Inverted hanging joint
Through the servo motor and sensor combined with the controller and the auxiliary components, the problem of the inverted joint walking shaft being difficult to accurately stay on the guide rail is solved, and higher movement accuracy and stability are achieved.
Patent Information
- Application Number
- CN202422225345.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-11
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-09-11
AI Technical Summary
The existing inverted joint walking shafts are difficult to accurately stay on the guide rails, resulting in large errors during the processing process.
The servo motor and position sensor are used to cooperate with the servo controller to achieve precise point control of the joint robot through precision control, and auxiliary components such as racks and sliders are provided on the guide rails, and the speed reducer and pallets are used to ensure that the joint robot moves accurately on the guide rails.
The precise stay of joint robots on the guide rails is achieved, errors during processing are reduced, and the stability and accuracy of movement are improved.
Smart Images
Figure CN223057772U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of walking shafts, in particular to an inverted joint. Background Art
[0002] The inverted joint walking shaft is the walking shaft of a joint robot, also known as the robot floor track, ceiling track, etc. It can expand the working radius of the robot and extend the function of the robot's usage range. It is mainly applied to fields such as spraying, welding, and handling.
[0003] When the existing inverted joint walking shaft is in use, the joint robot moves on the guide rail. However, when the joint robot moves on the guide rail, it is difficult to accurately stay at a specific position, with a large error, which will further cause a large error in the processing process of the joint robot.
[0004] The servo motor realizes precise control through the servo controller. At the same time, a sensor is used to detect the position of the motor, and the information is fed back to the servo controller, thereby realizing precise point control. Summary of the Utility Model
[0005] The utility model provides an inverted joint to solve the problem that when the joint robot moves on the guide rail, it is difficult to accurately stay at a specific position, with a large error, which will further cause a large error in the processing process of the joint robot.
[0006] To achieve the above object, the utility model adopts the following technical scheme: An inverted joint includes a cross beam. Three truss columns are evenly and fixedly connected to the inner wall of the cross beam. One side of the cross beam is fixedly connected with a guide rail. Three sliders are slidably connected to the outer surface of the guide rail. The same joint robot is fixedly connected to one side of the three sliders. An auxiliary component for assisting the joint robot to move precisely on the guide rail is arranged between the joint robot and the cross beam. A drag chain is arranged at the bottom of one side of the cross beam.
[0007] The effect achieved by the above components is that by setting the auxiliary component, it is convenient to precisely control the moving distance of the servo motor and the joint robot, and further it can stay at a specific position more accurately, reducing the error generated by the joint robot in the processing process.
[0008] Preferably, the auxiliary component includes a rack. One side of the rack is fixedly connected to the outer surface of the guide rail. The outer surface of the joint robot is meshed with the outer surface of the rack. A speed reducer is arranged on one side of the joint robot. A servo motor is arranged on one side of the speed reducer. The output end of the servo motor is fixedly connected to the connecting shaft of the speed reducer. A support plate is arranged on one side of the servo motor. The support plate is fixedly connected to the bottom of the joint robot.
[0009] The effects achieved by the above components are as follows: By setting the servo motor and starting it, the output end of the servo motor will drive the connecting shaft of the reducer to rotate, which will further drive the gear on one side of the articulated robot to rotate on the outer surface of the rack and drive the slider to slide synchronously on the outer surface of the guide rail. At the same time, the servo motor realizes precise control through the servo controller. A position sensor is provided on one side of the guide rail, and the sensor is used to detect the position of the motor and feedback the information to the servo controller, so as to achieve precise point control.
[0010] Preferably, an oil adding device is provided on the top of one of the sliders. The oil adding device includes an oil cylinder. The bottom of the oil cylinder is fixedly connected to the top of the slider. A push plate is connected to the inner wall of the oil cylinder by a sliding rod. A threaded rod is threadedly connected to the inner wall of the push plate. One end of the threaded rod is rotatably connected to the bottom of the inner wall of the oil cylinder. An auxiliary motor is provided on the top of the oil cylinder. The output end of the auxiliary motor is fixedly connected to one end of the threaded rod. One side of the inner wall of the oil cylinder is fixedly connected with a rubber plate. One side of the rubber plate is connected to the outside, and a slit is provided on one side of the rubber plate.
