CN210061127U

CN210061127U - Cooperative sliding table

Info

Publication number: CN210061127U
Application number: CN201920928626.7U
Authority: CN
Inventors: 黄安杰
Original assignee: Foshan Zengguang Intelligent Technology Co Ltd
Current assignee: Foshan Zengguang Intelligent Technology Co Ltd
Priority date: 2019-06-19
Filing date: 2019-06-19
Publication date: 2020-02-14
Anticipated expiration: 2029-06-19

Abstract

The utility model relates to a collaborative sliding table, including sliding subassembly, drive assembly, measuring subassembly and controller, drive assembly includes nut, lead screw and motor, and the nut cover is put on the lead screw, and it is rotatory that the motor drives the lead screw, and the nut removes along the lead screw, it includes slip table and slide rail to slide the subassembly, the slip table sets up on the slide rail with the mode of sliding, connects through spacing subassembly between slip table and the nut, and the nut drives the slip table and slides along the slide rail, measuring subassembly includes ruler and measuring head, the ruler sets up in slide rail one side, the measuring head sets up and removes along with the slip table on the slip table, motor, measuring subassembly are connected with the controller electricity respectively, and the motor removes data transmission with the nut and gives the controller, and measuring subassembly removes data transmission with the slip table and gives the controller to make the controller calculate the pressure value that the slip table. The controller calculates the resistance born by the sliding table to control the sliding table to start and stop, so that the safety of the cooperative sliding table is improved, and accidents are prevented.

Description

Cooperative sliding table

Technical Field

The utility model relates to a collaboration robot field, in particular to collaborative slip table.

Background

A cooperative robot (cobot) is a robot designed to interact with human beings in a common working space in a short distance. By 2010, most industrial robots are designed to operate automatically or under limited guidance, so that close interaction with human beings and actions of the robots are not considered, and safety protection for surrounding human beings are not considered, and the robots are all the functions considered by the cooperative robots.

The traditional industrial robot is limited by technical and historical reasons when in work, certain measures need to be taken to exclude human beings outside a working area in order to ensure safety, and the purpose of the cooperative robot is to combine the repetitive performance of the robot and the unique skill flexibility and capability of the human beings so as to improve the production efficiency.

Present collaborative sliding table, add pressure sensor below the sliding table, pressure sensor is connected with the controller electricity, when the sliding table receives pressure, pressure data transmits for the controller, the controller compares according to pressure value and default, can judge whether the sliding table receives external resistance and resistance value, thereby make the controller can in time stop the sliding table and remove, guarantee safety, but above-mentioned pressure calculation method, pressure measurement is accurate, but can't measure displacement information, if the sliding table passes through screw rod transmission, also can measure the displacement information of slider through combining motor data, but because the precision of lead screw is not high, the displacement information that leads to the slider that measures is not accurate, the error is great.

SUMMERY OF THE UTILITY MODEL

The utility model provides a both can measure pressure value and also can measure displacement information, measure accurate and simple a collaborative slip table of measurement mode.

The purpose of the utility model is realized like this:

the utility model provides a collaborative sliding table, is including sliding subassembly, drive assembly, measuring subassembly and controller, drive assembly includes nut, lead screw and motor, and the nut cover is put on the lead screw, and it is rotatory that the motor drives the lead screw, and the nut removes along the lead screw, it includes slip table and slide rail to slide the subassembly, the slip table sets up on the slide rail with the mode of sliding, connects through spacing subassembly between slip table and the nut, and the nut drives the slip table and slides along the slide rail, measuring subassembly includes ruler and measuring head, the ruler sets up in slide rail one side, the measuring head sets up and removes along with the slip table on the slip table, motor, measuring subassembly are connected with the controller electricity respectively, and the motor removes data transmission with the nut and gives the controller, and measuring subassembly removes data transmission with the slip table and gives the controller to make the controller calculate pressure value and displacement information that. The sliding table is connected with the nut through the limiting assembly, when the sliding table does not receive external resistance, the nut drives the sliding table to move, the nut moving distance is consistent with the sliding table moving distance, when the sliding table receives the external resistance, the nut extrudes the limiting assembly and drives the sliding table to move, the sliding table moving distance is inconsistent with the nut moving distance, the controller calculates the resistance borne by the sliding table and calculates whether the resistance is greater than a preset value through the sliding table moving distance and the nut moving distance, the sliding table is controlled to be started and stopped, the safety of the cooperative sliding table is greatly improved, and accidents are prevented.

