CN214643626U - Seventh axis motion system of industrial robot - Google Patents
Seventh axis motion system of industrial robot Download PDFInfo
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- CN214643626U CN214643626U CN202120994332.1U CN202120994332U CN214643626U CN 214643626 U CN214643626 U CN 214643626U CN 202120994332 U CN202120994332 U CN 202120994332U CN 214643626 U CN214643626 U CN 214643626U
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Abstract
The utility model relates to an industrial robot specifically is an industrial robot seventh axle motion system, including guide rail base mechanism, walking unit, its technical essential is: the walking unit comprises a sliding plate assembly connected with the guide rail base mechanism in a sliding mode, an industrial robot, an oil distribution lubricating mechanism, a motor driving box and a driving mechanism, wherein the industrial robot and the oil distribution lubricating mechanism are arranged on the sliding plate assembly along the same side of the length direction, the motor driving box and the driving mechanism are uniformly arranged on the opposite sides of the industrial robot and the oil distribution lubricating mechanism, the guide rail base mechanism is arranged on the driving mechanism arrangement side, a drag chain supporting frame is arranged along the length direction, one end of a supporting drag chain is fixed on the driving mechanism arrangement side on the sliding plate assembly through a connecting plate, and the other end of the supporting drag chain is fixed on the rear portion of the drag chain supporting frame in an overturning mode. The wire arrangement is more neat, and blockage of blockage during equipment walking is avoided.
Description
Technical Field
The utility model relates to an industrial robot specifically is an industrial robot seventh axle motion system.
Background
For production type enterprises, an intelligent factory is a great trend of future development, while an industrial robot is the core of the intelligent factory, and when large-scale operation with multiple processes and multiple stations is required, one industrial robot cannot meet the requirement. Therefore, the seventh axis of the industrial robot can move back and forth along a line, multiple devices are connected in series at multiple stations, the operation is completed according to a certain flow, and the space and the cost are saved.
The motion system of the seventh axis of the existing industrial robot mainly comprises a base with a guide rail and a walking unit on the base, but the guide rail is exposed by the structure, and processed scrap iron falls into the guide rail, so that the scrap iron is difficult to clean and the structure is easy to cause walking jamming; the position arrangement of each part on the base is unreasonable, leads to the wiring complicated, still can extend to the outside, and very pleasing to the eye still can cause equipment walking to be obstructed.
Disclosure of Invention
An object of the utility model is to provide an industrial robot seventh axle motion has solved the problem in the iron fillings drop guide rail, and its structure makes the wire arrange more neatly, has avoided the equipment walking card to pause and the emergence of the condition of being hindered.
The technical scheme of the utility model is that:
the seventh shaft motion system of industrial robot, including guide rail base mechanism, arrange the walking unit who moves on guide rail base mechanism length direction in guide rail base mechanism top, its technical essential is: the walking unit comprises a sliding plate assembly connected with the guide rail base mechanism in a sliding mode, an industrial robot, an oil distribution lubricating mechanism, a motor driving box and a driving mechanism, wherein the industrial robot and the oil distribution lubricating mechanism are arranged on the sliding plate assembly along the same side of the length direction, the motor driving box and the driving mechanism are uniformly arranged on the opposite sides of the industrial robot and the oil distribution lubricating mechanism, the guide rail base mechanism is arranged on the driving mechanism arrangement side, a drag chain supporting frame is arranged along the length direction, one end of a supporting drag chain is fixed on the driving mechanism arrangement side on the sliding plate assembly through a connecting plate, and the other end of the supporting drag chain is fixed on the rear portion of the drag chain supporting frame in an overturning mode.
The seventh axis motion system of the industrial robot, guide rail base mechanism includes evenly arranges subaerial many pairs of horizontal grounding piece along length direction interval, fix the fixed plate on horizontal grounding piece along length direction, locate the link on the fixed plate, the link includes the rectangular pipe of arranging the left and right sides on length direction on the fixed plate, fix the backup pad between two rectangular pipes, the top of rectangular pipe all is fixed with the intermediate lamella, the upper surface of intermediate lamella all is fixed with sliding guide, the backup pad top is fixed with two upper protective plate support frames, the centre gripping has the connection piece to support fixedly between two upper protective plate support frames, the upper protective plate support frame, the top of connection piece has arranged a plurality of upper protective plates through bolt fixed connection along length direction.
