ABBIRB67N0 series robot flat base

Abstract

The invention discloses an ABBIRB67N0 series robot flat plate base, and belongs to the technical field of industrial robot accessories. Aiming at the technical requirements that a series of robots are large in load (1250-1280KG), high in limit acceleration (+ / -6g), high in base strength, high in rigidity, good in vibration resistance, high in stability and the like. Through the square structural design (the length and width size is 1200 mm), the embedded cushion blocks (Q275 carbon steel), the cross-shaped reinforcing ribs and the specific installation technology, balance of light weight, high strength and high rigidity of the base is achieved, and resonance between the base and a robot body is avoided. The base is matched with twelve types of products of four sub-series of IRB6710, IRB6720, IRB6730 and IRB6740, the structure is simple, the manufacturing cost is low, it can be ensured that the track does not deviate when the robot works, and the stability requirements under static and dynamic loads and dynamic loads are met.

Description

Technical Field

[0001] This invention relates to the field of industrial robot accessories technology, specifically to a design basis and manufacturing method for a flat base adapted to ABB IRB67N0 series industrial robots, which is suitable for the installation and fixation of this series of robots in working conditions such as automobile manufacturing, casting, metal processing, cutting and grinding. Background Technology

[0002] ABB is a leading global industrial robot brand, with products widely used in automotive manufacturing, casting, metal processing, cutting and grinding, palletizing and handling, agricultural processing, aerospace, and healthcare. The ABB IRB67N0 series is a technological iteration of the IRB6700 series, comprising four sub-series—IRB6710, IRB6720, IRB6730, and IRB6740—with a total of 12 models. Rated load capacity ranges from 150-310 kg, and body weight ranges from 1250-1300 kg, classifying it as a high-load-bearing six-axis industrial robot.

[0003] The standard inertial torque acceleration of this series of robots is ±3g, and the limiting acceleration is ±6g under cutting and grinding conditions. Their heavy weight and high inertial torque place high demands on the matching base: it must ensure the robot's stability and reliability during operation, preventing trajectory deviation; the base needs to be lightweight while maintaining strength and rigidity to resist elastic deformation such as bending and torsion; and vibration of the flat base must be avoided to prevent resonance between the base and the robot body. However, as a new product, the IRB67N0 series currently lacks design basis and manufacturing methods for a dedicated base, and the IRB6700 base cannot meet the new technical requirements. Therefore, there is an urgent need to design a flat base suitable for this series of robots. Summary of the Invention

[0004] 1. Purpose of the invention

[0005] To address the requirements of the ABBIRB67N0 series robots for base strength, rigidity, resonance resistance, and stability, a flat base with a reasonable structure and strong adaptability is designed, and its manufacturing method is disclosed to achieve a balance between lightweight and high performance, ensuring stable robot operation while reducing manufacturing costs.

[0006] 2. Technical Solution

[0007] 2.1 Base Structure Design

[0008] 2.1.1 Overall Dimensions and Materials: The base is a square structure, with length and width determined to be 1200mm after load calculation. Calculation basis: According to GB50009-2012 "Code for Design of Building Structures", the minimum load on the foundation of an industrial plant is 49KN / m. 2 (equivalent to 5T / m) 2According to the safety factor requirements of GB standard power 1.1, 1.2m×1.2m×5T / m 2 ×1.1=7.92T / m 2 It can withstand a maximum of 7.68T / S under robotic cutting and grinding conditions. 2 Impact resistance is minimized to prevent plastic deformation or breakage of the base. The material is 30mm thick Q275 carbon steel (compliant with GB / T700-2006 standard), with a tensile strength of 540 MPa, meeting the engineering material mechanics principle of "tensile strength ratio of bimetallic materials ≥ 1 / 2" (the tensile strength of the cast carbon steel for the robot body is 1080 MPa), and can overcome elastic deformation such as bending and twisting of the robot.

[0009] 2.1.2 Cross-shaped reinforcing ribs: Q275 material cross-shaped reinforcing ribs (single reinforcing rib dimensions are L1000mm×W20mm×H30mm) are welded at the center point of the base. This structure can disperse the stress generated during the flat plate machining and welding process and improve the overall rigidity of the base.

