A sliding platform mechanism, a base device and a hybrid robot

Abstract

The utility model relates to the technical field of hybrid robots, and discloses a slide mechanism, a base device and a hybrid robot. The slide mechanism is used for a robot, and the slide mechanism includes: a screw rod, which is connected to a driving motor by transmission, and the screw rod is arranged at the bottom of the robot body; a nut, which is threadedly matched with the screw rod, a protective cover, which is used to cover the screw rod; and a connecting piece, which connects the nut to the robot body. The protective cover is covered on the screw rod, so as to prevent dust, small particles, especially small metal particles around the robot from adhering to the screw rod, and the nut is connected to the robot body by bypassing the protective cover through the connecting piece, so as to achieve effective protection of the nut and the screw rod, thereby extending the service life of the nut and the screw rod, and ensuring the matching accuracy, thereby ensuring the matching accuracy, and effectively ensuring the forward and backward movement accuracy of the hybrid robot.

Description

Technical Field

[0001] The utility model relates to the technical field of hybrid robots, in particular to a slide mechanism, a base device and a hybrid robot. Background Art

[0002] Hybrid robots have more degrees of freedom, higher movement accuracy, and more flexible and diverse execution methods during use, so they are widely used.

[0003] Usually, the hybrid robot is arranged on a base and can move forward and backward relative to the base to meet various usage needs. In this process, a driving motor is required to realize the forward and backward driving of the hybrid robot through the cooperation of a screw rod and a screw nut.

[0004] However, after a period of use, the precision of the screw and the nut decreases, resulting in poor precision in the forward and backward movement of the hybrid robot. In addition, the bearings supporting the screw have large losses and are severely worn after a period of use. Utility Model Content

[0005] In order to solve the above problems, the utility model provides a slide mechanism for a robot, comprising:

[0006] A screw rod is transmission-connected to the driving motor, and the screw rod is arranged at the bottom of the robot body;

[0007] The nut is matched with the screw thread.

[0008] A protective cover, used for covering the screw rod; and

[0009] A connecting piece connects the nut to the body of the robot.

[0010] Optionally, a groove is provided on the bottom surface of the protective cover, the groove extends along the length direction of the screw rod and penetrates the front and rear ends of the protective cover to form a front opening and a rear opening, and the screw rod is placed in the groove.

[0011] Optionally, the slide mechanism further includes a front support and a rear support, the front support is arranged in the front opening, the rear support is arranged in the rear opening, the front support and the rear support are used to support the screw rod, a front bearing is arranged between the front support and the screw rod, and a rear bearing is arranged between the rear support and the screw rod.

[0012] Optionally, the slide mechanism further comprises a front bracket, which is arranged at the front opening, used to support the protective cover, and is arranged close to the front support, and is provided with an oil filling hole, which is used to fill oil into the front bearing.

[0013] Optionally, the rear end of the screw rod is connected to the driving motor via a coupling.

[0014] The slide mechanism further comprises a housing structure, and the coupling is arranged in the housing structure.

[0015] The rear support is arranged close to the housing structure. The side wall of the housing structure is provided with a side opening. The side opening is arranged close to the rear bearing. The side opening is used for injecting oil into the rear bearing.

[0016] Optionally, an upper opening is provided on the top of the housing structure, and the side opening is communicated with the upper opening.

[0017] The slide mechanism further comprises an oil filling cover plate, and the oil filling cover plate is detachably covered on the upper opening.

[0018] Optionally, the slide mechanism further includes a rear bracket, and the shell structure, the rear support and the rear bracket are arranged adjacent to each other in sequence from back to front, and the rear bracket is used to support the protective cover.

[0019] Optionally, the connecting member includes:

[0020] an inner component, detachably connected to the nut; and

[0021] The outer component is provided with a through hole extending in the front-to-back direction; the inner component is arranged in the through hole and connected to the bottom surface of the through hole; the protective cover is arranged in the through hole and covers the inner component; and the outer component is detachably connected to the body of the robot.

[0022] In addition, the utility model also provides a base device for a robot, wherein the base device comprises a base body, a slide rail and the slide mechanism.

[0023] The slide rail and the slide mechanism are both arranged on the base body, and the slide rail and the slide mechanism are arranged in parallel.

[0024] The body of the robot is arranged on the slide rail and the slide mechanism, and the slide rail is used to guide the robot body to move forward and backward on the base body.

[0025] In addition, the utility model also provides a hybrid robot, including the base device.

