CN216543379U

CN216543379U - Multi-axis robot arm and self-lubricating assembly

Info

Publication number: CN216543379U
Application number: CN202122083852.XU
Authority: CN
Inventors: 王洋
Original assignee: Chongqing Heran Mechanical And Electrical Equipment Co ltd
Current assignee: Chongqing Heran Mechanical And Electrical Equipment Co ltd
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2022-05-17
Anticipated expiration: 2031-08-31

Abstract

The utility model discloses a multi-axis robot arm and a self-lubricating assembly, which comprise a base, a lower rotary seat, a lower side arm, a bearing, an electromagnetic valve and an oil distribution box, wherein the lower rotary seat is arranged at the top of the base, a lower side arm is arranged at one side of the lower rotary seat, an upper arm is arranged at the top of the lower side arm, an upper arm is arranged at one side of the top of the upper side arm, a first servo motor is vertically assembled at the bottom in the lower rotary seat through a bolt, a second servo motor is transversely assembled at the bottom in the lower side arm, a third servo motor is transversely assembled at the bottom of the upper side arm through a bolt, a fourth servo motor is transversely assembled at the top in the upper side arm, and an oil tank is arranged at one side of the base. The whole multi-axis robot arm has good self-lubricating assemblies while meeting the requirement of multi-axis motion, helps to reduce friction between motion joints, effectively prolongs the service life of the robot, and greatly reduces the economic loss caused by personnel maintenance times and shutdown.

Description

Multi-axis robot arm and self-lubricating assembly

Technical Field

The utility model belongs to the technical field of machinery, and particularly relates to a multi-axis robot arm and a self-lubricating assembly.

Background

The robot is commonly known as an automatic control machine, is widely applied to processing production lines of various industries, brings great convenience to industrial development, and is completed by rotating and linking multiple groups of motors and bearing assemblies.

The current robot device needs frequent shutdown maintenance of workers, needs lubrication maintenance of moving joints of each robot, guarantees stability of robot work, reduces abrasion of joints, guarantees stable operation and service life of the robot, enables shutdown and personnel maintenance to bring high cost, and lacks of self-lubricating working components capable of helping personnel to automatically lubricate. To this end, we propose a multi-axis robot arm and a self-lubricating assembly.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to a multi-axis robot arm and a self-lubricating assembly thereof, so as to solve the problems of the background art.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a multiaxis robot arm and self-lubricating subassembly, includes frame, lower swivel mount and downside arm, still includes bearing, solenoid valve and branch oil box, the frame top is equipped with down the swivel mount, lower swivel mount one side is equipped with down the side arm, the upper arm sets up in downside arm top, the upper arm has been laid to upper arm top one side, the bottom vertically is equipped with first servo motor through the bolt in the swivel mount down, the bottom transversely is equipped with second servo motor in the lower side arm, the upper arm bottom transversely is equipped with third servo motor through the bolt, the top transversely is equipped with fourth servo motor in the upper arm, frame one side is equipped with the oil tank, first servo motor, second servo motor, third servo motor and fourth servo motor's drive end all is equipped with the shaft coupling through the bolt.

Further, the bearing is assembled on the drive end of first servo motor, second servo motor, third servo motor and fourth servo motor and on being located shaft coupling one side, the hydraulic cylinder groove has been seted up at the inboard top of shaft coupling of first servo motor, second servo motor, third servo motor and fourth servo motor, the hydraulic cylinder groove, install hydraulic push rod through the bolt respectively in the hydraulic cylinder groove, first U template is installed through the bolt to hydraulic push rod's output, second U template is installed through the bolt to first U template one side, the solenoid valve is installed through the bolt to second U template one end, the discharge end of solenoid valve is equipped with the shower nozzle that corresponds the position with the bearing.

Further, the shaft coupling one end of first servo motor passes through bolt and frame assembled connection, the shaft coupling tip and the lower bolster top bolted connection of second servo motor, the shaft coupling tip and the lower side arm top mounted connection of third servo motor, the shaft coupling tip of fourth servo motor passes through bolt and upper arm one end mounted connection.