[0010] 2.1.3 Embedded Pads: Four sets of Q275 material pads (2) (L200mm×W100mm×H48mm) are designed, each set with two Φ24 internal thread holes. The center points of the eight holes are distributed on a Φ800 circumference (the included angle formed between the center distances of the internal thread holes in a single set is 15°), which are precisely matched with the eight positioning holes of the robot's first axis. A 3mm deep countersunk plate is milled at the corresponding position of the base. After the pads are embedded, they are fully welded to reduce welding stress. After welding, the plane height of the pads (2) is 45mm, which matches the height of the external thread of the robot's own bolts to ensure that the robot is level.

[0011] 2.1.4 Stress relief structure: Each right angle of the base is sawn with an isosceles right triangle notch with a side length of 50mm. The center lines of the four sides are cut with triangle notches with a width of 20mm and a height of 10mm. All acute angles are beveled at 1×45° to release internal stress. Each of the four sides is designed with 3 Φ35 reserved holes (the center distance between the middle hole and the two side holes is 400mm, and the vertical distance from the center of the hole to the side length is 50mm) for connecting to the foundation.

[0012] 2.1.5 Corrosion Protection and Precision: The surface anti-corrosion paint color is RAL7035 (paint thickness 50±10μm), which is closest to the color of the robot body; dimensional tolerances are in accordance with GB / T1804, with m-level machining, and geometric tolerances are in accordance with GB / T1804 standard, with K-level machining.

[0013] 2.2 Manufacturing Method

[0014] 2.2.1 Flat plate processing: Select 35mm thick Q275 cold-rolled steel plate blanks, mill the surface to 30mm (Ra12.5), and finish process to form a 1200mm×1200mm square flat plate.

[0015] 2.2.2 Welding of reinforcing ribs: Weld cross reinforcing ribs (3) with the center point of the flat plate as the cross intersection point to ensure tight fit.

[0016] 2.2.3 Machining of sinkers and pads: Mill 4 sets of 3mm deep sinkers on a flat plate; machine 4 sets of pads (2) and drill internal thread holes (to ensure hole position accuracy), the flatness of the pads is Ra6.3.

[0017] 2.2.4 Pad (2) Installation and notch processing: After the pad is embedded in the sink, it is fully welded; 12 Φ35 reserved holes are processed, right angles and triangular notches on the sides are sawn, and the acute angles are blunted.

[0018] 2.2.5 Anti-corrosion treatment: After the surface of the flat plate base (1) is derusted, it is coated with anti-corrosion paint with a thickness of 50±10μm. The manufacturing is completed after the paint dries.

[0019] 2.3 Installation Method

[0020] 2.3.1 Twelve Φ30mm×500mm figure-9 anchor bolts (4) were drilled into the foundation, and the lower part of the reserved hole was filled with gravel and concrete.

[0021] 2.3.2 After the concrete has solidified, the flat plate base (1) is initially fixed by bolts and adjusted with an optical level with an accuracy of 0.001mm. The three sets of pads in the four sets of pads are placed on the same plane by a thin metal sheet (three points determine the plane).

[0022] 2.3.3 The robot body (5) is connected and fastened to the internal threaded hole of the pad (2) by its own bolts to ensure the robot is horizontally stable.

[0023] 3. Beneficial effects

[0024] 3.1 Reliable performance: The base strength can withstand the extreme impact force of the robot body, the reinforcing ribs and pad structure ensure the resistance to deformation, the stress release design avoids resonance, and meets the ±0.05mm trajectory accuracy requirement of the ABBIRB67N0 series robot, which is higher than the industrial grade 0.1mm standard.

[0025] 3.2 Wide compatibility: Compatible with all 12 products in the ABBIRB67N0 series, eliminating the need for a separately designed tablet stand.

[0026] 3.3 Low cost and easy to manufacture: Made of conventional Q275 carbon steel, the processing technology is simple and the manufacturing process is standardized; installation and operation are convenient and no complicated equipment is required. Attached Figure Description

[0027] Figure 1 This is an overall structural diagram of the present invention.

[0028] Figure 2This is a top view and a partial enlarged view of the present invention.

[0029] Figure 3 These are the top view and sectional view of the present invention.

[0030] Figure 4 This is an installation diagram of the ABBIRB67NO base and a cross-sectional view of the foundation of the present invention.