Foretell industrial robot seventh axle motion, the sliding plate subassembly includes that the upper surface is fixed with industrial robot, divides oily lubricated mechanism, motor drive case, actuating mechanism's sliding plate, arranges all with sliding guide matched with slider in sliding plate four corners department, is connected through the connecting block of buckling between slider and the sliding plate.
The oil distribution and lubrication mechanism comprises an oil storage tank arranged on the sliding plate component and an oil distributor connected with the oil storage tank through an oil pump, the oil distributor is connected with four sliding block oil distribution pipes, and the four sliding block oil distribution pipes are respectively connected with sliding block oil nozzles arranged on corresponding sliding blocks.
The seventh shaft motion system of the industrial robot is characterized in that the motor driving box comprises a box shell and a servo motor driver arranged inside the box shell, and an electric wire connected with an external power supply and an electric wire connected with the industrial robot are arranged in the supporting drag chain.
The seventh shaft motion system of the industrial robot comprises a driving mechanism, a servo motor, a speed reducer, a tensioning ring, a speed reducer mounting plate, a tensioning seat, a tensioning disc and a gear, wherein the servo motor, the speed reducer, the tensioning ring, the speed reducer mounting plate, the tensioning seat, the tensioning disc and the gear are sequentially arranged above the sliding plate component from top to bottom, the speed reducer mounting plate is embedded in the upper surface of the sliding plate, the tensioning disc is fixed on a shaft shoulder of the gear, a rack matched with the gear is fixed on the upper surface of the middle plate, and the servo motor is connected with a servo motor driver.
In the seventh axis motion system of the industrial robot, the width of the sliding plate is greater than that of the connecting frame, the width of the upper protective plate is equal to that of the connecting frame, and the thickness of a gap formed between the bent connecting block and the sliding plate is d1The upper protective plate has a thickness d2The height of the connecting piece is h1，d1＞d2+h1。
In the seventh shaft motion system of the industrial robot, the front side of the driving mechanism is also provided with a felt wheel connected through a felt wheel mounting plate on the side surface of the sliding plate, the felt wheel is meshed with the rack, the oil distributor is also connected with a felt wheel oil distributing pipe, a felt wheel oil dropping port connected with the tail end of the felt wheel oil distributing pipe is arranged on the felt wheel mounting plate, the four sliding block oil distributing pipes and the felt wheel oil distributing pipe are tightly fixed on the sliding plate, and side outlet pipes are arranged on the drag chain support frame and are respectively extended to the corresponding oil dropping ports.
The utility model has the advantages that:
1. the servo motor drives the gear to rotate, the gear is meshed with the rack and is matched with the sliding guide rail through the sliding block, so that the sliding plate can easily slide, and the industrial robot is driven to move; the width of sliding plate is greater than the width of link, makes the sliding plate cover rack and sliding guide completely and wraps up the backplate, has avoided iron fillings to drop to rack and sliding guide effectively when the operation on, can not cause the walking to be obstructed, the card is dunked.
2. Industrial robot, divide oily lubricated mechanism to arrange along length direction homonymy on the sliding plate subassembly, motor drive case, the actuating mechanism equipartition is put in the offside, four divide slider to divide oil pipe and felt wheel to divide oil pipe to level walk the line fixed, the electric wire that servo motor driver and external power source are connected, the electric wire of being connected with industrial robot arranges and protects in supporting the tow chain, it is few to expose outside electric wire, the rational utilization space of sliding plate, the design is pleasing to the eye, and can not cause the hindrance to the system walking.
3. The oil distributing pipes of the oil distributor respectively lubricate the four sliding blocks and the felt wheels, so that the whole moving system can work and walk more smoothly.
4. A plurality of upper protecting plates are detachably arranged on the upper protecting plate supporting frame, the number of the upper protecting plates can be selected according to the actual condition of an operation field, reasonable assembly is achieved, the movement of the industrial robot is not limited, and the requirements of field working conditions are met.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of FIG. 1A;
FIG. 3 is a cross-sectional view taken along line B-B of FIG. 2;
FIG. 4 is an enlarged view of FIG. 1C;
FIG. 5 is an enlarged view of FIG. 1D;
fig. 6 is a schematic view of the position of the slider oil nozzle.