The purpose of the utility model can also adopt the following technical measures to solve:

further, spacing subassembly includes first spring, second spring and slide-shaft, the slide-shaft sets up the bottom at the slip table, first spring, nut and second spring overlap in proper order and put on the slide-shaft, and first spring one end is supported and is leaned on slide-shaft tip, and first spring another tip is supported and is leaned on the nut, and second spring one end is supported and is leaned on another tip of slide-shaft, and the second spring other end is supported and is leaned on the nut, and first spring and second spring restriction nut slide along the slide-shaft. When the sliding table receives external resistance, the nut compresses the spring along the sliding process of the screw rod until the screw rod pushes the sliding table to move, so that displacement difference is generated between the sliding table and the nut, and the controller calculates a pressure value borne by the sliding table by combining the elastic coefficient of the spring with the displacement difference, so that whether the sliding table receives the external resistance or not is judged, the sliding table is stopped in time, and the safety of the cooperative sliding table is improved.

Further, the first spring and the second spring are both springs with the same elastic coefficient.

The utility model has the advantages as follows:

the utility model discloses, connect through spacing subassembly between slip table and the nut, when the slip table does not receive external resistance, the nut drives the slip table and removes, nut displacement is unanimous with slip table displacement, when the slip table receives external resistance, nut extrusion spacing subassembly drives the slip table and removes, lead to slip table displacement and nut displacement inconsistent, moreover, the controller calculates the resistance that the slip table bore and calculates the resistance through slip table displacement and nut displacement and whether is greater than the default, thereby control the slip table and open and stop, improve the security of collaborative slip table greatly, prevent unexpected the emergence.

The utility model discloses, when the slip table received external resistance, the nut slided process compression spring along the lead screw, promoted the slip table and removes until the lead screw, caused slip table and nut to produce the displacement poor, the elastic coefficient of controller through the spring combines the poor pressure value that calculates the slip table and bear of displacement to judge whether the slip table received external resistance, in time stopped the slip table operation, improved the security of collaborative formula slip table.

Drawings

Fig. 1 is a schematic view of the cooperative sliding table of the present invention.

Fig. 2 is an exploded view of the cooperative sliding table of the present invention.

Fig. 3 is a front view (except the housing) of the cooperative sliding table of the present invention.

Fig. 4 is a schematic sectional view of the cooperative sliding table of the present invention.

Fig. 5 is the utility model discloses a slip table and nut of collaborative slip table pass through spacing subassembly assembly schematic diagram.

Detailed Description

The invention will be further described with reference to the following drawings and examples:

the embodiment is shown in fig. 1 to 5, and a cooperation type sliding table 11 comprises a sliding assembly 1, a transmission assembly 2, a measuring assembly, a limiting assembly 4 and a controller 5, wherein the sliding assembly 1 comprises a sliding table 11 and a sliding rail 12, the measuring assembly comprises a ruler and a measuring head, the measuring assembly is a magnetic grid ruler 3, and the ruler is a magnetic grid ruler

The magnetic scale 31 has a measuring head 32.

The sliding table 11 is arranged on the sliding rail 12 in a sliding mode, the magnetic head 32 is arranged on the sliding table 11, the magnetic ruler 31 is arranged on one side of the sliding rail 12 and is parallel to the sliding rail 12, the magnetic grid ruler 3 is electrically connected with the controller 5, and when the sliding table 11 slides along the sliding rail 12, the magnetic grid ruler 3 records position data of the magnetic head 32, so that the sliding distance of the sliding table 11 along the sliding rail 12 is measured.

The transmission assembly 2 comprises a nut 21, a screw rod 22 and a motor 23, the nut 21 is sleeved on the screw rod 22, the screw rod 22 is connected with the motor 23, the motor 23 drives the screw rod 22 to rotate, so that the nut 21 slides along the screw rod 22, the motor 23 is electrically connected with the controller 5, and the motor 23 transmits the movement data of the nut 21 to the controller 5.

The limiting assembly 4 comprises a first spring 41, a second spring 42 and a sliding shaft 43, wherein the first spring 41 and the second spring 42 are both springs with the same elastic coefficient. The sliding shaft 43 is arranged at the bottom of the sliding table 11, the first spring 41, the nut 21 and the second spring 42 are sequentially sleeved on the sliding shaft 43, one end of the first spring 41 is abutted against one end part of the sliding shaft 43, the other end of the first spring 41 is abutted against the nut 21, one end of the second spring 42 is abutted against the other end part of the sliding shaft 43, the other end of the second spring 42 is abutted against the nut 21, the first spring 41 and the second spring 42 limit the movement of the nut 21, the connection between the sliding table 11 and the nut 21 is realized, and the sliding table 11 is made to move along with the nut 21.

