CN113524142A - Electromechanical integrated robot base fixing device - Google Patents
Electromechanical integrated robot base fixing device Download PDFInfo
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- CN113524142A CN113524142A CN202010294184.2A CN202010294184A CN113524142A CN 113524142 A CN113524142 A CN 113524142A CN 202010294184 A CN202010294184 A CN 202010294184A CN 113524142 A CN113524142 A CN 113524142A
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- robot
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- fixed
- fixing device
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- 238000013016 damping Methods 0.000 claims abstract description 36
- 238000003825 pressing Methods 0.000 claims description 13
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 229910000838 Al alloy Inorganic materials 0.000 claims description 9
- 239000010935 stainless steel Substances 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 6
- 239000000956 alloy Substances 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 description 17
- 230000035939 shock Effects 0.000 description 14
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 230000007797 corrosion Effects 0.000 description 6
- 238000005260 corrosion Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000004377 microelectronic Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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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
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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
- B25J19/0091—Shock absorbers
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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
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an electromechanical integrated robot base fixing device, belonging to the technical field of robot auxiliary devices, the electromechanical integrated robot base fixing device comprises a robot support frame and a base, four groups of magnetic force buffering devices are fixed between the base and the robot support frame and are arranged in a square shape, each magnetic force buffering device comprises an outer cylinder and an inner cylinder, the outer cylinder is fixed on the upper surface of the base, the inner cylinder is fixed on the lower surface of the robot support frame, the inner cylinder is inserted in the outer cylinder, the outer cylinder is matched with the inner cylinder in shape and provided with a gap, an electromagnet is fixed at the bottom in the outer cylinder, a bar magnet is fixed at the bottom in the inner cylinder, the magnetic pole direction of the electromagnet after being electrified is opposite to the magnetic pole arrangement direction of the bar magnet, an air bag damping device is also fixed between the base and the robot support frame, the magnetic force buffering device formed by the electromagnet and the bar magnet not only has a fixing function, the buffer device also has the buffer effect, and has the advantages of simple structure, stable work and low cost.
Description
Technical Field
The invention relates to the technical field of robot auxiliary devices, in particular to a fixing device for a base of an electromechanical integrated robot.
Background
The mechatronics is also called mechanical electronic engineering, the mechatronics is firstly appeared in a secondary journal of a japanese journal mechanical design in 1971, and with the rapid development of the mechatronics technology, the concept of the mechatronics is widely accepted and commonly applied by people. With the rapid development and wide application of computer technology, the mechatronic technology has not been developed before. The existing electromechanical integration technology is a technology which is tightly integrated by mechanical and microelectronic technologies, and the development of the technology enables the machine for cooling ice to be humanized and intelligent. The mechatronics technology is a comprehensive technology which organically combines multiple technologies such as mechanical technology, electrical and electronic technology, microelectronic technology, information technology, sensor technology, interface technology, signal conversion technology and the like and is comprehensively applied to the reality, and modern automatic production equipment is almost all mechatronics equipment.
