A seven-axis mechanism for robot sliding and robot

Abstract

The present invention discloses a seven-axis mechanism for robot sliding, characterized in that it includes a base having multiple seat plates, a seat frame is arranged on the seat plate, a rack is arranged on the lower side of the seat frame, and a guide rail assembly is arranged on the upper side of the seat frame, the guide rail assembly includes a first guide rail located on one side of the seat frame and a second guide rail located on the other side of the seat frame; a first slider assembly is arranged on one side of the slide, and a second slider assembly is arranged on the other side, the first slider assembly cooperates with the first guide rail, and the second slider assembly cooperates with the second guide rail; a vertical shaft driven by a power device is arranged on the slide, a driving gear is arranged at the bottom of the vertical shaft, and the driving gear and the rack are meshed. The present invention also discloses a robot. The present invention enables a six-axis robot to slide laterally through a slide, and can clamp a workpiece and move from one workstation to another in conjunction with a clamping component, making it easy to use and highly efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot sliding seven-axis mechanism and the robot. Background Art

[0002] A robot is required to move a part (the front floor assembly of an automobile) from one workstation (the first) to another (the second) for machining. However, a six-axis robot (the six-axis component) does not have the ability to move laterally. Therefore, a seven-axis mechanism was designed to enable the six-axis robot to slide (move) laterally. Summary of the Invention

[0003] The object of the present invention is to provide a seven-axis mechanism for robot sliding, so that a six-axis robot can slide laterally.

[0004] To achieve the above-mentioned object, the present invention adopts the following technical solution: a seven-axis sliding mechanism for a robot, characterized in that it includes a base having a plurality of seat plates, a seat frame disposed on the seat plates, a rack disposed on the lower side of the seat frame, and a guide rail assembly disposed on the upper side of the seat frame, the guide rail assembly including a first guide rail located on one side of the seat frame and a second guide rail located on the other side of the seat frame;

[0005] A first slider assembly is provided on one side of the slide, and a second slider assembly is provided on the other side. The first slider assembly cooperates with the first guide rail, and the second slider assembly cooperates with the second guide rail. A vertical shaft driven by a power device is provided on the slide, and a driving gear is provided at the bottom of the vertical shaft, and the driving gear is engaged with the rack.

[0006] Further: a rack mounting seat strip is provided on the lower inner side of the seat frame, a notch is provided on one side of the rack mounting seat strip, a rack is installed at the notch, and an L-shaped protective plate is provided on the rack mounting seat strip near the rack.

[0007] On the other hand, a robot includes a six-axis component and a seven-axis sliding mechanism of the robot as described above; the six-axis component is arranged on a slide, and a clamping assembly is provided at the end of the six-axis component, the clamping assembly has a back plate, an I-beam frame is provided on the back plate, a first back top assembly is provided on one side of the I-beam frame, and a second back top assembly is provided on the other side, and a clamping body is provided on the I-beam frame.

[0008] Further: the first back support assembly has a first supporting portion fixing block, the first supporting portion fixing block is connected to the first supporting connecting plate, the first supporting connecting plate is provided with a first supporting U-shaped block, and the first supporting U-shaped block is provided with a first elastic supporting portion.

[0009] The second back supporting assembly has a second supporting portion fixing block, the second supporting portion fixing block is connected to the second supporting connecting plate, the second supporting connecting plate is provided with a second supporting U-shaped block, and the second supporting U-shaped block is provided with a second elastic supporting portion.

[0010] Further: the first elastic supporting part includes a first L-shaped plate, a first spherical part is arranged in the middle of the first clamping body composed of two first semicircular clamping blocks, a first vertical rod with an external thread passes through the first spherical part and is connected to the first elastic body, and first nuts for fixing the first vertical rod are respectively arranged on both sides of the first spherical part, and the first clamping body is connected to the first L-shaped plate through two first screws.

[0011] The second elastic supporting part includes a second L-shaped plate, and a second spherical part is arranged in the middle of the second clamping body composed of two second semicircular clamping blocks. The second vertical rod with external thread passes through the second spherical part and is connected to the second elastic body. Second nuts for fixing the second vertical rod are respectively arranged on both sides of the second spherical part, and the second clamping body is connected by two second screws and the second L-shaped plate.

[0012] Further: the clamping assembly has a first clamping mechanism, a second clamping mechanism, a third clamping mechanism, a fourth clamping mechanism, a fifth clamping mechanism and a sixth clamping mechanism; wherein,

[0013] The first clamping mechanism comprises a first clamping seat, a first back clamping head is provided on the first clamping seat, a first flip arm driven by a first flip mechanism is provided on the first clamping seat, a first front clamping head is provided on the first flip arm, and the first back clamping head cooperates with the first front clamping head;

[0014] The second clamping mechanism comprises a second clamping seat, a second back clamping head is provided on the second clamping seat, a second flip arm driven by a second flip mechanism is provided on the second clamping seat, a second front clamping head is provided on the second flip arm, and the second back clamping head cooperates with the second front clamping head;

[0015] The third clamping mechanism comprises a third clamping seat, a third back clamping head is provided on the third clamping seat, a third flip arm driven by a third flip mechanism is provided on the third clamping seat, a third front clamping head is provided on the third flip arm, and the third back clamping head cooperates with the third front clamping head;

