Walking auxiliary mechanism of industrial robot

Abstract

The utility model belongs to the technical field of industrial robots, and particularly relates to an industrial robot walking auxiliary mechanism which comprises a platform and two sliding rails symmetrically installed on the upper edge of the platform, a groove is formed in the middle of the upper surface of the platform in the axial direction, and a reinforcing assembly is arranged in the groove. A plurality of supporting rollers connected with the reinforcing assembly are distributed at an opening of the groove in a horizontal array mode, and the upper surfaces of the supporting rollers all extend out of the interior of the groove. The reinforcing assembly comprises a plurality of rotating seats which are distributed on the lower wall of the groove in a horizontal array mode, supporting wheels are installed at the upper ends of the rotating seats, the upper surfaces of the supporting wheels are connected to the lower surfaces of the corresponding supporting rollers, and detachable transverse supports are installed at the positions, located between every two adjacent supporting rollers, of an opening of the groove; a rack is fixedly installed on the side, away from the platform, of one sliding rail. An auxiliary mechanism is formed to assist the mounting base in on-track walking, the load and abrasion of the two sliding rails are relieved, and the loss of the supporting faces of the sliding rails is conveniently reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, and specifically relates to a walking auxiliary mechanism of an industrial robot. Background Art

[0002] Five-axis and six-axis manipulators, also known as industrial robots, are widely used in industrial production for loading and unloading, injection molding, die-casting, assembly, gluing, polishing, and inspection. These industrial robots lack inherent mobility, so to expand their production and processing capabilities, AGVs or tracks are often installed beneath their bases.

[0003] Tracks are used to assist industrial robots in walking. Depending on the location of the tracks, they can be divided into overhead tracks and ground tracks:

[0004] First, the overhead track: The track is supported by columns and suspended above the production line, leaving enough space for the processing area. The motor then drives the gear along the rack to push the mounting base and the robot on the mounting base to move, causing the mounting base to slide along the track and drive the robot to the processing point.

[0005] Second, ground rail: A track platform is installed on the ground, with two tracks installed on both sides of the platform to support the mounting base. The motor drives the gear along the rack to push the mounting base and the industrial robot on the mounting base to move, slide along the upper surface of the platform, and reach the processing point.

[0006] When existing floor rails assist industrial robots in walking, they often use two slide rails to support the mounting seat. However, the load of the industrial robot is concentrated on the two slide rails, and the floor rail platform is not convenient for supporting the mounting seat, so the mounting seat mainly wears the two slide rails, which is not convenient for reducing the loss of the support surface of the slide rail-assisted industrial robot walking. Therefore, we propose an industrial robot walking assistance mechanism. Utility Model Content

[0007] The purpose of this utility model is to provide an industrial robot walking auxiliary mechanism, which can form an auxiliary mechanism to assist the mounting seat to walk on the track, alleviate the load and wear of the two slide rails, and conveniently reduce the loss of the slide rail support surface.

[0008] The technical solutions adopted in this application are as follows:

[0009] An industrial robot walking assist mechanism includes a platform and two slide rails symmetrically mounted on the upper edge of the platform. A groove is axially defined in the middle of the upper surface of the platform. A reinforcement assembly is disposed within the groove. A plurality of support rollers connected to the reinforcement assembly are distributed in a horizontal array at the opening of the groove. The upper surfaces of the support rollers extend out of the groove.

[0010] The lifting mechanism is a pair of fixedly mounted on two guide rails, and the supporting cam is mounted on two guide rails respectively. The supporting cams on the two guide rails respectively support the bottom surface of the guide rails of the two guide rails. The supporting cams on the two guide rails respectively support the bottom surface of the guide rails.

[0011] A rack is fixedly installed on one side of the slide rail away from the platform. The tooth transmission of the rack is connected to a brake motor. The brake motor can be fixed on the mounting base. After starting, the gear rotates. It can move left when rotating forward along the rack and move right when rotating reversely. There is no need to manually push the industrial robot. The industrial robot can be hovered when it stops.

