CN112659178A

CN112659178A - Damping device for industrial robot

Info

Publication number: CN112659178A
Application number: CN202011345875.7A
Authority: CN
Inventors: 杨海东; 崔含嫣; 容刚
Original assignee: Shaodong Intelligent Manufacturing Innovative Institute
Current assignee: Shaodong Intelligent Manufacturing Innovative Institute
Priority date: 2020-11-25
Filing date: 2020-11-25
Publication date: 2021-04-16

Abstract

The invention discloses a damping device for an industrial robot, which comprises a base, wherein a sliding groove is formed in the bottom of the base, a guide rail is connected in the sliding groove in a sliding manner, a rack is welded at the top of the guide rail, a servo motor is installed in the base, a gear is welded on an output shaft of the servo motor, a storage battery is installed in the base, a controller is installed at one end of the base, a protection frame is welded at the top of the base, damping mechanisms are welded on the inner walls of two sides of the protection frame, each damping mechanism comprises a sleeve welded with the inner wall of the protection frame, a supporting rod is connected in the sleeve in a sliding manner, and a spring. The base is in sliding fit with the guide rail, the rack is arranged at the top of the guide rail, the servo motor is arranged in the base, the gear meshed with the rack is welded on the output shaft of the servo motor, and the base is driven to slide on the guide rail through the servo motor, so that the problem of vibration caused by uneven road surface is solved.

Description

Damping device for industrial robot

Technical Field

The invention relates to the technical field of industrial robot carrying, in particular to a damping device for an industrial robot.

Background

An industrial robot is composed of three basic parts, namely a main body, a driving system and a control system. The main body is a machine base and an actuating mechanism, and comprises an arm part, a wrist part and a hand part, and some robots also comprise a walking mechanism. Most industrial robots have 3-6 degrees of freedom of motion, wherein the wrist generally has 1-3 degrees of freedom of motion; the driving system comprises a power device and a transmission mechanism and is used for enabling the executing mechanism to generate corresponding actions; the control system sends command signals to the driving system and the executing mechanism according to the input program and controls the driving system and the executing mechanism, because the industrial robot has certain universality and adaptability, can adapt to the production of various middle and small batches, is usually combined with a digital control machine tool in the 70 s and becomes a component of a flexible manufacturing unit or a flexible manufacturing system, the national economy of China enters two fundamental transition periods from the initial 90 s, a new round of economic system reformation and technical progress enthusiasm are raised, the industrial robot of China also takes a great step in practice to successively develop industrial robots with various purposes of spot welding, arc welding, assembly, paint spraying, cutting, carrying, packaging, stacking and the like, and a batch of robot application projects are implemented, a batch of robot industrialization bases are formed, and a foundation is laid for the flying of the robot industry in China. For the transfer robot, the current robot is at the removal in-process because the unevenness on road surface leads to the robot to rock easily thereby leading to the goods to drop, and the robot starts and stops in the twinkling of an eye simultaneously, and the inertia of object also can lead to the goods slope to the danger of turning on one's side takes place.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a damping device for an industrial robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a damping device for industrial robot, includes the base, open the base bottom has the spout, and sliding connection has the guide rail in the spout, the welding of guide rail top has the rack, base internally mounted has servo motor, and the welding of servo motor output shaft has the gear, base internally mounted has the battery, and the one end of base installs the controller, the welding of base top has the bearer bar, and the inner wall of bearer bar both sides has all welded damper, damper include with bearer bar inner wall welded sleeve, and sliding connection has the bracing piece in the sleeve, the butt welding has the spring between bracing piece and the sleeve, and the butt welding has the material frame between two bracing pieces.

Preferably, the gear and the rack are meshed with each other, the gear is located inside a sliding groove, and the sliding groove is located in the middle of the base.

Preferably, the servo motor, the storage battery and the controller are sequentially connected through a wire respectively, and the storage battery is connected with an external power supply through a power line.

Preferably, the damping mechanism is respectively located at the middle positions of the inner walls of the two sides of the protection frame, and the top of the material frame and the top of the protection frame are both provided with openings.

Preferably, the inner diameter of the sleeve is matched with the outer diameter of the support rod, and the sleeve and the spring form a sliding fit.

Preferably, a connecting line between the two damping mechanisms is parallel to the direction of the guide rail, and the material frame is located at the middle position of the protection frame.

The invention has the beneficial effects that:

1. the base is in sliding fit with the guide rail, the rack is arranged at the top of the guide rail, the servo motor is arranged in the base, the gear meshed with the rack is welded on the output shaft of the servo motor, and the base is driven by the servo motor to slide on the guide rail, so that the problem of vibration caused by uneven road surface is solved;

2. through the butt welding have damper between protection frame and material frame, the servo motor drive base removes and the in-process that stops, and the object in the material frame can continue to promote the base because self inertia and remove, and damper can effectually alleviate the problem that inertia brought, has played the guard action.

Drawings

Fig. 1 is a schematic structural view of a damping device for an industrial robot according to the present invention;

fig. 2 is a schematic side view of a base of a damping device for an industrial robot according to the present invention;

fig. 3 is a schematic structural diagram of a damping mechanism of a damping device for an industrial robot according to the present invention.

