CN113334350A - Additional shaft guide rail structure of general industrial robot - Google Patents
Additional shaft guide rail structure of general industrial robot Download PDFInfo
- Publication number
- CN113334350A CN113334350A CN202110733868.2A CN202110733868A CN113334350A CN 113334350 A CN113334350 A CN 113334350A CN 202110733868 A CN202110733868 A CN 202110733868A CN 113334350 A CN113334350 A CN 113334350A
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- China
- Prior art keywords
- guide rail
- bearing
- fixedly installed
- industrial robot
- fixed
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- 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
-
- 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 discloses a universal type industrial robot additional shaft guide rail structure which comprises a fixed steel block, wherein a fixed base is welded on the side face of the fixed steel block, a guide rail is welded on the top of the fixed steel block, a sliding block is placed on the top of the fixed steel block, a driving plate is fixedly installed on the top of the sliding block, a robot installation base is fixedly installed on the top of the driving plate, and the driving system is used for driving the driving plate and a tightening system is used for tightening the sliding block along the guide rail. According to the invention, each important part is provided with the protection mechanism, the buffer device is arranged between the guide rails, and the bearing tightening device is arranged, so that the precision of the system can be increased while external interference is prevented, the service life of the system is prolonged, the operation cost is reduced, the structural characteristics of the guide rails can be increased and reduced at any time, the operation is simple, and the practicability is high.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a guide rail structure of an additional shaft of a universal industrial robot.
Background
Industrial robots are multi-joint manipulators widely used in the industrial field or multi-degree-of-freedom machine devices, have certain automation, can realize various industrial processing and manufacturing functions by means of self power energy and control capability, are fixed on a base in most of the conventional universal industrial robots, and complete the moving function by moving the base on a guide rail, thereby completing multi-angle or multi-path work.
But these guide rail structures all have certain limitation at present, traditional guide rail structure is complicated, follow-up maintenance handles waste time and energy, the maintenance needs to be dismantled most structures, not only inefficiency, still influence the precision of guide rail and robot work motion easily, the fluid and the part piece of during operation spill are attached to motor and inside actuating mechanism very easily, increase the fault rate easily, the motion of most robots on the guide rail produces mechanical fatigue easily, long-term work leads to base and guide rail junction not hard up easily, influence the precision and the stability of work.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a universal type additional shaft guide rail structure of an industrial robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a guide rail structure of an additional shaft of a general industrial robot, comprising:
the robot comprises a fixed steel block, a fixed base, a guide rail, a sliding block, a driving plate and a robot installation base, wherein the fixed base is welded on the side face of the fixed steel block;
a drive system for driving the drive plate;
the tightening system is used for performing tightening operation on the sliding block along the guide rail;
preferably, a guide rail bolt is movably sleeved on the side surface of the guide rail, a guide rail bolt groove is formed in the side surface of the guide rail, the guide rail bolt groove is matched with the guide rail bolt in size, a guide rail nut is movably sleeved on the side wall of the surface of the guide rail bolt, a liquid storage air bag is fixedly mounted on the bottom surface of the guide rail, and a cushion pad is fixedly mounted at the top end of the guide rail;
preferably, the guide rails are symmetrically installed, driving racks are distributed on the inner side of the guide rail on one side, a concave groove is formed in the bottom end of the guide rail, a protrusion is formed in the top end of the guide rail, the size of the guide rail bolt groove is matched with that of the guide rail bolt, the buffer cushion is of a flexible hollow structure, the interior of the liquid storage air bag is communicated with the interior of the buffer cushion, the joint of the liquid storage air bag and the buffer cushion is subjected to strengthening sealing treatment, the liquid storage air bag is of a soft structure, and buffer solution is filled in the liquid storage air bag;
preferably, the robot mounting base and the driving plate are provided with mounting holes on the surfaces thereof, the robot mounting base and the driving plate are fixedly connected together through the mounting holes by fixing bolts, a side baffle is fixedly mounted on the inner side of the driving plate, and a side baffle is fixedly mounted on the side surface of the driving plate.