The robot is the high embodiment of robot integration technique, and the robot need utilize the base to carry out auxiliary stay in the use, and current robot base only possesses single function usually, for example fixed or shock attenuation or removal etc. do not possess shock attenuation and fixed combination function, often need carry out the change of base as required when specifically using, and it is very inconvenient to use, has also increased the use cost of robot.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a fixing device for a base of an electromechanical integrated robot, wherein a magnetic buffer device consisting of an electromagnet and a bar magnet not only has a fixing function, but also has a buffering effect, and the fixing device is simple in structure, stable in operation and low in cost.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
The utility model provides an mechatronic robot base fixing device, includes the robot support frame and fixes the robot at robot support frame upside, the below of robot support is equipped with the base, be fixed with four magnetic force buffer of group, four between base and the robot support the magnetic force buffer is square arranging, magnetic force buffer includes urceolus and inner tube, the upper surface at the base is fixed to the urceolus, the lower surface at the robot support is fixed to the inner tube, the inner tube is pegged graft in the urceolus, and the urceolus just leaves the gap with the shape phase-match of inner tube, the bottom is fixed with the electro-magnet in the urceolus, the bottom is fixed with bar magnet in the inner tube, the magnetic pole direction after the electro-magnet circular telegram is opposite with bar magnet's magnetic pole direction of arranging, still be fixed with gasbag damping device between base and the robot support. In the initial state, the electromagnet is not electrified, and at the moment, the bar magnet and the electromagnet are attracted by the magnetic attraction effect of the iron core of the bar magnet and the electromagnet, so that the robot support frame and the base are fixed, the fixing mode is firm, the displacement and the shaking cannot be easily generated, and the stability is high; when the robot needs to be buffered, the electromagnet is electrified, and the iron core of the electromagnet generates a magnetic field to repel the bar magnet, so that the buffering function is realized, and compared with the existing spring damping device, the damping effect is better, and the work is more stable; the magnetic buffer device formed by the electromagnet and the bar magnet not only has a fixing function, but also has a buffering effect, and is simple in structure, stable in work and low in cost.
Furthermore, the coil of the electromagnet is powered by the robot, and a switch button for controlling the on-off of the coil of the electromagnet is arranged on the base. The robot is used for supplying power to the electromagnet, so that electric energy can be effectively saved, a redundant wiring device is not needed, cost is reduced, and convenience is high.
Further, a plurality of spherical grooves are evenly formed in the inner wall of the outer barrel, and balls are filled in each spherical groove. Through setting up spherical groove and ball, it is more smooth and easy when can make to produce relative motion between urceolus and inner tube, and the resistance is littleer, effectively avoids the emergence of the dead phenomenon of card.
Furthermore, the outer cylinder, the inner cylinder and the balls are all made of alloy materials, preferably aluminum alloy. The outer barrel, the inner barrel and the balls are all made of aluminum alloy, so that the aluminum alloy ball bearing is light in weight, corrosion-resistant and long in service life.
Further, the air bag damping device comprises an inner box body and an outer box body, the top parts of the outer box body and the inner box body are both provided with openings, the inner box body is inserted in the opening of the outer box body, a plurality of groups of compression springs are evenly distributed on the inner wall of the outer box body, the outer wall of the inner box body, which is positioned in the outer box body, is covered with a first damping airbag, the end parts of a plurality of groups of compression springs are abutted against the first damping airbag, the bottom in the inner box body is filled with a second damping airbag, the outer wall of the lower side of the inner box body is provided with a plurality of through holes, communicating pipes are inserted in the through holes, the communicating pipe is communicated with the first damping air bag and the second damping air bag, a rubber pressing plate is connected to the upper side of the second damping air bag in the inner box body in an abutting mode, the upper surface of the rubber pressing plate is fixedly connected with a supporting column, and the supporting column penetrates through an opening in the top of the inner box body and is fixedly connected with the lower surface of the robot supporting frame. Through setting up gasbag damping device, utilize first shock attenuation gasbag, second shock attenuation gasbag and the compression spring of intercommunication each other to cushion simultaneously, cooperation magnetic force buffer, the shock-absorbing capacity is better, the effectual condition of avoiding leading to the robot to damage because of external force striking robot.
Furthermore, the inner box body, the outer box body and the support are all made of stainless steel. The inner box body, the outer box body and the support are made of stainless steel materials, so that corrosion can be effectively prevented, and the service life of the air bag damping device is prolonged.
Furthermore, the inner wall of the inner box body is coated with a smooth coating, and a sealing ring is bonded on the peripheral wall of the rubber pressing plate.
