CN2164962Y - Servo driven guide rail and contact roller motion for robot - Google Patents

Abstract

The utility model relates to a servo driven guide rail and contact roller motion for robots, which is the core part for robot operators. Drive component is controlled by a servo motor. A servo driving device uses a ball screw pair, a dovetail nut sleeve, a linking mechanism to drive a main shaft to rotate to and fro. The following component is a curve guide rail roller mechanism. An executing component sleeve is connected with a main and an auxiliary toggle rods and is parallel with a horizontal rod, a box is connected with the auxiliary toggle rod, and the main toggle rod is contacted with a Y-shaped curve guide wheel through a guide wheel. The utility model has good stationarity and simple structure. The allowance working frequency is high, and the speed and the position of the servo driven guide rail and contact roller motion for robots can be controlled by a computer.

Description

Servo driven guide rail and contact roller motion for robot

The servo-drive type track roller motion that a kind of robot uses belongs to operator equipment manufacturing technology field.

With regard to press machine people's executive item, in order to make the motion of its work " Jiong " shape, generally be to come controlled motion mechanism with the solution-air linkage manner, its shortcoming is can not adapt to the high rhythm requirement of stamping press and can't control its position and speed with computer.Also have and adopt two cover stepper motors to realize that operating frequency is still not high enough, though have adopted the curvilinear guide idler wheel mechanism, connect but belong to rigid mechanical, complex structure does not have flexibility.

The purpose of this utility model is to provide good, the simple in structure energy of a kind of stationarity to be fit to the requirement of stamping press high-frequency work and is easy to realize that computer is located and the track roller motion of speed governing.

Of the present utility model being characterised in that: it comprise driving part 1 with its servo-actuated that links to each other by main shaft 3 partly 2, driving part 1 is a driven by servomotor device, it contains the servomotor 4 that is installed on the bearing block 27, through shaft coupling 5 and the joining ball screw pair 6 of motor output shaft, the nut sleeve 7 of the band dovetail that is nested with its nut, the connecting rod 10 that links to each other with nut sleeve 7 by oscillating bearing 8 and connecting axle 9, with another oscillating bearing 8 link to each other with connecting rod 10 with bearing pin 11 and with the rocking bar 12 of main shaft 3 keyed jointings, with another also is the balance cylinder 13 that links to each other with bearing pin 11 with the rocking bar 12 usefulness oscillating bearings 8 of main shaft 3 keyed jointings, have chute 24 and its two ends and pay 6 bearing block 27 respectively with motor 4 and leading screw, the gripper shoe 25 that 28 usefulness screws 26 link to each other, two each personal button head screws are fixed on the chute 24 and all have the limit switch sliding base plate 31 of microswitch 30, be used for fixing above-mentioned bearing block 27,28 and have the base plate 29 of dovetail gathering sill and be fixed on the nut sleeve 7 in order to start the collision block 32 of microswitch 30 with screw 26, servo-actuated part 2 is curvilinear guide idler wheel mechanisms, it comprises the active armed lever 14 with main shaft 3 keyed jointings, link to each other with active armed lever 14 outer ends and its length is the initiatively main toggle link 15 of armed lever 14 of twice at the some place with bearing pin and therein through bearing, the cross bar 16 that links to each other with this bearing pin other end by bearing is by being enclosed within the herringbone curve guide rail 18 that the outer guide wheel 17 of the bearing that has bearing pin and main toggle link 15 contact with rolling, through pair armed lever 19 that the bearing pin that being enclosed within the bearing links to each other with cross bar 16 other ends and is parallel to active armed lever 14, link to each other with bearing pin and be parallel to main toggle link 15 pay toggle link 20, pass through bearing pin, a bearing and a pair toggle link 20, main toggle link 15 other ends link to each other and are parallel to the executive item cover 21 of cross bar 16 and the robot casing 23 that links to each other with pair armed lever 19 other ends by rotating shaft 22.

Use proof: be used to make the track roller motion stationarity of press machine people executive item interplanting " Jiong " shape motion good, the high frequency that is suitable for stamping press requires and is easy to by servo drive it to be carried out position and speed control with computer.

In order to be convenient in conjunction with the embodiments the utility model to be done detailed description below, now as follows employed accompanying drawing title of present specification and numbering brief introduction:

Fig. 1: robot servo-drive type track roller motion sketch;

Fig. 2, driving part schematic diagram;

Fig. 3, servo-actuated be schematic diagram partly;

Fig. 4, driving part forward view;

Fig. 5,6, driving part right side view;

Fig. 7, servo-actuated be right side view partly;

Fig. 8, servo-actuated part A-A are to cutaway view;

Fig. 9, servo-actuated part B-B are to cutaway view.

Figure of abstract.