[0016] The fourth clamping mechanism comprises a fourth clamping seat, a fourth back clamping head provided on the fourth clamping seat, a fourth flip arm driven by a fourth flip mechanism provided on the fourth clamping seat, a fourth front clamping head provided on the fourth flip arm, and the fourth back clamping head cooperates with the fourth front clamping head;

[0017] The fifth clamping mechanism comprises a fifth clamping seat, a fifth back clamping head provided on the fifth clamping seat, a fifth flip arm driven by a fifth flip mechanism provided on the fifth clamping seat, a fifth front clamping head provided on the fifth flip arm, and the fifth back clamping head cooperates with the fifth front clamping head;

[0018] The sixth clamping mechanism comprises a sixth clamping seat, a sixth back clamping head arranged on the sixth clamping seat, a sixth flipping arm driven by a sixth flipping mechanism arranged on the sixth clamping seat, a sixth front clamping head arranged on the sixth flipping arm, and the sixth back clamping head cooperates with the sixth front clamping head.

[0019] Further: the six-axis components are connected to the back plate through a connector, the connector has a hollow bending portion, a hollow structure is set on the side wall of the hollow bending portion, a six-axis component connecting plate is set at one end of the hollow bending portion, and a clamping assembly connecting plate is set at the other end.

[0020] Further: a plurality of rack mounting holes (1-3a) are provided on the rack, and bolts for fixing the rack are arranged at the rack mounting holes;

[0021] The L-shaped protective plate is provided with a plurality of protective plate mounting holes, each of which is provided with an internal thread, and a countersunk hole is provided at the upper end of the protective plate mounting hole;

[0022] The attachment rod component is arranged at the protective plate mounting hole. The attachment rod component has an attachment rod with an external thread. A circular top head is set on the top of the attachment rod, a circular bottom head is set on the bottom, and a polygonal operating port is set in the center of the top of the circular top head. The attachment rod and the protective plate mounting hole are threadedly connected, and the top of the circular top head is flush with the top of the L-shaped protective plate, and the circular bottom head is pressed against the entrance of the rack mounting hole.

[0023] Further: an inner extension plate structure is arranged circumferentially on the inner side of the top of the base; an extension plate structure is arranged on one side of the top of the base, a U-shaped support frame is arranged at the bottom of the extension plate structure, and the U-shaped support frame is fixedly connected to the base; there are four seat plates, and pads are respectively arranged at both ends of the upper part of each seat plate, and limit blocks are arranged on the pads, and multiple rectangular holes are arranged circumferentially on the upper part of the seat plate.

[0024] Furthermore, the rack mounting seat is provided with a rack positioning and stopping structure, and the rack positioning and stopping structure includes a stopping column located at the end of the rack, a stopping column hole matched with the stopping column is provided on the groove wall of the notch, the cross section of the stopping column is T-shaped, a wedge block movement channel (for example, a square hole) is provided on the lower groove wall of the notch and is located below the stopping column hole, a wedge block matched with the stopping column is provided in the wedge block movement channel, one end of the wedge block is connected to a reset spring, and a pushing screw is provided on the end of the lower groove wall of the notch and can be screwed into the wedge block movement channel and push the wedge block to move;

[0025] The wedge block movement channel is equipped with a release mechanism, and the lower surface of the wedge block movement channel is provided with a circular step-shaped recess and a cylindrical channel connected to the circular step-shaped recess and extending to the lower surface of the rack mounting seat strip, the circular step-shaped recess is provided with a circular head, and the cylindrical channel is equipped with a cylindrical body connected to the circular head, the circular head is radially provided with a horizontal through hole, and the cylindrical body is provided with a vertical through hole connected to the horizontal through hole, and the side wall of the cylindrical channel is provided with an annular inner groove, the annular inner groove is provided with a straight-line side ear that is an integral structure with the cylindrical body, and the annular inner groove is provided with a closing spring connected to the straight-line side ear and keeps the release mechanism in a closed state.

[0026] Compared with the existing technology, the present invention has the following beneficial effects: the present invention enables the six-axis robot to slide laterally through the slide seat, and cooperates with the clamping components to stably and reliably clamp the workpiece and move it from one workstation (first workstation) to another (second workstation). It is easy to use and has high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a three-dimensional diagram of the seven-axis mechanism of a robot in the first direction.

[0028] Figure 2 This is a stereoscopic diagram of the seven-axis mechanism of a robot from the second direction.

[0029] Figure 3 This is a three-dimensional diagram of the seven-axis mechanism of a robot from the third direction.

[0030] Figure 4 This is the structural diagram of the rack mounting seat.

[0031] Figure 5 This is the first directional stereoscopic view of the clamping component.

[0032] Figure 6 This is a second perspective view of the clamping component.

[0033] Figure 7 This is a structural diagram of the first back top component.

[0034] Figure 8 This is a structural diagram of the second back top component.

[0035] Figure 9 This is a three-dimensional view of the first clamping mechanism in the first direction.

[0036] Figure 10 This is a second perspective view of the first clamping mechanism.

[0037] Figure 11 This is a three-dimensional view of the second clamping mechanism from the first direction.