[0026] Compared with the prior art, the utility model covers the screw rod with a protective cover to prevent dust, small particles, especially small metal particles around the robot from adhering to the screw rod, and connects the nut to the robot body through a connecting piece bypassing the protective cover, thereby achieving effective protection of the nut and the screw rod, thereby extending the service life of the nut and the screw rod, and ensuring their matching accuracy, thereby ensuring the matching accuracy, and effectively ensuring the forward and backward movement accuracy of the hybrid robot.

[0027] In addition, the front support and the rear support are used to effectively support the screw rod, and the front bearing and the rear bearing are respectively arranged close to the corresponding front opening and rear opening, so that it is convenient to inject lubricating oil into the front bearing through the front opening, and similarly, it is also convenient to inject lubricating oil into the rear bearing through the rear opening. Therefore, the support bearing of the screw rod can be lubricated timely and effectively, and the service life of the support bearing of the screw rod can be extended. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic structural diagram of the base device according to an embodiment of the utility model;

[0029] Figure 2 A schematic structural diagram of the slide mechanism of an embodiment of the utility model;

[0030] Figure 3 Another schematic structural diagram of the slide mechanism according to an embodiment of the utility model;

[0031] Figure 4 for Figure 3 The schematic structure diagram at P in FIG. is enlarged;

[0032] Description of reference numerals:

[0033] 1. Screw rod; 11. Front support; 12. Rear support;

[0034] 2. driving motor; 21. coupling; 22. housing structure; 221. side opening; 222. upper opening; 223. oil filling cover plate;

[0035] 3. The robot body; 4. The nut;

[0036] 5. Protective cover; 51. Groove; 52. Front bracket; 521. Oil filling hole; 53. Rear bracket;

[0037] 6. Connector; 61. Inner part; 62. Outer part; 621. Through hole;

[0038] 7. Base body; 71. Slide rail. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0040] In the description of the present invention, it should be understood that the terms "upper" and "lower" and the like indicate positions or location relationships that are based on the positions or location relationships when the product is in normal use.

[0041] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. The drawings of the embodiments of the utility model are provided with a coordinate system X-axis and Z-axis, wherein the X-axis represents the front-to-back direction, the arrow direction of the X-axis represents the front, and the reverse direction of the arrow direction of the X-axis represents the rear, and the Z-axis represents the vertical direction, the positive direction of the Z-axis represents the top, and the reverse direction of the Z-axis represents the bottom.

[0042] See also Figures 1 to 4 In this embodiment, a slide mechanism is provided for a robot, comprising:

[0043] A screw rod 1 is transmission-connected to a driving motor 2, and the screw rod 1 is arranged at the bottom of a body 3 of the robot;

[0044] The nut 4 is threadably matched with the screw rod 1.

[0045] A protective cover 5, used for covering the screw rod 1; and

[0046] The connecting member 6 connects the nut 4 to the body 3 of the robot.

[0047] It should be noted that the connector 6 here can be in a variety of structural forms, for example, it can be a connecting arm structure, and a long through hole is opened on the side wall of the protective cover 5, the long through hole is arranged along the extension direction of the screw rod 1, and the connector 6 is in the long through hole and connects the nut 4 to the robot body. In addition, the connector 6 can also be a ring structure, the protective cover 5 is arranged inside it, and the connector 6 connects the nut 4 to the robot body from the bottom of the protective cover 5. Specifically, it can be seen later in this embodiment.

[0048] The inventor of the utility model discovered that the main reason why the matching accuracy of the existing screw rod 1 and nut 4 decreases after being used for a period of time is that the screw rod 1 lacks dust protection, causing the screw rod 1 to be exposed to the outside and attached to dust and small particles around the robot, and because the screw rod 1 and the nut 4 are matched through threaded surfaces, which are surface contact, the threaded surfaces of the screw rod 1 and the nut 4 are rapidly worn under the action of dust and small particles, resulting in a large gap between the matching threaded surfaces, thereby affecting the forward and backward movement accuracy of the nut 4 relative to the screw rod 1.

[0049] To this end, the utility model covers the screw rod 1 with a protective cover 5 to prevent dust, small particles, especially small metal particles around the robot from adhering to the screw rod 1, and connects the nut 4 to the robot body through the connecting piece 6 bypassing the protective cover 5, thereby achieving effective protection of the nut 4 and the screw rod 1, thereby extending the service life of the nut 4 and the screw rod 1, and ensuring their matching accuracy, thereby ensuring the matching accuracy, and effectively ensuring the forward and backward movement accuracy of the hybrid robot.

[0050] See also Figures 1 to 4 Furthermore, a groove 51 is provided on the bottom surface of the protective cover 5 , and the groove 51 extends along the length direction of the screw rod 1 and penetrates the front and rear ends of the protective cover 5 to form a front opening and a rear opening, and the screw rod 1 is placed in the groove 51 .

