CN213165382U - Robot seventh shaft based on flexible manufacturing - Google Patents
Robot seventh shaft based on flexible manufacturing Download PDFInfo
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- CN213165382U CN213165382U CN202021397567.4U CN202021397567U CN213165382U CN 213165382 U CN213165382 U CN 213165382U CN 202021397567 U CN202021397567 U CN 202021397567U CN 213165382 U CN213165382 U CN 213165382U
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Abstract
The utility model relates to the technical field of a seventh axis of a robot, and discloses a seventh axis of a robot based on flexible manufacturing, which comprises a fixed base body; the upper surface of the fixed base body is fixedly connected with a linear guide rail, a sliding table which moves along the length direction of the linear guide rail is connected above the linear guide rail, and the sliding table is used for installing a robot; a rack in the same direction as the linear guide rail is fixed on one side of the linear guide rail, and the rack is provided with a driving mechanism for driving the sliding table to move; a dustproof shield is fixed on the fixed base body; the seventh axis of the robot further comprises a fixedly arranged stroke limit trigger mechanism. The utility model discloses a robot seventh axle adopts standard component more based on flexible manufacturing, and major structure spare such as fixed base member, linear guide, rack is standard product to it is applicable in all kinds of different ranks industrial robot through hierarchical adaptation.
Description
Technical Field
The utility model relates to a seventh axle technical field of robot especially relates to a seventh axle of robot based on flexible manufacturing.
Background
The structure of the seventh axis of the existing robot mainly comprises a guide rail (a guide mechanism) and a roller moving platform. The guide mechanism adopts structural steel or a machining guide rail, and uses a fixed sensor for auxiliary positioning. Due to the fact that the machining precision and the surface quality of the structural steel or the machining guide rail are poor, vibration is large, noise is large, and precision is low in operation. The use of fixed sensors to assist positioning where precise control is required does not meet the flexible manufacturing requirements. In addition, most parts are nonstandard parts, the later-stage transformation is difficult, and the parts are specially used; once the target product is replaced, the whole product needs to be manufactured again, and the recovery and secondary utilization of parts cannot be realized, so that a large amount of waste is caused. And the non-standard design is made on the special premise, the design details are rough, the structural arrangement can be usually made according to the existing site conditions, and the structure simplification and the minimum occupied space cannot be realized. In summary, the seventh axis of the existing robot has a simple structure, rough workmanship, low precision, large noise and large vibration, is generally a non-standard design product with a single project, and does not have good flexible manufacturing characteristics (which can be referred to as universality or standard), and meanwhile, the non-standard product causes problems of long design period, difficulty in processing and manufacturing, unsatisfactory debugging effect, need of repeated rework adjustment and the like, and accordingly, the corresponding manufacturing cost is increased, and unnecessary waste is caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a robot seventh axle based on flexible manufacturing to solve among the prior art robot seventh axle flexible manufacturing characteristic relatively poor above-mentioned technical problem.
In order to realize the purpose, the utility model discloses a technical scheme be:
a seventh axis of a robot based on flexible manufacturing, comprising a fixed base; the upper surface of the fixed base body is fixedly connected with a linear guide rail, a sliding table which moves along the length direction of the linear guide rail is connected above the linear guide rail, and the sliding table is used for installing a robot; a rack in the same direction as the linear guide rail is fixed on one side of the linear guide rail, and the rack is provided with a driving mechanism for driving the sliding table to move; a dustproof shield is fixed on the fixed base body; the seventh axis of the robot further comprises a fixedly arranged stroke limit trigger mechanism.
According to the utility model discloses robot seventh axle based on flexible manufacturing, one side of actuating mechanism is provided with lubricated felt wheel, and lubricated felt wheel passes through the below of installing support connection at the slip table.
According to the utility model discloses robot seventh axle based on flexible manufacturing, actuating mechanism is including fixing the servo motor on the slip table, servo motor's power take off end be connected with rack toothing's drive gear.