Further, the size of the rubber pressing plate is larger than that of the top opening of the inner box body. The size of the rubber pressing plate is larger than that of the top opening of the inner box body, effective limiting can be achieved, and stable operation of the whole air bag damping device is guaranteed.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) in the initial state, the electromagnet is not electrified, and at the moment, the bar magnet and the electromagnet are attracted by the magnetic attraction effect of the iron core of the bar magnet and the electromagnet, so that the robot support frame and the base are fixed, the fixing mode is firm, the displacement and the shaking cannot be easily generated, and the stability is high; when the robot needs to be buffered, the electromagnet is electrified, and the iron core of the electromagnet generates a magnetic field to repel the bar magnet, so that the buffering function is realized, and compared with the existing spring damping device, the damping effect is better, and the work is more stable; the magnetic buffer device formed by the electromagnet and the bar magnet not only has a fixing function, but also has a buffering effect, and is simple in structure, stable in work and low in cost.
(2) The robot is used for supplying power to the electromagnet, so that electric energy can be effectively saved, a redundant wiring device is not needed, cost is reduced, and convenience is high.
(3) Through setting up spherical groove and ball, it is more smooth and easy when can make to produce relative motion between urceolus and inner tube, and the resistance is littleer, effectively avoids the emergence of the dead phenomenon of card.
(4) The outer barrel, the inner barrel and the balls are all made of aluminum alloy, so that the aluminum alloy ball bearing is light in weight, corrosion-resistant and long in service life.
(5) Through setting up gasbag damping device, utilize first shock attenuation gasbag, second shock attenuation gasbag and the compression spring of intercommunication each other to cushion simultaneously, cooperation magnetic force buffer, the shock-absorbing capacity is better, the effectual condition of avoiding leading to the robot to damage because of external force striking robot.
(6) The inner box body, the outer box body and the support are made of stainless steel materials, so that corrosion can be effectively prevented, and the service life of the air bag damping device is prolonged.
(7) The size of the rubber pressing plate is larger than that of the top opening of the inner box body, effective limiting can be achieved, and stable operation of the whole air bag damping device is guaranteed.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is an enlarged view of the structure at B in FIG. 1;
fig. 4 is a state diagram when the electromagnet is energized for buffering.
The reference numbers in the figures illustrate:
the robot comprises a robot support frame 1, a base 2, an outer cylinder 3, a spherical groove 31, a ball 32, an electromagnet 4, an inner cylinder 5, a bar magnet 6, an inner box 7, an outer box 8, a compression spring 9, a first damping air bag 10, a second damping air bag 11, a communicating pipe 12, a rubber press plate 13 and a support 14.
Detailed Description
The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1-4, an electromechanical integrated robot base fixing device includes a robot support frame 1 and a robot fixed on the upper side of the robot support frame 1, a base 2 is arranged below the robot support frame 1, four sets of magnetic buffer devices are fixed between the base 2 and the robot support frame 1, the four sets of magnetic buffer devices are arranged in a square shape, the magnetic buffer devices include an outer cylinder 3 and an inner cylinder 5, the outer cylinder 3 is fixed on the upper surface of the base 2, the inner cylinder 5 is fixed on the lower surface of the robot support frame 1, the inner cylinder 5 is inserted into the outer cylinder 3, and the outer cylinder 3 is matched with the inner cylinder 5 in shape and a gap is reserved, the electromagnet 4 is fixed at the bottom in the outer cylinder 3, the bar magnet 6 is fixed at the bottom in the inner cylinder 5, the magnetic pole direction of the electromagnet 4 after being electrified is opposite to the magnetic pole arrangement direction of the bar magnet 6, and an air bag damping device is further fixed between the base 2 and the robot support 1. In an initial state, the electromagnet is not electrified, at the moment, the bar magnet 6 and the electromagnet 4 are attracted by the magnetic attraction effect of the iron cores of the bar magnet 6 and the electromagnet 4, so that the robot support frame 1 and the base 2 are fixed, the fixing mode is firm, the displacement and the shaking cannot be easily generated, and the stability is high; when the robot needs to be buffered, the electromagnet 4 is electrified, and the iron core of the electromagnet 4 generates a magnetic field to repel the bar magnet 6, so that the buffering function is realized, and compared with the existing spring damping device, the damping effect is better, and the work is more stable; the magnetic buffer device composed of the electromagnet 4 and the bar magnet 6 not only has a fixing function, but also has a buffering effect, and the device has the advantages of simple structure, stable work and low cost.
