axial side of frame, the motor-driven mechanism include the servo motor 40 by having shield 41
The rack and pinion drive mechanism of power is provided, the side of the rack and pinion drive mechanism is axially disposed with drag chain component 5；It is described
Rack and pinion drive mechanism include by the described servo motor driving and the gear 42 being mounted on fixed bearing block and with institute
The rack gear 10 of gear engagement connection is stated, the rack gear is fixed on the guiderail base frame facet, the top of the rack gear
The rack gear cover board 12 of setting, the bottom of the linear guide and the axially external face of the guiderail base frame are fixed, described straight
The sliding block of line guide rail is connected by L shape connector 9 with the side panel of pulley base 3, is had above the guiderail base frame
The linear guide and guiderail base frame are carried out effective protection in top surface and side, prevent outer boundry particle ash by guide rail cover board 8
The pollution of the impurity such as dirt and splash fluid.
Wherein, design has ventilating heat dissipating hole around the containment envelope of the servo motor, and servo motor can be risen
To preferable protection and aeration-cooling effect, the present invention has linear guide cover board, rack-and-pinion cover board, servo motor by design
Containment envelope can play internal linear guide, rack and pinion drive mechanism and servo motor preferable protection and ventilation
The effect of heat dissipation.
In the present invention, the pulley base 3 is fixed on four cunnings of linear guide 2 by four L-type connectors 9
On block, the overall structure of the pulley base is welding structure.
In the present invention, servo motor is mounted on the outside of additional axis rail, and design has individual ventilation and heat containment envelope, is made
Speeds match and torque transmitting are carried out with retarder.
In the present invention, linear guide plays a part of connecting guiderail base frame and robot pulley base, can make to slide
Underbody seat is under the driving of servo motor gear tooth strip transmission mechanism come smooth sliding of rolling back and rationalizing on bedframe.Specifically, using tooth
Rack gear driving machine device people's pulley base is taken turns, connects pulley base and additional shaft guiderail base frame using linear guide
Frame can make pulley base that can roll back and rationalize on guiderail base frame under the connection function of linear guide smooth sliding.
In the present invention, design has independent drag chain component, and drag chain component is mounted on guide rail bottom by assembled connection structure
In seat frame, specifically, the drag chain component is connected by assembled connection structure with the guiderail base frame facet
It connects, the cross rail outer design of the drag chain component has adjustable support lower margin, to improve the bearing capacity of the crossbeam of drag chain component.
Wherein, the guiderail base frame is welded and is supported by height-adjustable lower margin 6 by support plate 14 including two
The clod wash hollow type rectangular tube 1 as support beam, square tube is welded on top between clod wash hollow type rectangular tube described in two
Steel 13, lower weld support connect plate muscle, are equipped with height-adjustable lower margin 6 in the support plate 14.
In the present invention, the bedframe is the fixation support frame of additional axis rail, has stable structure, support by force
The features such as degree is high, non-deformability is strong, processing and fabricating is simple, the present invention is using biserial general clod wash hollow type rectangular tube the bottom of as
The support beam of seat frame, clod wash hollow type rectangular tube two sides are symmetrically welded linear guide installation base plate, two clod wash hollow type squares
Square hollow section steel and support connection plate muscle are welded between shape pipe, are welded on the left of a clod wash hollow type rectangular tube by transition square hollow section steel 11
Rack gear installation base plate, to connect rack gear 10, rack gear cover board is connect with the rack gear installation base plate with screw, clod wash hollow type rectangle
Lower margin support plate is welded in the bottom of pipe, and additional shaft guide rail cover board is installed by fabricated construction in top.Utilize additional shaft guide cover
Plate and rack gear cover board can play preferable protective action.
Wherein, the two sides moved back and forth on the guiderail base frame are disposed with the mechanical position limitation of elastic material production
Retaining device 7 is held, the mechanical position limitation end gear 71 of mechanical position limitation end retaining device 7 is fixed by screws on the retaining device frame 72 of end,
End retaining device frame 72 is fixed on the rectangular tube support beam top of the guiderail base frame by fastening screw.
Wherein, the servo motor 40 connects servo motor retarder 45, and passes through the side of bearing sleeve and pulley base
Face is connected to a fixed.In addition, design the different rolling bearing of two inner diameter sizes on the gear shaft shoulder, i.e., in rolling bearing 44 with
And outer rolling bearing 43, both facilitated the installation of gear to assemble, it is strong to be also beneficial to the gear rotary shaft bending resistance improved during driving
Degree, plays a protective role to servo motor output shaft.