According to the robot seventh shaft based on flexible manufacturing of the utility model, the dust-proof shield is divided into a linear guide rail dust-proof shield, a rack dust-proof shield and a driving gear safety protection cover; the linear guide rail dustproof shield and the rack dustproof shield are connected to the fixed base body, the linear guide rail dustproof shield is covered above the linear guide rail and below the sliding table, and the rack dustproof shield is arranged on one side of the rack; the driving gear safety protection cover is fixedly arranged and annularly arranged on the periphery of the driving gear.
According to the utility model discloses robot seventh axle based on flexible manufacturing, the spacing trigger mechanism of stroke is established to the spacing multistage trigger mechanism of stroke.
According to the utility model discloses based on the seventh axle of flexible manufacturing's robot, the spacing multistage trigger mechanism of stroke divide into stroke spacing one-level trigger subassembly and stroke spacing second grade trigger subassembly; the stroke limiting primary trigger assembly comprises a collision block connected to the side surface of the fixed base body through a switch collision block adjusting plate and a stroke control switch matched with the collision block; the travel control switch is fixed on the sliding table; the stroke limiting secondary trigger assembly comprises limiting buffer blocks connected to two ends of the fixed base body through buffer block mounting plates.
According to the utility model discloses robot seventh axle based on flexible manufacturing, linear guide is parallel to be equipped with assorted two, and equal sliding connection has the slider on two linear guide, the slider with slip table fixed connection.
According to the utility model discloses robot seventh axle based on flexible manufacturing, fixedly connected with is used for connecting the installation piece of robot on the slip table.
The utility model has the advantages that:
the utility model discloses robot seventh axle based on flexible manufacturing carries out configuration optimization to the robot seventh axle and arranges and standardize under the prerequisite that satisfies service conditions, makes robot seventh axle product reach quick adjustment, repacking fast, continuously use, high-efficient utilization, reform transform and maintain simple flexible standardized product. This robot seventh axle based on flexible manufacturing adopts standard component more, and main structure spare such as fixed base member, linear guide, rack is standard product to applicable industrial robot in all kinds of different grades through hierarchical adaptation. For example, a user only needs to reform and enable the sliding table to be matched with the robot, and the seventh axis of the robot can be reformed and used for industrial robots of the same level, so that great convenience is provided for subsequent reformation and continuous use of the user, and the subsequent reformation and use cost is greatly reduced; or main structural members such as a fixed base body, a linear guide rail and a rack which are the same as the seventh shaft of the original robot are added to increase the equipment stroke, a brand-new robot seventh shaft product does not need to be newly customized, the subsequent use cost of the product is greatly reduced, the modification is simple and rapid, the time is short, the engineering period is effectively reduced, and the rapid production can be guaranteed.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the hidden parts of FIG. 1;
FIG. 3 is a schematic view of the structure of FIG. 1 from another perspective (with parts hidden);
FIG. 4 is a schematic top view of FIG. 1;
FIG. 5 is a schematic cross-sectional view B-B of FIG. 4;
reference numerals:
1-linear guide rail, 2-felt wheel dustproof shield, 3-linear guide rail dustproof shield, 4-switch collision block adjusting plate, 5-driving gear safety shield, 7-installation block, 8-sliding table, 9-range-extending groove, 10-limit buffer block, 11-buffer block installation plate, 12-drag chain, 13-lubricating felt wheel, 14-tooth meshing gap adjusting block, 15-rack, 16-rack dustproof shield, 17-leveling bolt, 18-stroke control switch, 20-servo motor, 21-driving gear, 22-drag chain walking bracket, 23-sliding block, 24-fixed base body and 25-fixed ground foot plate.
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
Please refer to the attached drawings. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.