[0012] At least two sliding blocks are slidably mounted on the upper surfaces of the two slide rails, thereby increasing the area of ​​the supporting mounting seat and improving the stability of the mounting seat during translation.

[0013] A plurality of vertical supports are fixedly installed on both sides of the platform, and the upper ends of the vertical supports are fixedly connected to the lower surfaces of the corresponding slide rails to support the two slide rails in sections. After the vertical supports are deformed, they can be removed individually for maintenance without scrapping all the vertical supports.

[0014] Two groups of symmetrical support bearings are installed on both sides of the groove. Each group of multiple support bearings is distributed on one side of the groove along a horizontal array and the inner sides are connected to one end of the corresponding support roller, thereby increasing the connection area between the support roller and the groove and improving the stability of the support roller.

[0015] An oil collecting trough is also provided on the lower wall of the groove, and the inner wall of the oil collecting trough is inclined toward one end of the platform. Finally, lubricating oil can be manually applied to each support roller with a brush to relieve the friction between the support roller and the mounting seat. Part of the lubricating oil drips and flows into the oil collecting trough along the lower wall of the groove for collection, and then flows out of the platform along the inclined surface of the oil collecting trough, and then is collected in a box to reduce pollution to the environment.

[0016] The technical effects achieved by this utility model are:

[0017] The utility model discloses a walking auxiliary mechanism for an industrial robot. When assisting the industrial robot to walk, the mounting seat and the industrial robot arranged on the mounting seat are moved along two slide rails. The support rollers on the platform support the lower surface of the mounting seat. Under the action of friction, the support rollers roll around the corresponding rotating seat in the groove when contacting the mounting seat, thereby converting the sliding friction into rolling friction. At the same time, the middle part of the corresponding support roller is supported by the support wheels, which rotate around the corresponding rotating seat when the support rollers rotate. The auxiliary mechanism composed of the platform, the slide rails, the support rollers, the rotating seat and the support wheels assists the mounting seat in walking on the rails, relieves the load on the two slide rails and the wear thereof, and conveniently reduces the loss of the slide rail support surface. The cross brace is then used to horizontally support the opening of the groove, thereby improving the stability of the platform supporting multiple support rollers. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the main view of the utility;

[0019] Figure 2 It is a top view of the practical platform;

[0020] Figure 3 This is the main view of the support roller of this utility model;

[0021] Figure 4 It is a side view of the support wheel of the present utility model;

[0022] Figure 5 It is a side view of the practical vertical support.

[0023] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0024] 1. Platform; 2. Slide rail; 3. Groove; 4. Support roller; 5. Rotating seat; 6. Support wheel; 7. Cross brace; 8. Rack; 9. Brake motor; 10. Slider; 11. Vertical brace; 12. Support bearing; 13. Oil collecting tank. DETAILED DESCRIPTION

[0025] In order to make the purpose and advantages of this utility more clear, the utility is described in detail below with reference to the embodiments. It should be understood that the following text is only used to describe one or several specific implementation methods of this utility and does not strictly limit the scope of protection specifically requested by this utility.

[0026] like Figure 1-5As shown, an industrial robot walking assist mechanism includes a platform 1 and two slide rails 2 symmetrically mounted on the upper edge of the platform 1. The two slide rails 2 are fixedly connected to the two sides of the platform 1 on the sides close to each other. The two slide rails 2 are suitable for the mounting seat of the industrial robot. Among them, the industrial robot can be a 0707A, 0805A, 1510A or 1820A six-axis robot. The six-axis robot has a load of 5 to 20 kg. A groove 3 is axially opened in the middle of the upper surface of the platform 1. A reinforcement component is provided inside the groove 3. A plurality of support rollers 4 connected to the reinforcement component are distributed in a horizontal array at the opening of the groove 3. The upper surfaces of the support rollers 4 extend out of the groove 3.