In the figure: the device comprises a base 1, a sliding chute 2, a guide rail 3, a rack 4, a servo motor 5, a rack 6, a storage battery 7, a controller 8, a protective frame 9, a damping mechanism 10, a sleeve 11, a support rod 12, a spring 13 and a material frame 14.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Embodiment 1, referring to fig. 1-2, a damping device for industrial robot includes a base 1, a chute 2 is opened at the bottom of the base 1, a guide rail 3 is slidably connected in the chute 2, a rack 4 is welded at the top of the guide rail 3, a servo motor 5 is installed inside the base 1, a gear 6 is welded on an output shaft of the servo motor 5, a storage battery 7 is installed inside the base 1, a controller 8 is installed at one end of the base 1, the gear 6 is meshed with the rack 4, the gear 6 is located inside the chute 2, the chute 2 is located at an intermediate position of the base 1, the servo motor 5, the storage battery 7 and the controller 8 are sequentially connected through wires, the storage battery 7 is connected with an external power supply through a power line, a sliding fit is formed between the base 1 and the guide rail 3, the rack 4 is installed at the top of the guide rail 3, install servo motor 5 in the base 1, servo motor 5's output shaft welding has the gear 6 with 4 intermeshing of rack, drives base 1 through servo motor 5 and slides on guide rail 3, has avoided the problem that road surface unevenness produced vibrations.

Embodiment 2, referring to fig. 1 and 3, a damping device for an industrial robot includes a base 1, a protection frame 9 welded to the top of the base 1, damping mechanisms 10 welded to inner walls of both sides of the protection frame 9, the damping mechanisms 10 including sleeves 11 welded to inner walls of the protection frame 9, support rods 12 slidably connected to the sleeves 11, springs 13 welded between the support rods 12 and the sleeves 11, and material frames 14 welded between the two support rods 12, the damping mechanisms 10 are respectively located at intermediate positions of the inner walls of both sides of the protection frame 9, and openings are formed at the tops of the material frames 14 and the protection frame 9, an inner diameter of the sleeves 11 is adapted to an outer diameter of the support rods 12, the sleeves 11 and the springs 13 form a sliding fit, a connecting line between the two damping mechanisms 10 is parallel to a direction of a guide rail 3, and the material frames 14 are located at the intermediate positions of the protection frame 9, through the butt welding have damper 10 between protection frame 9 and material frame 14, servo motor 5 drive base 1 removes and the in-process that stops, and the object in the material frame 14 can continue to promote base 1 and remove because the inertia of self, and damper 10 can effectually alleviate the problem that inertia brought, has played the guard action.

Base 1 and guide rail 3 form sliding fit, rack 4 is installed at 3 tops of guide rail, install servo motor 5 in the base 1, servo motor 5's output shaft welding has the gear 6 with 4 intermeshing of rack, drive base 1 through servo motor 5 and slide on guide rail 3, it has damper 10 to press from both sides the welding between fender frame 9 and material frame 14, servo motor 5 drive base 1 removes and the in-process that stops, the object in the material frame 14 can continue to promote base 1 and remove because the inertia of self, damper 10 can effectually alleviate the problem that inertia brought, the guard action has been played.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The damping device for the industrial robot comprises a base (1) and is characterized in that a sliding groove (2) is formed in the bottom of the base (1), a guide rail (3) is connected to the sliding groove (2) in a sliding mode, a rack (4) is welded to the top of the guide rail (3), a servo motor (5) is installed inside the base (1), a gear (6) is welded to an output shaft of the servo motor (5), a storage battery (7) is installed inside the base (1), a controller (8) is installed at one end of the base (1), a protection frame (9) is welded to the top of the base (1), damping mechanisms (10) are welded to inner walls of two sides of the protection frame (9), each damping mechanism (10) comprises a sleeve (11) welded to the inner wall of the protection frame (9), a supporting rod (12) is connected to the sleeve (11) in a sliding mode, a spring (13) is welded between the supporting rod (, and a material frame (14) is clamped between the two support rods (12).

2. A shock-absorbing device for an industrial robot, according to claim 1, characterized in that said gear (6) is intermeshed with the rack (4) and the gear (6) is located inside the chute (2), said chute (2) being located at an intermediate position of the base (1).

3. The damping device for the industrial robot according to claim 1, wherein the servo motor (5), the storage battery (7) and the controller (8) are sequentially connected through a wire, and the storage battery (7) is connected with an external power source through a power line.

4. The industrial robot damping device according to claim 1, wherein the damping mechanism (10) is located at the middle position of the inner walls of the two sides of the protection frame (9), and the top of the material frame (14) and the top of the protection frame (9) are opened.

5. A damping device for an industrial robot according to claim 1, characterized in that the inner diameter of the sleeve (11) is adapted to the outer diameter of the support rod (12), and the sleeve (11) forms a sliding fit with the spring (13).

6. A damping device for an industrial robot according to claim 1, characterized in that a line between the two damping mechanisms (10) is parallel to the direction of the guide rail (3), and the material frame (14) is located at the middle position of the protection frame (9).