External walking mechanism of robot

Abstract

The utility model discloses an external walking mechanism of a robot, and belongs to the technical field of automatic production lines. The device is applied to the seventh shaft of the robot, a flange is arranged on the side wall of the top of the seventh shaft of the robot, rolling wheels are movably installed on the top, the bottom and the side wall of the flange, a rolling wheel box body is jointly installed on the multiple rolling wheels, four rolling wheel box bodies are arranged on the seventh shaft of the robot, and a bearing plate is jointly installed on the tops of the four rolling wheel box bodies. The rolling wheels move on the flange, namely, the rolling wheels are used for bearing the bearing plate, the bearing plate is provided with the robot installation base, the rolling wheel box is provided with the multiple rolling wheels, the rolling wheels make contact with the multiple faces of the flange and roll, and the rolling wheel bearing mode is adopted, so that the performance is high, and the loading capacity is high; protection is not needed, the dust scraping device is arranged, and therefore the device can adapt to various working environments, and impurities such as paint and welding slag can be effectively scraped; maintenance and replacement are convenient, and any position only needs to be simply disassembled, assembled and replaced from the side face.

Description

Technical Field

[0001] The utility model relates to an external walking mechanism of a robot, belonging to the technical field of automated production lines. Background Art

[0002] Currently on the market, the carrier plate bearing part on the robot's seventh axis mainly adopts the form of a straight flange and a slider. The slider carries the carrier plate of the robot's seventh axis and then slides on the straight flange to achieve movement. However, the slider has weak bearing capacity and poor environmental adaptability and requires complete protection, which leads to long maintenance time and high maintenance costs. Utility Model Content

[0003] The utility model provides an external walking mechanism of a robot, which solves the problem in the prior art that a carrier plate is carried in the form of a slider in combination with a linear flange, and that complete protection is required due to the weak bearing capacity of the slider, resulting in long maintenance time and high maintenance cost.

[0004] The technical problem to be solved by the utility model is achieved by adopting the following technical solutions:

[0005] A robot external walking mechanism is applied to the seventh axis of the robot. A flange is provided on the top side wall of the seventh axis of the robot. Rollers are movably installed on the top, top and side walls of the flange. A roller box is commonly installed on several of the rollers. Four roller boxes are provided on the seventh axis of the robot. A load-bearing plate is commonly installed on the top of the four roller boxes.

[0006] As a preferred example, a servo motor and a reducer are provided on the supporting plate, the output end of the servo motor is connected to the input end of the reducer, a gear is installed on the output end of the reducer, and a rack consistent with the length direction of the seventh axis of the robot is provided, and the gear is meshed with the rack.

[0007] The purpose of adopting the above scheme is to start the servo motor, so that the output shaft of the servo motor rotates, thereby driving the output shaft of the reducer to rotate, and then driving the gear to rotate, and finally making the gear move on the rack, so that with the assistance of the rollers on each roller box, the load-bearing plate moves on the seventh axis of the robot.

[0008] As a preferred example, the reducer is a precision helical planetary reducer with an accuracy of 1 arc minute, which is used to ensure the repeatability of the entire device, that is, its error range is ±0.1 mm.

[0009] As a preferred example, each of the rollers is rotatably connected to a shaft, and each of the shafts is fixedly mounted on a roller housing via a nut.

[0010] As a preferred example, the roller box is further provided with a dust scraping device, and the dust scraping device is movably connected to the flange on the seventh axis of the robot.

[0011] As a preferred example, connecting rods are respectively installed on both sides of the bottom of the supporting plate, limit switches are provided on the connecting rods, slide rails are installed on the side walls of the flange, limit columns are provided in the slide rails, and each connecting rod is slidably installed in the slide rails, and is used to alarm when the connecting rod slides in the slide rails until the limit switch contacts the limit column, and the servo motor stops running.

[0012] As a preferred example, the bottom of the supporting plate is also connected to a connecting plate, and an anti-collision block is installed on the flange. One end of the anti-collision block corresponds to one end of the connecting plate, so that when a section of the connecting plate contacts the anti-collision block, the supporting plate moves to a specified position and prevents the machine from losing control, thereby preventing it from rushing out of the flange.

[0013] As a preferred example, a lubricating felt wheel is further provided at one end of the supporting plate. The lubricating felt wheel is located on one side of the gear and corresponds to the rack. The lubricating felt wheel is used to lubricate the rack while the supporting plate moves on the flange with the assistance of the gear, so as to facilitate better gear connection between the gear and the rack.