Wherein, the guide rail cover board is C-shaped cover board, and the top and side to bedframe and linear guide carry out effectively anti-
The two sides of shield, C-shaped cover board can carry out effective protection to the sliding block L shape connector of linear guide and connection fixed thereto, prevent
The only pollution of the extraneous impurity such as particle dust and splash fluid.
Wherein, the fixed guide rail installation base plate spiral shell in the axially external face top of the linear guide and guiderail base frame
It tethers and connects.
Wherein, the guide rail cover board is supported by support plate 15, and the upper end of the support plate and the guiderail base frame is used
It is bolted.Support plate is connect with described with guide rail cover board with screw assembled, and guide rail cover board is formed by multiple cover plate splices, such as
Shown in Fig. 1.
Compared with prior art, the beneficial effects of the present invention are:
Robot of the invention adds axis rail, can there is preferable mechanical protection performance for additional shaft internal structure,
It can prevent the media such as extraneous splash fluid and impurity particle from polluting to internal electrically and mechanically structure, it can be reliable and stable
The occasion more severe in work condition environment is applied on ground, and structure design is simple, easy to make, is easily installed maintenance, shape
It is beautiful.
In addition, linear guide, servo motor, rack-and-pinion have complete containment envelope, servo motor and drag chain component
It is mounted on the side of additional axis rail, convenient for equipment installation and daily maintenance.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of universal type industrial robot additional shaft guide rail structure, which is characterized in that including being symmetrically mounted on guiderail base frame
Linear guide on the axially external face of frame and be arranged in the guiderail base frame axial side by with shield
Servo motor provide power rack and pinion drive mechanism, the side of the rack and pinion drive mechanism is axially disposed with drag chain
Component；The rack and pinion drive mechanism include by servo motor drive and be mounted on the gear on fixed bearing block and with institute
The rack gear of gear engaged transmission is stated, the rack gear is fixed on the guiderail base frame facet, sets above the rack gear
Rack gear cover board is set, the bottom of the linear guide and the axially external face of the guiderail base frame are fixed, the linear guide
Sliding block be connected by L shape connector with the side panel of pulley base, have guide rail cover board above the guiderail base frame,
The linear guide and guiderail base frame are subjected to effective protection in top surface and side, prevent the pollution of introduced contaminants.
2. universal type industrial robot additional shaft guide rail structure as described in claim 1, which is characterized in that the guiderail base frame
Frame includes two clod wash hollow type rectangles as support beam for being welded by support plate and being supported by height-adjustable lower margin
It manages, square hollow section steel, lower weld support connection plate muscle, the support are welded in top between clod wash hollow type rectangular tube described in two
The height-adjustable lower margin is installed on plate.
3. universal type industrial robot additional shaft guide rail structure as claimed in claim 2, which is characterized in that the guiderail base frame
Transition square hollow section steel is welded on the side of frame, the transition square hollow section steel welds rack gear installation base plate, the rack gear installation base plate
On with screw the rack gear is installed.
4. universal type industrial robot additional shaft guide rail structure as described in claim 1, which is characterized in that at the guide rail bottom
The two sides moved back and forth in seat frame are disposed with the mechanical position limitation end gear of elastic material production, and the mechanical position limitation end gear passes through tight
Gu screw is fixed on the rectangular tube support beam top of guiderail base frame.
5. universal type industrial robot additional shaft guide rail structure as described in claim 1, which is characterized in that the drag chain component is logical
It crosses assembled connection structure to be connected with the guiderail base frame, the cross rail outer design of the drag chain component has adjustable
Lower margin is supported, to improve the bearing capacity of the crossbeam of drag chain component.
6. universal type industrial robot additional shaft guide rail structure as described in claim 1, which is characterized in that the servo motor is logical
The side for crossing bearing sleeve and pulley base is connected to a fixed.
7. universal type industrial robot additional shaft guide rail structure as described in claim 1, which is characterized in that the guide rail cover board is
C-shaped cover board.
8. universal type industrial robot additional shaft guide rail structure as described in claim 1, which is characterized in that the linear guide with
The fixed guide rail installation base plate in the axially external face top of guiderail base frame is connected with.