Preferably, actuating system includes the static box is prevented in the insulation, the inboard fixed mounting that the static box was prevented in the insulation has driving motor, driving motor's the fixed cover in output shaft has been cup jointed a drive gear, the bottom activity of the static box is prevented in the insulation has been cup jointed a transfer line, the fixed cover in top of a transfer line has been cup jointed second drive gear, the fixed cover in bottom of a transfer line has been cup jointed third drive gear, the side of the static box is prevented in the insulation has been cup jointed the second transfer line, the fixed cover in top of second transfer line has been cup jointed fourth drive gear.
Preferably, the first transmission gear is meshed with the second transmission gear, the fourth transmission gear is also meshed with the second transmission gear, the third transmission gear is meshed with driving racks uniformly distributed on the inner side of the guide rail, and a plurality of heat dissipation air holes are formed in the surface of the insulating anti-static box.
Preferably, unable adjustment base's bottom is fixed to have cup jointed the double-screw bolt, just the bottom of double-screw bolt is run through unable adjustment base fixed mounting is in ground, fixation nut has been cup jointed in the activity of the table lateral wall of double-screw bolt, the side fixed mounting of slider has the slider baffle, unable adjustment base's side is fixed to have cup jointed first bearing, the fixed cup joint in bottom of slider has the second bearing, the bottom of slider still fixed cup joint has the third bearing, the top fixed mounting of slider has fixed slider, just first bearing the second bearing with the model and the parameter of third bearing are all unanimous, just first bearing distance between the third bearing with the highly uniform of guide rail, the second bearing closely laminates the side of guide rail.
Preferably, the bottom of the robot mounting base is provided with a sliding groove corresponding to the fixed slide block in size, and the length of the sliding groove is greater than that of the fixed slide block.
Preferably, tighten up the system and include the second transfer line, the fixed runner that has cup jointed in bottom of second transfer line, the fixed surface of runner installs the protruding axle, the inboard fixed mounting of tightening up the mechanism has spacing axle, the connecting rod has been cup jointed in the activity of the table lateral wall of spacing axle, the top fixed mounting of connecting rod has the stopper, the mid portion fixed mounting of connecting rod has the rectangle frame, the bottom fixed mounting of robot installation base has bearing baffle.
Preferably, the sum of the distance between the convex shafts and the diameter of the convex shafts is matched with the width size of the inner side of the rectangular frame, a spring is connected between the connecting rod and the rotating shaft of the first bearing, and when the position of a connecting line between the convex shafts is vertical to the horizontal direction, the rectangular frame is closest to the bearing baffle, and the spring is in a non-compression and non-tension state.
Compared with the prior art, the invention has the beneficial effects that:
1. the side baffle, the insulating anti-static box, the sliding block baffle and the bearing baffle can effectively block the pollution of oil and scraps generated in the working process, and the precision and the stability of machinery can be effectively protected.
2. The driving plate can be fixed on the surface of the guide rail through the first bearing, the second bearing and the third bearing, and the first bearing, the second bearing and the third bearing only can be subjected to radial force vertical to the bearings in the working process, so that the mechanical abrasion can be reduced to the maximum extent, and the stability and precision of the system are maintained.
3. Through the structure of guide rail, the top of inserting the guide rail can continue to install in the bottom of guide rail, when needing to extend the guide rail, can be after installing fixed steel block, go into the recess of next guide rail with the protrusion card of guide rail, then install, continue to prolong the guide rail according to this type, easy operation not only, the extension after-mentioned structure is inseparable moreover, can keep good precision and system stability.
4. When the drive plate moves, the slider baffle produces perpendicular decurrent effort to the guide rail, extrudees the stock solution gasbag simultaneously, and buffer solution in the stock solution gasbag is extruded and gets into the blotter, inside, the blotter inflation increases the filling degree in clearance between the blotter to the guide rail, reduces rocking around between the guide rail, increases the stability of system operation, reduces the inside friction loss of system, has improved entire system's life.
5. When the driving motor is powered on, the first transmission gear rotates, the fourth transmission gear and the second transmission rod are driven to rotate, the second transmission rod rotates to drive the protruding shaft to rotate along the central point of the rotating wheel, meanwhile, the rectangular frame is driven to perform intermittent motion towards the direction far away from the bearing baffle, the connecting rod performs intermittent motion for pulling and restoring the sliding block through the spring at the joint, the sliding block can be driven to move towards the direction of the bearing baffle through the sliding groove formed in the bottom of the robot installation base, the second bearing plays a role in shrinking and clamping the side face of the guide rail, close contact between the second bearing and the guide rail can be guaranteed, and the stability of system operation is improved.