In the figure: 1. the device comprises a guide rail base mechanism, 2, a drag chain supporting frame, 3, a supporting drag chain, 4, a walking unit, 5, an oil distribution lubricating mechanism, 6, a driving mechanism, 7, a motor driving box, 8, an industrial robot, 9, a sliding plate assembly, 10, a horizontal grounding sheet, 11, a fixing plate, 12, a connecting frame, 13, a bent connecting block, 14, an upper protective plate, 15, a connecting sheet, 16, an upper protective plate supporting frame, 17, a sliding plate, 18, a sliding block, 19, a rack, 20, a servo motor, 21, a speed reducer, 22, a tensioning ring, 23, a tensioning seat, 24, a tensioning disc, 25, a gear, 26, a rectangular pipe, 27, a sliding guide rail, 28, a supporting plate, 29, a felt wheel, 30, a felt wheel oil dropping port, 31, a felt wheel mounting plate, 32, a felt wheel oil distribution pipe, 33, a sliding block oil distribution pipe, 34, an oil distributor, 35, an oil pump, 36, an oil storage tank, 37, a sliding block oil nozzle, 38, an intermediate plate, a sliding block oil outlet, a sliding plate, 39. Reducer mounting panel, 40, connecting plate.
Detailed Description
The technical solution of the present invention is further explained by the following specific embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 6, the seventh axis motion system of the industrial robot comprises a guide rail base mechanism 1, and a traveling unit 4 arranged above the guide rail base mechanism 1 and moving along the length direction of the guide rail base mechanism 1.
The walking unit 4 comprises a sliding plate component 9 connected with the guide rail base mechanism 1 in a sliding mode, an industrial robot 8 fixed on the sliding plate component 9, an oil distribution lubricating mechanism 5, a motor driving box 7 and a driving mechanism 6, wherein the industrial robot 8 and the oil distribution lubricating mechanism 5 are arranged on the sliding plate component 9 along the same side of the length direction, the motor driving box 7 and the driving mechanism 6 are both arranged on the opposite side of the industrial robot 8 and the oil distribution lubricating mechanism 5, the guide rail base mechanism 1 is provided with a drag chain supporting frame 2 on the arrangement side of the driving mechanism 6 along the length direction, one end of a supporting drag chain 3 is fixed on the arrangement side of the driving mechanism 6 on the sliding plate component 9 through a connecting plate, and the other end of the supporting drag chain 3 is fixed on the rear portion of the drag chain supporting frame 2 in an overturning mode.
In this embodiment, the guide rail base mechanism 1 includes a plurality of pairs of horizontal grounding pieces 10 evenly arranged on the ground along the length direction, a fixing plate 11 fixed on the horizontal grounding piece 10 along the length direction, a connecting frame 12 arranged on the fixing plate 11, the connecting frame 12 includes rectangular tubes 26 arranged on the fixing plate 11 on the left and right sides in the length direction, and a supporting plate 28 fixed between the two rectangular tubes 26, intermediate plates 38 are fixed above the rectangular tubes 26, sliding guide rails 27 are fixed on the upper surfaces of the intermediate plates 38, two upper guard plate supporting frames 16 are fixed above the supporting plate 28, a connecting plate 15 is clamped between the two upper guard plate supporting frames 16 for supporting and fixing, the upper guard plate supporting frames 16, and a plurality of upper guard plates 14 fixedly connected through bolts are arranged above the connecting plate 15 along the length direction.
The sliding plate component 9 comprises a sliding plate 17 with an upper surface fixed with an industrial robot 8, an oil-separating lubricating mechanism 5, a motor driving box 7 and a driving mechanism 6, and sliding plates arranged at four corners of the sliding plate 17 and matched with sliding guide rails 27The sliding block 18, the sliding block 18 and the sliding plate 17 are connected through the bending connecting block 13. The width of the sliding plate 17 is larger than that of the connecting frame 12, the width of the upper protection plate 14 is equal to that of the connecting frame 12, and the thickness of a gap formed between the bent connecting block 13 and the sliding plate 17 is d1The thickness of the upper guard plate 14 is d2The height of the connecting piece 15 is h1，d1＞d2+h1。
The oil distribution and lubrication mechanism 5 comprises an oil storage tank 36 arranged on the sliding plate component 9 and an oil distributor 34 connected with the oil storage tank 36 through an oil pump 35, the oil distributor 34 is connected with four sliding block oil distribution pipes 33, and the four sliding block oil distribution pipes 33 are respectively connected with sliding block oil nozzles 37 arranged on corresponding sliding blocks 18. The motor driving box 7 comprises a box body shell, a frequency converter and a servo motor driver, wherein the frequency converter and the servo motor driver are arranged inside the box body shell, and an electric wire connected with an external power supply and an electric wire connected with an industrial robot 8 are arranged in the supporting drag chain 3.
