CN216098952U

CN216098952U - Seven-axis robot

Info

Publication number: CN216098952U
Application number: CN202122078108.0U
Authority: CN
Inventors: 王云; 陈锐
Original assignee: Wuxi Milo Intelligent Industrial Technology Co ltd
Current assignee: Wuxi Milo Intelligent Industrial Technology Co ltd
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2022-03-22
Anticipated expiration: 2031-08-31

Abstract

The utility model discloses a seven-axis robot, which comprises two walking rails and a base, wherein six mechanical arms are fixed on the base; the bottom of one end of the base in the moving direction is fixed with a driving mechanism, and the bottom of the other end of the base is fixed with a driven moving mechanism; the driving mechanism comprises a driving motor, and the driving motor drives a driving shaft to rotate; the driven movement mechanism comprises two driven wheels, driven connecting plates are fixedly arranged on rotating shafts of the two driven wheels and fixedly connected with the base, driven guard plates are further fixedly arranged on the driven connecting plates, and guide mechanisms are respectively fixed on one driven guard plate and one driving connecting plate; a mounting base plate is fixed on the base, a waist-shaped hole is formed in the mounting base plate, and a mounting seat of the six-axis manipulator is fixed in the waist-shaped hole. The utility model has the advantages of stable operation, improved safety, compact design structure, convenient maintenance and high applicability.

Description

Seven-axis robot

Technical Field

The utility model relates to a robot, in particular to a seven-axis robot.

Background

In the current application of the seven-axis robot, 1, the seven axes of most seven-axis robots are driven by gears and racks, the installation requirement is high, the cost is high, and the maintenance cost is increased; 2, most seven-axis robot tracks adopt a linear slide rail slider form, so that the problems of high running sound, difficult maintenance, high installation precision and the like are caused; 3, the power supply of most seven robots adopts tow chain collocation flexible cable power supply, and the operation sound is great, and after length reached certain distance, the tow chain is flexible and the breakage, and it is with big costs to reform transform in later stage in addition.

In addition, the robot needs to clamp the object, so the weight of the object is often large, and the stability of the robot in load operation is poor.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model provides the seven-axis robot which is stable in operation, improved in safety, compact in design structure, convenient to maintain and high in applicability.

In order to achieve the technical purpose, the utility model adopts the following technical scheme: a seven-axis robot comprises two walking rails and a base, wherein a six-axis manipulator is fixed on the base;

the bottom of one end of the base in the moving direction is fixedly provided with a driving mechanism, and the bottom of the other end of the base is fixedly provided with a driven moving mechanism; the driving mechanism comprises a driving motor, the driving motor drives a driving shaft to rotate, two end parts of the driving shaft are respectively provided with a driving wheel and a supporting plate, the two driving wheels move along the walking track, the upper ends of the two supporting plates are respectively fixed with a driving connecting plate, and the driving connecting plates are fixedly connected with the base; the driven movement mechanism comprises two driven wheels, driven connecting plates are fixedly arranged on rotating shafts of the two driven wheels and fixedly connected with the base, driven guard plates are further fixedly arranged on the driven connecting plates, and a guide mechanism is fixed on one of the driven guard plates and one of the driving connecting plates;

the six-axis manipulator is characterized in that a mounting base plate is fixed on the base, a waist-shaped hole is formed in the mounting base plate, and a mounting seat of the six-axis manipulator is fixed in the waist-shaped hole.

Furthermore, two sides of the driving wheel close to the driving motor are respectively provided with one supporting plate, one driving connecting plate is fixed on the two supporting plates, the supporting plate on the inner side is fixedly connected with a bearing seat, and the driving shaft penetrates through the bearing seat.

Furthermore, the support plate is arranged on the outer side of the driving wheel far away from the driving motor, an active guard plate is fixed on one side surface of the support plate, and the guide mechanism is fixed on the active guard plate.

Further, the guide mechanism on the driven guard plate and the guide mechanism on the driving guard plate are located on the same travelling track.

Further, guiding mechanism includes the riser, the bottom of riser is fixed with the horizontal board, a leading wheel is all installed to two tip of horizontal board, two the leading wheel contact is established the orbital both sides of walking.

Furthermore, the driving wheel and the driven wheel adopt rubber wrapping wheels.

Furthermore, a hood is fixed on the periphery of the base, the hood is in an upper opening shape, and the six-axis manipulator extends out of the upper opening.

Furthermore, electric cabinets are arranged on two sides of the walking track.

Further, the free end of the six-axis manipulator is clamped with a clamp.

Furthermore, a pre-positioning bolt is arranged on a mounting seat of the six-axis manipulator and can be pre-positioned in one of the waist-shaped holes.