The coil of the electromagnet 4 is powered by the robot, and the base 2 is provided with a switch button for controlling the on-off of the coil of the electromagnet 4. The robot is used for supplying power to the electromagnet 4, so that electric energy can be effectively saved, a redundant wiring device is not needed, cost is reduced, and convenience is high.
A plurality of spherical grooves 31 are uniformly formed on the inner wall of the outer cylinder 3, and a ball 32 is filled in each spherical groove 31. Through setting up spherical groove 31 and ball 32, can be so that outer cylinder 3 and inner tube 5 between produce more smoothly when relative motion, the resistance is littleer, effectively avoids the emergence of the dead phenomenon of card.
The outer cylinder 5, the inner cylinder 3 and the balls 32 are made of an alloy material, preferably an aluminum alloy. The outer cylinder 5, the inner cylinder 3 and the balls 32 are all made of aluminum alloy, so that the aluminum alloy is light in weight, corrosion-resistant and long in service life.
The air bag damping device comprises an inner box body 7 and an outer box body 8, the top parts of the outer box body 8 and the inner box body 7 are both provided with openings, and interior box 7 pegs graft in the opening of outer box 8, the multiunit compression spring 9 of evenly having arranged on the inner wall of outer box 8, the outer wall that interior box 7 is located outer box 8 coats and is stamped first shock attenuation gasbag 10, the tip and the first shock attenuation gasbag 10 butt of multiunit compression spring 9, the bottom packing has second shock attenuation gasbag 11 in interior box 7, a plurality of through-holes have been seted up on the downside outer wall of interior box 7, it has communicating pipe 12 all to peg graft in a plurality of through-holes, the first shock attenuation gasbag 10 of communicating pipe 12 UNICOM and second shock attenuation gasbag 11, the upside butt that is located second shock attenuation gasbag 11 in interior box 7 has rubber clamp 13, rubber clamp 13's last fixed surface is connected with pillar 14, pillar 14 passes the opening at interior box 7 top and the lower fixed surface of robot support frame 1 is connected. Through setting up gasbag damping device, utilize first shock attenuation gasbag 10, second shock attenuation gasbag 11 and compression spring 9 of intercommunication each other to cushion simultaneously, cooperation magnetic force buffer, the shock-absorbing capacity is better, the effectual condition of leading to the robot to damage because of external force striking robot of having avoided.
The inner box body 7, the outer box body 8 and the support column 14 are all made of stainless steel. Interior box 7, outer box 8 and pillar 14 all adopt stainless steel, can effectively prevent corrosion, extension gasbag damping device's life.
The inner wall of the inner box body 7 is coated with a smooth coating, and the peripheral wall of the rubber pressing plate 13 is bonded with a sealing ring.
The size of the rubber pressing plate 13 is larger than the size of the top opening of the inner box body 7. The size of the rubber pressing plate 13 is larger than that of the top opening of the inner box body 7, so that effective limiting can be achieved, and stable operation of the whole air bag damping device is guaranteed.
The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention.
Claims (8)
1. The utility model provides an electromechanical integration robot base fixing device, includes robot support frame (1) and fixes the robot in robot support frame (1) upside, its characterized in that: a base (2) is arranged below the robot support (1), four groups of magnetic buffer devices are fixed between the base (2) and the robot support (1) and are arranged in a square shape, the magnetic buffer device comprises an outer cylinder (3) and an inner cylinder (5), the outer cylinder (3) is fixed on the upper surface of the base (2), the inner cylinder (5) is fixed on the lower surface of the robot bracket (1), the inner cylinder (5) is inserted in the outer cylinder (3), the outer cylinder (3) is matched with the inner cylinder (5) in shape and a gap is reserved, an electromagnet (4) is fixed at the bottom in the outer cylinder (3), a bar magnet (6) is fixed at the bottom in the inner cylinder (5), the direction of the magnetic pole of the electromagnet (4) after being electrified is opposite to the arrangement direction of the magnetic poles of the bar magnet (6), an air bag damping device is further fixed between the base (2) and the robot support (1).
