CN219666634U - Seventh axis of robot moves and carries mechanism - Google Patents

Abstract

The utility model provides a seventh axis transfer mechanism of a robot, which comprises a plurality of racks, a first assembly and a second assembly, wherein the racks are arranged side by side and communicated with each other; the first component comprises a plurality of bases and first wire rails, the bases are arranged at the top in the frame, each base is connected end to end, each base is provided with the first wire rail, the first wire rails of two adjacent bases are arranged in an aligned mode, and racks parallel to the first wire rails are arranged under each base; the second assembly comprises a transfer plate, a driving part and a six-axis robot are mounted on the transfer plate, the transfer plate is mounted on the first wire rail through a wire rail sliding block, and the driving part is connected with a gear and a rack to drive the transfer plate to move in the racks along the first wire rail in a matching manner. The structure is compact, the space of the operation equipment is fully utilized, the whole size of the seventh shaft is reduced as much as possible, the installation position is flexible, and the safety protection of the past materials is improved.

Description

Seventh axis of robot moves and carries mechanism

Technical Field

The utility model relates to the technical field of inverted robots, in particular to a seventh axis transfer mechanism of a robot.

Background

At present, the 7 th shaft of the inverted robot on the market is usually a top rail, and the transfer device is arranged on a falling earthworm door type frame with feet, and mainly has the following application limitations: the occupied space is large: because the 7 th shaft is independent of the requirements of the external and structural rigidity of the operation equipment, safety protection and the like, the whole shaft occupies a larger space additionally; the existing overhead rail is generally in an integrated structure with a longer length, so that the installation space and the structural strength are high, and because the overhead rail is relatively large in size and weight, larger equipment is usually required to be used for hoisting during installation of the overhead rail and larger places are required for installation, so that the overhead rail cannot be installed in the existing operation equipment in a workshop and needs an independent supporting structure for supporting (such as a gantry type bracket) but the corresponding equipment is usually installed in the existing workshop before transformation, the gantry type bracket is additionally installed in insufficient places for construction and installation, and the integrated overhead rail is also difficult to produce and transport; difficulties in installation can also occur when the workshop is to be retrofitted and disassembled.

Disclosure of Invention

In order to solve the problems, the utility model aims to provide a seventh axis transfer mechanism of a robot, which reduces the length and weight of each section and reduces the occupied space during installation by designing a wire rail, a rack and a base into a multi-section spliced structure.

The utility model is realized by the following steps: the seventh axis transfer mechanism of the robot comprises a plurality of racks which are arranged side by side and communicated, and also comprises a first component and a second component, wherein the second component is arranged below the first component; the first assembly comprises a plurality of bases and a plurality of first wire rails, the bases are arranged at the top in the rack, each base is connected end to end, each base is provided with a first wire rail, the first wire rails of two adjacent bases are arranged in an aligned mode, racks parallel to the first wire rails are arranged under each base, and the two adjacent racks are connected end to end; the second assembly comprises a transfer plate, a driving part and a six-axis robot are mounted on the transfer plate, the transfer plate is mounted on the first wire rail through a wire rail sliding block, and the driving part is connected with a gear and is matched with the rack to drive the transfer plate to move in the racks along the first wire rail.

The base is also provided with a second wire rail parallel to the first wire rail, and the rack is arranged between the first wire rail and the second wire rail; the driving part comprises a servo motor, an output shaft of the servo motor is connected with a planetary reducer, and the gear is arranged on the output shaft of the planetary reducer.

In one embodiment of the present utility model, the planetary reducer is fixed to the transfer plate through a reducer mounting plate.

In an embodiment of the utility model, a plurality of adjusting blocks are respectively arranged on two sides of the base, the base is hung in the frame through the adjusting blocks, and the adjusting blocks are used for adjusting the mounting positions of the bases, so that two adjacent bases can be aligned and spliced together in the frame.

In an embodiment of the utility model, a limit guide rail is arranged on the side surface of the base, a plurality of groove-shaped switches are equidistantly arranged on the limit guide rail, and an induction piece is arranged on the side surface of the same side of the transfer plate, which is provided with the limit guide rail, with the base, and is used for determining the position of the transfer plate through the groove-shaped switches in the moving process.