The driving mechanism 6 comprises a servo motor 20, a speed reducer 21, a tension ring 22, a tension seat 23, a speed reducer mounting plate 39, a tension disc 24 and a gear 25 which are arranged above the sliding plate assembly 9 and sequentially connected from top to bottom, the speed reducer mounting plate 39 is embedded in the upper surface of the sliding plate 17, the tension disc 24 is fixed on a shaft shoulder of the gear 25, a rack 19 matched with the gear 25 is fixed on the upper surface of the middle plate 38, and the servo motor 20 is connected with a servo motor driver. The front side of the driving mechanism 6 is also provided with a felt wheel 29 connected through a felt wheel mounting plate 31 on the side surface of the sliding plate 17, the felt wheel 29 is meshed with the rack 19, the oil distributor 34 is also connected with a felt wheel oil distributing pipe 32, the felt wheel mounting plate 31 is provided with a felt wheel oil dropping port 30 connected with the tail end of the felt wheel oil distributing pipe 32, the four sliding block oil distributing pipes 33 and the felt wheel oil distributing pipe 32 are all tightly fixed on the sliding plate 17, and the side outlet pipes arranged on the drag chain support frame 2 are respectively extended to the corresponding oil dropping ports.
The installation process comprises the following steps:
according to the requirements of site working conditions, selecting a fixed plate 11, a connecting frame 12 and an intermediate plate 38 with proper lengths, preparing upper guard plates 14 with proper quantity and size, processing the fixed plate 11, the connecting frame 12 and the intermediate plate 38 into a whole, processing a sliding plate 17 and a bending connecting block 13 into a whole, fixing a plurality of pairs of horizontal grounding pieces 10 on the lower surface of the fixed plate 11 according to proper intervals, and assembling a driving mechanism 6.
Firstly, connecting a horizontal grounding plate 10 with the ground to fix a fixed plate 11, fixing two sliding guide rails 27 on a middle plate 38, fixing two upper protection plate support frames 16 on a connecting frame 12, fixing a connecting sheet 15 between the two upper protection plate support frames 16, splicing and fixing a plurality of upper protection plates 14 above the upper protection plate support frames 16 and the connecting sheet 15 to form a guide rail base mechanism 1, fixing a rack 19 on one side of the upper surface of the middle plate 38 in the length direction, and installing a drag chain support frame 2 on the side surface of the connecting frame 12 on the same side with the rack 19; then, installing the driving mechanism 6 on the sliding plate 17, fixing the sliding block 18 on the lower surface of the bending connecting block 13, slidably connecting the sliding block 18 on the sliding track and enabling the gear 25 to be meshed with the rack 19, then fixing the motor driving box 7 on the sliding plate 17, placing the motor driving box and the driving mechanism 6 on the same side in the length direction, then installing the industrial robot 8 on the opposite side of the motor driving box 7, installing the oil distribution and lubrication mechanism 5 on the opposite side of the driving mechanism 6 and arranging oil distribution pipes; finally, a servo motor driver in the motor driving box 7 is connected with an electric wire connected with an external power supply through a terminal block, the electric wire connected with the external power supply and the electric wire connected with the industrial robot 8 are arranged inside the supporting drag chain 3, one end of the supporting drag chain 3 is fixed on the sliding plate 17 through the connecting plate 40, and the other end of the supporting drag chain is fixed in the drag chain supporting frame 2.
Claims (8)
1. The seventh shaft motion system of industrial robot comprises a guide rail base mechanism, a walking unit arranged above the guide rail base mechanism and moving along the length direction of the guide rail base mechanism, and is characterized in that: the walking unit comprises a sliding plate assembly connected with the guide rail base mechanism in a sliding mode, an industrial robot, an oil distribution lubricating mechanism, a motor driving box and a driving mechanism, wherein the industrial robot and the oil distribution lubricating mechanism are arranged on the sliding plate assembly along the same side of the length direction, the motor driving box and the driving mechanism are uniformly arranged on the opposite sides of the industrial robot and the oil distribution lubricating mechanism, the guide rail base mechanism is arranged on the driving mechanism arrangement side, a drag chain supporting frame is arranged along the length direction, one end of a supporting drag chain is fixed on the driving mechanism arrangement side on the sliding plate assembly through a connecting plate, and the other end of the supporting drag chain is fixed on the rear portion of the drag chain supporting frame in an overturning mode.