Further, the frame one end is installed through the bolt and is divided the oil box, divide oil box both ends to be equipped with hickey respectively, the hickey of dividing the oil box is connected with the feed inlet of solenoid valve through oil pipe respectively, divide oil box top both sides to seted up the installing port, welded connection has the lower flange in the installing port, the installing port top is equipped with electric heater, electric heater's heating rod inserts in dividing the oil box, electric heater's waist is equipped with the flange, the lower flange passes through bolted connection with the upper flange.

Further, the oil pump is installed through the bolt in the oil tank top, the oil feed end and the oil tank of oil pump are connected, the end that produces oil of oil pump is connected with the branch oil box, branch oil box one end is equipped with temperature sensor, temperature sensor's detection end is located the branch oil box.

Furthermore, the inner shaft sleeves of the bearings are respectively connected with the corresponding couplers through bolts, and the outer shaft sleeves of the bearings are respectively connected with the bases, the lower rotary bases, the lower side arms and the upper side arms which are correspondingly connected in a rotating manner through bolts.

Compared with the prior art, the utility model has the beneficial effects that:

1. the robot arm joint comprises a base, a lower rotary seat, a lower side arm, a moving joint of the robot arm consisting of an upper side arm and an upper arm, a first servo motor, a second servo motor, a steering assembly of the robot arm consisting of a third servo motor and a fourth servo motor, a self-lubricating assembly of the robot arm joint connecting end consisting of an oil pump and a nozzle, an electromagnetic valve, an electric heater, an oil tank, an oil distribution box, and a self-lubricating assembly of the robot arm joint connecting end consisting of the oil pump and the nozzle.

2. The vertical steering adjustment between the machine base and the lower rotary base is realized through the driving of the first servo motor, the lateral steering adjustment between the lower rotary base and the lower side arm is realized through the driving of the second servo motor, the rotation between the lower side arm and the upper side arm can be realized through the driving operation of the third servo motor, the upper arm can be rotated and adjusted on the upper side arm through the driving of the fourth servo motor, so that the multi-axis driving is realized, a person can bolt the end part of the upper arm with a tool needing to operate, the multi-axis movement can be realized, and the whole robot arm can move.

3. Set for the operating time of solenoid valve, electric heater and oil pump through the main control system, the lubricating oil of depositing in the oil tank is sucked by the oil pump, and carry its pressurization to divide in the oil box, when the operation of low temperature environment, personnel carry out the thermal treatment through electric heater to the oil in passing through dividing the oil box, make lubricating oil keep good mobility, along with the continuous pressurization of oil pump, divide the inside oil of oil box to carry in succession to the shower nozzle in through oil pipe, carry out the oil spout by the shower nozzle to the bearing assembly of individual joint and handle, and circulation and the flow that corresponds the shower nozzle by solenoid valve control, it is big to avoid the oil blowout volume of facet joint, cause the oil extravagant.

4. The solenoid valve of tip and shower nozzle are released from the hydraulic cylinder inslot in succession to hydraulic push rod, make the shower nozzle be close to the bearing group that corresponds the position, the realization is lubricated the processing to the bearing, and the rotation between the first U template of personnel's accessible and the second U template, the spray angle to the shower nozzle is adjusted, handle with the oil spout that satisfies multiple angle, help whole robot arm motion more stable, the working life of greatly increased robot arm, whole multiaxis robot arm is when satisfying the multiaxis motion, possess good self-lubricating subassembly, help the friction reduction between the motion joint, the life-span of effectively increasing the robot use, and greatly reduced personnel maintain the economic loss that the number of times and shut down and cause.

Drawings

Fig. 1 is a schematic diagram of an overall structure of a multi-axis robot arm and a self-lubricating assembly according to the present invention.

Fig. 2 is a schematic cross-sectional view of a multi-axis robot arm and a base of a self-lubricating assembly according to the present invention.

Fig. 3 is a schematic structural diagram of a cross-sectional view of a multi-axis robot arm and a bearing of a self-lubricating assembly according to the present invention.

