Robot part floating device

Abstract

The utility model belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robot control model basic data calibration, and particularly relates to a robot component floating device. Comprising a position changing machine, a tool and at least one floating supporting mechanism, the tool is connected with the rotating motion output end of the position changing machine through a fixing screw, the tool is used for installing a robot, and the floating supporting mechanism is arranged at the bottom of the robot installed on the tool and used for supporting the robot in a floating mode. The visual degree of the operation process is high, supporting force caused by gravity can be directly seen, the problems that a tool bolt is prone to breakage and a threaded hole is damaged in the assembly and calibration process are effectively solved, and the operation conforms to ergonomics.

Description

Technical Field

[0001] The invention belongs to the technical field of basic data calibration of a six-degree-of-freedom vertical multi-joint industrial robot control model, and in particular relates to a robot component floating device. Background Art

[0002] During the calibration of the basic data of the control model of the six-degree-of-freedom vertical multi-jointed industrial robot, the tooling is installed on the positioner, one side of the tooling is fixed to the waist seat casting by screws, and the mounting surface on the other side of the tooling fits with the plane of the rotational motion output end of the positioner, and the tooling and the rotational motion output end of the positioner are locked by screws. During the disassembly of the tooling, the waist seat casting, and the components installed on the waist seat casting, when removing the last few screws, the friction force between the mounting surface on the other side of the tooling and the plane of the rotational motion output end of the positioner is not enough to overcome the gravity of the floating tooling, the waist seat casting, and the components installed on the waist seat casting. The light hole of the tooling will impact and hit the screw, causing the screw to break and damage the threaded hole. In addition, the screws that are broken in the threaded hole are difficult to remove, which brings great trouble to the robot assembly and calibration process and reduces work efficiency. Utility Model Content

[0003] In view of the above problems, the purpose of the utility model is to provide a robot component floating device to solve the problem that the tooling bolts are easy to break and the threaded holes are easy to be damaged during the basic data calibration process of the existing robot model.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a floating device for robot parts, comprising a positioner, a tooling and at least one group of floating support mechanisms, wherein the tooling is connected to the rotational motion output end of the positioner through a fixing screw, the tooling is used to install the robot, the floating support mechanism is arranged at the bottom of the robot installed on the tooling, and the floating support mechanism is used to provide floating support for the robot.

[0006] The floating support mechanism includes a crossbeam, a left loading force feedback mechanism, a right loading force feedback mechanism and two support seats, wherein the two support seats are respectively arranged on the left and right sides of the positioner, the left loading force feedback mechanism and the right loading force feedback mechanism are respectively arranged at both ends of the crossbeam, and the crossbeam is placed on the two support seats through the left loading force feedback mechanism and the right loading force feedback mechanism, and the left loading force feedback mechanism and the right loading force feedback mechanism enable the crossbeam to have the freedom to float in the vertical direction.

[0007] The crossbeam includes a rectangular steel and two rotating parts respectively embedded at both ends of the rectangular steel. The two rotating parts are hollow structures and are respectively used to install the left loading force feedback mechanism and the right loading force feedback mechanism.

[0008] The left loading force feedback mechanism and the right loading force feedback mechanism have the same structure, and both include a handwheel, a screw, a screw seat, a force sensor, a leg, a disc spring and a rotary contact assembly, wherein the leg is arranged on the support seat, the screw and the screw seat are threadedly matched, the screw seat is accommodated in the inner cavity of the rotating part, the screw seat and the rotating part slide together in the vertical direction, the disc spring is arranged on the top of the screw seat and abuts against the inner top surface of the rotating part, the upper end of the screw passes through the through hole provided at the top of the rotating part and is connected to the handwheel, the lower end of the screw is connected to the rotary contact assembly through the force sensor, and the rotary contact assembly abuts against the leg.

[0009] The rotary contact assembly includes a rotary connecting seat, a force transmission ball, a rotary pressure plate and a locking screw, wherein one end of the rotary connecting seat is connected to the force sensor, and the other end of the rotary connecting seat is provided with a semicircular groove, the force transmission ball is accommodated in the semicircular groove and the outer side is limited by the rotary pressure plate, the rotary pressure plate is fixedly connected to the rotary connecting seat by the locking screw, and the rotary pressure plate is provided with a spherical through hole to expose the force transmission ball, and the exposed part of the force transmission ball at the spherical through hole contacts the support leg.

[0010] The inner wall of the rotating member is provided with a keyway groove along the vertical direction, and the screw seat is slidably matched with the keyway groove via a keyway.