[0014] The beneficial effects of the utility model are as follows: the utility model utilizes rollers to move on the flange, that is, utilizes rollers to carry the bearing plate, the bearing plate is provided with a robot mounting seat, and a plurality of rollers are respectively provided on a roller box, so that the rollers are in contact with and roll on multiple surfaces of the flange. Compared with the existing linear flange combined with the slider bearing, the roller bearing method used in the utility model has high performance and high load capacity;

[0015] In addition, the utility model does not require protection and has a built-in dust scraping device, which can adapt to a variety of working environments and effectively scrape off impurities such as paint and welding slag. It is easy to repair and replace, and only needs to be simply disassembled and replaced from the side at any position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 for Figure 1 Schematic diagram of the structure of part A;

[0018] Figure 3 for Figure 1 The structural diagram of part B;

[0019] Figure 4 This is a schematic diagram of the installation position of the roller on the roller box in the utility model;

[0020] Figure 5This is a schematic diagram of the position of the roller installed on the seventh axis of the robot in the utility model;

[0021] Figure 6 This is a schematic diagram of the position of the roller on the seventh axis of the robot in the present invention, viewed from another perspective;

[0022] Figure 7 for Figure 1 Schematic diagram of the structure of part C;

[0023] Figure 8 It is a detailed diagram of some structures in the utility model;

[0024] Fig. 9 for Figure 8 The structural diagram of the D part;

[0025] Fig.10 for Figure 8 The structural diagram of the E part;

[0026] Fig.11 for Figure 8 The structural diagram of the F part;

[0027] Fig.12 It is a schematic diagram of the positions of the connecting plate and the anti-collision block in the utility model;

[0028] Fig.13 This is a schematic diagram of the position of the dust scraping device on the seventh axis of the robot in the utility model;

[0029] In the figure: 1- load plate; 2- roller box; 3- roller; 4- rack; 5- oil pump; 6- load plate; 7- servo motor; 8- dust scraper; 9- slide rail; 10- limit switch; 11- connecting plate; 12- anti-collision block; 13- reducer; 14- gear; 15- robot seventh axis; 16- tank chain; 17- lubricating felt wheel; 18- flange. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the present invention is further described below in conjunction with specific illustrations.

[0031] The following concepts need to be explained in this utility model:

[0032] 1. The seventh axis of the robot: refers to the horizontal movement axis of the robot (such as Figure 1 The seventh axis is mainly used to expand the robot's working space, so that the robot can work in a wider arc and handle the workpiece more flexibly and accurately.

[0033] 2. Roller: A type of sports equipment, made of a number of iron rods balanced to connect two iron rings of the same size;

[0034] 3. Flange: A groove or ridge made of metal or other materials that can support, fix, guide and reduce friction of moving devices or equipment.

[0035] like Figure 1-13 As shown, an external walking mechanism of a robot is applied to the seventh axis 15 of the robot. A flange 18 is provided on the top side wall of the seventh axis 15 of the robot. Rollers 3 are movably installed on the top, top and side walls of the flange 18. A roller box 2 is commonly installed on several rollers 3. Four roller boxes 2 are provided on the seventh axis 15 of the robot. A bearing plate 1 is commonly installed on the top of the four roller boxes 2. A robot mounting seat is provided on the top of the bearing plate 1.

[0036] A servo motor 7 and a reducer 13 are provided on the supporting plate 1. The output end of the servo motor 7 is connected to the input end of the reducer 13. A gear 14 is installed on the output end of the reducer 13. A rack 4 consistent with the length direction of the seventh axis 15 of the robot is provided. The gear 14 meshes with the rack 4.

[0037] The purpose of adopting the above scheme is to start the servo motor 7, so that the output shaft of the servo motor 7 rotates, thereby driving the output shaft of the reducer 13 to rotate, and then driving the gear 14 to rotate, and finally making the gear 14 move on the rack 4, so that with the assistance of the roller 3 on each roller box 2, the supporting plate 1 moves on the seventh axis 15 of the robot.

[0038] Each roller 3 is rotatably connected to a shaft, and each shaft is fixedly mounted on a roller 3 housing through a nut.

[0039] The reducer 13 is a precision helical planetary reducer with an accuracy of 1 arc minute, which is used to ensure the repeatability of the entire device, that is, its error range is ±0.1 mm.

[0040] It should be noted that the reducer 13 is driven by the servo motor 7 , and the fixed end of the servo motor 7 is mounted on the bearing plate 1 .

[0041] The roller box 2 is also provided with a dust scraping device 8, which is movably connected to a flange on the seventh axis 15 of the robot.

[0042] Connecting rods are installed on both sides of the bottom of the supporting plate 1, and limit switches 10 are arranged on the connecting rods. Slide rails 9 are installed on the side walls of the flanges, and limit columns are arranged in the slide rails 9. Each connecting rod is slidably installed in the slide rails 9, and is used to alarm when the connecting rod slides in the slide rails 9 until the limit switch 10 contacts the limit column, and the servo motor 7 stops running.

