Twenty-four-shaft heavy-load robot structure
By adopting a twenty-four-axis structure and sponge lubrication system in heavy-duty robots, the problem of frequent rail blockage and lubrication maintenance is solved, and smoother operation and longer service life is achieved.
Patent Information
- Application Number
- CN202421840056.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-31
- Publication Date
- 2025-05-06
- Estimated Expiration
- 2034-07-31
AI Technical Summary
When existing heavy-loaded robots grab braided strips, dust and impurities are easily accumulated inside the guide rails, causing blockage between the slider and the guide rails, affecting the operation of the robots, and requiring frequent lubrication and maintenance, which increases the workload.
The 24-axis heavy-load robot structure is adopted, and the slider is driven by the motor, and a sponge and lubricating oil port is set inside the slider. The lubricating oil is slowly conveyed to the non-woven fabric through the sponge, making the non-woven fabric fit with the screw, cleaning dust and lubricating the screw, extending the service life of the ball nut and screw.
It effectively avoids rail blockage, reduces the frequency of lubrication and maintenance, improves the running smoothness and noise level of heavy-duty robots, and extends the service life of key components.
Smart Images
Figure CN222831823U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of heavy-load robots, and more specifically, to a twenty-four-axis heavy-load robot structure. Background Art
[0002] Flexible braided strip is a braided material with significant advantages. Its notable features are its excellent bending and twisting ability, as well as its flexible nature that is easy to deform. Its high bending and twisting ability means that it can easily adapt to various complex shapes and angles, thereby ensuring the tightness and stability of packaging and bundling. Its easy deformation characteristics also bring it good adaptability and tightness. It can fit closely to the surface of the packaged items to avoid looseness and sliding, thereby providing stronger protection and support.
[0003] At present, when transshipping goods, it is usually necessary to grab the braided strips, so a highly flexible heavy-duty robot structure is needed to grab and move the braided strips. When grabbing the braided strips, the current heavy-duty robot usually moves through guide rails, and after working for a long time, dust and impurities will accumulate inside the guide rails, causing blockage between the slider and the guide rail, affecting the operation of the heavy-duty robot, and in order to ensure the normal movement of the slider, it needs to be lubricated and maintained frequently, which increases the workload, so it needs to be improved and optimized. Utility Model Content
[0004] In order to overcome the deficiencies of the prior art, the utility model provides a twenty-four-axis heavy-load robot structure, which has the advantages of long service life and easy maintenance.
[0005] To achieve the above object, the utility model provides the following technical solutions: a twenty-four-axis heavy-load robot structure, comprising a support frame, the support frame comprising a vertical bar and a cross bar, the cross bar is located above the vertical bar, a PLC controller is fixedly installed on the top of the support frame, and a heavy-load robot is slidably installed on the outer wall of the cross bar;
[0006] Two sets of fixed platforms are fixedly installed at the front and rear ends of the vertical rod, a guide rail is fixedly installed between the two sets of fixed platforms, a screw rod is rotatably installed between the two sets of fixed platforms, the screw rod is located inside the guide rail, a slider is movably installed inside the guide rail, a ball nut is fixedly installed at the bottom of the slider, and the ball nut and the screw rod are threadedly sleeved;
[0007] A connecting block is fixedly installed at the front and rear ends of the ball nut, an annular extrusion is movably installed inside the connecting block, a non-woven fabric is fixedly installed on the inner side of the annular extrusion, an oil storage tank is opened inside the slider, a sponge is fixedly installed inside the oil storage tank, an oil nozzle is fixedly installed on the outer wall of the slider, and the oil nozzle and the oil storage tank are connected to each other.
[0008] As a preferred technical solution of the utility model, a mounting plate is fixedly installed on the top of the slider, the mounting plate is fixedly connected to the cross bar, and the cross bar and the heavy-load robot are movably connected via an electric slider;
[0009] A cylinder is fixedly installed at one end of the heavy-load robot, and the output shaft of the cylinder is fixedly connected to a grabbing assembly. The grabbing assembly is movably installed on the outer wall of the heavy-load robot, and a hook is rotatably installed at the bottom of the grabbing assembly. A second motor is fixedly installed on the outer wall of the grabbing assembly, and the output shaft of the second motor is fixedly connected to the hook.