Example one
Referring to fig. 1 to 5, the present invention provides a seventh axis of a robot based on flexible manufacturing, which includes a fixed base 24; the upper surface of the fixed base body 24 is fixedly connected with a linear guide rail 1, a sliding table 8 which moves along the length direction of the linear guide rail 1 is connected above the linear guide rail 1, and the sliding table 8 is used for installing a robot; a rack 15 in the same direction as the linear guide rail 1 is fixed on one side of the linear guide rail 1, and the rack 15 is provided with a driving mechanism for driving the sliding table 8 to move; a dustproof protective cover which can ensure the sliding table 8 to move stably is fixed on the fixed base body 24; the seventh axis of the robot further comprises a fixedly arranged stroke limit trigger mechanism.
One side of actuating mechanism is provided with lubricated felt wheel 13, and lubricated felt wheel 13 passes through the installing support and connects in the below of slip table 8. The lubricating felt wheel 13 plays a role in lubrication. In addition, a circle of fixedly arranged felt wheel dustproof shield 2 is sleeved on the periphery of the lubricating felt wheel 13, and the dustproof shield plays a role in dustproof isolation.
The driving mechanism comprises a servo motor 20 fixed on the sliding table 8, and a driving gear 21 meshed with the rack 15 is connected to the power output end of the servo motor 20. The servo motor 20 may be provided with a speed reducer for speed change.
The dustproof shield is divided into a linear guide rail dustproof shield 3, a rack dustproof shield 16 and a driving gear safety shield 5; the linear guide rail dustproof shield and the rack dustproof shield 16 are connected to the fixed base body 24, the linear guide rail dustproof shield is covered above the linear guide rail 1 and below the sliding table 8, and the rack dustproof shield 16 is arranged on one side of the rack 15; the driving gear safety protection cover 5 is fixedly arranged and annularly arranged on the periphery of the driving gear 21.
The stroke limit trigger mechanism is a stroke limit multistage trigger mechanism.
The stroke limiting multistage trigger mechanism is divided into a stroke limiting first-stage trigger component and a stroke limiting second-stage trigger component; the stroke limiting primary trigger assembly comprises a collision block connected to the side surface of the fixed base body 24 through a switch collision block adjusting plate 4, and a stroke control switch 18 matched with the collision block; the travel control switch 18 is fixed on the sliding table 8; the stroke limiting secondary trigger assembly comprises limiting buffer blocks 10 connected to two ends of a fixed base body 24 through buffer block mounting plates 11.
And the sliding table 8 is fixedly connected with an installation block 7 for connecting a robot. The mounting block 7 can be provided with a plurality of blocks, and threaded holes are formed in the mounting block for detachably connecting the robot. Only need reform transform the screw hole and the specification of installation piece 7 again and can change the industrial robot who is used for same rank, follow-up transformation, the continuous use of user provide very big facility.
Example two
Referring to fig. 1-5, an embodiment provides a specific application of the seventh axis of the robot based on flexible manufacturing.
The main function of the seventh axis of the robot based on flexible manufacturing is to load the industrial robot, so that the sliding table 8 and the fixed base body 24 move relatively, the industrial robot is driven to change positions, and the working range of the industrial robot is enlarged. The key structure for realizing the function consists of parts such as a linear guide rail 1, a sliding table 8, a sliding block 23, a fixed base body 24, a driving gear 21, a rack 15, a servo motor 20, a speed reducer and the like. Wherein linear guide 1 and rack 15 pass through the bolt fastening on fixed base member 24, and slider 23, servo motor 20 pass through the bolt fastening on slip table 8 with the speed reducer, and servo motor 20 passes through key-type connection drive gear 21 with the below of speed reducer, and drive gear 21 meshes with rack 15, drives drive gear 21 through servo motor 20 and speed reducer and rotates, provides drive power for the displacement of slip table 8. And linear guide 1 and the inseparable sliding fit of slider 23 provide accurate direction for the displacement of slip table 8 to because of linear guide 1 and slider 23 are standard products, the precision is high, the stable performance, can make slip table 8 operation process steady, the noise is low, the vibration is little. Further, a leveling bolt 17 for mounting and a fixed footing plate 25 are connected to the bottom of the fixed base 24. The seventh axis of the robot is also provided with a drag chain 12 for power supply transmission and signal transmission through a drag chain walking bracket 22.
