JP6603926B1 - Robot servo drive - Google Patents

Abstract

The present invention discloses a robot servo drive device. A support block includes a machine tool and a first guide groove installed on an end surface of a top portion of the machine tool, and a support block extending vertically in the first guide groove is slidably engaged and connected. A first adjusting screw lever extending in the left-right direction is engaged and connected with a screw, a first electric motor is connected to the left end of the first adjusting screw lever by power, and an outer surface of the first electric motor is connected to the first guide groove Is inserted into the inner wall of the left end of the support block and is fixedly connected, a second guide groove facing right is installed on the right end face of the support block, and the first guide block slides and engages in the second guide groove A second adjustment screw lever that is connected and extends up and down to the first guide block with a screw, and a first servo electric machine is connected to the bottom of the second adjustment screw lever by power; Concrete is simple, operation is convenient, machining precision, process are also well organized, practical performance is also high. [Selection] Figure 1

Description

The present invention relates to the field of servo drive technology, and specifically to a robot servo drive device.

With the development of technology and social progress, the nation has also promoted the development of high-tech. There are relatively difficult technical issues in the servo drive technology field. Because the development of servo drive is at a very low level, general equipment adopts servo drive to achieve qualitative operation, but complete implementation is not performed for robot servo drive. Among them, a servo-driven polishing operation device in a general production line has a processing position limit, a processing angle is limited, and a processing effect and efficiency become a problem, and this apparatus is effective. Can solve the above problems.

Chinese Patent Application No. 103001151

An object of the present invention is to provide a robot servo drive apparatus for solving the problems submitted to the background art described above.

The present invention is realized by the following technical plan: The robot servo drive device of the present invention includes a machine tool and a first guide groove installed on an end surface of the top of the machine tool, and the first guide groove is vertically moved in the first guide groove. The support block extending to the left is slid and engaged and connected, and the first adjustment screw lever extending to the left and right of the support block is engaged and connected with a screw, so that the first motor can be transmitted to the left end of the first adjustment screw lever. connected manner, the outer surface of the first electric motor is connected to the fitting and installed by and fixed to the left end of the inner wall of the first guide groove, second guide groove of the right is installed in the right end edge of the support block The first guide block is slidably engaged in the second guide groove, and a second adjustment thread lever extending vertically is engaged with the first guide block by a screw, Two adjusting first servo electric in the bottom of the thread lever connected to allow transmission, the outer surface of the first servo electric machine is connected to and fixed to be installed is fitted into the inner wall of the bottom portion of the second guide groove, A second servo electric machine is fitted and installed in the right end inner wall of the first guide block , connected to the right terminal end of the second servo electric machine so that the first robot arm can be transmitted , and the right end end surface of the bottom of the first robot arm The first servo hydraulic thruster is fitted and installed , connected to the right terminal end of the first servo hydraulic thruster so that the second robot arm can be transmitted , and extended to the left and right at the top end of the second robot arm. A robot arm is connected by a hinge, a processing head is fixedly connected to the right end of the third robot arm, a cylindrical housing is installed on the processing head, and the processing head is connected. A first empty casing penetrating the cylindrical casing is installed, and a third guide groove at the top of the cylindrical casing is installed at the right end of the first empty casing, and the third guide groove A transitional groove is installed between the bottom inner wall and the upper inner wall of the cylindrical casing, a vertically symmetric fourth guide groove is installed at the right end of the cylindrical casing, and a fourth guide groove is installed in the left end inner wall of the cylindrical casing. Three servo electric machines are inserted and installed, and the right end of the third servo electric machine is connected so as to be able to transmit a disk that rotates and engages with the cylindrical housing, and the convex part is fixed to the right end face of the disk. A machining drilling machine main shaft that is connected and passes through the fourth guide groove at the top of the cylindrical housing on the right end inner wall, and the left end of the machining drilling machine spindle is inserted into the cylindrical housing and the convex portion And press-fit engagement, and the second drill A first compression spring located at the right end of the second guide block in the fourth guide groove, and the second guide block is slidably engaged with the fourth guide groove. Is installed on the main spindle of the machining drilling machine, and a vertically symmetric slide groove in the cylindrical housing is installed, and a first gear is slidably engaged with and connected to the slide groove. A circumscribed circle passes through the transition groove and is inserted into the third guide groove, and a sprocket mechanism is installed on the left and right inner walls of the transition groove so as to roll and engage with the left and right end surfaces of the first gear. A press lever penetrating through the fourth guide groove at the bottom on the right inner wall of the body is installed, and the left end of the press lever is inserted into the cylindrical housing and slid and engaged with the right end surface of the disk; The third A third guide block is slid into and engaged in the groove, and a second electric motor is fitted and installed on the right end surface of the third guide block, and meshed with the first gear at the right terminal end of the second motor. The second gear is connected so as to be able to transmit , and a support lever inserted into the first empty housing is fixedly connected to the right end of the third guide block, and the catch reduction is applied to the inner wall of the top of the third guide groove. A mechanism is installed, and a vertically symmetric support block that is fixedly connected to the disk is installed in the first empty housing.