[0010] As a preferred technical solution of the utility model, a motor 1 is fixedly installed on the outer wall of one group of the fixed platforms, and a gear 1 is rotatably installed inside the motor 1. The output shaft of the motor 1 passes through the interior of the fixed platform and is fixedly connected to the gear 1. The gear 1 and the gear 2 are meshed with each other, and the gear 2 is fixedly connected to the screw rod.
[0011] As a preferred technical solution of the utility model, a connecting rod is fixedly installed inside the connecting block, one end of the annular extrusion is sleeved on the outer wall of the connecting rod, and one end of the annular extrusion and the inner wall of the connecting block are elastically connected via a spring.
[0012] As a preferred technical solution of the utility model, the annular extruded piece is movably sleeved on the outer wall of the screw rod, and the non-woven fabric and the screw rod are in conflict with each other through the elastic potential energy of the spring.
[0013] As a preferred technical solution of the utility model, a lubricating oil port is opened on the top of the connecting block, and the connecting block and the oil storage tank are connected to each other through the lubricating oil port.
[0014] As a preferred technical solution of the utility model, two groups of guide rods are fixedly installed between the two groups of fixed platforms, and the two groups of guide rods are movably sleeved with the sliding blocks.
[0015] Compared with the prior art, the beneficial effects of the utility model are as follows:
[0016] 1. The utility model starts to move the slider through the operation of motor 1, and during the movement, the lubricating oil inside the oil storage tank will penetrate the sponge, slowly pass through the lubricating oil port, and drip into the inside of the annular extrusion part, and the non-woven fabric and the screw rod are fitted to each other through the elastic potential energy of the spring. Compared with the traditional device, the device cleans the outer wall of the screw rod when the slider moves through the setting of the non-woven fabric, and slowly penetrates the lubricating oil into the inside of the non-woven fabric through the setting of the sponge, so that the non-woven fabric lubricates the screw rod, effectively prolongs the service life of the ball nut and the screw rod, and makes the heavy-load robot move smoothly and with low noise when working.
[0017] 2. The utility model causes the heavy-load robot to move forward and backward through the operation of motor one, and then moves left and right through the electric slider inside the heavy-load robot. The cylinder then drives the grasping component downward, and the operation of motor two causes the hook to grasp the braided strip. Compared with traditional devices, the device provides flexible spatial movement capabilities for quickly grasping flexible braided strips through the setting of multiple groups of displacement components, thereby improving the grasping efficiency of the heavy-load robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a schematic diagram of the structure of the utility model;
[0019] Figure 2 This is a schematic diagram of the structure of the heavy-duty robot of the utility model;
[0020] Figure 3 This is a schematic diagram of the guide rail structure of the utility model;
[0021] Figure 4 This is a schematic diagram of the structure of the mounting plate of the utility model;
[0022] Figure 5 This is a schematic diagram of the structure of the slider of the utility model;
[0023] Figure 6 This is a schematic diagram of the structure of the annular extrusion part of the utility model;
[0024] Figure 7 This is a schematic diagram of the connecting rod structure of the utility model.