[0051] The screw rod 1 is covered by the groove 51, and is covered and protected from the top and left and right sides of the screw rod 1. The front opening and the rear opening are provided to facilitate the matching of the screw rod 1 and the protective cover 5, thereby facilitating the installation of the protective cover 5.

[0052] See also Figures 1 to 4 Furthermore, the slide mechanism also includes a front support 11 and a rear support 12, the front support 11 is arranged in the front opening, and the rear support 12 is arranged in the rear opening, the front support 11 and the rear support 12 are used to support the screw rod 1, a front bearing is arranged between the front support 11 and the screw rod 1, and a rear bearing is arranged between the rear support 12 and the screw rod 1.

[0053] The front support 11 and the rear support 12 are used to effectively support the screw rod 1, and the front bearing and the rear bearing are respectively arranged close to the corresponding front opening and rear opening, so that it is convenient to inject lubricating oil into the front bearing through the front opening, and similarly, it is also convenient to inject lubricating oil into the rear bearing through the rear opening. Therefore, the support bearing of the screw rod 1 can be lubricated timely and effectively, and the service life of the support bearing of the screw rod 1 can be extended.

[0054] See also Figures 1 to 4 Furthermore, the slide mechanism also includes a front bracket 52, which is arranged at the front opening, and is used to support the protective cover 5. The front bracket 52 is arranged close to the front support 11, and the front bracket 52 is provided with an oil filling hole 521, and the oil filling hole 521 is used to fill oil into the front bearing.

[0055] The oil filling hole 521 provided at the front bracket 52 is used to conveniently fill the front bearing with lubricating oil, thereby facilitating maintenance.

[0056] It should be noted that the structure of the oil filling hole 521 can be various, and can be an oil filling pipe, or can be a hole-shaped structure opened on the front bracket 52 .

[0057] See also Figures 1 to 4 Furthermore, the rear end of the screw rod 1 is connected to the driving motor 2 via a coupling 21.

[0058] The slide mechanism further includes a housing structure 22, and the coupling 21 is arranged in the housing structure 22.

[0059] The rear support 12 is disposed close to the housing structure 22 . A side opening 221 is disposed on a side wall of the housing structure 22 . The side opening 221 is disposed close to the rear bearing. The side opening 221 is used for injecting oil into the rear bearing.

[0060] The housing structure 22 is used to protect the coupling 21. At the same time, the side opening 221 provided at the housing structure 22 is used to oil the rear bearing through the side opening 221 when the housing structure 22 is opened to inspect and maintain the coupling 21, which is convenient to use.

[0061] See also Figures 1 to 4 Further, an upper opening 222 is provided at the top of the shell structure 22, and the side opening 221 is connected to the upper opening 222.

[0062] The slide mechanism further includes an oil filling cover plate 223 , and the oil filling cover plate 223 is detachably covered on the upper opening 222 .

[0063] Preferably, the oil filling cover plate 223 is detachably connected to the top surface of the upper opening 222 via threaded fasteners.

[0064] By using the side opening 221 to communicate with the upper opening 222 , it is convenient to inject oil into the rear bearing through the upper opening 222 and the side opening 221 .

[0065] See also Figures 1 to 4 Furthermore, the slide mechanism also includes a rear bracket 53, and the shell structure 22, the rear support 12 and the rear bracket 53 are arranged adjacent to each other in sequence from back to front, and the rear bracket 53 is used to support the protective cover 5.

[0066] The rear bracket 53 and the front bracket 52 are used to effectively support the protective cover 5 from both the front and rear directions.

[0067] See also Figures 1 to 4 , further, the connecting member 6 comprises:

[0068] An inner component 61 detachably connected to the nut 4; and

[0069] The outer component 62 is provided with a through hole 621, which extends along the front-to-back direction. The inner component 61 is arranged in the through hole 621 and connected to the bottom surface of the through hole 621. The protective cover 5 is arranged in the through hole 621, and the protective cover 5 covers the inner component 61. The outer component 62 is detachably connected to the body 3 of the robot.

[0070] Preferably, the nut 4 and the inner component 61 are detachably connected via a threaded connector 6 .

[0071] By utilizing the cooperation between the inner part 61 and the outer part 62 , it is prevented that the protective cover 5 hinders the connection between the nut 4 and the robot body, while ensuring the normal use of the protective cover 5 .

[0072] Preferably, the cross section of the through hole 621 is a direction, and the cross section is a vertical cross section perpendicular to the front-rear direction.

[0073] In addition, this embodiment further provides a base device for a robot, wherein the base device comprises a base body 7, a slide rail 71 and the slide mechanism.