[0038] Figure 12 This is a second perspective view of the second clamping mechanism.

[0039] Figure 13 This is a three-dimensional view of the third clamping mechanism from the first direction.

[0040] Figure 14 This is a second perspective view of the third clamping mechanism.

[0041] Figure 15 This is a three-dimensional view of the fourth clamping mechanism from the first direction.

[0042] Figure 16 This is a second perspective view of the fourth clamping mechanism.

[0043] Figure 17 This is a three-dimensional view of the fifth clamping mechanism from the first direction.

[0044] Figure 18 This is a second perspective view of the fifth clamping mechanism.

[0045] Figure 19 This is a three-dimensional view of the sixth clamping mechanism from the first direction.

[0046] Figure 20 This is a second perspective view of the sixth clamping mechanism.

[0047] Figure 21 This is a three-dimensional view of the third clamping mechanism from the third direction.

[0048] Figure 22 This is a three-dimensional view of the sixth clamping mechanism from the third direction.

[0049] Figure 23 This is a three-dimensional view of the clamping component from the third direction.

[0050] Figure 24 This is a three-dimensional diagram of a robot's seven-axis mechanism from the fourth direction, with some structures omitted.

[0051] Figure 25 This is the structural diagram of the attached rod component.

[0052] Figure 26 This is a partial enlarged view of the rack positioning stop structure.

[0053] Figure 27 A partial cross-sectional view of the rack positioning stop structure.

[0054] Figure 28 It is a cross-sectional view of a rack positioning and stopping structure in another embodiment.

[0055] Figure 29 for Figure 28Partial cross-sectional view of the release mechanism of the middle wedge motion channel. DETAILED DESCRIPTION

[0056] Example 1: See Figures 1 to 4 A seven-axis sliding mechanism for a robot includes a base 1 having multiple seat plates 1-1, a seat frame 1-2 is arranged on the seat plate 1-1, a rack 1-3 is arranged on the lower side of the seat frame 1-2, and a guide rail assembly is arranged on the upper side of the seat frame 1-2. The guide rail assembly includes a first guide rail 1-4-1 located on one side of the seat frame and a second guide rail 1-4-2 located on the other side of the seat frame.

[0057] A first slider assembly 1-5-1 (three sliders) is provided on one side of the slide 1-5, and a second slider assembly 1-5-2 (three sliders) is provided on the other side. The first slider assembly 1-5-1 cooperates with the first guide rail 1-4-1, and the second slider assembly 1-5-2 cooperates with the second guide rail 1-4-2. A vertical shaft (rotatable, for which installation methods can refer to existing technologies, such as the vertical shaft being mounted on the slide via bearings) driven by a power unit 1-6 (including but not limited to a motor) is provided on the slide 1-5. A drive gear 1-7 is provided at the bottom of the vertical shaft, which meshes with the rack 1-3. When the power unit is operating, the gear driven by the vertical shaft cooperates with the rack to move the slide on the base.

[0058] In this embodiment, a rack mounting seat strip 1-3-1 is provided on the inner lower side of the seat frame 1-2, a notch 1-3-2 is provided on one side of the rack mounting seat strip 1-3-1, a rack 1-3 is mounted in the notch 1-3-2, and an L-shaped protective plate 1-3-3 is provided on the rack mounting seat strip 1-3-1 near the rack 1-3. This design facilitates the installation and use of the rack.

[0059] The working principle of the robot's sliding seven-axis mechanism: the slide is driven by a power device (including but not limited to a motor) and cooperates with the driving gear and rack to make the slide move (slide) in the lateral direction on the guide rail assembly.

[0060] Example 2: See Figures 1 to 24 A robot includes a six-axis component 2 and a seven-axis sliding mechanism of the robot as described in Example 1. The six-axis component is a six-axis robot, and reference can be made to the prior art, including but not limited to the F280L industrial robot of FANUC Robotics.

[0061] The six-axis component 2 is arranged on the slide 1-5, and a clamping assembly 3 is set at the end of the six-axis component 2. The clamping assembly is used to clamp the front floor assembly of the automobile. The clamping assembly 3 has a back plate 3-1, and an I-shaped frame 3-2 is set on the back plate 3-1. A first back-top assembly is set on one side of the I-shaped frame 3-2, and a second back-top assembly is set on the other side. A clamping body is set on the I-shaped frame 3-2.

[0062] In the embodiment, the first back-supporting assembly S7 (used to support the upper area of the back side of the workpiece) has a first supporting portion fixing block 3-4-1, the first supporting portion fixing block 3-4-1 is connected to the first supporting connecting plate 3-4-2, the first supporting connecting plate 3-4-2 is provided with a first supporting U-shaped block 3-4-3, and the first supporting U-shaped block 3-4-3 is provided with a first elastic supporting portion.

[0063] Specifically, the first elastic supporting portion includes a first L-shaped plate 4-1, a first spherical portion 4-3 is set in the middle of the first clamping body composed of two first semicircular clamping blocks 4-2, a first vertical rod 4-4 with an external thread passes through the first spherical portion 4-3, and is connected to the first elastic body 4-5, and first nuts 4-6 (two in number) for fixing the first vertical rod are respectively set on both sides of the first spherical portion 4-3. Figure 7 For example, they are respectively arranged on the upper and lower sides of the first spherical part, and the first vertical rod is fixed to the first spherical part after being tightened), and the first clamping body is connected to the first spherical part by two first screws 4-7 (two in number, with Figure 7 For example, the front and rear sides of the first clamping body are respectively provided, and the first screw passes through the first clamping body and is connected to the first L-shaped plate) and the first L-shaped plate 4-1.