[0025] In the figure: 1. Support frame; 2. Vertical bar; 3. Cross bar; 4. Heavy-duty robot; 5. PLC controller; 6. Fixed table; 7. Guide rail; 8. Motor 1; 9. Gear 1; 10. Gear 2; 11. Screw; 12. Guide rod; 13. Slider; 14. Mounting plate; 15. Ball nut; 16. Oil storage tank; 17. Oil nozzle; 18. Sponge; 19. Lubricating oil port; 20. Connecting block; 21. Annular extrusion; 22. Non-woven fabric; 23. Connecting rod; 24. Spring; 25. Cylinder; 26. Grabbing assembly; 27. Motor 2; 28. Hook. DETAILED DESCRIPTION
[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0027] like Figures 1 to 7As shown, the utility model provides a twenty-four-axis heavy-load robot structure including a support frame 1, the support frame 1 includes a vertical rod 2 and a horizontal rod 3, the horizontal rod 3 is located above the vertical rod 2, a PLC controller 5 is fixedly installed on the top of the support frame 1, and a heavy-load robot 4 is slidably installed on the outer wall of the horizontal rod 3;
[0028] Two sets of fixed platforms 6 are fixedly installed at the front and rear ends of the vertical rod 2, a guide rail 7 is fixedly installed between the two sets of fixed platforms 6, a screw rod 11 is rotatably installed between the two sets of fixed platforms 6, the screw rod 11 is located inside the guide rail 7, a slider 13 is movably installed inside the guide rail 7, a ball nut 15 is fixedly installed at the bottom of the slider 13, and the ball nut 15 and the screw rod 11 are threadedly sleeved;
[0029] A connecting block 20 is fixedly installed at the front and rear ends of the ball nut 15, an annular extrusion part 21 is movably installed inside the connecting block 20, a non-woven fabric 22 is fixedly installed on the inner side of the annular extrusion part 21, an oil storage tank 16 is opened inside the slider 13, a sponge 18 is fixedly installed inside the oil storage tank 16, an oil nozzle 17 is fixedly installed on the outer wall of the slider 13, and the oil nozzle 17 and the oil storage tank 16 are connected to each other.
[0030] Before grabbing the braided strips, the staff first fills the oil storage tank 16 with lubricating oil through the oil nozzle 17, and controls the heavy-duty robot 4 to move and grab through the PLC controller 5. When the heavy-duty robot 4 moves, the motor 18 operates to drive the gear 19 to rotate, and the gear 19 drives the gear 2 10 threadedly connected with it to rotate. At this time, the screw 11 starts to rotate, so that the slider 13 starts to move along the guide rod 12, and the lubricating oil inside the oil storage tank 16 will penetrate the sponge 18 and slowly pass through the lubricating oil port 19. , dripping into the internal holes of the annular extrusion 21, so that the non-woven fabric 22 inside the annular extrusion 21 is soaked with lubricating oil, and at the same time, the elastic potential energy of the spring 24 will drive one end of the annular extrusion 21 to lift up along the connecting rod 23, and further the non-woven fabric 22 and the inner wall of the screw rod 11 will conflict with each other. When the slider 13 moves, the non-woven fabric 22 will wipe off the dust and impurities on the outer wall of the screw rod 11, and apply the lubricating oil to the outer wall of the screw rod 11 to ensure the operation of the slider 13, and through the sponge 18, prevent the lubricating oil from dripping too quickly.
[0031] Through the operation of the motor 8, the slider 13 begins to move, and during the displacement, the lubricating oil inside the oil storage tank 16 will penetrate the sponge 18, slowly pass through the lubricating oil port 19, and drip into the inside of the annular extrusion 21, and the elastic potential energy of the spring 24 makes the non-woven fabric 22 and the screw rod 11 fit each other. Compared with the traditional device, the device uses the non-woven fabric 22 to clean the outer wall of the screw rod 11 when the slider 13 is displaced, and through the sponge 18, the lubricating oil slowly penetrates into the non-woven fabric 22, so that the non-woven fabric 22 lubricates the screw rod 11, effectively improving the service life of the ball nut 15 and the screw rod 11, and making the heavy-load robot 4 move smoothly and with low noise during operation.
[0032] Among them, a mounting plate 14 is fixedly installed on the top of the slider 13, the mounting plate 14 is fixedly connected to the cross bar 3, and the cross bar 3 and the heavy-load robot 4 are movably connected through an electric slider;
[0033] A cylinder 25 is fixedly installed at one end of the heavy-load robot 4, and the output shaft of the cylinder 25 is fixedly connected to a grabbing assembly 26. The grabbing assembly 26 is movably installed on the outer wall of the heavy-load robot 4. A hook 28 is rotatably installed at the bottom of the grabbing assembly 26. A motor 27 is fixedly installed on the outer wall of the grabbing assembly 26, and the output shaft of the motor 27 is fixedly connected to the hook 28.
[0034] When the device is running, the operation of motor 1 8 drives the slider 13 to move forward and backward. At this time, the electric slider inside the heavy-load robot 4 will drive the heavy-load robot 4 to move left and right along the cross bar 3. After the positioning is completed, the cylinder 25 is started, and the cylinder 25 pushes the grabbing assembly 26 downward along the outer wall of the heavy-load robot 4 to descend. After contacting the surface of the flexible woven strip, the motor 2 27 is operated to rotate the motor 27, grab the flexible woven strip, and perform the transportation operation.
