Seven-axis robot comprehensive application equipment

Abstract

The invention discloses a seven-axis robot comprehensive application device, relates to the technical field of robot application, and is used for solving the technical problem that the application function of an existing robot is limited and not flexible enough. A three-dimensional storage unit, a seven-axis robot unit, a stacking unit, a hand changing clamp unit, a plane track unit and a curved surface track unit are arranged on the bottom cabinet; the seven-axis robot unit comprises a linear module and a six-axis robot, a module fixing part is arranged at the bottom of the linear module, a walking fixing plate is arranged above the linear module, and the six-axis robot is installed on the walking fixing plate. Mutual cooperation of all the units can be well achieved, application functions are comprehensive, flexibility is high, trajectory planning of the tail end of the robot can be visually achieved, and the technical problems that an existing robot is limited in application function and not flexible enough are solved.

Description

Technical Field

[0001] The present invention relates to the field of robot application technology, and in particular to seven-axis robot comprehensive application equipment. Background Art

[0002] Robot application equipment is a device used to perform operations using four-axis or six-axis robots and is currently widely used.

[0003] The six-axis robot is an existing robot. You can refer to the authorized patent "A six-axis robot" with application number: CN201910898474.5 and application date: 2019-09-23.

[0004] Currently, most of the robot application equipment on the market are six-axis robots or even four-axis robots. The application functions of these common robots are relatively rigid, the application is not flexible enough, and the trajectory planning of the robot end cannot be intuitively realized, which greatly limits the application effect of the robot and needs to be improved.

[0005] Therefore, in view of the shortcomings of the above-mentioned scheme in actual production and implementation, it has been revised and improved. At the same time, in the spirit and concept of seeking improvement, with the assistance of professional knowledge and experience, and after many ingenuity and experiments, a seven-axis robot comprehensive application equipment is specially provided to solve the technical problems of the current robot application functions being more rigid and less flexible. Summary of the Invention

[0006] The purpose of the present invention is to provide a seven-axis robot comprehensive application device to solve the technical problem that the current robot application functions are relatively rigid and not flexible enough.

[0007] The technical solution of the present invention is achieved as follows:

[0008] A seven-axis robot comprehensive application device includes a base cabinet on which are arranged a three-dimensional storage unit, a seven-axis robot unit, a palletizing unit, a hand-changing fixture unit, a plane track unit, and a curved track unit;

[0009] The seven-axis robot unit includes a linear module and a six-axis robot. A module fixing is provided at the bottom of the linear module. The linear module is installed on the base cabinet using the module fixing, which can realize the seventh-axis movement of the robot. A walking fixed plate is provided above the linear module. The six-axis robot is installed on the walking fixed plate. The fixed plate is connected to a zero point bracket. An inductive proximity sensor is installed on the zero point bracket to locate the robot zero point. The robot is equipped with a pneumatic hand-changing fixture, which can cooperate with the hand-changing component to complete the hand-changing action.

[0010] As a preferred embodiment, the three-dimensional storage unit includes a profile frame, a three-dimensional warehouse shift cylinder assembly, an X-axis electric cylinder, a Y-axis electric cylinder and a Z-axis grabbing unit. The profile frame is constructed of aluminum profiles and is integrally installed above the base cabinet.

[0011] The X-axis electric cylinder is installed on the two aluminum profiles in front of the profile frame to achieve the movement of the X-axis;

[0012] The Y-axis electric cylinder is installed on the upper and lower slides of the X-axis electric cylinder to achieve the movement of the Y-axis;

[0013] The Z-axis gripping unit is mounted on the side of the Y-axis electric cylinder using a Z-axis cylinder connector. A guide unit is mounted on the Z-axis cylinder connector. A circular cylinder is mounted in the middle of the guide unit to achieve forward and backward movement of the Z-axis. An air gripper mounting bracket is provided in front of the guide unit. A parallel air gripper is provided below the air gripper mounting bracket. Two air gripper fingers are installed at the front end of the parallel air gripper to grab and place material blocks.

[0014] The three-dimensional storage unit includes several horizontally arranged storage plates for placing materials grabbed by the Z-axis air gripper; the three-dimensional warehouse shift cylinder assembly is supported and installed on the profile frame using a transfer assembly. The main body is supported by an aluminum profile, and the rodless cylinder is installed on one side of the aluminum profile through two three-dimensional warehouse push cylinder brackets. The linear guide is installed above the aluminum profile, and the material transfer plate is installed above the linear guide and connected to the rodless cylinder slider through a rodless cylinder connecting bracket to receive materials delivered by the robot.

