CN217372354U

CN217372354U - Seventh shaft of industrial robot and driving mechanism thereof

Info

Publication number: CN217372354U
Application number: CN202121740898.8U
Authority: CN
Inventors: 赵宇; 迟志朋
Original assignee: Wuxi Xinjinyu Intelligent Manufacturing Co ltd
Current assignee: Wuxi Xinjinyu Intelligent Manufacturing Co ltd
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2022-09-06
Anticipated expiration: 2031-07-29

Abstract

The utility model discloses an industrial robot seventh axle and actuating mechanism thereof relates to drive protection technical field, and actuating mechanism is used for being connected with the slip table, in order to drive the slip table along the track slip, including motor, reduction gear and gear, the gear be used for with set up the rack mesh on the track, the reduction gear with the motor is connected, the gear through expand tight cover with the output of reduction gear links to each other. So set up, tight cover expands through interior taper sleeve reduce, outer taper sleeve expand the principle realize with the output of reduction gear, interference fit between the hole of gear, when the load volume on the slip table is great and appear transshipping the phenomenon, the tight cover that expands produces relative slip and loses the connection effect, the tight cover that expands this moment loosens and beats the commentaries on classics in situ, but motor and reduction gear normal work are no longer rotated to the gear, can avoid motor and reduction gear because of overload damage.

Description

Seventh shaft of industrial robot and driving mechanism thereof

Technical Field

The utility model relates to a drive protection technical field, more specifically say, relate to an industrial robot seventh axle and actuating mechanism thereof.

Background

The seventh axis of the industrial robot is an external axis other than the axis of the body of the industrial robot under the control of the control system of the industrial robot. The arrangement of the seventh axis can greatly expand the application field of the industrial robot.

At present, the seventh shaft of the industrial robot is composed of a rail and a sliding table slidably arranged on the rail, a rack is arranged on the rail, a gear meshed with the rack is arranged on the sliding table, and the gear is driven by a driving mechanism to rotate, so that the sliding table slides along the rail. The gear is rigidly connected with the output shaft of the driving mechanism through a key and a screw, if an overload phenomenon occurs, if the load on the sliding table exceeds the load of the driving mechanism, the motor and the speed reducer of the driving mechanism can be damaged.

Therefore, how to solve the problem that the motor and the speed reducer of the driving mechanism in the prior art are easy to be damaged under the condition that the sliding table carrying amount is large becomes an important technical problem to be solved by the technical personnel in the field.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an industrial robot seventh axle and actuating mechanism thereof to actuating mechanism's motor, reduction gear are fragile problem under the big condition of slip table carrier volume among the solution prior art. The utility model provides a plurality of technological effects that preferred technical scheme among a great deal of technical scheme can produce are seen in the explanation below in detail.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides an actuating mechanism of industrial robot seventh axle for be connected with the slip table, slide along the track in order to drive the slip table, including motor, reduction gear and gear, the gear be used for with set up the rack on the track mesh mutually, the reduction gear with the motor is connected, the gear through expand tight cover with the output of reduction gear links to each other.

Preferably, the output end of the speed reducer is provided with a connecting shaft, and the expansion sleeve is arranged between the outer wall of the connecting shaft and the inner hole of the gear.

Preferably, still include the reduction gear mount pad, the reduction gear mount pad is used for fixed connection at the upper surface of slip table, the reduction gear mount pad with all be equipped with the confession on the slip table the shaft hole that the connecting axle penetrated.

Preferably, the motor is a servo motor.

The utility model also provides an industrial robot seventh axle, including actuating mechanism, actuating mechanism is foretell actuating mechanism.

The utility model provides an among the technical scheme, the actuating mechanism of industrial robot seventh axle is connected with the slip table for drive the slip table along the track slip. The driving mechanism comprises a motor, a speed reducer and a gear, the gear is used for being meshed with a rack arranged on the track, the speed reducer is connected with the motor, and the gear is connected with the output end of the speed reducer through an expansion sleeve. When the motor works, the output end of the speed reducer drives the gear to rotate, and the gear is meshed with the rack, so that the sliding table slides along the length direction of the track. The expansion sleeve is in interference fit with the output end of the speed reducer and the inner hole of the gear by the principle that the inner taper sleeve is reduced and the outer taper sleeve is expanded, and the load of axial force, torque or the composite action of the axial force and the torque is transmitted by friction force generated by interference. When the load on the sliding table exceeds a certain weight and the overload phenomenon occurs, the expansion sleeve slides relatively to lose the coupling effect, the expansion sleeve is loosened to rotate in situ, the gear does not rotate but the motor and the speed reducer can work normally, the motor and the speed reducer cannot be damaged, and the problem that the motor and the speed reducer of the driving mechanism are easy to damage under the condition that the load on the sliding table is large is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a driving mechanism in an embodiment of the present invention;

fig. 2 is a front view of a drive mechanism in an embodiment of the invention;

FIG. 3 is a cross-sectional view B-B of FIG. 2;

fig. 4 is a schematic structural view of a seventh axis of an industrial robot according to an embodiment of the present invention;

fig. 5 is a plan view of a seventh axis of an industrial robot according to an embodiment of the present invention.

