Single-shaft positioner device of industrial robot

Abstract

The utility model discloses an industrial robot single-shaft positioner device, which comprises a bottom plate, a support, a rotating seat, a clamp frame, a driving structure and a detection structure, and is characterized in that the driving structure and the detection structure are arranged to control a stepping motor to rotate, a first angle sensor is used for detecting the driving angle of the stepping motor, and a second angle sensor is used for detecting the driving angle of the stepping motor; the output end of the stepping motor drives a first transmission structure to rotate, the first transmission structure drives a second transmission structure to rotate through a clamp frame, the second transmission structure drives a second rotating shaft to rotate, and a second angle sensor detects the rotating angle of the second rotating shaft. The transmission ratio of the first transmission structure and the second transmission structure is obtained, the control precision of the stepping motor on rotation of the clamp frame is improved, and after the proportion of the first angle sensor and the second angle sensor is changed, it is judged that the transmission structure breaks down, and warning for transmission structure inspection is made.

Description

Technical Field

[0001] The utility model relates to the field of single-axis positioners, in particular to a single-axis positioner device for an industrial robot. Background Art

[0002] The positioner is a special welding auxiliary equipment, which is suitable for welding position shifting in rotary work to obtain the ideal processing position and welding speed. It can be used together with the operating machine and welding machine to form an automatic welding center. It can also be used for workpiece position shifting during manual operation. The worktable rotation adopts stepless speed regulation of the inverter with high speed regulation accuracy.

[0003] The Chinese patent with the patent number CN209532563U discloses "A Single-axis Double-support Positioner". The workpiece is placed on the surface of the support rod, and the workpiece fixing mechanism fixes the two ends of the workpiece. When the workpiece fixing mechanism is fixed, the first threaded rod is adjusted by the first rotating member, and the second threaded rod is adjusted by the second rotating member. The bottom end of the first threaded rod and the top end of the second threaded rod are both in contact with the upper surface and the lower surface of the workpiece. When the position is changed again, the motor can be used to drive the connecting bar to rotate to change the position of the workpiece. When the width of the workpiece changes, the distance between the two support rods is adjusted. First, loosen the bolts, adjust the position of the support rods, and then re-fix them with bolts. When the length and height of the workpiece change, the position of the first threaded rod on the first cross bar and the position of the second threaded rod on the second cross bar can be adjusted, as well as the length of the first threaded rod and the second threaded rod when they are in contact with the upper and lower surfaces of the workpiece.

[0004] Although the above-mentioned single-axis double-support positioner has certain advantages in adjustment ability, it is driven by a motor through a reducer, and the motor is input according to the transmission ratio of the reducer. The transmission ratio of the reducer is generally set at the factory and the transmission ratio of the reducer is not calculated. When there is a difference between the actual transmission ratio of the reducer and the transmission ratio set at the factory, the input ratio cannot be corrected in time, which is not convenient for detecting and adjusting the rotation angle. In addition, damage to the reducer or transmission components will cause changes in the transmission ratio, which cannot be discovered in time and easily affects the quality of the industrial robot's operation. Utility Model Content

[0005] Therefore, in order to solve the above-mentioned shortcomings, the utility model provides a single-axis positioner device for an industrial robot.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an industrial robot single-axis positioner device, including a base plate, a support, a rotating seat, a fixture frame, a driving structure and a detection structure, the upper end surface of the base plate is respectively fixed with supports on the left and right sides, the upper sides of the adjacent ends of the two supports are provided with rotating seats, the upper end surfaces of the adjacent sides of the two rotating seats are fixed with fixture frames, the driving structure and the detection structure are respectively arranged on the left and right sides of the middle of the upper end surface of the base plate, the driving structure includes a first transmission structure, a first rotating shaft, a stepping motor, a first angle sensor and a first rotating shaft, the first transmission structure is provided with a first rotating shaft on the lower side, the left side of the first rotating shaft is connected to the stepping motor, and the stepping motor is installed on the left side of the middle of the upper end surface of the base plate, the right end of the first rotating shaft penetrates the first transmission structure and is rotatably connected to the first angle sensor, the first angle sensor is fixed to the upper end surface of the base plate by bolts, the first transmission structure is provided with a first rotating shaft on the upper side, and the right end of the first rotating shaft penetrates the left support and is rotatably connected to the left rotating seat.