[0011] The effects achieved by the above components are as follows: By setting the oil cylinder, lubricating oil is added inside the oil cylinder and at the bottom of the push plate. Starting the motor, the output end of the motor will drive the threaded rod to rotate. When the threaded rod rotates, it will drive the push rod to move downward. The push rod will squeeze the lubricating oil, and the lubricating oil will in turn squeeze the rubber plate. The slit on the rubber plate will open, and then the lubricating oil will overflow from the slit and flow onto the guide rail, thus enabling controllable and automatic oil adding, making the articulated robot move more smoothly and stably during the movement.
[0012] Preferably, a rubber ring is fixedly connected to the outer surface of the push plate, and the outer surface of the rubber ring abuts against the inner wall of the oil cylinder.
[0013] The effects achieved by the above components are as follows: By setting the rubber ring, it can assist in sealing between the push plate and the oil cylinder, which is beneficial to preventing the lubricating oil from overflowing between the push plate and the oil cylinder.
[0014] Preferably, sliders are fixedly connected to both sides of the push plate, and chutes are provided on both sides of the inner wall of the oil cylinder. The outer surface of the slider is slidably connected to the inner wall of the chute.
[0015] The effects achieved by the above components are as follows: By setting the slider and the chute, when the push plate slides on the inner wall of the oil cylinder under the action of the threaded rod, the push plate will drive the slider to slide synchronously on the inner wall of the chute, which can play a role in limiting the push plate.
[0016] Preferably, a threaded hole is provided on one side of the top of the push plate, and a threaded block is threadedly inserted into the inner wall of the threaded hole.
[0017] The effects achieved by the above components are as follows: By providing threaded holes, it is convenient to inject lubricating oil into the oil cylinder through the threaded holes, thereby facilitating the replenishment of lubricating oil. At the same time, by providing threaded blocks, inserting the threaded blocks into the threaded holes and rotating the threaded blocks so that the threaded blocks completely enter the threaded holes, the threaded blocks can seal the threaded holes, which is beneficial to preventing the lubricating oil from overflowing from the threaded holes when the lubricating oil is extruded.
[0018] Preferably, an operation block is fixedly connected to the top of the threaded block, and protrusions are provided on the outer surface of the operation block.
[0019] The effects achieved by the above components are as follows: By providing an operation block, rotating the operation block can drive the threaded block to rotate. At the same time, protrusions are provided on the outer surface of the operation block, which can effectively increase the friction on the outer surface of the operation block and play an anti-slip role when rotating the operation block.
[0020] Compared with the prior art, the advantages and positive effects of the present utility model are as follows:
[0021] In the present utility model, by providing a servo motor, the servo motor can drive the articulated robot to slide on one side of the guide rail. At the same time, the servo motor realizes precise control through a servo controller. A position sensor is provided on one side of the guide rail. The sensor is used to detect the position of the motor and feedback the information to the servo controller, so as to achieve precise point control, facilitate precise control of the moving distance of the servo motor and the articulated robot, and further be able to stay more precisely at a specific position, reducing the error generated by the articulated robot during the processing. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 is a three-dimensional structural schematic diagram of the main body of the present utility model;
[0023] Figure 2 is a three-dimensional structural schematic diagram of the oil filling device of the present utility model;
[0024] Figure 3 is a sectional structural schematic diagram of the oil cylinder of the present utility model;
[0025] Figure 4 is a working process schematic diagram of the servo motor of the present utility model.
[0026] Legend: 1, truss column; 2, cross beam; 3, guide rail; 4, slider; 5, articulated robot; 6, rack; 7, reducer; 8, servo motor; 9, oil filling device; 91, oil cylinder; 92, push plate; 93, threaded rod; 94, auxiliary motor; 95, rubber plate; 96, rubber ring; 97, clamping block; 98, chute; 99, threaded hole; 910, threaded block; 911, operation block; 10, support plate; 11, drag chain. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0027] Example 1, referring to Figure 1 and Figure 4 As shown, this embodiment discloses an inverted joint, including a cross beam 2, characterized in that: three truss columns 1 are uniformly and fixedly connected to the inner wall of the cross beam 2, one side of the cross beam 2 is fixedly connected with a guide rail 3, three sliders 4 are slidably connected to the outer surface of the guide rail 3, and the same joint robot 5 is fixedly connected to one side of the three sliders 4. A drag chain 11 is arranged at the bottom of one side of the cross beam 2, a rack 6 is fixedly connected to the outer surface of the guide rail 3, and the outer surface of the joint robot 5 is meshed with the outer surface of the rack 6. A speed reducer 7 is arranged on one side of the joint robot 5, a servo motor 8 is arranged on one side of the speed reducer 7, the output end of the servo motor 8 is fixedly connected to the connecting shaft of the speed reducer 7, a support plate 10 is arranged on one side of the servo motor 8, and the support plate 10 is fixedly connected to the bottom of the joint robot 5. By setting the servo motor 8 and starting the servo motor 8, the output end of the servo motor 8 will drive the connecting shaft of the speed reducer 7 to rotate, and then drive the joint robot 5 to rotate on the outer surface of the rack 6 on one side, and drive the slider 4 to slide synchronously on the outer surface of the guide rail 3. At the same time, the servo motor 8 realizes precise control through the servo controller. A position sensor is arranged on one side of the guide rail 3, and the sensor is used to detect the motor position and feedback the information to the servo controller, so as to realize precise point control.
