Programmable servo positioning system and servo positioning method for single-axis robot

Abstract

The invention discloses a programmable servo positioning system for a single-axis robot and a servo positioning method. The system aims to solve the technical problems that in the prior art, a single-axis robot is tedious in positioning debugging operation and low in positioning efficiency, and an encoder is poor in heat dissipation effect. The system comprises a base, a servo motor is fixedly installed at the front end in the base, a one-way lead screw is connected to the position, located at the rear end of a servo motor driving shaft, in the base, a first nut seat is installed on the outer side of the one-way lead screw, a sliding table is fixedly installed on the outer side of the first nut seat, and an encoder is installed at the front end of the servo motor driving shaft; by means of the design, servo positioning adjustment of the single-axis robot can be rapidly completed, repeated adjustment for debugging is not needed, positioning convenience and positioning efficiency are greatly improved, meanwhile, the heat dissipation effect of an encoder is greatly improved, and it is guaranteed that a servo positioning system can work normally.

Description

Technical Field

[0001] The invention belongs to the technical field of single-axis robots, and in particular relates to a programmable servo positioning system and a servo positioning method for a single-axis robot. Background Art

[0002] Single-axis robots, also known as single-axis manipulators, electric slides, linear modules or single-axis drives, can be combined in two-axis, three-axis or gantry styles through different combinations. Therefore, multi-axis robots are also called rectangular coordinate robots. The more common ones are linear modules driven by ball screw cylinders.

[0003] The linear module is composed of linear guides, ball screws and servo motors. The positioning of the linear module is mainly carried out by limit photoelectric switches, encoders and grating rulers. Due to the high cost of using grating rulers, encoders and limit photoelectric switches are usually used for positioning. The motion range of the linear module is set by the limit photoelectric switch, and the encoder can accurately control the moving position. The servo motor in the linear module is also equipped with a PLC controller. By programming the PLC controller, precise control and monitoring of the encoder and limit photoelectric switch can be achieved.

[0004] At present, the position of the limit photoelectric switch on the linear module is fixed after installation and debugging, so that the maximum motion range of the single-axis robot is fixed. However, when the maximum motion range is subsequently limited, that is, when the motion range of the linear module is positioned, it is necessary to repeatedly adjust the installation position of the limit photoelectric switch for debugging, resulting in cumbersome operation and low positioning efficiency. At the same time, since the encoder needs to continuously and accurately control the moving position, a large amount of heat will be generated during operation. If the heat is not dissipated in time, the heat will accumulate inside the encoder and accelerate the aging rate of the internal circuit of the encoder, which will not only shorten the service life of the encoder, but also easily cause the encoder to burn out once the temperature exceeds the upper limit of the encoder.

[0005] Therefore, it is particularly important to design a programmable servo positioning system and servo positioning method for a single-axis robot to solve the above-mentioned defects. Summary of the invention

[0006] (1) Technical issues to be solved

[0007] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a programmable servo positioning system and servo positioning method for a single-axis robot. The system aims to solve the technical problems of cumbersome positioning and debugging operations, low positioning efficiency, and poor heat dissipation effect of the encoder in the prior art for single-axis robots.

[0008] (2) Technical solution

[0009] In order to solve the above technical problems, the present invention provides a programmable servo positioning system for a single-axis robot, which includes a base, a servo motor is fixedly installed at the front end of the base, a one-way screw is connected to the rear end of the servo motor drive shaft inside the base, a first nut seat is installed on the outside of the one-way screw, a slide is fixedly installed on the outside of the first nut seat, an encoder is installed on the front end of the servo motor drive shaft, an adjustment table is fixedly installed on the right side of the servo motor, a PLC controller is fixedly installed on the right side of the servo motor, a heat dissipation shell is fixedly installed at the front end of the servo motor and located on the outside of the encoder, and a heat dissipation component is installed inside the heat dissipation shell;

[0010] The internal rotation of the adjusting table is connected with a bidirectional lead screw, and second nut seats are installed on the outer sides of the front and rear ends of the bidirectional lead screw, and adjustment seats are fixedly installed on the outer sides of the two groups of second nut seats, and limit photoelectric switches are fixedly installed on the tops of the two groups of adjustment seats. A zeroing photoelectric switch is fixedly installed on the right side of the base and in the middle between the two groups of limit photoelectric switches. An induction plate compatible with the zeroing photoelectric switch and the limit photoelectric switch is fixedly installed on the right side of the slide, and a scale is provided on the right side of the adjusting table. Indicator needles are fixedly connected at the positions corresponding to the two groups of limit photoelectric switches and the scale.

