CN217434367U - Industrial robot joint stop gear - Google Patents
Industrial robot joint stop gear Download PDFInfo
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- CN217434367U CN217434367U CN202221538450.2U CN202221538450U CN217434367U CN 217434367 U CN217434367 U CN 217434367U CN 202221538450 U CN202221538450 U CN 202221538450U CN 217434367 U CN217434367 U CN 217434367U
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Abstract
The utility model discloses an industrial robot joint stop gear, including robot swivel mount and base and movable block and slider. The moving block is fixedly connected to the rotating seat and rotates along with the rotating seat; the base is correspondingly provided with a sliding chute on a circumferential line of the rotation of the movable block, two side surfaces of the sliding chute are circular arcs, the circular arcs and the rotation circle of the movable block are concentric, and two end surfaces of the sliding chute are positioned in the radial direction of the rotation circle of the movable block; when the robot is in a zero position posture, the sliding grooves and the rotating blocks are symmetrically arranged in a 180-degree manner relative to the rotating shaft in a rotating plane; the sliding block is arranged in the sliding groove; the top surface of the sliding groove is provided with a cover plate, and the sliding block can freely slide in the sliding groove space. The utility model discloses structural design is simple, and the structure is reliable, has avoidd general robot joint limit structure motion range shortcoming such as little, the reliability is low, with high costs. The motion range of the J1 axis of the robot can be larger than +/-180 degrees, and the application occasion with larger joint motion range can be met, so that the robot acts more flexibly.
Description
Technical Field
The utility model relates to an industrial robot joint stop gear, especially robot J1 axle joint stop gear.
Background
With the continuous development of industrial automation, industrial robots are increasingly applied to the fields of automobile manufacturing, electrical and electronic, sheet metal forming, metal welding and the like. For a 6-axis industrial robot, the motion range of each joint has a direct influence on the flexibility of the robot, and particularly for a J1 axis of the robot, if the robot can rotate more than 360 degrees, the application flexibility of the robot can be greatly improved. The following is a detailed description of a bending robot J1 shaft movement limiting structure for sheet metal forming.
In the sheet metal forming field, the mode of workstation is often adopted at present to carry out the overall arrangement, according to general bending process flow, the material loading district is located the right back of robot usually, and the material unloading district is located the left back of robot usually, and this just requires that the J1 axle motion range of robot can reach more than 180, and simultaneously, when the robot overshoots for some reason, the inertial force of the complete machine of robot is great, and this limit structure still can play the buffer protection effect, avoids causing irreparable mechanical damage etc. because of the impact.
As shown in fig. 1 and 2, the general robot J1 generally has an axis movement range not greater than ± 180 ° and can satisfy most application conditions, but for some more complicated application conditions, the robot is relatively limited in use. In addition, for some limiting structures reaching +/-180 degrees, the structure is often more complex, the cost is higher, and the buffering and protecting effects are more limited.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that overcomes the defect that prior art exists, provides an industrial robot joint stop gear, and its structural design is simple reliable, can satisfy the application scenario of bigger joint motion range, makes the robot action more nimble.
The utility model provides an industrial robot joint stop gear, including robot swivel mount and base and movable block and slider. The moving block is fixedly connected to the rotating seat and rotates along with the rotating seat; the base is correspondingly provided with a sliding chute on a circumferential line of the rotation of the movable block, two side surfaces of the sliding chute are circular arcs, the circular arcs and the rotation circle of the movable block are concentric, and two end surfaces of the sliding chute are positioned in the radial direction of the rotation circle of the movable block; when the robot is in a zero position posture, the sliding grooves and the rotating blocks are symmetrically arranged in a 180-degree manner relative to the rotating shaft in a rotating plane; the sliding block is arranged in the sliding groove; two arc side surfaces of the sliding groove and the sliding block are provided with a certain theta angle, so that the sliding block is prevented from being scraped in the moving process; a cover plate is arranged on the top surface of the sliding chute, a gap is reserved between the cover plate and the top surface of the sliding block, and the sliding block can freely slide left and right along a circumferential path in the sliding chute space; the sliding block is made of plastic or rubber and is used for reducing impact force when the moving block is contacted with the sliding block; in order to reduce friction and improve the action flexibility of the sliding block, the bottom of the sliding groove of the base can be coated with proper amount of lubricating grease.
The utility model discloses industrial robot joint stop gear's action process. When the robot joint is in a zero-position posture, the sliding block is positioned at the center of the sliding groove of the base and is symmetrically arranged with the moving block at an angle of 180 degrees relative to the rotating shaft; when the rotary seat rotates relative to the base by a certain angle alpha (alpha <180 degrees) clockwise or anticlockwise (negative direction), the movable block is contacted with the sliding block, as shown in fig. 4; when the rotating seat continues to rotate relative to the base, the moving block pushes the sliding block to slide in the sliding groove until the sliding block slides to the end of the sliding groove, and at this time, the rotating seat rotates relative to the base by a β angle, as shown in fig. 6, which is a schematic view when β =190 °, and the β angle can be designed and established according to actual needs.
The utility model discloses structural design is simple, and the structure is reliable, and used spare part quantity is less, and the totality is comparatively economical and practical. The utility model discloses it is little, the reliability is low, drawback such as with high costs to have avoidd general all-purpose robot joint limit structure motion range. The motion range of the J1 axis of the robot can be larger than +/-180 degrees, and the application occasion with larger joint motion range can be met, so that the robot acts more flexibly.