[0015] As a preferred embodiment, the stacking unit includes a stacking plate and a stacking bracket. The stacking plate is fixed to the base cabinet by the stacking bracket. Several material blocks are arranged on the stacking plate. The material blocks are composed of three materials of different materials, which can be used by the robot to complete the stacking action.

[0016] As a preferred embodiment, the hand-changing fixture unit includes a fixture bracket fixed on the base cabinet, and three fixture fixing plates are provided on the fixture bracket, and the conical pen hand-changing unit, the laser pen hand-changing unit and the air gripper hand-changing unit are respectively placed on the three fixture fixing plates.

[0017] As a preferred embodiment, the conical pen hand-changing unit includes a gripper quick-change disk, a first fixture side fixing plate and an thimble sleeve. The gripper quick-change disk is fixed above the first fixture side fixing plate, and an thimble fixing piece is installed below the first fixture side fixing plate. The thimble sleeve is installed below the thimble fixing piece, and a stainless steel spring and thimble are placed inside the thimble sleeve.

[0018] As a preferred embodiment, the laser pen hand-changing unit includes a gripper quick-change plate, a second fixture side fixing plate and a positioning light housing. The gripper quick-change plate is fixed above the second fixture side fixing plate, a laser pen fixing part is installed below the second fixture side fixing plate, the positioning light housing is installed below the laser pen fixing part, and a laser positioning light pen is placed below the inside of the positioning light housing.

[0019] As a preferred embodiment, the air gripper hand changing unit includes a gripper quick change plate and a third fixture side fixing plate. The gripper quick change plate is fixed above the third fixture side fixing plate. A parallel air gripper fixing plate is installed below the third fixture side fixing plate. A parallel air gripper is installed below the air gripper fixing plate. Two workpiece grippers are respectively installed on the left and right sides of the front end of the parallel air gripper.

[0020] As a preferred embodiment, the planar track unit includes a track storage plate and a planar track unit bracket. The planar track unit bracket is fixed on the base cabinet, the track storage plate is fixed on the planar track unit bracket, and a conical head and a conical head cover are threadedly connected to the track storage plate.

[0021] The plane trajectory unit, the conical pen hand-changing unit and the robot unit are used together. The robot can grab the conical pen hand-changing unit and cooperate with the trajectory placement plate to simulate plane trajectory planning.

[0022] As a preferred embodiment, the curved track unit includes a curved track plate and a curved track unit bracket. The curved track unit bracket is fixed on the base cabinet, and the curved track plate is fixed on the flat track unit bracket.

[0023] The curved track unit, the laser pen hand-changing unit and the robot unit are used together. The robot can grab the laser pen hand-changing unit and cooperate with the curved track board to simulate the curved track planning.

[0024] The beneficial effects of the present invention are:

[0025] (1) The robot's seventh axis enables flexible matching between the robot and various units;

[0026] (2) Integrate multiple different units into the same device, which can be flexibly selected and applied when used, and is not limited to a specific usage method.

[0027] (3) The trajectory planning of the robot end is intuitively realized through the plane and curved surface trajectory units.

[0028] Compared with existing robot application equipment, this solution adds a seventh axis to the robot and is equipped with multiple working units with different functions. It is more flexible than existing four-axis and six-axis robots, and can well realize the mutual cooperation of various units. It has comprehensive application functions and high flexibility, and can intuitively realize the trajectory planning of the robot end, solving the technical problems of current robot application functions being relatively rigid and inflexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 Schematic diagram of the three-dimensional structure of an embodiment of the present invention;

[0031] Figure 2 This is a schematic structural diagram of a three-dimensional storage unit according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic structural diagram of a Z-axis gripping unit according to an embodiment of the present invention;

[0033] Figure 4 This is a structural diagram of a shift cylinder assembly for a three-dimensional warehouse according to an embodiment of the present invention;

[0034] Figure 5 This is a schematic structural diagram of a seven-axis robot unit according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic structural diagram of a palletizing unit according to an embodiment of the present invention;

[0036] Figure 7 This is a structural diagram of a clamp hand-changing unit according to an embodiment of the present invention;

[0037] Figure 8 This is a structural diagram of a cone pen hand-changing unit according to an embodiment of the present invention;

[0038] Figure 9 This is a schematic structural diagram of a laser pointer hand-changing unit according to an embodiment of the present invention;

[0039] Figure 10 This is a schematic structural diagram of an air gripper hand-changing unit according to an embodiment of the present invention;

[0040] Figure 11 This is a schematic structural diagram of a planar trajectory unit according to an embodiment of the present invention;

[0041] Figure 12Schematic diagram of the structure of the curved track unit according to an embodiment of the present invention.