[0031] In the diagram: 1. Robot platform base; 2. Spacer block; 3. Cross-shaped reinforcing rib; 4. 9-shaped anchor bolt; 5. ABBIRB67N0 robot body; 6. Φ35 pre-drilled hole in the platform base; 7. Internal notch in the platform base; 8. Internal threaded hole in the spacer block; 9. Connecting nut for the platform base. Detailed Implementation

[0032] 1. Raw material preparation: Purchase 35mm thick Q275 carbon steel cold-rolled plate conforming to GB / T700-2006 standard to ensure tensile strength ≥540Mpa; prepare Q275 carbon steel strips (for processing reinforcing ribs and pads), RAL7035 anti-corrosion paint, and 12 Φ30mmX500mm figure-9 bolts (4).

[0033] 2. Plate processing: Use a milling machine to mill the surface of the cold-rolled plate blank, control the thickness to 30mm, and the surface roughness is tested to Ra12.5; then use a CNC cutting machine to finish the milled plate into a square plate with a diameter of 1200mm×1200mm (1), and the dimensional error shall be in accordance with GB / T1804, with m-level control.

[0034] 3. Reinforcing rib processing and welding: Cut the Q275 steel strip into two reinforcing ribs (3) with a length of L1000mm×W20mm×H30mm. With the center point of the plate as the cross point, use arc welding to weld them. After welding, check the fit between the reinforcing rib and the plate to ensure that there is no false welding.

[0035] 4. Recessed platform machining: Using a vertical milling machine, a recessed platform of L200mm×W100mm×depth3mm is milled at the position of the 4 sets of pads (2) preset on the flat plate. The dimensional tolerance of the recessed platform shall be performed in accordance with GB / T1804, and the k-level control shall be applied.

[0036] 5. Pad processing and installation: Cut the Q275 steel block into 4 groups of pads (2) with L200mm×W100mm×H48mm. Use a drilling machine to process 2 Φ30 internal thread holes on each group of pads (ensure that the center point of the 8 holes is on the Φ800 circumference, and the included angle formed between the center distances of the single group of internal thread (8) holes is 15°). Use a grinding machine to grind the flatness of the pad to Ra6.5. After embedding into the countersink, fully weld the four sides. After welding, check that the flatness of the pad is 45mm.

[0037] 6. Pre-drilled holes and notches: Use a drilling machine to drill 3 Φ35 pre-drilled holes on each of the four sides of the plate (6), ensuring that the center distance between the middle hole and the two side holes is 400mm and the vertical distance from the center of the hole to the side length is 50mm; use a saw to cut isosceles right-angled triangle notches with a side length of 50mm at each right angle of the plate (7), and cut triangle notches with a width of 20mm and a height of 10mm at the center line of the four sides (7); finally, use a grinding wheel to blunt all acute angles by 1×45°.

[0038] 7. Anti-corrosion treatment: The base surface is sandblasted to remove rust (rust removal grade Sa2.5), and then anti-corrosion paint is applied by spraying. The paint thickness is 50±10μm. The base is left to stand in the workshop for 24 hours at room temperature to allow the paint to dry completely.

[0039] 8. On-site installation: On the concrete foundation of the industrial plant, drill holes (the hole diameter needs to be greater than Φ30mm) according to the reserved hole position of the base, and insert 12 Φ30mmX500mm bolts (4). Fill the lower part of the reserved hole with gravel concrete (strength grade C30); after the concrete has been cured for 7 days and completely solidified, put the base into the bolts (4) and tighten the nuts initially; use an optical level with an accuracy of 0.001mm to measure the height of 4 sets of pads. According to the measurement results, put thin metal sheets (thickness 0.1-1mm) into the lower part of the base. Only 3 sets of pads need to be adjusted to be on the same plane; finally, hoist the ABBIRB67N0 series robot body (5) onto the plate base, align the robot's first axis positioning hole with the internal thread hole (6) of the plate pad, and tighten it with the robot's own bolts to complete the installation.

[0040] After installation, the robot was started for no-load and load test runs. The load was set according to the robot's rated load of 310KG. The robot's maximum acceleration was ±6g (the minus sign indicates the maximum acceleration of the robot in reverse). The accuracy of the robot's running trajectory was ±0.05mm. The flat base showed no shaking or resonance, meeting the design requirements of the flat base.