Fig. 4 is a schematic diagram of a front view of a multi-axis robot arm and a coupling of a self-lubricating assembly according to the present invention.

Fig. 5 is a schematic structural diagram of a multi-axis robot arm and a hydraulic push rod of a self-lubricating assembly according to the present invention.

Fig. 6 is a schematic structural view of a multi-axis robot arm and an oil distribution box of a self-lubricating assembly according to the present invention.

In the figure: 1. a machine base; 2. a lower rotary seat; 3. a lower side arm; 4. an upper side arm; 5. an upper arm; 6. a first servo motor; 7. a second servo motor; 8. a third servo motor; 9. a bearing; 10. a coupling; 11. an oil tank; 12. a hydraulic push rod; 13. a first U-shaped plate; 14. a second U-shaped plate; 15. an electromagnetic valve; 16. a spray head; 17. an oil distribution box; 18. a threaded interface; 19. an installation port; 20. a lower flange; 21. An electric heater; 22. an upper flange; 23. a fourth servo motor; 24. a temperature sensor; 25. a spray head; 26. a hydraulic cylinder groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

As shown in fig. 1-6, a multi-axis robot arm and self-lubricating assembly comprises a base 1, a lower base 2 and a lower side arm 3, and further comprises a bearing 9, a solenoid valve 15 and an oil distribution box 17, a lower rotary seat 2 is arranged at the top of the machine seat 1, a lower side arm 3 is arranged at one side of the lower rotary seat 2, an upper side arm 4 is arranged at the top of the lower side arm 3, an upper arm 5 is arranged on one side of the top of the upper side arm 4, a first servo motor 6 is vertically assembled at the bottom in the lower rotary seat 2 through a bolt, a second servo motor 7 is transversely assembled at the bottom in the lower side arm 3, a third servo motor 8 is transversely assembled at the bottom of the upper side arm 4 through a bolt, a fourth servo motor 23 is transversely arranged at the top in the upper side arm 4, an oil tank 11 is arranged at one side of the machine base 1, the driving ends of the first servo motor 6, the second servo motor 7, the third servo motor 8 and the fourth servo motor 23 are all assembled with a coupler 10 through bolts.

The bearing 9 is arranged on the driving end of the first servo motor 6, the second servo motor 7, the third servo motor 8 and the fourth servo motor 23 and located on one side of the coupler 10, a hydraulic cylinder groove 26 is formed in the top of the inner side of the coupler 10 of the first servo motor 6, the second servo motor 7, the third servo motor 8 and the fourth servo motor 23, a hydraulic push rod 12 is installed in the hydraulic cylinder groove 26 through bolts, the output end of the hydraulic push rod 12 is provided with a first U-shaped plate 13 through bolts, a second U-shaped plate 14 is installed on one side of the first U-shaped plate 13 through bolts, an electromagnetic valve 15 is installed at one end of the second U-shaped plate 14 through bolts, and a spray head 16 corresponding to the bearing 9 is arranged at the discharge end of the electromagnetic valve 15; when the hydraulic push rod device is used, personnel electrically connect the input end of each group of hydraulic push rods 12 with the output end of an external control host, and the control host controls the output work of each group of hydraulic push rods 12.

Wherein, the 10 one end of shaft coupling of first servo motor 6 is through bolt and 1 assembly connection of frame, the 10 tip of shaft coupling and the 2 top bolted connection of lower rotor of second servo motor 7, the 10 tip of shaft coupling and the 3 top erection joint of downside arm of third servo motor 8, the 10 tip of shaft coupling of fourth servo motor 23 is through bolt and 5 one end erection joint of upper arm.