[0011] When the system of the present technical solution is used, the encoder, the limit photoelectric switch and the zeroing photoelectric switch are all connected to the PLC controller, and the encoder, the limit photoelectric switch and the zeroing photoelectric switch are adjusted accordingly by programming the PLC controller. First, the servo motor is started to drive the one-way screw to rotate, and the slide table is driven to move to the middle of the base until the induction plate reaches the zeroing photoelectric switch to confirm the initial position calibration origin, and then the two-way screw is rotated to adjust the position of the two sets of second nut seats, and the two sets of adjustment seats move synchronously accordingly. According to the range to be adjusted, the position of the indicator needle indicates the scale, so as to adjust the position of the two sets of limit photoelectric switches, and then the slide table is moved to drive the induction plate to move to the position of the two sets of limit photoelectric switches respectively, so as to confirm the maximum range of motion after adjustment. At the same time, when confirming the initial position calibration origin, the initial value of the encoder is adjusted to zero, and when confirming the maximum range of motion, the encoder is adjusted accordingly, so as to quickly complete the adjustment of the servo positioning of the single-axis robot. After the heat dissipation shell is installed on the front of the servo motor through the mounting screws, the encoder is protected by the heat dissipation shell. At the same time, the vents on the left and right sides of the heat dissipation shell can allow air to circulate for heat dissipation. When the encoder is working, the interior of the first liquid storage box and the second liquid storage box are filled with coolant. The heat dissipation coil, the first heat conduction plate, the second heat conduction plate and the heat conduction pipe are all made of aluminum or copper metal with high thermal conductivity. The coolant inside the first liquid storage box is sent to the heat dissipation coil through an infusion pump, and the coolant in the heat dissipation coil flows back into the interior of the first liquid storage box to form a cycle. The heat dissipation coil contacts the outside of the encoder, thereby continuously dissipating the heat on the outside of the encoder to improve the heat dissipation effect. At the same time, the heat on the front side of the encoder can be introduced into the coolant in the second liquid storage box through the second heat conduction plate. The coolant is introduced into the interior of multiple groups of heat conduction pipes, and the contact area between the heat conduction pipe and the second liquid storage box is increased through the second heat conduction plate for rapid heat conduction. Multiple groups of heat dissipation fins are used for heat dissipation. At the same time, the heat dissipation fan is started to allow the air entering from the outside of the heat dissipation shell to circulate quickly, and the coolant in the heat conduction pipe is quickly dissipated through multiple groups of heat dissipation fins, so that the coolant in the second liquid storage box can continuously dissipate the heat on the front side of the encoder, thereby greatly improving the heat dissipation effect of the encoder.

[0012] Preferably, both front and rear ends of the bidirectional lead screw are rotatably connected to the adjustment platform via bearings, and a knob is fixedly mounted at the front end of the bidirectional lead screw and located on the outside of the adjustment platform.

[0013] Furthermore, a protective cover is fixedly installed on the top of the base, and movable grooves are formed between the left and right ends of the protective cover and the base.

[0014] Furthermore, the four corners at the rear end of the heat sink shell are fixedly connected to the servo motor by installing screws, multiple sets of ventilation holes are opened on the left and right sides of the heat sink shell, and an inspection cover is movably installed on the front of the heat sink shell. Multiple sets of clips are fixedly connected to the inner edge of the inspection cover, and the multiple sets of clips are connected to the heat sink shell through slots.

[0015] Furthermore, the heat dissipation assembly includes a heat dissipation coil fixedly mounted on the outside of the encoder, a first liquid storage box fixedly mounted at a position on the top of the heat dissipation shell corresponding to the heat dissipation coil, an infusion pump fixedly mounted inside the first liquid storage box, a first heat conductive plate fixedly mounted at the front end of the heat dissipation coil and located on the outside of the encoder, a second liquid storage box fixedly mounted on the front of the first heat conductive plate, a second heat conductive plate fixedly mounted on the front of the second liquid storage box, both ends of the second heat conductive plate are fixedly connected to the second liquid storage box through a mounting plate, a fixed frame is clamped on the outside of the mounting plate, a heat dissipation fan is fixedly mounted on the inside of the fixed frame, a plurality of groups of heat conductive pipes are fixedly connected to the upper and lower ends of the second heat conductive plate, and a plurality of groups of heat dissipation fins are fixedly connected to the outside of the heat conductive pipes and located on the upper and lower sides of the heat dissipation fan.

[0016] Furthermore, one end of the infusion pump is fixedly connected to a liquid extraction tube, the other end of the infusion pump is fixedly connected to one end of the heat dissipation coil through the infusion tube, the other end of the heat dissipation coil is connected to the interior of the first liquid storage box through a liquid return tube, and the top of the first liquid storage box is threadedly connected to a first liquid filling cap.

[0017] Furthermore, the left and right sides of the heat dissipation coil are fixedly connected with mounting frames, and the front and rear ends of the mounting frames are fixedly connected to the servo motor and the second liquid storage box respectively through fixing screws.

[0018] Furthermore, the back side of the first heat conducting plate is in contact with the surface of the encoder, a plurality of heat conducting columns are fixedly connected to one side of the first heat conducting plate located inside the second liquid storage box, a plurality of positioning columns are fixedly connected to the four corners of the second heat conducting plate close to the second liquid storage box, the second liquid storage box is provided with positioning grooves at positions corresponding to the plurality of positioning columns, a plurality of connecting heads are fixedly connected to one side of the second heat conducting plate close to the second liquid storage box, the plurality of connecting heads extend to the interior of the second liquid storage box, the plurality of heat conducting tubes are connected to the connecting heads, sealing rings are provided at the connections between the plurality of connecting heads and the second liquid storage box, and a second liquid filling cap is threadedly connected to the top of the second liquid storage box.