Drawings
Fig. 1 is a schematic overall structure diagram of an additional shaft guide rail structure of a general industrial robot, which is provided by the invention;
FIG. 2 is a schematic diagram of the overall structure of a guide rail of an additional shaft guide rail structure of a general industrial robot, which is provided by the invention;
FIG. 3 is a schematic diagram of a guide rail connection structure of an additional shaft guide rail structure of a general industrial robot, which is provided by the invention;
FIG. 4 is a schematic diagram of a guide rail connection buffer structure of an additional shaft guide rail structure of a general industrial robot, which is provided by the invention;
fig. 5 is a schematic internal structure diagram of an additional shaft guide rail structure of a general industrial robot, which is provided by the invention;
FIG. 6 is a schematic driving structure diagram of an additional shaft guide rail structure of a general industrial robot, which is provided by the invention;
FIG. 7 is a schematic view of a base fixing structure of an additional shaft guide rail structure of a general industrial robot according to the present invention;
fig. 8 is a schematic structural view of a sliding bearing of an additional shaft guide rail structure of a general industrial robot, which is provided by the invention;
fig. 9 is a schematic view of a chute structure of an additional shaft guide rail structure of a general industrial robot provided by the invention;
fig. 10 is a schematic diagram of a tightening structure of an additional shaft guide rail structure of a general industrial robot provided by the invention.
In the figure: the robot comprises a fixed steel block 1, a guide rail 2, a robot mounting base 3, a driving plate 4, a fixing base 5, a sliding block 6, a tightening mechanism 7, a guide rail bolt 21, a guide rail nut 22, a guide rail bolt groove 23, a liquid storage air bag 24, a cushion pad 25, a fixing bolt 31, a mounting hole 41, an insulating antistatic box 42, a side baffle 43, a fixing nut 51, a stud 52, a sliding block baffle 61, a first bearing 62, a second bearing 63, a third bearing 64, a fixing sliding block 65, a rotating wheel 71, a protruding shaft 72, a limiting shaft 73, a connecting rod 74, a limiting block 75, a rectangular frame 76, a bearing baffle 77, a driving motor 421, a first transmission gear 422, a second transmission gear 423, a first transmission gear 424, a third transmission gear 425, a second transmission gear 426 and a fourth transmission gear 427.
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.
Referring to fig. 1 to 10, an additional shaft guide structure of a general industrial robot includes:
the robot comprises a fixed steel block 1, a fixed base 5 is welded on the side face of the fixed steel block 1, a guide rail 2 is welded on the top of the fixed steel block 1, a sliding block 6 is placed on the top of the guide rail 2, a driving plate 4 is fixedly installed on the top of the sliding block 6, and a robot installation base 3 is fixedly installed on the top of the driving plate 4;
a drive system for driving the drive plate 4;
a tightening system for tightening the slider 6 along the guide rail 2;
as shown in fig. 3, a guide rail bolt 21 is movably sleeved on the side surface of the guide rail 2, a guide rail bolt groove 23 is formed in the side surface of the guide rail 2, the guide rail bolt groove 23 is matched with the guide rail bolt 21 in size, a guide rail nut 22 is movably sleeved on the side wall of the surface of the guide rail bolt 21, a liquid storage air bag 24 is fixedly installed on the bottom surface of the guide rail 2, and a cushion pad 25 is fixedly installed on the top end of the guide rail 2;
as shown in fig. 4, the guide rails 2 are symmetrically installed, the driving racks are distributed on the inner side of the guide rail 2 on one side, the bottom end of the guide rail 2 is provided with a concave groove, the top end of the guide rail 2 is provided with a protrusion, the size of the guide rail bolt groove 23 is matched with that of the guide rail bolt 21, the buffer pad 25 is of a tough hollow structure, the interior of the liquid storage air bag 24 is communicated with the interior of the buffer pad 25, the joint of the liquid storage air bag 24 and the buffer pad 25 is subjected to reinforced sealing treatment, the liquid storage air bag 24 is of a soft structure, and the interior of the liquid storage air bag 24 is filled with buffer solution;
as shown in fig. 5, mounting holes 41 are opened on the surfaces of the robot mounting base 3 and the driving plate 4, the fixing bolts 31 fixedly connect the robot mounting base 3 and the driving plate 4 together through the mounting holes 41, a side baffle 43 is fixedly mounted on the inner side of the driving plate 4, and a side baffle 43 is fixedly mounted on the side surface of the driving plate 4.