An oil distribution box 17 is mounted at one end of the base 1 through a bolt, threaded connectors 18 are mounted at two ends of the oil distribution box 17 respectively, the threaded connectors 18 of the oil distribution box 17 are connected with a feed inlet of the electromagnetic valve 15 through oil pipes respectively, mounting ports 19 are formed in two sides of the top of the oil distribution box 17, a lower flange 20 is connected in the mounting ports 19 in a welding mode, an electric heater 21 is mounted at the top end of each mounting port 19, a heating rod of the electric heater 21 is inserted into the oil distribution box 17, an upper flange 22 is mounted at the waist of the electric heater 21, and the lower flange 20 is connected with the upper flange 22 through a bolt in a mounting mode; the oil passing through the oil distribution box 17 is heated by the electric heater 21, so that the lubricating oil keeps good fluidity.

The top of the oil tank 11 is provided with an oil pump 25 through a bolt, the oil inlet end of the oil pump 25 is connected with the oil tank 11, the oil outlet end of the oil pump 25 is connected with the oil distribution box 17, one end of the oil distribution box 17 is provided with a temperature sensor 24, and the detection end of the temperature sensor 24 is positioned in the oil distribution box 17; the stability in the oil distribution box 17 is detected by the temperature sensor 24, which helps a person to know the temperature inside the oil distribution box 17 in real time.

The inner shaft sleeves of the bearings 9 are respectively connected with the corresponding shaft couplers 10 through bolts, and the outer shaft sleeves of the bearings 9 are respectively connected with the corresponding rotary engine base 1, the lower rotating base 2, the lower side arms 3 and the upper side arms 4 through bolts.

The working principle and the using process of the utility model are as follows: when the robot arm joint adjusting device is used, a person connects the first servo motor 6, the second servo motor 7, the third servo motor 8, the fourth servo motor 23, the electromagnetic valve 15 of the self-lubricating component, the electric heater 21 and the control mainboard of the self-lubricating component, the electromagnetic valve 15 of the self-lubricating component, the electric heater 21 and the oil pump 25 with the control mainboard of the first servo motor 6, the second servo motor 7, the third servo motor 8, the fourth servo motor 23, the self-lubricating component and the oil pump 25 with the control mainboard of the processing production line, realizes vertical steering adjustment between the base 1 and the lower base 2 through the driving of the first servo motor 6, and drives the second servo motor 7, the lateral steering adjustment between the lower base 2 and the lower side arm 3 is realized, the rotation between the lower side arm 3 and the upper side arm 4 can be realized through the driving operation of the third servo motor 8, the rotation adjustment can be realized on the upper side arm 4 through the driving of the fourth servo motor 23, so as to achieve the multi-shaft driving, a person can bolt a tool needing operation on the end part of the upper arm 5, so that the multi-shaft movement can be realized, in the whole robot arm movement, the working time of the electromagnetic valve 15, the electric heater 21 and the oil pump 25 is set through the control host, the lubricating oil stored in the oil tank 11 is sucked by the oil pump 25 and is pressurized and conveyed into the oil distribution box 17, in the low-temperature environment operation, the person heats the oil passing through the oil distribution box 17 through the electric heater 21, so that the lubricating oil keeps good fluidity, and along with the continuous pressurization of the oil pump 25, the oil in the oil distribution box 17 is conveyed into the spray head 16 through the oil pipe in sequence, carry out the oil spout by shower nozzle 16 to the bearing 9 subassembly of individual joint and handle, and correspond the circulation and the flow of shower nozzle 16 by solenoid valve 15 control, it is big to avoid the oil blowout volume of facet joint, cause the oil extravagant, during the oil spout, push out solenoid valve 15 and the shower nozzle 16 of tip from hydraulic cylinder groove 26 in succession by hydraulic push rod 12, make shower nozzle 16 be close to the bearing 9 group of corresponding position, the realization is lubricated the processing to bearing 9, and the rotation between the first U template 13 of personnel's accessible and the second U template 14, adjust the injection angle of shower nozzle 16, handle in order to satisfy the oil spout of multiple angle, help whole robot arm motion more stable, greatly increased robot arm's working life.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a multiaxis robot arm and self-lubricating subassembly, includes frame (1), lower frame (2), lower side arm (3) and upper side arm (4), its characterized in that still includes bearing (9), solenoid valve (15) and branch oil box (17), frame (1) top is equipped with down swivel mount (2), swivel mount (2) one side is equipped with down side arm (3) down, upper side arm (4) set up in lower side arm (3) top, upper arm (5) have been laid to upper side arm (4) top one side, the bottom has vertically been equipped with first servo motor (6) through the bolt in lower swivel mount (2), the bottom transversely is equipped with second servo motor (7) in lower side arm (3), upper side arm (4) bottom has transversely been equipped with third servo motor (8) through the bolt, the top transversely is equipped with fourth servo motor (23) in upper side arm (4), the oil tank (11) is equipped with on one side of the frame (1), and the drive ends of the first servo motor (6), the second servo motor (7), the third servo motor (8) and the fourth servo motor (23) are all assembled with a coupler (10) through bolts.

