CN213136809U

CN213136809U - Industrial robot is a hard limit structure

Info

Publication number: CN213136809U
Application number: CN202020929775.8U
Authority: CN
Inventors: 贺军杰; 黄文�; 冯海生; 苗想亮; 赵从虎; 翟莹莹
Original assignee: Efort Intelligent Equipment Co ltd
Current assignee: Efort Intelligent Equipment Co ltd
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2021-05-07
Anticipated expiration: 2030-05-28

Abstract

The utility model relates to an industrial robot auxiliary device field specifically is an industrial robot a hard limit structure, including robot swivel mount and two sets of bases, still include a stopper fixed on the robot swivel mount through the connecting piece, install a stopper blotter on a stopper through screw one, set up the double-deck buffering stop device on the base, double-deck buffering stop device including setting up the spacing pivot between two sets of bases, with spacing pivot normal running block of running fit, the utility model discloses starting with the transmission route of force, increase the reliability of a stopper through rationally arranging a spacing running block blotter, reduced the impact force with the elastic action of a spacing running block blotter; through arranging the dual cushion of the one-shaft limiting moving block, the requirement on collision safety can be effectively met on the premise of not increasing the size of the limiting rotating shaft, and the phenomenon that the size of the limiting rotating shaft is increased for ensuring the collision strength is avoided.

Description

Industrial robot is a hard limit structure

Technical Field

The utility model relates to an industrial robot auxiliary device field specifically is a hard limit structure of an industrial robot axle.

Background

According to relevant regulations in GB 11291.1-2011 robot safety requirement part 1 robot for industrial environment: industrial robots should be equipped with mechanical stop devices that are able to stop the robot motion under nominal load, maximum speed, maximum or minimum arm spread conditions without any auxiliary braking measures. Therefore, the mechanical limiting device is the last safety guarantee of the robot, and if the structural design is improper, the robot can have the overtravel risk under the control failure condition, and further the life safety of related operators is seriously threatened.

Disclosure of Invention

In order to solve the problem, the utility model provides a hard limit structure of an industrial robot axle.

The utility model provides a hard limit structure of an industrial robot axle, includes robot swivel mount and two sets of bases, still includes to fix a stopper on the robot swivel mount through the connecting piece, installs a stopper blotter on a stopper, the double-deck buffer stop device of setting on the base through screw one, double-deck buffer stop device including set up between two sets of bases spacing pivot, with spacing pivot normal running block of normal running fit.

And the first shaft limiting block is arranged on the robot rotation base through two groups of screws II.

The one-shaft limiting moving block can freely rotate around the one-shaft direction of the limiting rotating shaft.

And the left side and the right side of the first shaft limit moving block are respectively provided with a first shaft limit moving block buffer cushion used for improving the impact buffering force through a third screw.

And a circular through hole for being sleeved in the limiting rotating shaft and freely rotating around the limiting rotating shaft is formed in the shaft limiting moving block.

And the limiting rotating shaft is provided with an elastic retainer ring for a shaft, which ensures that a limiting moving block of the shaft does not move in the axial direction of the limiting rotating shaft.

The lower end of the limiting rotating shaft is provided with a thread which can be directly screwed into the base.

The limiting rotating shaft is made of QT700-2 with the yield strength of more than 400 MPa.

The utility model has the advantages that: the utility model starts from the force transmission path, increases the reliability of a shaft stopper by reasonably arranging a shaft stopper cushion pad, and reduces the impact force by the elastic action of the shaft stopper cushion pad; through arranging the dual cushion of the one-shaft limiting moving block, the requirement on collision safety can be effectively met on the premise of not increasing the size of the limiting rotating shaft, so that the design risk is reduced, and the phenomenon that the size of the limiting rotating shaft is increased for ensuring the collision strength is avoided.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the explosion structure of the double-layer buffering and limiting device of the present invention;

fig. 3 is a schematic view of a partial three-dimensional structure of the present invention.

Detailed Description

In order to make the utility model realize, the technical means, the creation characteristics, the achievement purpose and the efficacy are easy to understand and understand, and the utility model is further explained below.

As shown in fig. 1 to fig. 3, an industrial robot hard limit structure on one axis comprises a robot swivel mount 1 and two sets of bases 8, and further comprises an axis limit block 2 fixed on the robot swivel mount 1 through a connecting piece, an axis limit block buffer pad 3 installed on the axis limit block 2 through a screw 10, and a double-layer buffer limit device arranged on the bases 8, wherein the double-layer buffer limit device comprises a limit rotating shaft 7 arranged between the two sets of bases 8 and an axis limit moving block 4 in running fit with the limit rotating shaft 7.