[0007] Optionally, the detection structure includes a second transmission structure, a second angle sensor, a second rotating shaft and a second rotating shaft. A second angle sensor is installed on the right side of the second transmission structure. The connecting end of the second angle sensor is rotatably connected to the second rotating shaft. The left side of the second rotating shaft passes through the second transmission structure. The upper left end surface of the second transmission structure is penetrated by the second rotating shaft. The second angle sensor is fixed to the right side of the middle part of the upper end surface of the base plate by bolts.

[0008] Optionally, the first transmission structure includes an outer shell, a first roller, a second roller and a conveyor belt, the first roller is arranged on the inner lower side of the outer shell, the second roller is arranged on the upper side of the first roller, the outer sides of the first roller and the second roller are provided with a conveyor belt, and the first roller and the second roller are rotatably connected to the first rotating shaft and the first rotating shaft respectively.

[0009] Optionally, the first transmission structure and the second transmission structure have the same structure, which facilitates angle detection by a second angle sensor.

[0010] Optionally, the output end of the stepper motor passes through the housing of the first transmission structure and is transmission-connected to the first rotating shaft, which is conducive to driving the first rotating shaft to rotate through the stepper motor.

[0011] Optionally, the left side of the second rotating shaft and the right side of the second rotating shaft are rotationally connected to the second transmission structure, which is conducive to detecting the rotation angle of the second rotating shaft by a second angle sensor.

[0012] Optionally, the left end of the second rotating shaft passes through the right side support and is rotatably connected to the right side rotating seat, so that the right side support can rotate by transmitting the second rotating shaft through the clamp frame.

[0013] Beneficial effects of the utility model:

[0014] The utility model discloses a single-axis positioner device for an industrial robot. A driving structure and a detection structure are provided to control a stepper motor to rotate. A first angle sensor detects the driving angle of the stepper motor and corrects the driving angle of the stepper motor according to the detected data. The output end of the stepper motor drives the first transmission structure to rotate. The first transmission structure drives the second transmission structure to rotate through a clamp frame. The second transmission structure drives the second rotating shaft to rotate. The second angle sensor detects the rotation angle of the second rotating shaft to obtain the transmission ratio of the first transmission structure and the second transmission structure, which is beneficial to increase the control accuracy of the stepper motor on the rotation of the clamp frame. After the ratio of the first angle sensor to the second angle sensor changes, it is determined that the transmission structure fails and a warning is issued to check the transmission structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0016] Figure 2 It is a schematic diagram of the internal structure of the utility model;

[0017] Figure 3 This is a schematic diagram of the drive structure of the utility model;

[0018] Figure 4 It is a schematic diagram of the detection structure of the utility model;

[0019] Figure 5 This is a schematic diagram of the first transmission structure of the utility model.

[0020] Among them: base plate-1, support-2, rotating seat-3, clamp frame-4, driving structure-5, detection structure-6, first transmission structure-51, first rotating shaft-52, stepping motor-53, first angle sensor-54, first rotating shaft-55, second transmission structure-61, second angle sensor-62, second rotating shaft-63, second rotating shaft-64, shell-511, first roller-512, second roller-513, conveyor belt-514. DETAILED DESCRIPTION

[0021] In order to further explain the technical solution of the present utility model, it is described in detail through specific embodiments below.

