Robot seventh shaft with high-precision movement

Abstract

The utility model provides a robot seventh shaft with high-precision movement, which relates to the technical field of robots and comprises a laser distance measuring sensor, a brake block for stopping a driving wheel set is arranged on one side of the laser distance measuring sensor, and an elastic rubber sleeve for coating protection is arranged on one side of the brake block. The sealing device has the advantages that the sealing partition plate for isolating and protecting the driving wheel set is arranged in the fixing shaft bracket for connecting the seventh shaft of the robot and the robot main body, and the dustproof sleeve supported by the sealing partition plate is arranged for sealing the interior of the fixing shaft bracket; a main body transmission part of the driving wheel set is sealed in a relatively closed space for protection, so that the outside can be effectively isolated, dust and sundries on the ground are prevented from invading into a transmission structure to influence the transmission structure in the working process of a seventh shaft of the robot, the stability of operation of the seventh shaft of the robot can be effectively ensured, and the service life of the robot is prolonged. And the safety of the seventh shaft of the robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a high-precision motion seventh axis for a robot. Background Technology

[0002] The seventh axis of a robot is a moving mechanism used to extend the working range of a robot, often referred to as a robot walking axis, ground rail, or robot guide rail. It enables the robot to move along a designated path by mounting it on the walking axis guide rail and using a motor drive, thus facilitating the transfer from one workstation to another.

[0003] However, existing robots' seventh axis is close to the ground, so dust and impurities may enter the mechanical transmission components during operation, affecting the stability of the seventh axis's operation and resulting in lower safety. Utility Model Content

[0004] Therefore, the purpose of this utility model is to propose a high-precision motion seventh axis for robots to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0005] To achieve the above objectives, one embodiment of this utility model provides a high-precision motion robot seventh axis, including a fixed axis frame connected to the robot body. A motor-driven drive wheel assembly is fixedly installed inside the fixed axis frame. The drive wheel assembly is signal-connected to a main control unit for automated control. The main control unit is signal-connected to a laser rangefinder sensor for motion detection. A brake block is provided on one side of the laser rangefinder sensor to stop the drive wheel assembly. An elastic sleeve is provided on one side of the brake block for protection. An elastic clamping plate is fixedly installed at one end of the elastic sleeve to fasten it. A limiting seat is fixedly installed at one end of the elastic clamping plate to support it. A dust cover is engaged at one end of the limiting seat to provide sealing protection.

[0006] Preferably, the fixed shaft bracket has a protective sealing partition inside, and a metal spring for fastening the dust cover is provided at the top of the fixed shaft bracket.

[0007] The above technical solution effectively isolates the drive wheel assembly from the external environment by the sealing partition inside the fixed shaft bracket, preventing dust and impurities from entering the transmission components. The metal spring at the top of the fixed shaft bracket tightly holds the dust cover, ensuring that the dust cover firmly covers the top of the fixed shaft bracket, further enhancing the sealing performance and preventing dust from entering from the top. This creates a relatively clean and closed working environment for the drive wheel assembly, ensuring its stable operation.

[0008] Preferably, in any of the above embodiments, the drive wheel assembly includes a drive motor controlled by a main control unit, a gear set for mechanical transmission, a transmission shaft for transmitting power, and a drive wheel for movement. The drive motor is fixedly installed inside the fixed shaft frame. The output shaft of the drive motor passes through a sealing partition and is fixedly installed with the gear set. A transmission shaft that passes through the sealing partition is fixedly installed inside the gear set. A drive wheel is fixedly installed at one end of the transmission shaft. The lowest point of the drive wheel is located below the bottom surface of the fixed shaft frame.

[0009] The above technical solution is adopted: the output shaft of the drive motor passes through the sealed partition and is connected to the gear set to realize power transmission. The gear set drives the transmission shaft to rotate, which in turn drives the drive wheel to move. The lowest point of the drive wheel is located below the bottom surface of the fixed shaft frame, which facilitates contact with the ground and provides movement power. Under the protection of the sealed partition, external interference is reduced, ensuring the stability and reliability of power transmission, and providing strong support for the high-precision movement of the robot's seventh axis.

[0010] Preferably, in any of the above embodiments, the surface of the drive shaft is provided with a locking block for engaging, and the laser rangefinder is fixedly mounted on one end of the fixed shaft bracket.

[0011] The above technical solution employs a locking block on the surface of the drive shaft, which provides a locking position for the brake block's slot, facilitating the braking function. A laser rangefinder sensor is fixed to one end of the fixed shaft frame, enabling real-time monitoring of the robot's seventh axis's movement distance and position information, and transmitting the data to the main control unit. The main control unit precisely controls the operation of the drive wheel assembly based on the data, achieving high-precision motion control. Simultaneously, when braking is required, the sensor data is used to control the brake block's operation, ensuring the accuracy and safety of the movement.