[0019] Furthermore, both upper and lower ends of the fixing frame are clamped with the mounting plate through clamping blocks, and both left and right ends of the fixing frame and upper and lower sides of the heat dissipation fins are fixedly connected with limited edges.

[0020] The present invention also provides a servo positioning method, comprising any one of the above-mentioned programmable servo positioning systems for a single-axis robot, and the specific operating steps are as follows:

[0021] S1, first start the servo motor to drive the one-way screw to rotate, and drive the slide to move to the middle of the base until the sensor plate reaches the zeroing photoelectric switch to confirm the initial position calibration origin;

[0022] S2, then rotate the bidirectional lead screw to adjust the positions of the two sets of second nut seats, and the two sets of adjustment seats move synchronously accordingly. Observe the position of the indicator needle indicating the scale according to the required adjustment range, so as to adjust the positions of the two sets of limit photoelectric switches;

[0023] S3, then move the slide to drive the induction plate to the positions of the two sets of limit photoelectric switches respectively, so as to confirm the maximum movement range after adjustment;

[0024] S4, when confirming the initial position calibration origin, the initial value of the encoder is adjusted to zero, and when confirming the maximum motion range, the encoder is adjusted accordingly, thereby quickly completing the adjustment of the servo positioning of the single-axis robot.

[0025] (3) Beneficial effects

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The system of the present invention is designed by the cooperation of the slide, the encoder and the adjustment table. When the maximum motion range of the slide is limited, the encoder, the limit photoelectric switch and the zeroing photoelectric switch are connected to the PLC controller. The encoder, the limit photoelectric switch and the zeroing photoelectric switch are adjusted accordingly by programming the PLC controller. The servo motor is first started to drive the one-way screw to rotate, and the slide moves to the middle of the base until the induction plate reaches the zeroing photoelectric switch to confirm the initial position calibration origin. Then the two-way screw is rotated to adjust the positions of the two groups of second nut seats, and the two groups of adjustment seats move synchronously. According to the range to be adjusted, the position of the indicator needle indicates the scale, so as to adjust the positions of the two groups of limit photoelectric switches. Then the slide is moved to drive the induction plate to move to the positions of the two groups of limit photoelectric switches respectively, so as to confirm the maximum motion range after adjustment. At the same time, when confirming the initial position calibration origin, the initial value of the encoder is adjusted to zero, and when confirming the maximum motion range, the encoder is adjusted accordingly, so as to quickly complete the adjustment of the servo positioning of the single-axis robot, without repeated adjustment and debugging, which greatly improves the convenience and efficiency of positioning.

[0028] 2. The system of the present invention is designed to fix the heat dissipation component through the heat dissipation shell. When the encoder is working, the interiors of the first liquid storage box and the second liquid storage box are filled with coolant. The heat dissipation coil, the first heat conduction plate, the second heat conduction plate and the heat conduction pipe are all made of aluminum or copper metal materials with high thermal conductivity. The coolant inside the first liquid storage box is sent to the heat dissipation coil through the infusion pump, and the coolant in the heat dissipation coil flows back into the interior of the first liquid storage box to form a cycle. The heat dissipation coil contacts the outside of the encoder, thereby continuously dissipating the outside of the encoder to improve the heat dissipation effect. At the same time, the second heat conduction plate The heat from the front of the encoder can be introduced into the coolant in the second liquid storage box, the coolant is introduced into the interior of multiple groups of heat pipes, and the contact area between the heat pipes and the second liquid storage box is increased through the second heat conduction plate to quickly conduct heat, and multiple groups of heat dissipation fins are used to dissipate heat. At the same time, the cooling fan is started to allow the air entering from the outside of the heat dissipation shell to circulate quickly, and the coolant in the heat pipe is quickly cooled through the multiple groups of heat dissipation fins, so that the coolant in the second liquid storage box can continuously cool the front of the encoder, thereby greatly improving the heat dissipation effect of the encoder and ensuring that the servo positioning system can work normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the internal structure of the base of the present invention;

[0031] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0032] Figure 4 This is a schematic diagram of the external structure of the heat dissipation shell of the present invention;

[0033] Figure 5 This is a schematic diagram of the internal structure of the heat dissipation shell of the present invention;

[0034] Figure 6 It is a schematic diagram of the structure of the heat dissipation component of the present invention;

[0035] Figure 7 This is a schematic diagram of the heat dissipation coil structure of the present invention;

[0036] Figure 8 for Figure 7 Enlarged view of point B in the middle;

[0037] Fig. 9 This is a schematic structural diagram of a second liquid storage box of the present invention;

[0038] Fig.10 This is a schematic structural diagram of the first heat conducting plate of the present invention;

[0039] Fig.11 This is a schematic diagram of the structure of the second heat conducting plate of the present invention;

[0040] Fig.12 for Fig.11 Enlarged view of point C in the middle.

