Glue weighing structure applied to tail end of six-axis robot

Abstract

The invention discloses a glue weighing structure applied to the tail end of a six-axis robot. The glue weighing structure mainly comprises a linear guide rail, a strain type force sensor (s-type), an air cylinder clamping assembly and a glue dispensing assembly, the guide rail is vertically installed, the glue dispensing assembly is installed on a sliding block, the force sensor is installed below the sliding block, and a clamping air cylinder can enable the assembly to be switched between the glue dispensing state and the measuring state. In a measurement state, a small angle is kept between the guide rail and the vertical direction, and after calibration, the force sensor directly measures the load. Compared with indirect measurement methods such as motor torque feedback, the structure provides a measurement means which is low in cost, compact in structure, direct and effective for special occasions where the tail end of the manipulator needs to be weighed.

Description

Technical Field

[0001] The present invention belongs to the technical field of glue weighing, and specifically relates to a glue weighing structure applied to the end of a six-axis robot. Background Art

[0002] Six-axis robots are a form of articulated robots that can perform a wide range of applications due to their flexibility, reach and strength. This flexibility gives six-axis robots a wide range of applications, and this feature makes them very suitable for complex functions that usually require human hands. In short, six-axis robots are very close to human hands and can almost complete most sheet metal processing that requires manual work. The common six-axis joint robot has six servo motors built in, which directly drive the rotation of the six joint axes through reducers, synchronous pulleys, etc. Six-axis industrial robots generally have 6 degrees of freedom, including rotation (S axis), lower arm (L axis), upper arm (U axis), wrist rotation (R axis), wrist swing (B axis) and wrist rotation (T axis); 6 joints are synthesized to achieve 6 degrees of freedom at the end, with many advantages such as high flexibility, large load, and high positioning accuracy.

[0003] The existing six-axis robots use direct air pressure to supply glue, and use standard glue barrels such as 30cc and 50cc. There is currently no effective measurement method, and a special structural design is required. However, this weighing method has a complex structure and high cost, and is not suitable for situations such as end-points where there are weight restrictions. Summary of the invention

[0004] The purpose of the present invention is to provide a glue weighing structure applied to the end of a six-axis robot in view of the existing device, so as to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a glue weighing structure applied to the end of a six-axis robot, comprising a mounting frame, a connecting frame is arranged on one side of the mounting frame, a linear guide rail and a movable slider are arranged between the mounting frame and the connecting frame, a protective frame is arranged on the bottom surface of the mounting frame, a limiting frame is arranged on one side of the connecting frame, a glue syringe is arranged on the inner side of the limiting frame, a glue needle is arranged on the bottom surface of the glue syringe, a clamping cylinder is arranged on the side wall of the mounting frame near the top surface, a limiting block is arranged on the output end of the clamping cylinder, a load-bearing sensor is arranged on the top surface of the protective frame, and a protective cover is arranged on the outer side of the connecting frame.

[0006] The present invention further describes that the linear guide rail and the movable slider match each other, and the linear guide rail and the movable slider are slidably connected, and the linear guide rail is vertically arranged on one side of the mounting frame.

[0007] The present invention further describes that one side of the linear guide rail is connected to the mounting frame via bolts, and one side of the movable slider is connected to the connecting frame via bolts.

[0008] The present invention further describes that a limiting ring is arranged between the inner side of the limiting frame and the glue syringe, and a clamping screw is arranged on one side of the limiting frame.

[0009] The present invention further illustrates that a through hole matching the glue needle is opened on the surface of the protection frame, and the protection frame corresponds to the position of the limiting frame.

[0010] The present invention further describes that a mounting plate is provided on one side of the mounting frame and the connecting frame, and a connecting conduit is provided on the inner side of the mounting plate.

[0011] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention is composed of a clamping cylinder, a linear guide, a movable slider and a weighing sensor; the linear guide is vertically installed, the glue syringe and the glue needle are integrated into the connecting frame block, and the weighing sensor is installed under the slider. The component can directly measure the required value through the weighing sensor through the appropriate structural design. Compared with the servo glue metering system, the structure is simple and compact, the cost is low, and the weight is low, so it is suitable for occasions with weight restrictions such as the end of a robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0013] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0014] Figure 2 It is a schematic diagram of the top surface structure of the present invention;

[0015] Figure 3 It is a schematic diagram of the inner structure of the protective cover of the present invention;

[0016] Figure 4 It is a structural schematic diagram of the weighing sensor of the present invention.

[0017] In the figure: 1. Mounting frame; 2. Connecting frame; 3. Protective cover; 4. Limiting frame; 5. Clamping cylinder; 6. Limiting block; 7. Glue syringe; 8. Glue needle; 9. Protective frame; 10. Clamping screw; 11. Limiting ring; 12. Linear guide; 13. Moving slide block; 14. Weighing sensor; 15. Mounting plate; 16. Connecting guide tube. DETAILED DESCRIPTION

[0018] The following is a further non-limiting detailed description of the technical solution of the present invention in conjunction with the preferred embodiments and the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-3 The present invention provides a technical solution: a glue weighing structure applied to the end of a six-axis robot, including a mounting frame 1, a connecting frame 2 is arranged on one side of the mounting frame 1, a linear guide 12 and a moving slide block 13 are arranged between the mounting frame 1 and the connecting frame 2, a protective frame 9 is arranged on the bottom surface of the mounting frame 1, a limiting frame 4 is arranged on one side of the connecting frame 2, a glue syringe 7 is arranged on the inner side of the limiting frame 4, a glue needle 8 is arranged on the bottom surface of the glue syringe 7, a clamping cylinder 5 is arranged on the side wall of the mounting frame 1 near the top surface, a limiting block 6 is arranged on the output end of the clamping cylinder 5, a load-bearing sensor is arranged on the top surface of the protective frame 9, and a protective cover 3 is arranged on the outer side of the connecting frame 2, which can play a protective role.