[0011] The tooling includes a disc and a connecting seat arranged on the outer side of the disc, wherein a plurality of light holes are arranged on the disc along the circumferential direction, the inner side surface of the disc is fitted with the rotational motion output end of the positioner, and the disc is threadedly connected to the positioner by a plurality of fixing screws which pass through the light holes in sequence.

[0012] The robot includes a base, a one-axis reducer, a waist seat casting, a one-axis motor, a two-axis reducer and a two-axis motor, wherein the one-axis reducer is installed on the base, the input end of the one-axis reducer is connected to the one-axis motor, and the output end of the one-axis reducer is connected to the waist seat casting; the two-axis reducer is installed on the waist seat casting, the input end of the two-axis reducer is connected to the two-axis motor; the waist seat casting is connected to the tooling.

[0013] A hanger assembly is arranged on the top of the waist seat casting.

[0014] The advantages and beneficial effects of the utility model are as follows: the utility model provides a robot component floating device with a high degree of visualization in the operation process, and the robot is supported by a floating crossbeam. The supporting force caused by gravity can be directly seen through the left loading force feedback mechanism and the right loading force feedback mechanism, which effectively solves the problem of easy breakage of tooling bolts and damage to threaded holes during robot assembly and calibration, and the operation is ergonomic. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1This is an axonometric diagram of a floating device for a robot component of the utility model;

[0016] Figure 2 This is an exploded view of a floating device for a robot component of the utility model;

[0017] Figure 3 This is a front view of a robot component floating device of the utility model;

[0018] Figure 4 for Figure 3 A partial enlarged view of the middle part;

[0019] Figure 5 for Figure 4 A partial enlarged view of point B in the middle.

[0020] Figure 6 for Figure 4 A partial enlarged view of point C in the middle;

[0021] Figure 7 This is a side view of a floating device for robot components of the utility model;

[0022] Figure 8 for Figure 7 A partial enlarged view of point D in the middle.

[0023] In the figure: 1-beam, 101-rectangular steel, 102-rotating part, 103-inner cavity, 104-key slot, 105-inner top surface, 106-through hole, 2-left loading force feedback mechanism, 3-right loading force feedback mechanism, 301-handwheel, 302-screw, 303-screw seat, 304-force sensor, 305-rotating connecting seat, 306-force transmission ball, 307-rotating pressure plate, 308-locking screw, 309-leg, 310 - disc spring, 311- key, 312- connecting screw, 4- support seat, 5- positioner, 501- L model body, 502- rotational motion output end, 503- rotation axis, 504- threaded hole, 6- sling assembly, 7- tooling, 701- inner side, 702- light hole, 8- base, 9- one-axis reducer, 10- waist seat casting, 11- one-axis motor, 12- two-axis reducer, 13- two-axis motor, 14- fixing screw. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1 to 8As shown, the utility model provides a floating device for robot components, including a positioner 5, a tooling 7 and at least one group of floating support mechanisms, wherein the tooling 7 is connected to the rotational motion output end 502 of the positioner 5 by a fixing screw 14, the tooling 7 is used to install the robot, the floating support mechanism is arranged at the bottom of the robot installed on the tooling 7, and the floating support mechanism is used to float the robot.

[0026] like Figure 1 , Figure 2 As shown, in the embodiment of the utility model, the robot includes a base 8, a one-axis reducer 9, a waist seat casting 10, a one-axis motor 11, a two-axis reducer 12 and a two-axis motor 13, wherein the one-axis reducer 9 is installed on the base 8, the input end of the one-axis reducer 9 is connected to the one-axis motor 11, and the output end of the one-axis reducer 9 is connected to the waist seat casting 10; the two-axis reducer 12 is installed on the waist seat casting 10, and the input end of the two-axis reducer 12 is connected to the two-axis motor 13; the waist seat casting 10 is connected to the tooling 7. A sling assembly 6 is provided on the top of the waist seat casting 10. The positioner 5 includes an L-type body 501 and a rotary motion output end 502, and the rotation axis 503 of the rotary motion output end 502 is parallel to the ground. The L-type body 501 servo drives the rotary motion output end 502 to rotate, and the positioner 5 can make the four sides of the waist seat casting 10 face upward through rotation and position change, thereby realizing that the components installed on the waist seat casting 10 are installed from top to bottom with the help of a sling during the installation process. The sling assembly 6 is used for lifting and disassembling the tooling 7 and the waist seat casting 10 and the components installed on the waist seat casting 10.

[0027] like Figure 1 As shown, in an embodiment of the utility model, the floating support mechanism includes a crossbeam 1, a left loading force feedback mechanism 2, a right loading force feedback mechanism 3 and two support seats 4, wherein the two support seats 4 are respectively arranged on the left and right sides of the positioner 5, the left loading force feedback mechanism 2 and the right loading force feedback mechanism 3 are respectively arranged at both ends of the crossbeam 1, the crossbeam 1 is placed on the two support seats 4 through the left loading force feedback mechanism 2 and the right loading force feedback mechanism 3, and the left loading force feedback mechanism 2 and the right loading force feedback mechanism 3 enable the crossbeam 1 to have the freedom to float in the vertical direction.