[0041] The marks in the attached drawings are: 1, base; 101, protective cover; 102, movable slot; 2, servo motor; 3, one-way screw; 4, first nut seat; 5, slide; 6, encoder; 7, adjustment table; 701, two-way screw; 702, second nut seat; 703, adjustment seat; 704, limit photoelectric switch; 705, zeroing photoelectric switch; 706, induction plate; 707, scale; 708, indicator needle; 709, knob; 8, PLC controller; 9, heat dissipation shell; 901, mounting screws; 902, vents; 903, inspection cover; 904, buckle; 905, slot; 10, heat dissipation component; 1001, heat dissipation coil; 1002, first liquid storage box; 1003, infusion pump; 1004, first heat conduction plate; 1005, second liquid storage box; 1006, second heat conduction plate; 1007, mounting plate; 1008, fixing frame; 1009, cooling fan; 1010, heat pipe; 1011, cooling fin; 1012, liquid extraction tube; 1013, liquid infusion tube; 1014, liquid return tube; 1015, first liquid filling cover; 1016, mounting frame; 1017, fixing screw; 1018, heat conduction column; 1019, positioning column; 1020, connector; 1021, sealing ring; 1022, second liquid filling cover; 1023, block; 1024, limiting edge. DETAILED DESCRIPTION

[0042] This specific implementation is a programmable servo positioning system for a single-axis robot, and its structural schematic diagram is shown in FIG. Figure 1-12 As shown, the system includes a base 1, a servo motor 2 is fixedly installed at the front end inside the base 1, a one-way screw 3 is connected to the inside of the base 1 and located at the rear end of the driving shaft of the servo motor 2, a first nut seat 4 is installed on the outside of the one-way screw 3, a slide 5 is fixedly installed on the outside of the first nut seat 4, an encoder 6 is installed on the front end of the driving shaft of the servo motor 2, an adjustment table 7 is fixedly installed on the right side of the servo motor 2, a PLC controller 8 is fixedly installed on the right side of the servo motor 2, a heat dissipation shell 9 is fixedly installed at the front end of the servo motor 2 and located on the outside of the encoder 6, and a heat dissipation component 10 is installed inside the heat dissipation shell 9.

[0043] First, in this embodiment, the specific structure of the adjustment platform 7 is as follows:

[0044] The internal rotation of the adjustment platform 7 is connected with a bidirectional lead screw 701, and the outer sides of the front and rear ends of the bidirectional lead screw 701 are both installed with second nut seats 702, and the outer sides of the two groups of second nut seats 702 are fixedly installed with adjustment seats 703, and the tops of the two groups of adjustment seats 703 are fixedly installed with limit photoelectric switches 704, and the right side of the base 1 and the middle between the two groups of limit photoelectric switches 704 are fixedly installed with a zeroing photoelectric switch 705, and the right side of the slide 5 is fixedly installed with a sensing plate 706 adapted for use with the zeroing photoelectric switch 705 and the limit photoelectric switch 704. A scale 707 is provided on the right side of the adjustment platform 7, and indicator needles 708 are fixedly connected at the positions corresponding to the two groups of limit photoelectric switches 704 and the scale 707. When limiting the maximum motion range of the slide 5, the encoder 6, the limit photoelectric switch 704 and the zeroing photoelectric switch 705 are all connected to the PLC controller 8. The encoder 6, the limit photoelectric switch 704 and the zeroing photoelectric switch 705 are programmed by the PLC controller 8. The switch 705 is adjusted accordingly. The servo motor 2 is first started to drive the one-way screw 3 to rotate, and the slide 5 is driven to move to the middle of the base 1 until the induction plate 706 reaches the zeroing photoelectric switch 705 to confirm the initial position calibration origin. Then the two-way screw 701 is rotated to adjust the position of the two sets of second nut seats 702, and the two sets of adjustment seats 703 move synchronously accordingly. According to the range to be adjusted, the position of the indicator needle 708 indicating the scale 707 is observed, so as to adjust the position of the two sets of limit photoelectric switches 704. Then the slide 5 is moved to drive the induction plate 706 to move to the positions of the two sets of limit photoelectric switches 704 respectively, so as to confirm the maximum movement range after adjustment. At the same time, when confirming the initial position calibration origin, the initial value of the encoder 6 is adjusted to zero, and when confirming the maximum movement range, the encoder 6 is adjusted accordingly, so as to quickly complete the adjustment of the servo positioning of the single-axis robot, without the need for repeated adjustment and debugging, thereby greatly improving the convenience and efficiency of positioning.

[0045] Furthermore, the front and rear ends of the bidirectional screw 701 are rotatably connected to the adjustment platform 7 through bearings, and a knob 709 is fixedly installed at the front end of the bidirectional screw 701 and located on the outside of the adjustment platform 7. The bidirectional screw 701 can be rotated by the knob 709 to adjust the positions of the two sets of limit photoelectric switches 704.

[0046] Then, a protective cover 101 is fixedly installed on the top of the base 1, and movable grooves 102 are formed between the left and right ends of the protective cover 101 and the base 1. The internal structure of the base 1 is protected by the protective cover 101, and the slide 5 can slide stably inside the movable groove 102.