The seventh shaft of the robot has less maintainability and mainly comprises a lubricating design and a dustproof design.
The lubricating design is mainly to lubricate the arrangement of the felt wheel 13. The dustproof design mainly adopts the structure of dustproof guard, specifically divide into linear guide dustproof guard 3, rack dustproof guard 16, drive gear safety protection cover 5 and felt wheel dustproof guard 2. The dustproof design is used for isolating dust and a plurality of solid or liquid interferents such as scraps, scrap irons, cutting fluid, welding slag, splashing, paint mist and the like generated in the production process of the industrial robot, ensuring the cleanness of the linear guide rail 1, the rack 15, the driving gear 21 and the fixed base body 24, and effectively reducing the risk of mechanical failure caused by corrosion, scratching, foreign matter clamping and other factors; meanwhile, due to the existence of the dustproof design, the key structural parts do not need to be cleaned at any time; the cleaning can be regularly checked according to different use environments, damage risks are reduced, the product stability is improved, the labor intensity of a user is effectively reduced, and the performance of less maintenance is realized.
The seventh shaft of the robot is high in product safety and has multi-stage safety guarantee.
The first level is: the seventh axis of the robot is ensured to be clamped without foreign objects by the parts such as the linear guide rail dustproof shield 3, the rack dustproof shield 16 and the driving gear safety shield 5 in normal operation, and when the accident condition that an operator falls down occurs, limbs can not directly contact the parts of the linear guide rail 1, the sliding block 23, the rack 15, the driving gear 21 and the like which are meshed or matched.
The second level is as follows: when the operator debugs or uses the device normally, the control program makes mistakes or other accidents cause the servo motor 20 to stop normally, and if the control program exceeds the normal moving range, the stroke control switch 18 is triggered by the collision block on the switch collision block adjusting plate 4, the control of the servo motor 20 is forcibly cut off, so that the servo motor 20 stops immediately, and the accidents are avoided. A switch collision block adjusting plate 4, a collision block and a stroke control switch 18 in the hierarchical design form a stroke limiting primary trigger assembly.
The third level: when serious accidents occur and the stroke control switch 18 cannot be triggered or the stroke control switch 18 fails, the sliding table 8 can collide with the limiting buffer blocks 10 at the two ends of the fixed base body 24 to forcibly force the servo motor 20 to overload and stop rotating, so that operators are not injured or industrial robots are not damaged due to the serious accidents, and the equipment property safety and the personal safety of the operators can be strictly guaranteed. The limit buffer block 10 and the buffer block mounting plate 11 in the hierarchical design form a stroke limit secondary trigger assembly. In the above, the stroke limiting first-stage trigger assembly and the stroke limiting second-stage trigger assembly form a stroke limiting multi-stage trigger mechanism, and play a role in multi-stage safety guarantee.
The robot has good flexibility and universality of a seventh shaft product.
The robot based on flexible manufacturing adopts standard parts for the seventh shaft, main structural parts such as the fixed base body 24, the linear guide rail 1 and the rack 15 are standard products, and the robot is applicable to industrial robots of various grades through grading adaptation. For example, a user only needs to reform to enable the sliding table 8 to be matched with the robot, and the seventh axis of the robot can be reformed to be used for industrial robots of the same level, so that great convenience is provided for subsequent reformation and continuous use of the user, and the subsequent reformation and use cost is greatly reduced; or main structural components such as the fixing base body 24, the linear guide rail 1 and the rack 15 which are the same as the seventh shaft of the original robot are added to increase the equipment stroke (by means of the stroke increasing groove 9), a brand-new robot seventh shaft product does not need to be newly customized, the subsequent use cost of the product is greatly reduced, the modification is simple and rapid, the time is short, the engineering period is effectively reduced, and the rapid production can be guaranteed.
The robot has excellent precision design of a seventh axis product.