In an embodiment of the utility model, one side of the transfer plate is connected with one end of a drag chain, a plurality of drag chain brackets and roller supporting seats are equidistantly arranged on one side, which is close to the transfer plate and is connected with the drag chain, of the top of the frame, drag chain supporting rollers are arranged on the roller supporting seats, drag chain plates are arranged on the drag chain brackets, the drag chain is arranged on the drag chain plates, and the drag chain plates and the drag chain supporting rollers play a role in supporting the drag chain when the drag chain moves under the pulling of the transfer plate.

In an embodiment of the utility model, a limiting seat is mounted at the head of the base at the front end, a limiting seat is mounted at the tail of the base at the tail end, and the transfer plate moves between the two limiting seats along the first linear rail.

In an embodiment of the utility model, the two limiting seats are provided with anti-collision blocks on surfaces facing each other.

The utility model has the beneficial effects that: compared with the prior art, the seventh axis transfer mechanism of the robot has at least the following technical effects: through designing line rail, rack and base into multistage concatenation formula structure, the free size and the structure weight greatly reduce, can effectively reduce the degree of difficulty and the work load of installation transportation, the production degree of difficulty of need not integrative casting shaping greatly reduced, manufacturing cost can show the reduction, consequently can utilize less apparatus to install base and line rail etc. also can diminish in the required place space of installation, therefore can carry out the installation of robot seventh axle in less place, can load into the operation equipment in the workshop with the line rail segmentation and splice, make full use of operation equipment self frame in order to avoid robot and seventh axle to move the mechanism to expose, the full cladding after the realization is installed, avoid exposing robot and seventh axle to move the mechanism and cause the injury to the workman in the workshop, realize compact structure, make full use of operation equipment space, the maintenance of the whole size of seventh axle is reduced as far as possible, the installation position is flexible, full cladding is in order to improve the material safety protection in the past. The running precision of the seventh shaft transfer mechanism can be further improved through the arrangement of the groove-shaped switch and the induction piece. Through the setting of regulating block, can be better with two adjacent bases or line rail concatenation departments adjustment more level and smooth, make and move and carry the board and can be more steady when the operation.

Drawings

Fig. 1 is a schematic view of a seventh axis transfer mechanism of a robot of the present utility model, which is mounted on two side-by-side racks.

Fig. 2 is a schematic diagram of a state of a robot seventh axis transfer mechanism after two sections of bases are spliced.

Fig. 3 is an enlarged partial schematic view at a in fig. 2.

Fig. 4 is a schematic view of a splicing and hanging state of two sections of bases of a seventh axis transfer mechanism of a robot.

Fig. 5 is another schematic view of a robot seventh axis transfer mechanism of the present utility model in another state of two-stage base splicing.

Fig. 6 is a partially enlarged schematic view at B in fig. 5.

Fig. 7 is an enlarged partial schematic view of a joint of two bases of a seventh axis transfer mechanism of a robot according to the present utility model.

Reference numerals illustrate: the anti-collision device comprises a base 11, a limiting base 12, an anti-collision block 13, a first wire rail 14, a second wire rail 15 and a rack 16; 21-moving plate, 22-linear rail slide block, 231-planetary reducer, 232-servo motor, 233-reducer mounting plate, 241-induction piece, 242-limit guide rail, 243-slot type switch, 25-gear, 26-regulating block and 27-six axis robot; 30-drag chain, 31-drag chain plate, 32-drag chain bracket, 33-drag chain supporting roller and 34-roller supporting seat; 40-a frame.

Detailed Description

The utility model will be further described with reference to the drawings and specific examples.

Referring to fig. 1 to 7, a seventh axis transfer mechanism of a robot includes a plurality of racks 40 disposed side by side and communicated with each other, and further includes a first component and a second component, where the second component is installed under the first component; the first assembly comprises a plurality of bases 11 and a plurality of first wire rails 14, wherein the bases 11 are arranged at the top in the rack 40, each base 11 is connected end to end, each base 11 is provided with a first wire rail 14, the first wire rails 14 of two adjacent bases 11 are arranged in alignment, racks 16 parallel to the first wire rails 14 are arranged under each base 11, and the two adjacent racks 16 are connected end to end; the second assembly comprises a transfer plate 21, a driving component and a six-axis robot 27 are mounted on the transfer plate 21, the transfer plate 21 is mounted on the first wire rail 14 through a wire rail sliding block 22, and the driving component is connected with a gear 25 and is matched with the rack 16 to drive the transfer plate 21 to move along the first wire rail 14 in a plurality of racks 40. The main structural member base 11, the first linear rail 14 and the rack 16 of the top rail component parts are designed into a multi-section spliced structure, compared with an integrally formed structure, the requirement on the production process is greatly reduced, the production cost can be remarkably reduced, and due to the segmented structure, splicing installation can be carried out section by section. Preferably, two frames 40 are arranged side by side, and are assembled and connected through two sections of bases 11, as shown in fig. 1 to 6, but not limited thereto, more frames 40 are also possible, and a corresponding number of bases 11 are arranged to be assembled and installed on a rail for the six-axis robot 27 to move among the frames 40.