[0047] Furthermore, the four corners at the rear end of the heat dissipation shell 9 are fixedly connected to the servo motor 2 by installing screws 901, and multiple sets of ventilation holes 902 are provided on the left and right sides of the heat dissipation shell 9. An inspection cover 903 is movably installed on the front of the heat dissipation shell 9, and multiple sets of buckles 904 are fixedly connected to the inner edge of the inspection cover 903. The multiple sets of buckles 904 are all connected to the heat dissipation shell 9 through the slots 905. After the heat dissipation shell 9 is installed on the front of the servo motor 2 by installing screws 901, the encoder 6 is protected by the heat dissipation shell 9. At the same time, the ventilation holes 902 on the left and right sides of the heat dissipation shell 9 can allow air to circulate for heat dissipation. The inspection cover 903 is connected to the slots 905 through the inner buckles 904, which is convenient for disassembly and assembly to inspect the inside of the heat dissipation shell 9.

[0048] The heat dissipation assembly 10 includes a heat dissipation coil 1001 fixedly mounted on the outside of the encoder 6, a first liquid storage box 1002 is fixedly mounted at a position corresponding to the heat dissipation coil 1001 on the top of the heat dissipation shell 9, an infusion pump 1003 is fixedly mounted inside the first liquid storage box 1002, a first heat conduction plate 1004 is fixedly mounted at the front end of the heat dissipation coil 1001 and located on the outside of the encoder 6, a second liquid storage box 1005 is fixedly mounted on the front of the first heat conduction plate 1004, a second heat conduction plate 1006 is fixedly mounted on the front of the second liquid storage box 1005, and both ends of the second heat conduction plate 1006 are fixedly mounted. The second liquid storage box 1005 is fixedly connected through the mounting plate 1007, a fixing frame 1008 is clamped on the outside of the mounting plate 1007, a cooling fan 1009 is fixedly installed on the inside of the fixing frame 1008, multiple groups of heat pipes 1010 are fixedly connected to the upper and lower ends of the second heat conducting plate 1006, multiple groups of heat dissipation fins 1011 are fixedly connected to the outer side of the heat conducting pipe 1010 and located on the upper and lower sides of the cooling fan 1009. When the encoder 6 is working, the interiors of the first liquid storage box 1002 and the second liquid storage box 1005 are filled with coolant, and the heat dissipation coil 1001 and the first heat conducting plate 1004 are fixedly connected to the second liquid storage box 1005. The second heat conducting plate 1006 and the heat conducting pipe 1010 are all made of aluminum or copper metal materials with high thermal conductivity. The coolant inside the first liquid storage box 1002 is sent to the heat dissipation coil 1001 through the infusion pump 1003, and the coolant in the heat dissipation coil 1001 flows back into the first liquid storage box 1002 to form a cycle. The heat dissipation coil 1001 contacts the outer side of the encoder 6, thereby continuously dissipating the heat from the outer side of the encoder 6 to improve the heat dissipation effect. At the same time, the heat from the front of the encoder 6 can be introduced into the coolant in the second liquid storage box 1005 through the second heat conducting plate 1006. The coolant is introduced into the coolant. The inside of the heat pipe 1010 is formed by a second heat conducting plate 1006, and the contact area between the heat pipe 1010 and the second liquid storage box 1005 is increased to quickly conduct heat. A plurality of heat dissipation fins 1011 are used to dissipate heat. At the same time, the heat dissipation fan 1009 is started to allow the air entering from the outside of the heat dissipation shell 9 to circulate quickly. The coolant in the heat pipe 1010 is quickly dissipated through the plurality of heat dissipation fins 1011, so that the coolant in the second liquid storage box 1005 can continuously dissipate heat to the front of the encoder 6, thereby greatly improving the heat dissipation effect of the encoder 6 and ensuring that the servo positioning system can work normally.

[0049] Furthermore, one end of the infusion pump 1003 is fixedly connected to a liquid extraction tube 1012, and the other end of the infusion pump 1003 is fixedly connected to one end of the heat dissipation coil 1001 through the infusion tube 1013. The other end of the heat dissipation coil 1001 is connected to the interior of the first liquid storage box 1002 through the return tube 1014. The top of the first liquid storage box 1002 is threadedly connected to the first liquid filling cap 1015. When the infusion pump 1003 is started, the cooling liquid in the first liquid storage box 1002 is pumped through the liquid extraction tube 1012, and then introduced into the interior of the heat dissipation coil 1001 through the infusion tube 1013. The cooling liquid in the heat dissipation coil 1001 finally flows back into the interior of the first liquid storage box 1002 through the return tube 1014, thereby forming a cycle to continuously dissipate heat to the outside of the encoder 6, and the first liquid storage box 1002 adds cooling liquid through the first liquid filling cap 1015 on the outside.

