CN111590640A - Auxiliary mechanism for improving eccentricity of four-axis robot - Google Patents
Auxiliary mechanism for improving eccentricity of four-axis robot Download PDFInfo
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- CN111590640A CN111590640A CN202010517799.7A CN202010517799A CN111590640A CN 111590640 A CN111590640 A CN 111590640A CN 202010517799 A CN202010517799 A CN 202010517799A CN 111590640 A CN111590640 A CN 111590640A
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- guide rail
- hole
- eccentricity
- axis robot
- robot
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- 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
Abstract
The invention provides an auxiliary mechanism for improving the eccentricity of a four-axis robot, which comprises a guide rail disc, wherein a group of connecting columns are arranged on the upper surface of the guide rail disc, a screw rod U-axis through hole is formed in the middle of the guide rail disc, a guide rail through hole which is communicated up and down is formed in the front side of the guide rail disc, the cross section of the guide rail through hole is in a fan shape, a sliding block is arranged on the guide rail disc, a sliding block through hole is formed in the sliding block, a vertical guide pillar penetrates through the sliding block through hole and the guide rail through hole, the guide pillar moves along the guide rail through hole through the sliding block, the bottom of the guide. The invention does not need to excessively transform the existing four-axis robot, plays the roles of stabilizing the joints of the four-axis robot and improving the eccentricity ratio, ensures that the tail end of the four-axis robot can be connected with a tool with larger volume and weight, ensures the eccentricity ratio to be in a normal range, plays the role of protecting the screw rod of the robot, can also prevent position deviation caused by deformation of a connecting plate and the screw rod, and improves the operation precision and quality of the robot.
Description
Technical Field
The invention relates to an auxiliary mechanism for improving eccentricity of a four-axis robot, and belongs to the technical field of industrial robot auxiliary tools.
Background
Joint robots (Robotjoints), also called joint arm robots or joint mechanical arms, are one of the most common forms of industrial robots in the industrial field today, and are suitable for mechanical automation operations in various industrial fields, such as automatic assembly, painting, transportation, welding, and the like. The axes of an industrial robot are to be interpreted by the term "degrees of freedom" in the art.
Four-axis robots are designed specifically for high-speed pick-and-place operations, where an object can be picked up, lifted, moved horizontally, and placed or presented in X, Y, Z space to change the direction of the object along one axis (e.g., yaw). That is, the arm part of the four-axis robot can move freely in one geometrical plane. The front two joints of the four-axis robot can freely rotate left and right on a horizontal plane, the second joint is composed of a metal rod called feather (quick), and a specific tool is installed at the tail end of the metal rod according to specific industrial requirements to execute industrial tasks. The metal bar can be moved up and down in a vertical plane or rotated about its vertical axis, but cannot be tilted.
Therefore, there is a high demand for the eccentricity as a four-axis robot, and as shown in fig. 1, the demand for the eccentricity of a four-axis robot is on the market. If the eccentric distance is too large, the lead screw and parts of the robot are greatly abraded, and the robot can give an alarm in a protective mode. The existing four-axis robot has a limit to the weight of a tool mounted on a tail end metal rod due to the characteristic, so that the development and application of the four-axis robot are hindered.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an auxiliary mechanism for improving the eccentricity ratio of a four-axis robot, which can be directly connected with two axes of the four-axis robot, does not need to excessively transform the prior four-axis robot, and plays roles in stabilizing joints of the four-axis robot and improving the eccentricity ratio, so that the tail end of the four-axis robot can be connected with a tool with larger volume and weight, the eccentricity ratio is ensured to be in a normal range, and the auxiliary mechanism can play a role in protecting a screw rod of the robot for the application condition with larger eccentricity, also can prevent position deviation caused by deformation of a connecting plate and the screw rod, and improves the operation precision and quality of the robot.
The technical scheme adopted by the invention for solving the technical problem is as follows: the utility model provides an auxiliary mechanism for improving four-axis robot eccentricity, including the guide rail dish, the upper surface of guide rail dish is equipped with a set of spliced pole that is used for with two axle bottom fixed connection of robot, the middle part of guide rail dish is equipped with the lead screw U axle through-hole that is used for robot lead screw U axle to pass through, the front side of guide rail dish is equipped with the guide rail through-hole that link up from top to bottom, the cross section of guide rail through-hole becomes fan-shaped, be equipped with the slider on the guide rail dish, be equipped with the slider through-hole that link up from top to bottom on the slider, vertical guide pillar runs through in slider through-hole and guide rail through-hole, the guide pillar passes through the slider and removes along the guide rail through-hole, the bottom and the horizontally connecting plate.