Preferentially, a fixed clamp shelf that is fixedly connected to the left and right inner walls of the transition groove is installed symmetrically with the sprocket mechanism, and a first rotating shaft extending vertically to the fixed clamp shelf is rotated and engaged and connected, A trolley wheel that rolls and engages with the left and right end faces of the first gear is installed on the first rotating shaft, whereby the first gear can rotate stably, which is convenient for continuous operation of the apparatus.

Preferentially, the catch reduction mechanism includes a fifth guide groove installed in communication with the top inner wall of the third guide groove, and a fourth guide block is slidably engaged and connected in the fifth guide groove. The bottom end face of the fourth guide block is fixedly connected to the top end face of the third guide block, and the second compression spring at the right end of the fourth guide block is pressed into the fifth guide groove. Installed, this will automatically switch off the power plant to achieve intermittent operation.

Preferentially, a groove at the right end of the first guide groove is installed on the top end surface of the machine tool, and a second rotating shaft extending in the front-rear direction and extending in the left-right direction is rotated and engaged in the first guide groove. Connected to the left terminal end of the second rotating shaft so that a fourth servo electric machine can transmit , the fourth servo electric machine is fitted and installed in the inner wall of the left end of the groove, and is fixedly connected, A roller is installed on the rotating shaft, and a transport belt is connected between the two rollers so that the transport belt can be transmitted , and a firmware platform is frictionally engaged with the transport belt, thereby qualifying the transport of machined parts Give convenience to.

Preferentially, a control system at the right end of the groove is installed in the machine tool, and the control system is electrically connected to all the power equipment, thereby realizing automatic control and the convenience and accuracy of the device. Provides convenience for the realization of positioning.

The beneficial effects of the present invention are:

When in the initial state, the support block is at the leftmost end of the first guide groove, the first guide block is at the topmost part of the second guide groove, and the first robot arm is lowered in the vertical state. The second robot arm is closest to the first robot arm and vertically upward, the third robot arm extends left and right, and the convex portion is the center of the disk. At this time, the support block at the top is pressed and connected to the support lever, the third guide block is at the right end of the third guide groove, and the second gear is connected to the first gear. Engaged and connected, the working drilling machine spindle extends from the working head, thereby providing convenience for equipment maintenance and transport and lowering the occupied space.

In operation, when machining a machining part, the machining part is placed on the firmware stage, and then the fourth servo electric is activated to move the firmware stage on which the machining part is placed by the roller and the transport belt qualitatively, and at the same time, One motor and the first servo motor are started again to adjust the operating position of the entire device, providing convenience to cover the machining parts in the maximum range, realizing complete machining for all courses, and finally, The two servo motors and the first servo hydraulic thruster are activated, and the machining position is finely adjusted by the action of the first robot arm, the second robot arm, and the third robot arm, and the machining head is moved to the machining component. At this time, the third servo electric machine and the second electric motor are started, and the disk and the support block are rotated by the third servo electric machine. When the convex portion is periodically pressed by the disk to press the processing drilling machine spindle and the press lever, and the convex part is at the top of the center line of the disk, the processing drilling machine spindle is pressed from the processing head. Roll out, simultaneously the support block thrusts the third guide block to move to the right, the second gear meshes with the first gear, the second electric motor rotates the working drilling machine spindle, The machined part can be machined with a scheduled trajectory intermittently, and when the convex part is at the bottom of the center line of the disk, the press lever is pushed out, thereby realizing further communication with the machining part, It is possible to prevent the influence of the debris on the processing effect, increase the processing use efficiency of the apparatus, and the processing effect is also desirable.

The present invention is simple in structure, convenient to operate, realizes rough adjustment of machining position by ordinary drive mechanism, saves adjustment time, saves time and manpower effectively, and machine parts by servo drive mechanism The finer adjustments are made, the processing effect of the equipment is enhanced, the processing is precise, the process is well organized, and the practical performance is also high.