[0028] like Figure 4 As shown, in the embodiment of the utility model, the crossbeam 1 includes a rectangular steel 101 and two rotating parts 102 respectively embedded at both ends of the rectangular steel 101. The two rotating parts 102 are hollow structures and are respectively used to install the left loading force feedback mechanism 2 and the right loading force feedback mechanism 3.

[0029] In the embodiment of the utility model, the left loading force feedback mechanism 2 and the right loading force feedback mechanism 3 have the same structure, and both include a handwheel 301, a screw rod 302, a screw rod seat 303, a force sensor 304, a support leg 309, a disc spring 310 and a rotary contact assembly, wherein the support leg 309 is arranged on the support seat 4, the screw rod 302 and the screw rod seat 303 are threadedly matched, the screw rod seat 303 is accommodated in the inner cavity 103 of the rotating member 102, the screw rod seat 303 and the rotating member 102 slide in the vertical direction, the disc spring 310 is arranged on the top of the screw rod seat 303, and abuts against the inner top surface 105 of the rotating member 102, the upper end of the screw rod 302 passes through the through hole 106 provided at the top of the rotating member 102 and is connected to the handwheel 301, the lower end of the screw rod 302 is connected to the rotary contact assembly through the force sensor 304, and the rotary contact assembly abuts against the support leg 309.

[0030] Specifically, Figure 5 As shown, the rotary contact assembly includes a rotary connecting seat 305, a force transmitting ball 306, a rotary pressure plate 307 and a locking screw 308, wherein one end of the rotary connecting seat 305 is connected to the force sensor 304, and the other end of the rotary connecting seat 305 is provided with a semicircular groove, the force transmitting ball 306 is accommodated in the semicircular groove and the outer side is limited by the rotary pressure plate 307, the rotary pressure plate 307 is fixedly connected to the rotary connecting seat 305 by the locking screw 308, and the rotary pressure plate 307 is provided with a spherical through hole to expose the force transmitting ball 306, and the exposed part of the force transmitting ball 306 at the spherical through hole is in contact with the support leg 309.

[0031] Furthermore, the rotating member 102 has a hollow straw hat shape, which penetrates the rectangular steel 101 from bottom to top and is welded together. Figure 6 As shown, the inner wall of the rotating member 102 is provided with a keyway 104 in the vertical direction, the screw seat 303 is cylindrical, and a keyway 311 is connected to the outer wall via a connecting screw 312, and the screw seat 303 slides with the keyway 104 via the keyway 311 to form a linear motion pair.

[0032] The hand wheel 301 can be manually rotated to allow the screw 302 to spirally advance. The middle part of the screw 302 and the screw seat 303 are provided with a friction self-locking spiral pair. The force sensor 304 is preferably a compressive force sensor. The specific brand is preferably: Lijing Microelectronics, the model is preferably: C420; the name is a weighing tension and compression dual-purpose force sensor. Measuring range: 5kg to 1500kg. The force sensor 304 can display the axial gravity value of the force transmission ball 306 and the beam 1 in real time. The rotary connecting seat 305, the rotary pressure plate 307 and the locking screw 308 form a ball motion pair with the force transmission ball 306 through a mechanical combination structure. The force transmission ball 306 is preferably a bearing steel ball. Since the force-transmitting ball 306 contacts the concave surface of the upper part of the support leg 309 , the contact between the force-transmitting ball 306 and the support leg 309 is rolling friction, and the friction coefficient is only between 0.001 and 0.005. The force-transmitting ball 306 can effectively transform the three-dimensional contact force of the beam 1 into the axial force of the screw of the force sensor 304 .

[0033] like Figure 7 , Figure 8 As shown, in the embodiment of the utility model, the tooling 7 includes a disc and a connecting seat arranged on the outer side surface of the disc, wherein a plurality of light holes 702 are arranged on the disc in the circumferential direction, the inner side surface of the disc is fitted with the rotational motion output end 502 of the positioner 5, and the disc is threadedly connected to the threaded holes on the positioner 5 by a plurality of fixing screws 14 which penetrate through the light holes 702 in sequence.

[0034] The utility model provides a floating device for robot components, and the operation process has a high degree of visualization. The robot is floatingly supported by a crossbeam 1, and the supporting force caused by gravity can be directly seen through the left loading force feedback mechanism 2 and the right loading force feedback mechanism 3, which effectively solves the problem of easy breakage of tooling bolts and damage to threaded holes during assembly and calibration, and the operation is ergonomic.