The cross section of the guide post is rectangular.
The slider is including being located two movable plates of guide rail dish top and below respectively, the center of movable plate is equipped with the slider through-hole that is used for the guide pillar to pass through respectively, connect through a set of vertical connecting rod that runs through in the guide rail through-hole between the movable plate, be equipped with a set of gyro wheel mounting hole that link up from top to bottom on the movable plate, be equipped with the gyro wheel through the roller installation in the gyro wheel mounting hole, each roller is parallel with the plane at guide rail through-hole place, and perpendicular with the tangent line of guide rail through-hole, the gyro wheel lower surface of the movable plate that is located guide rail dish top contacts with the upper surface of guide rail dish, the gyro wheel upper.
The inner wall of the through hole of the sliding block is nested with a copper sleeve, and the inner wall of the copper sleeve is matched with the outer wall of the guide pillar in shape.
The middle part of the connecting rod is provided with a bearing which is always contacted with the inner cambered surface or the outer cambered surface of the guide rail through hole.
The tail end connecting piece is cylindrical, and a screw hole used for being connected with a U shaft of the robot screw rod through a screw is formed in the wall of the tail end connecting piece.
The front end of connecting plate is equipped with the installed part that is used for being connected with the frock.
The invention has the beneficial effects based on the technical scheme that:
(1) the auxiliary mechanism for improving the eccentricity of the four-axis robot is reasonable in structure, can be mounted on two axes of various traditional four-axis robots, the fan-shaped guide rail through holes in the guide rail disc are matched with the guide pillars in the guide rail through holes, and the guide pillars can slide along the arc paths in the guide rail through holes, so that the normal rotation function of a U axis of a screw rod of the robot is ensured; meanwhile, the guide post can slide up and down in the through hole of the sliding block, so that the normal lifting function of the U shaft of the screw rod of the robot is guaranteed, the guide post is always parallel to the U shaft of the screw rod of the robot in the operation process, the connecting plate at the bottom is further guaranteed to be horizontal, a tool connected with the tail end of the connecting plate is kept stable, the eccentricity is guaranteed to be within a normal range, the tail end load is improved, and the application range of the four-axis robot is greatly expanded;
(2) in the auxiliary mechanism for improving the eccentricity of the four-axis robot, the guide pillar can be a rectangular square column, so that the relative movement between the guide pillar and the sliding block is avoided, and the stability is further improved;
(3) the auxiliary mechanism for improving the eccentricity of the four-axis robot is realized through a complete and independent structure, can be directly additionally arranged at the two-axis part of various four-axis robots, does not need to influence the structure or control software of the existing four-axis robot, and has low modification cost and good effect;
(4) the sliding block of the auxiliary mechanism for improving the eccentricity of the four-axis robot provided by the invention is provided with the structures such as the copper sleeve and the roller, so that the smoothness of movement can be ensured, the eccentricity can be improved under the condition of not influencing the moving performance of the existing four-axis robot in all directions, the effect of protecting a screw rod of the robot can be realized for the application condition with larger eccentricity, the position deviation caused by the deformation of a connecting plate and the screw rod can be prevented, and the operation precision and quality of the robot are improved.
Drawings
Fig. 1 is a schematic diagram of a two-axis eccentricity requirement of a four-axis robot in the prior art.
Fig. 2 is a schematic structural diagram of an auxiliary mechanism for improving the eccentricity of a four-axis robot provided by the invention.
Fig. 3 is a schematic structural view of a slider.
Fig. 4 is a schematic diagram of an auxiliary mechanism assembly tool for improving the eccentricity of a four-axis robot provided by the invention.
Fig. 5 is an assembly view illustrating that an auxiliary mechanism for improving the eccentricity of a four-axis robot according to the present invention is assembled to the four-axis robot.
In the figure: 1-guide rail disc, 2-end connecting piece, 3-connecting plate, 4-bearing, 5-moving plate, 6-roller, 7-copper sleeve, 8-connecting rod, 9-roller shaft, 10-guide pillar, 11-robot screw rod U shaft, 12-connecting column, 13-robot biaxial, 14-four-shaft robot, 15-screwing mechanism and 16-guide rail through hole.
