Special seventh shaft for walking of robot

Abstract

The utility model relates to the technical field of robot walking, in particular to a seventh shaft special for robot walking, which comprises a robot guide rail, longitudinal guide rails are fixedly assembled on two side walls of the robot guide rail, and a seventh shaft helical rack is fixedly assembled on the outer wall of one side of the robot guide rail and positioned on the inner side of the longitudinal guide rails. The seventh shaft special for walking of the robot can be applied to a robot walking shaft unit on various occasions, and is simple in structure, low in failure rate, reliable in performance, easy to maintain, high in rigidity, high in running speed, large in effective load, high in repeated precision and good in protection performance. The seventh shaft is small in occupied area, facilitates arrangement of a production line in a factory building of a client, can be arranged in a narrow space, can be effectively used after being installed on site, can meet the requirement of batch equipment of the client, can be matched with robots of various brands, and can meet the requirements of different scenes and various special environments.

Description

Technical Field

[0001] The utility model relates to the technical field of robot walking, in particular to a seventh axis dedicated to robot walking. Background Art

[0002] The robot walking tooling is an additional motion axis added to the robot body. By working in conjunction with the robot body, it can greatly expand the robot's workspace and flexibility, enabling it to complete more complex and diverse tasks.

[0003] However, when the traditional walking tooling is in a singular configuration, its end effector cannot move in a certain direction or apply torque, so the singular configuration greatly affects the motion planning; and in real working conditions, the angular range of motion of each joint of the robot is limited. The ideal state is plus or minus 180 degrees, but many joints cannot achieve this; at the same time, in industrial environments, various environmental obstacles exist in many occasions. Traditional six-axis robots cannot only change the posture of the end mechanism without changing the position of the end mechanism. Utility Model Content

[0004] The technical problem to be solved by the utility model is that the current traditional walking tooling has low applicability and is not flexible enough in operation.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a device specially used for the seventh axis of robot walking, including a robot guide rail, longitudinal guide rails are fixedly installed on both side walls of the robot guide rail, the outer wall of one side of the robot guide rail is located on the inner side of the longitudinal guide rail and is fixedly installed with the seventh axis bevel rack, the outer side of the robot guide rail is slidably equipped with a robot mounting base plate through a slider, the back side of the robot mounting base plate is fixedly equipped with a reducer and a motor matched with the reducer through a reducer mounting plate, and the front side of the robot mounting base plate is located on one side of the seventh axis bevel rack and is movably equipped with the seventh axis bevel gear controlled by the reducer.

[0006] The robot guide rail side wall is fixedly equipped with a robot guide rail drag chain sheet metal and a robot drag chain shielding sheet metal, and the back of the robot mounting base plate is connected to the drag chain through the seventh axis routing sheet metal.

[0007] The back side of the robot guide rail is located on the upper and lower ends of the longitudinal guide rail, and the seventh axis limit block is fixed.

[0008] The bottom of the robot mounting base plate is assembled with a lubrication pump through a lubrication pump mounting sheet metal.

[0009] The upper and lower ends of the robot guide rail are fixedly assembled with a robot seventh axis mounting transition frame through screw pads.

[0010] The bottom of the robot mounting base plate is movably equipped with a lubrication gear that matches the lubrication pump through a lubrication gear mounting sheet metal.

[0011] The beneficial effects of the utility model are:

[0012] (1) The utility model is a robot walking axis unit specially used for the seventh axis of robot walking, which can be applied to various occasions. It has simple structure, low failure rate, reliable performance, easy maintenance, high rigidity, fast running speed, large effective load, high repeatability and good protection performance.

[0013] (2) The seventh axis occupies a small area, which is conducive to the layout of the production line in the customer's factory. It can be set up in a narrow space and can be effectively used after being installed on site. It can meet the customer's needs for batch equipment and can be adapted to robots of various brands, suitable for different scenarios and various special environments.

[0014] (3) As an actuator, this device has the characteristics of convenient control, flexible execution action, and can realize complex spatial trajectory control. It has high cost performance, simple and fast installation, and easy maintenance;

[0015] (4) By adopting a seven-axis robot, we can not only achieve good kinematic characteristics through motion trajectory planning by utilizing its redundant degrees of freedom, but also achieve optimal dynamic performance by utilizing its structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 It is a schematic diagram of the rear structure of the present utility model.