As shown in fig. 6, the driving system includes an insulating anti-static box 42, a driving motor 421 is fixedly mounted on the inner side of the insulating anti-static box 42, a first transmission gear 422 is fixedly sleeved on an output shaft of the driving motor 421, a first transmission rod 424 is movably sleeved on the bottom of the insulating anti-static box 42, a second transmission gear 423 is fixedly sleeved on the top end of the first transmission rod 424, a third transmission gear 425 is fixedly sleeved on the bottom end of the first transmission rod 424, a second transmission rod 426 is sleeved on the side surface of the insulating anti-static box 42, and a fourth transmission gear 427 is fixedly sleeved on the top end of the second transmission rod 426.
As shown in fig. 6, the first transmission gear 422 is engaged with the second transmission gear 423, the fourth transmission gear 427 is also engaged with the second transmission gear 423, the third transmission gear 425 is engaged with the driving racks uniformly distributed on the inner side of the guide rail 2, and the surface of the insulating anti-static box 42 is provided with a plurality of heat dissipation ventilation holes.
As shown in fig. 7, a stud 52 is fixedly sleeved at the bottom of a fixing base 5, the bottom end of the stud 52 penetrates through the fixing base 5 and is fixedly installed on the ground, a fixing nut 51 is movably sleeved on the surface side wall of the stud 52, a slider baffle 61 is fixedly installed on the side surface of a slider 6, a first bearing 62 is fixedly sleeved on the side surface of the fixing base 5, a second bearing 63 is fixedly sleeved on the bottom of the slider 6, a third bearing 64 is further fixedly sleeved on the bottom of the slider 6, a fixing slider 65 is fixedly installed at the top of the slider 6, the types and parameters of the first bearing 62, the second bearing 63 and the third bearing 64 are all the same, the distance between the first bearing 62 and the third bearing 64 is the same as the height of the guide rail 2, and the second bearing 63 is tightly attached to the side surface of the guide rail 2.
As shown in fig. 8, a sliding groove corresponding to the size of the fixed slider 65 is formed at a position corresponding to the fixed slider 65 at the bottom of the robot mounting base 3, and the size length of the sliding groove is greater than the length of the fixed slider 65.
As shown in fig. 10, the tightening system includes a second transmission rod 426, a rotating wheel 71 is fixedly sleeved at the bottom end of the second transmission rod 426, a protruding shaft 72 is fixedly installed on the surface of the rotating wheel 71, a limiting shaft 73 is fixedly installed on the inner side of the tightening mechanism 7, a connecting rod 74 is movably sleeved on the surface side wall of the limiting shaft 73, a limiting block 75 is fixedly installed at the top end of the connecting rod 74, a rectangular frame 76 is fixedly installed at the middle part of the connecting rod 74, and a bearing baffle 77 is fixedly installed at the bottom of the robot installation base 3.
As shown in FIG. 10, the sum of the distance between the protruding shafts 72 and the diameter of the protruding shafts 72 is matched with the width dimension of the inner side of the rectangular frame 76, a spring is connected between the connecting rod 74 and the rotating shaft of the first bearing 62, and when the connecting line between the protruding shafts 72 is vertical to the horizontal, the rectangular frame 76 is located closest to the bearing baffle 77, and the spring is in a state of not compressing and not stretching.