[0012] Preferably, in any of the above embodiments, the brake block includes a drive cylinder connected to the main control unit and a slot for movement. The drive cylinder is fixedly installed inside the fixed shaft frame, and the output end of the drive cylinder is fixedly installed with a slot that engages with the transmission shaft.

[0013] The above technical solution is adopted: the drive cylinder is fixed inside the fixed shaft frame and controlled by the main control unit. When it is necessary to stop the movement of the drive wheel group, the main control unit issues a command, and the drive cylinder pushes the slot to engage with the block on the transmission shaft, so that the transmission shaft stops rotating, thereby realizing the braking of the drive wheel group. The braking response is fast and the braking effect is reliable, which effectively ensures the safety of the robot's seventh axis during the movement process and prevents accidental movement.

[0014] Preferably, in any of the above embodiments, the elastic rubber sleeve passes through the sealing partition and is sleeved on the output shaft of the drive motor, the limiting seat is inserted into the inside of the fixed shaft frame and fits against the end face of the elastic rubber sleeve, and the dust cover is placed between the top surface of the sealing partition and the bottom surface of the metal spring sheet.

[0015] Preferably, in any of the above embodiments, the elastic clamping plate includes a supporting fastening spring and a fastening clamping block, the fastening spring being fixedly installed inside the limiting seat, and one end of the fastening spring being fixedly installed with a clamping block that moves inside the limiting seat.

[0016] The above technical solution involves an elastic rubber sleeve that penetrates the sealing partition and is fitted onto the output shaft of the drive motor. Its elasticity buffers the vibrations generated during motor operation, reducing the impact of vibrations on the motor and other components. The clamping spring of the elastic clamp is installed inside the limit seat, pushing the clamping block to tightly hold the elastic rubber sleeve, thus stably fixing it onto the output shaft of the drive motor. The limit seat is inserted into the fixed shaft frame and fits against the end face of the elastic rubber sleeve, further enhancing the stability of the elastic rubber sleeve and providing comprehensive protection for the output shaft of the drive motor, thereby improving the stability and safety of the robot's seventh axis operation.

[0017] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows:

[0018] 1. A sealed partition is installed inside the fixed shaft frame connecting the robot's seventh axis and the robot body to isolate and protect the drive wheel assembly. A dustproof sleeve supported by the sealed partition is installed to seal the inside of the fixed shaft frame, enclosing the main transmission part of the drive wheel assembly in a relatively sealed space for protection. This effectively isolates the robot from the outside world, preventing dust and debris from the ground from entering the transmission structure and affecting it during the operation of the robot's seventh axis. This effectively ensures the stable operation of the robot's seventh axis and improves its safety.

[0019] 2. An elastic rubber sleeve is installed on the motor spindle of the drive wheel assembly to protect it. At the same time, an elastic clamp and a limit seat are installed to clamp and position the elastic rubber sleeve. The elasticity of the rubber sleeve itself provides safety protection for the motor spindle, reduces the impact of vibration on the motor, and helps to further improve the stability and safety of the robot's seventh axis operation.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0022] Figure 1 This is a schematic diagram of the structure according to an embodiment of the present utility model;

[0023] Figure 2This is a schematic cross-sectional view of the fixed shaft bracket according to an embodiment of the present invention;

[0024] Figure 3 This is a longitudinal cross-sectional structural diagram of the fixed shaft bracket according to an embodiment of the present utility model;

[0025] Figure 4 According to the embodiments of this utility model Figure 3 Enlarged structural diagram at point A;

[0026] Among them: 1-fixed shaft frame, 2-drive wheel set, 21-drive motor, 22-gear set, 23-transmission shaft, 24-drive wheel, 3-laser rangefinder sensor, 4-brake block, 41-drive cylinder, 42-slot, 5-elastic rubber sleeve, 6-elastic clamping plate, 61-fastening spring, 62-clamping block, 7-limit seat, 8-dust cover, 9-metal spring. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0028] like Figure 1-4 As shown in the figure, a high-precision motion robot seventh axis according to an embodiment of the present invention includes a fixed axis frame 1 connected to the robot body. A drive wheel set 2 driven by a motor is fixedly installed inside the fixed axis frame 1. The drive wheel set 2 is signal-connected to a main control unit for automatic control. The main control unit is signal-connected to a laser rangefinder sensor 3 for motion detection. A brake block 4 is provided on one side of the laser rangefinder sensor 3 to stop the drive wheel set 2. An elastic rubber sleeve 5 is provided on one side of the brake block 4 for protection. An elastic clamp 6 is fixedly installed at one end of the elastic rubber sleeve 5 to fasten it. A limiting seat 7 is fixedly installed at one end of the elastic clamp 6 to support it. A dust cover 8 for sealing and protecting it is engaged at one end of the limiting seat 7.