[0035] The heavy-load robot 4 is displaced forward and backward through the operation of motor 1 8, and is displaced left and right through the electric slider inside the heavy-load robot 4. The grabbing component 26 is then driven downward by the cylinder 25, and the hook 28 grabs the woven strip through the operation of motor 2 27. Compared with traditional devices, this device provides flexible spatial movement capabilities for quickly grabbing flexible woven strips through the setting of multiple groups of displacement components, thereby improving the grabbing efficiency of the heavy-load robot 4.
[0036] Among them, a motor 8 is fixedly installed on the outer wall of one group of fixed platforms 6, and a gear 9 is rotatably installed inside it. The output shaft of the motor 8 passes through the interior of the fixed platform 6 and is fixedly connected to the gear 9. The gear 9 and the gear 2 10 are meshed with each other, and the gear 2 10 and the screw 11 are fixedly connected.
[0037] The motor 1 8 operates to drive the gear 1 9 to rotate, and the gear 1 9 drives the gear 2 10 threadedly connected thereto to rotate. At this time, the screw rod 11 starts to rotate, causing the slider 13 to start to move along the guide rod 12.
[0038] A connecting rod 23 is fixedly installed inside the connecting block 20 , one end of the annular extrusion 21 is sleeved on the outer wall of the connecting rod 23 , and one end of the annular extrusion 21 and the inner wall of the connecting block 20 are elastically connected via a spring 24 .
[0039] The annular extruded part 21 is movably sleeved on the outer wall of the screw rod 11 , and the non-woven fabric 22 and the screw rod 11 are in conflict with each other through the elastic potential energy of the spring 24 .
[0040] The elastic potential energy of the spring 24 will drive one end of the annular extrusion 21 to lift upward along the connecting rod 23, and further the non-woven fabric 22 and the inner wall of the screw rod 11 will contact each other. When the slider 13 moves, the non-woven fabric 22 will wipe off the dust and impurities on the outer wall of the screw rod 11 and apply lubricating oil to the outer wall of the screw rod 11.
[0041] A lubricating oil port 19 is provided on the top of the connecting block 20 , and the connecting block 20 and the oil storage tank 16 are connected to each other through the lubricating oil port 19 .
[0042] The lubricating oil in the oil storage tank 16 will penetrate the sponge 18 and slowly pass through the lubricating oil port 19 .
[0043] Two groups of guide rods 12 are fixedly installed between the two groups of fixed platforms 6, and the two groups of guide rods 12 and the sliding blocks 13 are movably sleeved.
[0044] The working principle and use process of this utility model:
[0045] Before grasping the braided strips, the staff first fills the oil storage tank 16 with lubricating oil through the oil nozzle 17, and controls the heavy-duty robot 4 to move and grasp through the PLC controller 5. When the heavy-duty robot 4 moves, the motor 18 operates to drive the gear 19 to rotate, and the gear 19 drives the gear 2 10 threadedly connected with it to rotate. At this time, the screw 11 starts to rotate, so that the slider 13 starts to move along the guide rod 12, and the lubricating oil inside the oil storage tank 16 will penetrate the sponge 18 and slowly pass through the lubricating oil port 1 9, drip into the interior of the annular extrusion 21, so that the non-woven fabric 22 inside the annular extrusion 21 is soaked with lubricating oil, and at the same time, the elastic potential energy of the spring 24 will drive one end of the annular extrusion 21 to lift up along the connecting rod 23, and further the non-woven fabric 22 and the inner wall of the screw rod 11 will conflict with each other, when the slider 13 moves, the non-woven fabric 22 will wipe off the dust and impurities on the outer wall of the screw rod 11, and apply the lubricating oil to the outer wall of the screw rod 11 to ensure the operation of the slider 13, and through the sponge 18, prevent the lubricating oil from dripping too quickly.