2. The seventh axis motion system of an industrial robot according to claim 1, characterized in that: guide rail base mechanism includes along length direction interval evenly arranges subaerial many pairs of horizontal grounding piece, fix the fixed plate on horizontal grounding piece along length direction, locate the link on the fixed plate, the link includes the rectangular pipe of arranging the left and right sides on length direction on the fixed plate, fix the backup pad between two rectangular pipes, the top of rectangular pipe all is fixed with the intermediate lamella, the upper surface of intermediate lamella all is fixed with sliding guide, the backup pad top is fixed with two upper protective plate support frames, the centre gripping has the connection piece to support fixedly between two upper protective plate support frames, the upper protective plate support frame, the top of connection piece has arranged a plurality of upper protective plates through bolt fixed connection along length direction.
3. The seventh axis motion system of an industrial robot according to claim 2, characterized in that: the sliding plate component comprises an industrial robot, an oil distribution lubricating mechanism, a motor driving box, a sliding plate of a driving mechanism and sliding blocks which are arranged at four corners of the sliding plate and matched with the sliding guide rails, wherein the upper surface of the sliding plate component is fixed with the industrial robot, the oil distribution lubricating mechanism, the motor driving box and the driving mechanism, and the sliding blocks are connected with the sliding guide rails through bending connecting blocks.
4. A seventh axis movement system of an industrial robot according to claim 3, characterized in that: the oil distribution and lubrication mechanism comprises an oil storage tank arranged on the sliding plate component and an oil distributor connected with the oil storage tank through an oil pump, the oil distributor is connected with four sliding block oil distribution pipes, and the four sliding block oil distribution pipes are respectively connected with sliding block oil nozzles arranged on corresponding sliding blocks.
5. The seventh axis motion system of an industrial robot according to claim 1, characterized in that: the motor driving box comprises a box body shell and a servo motor driver arranged inside the box body shell, wherein an electric wire connected with an external power supply and an electric wire connected with an industrial robot are arranged in the supporting drag chain.
6. The seventh axis motion system of an industrial robot according to claim 5, characterized in that: the driving mechanism comprises a servo motor, a speed reducer, a tensioning ring, a speed reducer mounting plate, a tensioning seat, a tensioning disc and a gear, wherein the servo motor, the speed reducer, the tensioning ring, the speed reducer mounting plate, the tensioning seat, the tensioning disc and the gear are sequentially arranged above the sliding plate component from top to bottom, the speed reducer mounting plate is embedded in the upper surface of the sliding plate, the tensioning disc is fixed on a shaft shoulder of the gear, a rack matched with the gear is fixed on the upper surface of the middle plate, and the servo motor is connected with a servo motor driver.
7. A seventh axis movement system of an industrial robot according to claim 3, characterized in that: the width of the sliding plate is greater than that of the connecting frame, the width of the upper protection plate is equal to that of the connecting frame, and the thickness of a gap formed between the bent connecting block and the sliding plate is d1The upper protective plate has a thickness d2The height of the connecting piece is h1，d1＞d2+h1。
8. The seventh axis motion system of an industrial robot according to claim 6, characterized in that: the front side of the driving mechanism is also provided with a felt wheel connected through a felt wheel mounting plate on the side surface of the sliding plate, the felt wheel is meshed with a rack, the oil distributor is also connected with a felt wheel oil distributing pipe, a felt wheel oil dropping port connected with the tail end of the felt wheel oil distributing pipe is arranged on the felt wheel mounting plate, the four sliding block oil distributing pipes and the felt wheel oil distributing pipe are tightly fixed on the sliding plate, and side outlet pipe lines are arranged on the drag chain support frame and respectively extend to the corresponding oil dropping port.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120994332.1U CN214643626U (en) | 2021-05-11 | 2021-05-11 | Seventh axis motion system of industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120994332.1U CN214643626U (en) | 2021-05-11 | 2021-05-11 | Seventh axis motion system of industrial robot |
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| CN214643626U true CN214643626U (en) | 2021-11-09 |
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| CN202120994332.1U Active CN214643626U (en) | 2021-05-11 | 2021-05-11 | Seventh axis motion system of industrial robot |
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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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2021
- 2021-05-11 CN CN202120994332.1U patent/CN214643626U/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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