According to the invention, an industrial robot is arranged at the top of a robot installation base 3, then a driving motor 421 is started by electrifying, a system operates, a first transmission gear 422 rotates to drive a fourth transmission gear 427 and a second transmission rod 426 to rotate, the second transmission rod 426 rotates to drive a convex shaft 72 to rotate along the central point of a rotating wheel 71, and simultaneously drives a rectangular frame 76 to make intermittent motion in the direction away from a bearing baffle 77, a connecting rod 74 pulls and restores a sliding block 6 through a spring at a joint to make intermittent motion, the sliding block 6 can be driven to move in the direction of the bearing baffle 77 through a sliding groove formed in the bottom of the robot installation base 3 through a fixed sliding block 65, and a second bearing 63 plays a role in contracting and clamping the side surface of a guide rail 2, so that the close contact between the second bearing 63 and the guide rail 2 can be ensured, and the stability of the system operation is improved; the driving plate 4 can be fixed on the surface of the guide rail 2 through the first bearing 62, the second bearing 63 and the third bearing 64, and the first bearing 62, the second bearing 63 and the third bearing 64 only receive radial force vertical to the bearings in the working process, so that the abrasion of the machine can be reduced to the maximum extent, and the stability and precision of the system are maintained; when the third transmission gear 425 rotates to drive the driving plate 4 to move along the rack of the guide rail 2, the slide block baffle 61 generates a vertically downward acting force on the guide rail 2 and simultaneously extrudes the liquid storage air bag 24, a buffer liquid in the liquid storage air bag 24 is extruded to enter the buffer cushion 25, the buffer cushion 25 expands, the filling degree of the buffer cushion 25 to a gap between the guide rail 2 is increased, the front-back shaking between the guide rails 2 is reduced, the running stability of the system is increased, the friction loss inside the system is reduced, and the service life of the whole system is prolonged; through guide rail 2's structure, guide rail 2's bottom can continue the installation to insert guide rail 2's top, when needing to extend the guide rail, can be after installing fixed steel block 1, go into the recess of next guide rail with guide rail 2's protrusion card, then install, continue to prolong the guide rail according to this type, easy operation not only, the extension after-mentioned structure is inseparable moreover, can keep good precision and system stability.
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 (10)
1. A guide rail structure of an additional shaft of a general industrial robot, comprising:
the robot comprises a fixed steel block (1), wherein a fixed base (5) is welded on the side face of the fixed steel block (1), a guide rail (2) is welded on the top of the fixed steel block (1), a sliding block (6) is placed on the top of the fixed steel block (2), a driving plate (4) is fixedly installed on the top of the sliding block (6), and a robot installation base (3) is fixedly installed on the top of the driving plate (4);
a drive system for driving the drive plate (4);
a tightening system for the tightening operation of the slide (6) along the guide rail (2).
2. The guide rail structure of the additional shaft of the general industrial robot as claimed in claim 1, wherein a guide rail bolt (21) is movably sleeved on the side surface of the guide rail (2), a guide rail bolt groove (23) is formed in the side surface of the guide rail (2), the guide rail bolt groove (23) is matched with the guide rail bolt (21) in size, a guide rail nut (22) is movably sleeved on the surface side wall of the guide rail bolt (21), a liquid storage air bag (24) is fixedly installed on the bottom surface of the guide rail (2), and a cushion pad (25) is fixedly installed at the top end of the guide rail (2).
3. The guide rail structure of the additional shaft of the general industrial robot as claimed in claim 2, wherein the guide rail (2) is installed symmetrically, and a driving rack is distributed on the inner side of the guide rail (2) on one side, a concave groove is formed at the bottom end of the guide rail (2), a protrusion is designed at the top end of the guide rail, the size of the guide rail bolt groove (23) is matched with that of the guide rail bolt (21), the buffer cushion (25) is of a flexible hollow structure, the interior of the liquid storage air bag (24) is communicated with the interior of the buffer cushion (25), the joint of the liquid storage air bag (24) and the buffer cushion (25) is subjected to strengthening sealing treatment, the liquid storage air bag (24) is of a soft structure, and the interior of the liquid storage air bag (24) is filled with a buffer solution.
4. The additional shaft guide rail structure of the general industrial robot as claimed in claim 1, wherein the robot mounting base (3) and the driving plate (4) are provided with mounting holes (41) on the surfaces thereof, fixing bolts (31) fixedly connect the robot mounting base (3) and the driving plate (4) together through the mounting holes (41), a side baffle (43) is fixedly mounted on the inner side of the driving plate (4), and a side baffle (43) is fixedly mounted on the side surface of the driving plate (4).