9. universal type industrial robot additional shaft guide rail structure as described in claim 1, which is characterized in that the guide rail cover board by
Support plate support, the support plate are connect with the upper end of the guiderail base frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910310053.6A CN110091312A (en) | 2019-04-17 | 2019-04-17 | A kind of universal type industrial robot additional shaft guide rail structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910310053.6A CN110091312A (en) | 2019-04-17 | 2019-04-17 | A kind of universal type industrial robot additional shaft guide rail structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110091312A true CN110091312A (en) | 2019-08-06 |
Family
ID=67445147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910310053.6A Pending CN110091312A (en) | 2019-04-17 | 2019-04-17 | A kind of universal type industrial robot additional shaft guide rail structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110091312A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409112A (en) * | 2020-05-08 | 2020-07-14 | 中国航空制造技术研究院 | Guide rail protection mechanism for linear displacement coordinate |
| CN112192543A (en) * | 2020-09-29 | 2021-01-08 | 江苏拓域智能装备有限公司 | Running gear of robot |
| CN113954051A (en) * | 2021-11-01 | 2022-01-21 | 西北工业大学 | Industrial robot moving platform in explosion-proof environment |
| CN114131577A (en) * | 2020-09-04 | 2022-03-04 | 汤智凯 | Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism |
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| JPH11285991A (en) * | 1998-04-03 | 1999-10-19 | Line Works:Kk | Robot moving device |
| CN202640362U (en) * | 2012-05-31 | 2013-01-02 | 上海发那科机器人有限公司 | Walking shaft of intelligent mobile robot |
| KR20160141115A (en) * | 2015-05-28 | 2016-12-08 | 현대중공업 주식회사 | Secondary transfer device of the robot |
| CN207058550U (en) * | 2017-08-07 | 2018-03-02 | 深圳泛宇自动化有限公司 | A kind of robot is movably walking axle |
| CN207578391U (en) * | 2017-11-13 | 2018-07-06 | 珠海汉迪自动化设备有限公司 | A kind of robot walking guide rail |
| CN108527390A (en) * | 2018-04-27 | 2018-09-14 | 上海发那科机器人有限公司 | A kind of high protection gluing track |
| CN208687237U (en) * | 2018-07-31 | 2019-04-02 | 上海泰豪智能节能技术有限公司 | A kind of rectangular cold-bend hollow profiled bar penetration type support construction |
| CN210081727U (en) * | 2019-04-17 | 2020-02-18 | 中国汽车工业工程有限公司 | Additional shaft guide rail structure of general industrial robot |
-
2019
- 2019-04-17 CN CN201910310053.6A patent/CN110091312A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11285991A (en) * | 1998-04-03 | 1999-10-19 | Line Works:Kk | Robot moving device |
| CN202640362U (en) * | 2012-05-31 | 2013-01-02 | 上海发那科机器人有限公司 | Walking shaft of intelligent mobile robot |
| KR20160141115A (en) * | 2015-05-28 | 2016-12-08 | 현대중공업 주식회사 | Secondary transfer device of the robot |
| CN207058550U (en) * | 2017-08-07 | 2018-03-02 | 深圳泛宇自动化有限公司 | A kind of robot is movably walking axle |
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| CN108527390A (en) * | 2018-04-27 | 2018-09-14 | 上海发那科机器人有限公司 | A kind of high protection gluing track |
| CN208687237U (en) * | 2018-07-31 | 2019-04-02 | 上海泰豪智能节能技术有限公司 | A kind of rectangular cold-bend hollow profiled bar penetration type support construction |
| CN210081727U (en) * | 2019-04-17 | 2020-02-18 | 中国汽车工业工程有限公司 | Additional shaft guide rail structure of general industrial robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409112A (en) * | 2020-05-08 | 2020-07-14 | 中国航空制造技术研究院 | Guide rail protection mechanism for linear displacement coordinate |
| CN114131577A (en) * | 2020-09-04 | 2022-03-04 | 汤智凯 | Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism |
| CN112192543A (en) * | 2020-09-29 | 2021-01-08 | 江苏拓域智能装备有限公司 | Running gear of robot |
| CN113954051A (en) * | 2021-11-01 | 2022-01-21 | 西北工业大学 | Industrial robot moving platform in explosion-proof environment |
| CN113954051B (en) * | 2021-11-01 | 2023-05-09 | 西北工业大学 | Industrial robot moving platform in explosion-proof environment |
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