[0018] Figure 2 It is a structural schematic diagram of the front side of the utility model.

[0019] Figure 3 It is a structural schematic diagram of the other side of the front side of the present invention. DETAILED DESCRIPTION

[0020] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0021] In the description of this utility model, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0022] Figure 1 、 Figure 2 and Figure 3 As shown, the robot seventh axis mounting transition frame 18 is installed at both ends of the robot guide rail 1, and screw pads 17 are installed on both sides of the robot seventh axis mounting transition frame 18, and the overall frame is roughly assembled. On one side of the robot guide rail 1, the robot guide rail drag chain sheet metal 10 is locked with screws; the drag chain 13 and the seventh axis routing sheet metal 12 are installed on the robot guide rail drag chain sheet metal 10; at the same time, two longitudinal guide rails 2 are fixed on both sides of the robot guide rail 1 with screws, and six sliders 4 are installed on the longitudinal guide rails 2; the robot mounting base plate 5 is fixed above the slider 4, and a proximity switch mounting plate and two sensors are installed on the upper end of one side for positioning, and a reducer mounting plate 6 is installed on the lower end, and the seventh axis helical gear 9 is installed on the reverse side of the surface; the motor 8 and the reducer 7 are installed on the reducer mounting plate 6; the other side of the robot mounting base plate 5 is fixed with a lubrication pump 16 through a lubrication pump mounting sheet metal 15, and a lubrication gear mounting sheet metal 19 and a lubrication gear 20 are also installed on the surface; the lubrication gear 20 interacts with the seventh axis helical rack 3 installed on the inner side of the robot guide rail 1, and the seventh axis limit block 14 and the block on its surface are fixed on the upper ends of the two longitudinal guide rails 2 on the robot guide rail 1; at this point, the assembly of the seventh axis dedicated to robot walking is completed.

[0023] The main function of the seventh axis dedicated to robot walking is to drive the industrial robot to move along a specified route, thereby expanding the robot's operating position and scope of use, further improving the robot's efficiency, reducing its cost, and achieving comprehensive automated production.

[0024] Based on the above-mentioned ideal embodiment of the present invention, and in accordance with the above description, relevant personnel can make various changes and modifications without departing from the technical scope of the present invention. The technical scope of the present invention is not limited to the content of the specification, but must be determined according to the scope of the claims.

Claims

1. A robot guide rail (1) specially used for the seventh axis of robot walking, characterized by: The robot guide rail (1) is fixedly provided with longitudinal guide rails (2) on both side walls, and a seventh-axis bevel rack (3) is fixedly provided on the outer wall of one side of the robot guide rail (1) located inside the longitudinal guide rail (2). A robot mounting base plate (5) is slidably provided on the outer side of the robot guide rail (1) through a slider (4). A reducer (7) and a motor (8) matched with the reducer (7) are fixedly provided on the back side of the robot mounting base plate (5) through a reducer mounting plate (6). A seventh-axis bevel gear (9) controlled by the reducer (7) is movably provided on the front side of the robot mounting base plate (5) located on one side of the seventh-axis bevel rack (3).

2. The seventh axis dedicated to robot walking according to claim 1, characterized in that: The robot guide rail (1) side wall is fixedly equipped with a robot guide rail drag chain sheet metal (10) and a robot drag chain shielding sheet metal (11), and the back of the robot mounting base plate (5) is connected to a drag chain (13) via a seventh axis wiring sheet metal (12).

3. The seventh axis dedicated to robot walking according to claim 1, characterized in that: The back of the robot guide rail (1) is located at the upper and lower ends of the longitudinal guide rail (2), and a seventh axis limit block (14) is fixed.

4. The seventh axis dedicated to robot walking according to claim 1, characterized in that: The bottom of the robot mounting base plate (5) is equipped with a lubrication pump (16) via a lubrication pump mounting sheet metal (15).

5. The seventh axis dedicated to robot walking according to claim 1, characterized in that: The upper and lower ends of the robot guide rail (1) are fixedly assembled with a robot seventh axis mounting transition frame (18) via screw pads (17).

6. The seventh axis dedicated to robot walking according to claim 4, characterized in that: The bottom of the robot mounting base plate (5) is movably equipped with a lubrication gear (20) that matches the lubrication pump (16) through a lubrication gear mounting sheet metal (19).

Images