The seventh axis of the robot adopts the linear guide rail 1 and the slide block 23 as a guide mechanism, and the driving gear 21 is matched with the rack 15 as a power mechanism. The two mechanisms have good stability and high manufacturing precision, and the meshing clearance between the teeth between the rack 15 and the driving gear 21 can be adjusted through the tooth meshing clearance adjusting block 14 (the tooth meshing clearance adjusting block 14 is connected to and matched with the driving gear 21). The proper meshing clearance is debugged in a dial indicator mode, so that the low precision caused by too large meshing clearance is avoided, and the tooth wear aggravation and the service life reduction caused by insufficient meshing clearance are avoided; the tooth meshing clearance adjusting block 14 is adjusted to a balance point between precision and service life under the guarantee of the assembly process.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A seventh axis of a robot based on flexible manufacturing, comprising a fixed base; the upper surface of the fixed base body is fixedly connected with a linear guide rail, a sliding table which moves along the length direction of the linear guide rail is connected above the linear guide rail, and the sliding table is used for installing a robot; a rack in the same direction as the linear guide rail is fixed on one side of the linear guide rail, and the rack is provided with a driving mechanism for driving the sliding table to move; a dustproof shield is fixed on the fixed base body; the seventh axis of the robot further comprises a fixedly arranged stroke limit trigger mechanism.
2. The seventh axis of robot based on flexible manufacturing of claim 1, wherein one side of the driving mechanism is provided with a lubricating felt wheel, and the lubricating felt wheel is connected below the sliding table through a mounting bracket.
3. A seventh axis of robot based on flexible manufacturing according to claim 1 or 2, characterized in that the driving mechanism comprises a servo motor fixed on the sliding table, and a driving gear meshed with the rack is connected to a power output end of the servo motor.
4. The seventh axis of robot based on flexible manufacturing of claim 3, wherein the dust shield is divided into a linear guide dust shield, a rack dust shield and a driving gear safety shield; the linear guide rail dustproof shield and the rack dustproof shield are connected to the fixed base body, the linear guide rail dustproof shield is covered above the linear guide rail and below the sliding table, and the rack dustproof shield is arranged on one side of the rack; the driving gear safety protection cover is fixedly arranged and annularly arranged on the periphery of the driving gear.
5. The seventh axis of robot based on flexible manufacturing of claim 1, characterized in that the travel limit trigger mechanism is provided as a travel limit multistage trigger mechanism.
6. The seventh axis of robot based on flexible manufacturing of claim 5, wherein the multi-stage trigger mechanism of stroke limit is divided into a primary trigger assembly of stroke limit and a secondary trigger assembly of stroke limit; the stroke limiting primary trigger assembly comprises a collision block connected to the side surface of the fixed base body through a switch collision block adjusting plate and a stroke control switch matched with the collision block; the travel control switch is fixed on the sliding table; the stroke limiting secondary trigger assembly comprises limiting buffer blocks connected to two ends of the fixed base body through buffer block mounting plates.
7. The seventh axis of robot based on flexible manufacturing of claim 1, wherein the two linear guide rails are provided with two matching linear guide rails in parallel, and each of the two linear guide rails is slidably connected with a sliding block which is fixedly connected with the sliding table.
8. The seventh axis of robot based on flexible manufacturing of claim 1, wherein a mounting block for connecting a robot is fixedly connected to the sliding table.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021397567.4U CN213165382U (en) | 2020-07-15 | 2020-07-15 | Robot seventh shaft based on flexible manufacturing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021397567.4U CN213165382U (en) | 2020-07-15 | 2020-07-15 | Robot seventh shaft based on flexible manufacturing |
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| CN213165382U true CN213165382U (en) | 2021-05-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114833868A (en) * | 2022-05-11 | 2022-08-02 | 浙江大学高端装备研究院 | Section bar frame robot walking axle |
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2020
- 2020-07-15 CN CN202021397567.4U patent/CN213165382U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114833868A (en) * | 2022-05-11 | 2022-08-02 | 浙江大学高端装备研究院 | Section bar frame robot walking axle |
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