[0035] The above description is only an implementation method of the utility model and is not intended to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. A robot component floating device, characterized in that: The robot comprises a positioner (5), a tool (7) and at least one group of floating support mechanisms, wherein the tool (7) is connected to a rotational motion output end (502) of the positioner (5) via a fixing screw (14), the tool (7) is used to install a robot, and the floating support mechanism is arranged at the bottom of the robot installed on the tool (7), and the floating support mechanism is used to provide floating support for the robot; The floating support mechanism comprises a crossbeam (1), a left loading force feedback mechanism (2), a right loading force feedback mechanism (3) and two support seats (4), wherein the two support seats (4) are respectively arranged on the left and right sides of the positioner (5), the left loading force feedback mechanism (2) and the right loading force feedback mechanism (3) are respectively arranged at two ends of the crossbeam (1), the crossbeam (1) is placed on the two support seats (4) through the left loading force feedback mechanism (2) and the right loading force feedback mechanism (3), and the left loading force feedback mechanism (2) and the right loading force feedback mechanism (3) enable the crossbeam (1) to have the freedom to float in the vertical direction; The crossbeam (1) comprises a rectangular steel (101) and two rotating parts (102) respectively embedded at two ends of the rectangular steel (101); the two rotating parts (102) are hollow structures and are respectively used to install the left loading force feedback mechanism (2) and the right loading force feedback mechanism (3); The left loading force feedback mechanism (2) and the right loading force feedback mechanism (3) have the same structure, and both include a hand wheel (301), a screw rod (302), a screw rod seat (303), a force sensor (304), a support leg (309), a disc spring (310) and a rotary contact assembly, wherein the support leg (309) is arranged on the support seat (4), the screw rod (302) and the screw rod seat (303) are threadedly matched, the screw rod seat (303) is accommodated in the inner cavity (103) of the rotating member (102), and the screw rod (302) and the screw rod seat (303) are threadedly matched. The rod seat (303) and the rotating member (102) are slidably matched in the vertical direction. The disc spring (310) is arranged on the top of the screw seat (303) and abuts against the inner top surface (105) of the rotating member (102). The upper end of the screw (302) passes through the through hole (106) provided on the top of the rotating member (102) and is connected to the hand wheel (301). The lower end of the screw (302) is connected to the rotating contact assembly through the force sensor (304), and the rotating contact assembly abuts against the support leg (309).

2. The robot component floating device according to claim 1, characterized in that: The rotary contact assembly comprises a rotary connection seat (305), a force transmission ball (306), a rotary pressure plate (307) and a locking screw (308), wherein one end of the rotary connection seat (305) is connected to the force sensor (304), and the other end of the rotary connection seat (305) is provided with a semicircular groove, the force transmission ball (306) is accommodated in the semicircular groove and the outer side is limited by the rotary pressure plate (307), the rotary pressure plate (307) is fixedly connected to the rotary connection seat (305) by the locking screw (308), and the rotary pressure plate (307) is provided with a spherical through hole for exposing the force transmission ball (306), and the part of the force transmission ball (306) exposed at the spherical through hole contacts the support leg (309).

3. The robot component floating device according to claim 1, characterized in that: The inner wall of the rotating member (102) is provided with a keyway groove (104) in the vertical direction, and the screw seat (303) is slidably matched with the keyway groove (104) via a keyway (311).

4. The robot component floating device according to claim 1, characterized in that: The tooling (7) comprises a circular disc and a connecting seat arranged on the outer side surface of the circular disc, wherein a plurality of light holes (702) are arranged on the circular disc along the circumferential direction, the inner side surface of the circular disc is fitted with the rotational motion output end (502) of the positioner (5), and the circular disc is threadedly connected to the positioner (5) via a plurality of fixing screws (14) which sequentially penetrate the light holes (702).

5. The robot component floating device according to claim 1, characterized in that: The robot comprises a base (8), a one-axis reducer (9), a waist seat casting (10), a one-axis motor (11), a two-axis reducer (12) and a two-axis motor (13), wherein the one-axis reducer (9) is mounted on the base (8), the input end of the one-axis reducer (9) is connected to the one-axis motor (11), and the output end of the one-axis reducer (9) is connected to the waist seat casting (10); the two-axis reducer (12) is mounted on the waist seat casting (10), the input end of the two-axis reducer (12) is connected to the two-axis motor (13); and the waist seat casting (10) is connected to the tooling (7).

6. The robot component floating device according to claim 5, characterized in that: A hanger assembly (6) is provided on the top of the waist seat casting (10).

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