The utility model discloses starting from the transmission route of power, increasing a reliability of stopper 2 through a rational arrangement spacing movable block blotter 5 to the elastic action of a spacing movable block blotter 5 has reduced the impact.

The shaft limiting block 2 is arranged on the robot rotation base 1 through two groups of screws 11.

The one-shaft limiting moving block 4 can freely rotate around the one-shaft direction of the limiting rotating shaft 7.

The left and right sides of a spacing movable block 4 all install a spacing movable block blotter 5 of a axle that is used for improving the striking buffer power through three 9 screws, the collision phenomenon only needs to change a spacing movable block blotter 5 of a axle and can resume spacing effect, the later maintenance cost is lower.

Through arranging the dual one-shaft limiting moving block buffer cushion 5, the requirement on collision safety can be effectively met on the premise of not increasing the size of the limiting rotating shaft 7, so that the design risk is reduced, and the phenomenon that the size of the limiting rotating shaft 7 is increased for ensuring the collision strength is avoided.

As shown in fig. 3, an axis stopper cushion 5 completely wraps the collision region of an axis stopper 2.

As shown in fig. 2, a circular through hole for being sleeved in the limit rotating shaft 7 and freely rotating around the limit rotating shaft 7 is formed in the one-shaft limit moving block 4.

The limiting rotating shaft 7 is provided with an elastic retainer ring 6 for a shaft, which can ensure that the limiting moving block 4 of the shaft does not move in the axial direction of the limiting rotating shaft 7.

Through a rational arrangement one stopper blotter 5 on a stopper 2 of a stopper and a spacing movable block 4 of an axle, elastic deformation through a stopper blotter 5 of a stopper increases the striking time to reduce the instantaneous impact of corresponding part, guarantee that hard limit structure intensity satisfies the performance requirement, simple structure is reliable simultaneously, easily makes the installation.

As shown in fig. 1, the lower end of the limit rotating shaft 7 is provided with a thread which can be directly screwed into the base 8.

The limiting rotating shaft 7 is made of QT700-2 with the yield strength of more than 400 MPa.

The utility model discloses a use method: an one-axis stopper 2 is fixed on the robot swivel mount 1 through a connecting piece, an one-axis stopper buffer 5 is fixed on the one-axis stopper 2 through a connecting piece and completely wraps a collision area of the one-axis stopper 1, the one-axis stopper 2 can freely rotate around an axis direction of a limiting rotating shaft 7, the one-axis stopper is mounted on the limiting rotating shaft 7 through an elastic check ring 6, the one-axis stopper 2 is guaranteed not to move in the axis direction of the limiting rotating shaft 7, the limiting rotating shaft 7 is fixed on a base 8, and the material is steel with the yield strength larger than 400 MPa.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications are intended to fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a hard limit structure of industrial robot axle, includes robot swivel mount (1) and two sets of bases (8), its characterized in that: still include one stopper (2) of fixing on robot swivel mount (1) through the connecting piece, install a stopper blotter (3) on a stopper (2) through screw (10), set up double-deck buffering stop device on base (8), double-deck buffering stop device including setting up spacing pivot (7) between two sets of bases (8), with spacing pivot (7) normal running fit's a spacing movable block (4).

2. The industrial robot axis hard limiting structure according to claim 1, wherein: the shaft limiting block (2) is arranged on the robot rotation seat (1) through two groups of screws II (11).

3. The industrial robot axis hard limiting structure according to claim 1, wherein: the one-shaft limiting moving block (4) can freely rotate around the one-shaft direction of the limiting rotating shaft (7).

4. The industrial robot axis hard limiting structure according to claim 1, wherein: and the left side and the right side of the first shaft limit moving block (4) are provided with a first shaft limit moving block buffer pad (5) used for improving the impact buffering force through a third screw (9).

5. The industrial robot axis hard limiting structure according to claim 1, wherein: and a circular through hole for being sleeved in the limiting rotating shaft (7) and freely rotating around the limiting rotating shaft (7) is formed in the shaft limiting moving block (4).

6. The industrial robot axis hard limiting structure according to claim 1, wherein: and the limiting rotating shaft (7) is provided with an elastic retainer ring (6) for one shaft, which ensures that the limiting moving block (4) does not move in the axial direction of the limiting rotating shaft (7).

7. The industrial robot axis hard limiting structure according to claim 1, wherein: the lower end of the limiting rotating shaft (7) is provided with a thread which can be directly screwed into the base (8).

8. The industrial robot axis hard limiting structure according to claim 1, wherein: the limiting rotating shaft (7) is made of QT700-2 with the yield strength of more than 400 MPa.