Drawings
Fig. 1 is a schematic structural diagram of a robot joint limiting mechanism in the prior art.
Fig. 2 is a schematic structural diagram of a robot joint limiting mechanism in the prior art.
Fig. 3 is the utility model discloses industrial robot joint stop gear schematic diagram.
Fig. 4 is a cross-sectional view of fig. 3A-a.
Fig. 5 is a cross-sectional view of fig. 4B-B.
Fig. 6 is a schematic diagram of the rotation position of the robot rotation base when β =190 °.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 3 to 5, the joint limiting mechanism of the industrial robot of the present invention comprises a robot rotation base 1, a base 2, a moving block 3 and a sliding block 4. The moving block 3 is fixedly connected to the rotating seat 1 and rotates along with the rotating seat 1. The base 2 is correspondingly provided with a sliding chute 6 on a circumferential line of the rotation of the movable block 3, two side surfaces (61, 62) of the sliding chute 6 are circular arcs which are concentric with the rotation circle 31 of the movable block 3, and two end surfaces (63, 64) of the sliding chute 6 are in the radial direction of the rotation circle 31 of the movable block; when the robot is in a zero position posture, the sliding grooves 6 and the rotating blocks 3 are symmetrically arranged in a 180-degree manner relative to the rotating shaft 7 in a rotating plane; the sliding block 4 is arranged in the sliding groove 6; two side surfaces (61, 62) of the sliding groove 6 and the sliding block 4 are provided with theta included angles, so that the sliding block and the side surfaces of the sliding groove are prevented from being scraped in the moving process. A cover plate 5 is arranged on the top surface of the sliding groove 6, a gap is reserved between the cover plate 5 and the top surface of the sliding block 4, and the sliding block 4 can freely slide left and right along a circumferential path in the space of the sliding groove 6. The sliding block 4 is made of plastic or rubber and is used for reducing impact force when the moving block is in contact with the sliding block. In order to reduce friction and improve the action flexibility of the sliding block 4, a proper amount of lubricating grease is smeared at the bottom of the sliding groove 6 of the base 2.
The action process of the industrial robot joint limiting mechanism of the present invention is further described below. As shown in fig. 4, when the robot joint is in the zero position posture, the sliding block 4 is located at the center of the sliding slot 6 of the base 2, and is arranged at 180 ° with the moving block 3 relative to the rotating shaft 7. When the rotary seat 1 rotates relative to the base 2 by a certain angle alpha (alpha <180 degrees) in a clockwise direction (positive direction) or a counterclockwise direction (negative direction), the movable block 3 is just contacted with the sliding block 4. When the rotating base 1 continues to rotate relative to the base 2, the moving block 3 will push the sliding block 4 to rotate relative to the sliding slot of the base 2 until the sliding block 4 rotates to the end (63 or 64) of the sliding slot of the base 2, at this time, the rotating base 1 rotates relative to the base 2 by an angle β =190 ° as shown in fig. 6, and the angle β can be designed according to actual needs.
Similarly, when the movable block 3 is designed to be a sliding mechanism as the sliding block 4, the joint limiting movement angle can be further increased, for example, beta is more than or equal to 200 degrees.
Claims (4)
1. A joint limiting mechanism of an industrial robot comprises a robot rotary seat (1), a base (2), a movable block (3) and a sliding block (4); the method is characterized in that: the moving block (3) is fixedly connected to the rotating seat (1) and rotates along with the rotating seat; the base (2) is correspondingly provided with a sliding chute (6) on a circumferential line of the rotation of the moving block, and the sliding chute (6) and the moving block (3) are symmetrically arranged in a 180-degree manner relative to the rotating shaft (7) in a rotation plane when the robot is in a zero-position posture; the sliding block (4) is arranged in the sliding groove (6); a cover plate (5) is arranged on the top surface of the sliding groove, a gap is reserved between the cover plate (5) and the top surface of the sliding block (4), and the sliding block (4) freely slides left and right along a circumferential path in the space of the sliding groove (6).
2. The industrial robot joint limiting mechanism of claim 1, wherein: two side surfaces (61, 62) of the sliding chute (6) are circular arcs, the circular arcs (61, 62) are concentric with the moving block rotating circle (31), and two end surfaces (63, 64) of the sliding chute (6) are positioned in the radial direction of the moving block rotating circle (31).
3. The industrial robot joint stop mechanism of claim 2, wherein: two circular arc side surfaces (61, 62) of the sliding groove (6) and the sliding block (4) are provided with theta included angles, and the sliding block is prevented from being scraped in the moving process.
4. The industrial robot joint stop mechanism of claim 1, wherein: the sliding block (4) is made of plastic or rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221538450.2U CN217434367U (en) | 2022-06-20 | 2022-06-20 | Industrial robot joint stop gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221538450.2U CN217434367U (en) | 2022-06-20 | 2022-06-20 | Industrial robot joint stop gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217434367U true CN217434367U (en) | 2022-09-16 |
Family
ID=83224147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221538450.2U Active CN217434367U (en) | 2022-06-20 | 2022-06-20 | Industrial robot joint stop gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217434367U (en) |
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2022
- 2022-06-20 CN CN202221538450.2U patent/CN217434367U/en active Active
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