[0028] Referring to Figure 2 and Figure 3 As shown, an oil adding device 9 is arranged on the top of one of the sliders 4. The oil adding device 9 includes an oil cylinder 91, the bottom of the oil cylinder 91 is fixedly connected to the top of the slider 4, a push plate 92 is slidably connected to the inner wall of the oil cylinder 91, a threaded rod 93 is threadedly connected to the inner wall of the push plate 92, one end of the threaded rod 93 is rotatably connected to the bottom of the inner wall of the oil cylinder 91, an auxiliary motor 94 is arranged on the top of the oil cylinder 91, the output end of the auxiliary motor 94 is fixedly connected to one end of the threaded rod 93, a rubber plate 95 is fixedly connected to one side of the inner wall of the oil cylinder 91, one side of the rubber plate 95 is connected to the outside, and a slit is opened on one side of the rubber plate 95. By setting the oil cylinder 91, lubricating oil is added at the bottom of the inside of the oil cylinder 91 and the push plate 92. Starting the auxiliary motor 94, the output end of the auxiliary motor 94 will drive the threaded rod 93 to rotate. When the threaded rod 93 rotates, it will drive the push rod to move downward, and the push rod will squeeze the lubricating oil. The lubricating oil will squeeze the rubber plate 95 again, and the slit on the rubber plate 95 will open. Then the lubricating oil will overflow from the slit and flow on the guide rail 3, so as to complete controllable and automatic oil adding, making the joint robot 5 move more smoothly and stably.
[0029] Referring to Figure 2 and Figure 3As shown, a rubber ring 96 is fixedly connected to the outer surface of the push plate 92, and the outer surface of the rubber ring 96 abuts against the inner wall of the oil cylinder 91. By providing the rubber ring 96, it can assist in sealing between the push plate 92 and the oil cylinder 91, which is beneficial to preventing lubricating oil from overflowing between the push plate 92 and the oil cylinder 91; both sides of the push plate 92 are fixedly connected with clamping blocks 97, and sliding grooves 98 are provided on both sides of the inner wall of the oil cylinder 91. The outer surface of the clamping block 97 is slidably connected with the inner wall of the sliding groove 98. By providing the clamping block 97 and the sliding groove 98, when the push plate 92 slides on the inner wall of the oil cylinder 91 under the action of the threaded rod 93, the push plate 92 will drive the clamping block 97 to slide synchronously on the inner wall of the sliding groove 98, which can play a role in limiting the push plate 92.
[0030] Refer to Figure 2 and Figure 3 As shown, a threaded hole 99 is provided on one side of the top of the push plate 92, and a threaded block 910 is threadedly inserted into the inner wall of the threaded hole 99. By providing the threaded hole 99, it is convenient to inject lubricating oil into the oil cylinder 91 through the threaded hole 99, thereby facilitating the replenishment of lubricating oil. At the same time, by providing the threaded block 910, inserting the threaded block 910 into the threaded hole 99 and rotating the threaded block 910 so that the threaded block 910 completely enters the threaded hole 99, the threaded block 910 can seal the threaded hole 99, which is beneficial to preventing lubricating oil from overflowing from the threaded hole 99 when squeezing the lubricating oil; the top of the threaded block 910 is fixedly connected with an operating block 911, and protrusions are provided on the outer surface of the operating block 911. By providing the operating block 911, rotating the operating block 911 can drive the threaded block 910 to rotate. At the same time, protrusions are provided on the outer surface of the operating block 911, which can effectively increase the friction force on the outer surface of the operating block 911 and has an anti-slip effect when rotating the operating block 911.