[0042] In the figure, 1-hand-changing fixture unit; 2-plane track unit; 3-palletizing unit; 4-curved track unit; 5-base cabinet; 6-three-dimensional storage unit; 7-seven-axis robot unit; 8-X-axis electric cylinder; 9-Y-axis electric cylinder; 10-Z-axis grasping unit; 11-profile frame; 12-storage position plate; 13-three-dimensional warehouse shift cylinder assembly; 14-drag chain connecting plate; 15-round cylinder; 16-Z-axis cylinder connector; 17-pneumatic gripper mounting bracket; 18-pneumatic gripper finger; 19-guide unit; 20-parallel pneumatic gripper; 21-aluminum profile; 22-linear guide; 23-material transfer plate; 25-rodless cylinder; 26-slot sensor bracket; 27-slot sensor; 28-rodless cylinder connecting bracket; 29-pneumatic hand-changing fixture; 30-inductive proximity sensor; 31-zero point bracket; 32-six Axis robot; 33-walking fixed plate; 34-linear module; 35-module fixing part; 36-material block; 37-stacking plate; 38-stacking bracket; 39-fixture bracket; 40-fixture fixing plate; 41-conical pen hand changing unit; 42-laser pen hand changing unit; 43-air gripper hand changing unit; 44-gripper quick change plate; 45-first fixture side fixing plate; 46-thimble fixing part; 47-thimble housing; 48-thimble; 49-second fixture side fixing plate; 50-positioning light housing; 51-laser positioning light pen; 52-laser pen fixing part; 53-third fixture side fixing plate; 54-air gripper fixing plate; 56-workpiece clamp; 57-conical head cover; 58-conical head; 59-track storage plate; 60-plane track unit bracket; 61-curved track plate; 62-curved track unit bracket. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0044] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0045] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.

[0046] In the description of the embodiments, unless otherwise specified or limited, the terms "disposed" and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical or electrical connections; direct connections, connections through an intermediary medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention.

[0047] like Figures 1 to 12 As shown, a seven-axis robot comprehensive application equipment includes a base cabinet 5, on which are arranged a three-dimensional storage unit 6, a seven-axis robot unit 7, a stacking unit 3, a hand-changing fixture unit 1, a plane track unit 2, and a curved track unit 4;

[0048] The seven-axis robot unit 7 includes a linear module 34 and a six-axis robot 32. A module fixing part 35 is provided at the bottom of the linear module 34. The linear module 34 is installed on the base cabinet 5 using the module fixing part 35, which can realize the seventh-axis movement of the robot. A walking fixed plate 33 is provided above the linear module 34, and the six-axis robot 32 is installed on the walking fixed plate 33. The fixed plate is connected to a zero point bracket 31, and an inductive proximity sensor 30 is installed on the zero point bracket 31 to locate the robot zero point. The linear module is driven by a servo motor to achieve precise positioning of the seventh axis. The robot is equipped with a pneumatic hand-changing fixture 29, which can cooperate with the hand-changing component to complete the hand-changing action.

[0049] The three-dimensional storage unit 6 includes a profile frame 11, a three-dimensional storage shift cylinder assembly 13, an X-axis electric cylinder 8, a Y-axis electric cylinder 9 and a Z-axis grabbing unit 10. The profile frame 11 is constructed of aluminum profiles 21 and is integrally installed above the base cabinet 5.

[0050] The X-axis electric cylinder 8 is installed on the two aluminum profiles in front of the profile frame 11 to achieve the movement of the X-axis;

[0051] The Y-axis electric cylinder 9 is installed on the upper and lower slides of the X-axis electric cylinder 8 to achieve the movement of the Y-axis;

[0052] The Z-axis grasping unit 10 is mounted on the side of the Y-axis electric cylinder 9 using a Z-axis cylinder connector 16. A guide unit 19 is mounted on the Z-axis cylinder connector 16. A circular cylinder 15 is mounted in the middle of the guide unit 19 to achieve forward and backward movement of the Z-axis. An air gripper mounting bracket 17 is provided in front of the guide unit 19. A parallel air gripper 20 is provided below the air gripper mounting bracket 17. Two air gripper fingers 18 are mounted at the front end of the parallel air gripper 20 to grasp and place the material block 36.