[0050] Furthermore, the left and right sides of the heat dissipation coil 1001 are fixedly connected with a mounting bracket 1016, and the front and rear ends of the mounting bracket 1016 are respectively fixedly connected to the servo motor 2 and the second liquid storage box 1005 by fixing screws 1017. After the heat dissipation coil 1001 is put on the outside of the encoder 6, the rear end of the mounting bracket 1016 is fixed by the fixing screws 1017, so that the heat dissipation coil 1001 is installed and fixed on the outside of the encoder 6. When the first heat conduction plate 1004 is connected to the front of the encoder 6, the front end of the mounting bracket 1016 is fixed to the left and right sides of the second liquid storage box 1005 by the fixing screws 1017, so as to facilitate installation and positioning.

[0051] Secondly, the back side of the first heat conducting plate 1004 is in contact with the surface of the encoder 6, and the first heat conducting plate 1004 is located on one side inside the second liquid storage box 1005 and is fixedly connected to a plurality of heat conducting columns 1018, and the second heat conducting plate 1006 is fixedly connected to a plurality of positioning columns 1019 at four corners near one side of the second liquid storage box 1005, and the second liquid storage box 1005 is provided with positioning grooves at positions corresponding to the plurality of positioning columns 1019, and the second heat conducting plate 1006 is fixedly connected to a plurality of connectors 1020 on one side near the second liquid storage box 1005, and the plurality of connectors 1020 extend to the interior of the second liquid storage box 1005, and the plurality of heat conducting pipes 1010 are connected to the connectors 1020, and the connection between the plurality of connectors 1020 and the second liquid storage box 1005 is provided with sealing rings 1021, and the top of the second liquid storage box 1005 is threadedly connected to a second liquid adding Cover 1022, the first heat conducting plate 1004 is installed on the front side of the encoder 6 to conduct its heat, and then introduces its heat into the coolant inside the second liquid storage box 1005 through multiple sets of heat conducting columns 1018. When the second heat conducting plate 1006 and the second liquid storage box 1005 are installed and connected, first align the multiple sets of positioning columns 1019 with the positioning grooves on the second liquid storage box 1005, and then fit the second heat conducting plate 1006 to the second liquid storage box 1005, so that the multiple sets of connectors 1020 are inserted into the second liquid storage box 1005, and then fixed by the mounting plate 1007, when the second liquid filling cover 1022 is opened to add coolant to the second liquid storage box 1005, the coolant in the second liquid storage box 1005 will flow into the heat conducting pipe 1010 until the multiple sets of heat conducting pipes 1010 are full and then the second liquid storage box 1005 is filled with coolant, so that the heat can be quickly conducted and dissipated.

[0052] Finally, the upper and lower ends of the fixed frame 1008 are clamped with the mounting plate 1007 through the clamping block 1023, and the left and right ends of the fixed frame 1008 and the upper and lower sides of the heat dissipation fins 1011 are fixedly connected to the limiting edges 1024. After the heat dissipation fan 1009 is installed, the fixed frame 1008 is put on and then fixed by the clamping block 1023. At the same time, the two ends of the heat dissipation fins 1011 are limited by the limiting edges 1024, so that the heat dissipation fan 1009 can stably rotate inside the fixed frame 1008 to dissipate heat.

[0053] When using the system of the present technical solution, the encoder 6, the limit photoelectric switch 704 and the zeroing photoelectric switch 705 are all connected to the PLC controller 8. The encoder 6, the limit photoelectric switch 704 and the zeroing photoelectric switch 705 are adjusted accordingly by programming the PLC controller 8. First, the servo motor 2 is started to drive the one-way screw 3 to rotate, and the slide 5 is driven to move toward the middle of the base 1 until the induction plate 706 reaches the zeroing photoelectric switch 705 to confirm the initial position calibration origin, and then the two-way screw 701 is rotated to adjust the position of the two sets of second nut seats 702, and the two sets of adjustment seats 703 move synchronously therewith. According to the range of adjustment required, the position of the scale 707 indicated by the indicator needle 708 is observed, so as to adjust the two sets of limit photoelectric switches. The position of 704 is adjusted, and then the sliding table 5 is moved to drive the induction plate 706 to move to the positions of the two groups of limit photoelectric switches 704 respectively, so as to confirm the maximum movement range after adjustment. At the same time, when confirming the initial position calibration origin, the initial value of the encoder 6 is adjusted to zero, and when confirming the maximum movement range, the encoder 6 is adjusted accordingly, so as to quickly complete the adjustment of the servo positioning of the single-axis robot. After the heat dissipation shell 9 is installed on the front of the servo motor 2 by installing screws 901, the encoder 6 is protected by the heat dissipation shell 9. At the same time, the vents 902 on the left and right sides of the heat dissipation shell 9 can allow air to circulate for heat dissipation. When the encoder 6 is working, the interiors of the first liquid storage box 1002 and the second liquid storage box 1005 are filled with coolant, and the heat dissipation coil 1001, the first heat conducting plate 1004, the second heat conducting plate 1006 and the heat conducting pipe 1010 are all made of aluminum or copper metal with high thermal conductivity. The coolant in the first liquid storage box 1002 is sent to the heat dissipation coil 1001 through the infusion pump 1003, and the coolant in the heat dissipation coil 1001 flows back into the first liquid storage box 1002 to form a cycle. The heat dissipation coil 1001 is in contact with the outer side of the encoder 6, so as to continuously dissipate the heat on the outer side of the encoder 6 to improve the heat dissipation effect. At the same time, the heat from the front of the encoder 6 can be introduced into the coolant in the second liquid storage box 1005 through the second heat conducting plate 1006. The coolant is introduced into the interior of multiple groups of heat conducting pipes 1010, and the heat conducting pipes 1010 and the heat conducting pipes 1010 are increased through the second heat conducting plate 1006. The contact area of ​​the second liquid storage box 1005 conducts heat quickly, and multiple groups of heat dissipation fins 1011 are used for heat dissipation. At the same time, the heat dissipation fan 1009 is started to allow the air entering from the outside of the heat dissipation shell 9 to circulate quickly, and the coolant in the heat pipe 1010 is quickly cooled by the multiple groups of heat dissipation fins 1011, so that the coolant in the second liquid storage box 1005 can continue to dissipate heat on the front of the encoder 6, thereby greatly improving the heat dissipation effect of the encoder 6. The entire operation process is simple and convenient. The present invention is designed to quickly complete the adjustment of the servo positioning of the single-axis robot without repeated adjustment and debugging, which greatly improves the convenience and efficiency of positioning, and at the same time greatly improves the heat dissipation effect of the encoder 6, ensuring that the servo positioning system can work normally.