Detailed Description
The invention is further illustrated by the following figures and examples.
The invention provides an auxiliary mechanism for improving the eccentricity of a four-axis robot, and with reference to fig. 2 to 5, the auxiliary mechanism comprises a guide rail disc 1, the upper surface of the guide rail disc is provided with a group of connecting columns 12 for fixedly connecting with the bottom of a robot secondary shaft 13, the middle part of the guide rail disc is provided with a screw rod U shaft through hole for a robot screw rod U shaft 11 to pass through, the front side of the guide rail disc is provided with a guide rail through hole 16 which is communicated up and down, the cross section of the guide rail through hole is fan-shaped, the guide rail disc is provided with a slide block, the slide block is provided with a slide block through hole which is communicated up and down, a vertical guide pillar 10 penetrates through the slide block through hole and the guide rail through hole, the guide pillar moves along the guide rail through hole through the slide block, the bottom of the guide pillar is connected.
The cross section of the guide post is rectangular.
The slider is including being located two movable plates 5 of guide rail dish top and below respectively, the center of movable plate is equipped with the slider through-hole that is used for the guide pillar to pass through respectively, connect through a set of vertical connecting rod 8 that runs through in the guide rail through-hole between the movable plate, be equipped with a set of gyro wheel mounting hole that link up from top to bottom on the movable plate, be equipped with gyro wheel 6 through the installation of roller 9 in the gyro wheel mounting hole, each roller is parallel with the plane at guide rail through-hole place, and perpendicular with the tangent line of guide rail through-hole, the gyro wheel lower surface of the movable plate that is located guide rail dish top and the upper surface contact of guide rail dish, the gyro wheel upper.
The inner wall of the through hole of the slide block is nested with a copper sleeve 7, and the inner wall of the copper sleeve is matched with the outer wall of the guide pillar in shape.
The middle part of the connecting rod is provided with a bearing 4 which is always contacted with the inner cambered surface or the outer cambered surface of the guide rail through hole.
The tail end connecting piece is cylindrical, and a screw hole used for being connected with a U shaft of the robot screw rod through a screw is formed in the wall of the tail end connecting piece.
The front end of connecting plate is equipped with the installed part that is used for being connected with the frock.
By installing the auxiliary mechanism for improving the eccentricity of the four-axis robot, the four-axis robot 14 can be connected and assembled with the screwing mechanism 15 with large volume and heavy weight, and the eccentricity is ensured in a normal range on the premise of ensuring the working accuracy and smoothness.
The auxiliary mechanism for improving the eccentricity ratio of the four-axis robot provided by the invention can be directly connected with two axes of the four-axis robot, the existing four-axis robot is not required to be transformed too much, the effects of stabilizing joints of the four-axis robot and improving the eccentricity ratio are achieved, the tail end of the four-axis robot can be connected with a tool with larger volume and weight, the eccentricity ratio is ensured to be in a normal range, the load is increased, the eccentricity ratio is ensured to be in a normal range, the effect of protecting a screw rod of the robot is achieved, the position deviation caused by the deformation of a connecting plate and the screw rod can be prevented, and the operation precision and quality of the robot are improved.
Claims (7)
1. The utility model provides an auxiliary mechanism for improving four-axis robot eccentricity, includes the guide rail dish, its characterized in that: the upper surface of guide rail dish is equipped with a set of spliced pole that is used for with two axle bottom fixed connection of robot, the middle part of guide rail dish is equipped with the lead screw U axle through-hole that is used for robot lead screw U axle to pass through, the front side of guide rail dish is equipped with the guide rail through-hole that link up from top to bottom, the cross section of guide rail through-hole becomes fan-shapedly, be equipped with the slider on the guide rail dish, the slider through-hole that link up from top to bottom is equipped with on the slider, vertical guide pillar runs through in slider through-hole and guide rail through-hole, the guide pillar passes through the slider and removes along the guide rail through-hole, the bottom and the horizontally connecting plate.
2. The auxiliary mechanism for improving the eccentricity of the four-axis robot of claim 1, wherein: the cross section of the guide post is rectangular.