Embodiment:

Ask for an interview Fig. 1～9.The 1st, driving part, the 2nd, the servo-actuated part, both link to each other by main shaft 3.The DC servo motor 4 of driving part 2 drives ball screw pair 6 by shaft coupling 5 and rotates, the nut sleeve 7 of the band dovetail that correspondingly is nested with it pumps with regard to drivening rod 10 by oscillating bearing 8, connecting axle 9, so, not only with main shaft 3 keyed jointings but also just drive main shaft 3 with rocking bar 12 that connecting rod 10 links to each other by oscillating bearing 8, bearing pin 11 and rotatablely move repeatedly, balance cylinder 13 has played balanced action by the rocking bar 12 that oscillating bearing 8, bearing pin 11 drive another and main shaft 3 keyed jointings.Servo-actuated part 2 is curvilinear guide idler wheel mechanisms, it comprises the active armed lever 14 with main shaft 3 keyed jointings, through bearing, bearing pin and therein the some place link to each other and its length is the initiatively main toggle link 15 of armed lever 14 of twice the cross bar 16 that links to each other with this bearing pin other end by bearing with active armed lever 14 outer ends, the herringbone curve guide rail 18 that the outer guide wheel 17 of bearing 8 by having bearing pin 11 and main toggle link 15 contact with rolling, through pair armed lever 19 that the bearing pin that being enclosed within the bearing links to each other with cross bar 16 other ends and is parallel to active armed lever 14, link to each other with above-mentioned bearing pin and be parallel to main toggle link 15 pay toggle link 20, pass through bearing pin, bearing respectively with the master, pay toggle link 15,20 other ends link to each other and are parallel to the executive item cover 21 of cross bar 16 and the robot casing 23 that links to each other with pair arm 19 other ends by rotating shaft 22.In main shaft 3, initiatively armed lever 14 just motions in herringbone curve guide rail 18 of driving lower tumbler 17, along with the rotation repeatedly of main shaft 3, executive item cover 21 is just done the motion of " Jiong " shape.I.e. rising, translation descends again, and all the other armed levers guarantee that then executive item cover 21 horizontal level when work is constant.In Fig. 4～5, having screw 26 that gripper shoe 25 its two ends of chute 24 mark in order to "+" shape respectively is fixed on motor 4 and threaded screw rod and pays on 6 the bearing block 27,28, bearing block is screwed again on the base plate 29 that has the dovetail gathering sill, and two limit switch sliding base plate 31 usefulness button head screws that respectively have microswitch 30 are fixed on the chute 24.Be screwed on nut sleeve 7 in order to the collision block 32 that starts microswitch 30.

Use proof: it can make executive item cover 21 do the motion of " Jiong " shape, and stationarity is good, can satisfy the high frequency requirement of stamping press, simple in structure also being convenient to computer realization position and speed control.

Claims (1)

1, robot servo-drive type track roller motion, comprise driving part (1) with its servo-actuated that links to each other by main shaft (3) partly (2), it is characterized in that, driving part (1) is a driven by servomotor device, it contains the servomotor (4) that is installed on the bearing block (27), through shaft coupling (5) and the joining ball screw pair of motor output shaft (6), the nut sleeve (7) of the band dovetail that is nested with its nut, by oscillating bearing (8), the connecting rod (10) that connecting axle (9) links to each other with nut sleeve (7), with another oscillating bearing (8), bearing pin (11) link to each other with connecting rod (10) and with the rocking bar (12) of main shaft (3) keyed jointing, with another also be and the rocking bar (12) of main shaft (3) keyed jointing with oscillating bearing (8), the balance cylinder (13) that bearing pin (11) links to each other, have chute (24) and its two ends and pay the bearing block (27) of (6) respectively with motor (4) and leading screw, (28) gripper shoe (25) that links to each other with screw (26), two each personal button head screws are fixed on the limit switch sliding base plate (31) that microswitch (30) was gone up and all had to chute (24), be used for fixing above-mentioned bearing block (27), (28) and have the base plate (29) of dovetail gathering sill and be fixed on nut sleeve (7) and go up in order to start the collision block (32) of microswitch (30) with screw (26), servo-actuated partly (2) is a curvilinear guide idler wheel mechanism, and it comprises the active armed lever (14) with main shaft (3) keyed jointing, link to each other with armed lever (14) outer end initiatively and its length is the main toggle link (15) of twice active armed lever (14) at the some place with bearing pin and therein through bearing, the cross bar (16) that links to each other with this bearing pin other end by bearing, by being enclosed within the herringbone curve guide rail (18) that the outer guide wheel (17) of the bearing that has bearing pin and main toggle link (15) contact with rolling, through pair armed lever (19) that the bearing pin that being enclosed within the bearing links to each other with cross bar (16) other end and is parallel to master arm (14), link to each other with bearing pin and be parallel to main toggle link (15) pay toggle link (20), pass through bearing pin, a bearing and a pair toggle link (20), main toggle link (15) other end links to each other and is parallel to the executive item cover (21) of cross bar (16) and the robot casing (23) that links to each other with pair armed lever (19) other end by rotating shaft (22).

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