[0064] The first elastic body is made of rubber or other materials, is elastic, and plays a buffering and protective role. When the workpiece is not clamped, the first elastic body is in an expanded state (natural state); when the workpiece is clamped, the first elastic body is compressed and contracted, and the lower end surface of the first supporting U-shaped block and the lower end surface of the first elastic body are flush, jointly supporting (resisting) the back of the workpiece.

[0065] In the embodiment, the second back supporting assembly S8 (used to support the lower area of the back of the workpiece) has a second supporting portion fixing block 3-6-1, the second supporting portion fixing block 3-6-1 is connected to the second supporting connecting plate 3-6-2, the second supporting connecting plate 3-6-2 is provided with a second supporting U-shaped block 3-6-3, and the second supporting U-shaped block 3-6-3 is provided with a second elastic supporting portion.

[0066] Specifically, the second elastic supporting portion includes a second L-shaped plate 5-1, a second spherical portion 5-3 is set in the middle of the second holding body composed of two second semicircular holding blocks 5-2, a second vertical rod 5-4 with an external thread passes through the second spherical portion 5-3 and is connected to the second elastic body 5-5, and second nuts 5-6 (two in number) for fixing the second vertical rod are respectively set on both sides of the second spherical portion 5-3. Figure 8 For example, they are respectively arranged on the upper and lower sides of the second spherical part, and the second vertical rod is fixed to the second spherical part after being tightened), and the second clamping body is connected to the second spherical part by two second screws 5-7 (two in number, with Figure 8 For example, they are respectively arranged on the front and rear sides of the second clamping body, and the second screw passes through the second clamping body and is connected to the second L-shaped plate) and the second L-shaped plate 5-1.

[0067] The second elastic body is made of rubber or other materials, is elastic, and plays a buffering and protective role. When the workpiece is not clamped, the second elastic body is in an expanded state (natural state); when the workpiece is clamped, the second elastic body is compressed and contracted, and the lower end surface of the second supporting U-shaped block and the lower end surface of the second elastic body are flush, jointly supporting (resisting) the back of the workpiece.

[0068] In the embodiment, the clamping assembly comprises a first clamping mechanism S1, a second clamping mechanism S2, a third clamping mechanism S3, a fourth clamping mechanism S4, a fifth clamping mechanism S5 and a sixth clamping mechanism S6. The six clamping mechanisms are described below.

[0069] The first clamping mechanism has a first clamping seat 6-1-1, a first back clamping head 6-1-2 is arranged on the first clamping seat 6-1-1, a first flipping arm 6-1-4 driven by a first flipping mechanism 6-1-3 (refer to the existing technology, including but not limited to a clamping cylinder or a rotating cylinder) is arranged on the first clamping seat 6-1-1, a first front clamping head 6-1-5 is arranged on the first flipping arm 6-1-4, and the first back clamping head 6-1-2 and the first front clamping head 6-1-5 cooperate with each other.

[0070] The second clamping mechanism has a second clamping seat 6-2-1, a second back clamping head 6-2-2 is arranged on the second clamping seat 6-2-1, a second flipping arm 6-2-4 driven by a second flipping mechanism 6-2-3 (refer to the existing technology, including but not limited to a clamping cylinder or a rotating cylinder) is arranged on the second clamping seat 6-2-1, a second front clamping head 6-2-5 is arranged on the second flipping arm 6-2-4, and the second back clamping head 6-2-2 cooperates with the second front clamping head 6-2-5.

[0071] The third clamping mechanism has a third clamping seat 6-3-1, a third back clamping head 6-3-2 is provided on the third clamping seat 6-3-1, a third flipping arm 6-3-4 driven by a third flipping mechanism 6-3-3 (refer to the prior art, including but not limited to a clamping cylinder or a rotating cylinder) is provided on the third clamping seat 6-3-1, a third front clamping head 6-3-5 is provided on the third flipping arm 6-3-4, and the third back clamping head 6-3-2 cooperates with the third front clamping head 6-3-5. Specifically, the third back clamping head has two third back clamping end faces, and the third front clamping head has two third front clamping end faces. The third back clamping end face on one side cooperates with the third front clamping end face on one side, and the third back clamping end face on the other side cooperates with the third front clamping end face on the other side. This design can stably and reliably clamp the parts (part clamping positions).

[0072] The fourth clamping mechanism has a fourth clamping seat 6-4-1, a fourth back clamping head 6-4-2 arranged on the fourth clamping seat 6-4-1, a fourth flipping arm 6-4-4 driven by a fourth flipping mechanism 6-4-3 (refer to the existing technology, including but not limited to a clamping cylinder or a rotating cylinder) is arranged on the fourth clamping seat 6-4-1, a fourth front clamping head 6-4-5 is arranged on the fourth flipping arm 6-4-4, and the fourth back clamping head 6-4-2 and the fourth front clamping head 6-4-5 cooperate with each other.