[0027] The reinforcing component includes a plurality of rotating seats 5 distributed along the horizontal array on the lower wall of the groove 3. The lower ends of the rotating seats 5 are fixedly connected to the lower wall of the groove 3. The upper ends of the rotating seats 5 are installed with support wheels 6. The outer sides of the support wheels 6 are rotatably connected to the inner sides of the corresponding rotating seats 5. The upper surfaces of the support wheels 6 are connected to the lower surfaces of the corresponding support rollers 4. The opening of the groove 3 is located between two adjacent support rollers 4. A detachable cross brace 7 is installed. The two ends of the cross brace 7 are fixedly connected to the two sides of the groove 3 by screws. First, fix the platform 1 to the ground, and use two slide rails 2 to support both sides of the mounting seat. When the auxiliary industrial robot walks, move the mounting seat and the industrial robot set on the mounting seat along the two slide rails 2. Use the platform The support roller 4 on the platform 1 supports the lower surface of the mounting seat. Under the action of friction, the support roller 4 rolls around the corresponding rotating seat 5 in the groove 3 when contacting the mounting seat, converting sliding friction into rolling friction. At the same time, the support wheel 6 is used to support the middle part of the corresponding support roller 4, which rotates around the corresponding rotating seat 5 as the support roller 4 rotates. The auxiliary mechanism composed of the platform 1, slide rail 2, support roller 4, rotating seat 5 and support wheel 6 assists the mounting seat in walking on the track, relieves the load and wear of the two slide rails 2, and facilitates reducing the loss of the supporting surface of the slide rail 2. The cross brace 7 is then used to horizontally support the opening of the groove 3, thereby improving the stability of the platform 1 in supporting multiple support rollers 4, and the middle parts of the support rollers 4 are all supported without obvious bending.

[0028] The portions of the platform 1 located on both sides of the groove 3 maintain a relatively large thickness so as to stably support the support rollers 4 and reduce the area deformed or cracked by the downward pressure of the support rollers 4 .

[0029] like Figure 1 and Figure 4 As shown, a rack 8 is fixedly installed on the side of a slide rail 2 away from the platform 1, and one side of the rack 8 is fixedly connected to the side of a slide rail 2 away from the platform 1. The gear transmission of the rack 8 is connected to a brake motor 9. The brake motor 9 can be fixed on the mounting seat, and the gear can be rotated after starting. It can move left by rotating forward along the rack 8 and move right by reverse rotation. There is no need to manually push the industrial robot, and the industrial robot can be hovered when it stops.

[0030] like Figure 1 As shown, at least two sliders 10 are slidably installed on the upper surfaces of the two slide rails 2, and the lower surfaces of the sliders 10 are slidably connected to the upper surfaces of the corresponding slide rails 2. One side of the sliders 10 is fixedly connected to the outer side of the mounting seat, and the upper surface of one of the sliders 10 is fixedly connected to the lower surface of the brake motor 9, thereby increasing the area of ​​the supporting mounting seat and improving the stability of the mounting seat during translation.

[0031] like Figure 1 and Figure 5 As shown, multiple vertical supports 11 are fixedly installed on both sides of the platform 1. The upper ends of the vertical supports 11 are fixedly connected to the lower surfaces of the corresponding slide rails 2. One side of the vertical supports 11 is fixedly connected to one side of the platform 1, supporting the two slide rails 2 in sections. After the vertical supports 11 are deformed, they can be removed individually for maintenance without scrapping all the vertical supports 11.

[0032] like Figure 2 and Figure 3 As shown, two groups of symmetrical support bearings 12 are installed on both sides of the groove 3. Each group of multiple support bearings 12 is distributed on one side of the groove 3 along a horizontal array and the inner sides are fixedly connected to one end of the corresponding support roller 4. The outer sides of the support bearings 12 are fixedly connected to one side of the groove 3, thereby increasing the connection area between the support roller 4 and the groove 3 and improving the stability of the support roller 4.