For ease of explanation, the present invention will be described in detail with reference to the following specific embodiments and accompanying drawings.

FIG. 1 is a schematic diagram of the entire internal structure of a robot servo drive apparatus according to the present invention. FIG. 2 is a structural schematic diagram of A in FIG.

As shown in FIGS. 1 and 2, the robot servo drive device of the present invention includes a machine tool 100 and a first guide groove 139 installed on an end surface of the top of the machine tool 100. The support block 106 extending vertically is slid and engaged, and the first adjustment screw lever 138 extending to the left and right of the support block 106 is engaged and connected by a screw. The left end of the first adjustment screw lever 138 The first electric motor 101 is connected so as to be able to transmit , and the outer surface of the first electric motor 101 is fitted into the inner wall at the left end of the first guide groove 139 and fixedly connected, and the right end of the support block 106 A second guide groove 103 facing right is installed on the end surface, and a first guide block 105 is slidably engaged with and connected to the second guide groove 103. The second adjustment thread extends vertically to the first guide block 105. Lever 104 is screw Is engaging contact, the first servo electric 102 at the bottom of the second adjusting thread lever 104 is connected to allow transmission, to the inner wall of the bottom of the first servo electric external surface of 102 the second guide groove 103 The second servo electric machine 107 is fitted and installed on the right inner wall of the first guide block 105, and the first robot arm 108 can be transmitted to the right terminal end of the second servo electric machine 107. connected manner, the first robot first servo pressure displacing device 109 to the right end edge of the bottom portion of the arm 108 is installed fitted, the second robot arm 110 at the right end terminus of said first servo hydraulic displacing device 109 can be transmission A third robot arm 113 extending left and right is connected to the top end of the second robot arm 110 by a hinge, and a machining head 115 is fixedly connected to the right terminal end of the third robot arm 113. A cylindrical casing 111 is installed in the processing head 115, a first empty casing 130 penetrating the cylindrical casing 111 is installed in the processing head 115, and the cylindrical casing is disposed at the right end of the first empty casing 130. The third guide groove 117 at the top of the body 111 is installed to be connected, and the transition groove 125 is installed between the bottom inner wall of the third guide groove 117 and the upper inner wall of the cylindrical casing 111 , and A vertically symmetric fourth guide groove 125 is installed at the right end of the cylindrical casing 111, and a third servo electric machine 112 is fitted and installed on the inner wall of the left end of the cylindrical casing 111. A circular disk 114 that is rotated and engaged with the cylindrical casing 111 is connected so as to be able to transmit , and a convex portion 141 is fixedly connected to the right end face of the circular disk 114, and the top part of the cylindrical casing 111 is connected to the right end inner wall. A machining drilling machine spindle 126 penetrating the fourth guide groove 125 is installed to penetrate the machining drilling machine spindle 1 The left end of 26 is inserted into the cylindrical casing 111 and pressed and engaged with the convex portion 141, and the second guide block 128 is rotated and engaged with the working drilling machine spindle 126, and the second guide The block 128 is slidably engaged with the fourth guide groove 125, and the first compression spring 127 at the right end of the second guide block 128 is pressed and installed in the fourth guide groove 125. The drilling machine spindle 126 is provided with a vertically symmetrical slide groove 143 in the cylindrical casing 111, and a first gear 142 is slidably engaged with the slide groove 143, and the maximum circumscribed circle of the first gear 142 is A sprocket mechanism that is inserted into the third guide groove 117 through the transition groove 124 and is rolled and engaged with the left and right end surfaces of the first gear 142 is installed on the left and right inner walls of the transition groove 124. The fourth guide groove 12 at the bottom on the right inner wall of the casing 111 A press lever 147 penetrating 5 is installed, and the left end of the press lever 147 is inserted into the cylindrical casing 111 and slidably engaged with the right end surface of the disk 114, and the third guide groove 117 The third guide block 121 is slid and engaged, and the second electric motor 122 is fitted and installed on the right end face of the third guide block 121, and the first gear 142 and the right terminal end of the second electric motor 122 are installed. The second gear 123 engaged and connected is connected so as to be able to transmit , and a support lever 116 inserted into the first empty housing 130 is fixedly connected to the right end of the third guide block 121, and the third guide groove 117 A catch reduction mechanism is installed on the inner wall of the top of the first support housing 129, and a support block 129 that is fixedly connected to the disk 114 and symmetrical in the vertical direction is installed in the first empty housing 130.