[0073] The fifth clamping mechanism has a fifth clamping seat 6-5-1, a fifth back clamping head 6-5-2 arranged on the fifth clamping seat 6-5-1, a fifth flipping arm 6-5-4 driven by a fifth flipping mechanism 6-5-3 (refer to the existing technology, including but not limited to a clamping cylinder or a rotating cylinder) is arranged on the fifth clamping seat 6-5-1, and a fifth front clamping head 6-5-5 is arranged on the fifth flipping arm 6-5-4, and the fifth back clamping head 6-5-2 and the fifth front clamping head 6-5-5 cooperate with each other.

[0074] The sixth clamping mechanism comprises a sixth clamping seat 6-6-1, a sixth back clamping head 6-6-2 provided on the sixth clamping seat 6-6-1, a sixth flipping arm 6-6-4 driven by a sixth flipping mechanism 6-6-3 (refer to the prior art, including but not limited to a clamping cylinder or a rotating cylinder), a sixth front clamping head 6-6-5 provided on the sixth flipping arm 6-6-4, and the sixth back clamping head 6-6-2 cooperates with the sixth front clamping head 6-6-5. Specifically, the sixth back clamping head has two sixth back clamping end faces, and the sixth front clamping head has two sixth front clamping end faces, the sixth back clamping end face on one side cooperates with the sixth front clamping end face on one side, and the sixth back clamping end face on the other side cooperates with the sixth front clamping end face on the other side. This design can stably and reliably clamp parts (part clamping positions).

[0075] In this embodiment, the six-axis component 2 is connected to the back plate 3-1 via a connector. The connector has a hollow curved portion 7-1 with a hollow structure 7-2 on the sidewall of the hollow curved portion 7-1. A six-axis component connecting plate 7-3 is provided at one end of the hollow curved portion 7-1, and a clamping assembly connecting plate 7-4 is provided at the other end. This design facilitates the installation and subsequent use of the six-axis component and the clamping assembly.

[0076] Working principle of the robot: The six-axis robot (six-axis component) works to move the clamping assembly to a station (the first station) to clamp the part (the front floor assembly of the car). The first, second, third, fourth, fifth, and sixth flipping mechanisms are actuated to enable the first back clamping head to cooperate with the first front clamping head for clamping, the second back clamping head to cooperate with the second front clamping head for clamping, the third back clamping head to cooperate with the third front clamping head for clamping, the fourth back clamping head to cooperate with the fourth front clamping head for clamping, the fifth back clamping head to cooperate with the fifth front clamping head for clamping, and the sixth back clamping head to cooperate with the sixth front clamping head for clamping, so that the part (the front floor assembly of the car) is clamped by the clamping assembly (the first back clamping head). The six-axis robot cooperates with the slide (the slide is driven by the power device and moves in the lateral direction through the drive gear and rack) to move to another station (the second station). After it is in place, the six-axis robot places the part (the front floor assembly of the car) clamped by the clamping assembly on the second station. After it is in place, the first, second, third, fourth, fifth and sixth flipping mechanisms in the clamping assembly are reset, and the first front clamping head, the second front clamping head, the third front clamping head, the fourth front clamping head, the fifth front clamping head and the sixth front clamping head are flipped so that the clamping assembly does not clamp the workpiece, completing the placement of the part (the front floor assembly of the car). The six-axis robot then resets, slides to the first station via the slide, and repeats the grabbing and moving operations.

[0077] Example 3: The basic scheme is the same as Example 2, with the difference that an inner extension plate structure 1c (in the shape of a U) is provided on the inner circumference of the top of the base to protect the guide rails, etc., to prevent foreign objects from falling in and affecting normal use, and to improve the compactness of the base. An extension plate structure 1a is provided on one side of the top of the base (the extension plate structure and the rack are located on the same side of the base), and a U-shaped support frame 1b is provided at the bottom of the extension plate structure, and the U-shaped support frame is fixedly connected to the base. The above design facilitates the installation and use of auxiliary structures (including but not limited to drag chains), and at the same time forms an identification to a certain extent, that is, the position of the rack can be quickly determined by the position of the extension plate structure, which facilitates the installation and subsequent maintenance of the rack part.

[0078] The seat frame is unique in that it consists of four panels, each with a backing plate 1-1a at each end, a stopper 1-1b positioned above the backing plate, and multiple rectangular holes 1-2a circumferentially arranged around the upper portion of the panel. The special design of the seat panels elevates the mechanism and reduces weight, while the stoppers enhance the structural stability of the seat frame. Ventilation at the rectangular holes helps dissipate heat from the operating guide rail and reduces weight.