[0054] The embodiment of the present invention also provides a servo positioning method, and the specific operation steps are as follows:

[0055] S1, first start the servo motor 2 to drive the one-way screw 3 to rotate, and drive the slide 5 to move to the middle of the base 1, until the induction plate 706 reaches the zeroing photoelectric switch 705 to confirm the initial position calibration origin;

[0056] S2, then rotate the bidirectional lead screw 701 to adjust the positions of the two sets of second nut seats 702, and the two sets of adjustment seats 703 move synchronously accordingly, and observe the position of the indicator needle 708 indicating the scale 707 according to the required adjustment range, so as to adjust the positions of the two sets of limit photoelectric switches 704;

[0057] S3, then move the slide 5 to drive the induction plate 706 to move to the positions of the two sets of limit photoelectric switches 704 respectively, so as to confirm the adjusted maximum motion range;

[0058] S4, when confirming the initial position calibration origin, the initial value of the encoder 6 is adjusted to zero, and when confirming the maximum motion range, the encoder 6 is adjusted accordingly, thereby quickly completing the adjustment of the servo positioning of the single-axis robot.

[0059] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention may also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A programmable servo positioning system for a single-axis robot, the system comprising a base (1); characterized in that: A servo motor (2) is fixedly mounted at the front end of the base (1); a one-way screw (3) is connected to the rear end of the drive shaft of the servo motor (2) inside the base (1); a first nut seat (4) is mounted on the outside of the one-way screw (3); a slide table (5) is fixedly mounted on the outside of the first nut seat (4); an encoder (6) is mounted on the front end of the drive shaft of the servo motor (2); an adjustment table (7) is fixedly mounted on the right side of the servo motor (2); a PLC controller (8) is fixedly mounted on the right side of the servo motor (2); a heat dissipation shell (9) is fixedly mounted at the front end of the servo motor (2) and located on the outside of the encoder (6); a heat dissipation component (10) is mounted inside the heat dissipation shell (9); The adjusting platform (7) is internally rotatably connected with a bidirectional lead screw (701), and second nut seats (702) are installed on the outer sides of both front and rear ends of the bidirectional lead screw (701), and adjusting seats (703) are fixedly installed on the outer sides of the two groups of the second nut seats (702), and the tops of the two groups of the adjusting seats (703) are fixedly installed with limit photoelectric switches (704), and a zeroing photoelectric switch (705) is fixedly installed on the right side of the base (1) and located in the middle between the two groups of limit photoelectric switches (704), and a sensing plate (706) adapted for use with the zeroing photoelectric switch (705) and the limit photoelectric switch (704) is fixedly installed on the right side of the slide (5), and a scale (707) is provided on the right side of the adjusting platform (7), and indicator needles (708) are fixedly connected at positions corresponding to the two groups of the limit photoelectric switches (704) and the scale (707).

2. A programmable servo positioning system for a single-axis robot according to claim 1, characterized in that: The front and rear ends of the bidirectional lead screw (701) are rotatably connected to the adjustment platform (7) via bearings, and a knob (709) is fixedly mounted at the front end of the bidirectional lead screw (701) and located outside the adjustment platform (7).

3. A programmable servo positioning system for a single-axis robot according to claim 1, characterized in that: A protective cover (101) is fixedly mounted on the top of the base (1), and movable grooves (102) are formed between the left and right ends of the protective cover (101) and the base (1).

4. A programmable servo positioning system for a single-axis robot according to claim 1, characterized in that: The four corners at the rear end of the heat dissipation shell (9) are fixedly connected to the servo motor (2) by means of mounting screws (901); a plurality of ventilation holes (902) are provided on both the left and right sides of the heat dissipation shell (9); an inspection cover (903) is movably installed on the front of the heat dissipation shell (9); a plurality of buckles (904) are fixedly connected to the inner edge of the inspection cover (903); and the plurality of buckles (904) are all clamped to the heat dissipation shell (9) via clamping grooves (905).