[0046] When the device is running, the operation of motor 1 8 drives the slider 13 to move forward and backward. At this time, the electric slider inside the heavy-load robot 4 will drive the heavy-load robot 4 to move left and right along the cross bar 3. After the positioning is completed, the cylinder 25 is started, and the cylinder 25 pushes the grabbing assembly 26 downward along the outer wall of the heavy-load robot 4 to descend. After contacting the surface of the flexible woven strip, the motor 2 27 is operated to rotate the motor 27, grab the flexible woven strip, and perform the transportation operation.
[0047] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.
[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A twenty-four-axis heavy-load robot structure, comprising a support frame (1), characterized in that: The support frame (1) comprises a vertical rod (2) and a horizontal rod (3), wherein the horizontal rod (3) is located above the vertical rod (2), a PLC controller (5) is fixedly mounted on the top of the support frame (1), and a heavy-load robot (4) is slidably mounted on the outer wall of the horizontal rod (3); Two groups of fixed platforms (6) are fixedly installed at the front and rear ends of the vertical rod (2), a guide rail (7) is fixedly installed between the two groups of fixed platforms (6), a screw rod (11) is rotatably installed between the two groups of fixed platforms (6), the screw rod (11) is located inside the guide rail (7), a slider (13) is movably installed inside the guide rail (7), a ball nut (15) is fixedly installed at the bottom of the slider (13), and the ball nut (15) and the screw rod (11) are threadedly sleeved; The front and rear ends of the ball nut (15) are fixedly mounted with connection blocks (20), an annular extrusion piece (21) is movably mounted inside the connection block (20), a non-woven fabric (22) is fixedly mounted on the inner side of the annular extrusion piece (21), an oil storage tank (16) is provided inside the slider (13), a sponge (18) is fixedly mounted inside the oil storage tank (16), an oil nozzle (17) is fixedly mounted on the outer wall of the slider (13), and the oil nozzle (17) and the oil storage tank (16) are connected to each other.
2. The twenty-four-axis heavy-load robot structure according to claim 1 is characterized in that: A mounting plate (14) is fixedly mounted on the top of the slider (13); the mounting plate (14) is fixedly connected to the crossbar (3); and the crossbar (3) and the heavy-load robot (4) are movably connected via an electric slider; A cylinder (25) is fixedly mounted on one end of the heavy-load robot (4); the output shaft of the cylinder (25) is fixedly connected to a grabbing assembly (26); the grabbing assembly (26) is movably mounted on the outer wall of the heavy-load robot (4); a hook (28) is rotatably mounted on the bottom of the grabbing assembly (26); a motor 2 (27) is fixedly mounted on the outer wall of the grabbing assembly (26); and the output shaft of the motor 2 (27) is fixedly connected to the hook (28).
3. The twenty-four-axis heavy-load robot structure according to claim 1 is characterized in that: A motor 1 (8) is fixedly mounted on the outer wall of one group of the fixed platforms (6), and a gear 1 (9) is rotatably mounted inside the motor 1 (8). The output shaft of the motor 1 (8) passes through the interior of the fixed platform (6) and is fixedly connected to the gear 1 (9). The gear 1 (9) and the gear 2 (10) are meshed with each other, and the gear 2 (10) and the screw rod (11) are fixedly connected.
4. The twenty-four-axis heavy-load robot structure according to claim 1 is characterized in that: A connecting rod (23) is fixedly installed inside the connecting block (20), one end of the annular extrusion (21) is sleeved on the outer wall of the connecting rod (23), and one end of the annular extrusion (21) and the inner wall of the connecting block (20) are elastically connected via a spring (24).
5. The twenty-four-axis heavy-load robot structure according to claim 1 is characterized in that: The annular extruded part (21) is movably sleeved on the outer wall of the screw rod (11), and the non-woven fabric (22) and the screw rod (11) are in contact with each other through the elastic potential energy of the spring (24).
6. The twenty-four-axis heavy-load robot structure according to claim 1 is characterized in that: A lubricating oil port (19) is provided on the top of the connecting block (20), and the connecting block (20) and the oil storage tank (16) are connected to each other through the lubricating oil port (19).
7. The twenty-four-axis heavy-load robot structure according to claim 1 is characterized in that: Two groups of guide rods (12) are fixedly installed between the two groups of fixed platforms (6), and the two groups of guide rods (12) and the sliding blocks (13) are movably sleeved.