In conclusion, the utility model achieves the following technical effects:

1. the driving mechanism and the driven mechanism are separated from each other, and meanwhile, the guide mechanism is arranged, and the driving motor directly drives the driving shaft, so that the stability of load operation is greatly improved;

2. the traveling direction of the utility model is that the motor and the shaft are directly driven, thus increasing the mechanical efficiency, reducing the mechanical loss and avoiding the risk of derailment of a chain or a belt;

3. the track adopts an aluminum profile form, the wheels are rubber covered wheels, the running sound is small, the abrasion is not easy to occur, the flexibility is better when the track walks, and the maintenance is convenient;

4. the electric cabinet is arranged on two sides, the motor, the sensor, the photoelectric switch and other circuits are separately arranged, wiring is regularly circulated, a signal line is separated from a power line, signal interference is almost zero, and the stability of a product is greatly improved;

5. according to the utility model, goods are taken and placed as the tool clamp, and the positioning tool is arranged at the butt joint position of the tool clamp, so that the object can be accurately positioned, the positioning precision can reach the millimeter level, the cost is saved, and the maintenance difficulty and the maintenance strength are reduced;

6. the utility model has compact design structure, convenient maintenance and high applicability.

Drawings

FIG. 1 is a schematic view of a robot provided by an embodiment of the present invention;

FIG. 2 is a schematic view of a base mounted master and slave mechanism;

FIG. 3 is a schematic view of a driving mechanism and a driven mechanism;

fig. 4 is a schematic view of the active mechanism.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Example (b):

as shown in fig. 1, a seven-axis robot comprises two walking rails 1 and a base 2, wherein a six-axis manipulator 7 is fixed on the base 2, the six-axis manipulator 7 is of a STEP brand, the model is SD900, and the robot is provided with a tool clamp and can carry out operations such as goods storage and taking. The six-axis manipulator 7 and the axial movement in the traveling direction form a seven-axis robot.

As shown in fig. 2, a driving mechanism 3 is fixed to a bottom of one end of the base 2 in the moving direction, and a driven mechanism 4 is fixed to a bottom of the other end. The utility model separates the driving motion from the driven motion, and the driving motor only needs to drive the rotating shaft of the driving part, so that the whole driving structure has compact structure and is not redundant.

As shown in fig. 3 and 4, the driving mechanism 3 includes a driving motor 301, the driving motor 301 drives a driving shaft 302 to rotate, in this embodiment, the driving shaft is directly driven by the driving motor, so that the mechanical efficiency is increased, the mechanical loss is reduced, the original chain or belt transmission is replaced, the risk of derailment of the chain or belt is avoided, and the safety performance and the stability are improved.

As shown in fig. 3, a driving wheel 303 and support plates 304 are mounted at both ends of the driving shaft 302, the two driving wheels 303 move along the traveling track 1, a driving connection plate 305 is fixed at the upper end of each of the two support plates 304, and the driving connection plate 305 is fixedly connected to the base 2.

Specifically, two sides of a driving wheel 303 (i.e., the driving wheel 303 on the left side in the figure) close to the driving motor 301 are respectively provided with a supporting plate 304, one driving connecting plate 305 is fixed on the two supporting plates 304, on one hand, the driving connecting plate is fixedly connected with the base 2, on the other hand, the reliability between the movement mechanism and the base can be enhanced, the supporting plate 304 on the inner side is fixedly connected with a bearing seat 307, and the driving shaft 302 is arranged in the bearing seat 307 in a penetrating manner.

In addition, a support plate 304 is disposed outside the driving wheel 303 (i.e., the driving wheel 303 on the right side in the figure) away from the driving motor 301, and a driving guard 306 is fixed to one side surface of the support plate 304, and a guide mechanism 5 (shown in fig. 3) is fixed to the driving guard 306. As can be seen from the figure, the two sides of the active driving mechanism 3 are different in structure, wherein one end is provided with the driving motor, and the other end is provided with the guiding mechanism 5, so that the number and the positions of the support plates 304 are different, the whole volume can be reduced, the number of components can be reduced, the weight of the whole device can be reduced, the stability can be improved, and the safety is high.

As shown in fig. 3, the driven movement mechanism 4 includes two driven wheels 401, driven connection plates 402 are fixedly disposed on rotation shafts of the two driven wheels 401, the driven connection plates 402 are fixedly connected to the base 2, driven guard plates 403 are further fixed on the driven connection plates 402, and a guide mechanism 5 is fixed on one of the driven guard plates 403 and one of the driving connection plates 305.

In this embodiment, the two driven wheels 401 are separated from each other, and a driven shaft is not provided therebetween, so that the use of parts can be reduced, and the weight can be reduced.

As shown in fig. 3, the guide mechanism 5 on the driven guard plate 403 and the guide mechanism 5 on the driving guard plate 306 are on the same running track 1, so as to increase the running stability without deviating from the track.

As shown in fig. 3, the guide mechanism 5 includes a vertical plate 501, a transverse plate 502 is fixed at the bottom of the vertical plate 501, two guide wheels 503 are respectively installed at two ends of the transverse plate 502, and the two guide wheels 503 are arranged on two sides of the traveling rail 1 in a contact manner.

As shown in fig. 2, a mounting base plate 201 is fixed to the base 2, a kidney-shaped hole 202 is formed in the mounting base plate 201, and the mounting base of the six-axis robot 7 is fixed in the kidney-shaped hole 202. The waist-shaped hole 202 can adjust the installation position of the six-axis manipulator 7, and the adaptability is increased.