Beneficially, a fixed clamp shelf 144 in which the sprocket mechanism is fixedly connected to the left and right inner walls of the transition groove 124 is installed symmetrically, and a first rotating shaft 146 extending vertically on the fixed clamp shelf 144 rotates and engages. The trolley wheel 145 is installed on the first rotating shaft 146 to be engaged with the left and right end surfaces of the first gear 142, thereby allowing the first gear to rotate stably, and the continuous rotation of the device. Provides convenient operation.

Beneficially, the catch reduction mechanism includes a fifth guide groove 118 installed in communication with a top inner wall of the third guide groove 117, and the fourth guide block 119 slides into the fifth guide groove 118. The bottom end face of the fourth guide block 119 is fixedly connected to the top end face of the third guide block 121 and is in the fifth guide groove 118 at the right end of the fourth guide block 119. The second compression spring 120 is installed under pressure, thereby automatically switching off the power plant to achieve intermittent operation.

Beneficially, a groove 136 at the right end of the first guide groove 139 is installed on the top end surface of the machine tool 100, and the second rotating shaft 132 that extends symmetrically in the first guide groove 139 and extends laterally. Is rotated and engaged and connected to the left terminal end of the second rotating shaft 132 so that the fourth servo electric machine 137 can be transmitted , and the fourth servo electric machine 137 is fitted and installed in the left end inner wall of the groove 136. The roller 135 is installed on the second rotating shaft 132, and the transport belt 134 is connected between the two rollers 135 so as to be able to transmit. The firmware table 131 is frictionally engaged with the transport belt 134. Are connected together, which provides convenience in qualitatively transporting machined parts.

Beneficially, a control system at the right end of the groove 136 is installed in the machine tool 100, and the control system is electrically connected to all power equipment, thereby realizing automatic control and the convenience of the device. Convenient for the realization of accurate positioning.

When in the initial state, the support block 106 is at the leftmost end of the first guide groove 139, the first guide block 105 is at the top of the second guide groove 103, and the first robot arm 108 is In the vertical state, the second robot arm 110 is closest to the first robot arm 108 and is in the vertical direction upward, and the third robot arm 113 is in a state of extending left and right, The convex portion 141 is at the top of the center line of the disk 114. At this time, the support block 129 at the top is pressed and connected to the support lever 116, and the third guide block 121 is connected to the third guide groove 117. At the right end, the second gear 123 meshes with the first gear 142, and the machining drilling machine spindle 126 extends from the machining head 115.

When operating, when machining the workpiece, place the workpiece on the firmware stand 131, and then activate the fourth servo electric 137 to move the firmware stand 131 on which the workpiece is placed by the roller 135 and the transport belt 134 qualitatively At the same time, the first electric motor 101 and the first servo electric machine 102 are started again to adjust the operating position of the entire device, giving the convenience of covering the machining parts in the maximum range, and realizing the complete machining on the entire course Finally, the second servo electric machine 107 and the first servo hydraulic thruster 109 are activated, and the machining position is changed by the action of the first robot arm 108, the second robot arm 110, and the third robot arm 113. Fine adjustment is performed to align the machining head 115 with the machining component. At this time, the third servo electric machine 112 and the second electric motor 122 are activated, and the third servo electric machine 112 The disc 114 and the support block 129 are rotated, and the convex portion 141 periodically presses the working drill disc main shaft 126 and the press lever 147 by the disc 114, and the convex portion 141 is the top of the center line of the disc 114. The processing drilling machine spindle 126 is pressed and rolled out from the processing head 115, and at the same time, the support block 129 thrusts the third guide block 121 to move to the right, and the second gear 123 moves to the right. Engage with the first gear 142, rotate the machining drilling machine spindle 126 by the second electric motor 122, thereby machining the machined part with a scheduled trajectory intermittently, the convex portion 141 is the center line of the disk 114 When the press lever 147 is pushed out, the press lever 147 is pushed out, thereby further communicating with the processing site, and the influence on the processing effect by debris can be prevented.

What has been described above is merely a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Changes and replacements that are conceived not through all creative labor are covered by the protection scope of the present invention. Therefore, the protection scope of the present invention is based on the protection scope in which the rights request is limited.