Claims

1. An ABBIRB67N0 series robot flatbed base, characterized in that: The base has a square structure with a width of 1200mm. It is made of 30mm thick Q275 carbon steel, and the tensile strength of the Q275 carbon steel meets the GB / T700-2006 standard "Carbon Structural Steel" and is not less than 540Mpa. A set of cross-shaped reinforcing ribs are welded at the center point of the base. The reinforcing ribs are made of Q275 carbon steel and the dimensions of a single reinforcing rib are L1000mm×W20mm×H30mm.

2. The flat plate base (1) according to claim 1, characterized in that: The base is designed with 4 sets of embedded pads (2). Each set of pads is L200mm×W100mm×H48mm in size, made of Q275 carbon steel, and has a flatness of Ra6.

3. Each set of pads is designed with 2 internal threaded holes with a diameter of Φ30. The center points of the 8 internal threaded holes are distributed on a circle with a diameter of Φ800. The angle formed by the center line of the pad and the center line of the adjacent flat base is 45°. The angle formed by the center distance between the single set of internal threaded holes is 15°. The base is milled with a countersunk platform of L200mm×W100mm×H3mm at the position of the pad (2). After the pad is embedded in the countersunk platform, the four sides are fully welded and fixed. After welding, the plane height of the pad (2) is 45mm.

3. The flat plate base (1) according to claim 1, characterized in that: The base has three pre-drilled holes on each of its four sides. The diameter of the pre-drilled holes is Φ35. The center distance between the pre-drilled hole in the middle of each side and the pre-drilled holes on the left and right sides is 400mm. The vertical distance from the center point of the pre-drilled hole to the side length of the base is 50mm. At each right angle of the base, there is an isosceles right triangle notch with a side length of 50mm. There are triangular notches with a width of 20mm and a height of 10mm cut on the center line of the four sides. All acute angles of the base are beveled at 1×45°.

4. The flat plate base according to claim 1, characterized in that: The dimensional tolerances of the base shall be in accordance with GB / T1804, with m-level machining, and the geometric tolerances shall be in accordance with GB / T1804, with k-level machining; the base (1) surface is coated with anti-corrosion paint, the paint color is RAL7035, and the paint thickness is 50±10μm.

5. The method for manufacturing the flat plate base (1) according to any one of claims 1-4, characterized in that, Includes the following steps: Step 1: Select a 35mm thick Q275 carbon steel cold-rolled sheet as the blank material, mill the blank material to make the thickness reach 30mm, and control the surface roughness to Ra12.

5. Then, finish the milled blank material to form a square plate with a length and width of 1200mm. Step 2: Using the center point of the square plate as the intersection point, weld a cross-shaped reinforcing rib made of Q275 carbon steel to ensure that the reinforcing rib is tightly attached to the plate. Step 3: Mill a countersunk plate of L200mm×W100mm×H3mm at the positions of the 4 sets of pads corresponding to the flat plate base; process Q275 carbon steel into 4 sets of pads of L200mm×W100mm×H48mm, and process 2 Φ30 internal thread holes in each set of pads (the center points of the 8 holes need to be distributed on the Φ800 circumference, and the included angle formed between the center distances of the internal thread holes in a single set is 15°). The flatness of the pads is Ra6.

5. Step 4: Embed the pad into the countersunk platform and fully weld the four sides of the pad; process 3 Φ35 pre-drilled holes on each of the four sides of the plate; saw an isosceles right triangle notch with a side length of 50mm at each right angle of the plate; cut a triangle notch with a width of 20mm and a height of 10mm along the center line of the four sides; finally, bevel all acute angles with a 1×45° beveling treatment. Step 5: After removing rust from the surface of the finished flat base, apply RAL7035 anti-corrosion paint, controlling the paint thickness to be 50±10μm. After the paint dries, the base manufacturing is complete.

6. The manufacturing method according to claim 5, characterized in that: The installation method for this base includes the following steps: Step a: Drill holes at the positions corresponding to the reserved holes in the base of the concrete foundation, insert 12 Φ30mmL500mm figure-9 bolts, and fill the lower part of the reserved holes with gravel and sand concrete. Step b: After the concrete has solidified, the base is initially fixed by fitting it into the figure-9 bolts. The height of the pad is measured with an optical level with an accuracy of 0.001mm. Thin metal sheets are inserted into the lower part of the base so that 3 of the 4 sets of pads are on the same plane. Step c: Connect and tighten the ABBIRB67N0 series robot body to the threaded hole of the pad using the included bolts to complete the installation.

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