2. A multi-axis robotic arm and self-lubricating assembly as claimed in claim 1, wherein: a bearing (9) is arranged on the driving end of the first servo motor (6), the second servo motor (7), the third servo motor (8) and the fourth servo motor (23) and is positioned at one side of the coupler (10), the top of the inner side of the shaft couplings (10) of the first servo motor (6), the second servo motor (7), the third servo motor (8) and the fourth servo motor (23) is provided with a hydraulic cylinder groove (26), the hydraulic cylinder grooves (26), hydraulic push rods (12) are respectively arranged in the hydraulic cylinder grooves (26) through bolts, the output end of the hydraulic push rod (12) is provided with a first U-shaped plate (13) through a bolt, one side of the first U-shaped plate (13) is provided with a second U-shaped plate (14) through a bolt, one end of the second U-shaped plate (14) is provided with an electromagnetic valve (15) through a bolt, and a spray head (16) at a position corresponding to the bearing (9) is assembled at the discharge end of the electromagnetic valve (15).

3. A multi-axis robotic arm and self-lubricating assembly as claimed in claim 1, wherein: the utility model discloses a servo motor, including first servo motor (6), shaft coupling (10) one end pass through bolt and frame (1) be assembled between/be connected between, shaft coupling (10) tip and lower swivel mount (2) top bolt erection joint of second servo motor (7), shaft coupling (10) tip and lower side arm (3) top erection joint of third servo motor (8), shaft coupling (10) tip of fourth servo motor (23) passes through bolt and upper arm (5) one end erection joint.

4. A multi-axis robotic arm and self-lubricating assembly as claimed in claim 1, wherein: the oil distribution box is characterized in that an oil distribution box (17) is installed at one end of the engine base (1) through a bolt, threaded connectors (18) are respectively assembled at two ends of the oil distribution box (17), the threaded connectors (18) of the oil distribution box (17) are respectively connected with a feed inlet of the electromagnetic valve (15) through oil pipes, mounting ports (19) are formed in two sides of the top of the oil distribution box (17), lower flanges (20) are connected in the mounting ports (19) in a welding mode, electric heaters (21) are assembled at the top ends of the mounting ports (19), heating rods of the electric heaters (21) are inserted into the oil distribution box (17), upper flanges (22) are assembled at waist portions of the electric heaters (21), and the lower flanges (20) are connected with the upper flanges (22) through bolts in an installation mode.

5. A multi-axis robotic arm and self-lubricating assembly as claimed in claim 1, wherein: oil pump (25) are installed through the bolt at oil tank (11) top, the oil feed end and the oil tank (11) of oil pump (25) are connected, the end that produces oil of oil pump (25) is connected with branch oil box (17), it is equipped with temperature sensor (24) to divide oil box (17) one end, the detection end of temperature sensor (24) is located branch oil box (17).

6. A multi-axis robotic arm and self-lubricating assembly as claimed in claim 1, wherein: the inner shaft sleeve of the bearing (9) is respectively connected with the corresponding shaft coupler (10) through bolts, and the outer shaft sleeve of the bearing (9) is respectively connected with the corresponding rotating and connecting machine base (1), the lower rotating base (2), the lower side arm (3) and the upper side arm (4) through bolts.