Referring to fig. 1 to 7, a second wire rail 15 parallel to the first wire rail 14 is further installed on the base 11, and the rack 16 is disposed between the first wire rail 14 and the second wire rail 15; the driving part comprises a servo motor 232, an output shaft of the servo motor 232 is connected with a planetary reducer 231, a gear 25 is arranged on the output shaft of the planetary reducer 231, a first linear rail 14 and a second linear rail 15 which are parallel are arranged, four linear rail sliding blocks 22 are arranged on a transfer plate 21 in total, two linear rail sliding blocks are arranged on the first linear rail 14, and two linear rail sliding blocks are arranged on the second linear rail 15, so that the force is distributed and applied more reasonably, and the seventh axis transfer mechanism is stable and long-term in use. The planetary reducer 231 is fixed on the transfer plate 21 through a reducer mounting plate, and the first cycle transfer mechanism of the utility model operates more stably through the arrangement of the reducer.

Referring to fig. 1 to 7, in an embodiment of the present utility model, a plurality of adjusting blocks 26 are respectively mounted on two sides of the base 11, the base 11 is suspended in the frame 40 by the adjusting blocks 26, and the adjusting blocks 26 are used for adjusting the mounting positions of the base 11, so that two adjacent bases 11 can be aligned and spliced together in the frame 40, that is, the wire rail can be aligned and horizontally mounted, and the six-axis machine can be driven to stably run.

Referring to fig. 1 to 7, in an embodiment of the present utility model, a limit rail 242 is installed on a side surface of the base 11, a plurality of slot-shaped switches 243 are equidistantly installed on the limit rail 242, and an induction piece 241 is installed on a side surface of the transfer plate 21 on the same side as the base 11 on which the limit rail 242 is installed, wherein the induction piece 241 passes through the slot-shaped switches 243 during moving, so as to determine a position of the transfer plate 21, that is, a position for driving the six-axis robot 27.

Referring to fig. 1 to 6, in an embodiment of the present utility model, one side of the transfer plate 21 is connected to one end of the drag chain 30, a plurality of drag chain brackets 32 and roller supporting seats 34 are equidistantly installed on a position of the top of the frame 40 near to the side of the transfer plate 21 connected to the drag chain 30, a drag chain supporting roller 33 is installed on the roller supporting seats 34, a drag chain plate 31 is installed on the drag chain brackets 32, the drag chain 30 is installed on the drag chain plate 31, and the drag chain plate 31 and the drag chain supporting roller 33 play a role in supporting the drag chain 30 when the transfer plate 21 is pulled to move.

Referring to fig. 1 to 6, in an embodiment of the present utility model, a limiting seat 12 is mounted on a front end of the base 11, a limiting seat 12 is mounted on a tail end of the base 11, and the transfer plate 21 moves between the two limiting seats 12 along the first track 14. An anti-collision block 13 is arranged on the surfaces of the two limiting seats 12 facing each other. Preventing the transfer plate 21 from being damaged by collision during the movement of the transfer plate 21 and restricting the transfer plate 21 from falling off the wire rail.

The utility model has the following working principle:

and respectively hanging the two sections of bases of the first assembly on the inner top mounting surfaces of the two frames in an inverted mode, and adjusting three adjusting blocks on two sides of the bases to a design position. The method comprises the steps of taking one base mounted on a frame as a reference, roughly adjusting an adjusting block corresponding to the other base to enable the distance between the two bases to be about 10mm, enabling the installation surfaces of line rails in 300mm at the joint of the two bases to be flush by adjusting four foot cups at the bottom of the frame mounted on the other base, enabling the positions of two joint edges to be equal in height, finely adjusting the other base by using X, Y two direction adjusting blocks to enable a first line rail Y mounted on the two bases to be aligned to a reference side surface, preassembling a rack and a second line rail, finely adjusting the X-direction dimension of the other base to enable the first line rail and the second line rail, enabling the distance between the two end surfaces of the first line rail and the end surfaces of the two bases to be 0.05mm (detected by using a feeler gauge, wherein a large ball retainer series is adopted for line rail sliding blocks) to absorb angle and position errors, and locking the rest line rails.