[0031] Working principle: Start the servo motor 8. The output end of the servo motor 8 will drive the connecting shaft of the speed reducer 7 to rotate, which will then drive the gear on one side of the articulated robot 5 to rotate on the outer surface of the rack 6, and drive the slider 4 to slide synchronously on the outer surface of the guide rail 3. At the same time, the servo motor 8 realizes precise control through the servo controller. A position sensor is provided on one side of the guide rail 3. The sensor is used to detect the position of the motor and feedback the information to the servo controller, so as to achieve precise point control; Rotate the operation block 911 to drive the threaded block 910 to rotate, so that the threaded block 910 disengages from the threaded hole 99, then inject lubricating oil into the threaded hole 99, insert the threaded block 910 into the threaded hole 99, and rotate the threaded block 910 so that the threaded block 910 completely enters the threaded hole 99, then the threaded block 910 can seal the threaded hole 99. Start the auxiliary motor 94. The output end of the auxiliary motor 94 will drive the threaded rod 93 to rotate. Under the limit of the clamping block 97 and the chute 98, the threaded rod 93 will drive the push rod to move downward when rotating. The push rod will squeeze the lubricating oil, and the lubricating oil will squeeze the rubber plate 95 again. The slit on the rubber plate 95 will open, and then the lubricating oil will overflow from the slit and flow on the guide rail 3, so as to complete controllable and automatic oil filling, making the articulated robot 5 move more smoothly and stably.
Claims
1. An inverted joint, comprising a cross beam (2), characterized in that: The inner wall of the cross beam (2) is uniformly and fixedly connected with three truss columns (1). One side of the cross beam (2) is fixedly connected with a guide rail (3). The outer surface of the guide rail (3) is slidably connected with three sliders (4). One side of the three sliders (4) is fixedly connected with the same articulated robot (5). An auxiliary component for assisting the articulated robot (5) to move precisely on the guide rail (3) is arranged between the articulated robot (5) and the cross beam (2). A drag chain (11) is arranged at the bottom of one side of the cross beam (2).
2. The inverted joint according to claim 1, characterized in that: The auxiliary component includes a rack (6). One side of the rack (6) is fixedly connected with the outer surface of the guide rail (3). The outer surface of the articulated robot (5) is meshed with the outer surface of the rack (6). A speed reducer (7) is arranged on one side of the articulated robot. A servo motor (8) is arranged on one side of the speed reducer (7). The output end of the servo motor (8) is fixedly connected with the connecting shaft of the speed reducer. A support plate (10) is arranged on one side of the servo motor (8). The support plate (10) is fixedly connected with the bottom of the articulated robot (5).
3. The inverted joint according to claim 1, characterized in that: An oil filling device (9) is arranged on the top of one of the sliders (4). The oil filling device (9) includes an oil cylinder (91). The bottom of the oil cylinder (91) is fixedly connected with the top of the slider (4). A push plate (92) is connected to the inner wall of the oil cylinder (91) through a sliding rod. A threaded rod (93) is threadedly connected to the inner wall of the push plate (92). One end of the threaded rod (93) is rotatably connected to the bottom of the inner wall of the oil cylinder (91). An auxiliary motor (94) is arranged on the top of the oil cylinder (91). The output end of the auxiliary motor (94) is fixedly connected with one end of the threaded rod (93). A rubber plate (95) is fixedly connected to one side of the inner wall of the oil cylinder (91). One side of the rubber plate (95) is connected to the outside. A slit is formed on one side of the rubber plate (95).
4. The inverted joint according to claim 3, characterized in that: A rubber ring (96) is fixedly connected to the outer surface of the push plate (92). The outer surface of the rubber ring (96) abuts against the inner wall of the oil cylinder (91).
5. The inverted joint according to claim 3, characterized in that: Blocks (97) are fixedly connected to both sides of the push plate (92). Sliding grooves (98) are formed on both sides of the inner wall of the oil cylinder (91). The outer surface of the block (97) is slidably connected with the inner wall of the sliding groove (98).
6. The inverted joint according to claim 3, characterized in that: A threaded hole (99) is formed on one side of the top of the push plate (92). A threaded block (910) is threadedly inserted into the inner wall of the threaded hole (99).
7. The inverted joint according to claim 6, characterized in that: An operating block (911) is fixedly connected to the top of the threaded block (910). Protrusions are arranged on the outer surface of the operating block (911).