[0022] See also Figure 1 , Figure 2 and Figure 3The utility model provides an industrial robot single-axis positioner device, including a base plate 1, a support 2, a rotating seat 3, a fixture frame 4, a driving structure 5 and a detection structure 6. The support 2 is fixed to the left and right sides of the upper end surface of the base plate 1 respectively, and the rotating seat 3 is arranged on the upper side of the adjacent ends of the two supports 2. The fixture frame 4 is fixed to the upper end surfaces of the adjacent sides of the two rotating seats 3. The driving structure 5 and the detection structure 6 are arranged on the left and right sides of the middle part of the upper end surface of the base plate 1 respectively. The driving structure 5 includes a first transmission structure 51, a first rotating shaft 52, a stepping motor 53, a first angle sensor 54 and a first rotating shaft 55. The first rotating shaft 52 is arranged on the lower side of the first transmission structure 51, and the left side of the first rotating shaft 52 is connected to the stepping motor 53, and The stepper motor 53 is installed on the left side of the middle part of the upper end surface of the base plate 1. The right end of the first rotating shaft 52 passes through the first transmission structure 51 and is rotatably connected to the first angle sensor 54. The first angle sensor 54 is fixed to the upper end surface of the base plate 1 by bolts. A first rotating shaft 55 is arranged on the upper inner side of the first transmission structure 51, and the right end of the first rotating shaft 55 passes through the left support 2 and is rotatably connected to the left rotating seat 3. The structures of the first transmission structure 51 and the second transmission structure 61 are consistent, which is convenient for angle detection through the second angle sensor 62. The output end of the stepper motor 52 passes through the shell 511 of the first transmission structure 51 and is transmission-connected to the first rotating shaft 53, which is conducive to driving the first rotating shaft 52 to rotate through the stepper motor 53.

[0023] See also Figure 4 The utility model provides an industrial robot single-axis positioner device, the detection structure 6 includes a second transmission structure 61, a second angle sensor 62, a second rotating shaft 63 and a second rotating shaft 64, the second angle sensor 62 is installed on the right side of the second transmission structure 61, the connecting end of the second angle sensor 62 is rotatably connected to the second rotating shaft 63, the left side of the second rotating shaft 63 penetrates the second transmission structure 61, the upper left end surface of the second transmission structure 61 is penetrated by the second rotating shaft 64, the second angle sensor 62 is fixed to the right side of the middle part of the upper end surface of the base plate 1 by bolts, the left side of the second rotating shaft 63 and the right side of the second rotating shaft 64 are rotatably connected to the second transmission structure 61, which is conducive to detecting the rotation angle of the second rotating shaft 63 through the second angle sensor 62, the left end of the second rotating shaft 64 penetrates the right side support 2 and is rotatably connected to the right rotating seat 3, so that the right side support 2 is convenient to rotate the second rotating shaft 64 through the fixture frame 4.

[0024] See also Figure 5The utility model provides a single-axis positioner device for an industrial robot. The first transmission structure 51 includes a shell 511, a first roller 512, a second roller 513 and a conveyor belt 514. The first roller 512 is arranged on the lower side of the inner part of the shell 511, and the second roller 513 is arranged on the upper side of the first roller 512. The outer sides of the first roller 512 and the second roller 513 are provided with a conveyor belt 514. The first roller 512 and the second roller 513 are rotatably connected to the first rotating shaft 52 and the first rotating shaft 55 respectively.

[0025] Here’s how it works:

[0026] First, the new device is placed at the required location and connected to the circuit;

[0027] Second, by inputting a pulse signal, the stepper motor 53 is controlled to rotate an angle, and the output end of the stepper motor 53 drives the first rotating shaft 52 to rotate. The first rotating shaft 52 is rotatably connected to the first angle sensor 54, so that the first angle sensor 54 can detect the rotation angle of the first rotating shaft 52. The number of steps of the stepper motor 53 is corrected based on the value detected by the first angle sensor 54, thereby increasing the rotation accuracy of the stepper motor 53;

[0028] Third, the first rotating shaft 52 rotates and drives the first roller 512 of the first transmission structure 51 to rotate at the same time, the first roller 512 drives the conveyor belt 514 to rotate, the conveyor belt 514 drives the second roller 513 to rotate, the second roller 513 drives the first rotating shaft 55 to rotate, the first rotating shaft 55 is connected to the left rotating seat 3 by rotation, so that the first rotating shaft 55 drives the clamp frame 4 to rotate through the left rotating seat 3, the clamp frame 4 drives the second rotating shaft 64 to rotate through the right rotating seat 3, and the second rotating shaft 64 drives the second rotating shaft 64 through the second transmission structure 61 in the same principle. 3 is rotated, the second angle sensor 62 detects the rotation angle of the second rotating shaft 63, and the transmission ratio of the first transmission structure 51 and the second transmission structure 61 is obtained by calculation, so as to detect whether the rotation angle of the clamp frame 4 is incorrect. When the first transmission structure 51 and the second transmission structure 61 operate normally, the ratio of the values ​​detected by the first angle sensor 54 and the second angle sensor 62 is consistent with the transmission ratio of the first transmission structure 51 and the second transmission structure 61. When the ratio changes, it is determined to be a transmission structure failure, and a warning for inspection is issued, so that the transmission components can be adjusted in time to improve the operation quality of the working robot.