The pressure calculation method of the cooperative sliding table 11 comprises the following steps:

step one, calculating the moving distance of the nut 21: the controller 5 records the rotation angle of the servo motor 23 as a and the lead of the nut 21 as d, and the controller 5 calculates the displacement L1 of the nut 21, L1= a × d.

Step two, calculating the moving distance of the sliding table 11: the magnetic scale 3 records the displacement information of the magnetic head 32 on the magnetic scale 31 to the controller 5, so that the moving distance L2 of the sliding table 11 is known.

And step three, recording the elastic coefficients K of the first spring 41 and the second spring 42 to the controller 5.

Step four, the controller 5 calculates a pressure value F of the sliding table 11: f = k (L1-L2).

And step five, if the pressure value F is equal to 0, it indicates that the sliding table 11 is not pressurized, if the pressure value F is greater than 0, it indicates that the sliding table 11 is pressurized, and if the pressure value F is greater than the pressure preset value of the controller 5, the controller 5 can stop the operation of the motor 23, so as to stop the movement of the sliding table 11.

When the pressure value F calculated by the controller 5 is greater than 0, the sliding table 11 is indicated to be subjected to external resistance, if the pressure value F is greater than a preset value, the external resistance received by the sliding table 11 is indicated to be greater than a set range, and the controller 5 stops the motor 23 to move, so that the sliding table 11 is stopped, accidents are prevented, and the safety of the cooperative sliding table 11 is improved.

The utility model is provided with the first spring 41 and the second spring 42, when the controller 5 stops the movement of the sliding table 11, the user can start the motor 23 again through the controller 5 and change the rotation angle of the motor 23, the nut 21 compresses the first spring 41 or the second spring 42 and continuously moves along the screw rod 22 to change the displacement L1 of the nut 21, thereby increasing the pressure value, when the pressure value is larger than the resistance of the obstacle sitting on the sliding table 11, the nut 21 can drive the sliding table 11 to continuously slide, the normal work of the cooperative sliding table is maintained, compared with the load increase when the existing cooperative sliding table receives the resistance, the current of the motor 23 is increased, the regulator is needed to be added to adjust the current of the motor, the structure of the regulator is complex, the cost is high, the user adjustment is complex, the utility model can change the rotation angle isoparameter of the motor 23 through the adjustment controller 5 without adding the regulator, the cost is reduced, the adjusting mode is simple, and the user can use the device more conveniently.

Measurement element also can be for the grating chi, and the ruler also can be for the scale grating, and the measuring head also can be for grating reading head, adopts the grating chi also can realize displacement information's accurate measurement.

Claims

1. The utility model provides a collaborative formula slip table, includes and slides subassembly, transmission assembly, measuring subassembly and controller which characterized in that: the utility model discloses a measuring device, including transmission assembly, nut, slide assembly, nut, measuring head, measuring assembly, controller, measuring assembly and nut, transmission assembly includes nut, lead screw and motor, and the nut cover is put on the lead screw, and the motor drives the lead screw rotation, and the nut removes along the lead screw, the subassembly that slides includes slip table and slide rail, the slip table sets up on the slide rail with the mode of sliding, connects through spacing subassembly between slip table and the nut, and the nut drives the slip table and slides along the slide rail, measuring assembly includes ruler and measuring head, the ruler sets up in slide rail one side, the measuring head sets up and removes along with the slip table on the slip table, motor, measuring assembly are connected with the controller electricity respectively, and the motor removes data transmission with the nut and gives the controller.

2. The cooperative slide of claim 1, wherein: the limiting assembly comprises a first spring, a second spring and a sliding shaft, the sliding shaft is arranged at the bottom of the sliding table, the first spring, a nut and the second spring are sequentially sleeved on the sliding shaft, one end of the first spring is abutted against one end of the sliding shaft, the other end of the first spring is abutted against the nut, one end of the second spring is abutted against the other end of the sliding shaft, the other end of the second spring is abutted against the nut, and the first spring and the second spring limit the nut to slide along the sliding shaft.

3. The cooperative slide of claim 2, wherein: the first spring and the second spring are both springs with the same elastic coefficient.

4. The cooperative slide of claim 1, wherein: the measuring component is a magnetic grid ruler, the ruler is a magnetic ruler, and the measuring head is a magnetic head.

5. The cooperative slide of claim 1, wherein: the measuring component is a grating ruler, the ruler is a scale grating, and the measuring head is a grating reading head.