[0074] The slide rail 71 and the slide mechanism are both arranged on the base body 7, and the slide rail 71 and the slide mechanism are arranged in parallel.

[0075] The robot body 3 is arranged on the slide rail 71 and the slide mechanism, and the slide rail 71 is used to guide the robot body to move forward and backward on the base body 7.

[0076] The slide rail 71 is used to provide auxiliary support for the robot body.

[0077] Preferably, the front bracket 52 and the rear bracket 53 have the same structure. The front bracket 52 includes a horizontal arm and two vertical arms. The two vertical arms are arranged at a distance. The bottom end of each vertical arm is connected to the horizontal arm. The horizontal arm is connected to the base body 7 by a threaded fastener, and the top of the vertical arm is connected to the protective cover 5 by a threaded fastener.

[0078] In addition, this embodiment further provides a hybrid robot, including the base device or the slide mechanism. Since the hybrid robot achieves the same technical effect as the slide, the hybrid robot will not be explained any more.

[0079] Although the disclosure is as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the utility model.

Claims

1. A sliding table mechanism, characterized in that: For a robot, the slide mechanism comprises: A screw rod (1) is drivingly connected to a driving motor (2), and the screw rod (1) is arranged at the bottom of a body (3) of the robot; The nut (4) is threadably matched with the screw rod (1). A protective cover (5) for covering the screw rod (1); and A connecting member (6) connects the nut (4) to the body (3) of the robot.

2. The slide mechanism according to claim 1, characterized in that: The bottom surface of the protective cover (5) is provided with a groove (51), the groove (51) extending along the length direction of the screw rod (1) and penetrating the front and rear ends of the protective cover (5) to form a front opening and a rear opening, and the screw rod (1) is placed in the groove (51).

3. The slide mechanism according to claim 2, characterized in that: The slide mechanism further comprises a front support (11) and a rear support (12); the front support (11) is arranged in the front opening, and the rear support (12) is arranged in the rear opening; the front support (11) and the rear support (12) are used to support the screw rod (1); a front bearing is arranged between the front support (11) and the screw rod (1), and a rear bearing is arranged between the rear support (12) and the screw rod (1).

4. The slide mechanism according to claim 3, characterized in that: The slide mechanism further comprises a front bracket (52), wherein the front bracket (52) is arranged at the front opening, the front bracket (52) is used to support the protective cover (5), the front bracket (52) is arranged close to the front support (11), and the front bracket (52) is provided with an oil filling hole (521), and the oil filling hole (521) is used to fill oil into the front bearing.

5. The slide mechanism according to claim 3, characterized in that: The rear end of the screw rod (1) is connected to the driving motor (2) via a coupling (21). The slide mechanism further comprises a housing structure (22), wherein the coupling (21) is arranged in the housing structure (22). The rear support (12) is arranged close to the housing structure (22); a side opening (221) is arranged on a side wall of the housing structure (22); the side opening (221) is arranged close to the rear bearing; and the side opening (221) is used for injecting oil into the rear bearing.

6. The slide mechanism according to claim 5, characterized in that: The top of the housing structure (22) is provided with an upper opening (222), and the side opening (221) is communicated with the upper opening (222). The slide mechanism further comprises an oil filling cover plate (223), and the oil filling cover plate (223) is detachably covered on the upper opening (222).

7. The slide mechanism according to claim 5, characterized in that: The slide mechanism further comprises a rear bracket (53), wherein the shell structure (22), the rear support (12) and the rear bracket (53) are arranged adjacent to each other in sequence from the back to the front, and the rear bracket (53) is used to support the protective cover (5).

8. The slide mechanism according to any one of claims 1 to 7, characterized in that: The connecting member (6) comprises: an inner component (61) detachably connected to the nut (4); and The outer component (62) is provided with a through hole (621), wherein the through hole (621) extends in the front-to-back direction; the inner component (61) is arranged in the through hole (621) and connected to the bottom surface of the through hole (621); the protective cover (5) is arranged in the through hole (621), and the protective cover (5) covers the inner component (61); and the outer component (62) is detachably connected to the body (3) of the robot.

9. A base device, characterized in that: For a robot, the base device comprises a base body (7), a slide rail (71) and a slide mechanism according to any one of claims 1 to 8, The slide rail (71) and the slide mechanism are both arranged on the base body (7), and the slide rail (71) and the slide mechanism are arranged in parallel. The robot body (3) is arranged on the slide rail (71) and the slide mechanism, and the slide rail (71) is used to guide the robot body to move forward and backward on the base body (7).

10. A hybrid robot, characterized in that: Comprising the base device as claimed in claim 9.

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