[0033] like Figure 1 and Figure 2 As shown, an oil collecting tank 13 is further provided on the lower wall of the groove 3, and the inner wall of the oil collecting tank 13 is inclined toward one end of the platform 1. Finally, lubricating oil can be manually applied to each supporting roller 4 with a brush to relieve the friction between the supporting roller 4 and the mounting seat. Part of the lubricating oil drips and flows into the oil collecting tank 13 along the lower wall of the groove 3 for collection, and then flows out of the platform 1 along the inclined surface of the oil collecting tank 13, and is then collected in a box to reduce pollution to the environment.

[0034] The working principle of this utility model is as follows: when assisting the industrial robot to walk, the mounting seat and the industrial robot set on the mounting seat are moved along the two slide rails 2, and the support rollers 4 on the platform 1 are used to support the lower surface of the mounting seat. Under the action of friction, the support rollers 4 roll around the corresponding rotating seat 5 in the groove 3 when contacting the mounting seat, converting the sliding friction into rolling friction. At the same time, the support wheels 6 are used to support the middle part of the corresponding support rollers 4, and rotate around the corresponding rotating seat 5 when the support rollers 4 rotate. The auxiliary mechanism composed of the platform 1, slide rails 2, support rollers 4, rotating seat 5 and support wheels 6 assists the mounting seat to walk on the track, relieves the load on the two slide rails 2 and the wear they suffer, and conveniently reduces the loss of the support surface of the slide rail 2. The cross brace 7 is then used to horizontally support the opening of the groove 3 to improve the stability of the platform 1 in supporting multiple support rollers 4.

[0035] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this application shall be implemented in accordance with conventional means in the art unless otherwise specified or limited.

Claims

1. An industrial robot walking assistance mechanism, comprising a platform (1) and two slide rails (2) symmetrically mounted on the upper edge of the platform (1), characterized in that: A groove (3) is provided in the middle of the upper surface of the platform (1) along the axial direction, a reinforcing assembly is arranged inside the groove (3), and a plurality of supporting rollers (4) connected to the reinforcing assembly are distributed along a horizontal array at the opening of the groove (3), and the upper surfaces of the supporting rollers (4) all extend out of the groove (3); The reinforcing assembly comprises a plurality of rotating seats (5) distributed along a horizontal array on the lower wall of the groove (3), the upper ends of the rotating seats (5) are each equipped with a supporting wheel (6), the upper surfaces of the supporting wheels (6) are each connected to the lower surfaces of the corresponding supporting rollers (4), and a detachable cross brace (7) is each installed at a position between two adjacent supporting rollers (4) at the opening of the groove (3).

2. The walking assist mechanism for an industrial robot according to claim 1, characterized in that: A rack (8) is fixedly mounted on one side of the slide rail (2) away from the platform (1), and the teeth of the rack (8) are connected to a brake motor (9).

3. The walking assist mechanism for an industrial robot according to claim 1, characterized in that: At least two sliding blocks (10) are slidably mounted on the upper surfaces of the two slide rails (2).

4. The walking assist mechanism for an industrial robot according to claim 1, characterized in that: A plurality of vertical supports (11) are fixedly installed on both sides of the platform (1), and the upper ends of the vertical supports (11) are fixedly connected to the lower surfaces of the corresponding slide rails (2).

5. The walking assist mechanism for an industrial robot according to claim 1, characterized in that: Two groups of symmetrical support bearings (12) are respectively installed on both sides of the groove (3), and each group of multiple support bearings (12) are distributed on one side of the groove (3) along a horizontal array and the inner sides are all connected to one end of the corresponding support roller (4).

6. The walking assist mechanism for an industrial robot according to claim 1, characterized in that: The lower wall of the groove (3) is also provided with an oil collecting groove (13), and the inner wall of the oil collecting groove (13) is inclined toward one end of the platform (1).

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