In the figure:

1-motor, 2-reducer, 3-reducer mounting seat, 4-connecting shaft, 5-expansion sleeve, 6-gear, 7-sliding table, 8-track, 9-rack, 10-linear guide rail, 11-stroke limiting block, 12-hard limiting block, 13-track connecting plate, 14-bottom beam connecting plate, 15-automatic oiling machine, 16-oil separator, 17-baseboard, 18-bottom beam and 19-drag chain.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the disclosed embodiments are merely exemplary of the invention, and are not intended to limit the invention to the precise embodiments disclosed. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The purpose of this embodiment is to provide a drive mechanism of a seventh axis of an industrial robot, which sets an expansion sleeve between the output end of a speed reducer and a gear, and plays a role in preventing a motor and the speed reducer from being damaged easily under the condition that the load of a sliding table is large.

Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below do not limit the scope of the invention described in the claims. Further, the entire contents of the configurations shown in the following embodiments are not limited to those necessary as a solution of the invention described in the claims.

Referring to fig. 1 to 3, in the present embodiment, a driving mechanism of the seventh shaft of the industrial robot is connected to the sliding table 7 for driving the sliding table 7 to slide along the rail 8. The driving mechanism comprises a motor 1, a speed reducer 2 and a gear 6, the gear 6 is used for being meshed with a rack 9 arranged on a track 8, the speed reducer 2 is connected with the motor 1, and the gear 6 is connected with the output end of the speed reducer 2 through an expansion sleeve 5. When the motor 1 works, the output end of the speed reducer 2 drives the gear 6 to rotate, and the gear 6 is meshed with the rack 9, so that the sliding table 7 slides along the length direction of the track 8.

The expansion sleeve 5 is in interference fit with the output end of the speed reducer 2 and the inner hole of the gear 6 by the principle that the inner taper sleeve is reduced and the outer taper sleeve is expanded, and the load of axial force, torque or the composite action of the axial force and the torque is transmitted by friction force generated by interference. When the load on the sliding table 7 exceeds the rated load and the overload phenomenon occurs, the expansion sleeve 5 generates relative slip and loses the coupling effect, at the moment, the expansion sleeve 5 is loosened to rotate in situ, the gear 6 does not rotate any more, but the motor 1 and the speed reducer 2 can work normally. So set up, when the carrier volume on slip table 7 exceeded rated load, can not cause the damage to motor 1 and reduction gear 2, played the effect of protection motor 1 and reduction gear 2, solved the fragile problem of motor 1, reduction gear 2 of actuating mechanism under the big condition of slip table 7 carrier volume.

In the preferred scheme of this embodiment, the output end of reduction gear 2 is equipped with connecting axle 4, and the tight cover 5 that expands sets up between the hole of the outer wall of connecting axle 4 and gear 6. In a specific embodiment, one end of the connecting shaft 4 is provided with a central hole, and an end shaft of the output end of the speed reducer 2 extends into the central hole and is connected with the central hole through a key.

In this embodiment, actuating mechanism still includes reduction gear mount pad 3, and reduction gear mount pad 3 is used for fixed connection at the upper surface of slip table 7, all is equipped with the shaft hole that supplies the output shaft to penetrate on reduction gear mount pad 3 and the slip table 7. In a specific embodiment, a bottom beam 18 is fixedly arranged on the ground, the rails 8 are fixedly arranged on the bottom beam 18, the sliding table 7 is arranged on the two rails 8, the speed reducer 2 is arranged below the motor 1, and the speed reducer 2 is fixed on the upper surface of the sliding table 7 through the speed reducer mounting seat 3. The gear 6 is arranged below the sliding table 7 and meshed with a rack 9 on the track 8. The connecting shaft 4 vertically penetrates through shaft holes of the speed reducer mounting base 3 and the sliding table 7.

So set up, reduction gear 2 and motor 1 set up on slip table 7, when slip table 7 removes, can not take place to interfere with the object around.

In a particular embodiment, the motor 1 is a servomotor. The adoption of the servo motor is favorable for carrying out accurate control on the moving distance and the like of the sliding table 7. The cables of the drive mechanism, such as the control and power lines of the motor 1, are protected by the drag chain 19, avoiding wear of the cables when they move together with the ramp 7.