[0079] Example 4: The basic scheme is the same as Example 1 or Example 2 or Example 3, the difference is as follows Figure 25, multiple rack mounting holes 1-3a are provided on the rack, and bolts for fixing the rack are arranged at the rack mounting holes (after installation, the top height of the bolt is less than the height of the top of the rack mounting hole). Multiple protection plate mounting holes are provided on the L-shaped protective plate (the number of protection plate mounting holes and rack mounting holes is the same, and a protection plate mounting hole is arranged above each rack mounting hole), the protection plate mounting holes are provided with internal threads, and the upper ends of the protection plate mounting holes are provided with countersunk holes. The attachment rod component is arranged at the protection plate mounting hole, and the attachment rod component has an attachment rod 8-1 with external threads, a circular top head 8-1a is provided at the top of the attachment rod, and a circular bottom head 8-1b is provided at the bottom, and a polygonal operating port is provided in the center of the top of the circular top head (the polygonal operating port can be a hexagonal operating port, etc., which is convenient for tool twisting, and reference can be made to the existing technology), the attachment rod and the protection plate mounting hole are threadedly connected, and the top of the circular top head is flush with the top of the L-shaped protective plate (the circular top head is sunk into the countersunk hole), and the circular bottom head is pressed against the entrance of the rack mounting hole. The L-shaped protective plate has the risk of deformation due to pressure (collision), which affects the normal use of the mechanism. The above risk can be avoided (reduced) by the support of the auxiliary rod components arranged with appropriate density; at the same time, the auxiliary rod components seal the rack mounting holes to avoid (reduce) the exposure of the bolts to rust and affect disassembly and assembly, and facilitate subsequent maintenance and disassembly; the design of the top and bottom heads prevents the auxiliary rod from partially falling out of the mounting hole and falling into the gear meshing position to cause accidents. The flush setting of the circular top head allows visual inspection to check whether the auxiliary rod is installed in place in the later stage of installation.

[0080] Example 5: The difference between this example and Example 1 is that the rack mounting base is provided with notches 1-3-2 on one side to mount the rack. Since the notches are stepped, a rack positioning stop structure is provided at the end of the rack, which can improve both the stability and the accuracy of the rack mounting. Figures 26-27 The rack positioning and stopping structure includes a stop post 1-3-2a located at the end of the rack. The slot wall of the slot 1-3-2 is provided with a stop post hole that cooperates with the stop post. The cross-section of the stop post is T-shaped to prevent the stop post from falling out of the stop post hole. A wedge block movement channel 1-3-2b is provided on the lower slot wall of the slot, located below the stop post hole. A wedge block 1-3-2c is provided in the wedge block movement channel to cooperate with the stop post. One end of the wedge block is connected to a return spring 1-3-2d located in the wedge block movement channel and used to reset the wedge block, allowing the stop post to descend and enter the stop post hole. A push screw 1-3-2e is provided at the end of the lower slot wall of the slot, which can be screwed into the wedge block movement channel. Figure 27This is the effect diagram of the stop column in the stop positioning state after it is raised. At this time, the right end of the push screw enters the wedge moving block after passing through the screw hole, pushing the wedge to the right until the surface of the wedge pushes the stop column out of the stop column hole. Conversely, after the stop screw exits the wedge movement channel, under the action of the reset spring, the wedge moves to the left, and the stop column drops until the upper surface is flush with the working surface of the slot.

[0081] The appearance of the reset spring can keep the stop column in the rack mounting seat bar of repeated vibration in the pop-up state without automatically falling. When the stop column needs to be lowered, push the screw out of the screw hole and the spring will Figure 27 In the state shown, push the wedge with the inclined surface to the left, so that the stop post slowly descends into the stop post hole to be in this state.

[0082] As a further improvement to this embodiment, see Figures 28-29 The wedge motion channel is equipped with a release mechanism 1-3-2f. This is because the wedge motion channel is relatively closed, and the lubricating oil inside needs to be released and injected. Through this release mechanism, the deteriorated lubricating oil can be released outwards, and the release mechanism can also be used to reversely inject lubricating oil to improve the smooth movement and service life of the internal mechanism. When installing the release mechanism, the end of the rack mounting seat bar 1-3-1 needs to be partially cantilevered so that the operating part of the mechanism is exposed to facilitate the operator's operation. For example, if the lower surface of the rack mounting seat bar is also provided with a corresponding fixing seat or other supporting structure, the end of the rack mounting seat bar needs to be cantilevered about 3-5cm to facilitate the exposure of the operating part of the release mechanism. The lower surface of the wedge block movement channel is provided with a circular stepped recess and a cylindrical channel communicating with the circular stepped recess and extending to the lower surface of the rack mounting seat strip. The circular stepped recess is provided with a circular head 1-3-2f-1. When the circular head is placed in the circular stepped recess, the release through hole cannot be communicated with the inner cavity of the wedge block movement channel. On the contrary, the inner cavity of the wedge block movement channel is kept in communication with the through hole. Figure 29The release mechanism is in the closed state. The cylindrical channel is equipped with a cylindrical body 1-3-2f-2 connected to the circular head. The cylindrical body is an operating structure. The circular head enters the inner cavity of the wedge motion channel by pushing up, and then the horizontal through hole 1-3-2f-3 provided in the radial direction of the circular head is connected to the inner cavity of the wedge motion channel. The cylindrical body is provided with a vertical through hole 1-3-2f-4 connected to the horizontal through hole. This vertical through hole can release the deteriorated lubricating fluid inside the wedge motion channel to the outside. The side wall of the cylindrical channel is provided with a ring shaped inner groove, the annular inner groove is provided with a straight-line side ear 1-3-2f-5 which is an integral structure with the cylindrical body, and the annular inner groove is provided with a closing spring 1-3-2f-6 which is connected to the straight-line side ear and keeps the release mechanism in a closed state. This closing spring can keep the release structure in a normally closed state, and when an external force pushes the cylindrical body upward, the release mechanism can be placed in an open state, thereby completing the external discharge of deteriorated lubricating oil or the reverse injection of lubricating oil inward. Note that the reverse injection of lubricating oil can only be carried out after the external discharge work is completed.