5. A programmable servo positioning system for a single-axis robot according to claim 1, characterized in that: The heat dissipation assembly (10) comprises a heat dissipation coil (1001) fixedly mounted on the outside of the encoder (6); a first liquid storage box (1002) is fixedly mounted at a position on the top of the heat dissipation shell (9) corresponding to the heat dissipation coil (1001); an infusion pump (1003) is fixedly mounted inside the first liquid storage box (1002); a first heat conduction plate (1004) is fixedly mounted at the front end of the heat dissipation coil (1001) and located on the outside of the encoder (6); a second liquid storage box (1005) is fixedly mounted on the front side of the first heat conduction plate (1004); and a second liquid storage box (1005) is fixedly mounted on the front side of the second liquid storage box (1005). A second heat conducting plate (1006) is fixedly mounted on the surface, both ends of the second heat conducting plate (1006) are fixedly connected to the second liquid storage box (1005) through a mounting plate (1007), a fixing frame (1008) is clamped on the outer side of the mounting plate (1007), a heat dissipation fan (1009) is fixedly mounted on the inner side of the fixing frame (1008), a plurality of groups of heat conducting pipes (1010) are fixedly connected at both upper and lower ends of the second heat conducting plate (1006), and a plurality of groups of heat dissipation fins (1011) are fixedly connected on the outer side of the heat conducting pipes (1010) and located on the upper and lower sides of the heat dissipation fan (1009).

6. A programmable servo positioning system for a single-axis robot according to claim 5, characterized in that: One end of the infusion pump (1003) is fixedly connected to a liquid extraction tube (1012), and the other end of the infusion pump (1003) is fixedly connected to one end of the heat dissipation coil (1001) via the infusion tube (1013). The other end of the heat dissipation coil (1001) is connected to the interior of the first liquid storage box (1002) via a liquid return tube (1014), and the top of the first liquid storage box (1002) is threadedly connected to a first liquid filling cap (1015).

7. A programmable servo positioning system for a single-axis robot according to claim 5, characterized in that: The left and right sides of the heat dissipation coil (1001) are fixedly connected to mounting frames (1016), and the front and rear ends of the mounting frames (1016) are respectively fixedly connected to the servo motor (2) and the second liquid storage box (1005) via fixing screws (1017).

8. A programmable servo positioning system for a single-axis robot according to claim 5, characterized in that: The back side of the first heat conducting plate (1004) is in contact with the surface of the encoder (6); the first heat conducting plate (1004) is located inside the second liquid storage box (1005) and is fixedly connected to a plurality of heat conducting columns (1018); the second heat conducting plate (1006) is located near the four corners of the second liquid storage box (1005) and is fixedly connected to a plurality of positioning columns (1019); the second liquid storage box (1005) and the plurality of positioning columns (1019) are provided with positioning grooves at positions corresponding to the plurality of positioning columns (1019); A plurality of groups of connectors (1020) are fixedly connected to one side of the plate (1006) close to the second liquid storage box (1005); the plurality of groups of connectors (1020) extend into the interior of the second liquid storage box (1005); the plurality of groups of heat-conducting pipes (1010) are connected to the connectors (1020); sealing rings (1021) are provided at the connection points between the plurality of groups of connectors (1020) and the second liquid storage box (1005); and a second liquid filling cap (1022) is threadedly connected to the top of the second liquid storage box (1005).

9. A programmable servo positioning system for a single-axis robot according to claim 5, characterized in that: The upper and lower ends of the fixing frame (1008) are both clamped to the mounting plate (1007) via clamping blocks (1023), and the left and right ends of the fixing frame (1008) and the upper and lower sides of the heat dissipation fins (1011) are fixedly connected to the limited edges (1024).

10. A servo positioning method, characterized in that: A programmable servo positioning system for a single-axis robot according to any one of claims 1 to 9, characterized in that it comprises the following steps: S1, first start the servo motor (2) to drive the one-way screw (2) to rotate, and drive the slide (5) to move toward the middle of the base (1), until the induction plate (706) reaches the zeroing photoelectric switch (705) to confirm the initial position calibration origin; S2, then the bidirectional lead screw (701) is rotated to adjust the positions of the two sets of second nut seats (702), and the two sets of adjustment seats (703) are moved synchronously accordingly, and the position of the indicator needle (708) indicating the scale (707) is observed according to the required adjustment range, so as to adjust the positions of the two sets of limit photoelectric switches (704); S3, the slide table (5) is moved again to drive the sensing plate (706) to move to the positions of the two sets of limit photoelectric switches (704) respectively, so as to confirm the adjusted maximum movement range; S4, when confirming the initial position and calibrating the origin, the initial value of the encoder (6) corresponds to Zero adjustment, and when the maximum range of motion is confirmed, the encoder (6) is adjusted accordingly. Then the adjustment of the servo positioning of the single-axis robot can be completed quickly.

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