[0029] The control method of the present invention is to control by manually starting and closing the switch. The wiring diagram of the power element and the provision of power supply are common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0030] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be realized by simple programming by technicians in this field. The provision of power is also common knowledge in this field. The present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and circuit connection in detail.

[0031] The above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An industrial robot single-axis positioner device, comprising a base plate (1), a support (2), a rotating seat (3) and a fixture frame (4), wherein the supports (2) are fixed on the left and right sides of the upper end surface of the base plate (1), the rotating seats (3) are arranged on the upper sides of the adjacent ends of the two supports (2), and the fixture frame (4) is fixed on the upper end surfaces of the adjacent sides of the two rotating seats (3); Features: The invention also comprises a driving structure (5) and a detection structure (6), wherein the driving structure (5) and the detection structure (6) are respectively arranged on the left and right sides of the middle part of the upper end surface of the base plate (1), and the driving structure (5) comprises a first transmission structure (51), a first rotating shaft (52), a stepping motor (53), a first angle sensor (54) and a first rotating shaft (55), wherein the first transmission structure (51) is provided with a first rotating shaft (52) at the lower side thereof, and the left side of the first rotating shaft (52) is connected to the stepping motor (53). ), and the stepping motor (53) is installed on the left side of the middle part of the upper end surface of the base plate (1); the right end of the first rotating shaft (52) passes through the first transmission structure (51) and is rotatably connected to the first angle sensor (54); the first angle sensor (54) is fixed to the upper end surface of the base plate (1) by bolts; a first rotating shaft (55) is provided on the upper side of the first transmission structure (51), and the right end of the first rotating shaft (55) passes through the left support (2) and is rotatably connected to the left rotating seat (3).

2. The single-axis positioner device for an industrial robot according to claim 1, characterized in that: The detection structure (6) comprises a second transmission structure (61), a second angle sensor (62), a second rotating shaft (63) and a second rotating shaft (64); the second angle sensor (62) is installed on the right side of the second transmission structure (61); the connecting end of the second angle sensor (62) is rotatably connected to the second rotating shaft (63); the left side of the second rotating shaft (63) passes through the second transmission structure (61); the upper left end surface of the second transmission structure (61) is passed through by the second rotating shaft (64); and the second angle sensor (62) is fixed to the right side of the middle part of the upper end surface of the base plate (1) by bolts.

3. The single-axis positioner device for an industrial robot according to claim 1, characterized in that: The first transmission structure (51) comprises an outer shell (511), a first roller (512), a second roller (513) and a conveyor belt (514); the first roller (512) is arranged on the lower inner side of the outer shell (511); the second roller (513) is arranged on the upper side of the first roller (512); the outer sides of the first roller (512) and the second roller (513) are provided with a conveyor belt (514); the first roller (512) and the second roller (513) are rotatably connected to the first rotating shaft (52) and the first rotating shaft (55) respectively.

4. The single-axis positioner device for an industrial robot according to claim 1, characterized in that: The first transmission structure (51) and the second transmission structure (61) have the same structure.

5. The single-axis positioner device for an industrial robot according to claim 1, characterized in that: The output end of the stepping motor (53) passes through the housing (511) of the first transmission structure (51) and is transmission-connected to the first rotating shaft (52).

6. The single-axis positioner device for an industrial robot according to claim 2, characterized in that: The left side of the second rotating shaft (63) and the right side of the second rotating shaft (64) are rotationally connected to the second transmission structure (61).

7. The single-axis positioner device for an industrial robot according to claim 2, characterized in that: The left end of the second rotating shaft (64) passes through the right support (2) and is rotatably connected to the right rotating seat (3).

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