[0020] The connecting frame 2 acts on the weighing sensor 14 (the robot posture should be able to make the guide rail vertically downward during weighing) and records the weight m; after dispensing, it is weighed again and the weight m2 is recorded. Since the linear guide rail 12 is installed vertically, the friction force can be regarded as a constant, and the component force can be regarded as a constant and very small, so the dispensing amount △m=m-m2. If the guide rail is kept vertically downward during operation, dynamic glue amount monitoring can be realized.

[0021] The present invention further illustrates that the linear guide 12 and the movable slider 13 match each other, and are slidably connected to each other, and the linear guide 12 is vertically arranged on one side of the mounting frame 1, so that the glue syringe 7 and the glue needle 8 can move freely along the direction of the linear guide 12.

[0022] The present invention further illustrates that one side of the linear guide rail 12 is connected to the mounting frame 1 by bolts, and one side of the movable slider 13 is connected to the connecting frame 2 by bolts, the clamping cylinder 5 can limit the movement of the connecting frame 2, and a groove matching the limit block 6 is provided on the corresponding side of the connecting frame 2. When the glue is installed, the clamping cylinder 5 releases the limit block 6, so that the connecting frame 2 can move along the linear guide rail 12.

[0023] The present invention further illustrates that a limiting ring 11 is arranged between the inner side of the limiting frame 4 and the glue syringe 7, and a clamping screw 10 is arranged on one side of the limiting frame 4. The limiting ring 11 is made of rubber. When installing the glue syringe 7, the glue syringe 7 can be passed through the inner side of the limiting ring 11, and the clamping screw 10 is rotated innerward so that the limiting ring 11 clamps the glue syringe 7.

[0024] The present invention further illustrates that a through hole matching the glue needle 8 is opened on the surface of the protective frame 9, and the protective frame 9 corresponds to the position of the limiting frame 4, and the corresponding position can make the glue syringe 7 and the glue needle 8 always in a vertical state.

[0025] The present invention further illustrates that a mounting plate 15 is disposed on one side of the mounting frame 1 and the connecting frame 2 , and a connecting conduit 16 is disposed on the inner side of the mounting plate 15 .

[0026] The beneficial effects achieved by the present invention are as follows: the present invention is composed of a clamping cylinder 5, a linear guide 12, a movable slider 13 and a weighing sensor 14; the linear guide 12 is vertically installed, the glue syringe 7 and the glue needle 8 are integrated into two connecting frames, and the weighing sensor 14 is installed under the slider. The component can directly measure the required value through the weighing sensor 14 through appropriate structural design. Compared with the servo glue metering system, the structure is simple and compact, the cost is low, and the weight is low, which is suitable for occasions with weight restrictions such as the end of a robot.

[0027] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0028] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A glue weighing structure applied to the end of a six-axis robot, comprising a mounting frame (1), characterized in that: A connecting frame (2) is arranged on one side of the mounting frame (1), a linear guide rail (12) and a movable slide block (13) are arranged between the mounting frame (1) and the connecting frame (2), a protective frame (9) is arranged on the bottom surface of the mounting frame (1), a limiting frame (4) is arranged on one side of the connecting frame (2), a glue syringe (7) is arranged on the inner side of the limiting frame (4), a glue needle (8) is arranged on the bottom surface of the glue syringe (7), a clamping cylinder (5) is arranged on the side wall of the mounting frame (1) near the top surface, a limiting block (6) is arranged on the output end of the clamping cylinder (5), a load-bearing sensor is arranged on the top surface of the protective frame (9), and a protective cover (3) is arranged on the outer side of the connecting frame (2).

2. The glue weighing structure applied to the end of a six-axis robot according to claim 1, characterized in that: The linear guide rail (12) and the movable slide block (13) match each other, and are slidably connected to each other, and the linear guide rail (12) is vertically arranged on one side of the mounting frame (1).

3. The glue weighing structure applied to the end of a six-axis robot according to claim 1, characterized in that: One side of the linear guide rail (12) is connected to the mounting frame (1) via bolts, and one side of the movable slider (13) is connected to the connecting frame (2) via bolts.

4. The glue weighing structure applied to the end of a six-axis robot according to claim 1, characterized in that: A limiting ring (11) is arranged between the inner side of the limiting frame (4) and the glue syringe (7), and a clamping screw (10) is arranged on one side of the limiting frame (4).

5. The glue weighing structure applied to the end of a six-axis robot according to claim 1, characterized in that: A through hole matching the glue needle (8) is provided on the surface of the protection frame (9), and the positions of the protection frame (9) and the limiting frame (4) correspond.

6. The glue weighing structure applied to the end of a six-axis robot according to claim 1, characterized in that: A mounting plate (15) is provided on one side of the mounting frame (1) and the connecting frame (2), and a connecting conduit (16) is provided on the inner side of each mounting plate (15).

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