5. The auxiliary shaft guide rail structure of the general industrial robot as claimed in claim 1, wherein the driving system comprises the insulation anti-static box (42), a driving motor (421) is fixedly mounted on the inner side of the insulation anti-static box (42), a first transmission gear (422) is fixedly sleeved on an output shaft of the driving motor (421), a first transmission rod (424) is movably sleeved on the bottom of the insulation anti-static box (42), a second transmission gear (423) is fixedly sleeved on the top end of the first transmission rod (424), a third transmission gear (425) is fixedly sleeved on the bottom end of the first transmission rod (424), a second transmission rod (426) is sleeved on the side surface of the insulation anti-static box (42), and a fourth transmission gear (427) is fixedly sleeved on the top end of the second transmission rod (426).
6. The guide rail structure of the additional shaft of the universal industrial robot as claimed in claim 5, wherein the first transmission gear (422) is meshed with the second transmission gear (423), the fourth transmission gear (427) is also meshed with the second transmission gear (423), the third transmission gear (425) is meshed with driving racks uniformly distributed on the inner side of the guide rail (2), and the surface of the insulating anti-static box (42) is provided with a plurality of heat dissipation air vents.
7. The universal type additional shaft guide rail structure of the industrial robot as claimed in claim 1, wherein a stud (52) is fixedly sleeved on the bottom of the fixed base (5), the bottom end of the stud (52) is fixedly installed on the ground through the fixed base (5), a fixed nut (51) is movably sleeved on the surface side wall of the stud (52), a slider baffle (61) is fixedly installed on the side surface of the slider (6), a first bearing (62) is fixedly sleeved on the side surface of the fixed base (5), a second bearing (63) is fixedly sleeved on the bottom of the slider (6), a third bearing (64) is also fixedly sleeved on the bottom of the slider (6), a fixed slider (65) is fixedly installed on the top of the slider (6), and the types and parameters of the first bearing (62), the second bearing (63) and the third bearing (64) are all the same, and the distance between the first bearing (62) and the third bearing (64) is consistent with the height of the guide rail (2), and the second bearing (63) is tightly attached to the side surface of the guide rail (2).
8. The additional shaft guide rail structure of the general industrial robot as claimed in claim 1, wherein the bottom of the robot mounting base (3) is provided with a sliding groove corresponding to the size of the fixed slide block (65) at a position corresponding to the fixed slide block (65), and the size length of the sliding groove is greater than the length of the fixed slide block (65).
9. The guide rail structure of the additional shaft of the general industrial robot as claimed in claim 1, wherein the tightening system comprises the second transmission rod (426), a rotating wheel (71) is fixedly sleeved at the bottom end of the second transmission rod (426), a protruding shaft (72) is fixedly installed on the surface of the rotating wheel (71), a limiting shaft (73) is fixedly installed on the inner side of the tightening mechanism (7), a connecting rod (74) is movably sleeved on the surface side wall of the limiting shaft (73), a limiting block (75) is fixedly installed at the top end of the connecting rod (74), a rectangular frame (76) is fixedly installed at the middle part of the connecting rod (74), and a bearing baffle (77) is fixedly installed at the bottom of the robot installation base (3).
10. The additional shaft guide structure of a general industrial robot according to claim 9, wherein the sum of the distance between the protruding shafts (72) plus the diameter of the protruding shafts (72) is adapted to the width dimension of the inner side of the rectangular frame (76), a spring is connected between the connecting rod (74) and the rotating shaft of the first bearing (62), and when the line between the protruding shafts (72) is positioned vertically to the horizontal, the rectangular frame (76) is positioned closest to the bearing retainer (77), and the spring is in a non-compressed and non-stretched state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110733868.2A CN113334350A (en) | 2021-06-30 | 2021-06-30 | Additional shaft guide rail structure of general industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110733868.2A CN113334350A (en) | 2021-06-30 | 2021-06-30 | Additional shaft guide rail structure of general industrial robot |
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| CN113334350A true CN113334350A (en) | 2021-09-03 |
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| CN202110733868.2A Pending CN113334350A (en) | 2021-06-30 | 2021-06-30 | Additional shaft guide rail structure of general industrial robot |
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| CN114131258A (en) * | 2021-12-03 | 2022-03-04 | 广州市泰基工程技术有限公司 | Automatic welding pile splicing device for precast tubular piles and using method thereof |
| CN115958579A (en) * | 2023-03-15 | 2023-04-14 | 北京智能智造科技有限公司 | Multi-degree-of-freedom series robot mechanism |
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Application publication date: 20210903 |