The method comprises the steps of firstly fastening a rack with a rack connecting side on one base by using a reverse tooth gauge, pre-tightening, fastening the rack with a rack connecting side on the other base by using the reverse tooth gauge, finely adjusting the X direction of the rack on the other base to be completely meshed and pre-tightened, marking the running parallelism of the rack in a 300mm area at the joint of the two bases and the YZ direction of a first line rail at the adjustment side by taking the line rail at the rack side as a reference, finely adjusting the other base to 400 mm/+/-0.04 mm, repeatedly fine-adjusting the XY direction position of the other base with deviation, suspending the first line rail in the middle of the joint, and suspending the second line rail by 10mm for absorbing the position deviation of the two frames.

The points to be described are: first, in the description of the present utility model, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed.

Secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures may refer to the general design, so that the same embodiment and different embodiments of the present disclosure may be combined with each other without conflict.

Finally, the above description is only a preferred embodiment of the present utility model, and the scope of the present utility model is not limited to the above examples, but all technical solutions belonging to the concept of the present utility model are within the scope of the present utility model.

It should be noted that modifications and adaptations to the present utility model may occur to one skilled in the art without departing from the principles of the present utility model and are intended to be within the scope of the present utility model.

Claims (8)

1. The seventh axis of robot moves and carries mechanism, including a plurality of side by side setting and communicating frame, its characterized in that: the device also comprises a first component and a second component, wherein the second component is installed under the first component; the first assembly comprises a plurality of bases and a plurality of first wire rails, the bases are arranged at the top in the rack, each base is connected end to end, each base is provided with a first wire rail, the first wire rails of two adjacent bases are arranged in an aligned mode, racks parallel to the first wire rails are arranged under each base, and the two adjacent racks are connected end to end; the second assembly comprises a transfer plate, a driving part and a six-axis robot are mounted on the transfer plate, the transfer plate is mounted on the first wire rail through a wire rail sliding block, and the driving part is connected with a gear and is matched with the rack to drive the transfer plate to move in the racks along the first wire rail.

2. The seventh axis transfer mechanism of a robot of claim 1, wherein: the base is also provided with a second wire rail parallel to the first wire rail, and the rack is arranged between the first wire rail and the second wire rail; the driving part comprises a servo motor, an output shaft of the servo motor is connected with a planetary reducer, and the gear is arranged on the output shaft of the planetary reducer.

3. The seventh axis transfer mechanism of a robot of claim 2, wherein: the planetary reducer is fixed on the transfer plate through a reducer mounting plate.

4. The seventh axis transfer mechanism of a robot of claim 1, wherein: a plurality of regulating blocks are respectively arranged on two sides of the base, the base is hung in the frame through the regulating blocks, and the regulating blocks are used for regulating the mounting positions of the base, so that two adjacent bases can be aligned and spliced together in the frame.

5. The seventh axis transfer mechanism of a robot of claim 1, wherein: the side face of the base is provided with a limit guide rail, a plurality of groove-shaped switches are equidistantly arranged on the limit guide rail, the side face of the same side of the limit guide rail, which is provided with the transfer plate and the base, is provided with an induction piece, and the induction piece passes through the groove-shaped switches in the moving process and is used for determining the position of the transfer plate.

6. The seventh axis transfer mechanism of a robot of claim 1, wherein: one side of carrying the board is connected with one end of the tow chain, a plurality of tow chain supports and roller supporting seats are equidistantly arranged on the top of the frame and close to one side of carrying the board and connected with the tow chain, a tow chain supporting roller is arranged on the roller supporting seat, a tow chain plate is arranged on the tow chain support, the tow chain is arranged on the tow chain plate, and the tow chain is supported by the tow chain board and the tow chain supporting roller when the tow chain moves under the pulling of the carrying board.

7. The seventh axis transfer mechanism of a robot of claim 1, wherein: the head of the base at the front end is provided with a limiting seat, the tail of the base at the tail end is provided with a limiting seat, and the transfer plate moves between the two limiting seats along the first linear rail.

8. The seventh axis transfer mechanism of claim 7, wherein: and the surfaces of the two limiting seats facing each other are provided with anti-collision blocks.