[0053] The three-dimensional storage unit 6 includes several horizontally arranged storage plates 12 for placing materials grabbed by the Z-axis air gripper; the three-dimensional warehouse shift cylinder assembly 13 is supported and installed on the profile frame 11 by the transfer assembly, and the main body is supported by an aluminum profile 21. The rodless cylinder 25 is installed on one side of the aluminum profile 21 through two three-dimensional warehouse push cylinder brackets, and the linear guide rail 22 is installed above the aluminum profile 21. The material transfer plate 23 is installed above the linear guide rail 22 and is connected to the rodless cylinder 25 slider through the rodless cylinder connecting bracket 28, which is used to receive materials transported by the robot and realize the automatic warehousing of materials.

[0054] A slot-shaped sensor bracket 26 is provided on the bottom side of the linear guide rail 22 , and a slot-shaped sensor 27 is provided on the slot-shaped sensor bracket 26 .

[0055] The palletizing unit 3 includes a palletizing plate 37 and a palletizing bracket 38. The palletizing plate 37 is fixed to the bottom cabinet 5 by the palletizing bracket 38. A plurality of material blocks 36 are arranged on the palletizing plate 37. The material blocks 36 are composed of three materials of different materials and can be used by the robot to complete the palletizing action.

[0056] The hand-changing fixture unit 1 includes a fixture bracket 39 fixed on the base cabinet 5. Three fixture fixing plates 40 are fixed on the fixture bracket 39. The three fixture fixing plates 40 are respectively placed on the conical pen hand-changing unit 41, the laser pen hand-changing unit 42 and the air gripper hand-changing unit 43.

[0057] The conical pen hand-changing unit 41 includes a gripper quick-changing disk 44, a first fixture side fixing plate 45 and an thimble sleeve 47. The gripper quick-changing disk 44 is fixed above the first fixture side fixing plate 45. An thimble fixing part 46 is installed below the first fixture side fixing plate 45. The thimble sleeve 47 is installed below the thimble fixing part 46. A stainless steel spring and an thimble 48 are placed inside the thimble sleeve 47.

[0058] The laser pen hand-changing unit 42 includes a gripper quick-change plate 44, a second fixture side fixing plate 49 and a positioning light housing 50. The gripper quick-change plate 44 is fixed above the second fixture side fixing plate 49. A laser pen fixing part 52 is installed below the second fixture side fixing plate 49. The positioning light housing 50 is installed below the laser pen fixing part 52. A laser positioning light pen 51 is placed below the interior of the positioning light housing 50.

[0059] The air gripper hand-changing unit 43 includes a gripper quick-changing disc 44 and a third fixture side fixing plate 53. The gripper quick-changing disc 44 is fixed above the third fixture side fixing plate 53. A parallel air gripper fixing plate 54 is installed below the third fixture side fixing plate 53. A parallel air gripper 20 is installed below the air gripper fixing plate 54. Two workpiece grippers 56 are respectively installed on the left and right sides of the front end of the parallel air gripper 20.

[0060] The planar track unit 2 includes a track storage plate 59 and a planar track unit bracket 60. The track storage plate is provided in different shapes such as diamond, circle, square, etc. The planar track unit bracket 60 is fixed on the base cabinet 5, and the track storage plate 59 is fixed on the planar track unit bracket 60. The track storage plate 59 is threadedly connected with a conical head 58 and a conical head cover 57.

[0061] The plane trajectory unit 2, the cone pen hand-changing unit 41 and the robot unit are used in conjunction with each other. The robot can grab the cone pen hand-changing unit 41 and cooperate with the trajectory placement plate 59 to simulate plane trajectory planning.

[0062] The curved track unit 4 includes a curved track plate 61 and a curved track unit bracket 62 . The curved track unit bracket 62 is fixed on the bottom cabinet 5 , and the curved track plate 61 is fixed on the flat track unit bracket 60 .

[0063] The curved track unit 4, the laser pen hand-changing unit 42 and the robot unit are used in conjunction with each other. The robot can grab the laser pen hand-changing unit 42 and cooperate with the curved track board 61 to simulate the curved track planning, which well reflects the real-time planning dynamics of the robot and facilitates the adjustment of the posture of the end effector of the robot during execution.

[0064] The beneficial effects of the present invention are:

[0065] (1) The robot's seventh axis enables flexible matching between the robot and various units;

[0066] (2) Integrate multiple different units into the same device, which can be flexibly selected and applied when used, and is not limited to a specific usage method.

[0067] (3) The trajectory planning of the robot end is intuitively realized through the plane and curved surface trajectory units.