In this embodiment, action wheel 303 and from driving wheel 401 adopt the rubber coating wheel, and the track adopts the aluminium alloy form, and the operation sound is less, and difficult wearing and tearing, pliability are better during the walking, and it is convenient to maintain.

A hood 6 is fixed on the periphery of the base 2, the hood 6 is in an upper opening shape, and a six-axis manipulator 7 extends out of the upper opening.

The both sides of walking track 1 all are equipped with electric cabinet, and electric cabinet is bilateral setting, and circuit such as motor and sensor, photoelectric switch separately arranges, walks that the line is regular can follow, and signal line and power cord are separated, and signal interference is almost zero, has greatly improved the stability of product.

The free end part of the six-axis manipulator 7 is clamped with a fixture, goods are taken and placed to form the fixture, a positioning fixture is arranged at the butt joint position of the fixture, the workpiece can be accurately positioned, the positioning precision can reach the millimeter level, the cost is saved, and the maintenance difficulty and the maintenance strength are reduced.

The driving wheels and the driven wheels are driven by the driving motors to walk on the rails, the guide wheels on the two sides of the rails ensure that the seven-axis robot does linear motion on the rails, the bar codes are positioned for the seven-axis robot to accurately position, and the positioning accuracy reaches +/-2 mm.

The pre-positioning bolt is arranged on the mounting seat of the six-axis manipulator 7 and can be pre-positioned in one of the waist-shaped holes 202, so that pre-positioning is realized, and the mounting seat of the six-axis manipulator 7 is ensured not to shake when the mounting seat of the six-axis manipulator 7 is fixed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A seven-axis robot, characterized in that: the device comprises two walking rails (1) and a base (2), wherein a six-axis manipulator (7) is fixed on the base (2);

a driving mechanism (3) is fixed at the bottom of one end of the base (2) in the moving direction, and a driven moving mechanism (4) is fixed at the bottom of the other end of the base; the driving mechanism (3) comprises a driving motor (301), the driving motor (301) drives a driving shaft (302) to rotate, two end parts of the driving shaft (302) are respectively provided with a driving wheel (303) and a supporting plate (304), the two driving wheels (303) move along the walking track (1), the upper ends of the two supporting plates (304) are respectively fixed with a driving connecting plate (305), and the driving connecting plates (305) are fixedly connected with the base (2); the driven movement mechanism (4) comprises two driven wheels (401), driven connecting plates (402) are fixedly arranged on rotating shafts of the two driven wheels (401), the driven connecting plates (402) are fixedly connected with the base (2), driven guard plates (403) are further fixed on the driven connecting plates (402), and a guide mechanism (5) is fixed on one of the driven guard plates (403) and one of the driving connecting plates (305);

the six-axis manipulator is characterized in that a mounting base plate (201) is fixed on the base (2), a waist-shaped hole (202) is formed in the mounting base plate (201), and a mounting seat of the six-axis manipulator (7) is fixed in the waist-shaped hole (202).

2. A seven-axis robot as claimed in claim 1, wherein: the two sides of the driving wheel (303) close to the driving motor (301) are respectively provided with one supporting plate (304), one driving connecting plate (305) is fixed on the two supporting plates (304), the supporting plate (304) on the inner side is fixedly connected with a bearing seat (307), and the driving shaft (302) penetrates through the bearing seat (307).

3. A seven-axis robot according to claim 2, wherein: the supporting plate (304) is arranged on the outer side of the driving wheel (303) far away from the driving motor (301), an active guard plate (306) is fixed on one side surface of the supporting plate (304), and the guide mechanism (5) is fixed on the active guard plate (306).

4. A seven-axis robot according to claim 3, wherein: the guide mechanism (5) on the driven guard board (403) and the guide mechanism (5) on the driving guard board (306) are positioned on the same walking track (1).

5. A seven-axis robot according to claim 4, wherein: the guide mechanism (5) comprises a vertical plate (501), a transverse plate (502) is fixed at the bottom of the vertical plate (501), two guide wheels (503) are mounted at two end parts of the transverse plate (502), and the two guide wheels (503) are arranged on two sides of the walking track (1) in a contact manner.

6. A seven-axis robot according to claim 5, wherein: the driving wheel (303) and the driven wheel (401) adopt rubber wrapping wheels.

7. A seven-axis robot according to claim 6, wherein: a hood (6) is fixed on the periphery of the base (2), the hood (6) is in an upper opening shape, and the six-axis manipulator (7) extends out of the upper opening.

8. A seven-axis robot according to claim 7, wherein: and electric cabinets are arranged on two sides of the walking track (1).

9. A seven-axis robot according to claim 8, wherein: and a clamp is clamped at the free end part of the six-axis manipulator (7).

10. A seven-axis robot according to claim 9, wherein: and a pre-positioning bolt is arranged on the mounting seat of the six-axis manipulator (7), and can be pre-positioned in one of the kidney-shaped holes (202).