[0083] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions that fall within the principles of the present invention fall within the scope of protection of the present invention. For those skilled in the art, any improvements made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A robot comprising a six-axis component (2), characterized in that: The robot also includes a seven-axis sliding mechanism; the robot includes a base (1) having a plurality of seat plates (1-1), a seat frame (1-2) being provided on the seat plate (1-1), a rack (1-3) being provided on the lower inner side of the seat frame (1-2), and a guide rail assembly being provided on the upper inner side of the seat frame (1-2), the guide rail assembly including a first guide rail (1-4-1) located on one side of the seat frame and a second guide rail (1-4-2) located on the other side of the seat frame; a first slider assembly (1-5-1) being provided on one side of a slide seat (1-5), and a second slider assembly (1-5-2) being provided on the other side, the first slider assembly (1-5-1) and the first guide rail assembly (1-5-2) being provided on the other side. (1-4-1) cooperates, and the second slider assembly (1-5-2) cooperates with the second guide rail (1-4-2); a vertical shaft driven by a power device (1-6) is provided on the slide seat (1-5), a driving gear (1-7) is provided at the bottom of the vertical shaft, and the driving gear and the rack (1-3) are meshed; a rack mounting seat strip (1-3-1) is provided on the lower inner side of the seat frame (1-2), a notch (1-3-2) is provided on one side of the rack mounting seat strip (1-3-1), the rack (1-3) is installed at the notch (1-3-2), and an L-shaped protective plate (1-3-3) is provided on the rack mounting seat strip (1-3-1) near the rack (1-3); The six-axis component (2) is arranged on a slide (1-5); a clamping assembly (3) is provided at the end of the six-axis component (2); the clamping assembly (3) comprises a back plate (3-1); an I-shaped frame (3-2) is provided on the back plate (3-1); a first back-top assembly is provided on one side of the I-shaped frame (3-2); a second back-top assembly is provided on the other side; and a clamping body is provided on the I-shaped frame (3-2); The first back-support assembly comprises a first supporting portion fixing block (3-4-1), the first supporting portion fixing block (3-4-1) is connected to a first supporting connection plate (3-4-2), a first supporting U-shaped block (3-4-3) is arranged on the first supporting connection plate (3-4-2), and a first elastic supporting portion is arranged on the first supporting U-shaped block (3-4-3); the second back-support assembly comprises a second supporting portion fixing block (3-6-1), the second supporting portion fixing block (3-6-1) is connected to a second supporting connection plate (3-6-2), a second supporting U-shaped block (3-6-3) is arranged on the second supporting connection plate (3-6-2), and a second elastic supporting portion is arranged on the second supporting U-shaped block (3-6-3); The first elastic supporting portion comprises a first L-shaped plate (4-1), a first spherical portion (4-3) is arranged in the middle of a first clamping body composed of two first semicircular clamping blocks (4-2), a first vertical rod (4-4) with an external thread passes through the first spherical portion (4-3) and is connected to a first elastic body (4-5), first nuts (4-6) for fixing the first vertical rod are respectively arranged on both sides of the first spherical portion (4-3), and the first clamping body is connected to the first L-shaped plate (4-1) via two first screw rods (4-7); The second elastic supporting portion comprises a second L-shaped plate (5-1), a second spherical portion (5-3) is arranged in the middle of a second clamping body composed of two second semicircular clamping blocks (5-2), a second vertical rod (5-4) with an external thread passes through the second spherical portion (5-3) and is connected to the second elastic body (5-5), second nuts (5-6) for fixing the second vertical rod are respectively arranged on both sides of the second spherical portion (5-3), and the second clamping body is connected to the second L-shaped plate (5-1) via two second screw rods (5-7); The rack is provided with a plurality of rack mounting holes (1-3a), and bolts for fixing the rack are arranged at the rack mounting holes; a plurality of protection plate mounting holes are provided on the L-shaped protection plate, the protection plate mounting holes are provided with internal threads, and countersunk holes are provided at the upper ends of the protection plate mounting holes; an attachment rod component is arranged at the protection plate mounting hole, and the attachment rod component has an attachment rod (8-1) with external threads, a circular top head (8-1a) is provided at the top of the attachment rod, a circular bottom head (8-1b) is provided at the bottom, and a polygonal operating port is provided at the center of the top of the circular top head, the attachment rod and the protection plate mounting hole are threadedly connected, the top of the circular top head is flush with the top of the L-shaped protection plate, and the circular bottom head is pressed against the entrance of the rack mounting hole.