[0068] Compared with existing robot application equipment, this solution adds a seventh axis to the robot and is equipped with multiple working units with different functions. It is more flexible than existing four-axis and six-axis robots, and can well realize the mutual cooperation of various units. It has comprehensive application functions and high flexibility, and can intuitively realize the trajectory planning of the robot end, solving the technical problems of current robot application functions being relatively rigid and inflexible.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. In addition, the technical solutions of the various embodiments may be combined with each other, but this must be based on the fact that they can be implemented by a person of ordinary skill in the art. If the combination of technical solutions is mutually inconsistent or cannot be implemented, it shall be deemed that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

Claims

1. A seven-axis robot comprehensive application device, characterized in that: It comprises a bottom cabinet, on which a three-dimensional storage unit, a seven-axis robot unit, a palletizing unit, a hand-changing fixture unit, a plane track unit and a curved track unit are arranged; The seven-axis robot unit includes a linear module and a six-axis robot. A module fixing piece is provided at the bottom of the linear module. The linear module is installed on the base cabinet using the module fixing piece. A walking fixed plate is provided above the linear module. The six-axis robot is installed on the walking fixed plate. The fixed plate is connected to a zero point bracket, and an inductive proximity sensor is installed on the zero point bracket.

2. The seven-axis robot comprehensive application equipment according to claim 1, characterized in that: The three-dimensional storage unit includes a profile frame, a three-dimensional warehouse shift cylinder assembly, an X-axis electric cylinder, a Y-axis electric cylinder and a Z-axis grabbing unit; The X-axis electric cylinder is installed on two aluminum profiles outside the profile frame; The Y-axis electric cylinder is installed on the upper and lower slides of the X-axis electric cylinder; The Z-axis grasping unit is installed on the side of the Y-axis electric cylinder using the Z-axis cylinder connector. A guide unit is installed on the Z-axis cylinder connector. A round cylinder is installed in the middle of the guide unit. An air gripper mounting bracket is arranged in front of the guide unit. A parallel air gripper is arranged below the air gripper mounting bracket. Two air gripper fingers are installed at the front end of the parallel air gripper. The three-dimensional storage unit comprises a plurality of horizontally arranged storage position plates, and the three-dimensional storage shift cylinder assembly is installed on the profile frame.

3. The seven-axis robot comprehensive application equipment according to claim 1, characterized in that: The stacking unit comprises a stacking plate and a stacking bracket. The stacking plate is fixed on the bottom cabinet by the stacking bracket, and a plurality of material blocks are arranged on the stacking plate.

4. The seven-axis robot comprehensive application equipment according to claim 1, characterized in that: The hand-changing fixture unit comprises a fixture bracket fixed on the bottom cabinet, and three fixture fixing plates are arranged on the fixture bracket, and the cone pen hand-changing unit, the laser pen hand-changing unit and the air gripper hand-changing unit are respectively placed on the three fixture fixing plates.

5. The seven-axis robot comprehensive application equipment according to claim 4, characterized in that: The conical pen hand-changing unit includes a gripper quick-change disk, a first fixture side fixing plate and an ejector sleeve. The gripper quick-change disk is fixed above the first fixture side fixing plate, an ejector fixing piece is installed below the first fixture side fixing plate, the ejector sleeve is installed below the ejector fixing piece, and a stainless steel spring and an ejector are placed inside the ejector sleeve.

6. The seven-axis robot comprehensive application equipment according to claim 4, characterized in that: The laser pen hand-changing unit includes a gripper quick-change plate, a second fixture side fixing plate and a positioning light housing. The gripper quick-change plate is fixed above the second fixture side fixing plate, a laser pen fixing part is installed below the second fixture side fixing plate, the positioning light housing is installed below the laser pen fixing part, and a laser positioning light pen is placed below the positioning light housing.

7. The seven-axis robot comprehensive application equipment according to claim 4, characterized in that: The air gripper hand-changing unit includes a gripper quick-change plate and a third fixture side fixing plate. The gripper quick-change plate is fixed above the third fixture side fixing plate. A parallel air gripper fixing plate is installed below the third fixture side fixing plate. A parallel air gripper is installed below the air gripper fixing plate. Two workpiece grippers are respectively installed on the left and right sides of the front end of the parallel air gripper.

8. The seven-axis robot comprehensive application equipment according to claim 1, characterized in that: The planar track unit comprises a track storage plate and a planar track unit bracket, wherein the planar track unit bracket is fixed on the bottom cabinet, the track storage plate is fixed on the planar track unit bracket, and a conical head and a conical head cover are threadedly connected on the track storage plate.

9. The seven-axis robot comprehensive application equipment according to claim 1, characterized in that: The curved track unit comprises a curved track plate and a curved track unit bracket. The curved track unit bracket is fixed on the bottom cabinet, and the curved track plate is fixed on the flat track unit bracket.

Images