The utility model discloses still provide an industrial robot seventh axle, please refer to fig. 4 and 5, including actuating mechanism, this actuating mechanism is the actuating mechanism in above-mentioned embodiment. So set up, connecting axle 4 that sets up at 2 output ends of reduction gear links to each other with gear 6 through tight cover 5 that expands, and when the load volume on slip table 7 is great and the overload phenomenon appears, tight cover 5 that expands produces relative slip and loses the coupling effect, and tight cover 5 that expands is loosened and is beaten the commentaries on classics in situ this moment, but motor 1 and reduction gear 2 can normal work, play the effect of protection motor 1 and reduction gear 2 no longer rotate. The derivation process of the beneficial effect is substantially similar to the derivation process of the beneficial effect brought by the driving mechanism, and therefore, the description is omitted here.

The seventh axis of the industrial robot comprises a bottom beam 18 and a rail 8 arranged on the bottom beam 18, the bottom beam 18 is a standard bottom beam 18 with the length of 4m, can be produced in batch and can realize wireless extension through splicing, and two adjacent bottom beams 18 are connected through a bottom beam connecting plate 14 arranged at the side part of the splicing position. The rails 8 are similar to the bottom beams 18, and adjacent rails 8 are connected to achieve a desired length by rail connecting plates 13, and the rail connecting plates 13 are disposed at the sides of the splicing position of two rails 8. All be equipped with a plurality of waist type holes and a keyway on floorbar connecting plate 14 and the track connecting plate 13, waist type hole and the equal level setting of keyway, the end lateral part of floorbar 18 and track 8 all is equipped with a plurality of round holes and half keyway that correspond with waist type hole, half keyway concatenation on two adjacent floorbars 18 is got up and is the same with keyway shape and size on the floorbar connecting plate 14, the key sets up in half keyway and keyway, half keyway concatenation on two adjacent tracks 8 is got up and is the same with keyway shape and size on the track connecting plate 13. Screw heads are arranged in the kidney-shaped holes and the round holes so as to fix the bottom beam connecting plate 14 and the track connecting plate 13.

So set up, prescribe a limit to the clearance between two adjacent floorbars 18 or two tracks 8 through the cooperation of keyway and key, reuse screw end is fixed with floorbar connecting plate 14 and track connecting plate 13, and this connected mode is swift convenient for distance between two tracks 8 is adjustable, through key regulation connection accuracy and intensity, has reduced the reliance to machining precision.

In addition, a stroke limiting block 11 and a hard limiting block 12 are further arranged on the track 8, the stroke limiting block 11 is used for point searching of a stroke switch, the hard limiting block 12 is an elastic body, and when the sliding table 7 slides to the end portion of the seventh shaft, the sliding table 7 can buffer the sliding table 7 when contacting the hard limiting block 12 and the hard limiting block 12. The rail 8 is fixed to a bottom beam 18 by a base plate 17.

The seventh shaft of the industrial robot further comprises a sliding table 7 which is slidably arranged on the rail 8, a linear guide rail 10 is arranged on the rail 8 along the length direction, a linear sliding block matched with the linear guide rail 10 is arranged on the sliding table 7, and the linear sliding block slides along the linear guide rail 10. Be equipped with automatic oiling machine 15 on the slip table 7 and the separator 16 that is connected with automatic oiling machine 15, separator 16 and linear guide 10, linear slide block and gear 6, rack 9 all are connected to linear guide 10, linear slide block and gear 6, rack 9 department oiling, reach the purpose that improves lubricated effect, set up the time interval and the oiling volume of oiling through automatic oiling machine 15, no longer need artifical oiling, the manpower is saved, work efficiency is improved.

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar contents in other embodiments may be referred to for the contents which are not described in detail in some embodiments. The utility model provides a plurality of schemes contain the basic scheme of itself, mutually independent to do not restrict each other, but it also can be under the condition of conflict mutually combine, reach a plurality of effects and realize jointly.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A driving mechanism of a seventh shaft of an industrial robot is used for being connected with a sliding table (7) to drive the sliding table (7) to slide along a track (8), and is characterized by comprising a motor (1), a speed reducer (2) and a gear (6), wherein the gear (6) is used for being meshed with a rack (9) arranged on the track (8), the speed reducer (2) is connected with the motor (1), and the gear (6) is connected with an output end of the speed reducer (2) through an expansion sleeve (5); the output of reduction gear (2) is equipped with the connecting axle, and the one end of connecting axle (4) is opened there is the centre bore, and the end shaft of the output of reduction gear (2) stretches into in the centre bore and through the key-type connection, expands tightly to overlap (5) and set up between the outer wall of connecting axle (4) and the hole of gear (6) and with interference fit between the output of reduction gear (2), the hole of gear (6).

2. The driving mechanism as claimed in claim 1, further comprising a reducer mounting base (3), wherein the reducer mounting base (3) is used for fixedly connecting the reducer (2) to the upper surface of the sliding table (7), and shaft holes for the connecting shaft (4) to penetrate are formed in the reducer mounting base (3) and the sliding table (7).

3. The drive mechanism according to claim 1, characterized in that the motor (1) is a servo motor.

4. A seventh axis of an industrial robot comprising a drive mechanism, characterized in that the drive mechanism is a drive mechanism according to any of claims 1-3.