2. The mechatronic robot mount fixing device of claim 1, wherein: the coil of the electromagnet (4) is powered by the robot, and a switch button for controlling the on-off of the coil of the electromagnet (4) is arranged on the base (2).
3. The mechatronic robot mount fixing device of claim 1, wherein: a plurality of spherical grooves (31) are uniformly formed in the inner wall of the outer barrel (3), and balls (32) are filled in each spherical groove (31).
4. The mechatronic robot mount fixing device of claim 1, wherein: the outer cylinder (5), the inner cylinder (3) and the balls (32) are all made of alloy materials, preferably aluminum alloy.
5. The mechatronic robot mount fixing device of claim 1, wherein: the air bag damping device comprises an inner box body (7) and an outer box body (8), wherein the tops of the outer box body (8) and the inner box body (7) are provided with openings, the inner box body (7) is inserted into the openings of the outer box body (8), a plurality of groups of compression springs (9) are uniformly distributed on the inner wall of the outer box body (8), the outer wall of the inner box body (7) positioned in the outer box body (8) is covered with a first damping air bag (10), the end parts of the compression springs (9) are abutted against the first damping air bag (10), the inner bottom of the inner box body (7) is filled with a second damping air bag (11), the outer wall of the lower side of the inner box body (7) is provided with a plurality of through holes, communicating pipes (12) are inserted into the through holes, the first damping air bag (10) and the second damping air bag (11) are communicated with each other (12), the upper side of the second damping air bag (11) positioned in the inner box body (7) is abutted against a rubber pressing plate (13), the upper surface of the rubber pressing plate (13) is fixedly connected with a supporting column (14), and the supporting column (14) penetrates through an opening in the top of the inner box body (7) and is fixedly connected with the lower surface of the robot supporting frame (1).
6. The mechatronic robot mount fixing device of claim 5, wherein: the inner box body (7), the outer box body (8) and the support column (14) are all made of stainless steel.
7. The mechatronic robot mount fixing device of claim 5, wherein: the inner wall of the inner box body (7) is coated with a smooth coating, and the peripheral wall of the rubber pressing plate (13) is bonded with a sealing ring.
8. The mechatronic robot mount fixing device of claim 5, wherein: the size of the rubber pressing plate (13) is larger than that of the top opening of the inner box body (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010294184.2A CN113524142A (en) | 2020-04-15 | 2020-04-15 | Electromechanical integrated robot base fixing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010294184.2A CN113524142A (en) | 2020-04-15 | 2020-04-15 | Electromechanical integrated robot base fixing device |
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| CN113524142A true CN113524142A (en) | 2021-10-22 |
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| CN202010294184.2A Pending CN113524142A (en) | 2020-04-15 | 2020-04-15 | Electromechanical integrated robot base fixing device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114619422A (en) * | 2022-03-22 | 2022-06-14 | 苏州宛弘智能装备有限公司 | Cartesian coordinate robot combined in three-axis modularization mode |
| CN114776593A (en) * | 2022-04-13 | 2022-07-22 | 蚌埠市瑞兴压缩机有限公司 | High-stability gas compressor |
| CN116972105A (en) * | 2023-09-20 | 2023-10-31 | 闽江学院 | Damping device of textile yarn equipment |
| CN114619422B (en) * | 2022-03-22 | 2024-05-31 | 苏州宛弘智能装备有限公司 | Rectangular coordinate robot with three-axis modularized combination |
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