2. The robot according to claim 1, wherein: The clamping assembly comprises a first clamping mechanism, a second clamping mechanism, a third clamping mechanism, a fourth clamping mechanism, a fifth clamping mechanism and a sixth clamping mechanism; The first clamping mechanism comprises a first clamping seat (6-1-1), a first back clamping head (6-1-2) is arranged on the first clamping seat (6-1-1), a first flip arm (6-1-4) driven by a first flip mechanism (6-1-3) is arranged on the first clamping seat (6-1-1), a first front clamping head (6-1-5) is arranged on the first flip arm (6-1-4), and the first back clamping head (6-1-2) and the first front clamping head (6-1-5) cooperate with each other; The second clamping mechanism comprises a second clamping seat (6-2-1), a second back clamping head (6-2-2) is arranged on the second clamping seat (6-2-1), a second flip arm (6-2-4) driven by a second flip mechanism (6-2-3) is arranged on the second clamping seat (6-2-1), a second front clamping head (6-2-5) is arranged on the second flip arm (6-2-4), and the second back clamping head (6-2-2) and the second front clamping head (6-2-5) cooperate with each other; The third clamping mechanism comprises a third clamping seat (6-3-1), a third back clamping head (6-3-2) is arranged on the third clamping seat (6-3-1), a third flip arm (6-3-4) driven by a third flip mechanism (6-3-3) is arranged on the third clamping seat (6-3-1), a third front clamping head (6-3-5) is arranged on the third flip arm (6-3-4), and the third back clamping head (6-3-2) and the third front clamping head (6-3-5) cooperate with each other; The fourth clamping mechanism comprises a fourth clamping seat (6-4-1), a fourth back clamping head (6-4-2) arranged on the fourth clamping seat (6-4-1), a fourth flip arm (6-4-4) driven by a fourth flip mechanism (6-4-3) arranged on the fourth clamping seat (6-4-1), a fourth front clamping head (6-4-5) arranged on the fourth flip arm (6-4-4), and the fourth back clamping head (6-4-2) and the fourth front clamping head (6-4-5) cooperate with each other; The fifth clamping mechanism comprises a fifth clamping seat (6-5-1), a fifth back clamping head (6-5-2) arranged on the fifth clamping seat (6-5-1), a fifth flip arm (6-5-4) driven by a fifth flip mechanism (6-5-3) arranged on the fifth clamping seat (6-5-1), a fifth front clamping head (6-5-5) arranged on the fifth flip arm (6-5-4), and the fifth back clamping head (6-5-2) and the fifth front clamping head (6-5-5) cooperate with each other; The sixth clamping mechanism comprises a sixth clamping seat (6-6-1), a sixth back clamping head (6-6-2) arranged on the sixth clamping seat (6-6-1), a sixth flipping arm (6-6-4) driven by a sixth flipping mechanism (6-6-3) arranged on the sixth clamping seat (6-6-1), a sixth front clamping head (6-6-5) arranged on the sixth flipping arm (6-6-4), and the sixth back clamping head (6-6-2) and the sixth front clamping head (6-6-5) cooperate with each other.

3. The robot according to claim 1, wherein: The six-axis component (2) is connected to the back plate (3-1) via a connector, the connector having a hollow bending portion (7-1), a hollow structure (7-2) being provided on a side wall of the hollow bending portion (7-1), a six-axis component connecting plate (7-3) being provided at one end of the hollow bending portion (7-1), and a clamping assembly connecting plate (7-4) being provided at the other end.

4. The robot according to claim 1, wherein: An inner extension plate structure (1c) is circumferentially arranged on the inner side of the top of the base; an extension plate structure (1a) is arranged on one side of the top of the base, a U-shaped support frame (1b) is arranged at the bottom of the extension plate structure, and the U-shaped support frame is fixedly connected to the base; there are four seat plates, each of which has pads (1-1a) arranged at both ends of the upper portion, a limit block (1-1b) arranged on the pad, and a plurality of rectangular holes (1-2a) are circumferentially arranged on the upper portion of the seat plate.

5. The robot according to claim 1, characterized in that The rack mounting seat bar (1-3-1) is provided with a rack positioning and stopping structure, the rack positioning and stopping structure comprises a stopping column located at the end of the rack, a stopping column hole matched with the stopping column is provided on the groove wall of the notch, the cross section of the stopping column is T-shaped, a wedge block movement channel located below the stopping column hole is provided on the lower groove wall of the notch, a wedge block matched with the stopping column is provided in the wedge block movement channel, one end of the wedge block is connected to a reset spring, and a pushing screw that can be screwed into the wedge block movement channel and push the wedge block to move is provided at the end of the lower groove wall of the notch; The wedge block movement channel is equipped with a release mechanism (1-3-2f), and the lower surface of the wedge block movement channel is provided with a circular step-shaped recess and a cylindrical channel connected to the circular step-shaped recess and extending to the lower surface of the rack mounting seat strip, the circular step-shaped recess is provided with a circular head (1-3-2f-1), the cylindrical channel is equipped with a cylindrical body (1-3-2f-2) connected to the circular head, the circular head is radially provided with a horizontal through hole (1-3-2f-3), the cylindrical body is provided with a vertical through hole (1-3-2f-4) connected to the horizontal through hole, the side wall of the cylindrical channel is provided with an annular inner groove, the annular inner groove is provided with a straight-line side ear (1-3-2f-5) that is an integral structure with the cylindrical body, and the annular inner groove is provided with a closing spring (1-3-2f-6) that is connected to the straight-line side ear and keeps the release mechanism in a closed state.

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