[0043] The bottom of the supporting plate 1 is also connected to a connecting plate 11, and an anti-collision block 12 is installed on the flange. One end of the anti-collision block 12 corresponds to one end of the connecting plate 11. When a section of the connecting plate 11 contacts the anti-collision block 12, the supporting plate 1 moves to a specified position and prevents the machine from losing control, thereby preventing it from rushing out of the flange.

[0044] A lubricating felt wheel 17 is also provided at one end of the bearing plate 1. The lubricating felt wheel 17 is located at the front side of the gear 14 and corresponds to the rack 4. The lubricating felt wheel 17 is used to lubricate the rack 4 while the bearing plate 1 moves on the flange with the assistance of the gear 14 (it should be noted that before the entire device is used, the lubricating felt wheel 7 can be brushed with lubricating oil or the lubricating felt wheel 7 can be oiled by connecting the oil pump 5 to a conduit, and one end of the conduit is connected to the oil pump, and the other end is installed on the tank chain 16 (it should be noted that the device is also provided with a tank chain 16, that is, one end of the tank chain 16 is connected to the seventh axis 15 of the robot, and the other end is connected to the bearing plate 1, and various wires and various pipelines are placed on the tank chain 16, so that the various wires and various pipelines move regularly with the movement of the tank chain 16 to avoid entanglement), and the other end corresponds to the lubricating felt wheel 7), so that the gear 14 can better be geared with the rack 4.

[0045] The working principle of this device is as follows:

[0046] First, start the servo motor 7, and the output end of the servo motor 7 begins to rotate, thereby driving the output end of the reducer 13 to rotate, and then driving the gear 14 to move on the rack 4. During the walking process, the rollers 3 in all directions on the roller box 2 roll on the flange, so that the carrier plate 1 moves on the seventh axis 15 of the robot, and during the movement, the rack 4 is lubricated by the lubricating felt wheel to facilitate better gear connection between the gear 14 and the rack 4. In addition, through the anti-collision block 12, when a section of the connecting plate 11 contacts the anti-collision block 12, the carrier plate 1 moves to the specified position and prevents the machine from losing control, thereby preventing it from rushing out of the flange.

[0047] The seventh axis 15 of the robot is also provided with an oil injection pump 5 for lubricating the transmission components, including the gear rack, roller flange, etc.

[0048] The utility model utilizes the roller 3 to move on the flange, that is, the roller 3 is used to carry the bearing plate 1, a robot mounting seat is arranged on the bearing plate 1, and a plurality of rollers 3 are respectively arranged on a roller box 2, so that they contact and roll with multiple surfaces of the flange. Compared with the existing straight flange combined with the slider bearing, the roller bearing method used by the utility model has high performance and high load capacity; no protection is required, and it has a built-in dust scraping device, which can adapt to a variety of working environments and effectively scrape off impurities such as paint and welding slag; it is convenient to repair and replace, and only simple disassembly and replacement from the side is required at any position.

[0049] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited to the above embodiments. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. An external walking mechanism of a robot, applied on the seventh axis of the robot, characterized in that: A flange is provided on the top side wall of the seventh axis of the robot, and rollers are movably installed on the top, bottom and side wall of the flange. A roller box is commonly installed on several of the rollers. Four roller boxes are provided on the seventh axis of the robot, and a bearing plate is commonly installed on the top of the four roller boxes.

2. The external walking mechanism of a robot according to claim 1, characterized in that: A servo motor and a reducer are provided on the supporting plate, the output end of the servo motor is connected to the input end of the reducer, a gear is installed on the output end of the reducer, a rack consistent with the length direction of the seventh axis of the robot is provided, and the gear is meshed with the rack.

3. The external walking mechanism of a robot according to claim 1, characterized in that: Each of the rollers is rotatably connected to a shaft, and each of the shafts is fixedly mounted on a roller box through a nut.

4. The external walking mechanism of a robot according to claim 1, characterized in that: The bottom of the supporting plate is also connected to a connecting plate, and an anti-collision block is installed on the flange. One end of the anti-collision block corresponds to one end of the connecting plate. When a section of the connecting plate contacts the anti-collision block, the supporting plate moves to a specified position and prevents the machine from losing control, thereby preventing it from rushing out of the flange.

5. The external walking mechanism of a robot according to claim 2, characterized in that: A lubricating felt wheel is also provided at one end of the supporting plate. The lubricating felt wheel is located on one side of the gear and corresponds to the rack. The lubricating felt wheel is used to lubricate the rack while the supporting plate moves on the flange with the assistance of the gear, so as to facilitate better gear connection between the gear and the rack.

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