Claims (1)

A robot servo drive includes a first guide groove that is disposed on the end face of the top of the machine tool and the machine tool, the support block extending vertically within said first guide groove is slid by engaging contact, The first adjustment screw lever that extends to the left and right of the support block part is engaged and connected with a screw, and is connected to the left terminal end of the first adjustment screw lever so that the first electric motor can be transmitted , and the outer surface of the first electric motor Is inserted into the inner wall of the left end of the first guide groove and is fixedly connected, and a second guide groove facing right is installed on the right end face of the support block, and the first guide is in the second guide groove. The block slides and engages, and the second adjustment screw lever that extends vertically to the first guide block is engaged with the screw, and the first servo is attached to the bottom of the second adjustment screw lever. Machine is connected to allow transmission, the outer surface of the first servo electric machine is connected to the fitting and installed by and fixed to the inner wall of the bottom portion of the second guide groove, the second to the right end inner wall of the first guide block Servo electric machine is inserted and installed, the first robot arm is connected to the right end of the second servo electric machine so that it can be transmitted , and the first servo hydraulic thruster is inserted and installed on the right end face of the bottom of the first robot arm A second robot arm is connected to the right terminal end of the first servo hydraulic thruster so that the second robot arm can be transmitted , and a third robot arm extending left and right is connected to the top end of the second robot arm by a hinge, A machining head is fixedly connected to the right terminal end of the third robot arm, a cylindrical housing is installed in the machining head, and a first empty housing that penetrates the cylindrical housing in the machining head Are installed, the third guide groove in the top of the cylinder housing to the right end of the first free housing is provided through a phase, between the third guide groove bottom inner wall the upper inner wall of the cylindrical housing of Is provided with a transition groove, a fourth guide groove that is vertically symmetric is installed at the right end of the cylindrical casing, and a third servo electric machine is fitted into the left inner wall of the cylindrical casing. Is connected to the right end of the disk so that it can rotate and engage with the cylindrical housing, a convex portion is fixedly connected to the right end surface of the disc, and the top of the top of the right end inner wall of the cylindrical housing is A machining drilling machine spindle that penetrates the fourth guide groove is installed to penetrate, and a left end of the machining drilling machine spindle is inserted into the cylindrical housing and is pressed and engaged with the convex portion, and is connected to the machining drilling machine spindle. The two guide blocks are rotated and engaged and connected, A second guide block is slidably engaged with the fourth guide groove, and a first compression spring at the right end of the second guide block is installed in the fourth guide groove by being pressed, and the processing drilling machine spindle A vertically symmetrical slide groove in the cylindrical housing is installed, and a first gear slides into and engages with the slide groove, and a maximum circumscribed circle of the first gear penetrates the transition groove and A sprocket mechanism that is inserted into the third guide groove and is rolled and engaged with the left and right end surfaces of the first gear on the left and right inner walls of the transition groove, and the fourth guide at the bottom on the right end inner wall of the cylindrical housing A press lever penetrating the groove is installed, and the left end of the press lever is inserted into the cylindrical housing and slidably engaged with the right end surface of the disk to be connected to the third guide groove. Block is sly And is engaging contact, the third guide second electric motor on the right end edge of the block is installed fitted, connected to the second electric motor a second gear coupled the first gear and meshed with the right end terminus of possible transmission A support lever inserted into the first empty housing is fixedly connected to the right end of the third guide block, and a catch reduction mechanism is installed on the inner wall of the top of the third guide groove, and the first empty housing A support block that is fixedly connected to the disk and is vertically symmetrical is installed in the disk, and a fixed clamp shelf in which the sprocket mechanism is fixedly connected to the left and right inner walls of the transition groove is symmetrically installed. The first rotating shaft extending vertically is rotated and engaged, and a trolley wheel is installed on the first rotating shaft to be engaged with the left and right end surfaces of the first gear. Sanga A fifth guide groove that is installed in communication with the top inner wall of the groove, and a fourth guide block slides into and engages with the fifth guide groove, and an end surface of the bottom of the fourth guide block A third compression block fixedly connected to the top end face of the three guide blocks, and a second compression spring located at the right end of the fourth guide block is pressed into the fifth guide groove, and the first end face of the machine tool is A groove at the right end of the guide groove is installed, and a second rotation shaft that is symmetrical in the longitudinal direction and extends to the left and right is rotated and engaged in the first guide groove, and a fourth servo is connected to the left terminal end of the second rotation shaft. electric is connected to allow transmission, the fourth servo electrical machine is connected to and fixed to be fitted is placed to the left end inner wall of the groove, the rollers are installed on the second rotating shaft, between two of said rollers So that the transport belt can be transmitted Connected to, the firmware platform transport belt is engaged connected frictionally, the control system on the right end of the groove in the machine tool is installed, said control system is connected with all of the power facilities and electric A featured robot servo drive .

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