3. The auxiliary mechanism for improving the eccentricity of a four-axis robot of claim 1 or 2, wherein: the slider is including being located two movable plates of guide rail dish top and below respectively, the center of movable plate is equipped with the slider through-hole that is used for the guide pillar to pass through respectively, connect through a set of vertical connecting rod that runs through in the guide rail through-hole between the movable plate, be equipped with a set of gyro wheel mounting hole that link up from top to bottom on the movable plate, be equipped with the gyro wheel through the roller installation in the gyro wheel mounting hole, each roller is parallel with the plane at guide rail through-hole place, and perpendicular with the tangent line of guide rail through-hole, the gyro wheel lower surface of the movable plate that is located guide rail dish top contacts with the upper surface of guide rail dish, the gyro wheel upper.
4. The auxiliary mechanism for improving the eccentricity of the four-axis robot of claim 3, wherein: the inner wall of the through hole of the sliding block is nested with a copper sleeve, and the inner wall of the copper sleeve is matched with the outer wall of the guide pillar in shape.
5. The auxiliary mechanism for improving the eccentricity of the four-axis robot of claim 3, wherein: the middle part of the connecting rod is provided with a bearing which is always contacted with the inner cambered surface or the outer cambered surface of the guide rail through hole.
6. The auxiliary mechanism for improving the eccentricity of the four-axis robot of claim 1, wherein: the tail end connecting piece is cylindrical, and a screw hole used for being connected with a U shaft of the robot screw rod through a screw is formed in the wall of the tail end connecting piece.
7. The auxiliary mechanism for improving the eccentricity of the four-axis robot of claim 1, wherein: the front end of connecting plate is equipped with the installed part that is used for being connected with the frock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010517799.7A CN111590640A (en) | 2020-06-09 | 2020-06-09 | Auxiliary mechanism for improving eccentricity of four-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010517799.7A CN111590640A (en) | 2020-06-09 | 2020-06-09 | Auxiliary mechanism for improving eccentricity of four-axis robot |
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| Publication Number | Publication Date |
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| CN111590640A true CN111590640A (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010517799.7A Withdrawn CN111590640A (en) | 2020-06-09 | 2020-06-09 | Auxiliary mechanism for improving eccentricity of four-axis robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112392929A (en) * | 2020-12-04 | 2021-02-23 | 诸暨市檀香庵农业休闲山庄有限公司 | Industrial robot maintenance is with guaranteeing ball screw eccentricity subassembly |
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| CN106607731A (en) * | 2015-10-21 | 2017-05-03 | 张桂春 | Five-degree-of-freedom polishing manipulator for large aperture optical component |
| CN109531555A (en) * | 2018-12-05 | 2019-03-29 | 诺伯特智能装置(山东)有限公司 | A kind of four axis flapping articulation robots |
| CN209579557U (en) * | 2018-12-29 | 2019-11-05 | 上海信耀电子有限公司 | A kind of novel four axis robot suitable for coding machine equipment |
| CN209615516U (en) * | 2019-03-07 | 2019-11-12 | 东莞市鑫拓智能机械科技有限公司 | A kind of four axis robot of high load |
| CN210452705U (en) * | 2019-06-18 | 2020-05-05 | 河南工程学院 | Universal four-axis horizontal joint robot |
| CN211332101U (en) * | 2019-10-31 | 2020-08-25 | 武汉臻迪智能技术有限公司 | Screw driving machine |
-
2020
- 2020-06-09 CN CN202010517799.7A patent/CN111590640A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106607731A (en) * | 2015-10-21 | 2017-05-03 | 张桂春 | Five-degree-of-freedom polishing manipulator for large aperture optical component |
| CN109531555A (en) * | 2018-12-05 | 2019-03-29 | 诺伯特智能装置(山东)有限公司 | A kind of four axis flapping articulation robots |
| CN209579557U (en) * | 2018-12-29 | 2019-11-05 | 上海信耀电子有限公司 | A kind of novel four axis robot suitable for coding machine equipment |
| CN209615516U (en) * | 2019-03-07 | 2019-11-12 | 东莞市鑫拓智能机械科技有限公司 | A kind of four axis robot of high load |
| CN210452705U (en) * | 2019-06-18 | 2020-05-05 | 河南工程学院 | Universal four-axis horizontal joint robot |
| CN211332101U (en) * | 2019-10-31 | 2020-08-25 | 武汉臻迪智能技术有限公司 | Screw driving machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112392929A (en) * | 2020-12-04 | 2021-02-23 | 诸暨市檀香庵农业休闲山庄有限公司 | Industrial robot maintenance is with guaranteeing ball screw eccentricity subassembly |
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Application publication date: 20200828 |
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| WW01 | Invention patent application withdrawn after publication |