[0029] Preferably, the fixed shaft bracket 1 has a protective sealing partition inside, and the top of the fixed shaft bracket 1 has a metal spring 9 for fastening the dust cover 8.

[0030] By adopting the above technical solution: the sealing partition inside the fixed shaft bracket 1 effectively isolates the drive wheel assembly 2 from the external environment, preventing dust and impurities from entering the transmission components. The metal spring 9 at the top of the fixed shaft bracket 1 tightly holds the dust cover 8, ensuring that the dust cover 8 firmly covers the top of the fixed shaft bracket 1, further enhancing the sealing performance and preventing dust from entering from the top. This creates a relatively clean and closed working environment for the drive wheel assembly 2, ensuring its stable operation.

[0031] Preferably, in any of the above schemes, the drive wheel assembly 2 includes a drive motor 21 controlled by the main control unit, a gear set 22 for mechanical transmission, a transmission shaft 23 for transmitting power, and a drive wheel 24 for movement. The drive motor 21 is fixedly installed inside the fixed shaft frame 1. The output shaft of the drive motor 21 passes through the sealing partition and is fixedly installed with the gear set 22. The transmission shaft 23, which passes through the sealing partition, is fixedly installed inside the gear set 22. The drive wheel 24 is fixedly installed at one end of the transmission shaft 23. The lowest point of the drive wheel 24 is located below the bottom surface of the fixed shaft frame 1.

[0032] The above technical solution is adopted: the output shaft of the drive motor 21 passes through the sealing partition and is connected to the gear set 22 to realize power transmission. The gear set 22 drives the transmission shaft 23 to rotate, which in turn drives the drive wheel 24 to move. The lowest point of the drive wheel 24 is located below the bottom surface of the fixed shaft frame 1, which facilitates contact with the ground and provides movement power. Under the protection of the sealing partition, external interference is reduced, ensuring the stability and reliability of power transmission, and providing strong support for the high-precision movement of the robot's seventh axis.

[0033] Preferably, in any of the above solutions, the surface of the drive shaft 23 is provided with a locking block for engaging, and the laser rangefinder 3 is fixedly installed at one end of the fixed shaft bracket 1.

[0034] The above technical solution is adopted: the locking block on the surface of the transmission shaft 23 provides a locking position for the locking groove 42 of the brake block 4, which facilitates the braking function. The laser range sensor 3 is fixed at one end of the fixed shaft frame 1, which can monitor the movement distance and position information of the robot's seventh axis in real time and transmit the data to the main control unit. The main control unit accurately controls the operation of the drive wheel group 2 according to the data to achieve high-precision motion control. At the same time, when braking is required, the brake block 4 is controlled to work according to the sensor data to ensure the accuracy and safety of the movement.

[0035] Preferably, in any of the above schemes, the brake block 4 includes a drive cylinder 41 connected to the main control unit and a slot 42 for movement. The drive cylinder 41 is fixedly installed inside the fixed shaft frame 1, and the output end of the drive cylinder 41 is fixedly installed with a slot 42 that engages with the transmission shaft 23.

[0036] The above technical solution is adopted: the drive cylinder 41 is fixed inside the fixed shaft frame 1 and controlled by the main control unit. When it is necessary to stop the movement of the drive wheel set 2, the main control unit issues a command, and the drive cylinder 41 pushes the slot 42 to engage with the block on the transmission shaft 23, so that the transmission shaft 23 stops rotating, thereby realizing the braking of the drive wheel set 2. The braking response is fast and the braking effect is reliable, which effectively ensures the safety of the robot's seventh axis during the movement process and prevents accidental movement.

[0037] Preferably, in any of the above schemes, the elastic rubber sleeve 5 passes through the sealing partition and is sleeved on the output shaft of the drive motor 21, the limiting seat 7 is inserted into the inside of the fixed shaft frame 1 and fits against the end face of the elastic rubber sleeve 5, and the dust cover 8 is placed between the top surface of the sealing partition and the bottom surface of the metal spring sheet 9.

[0038] Preferably, in any of the above embodiments, the elastic clamp 6 includes a fastening spring 61 for support and a clamping block 62 for fastening. The fastening spring 61 is fixedly installed inside the limiting seat 7, and one end of the fastening spring 61 is fixedly installed with the clamping block 62 that moves inside the limiting seat 7.

[0039] The above technical solution is adopted: the elastic sleeve 5 passes through the sealing partition and is sleeved on the output shaft of the drive motor 21. It uses its own elasticity to buffer the vibration generated during the operation of the motor and reduce the impact of vibration on the motor and other components. The fastening spring 61 of the elastic clamp 6 is installed inside the limit seat 7, which pushes the clamping block 62 to tightly clamp the elastic sleeve 5, so that it is stably fixed on the output shaft of the drive motor 21. The limit seat 7 is inserted into the fixed shaft frame 1 and fits against the end face of the elastic sleeve 5, which further enhances the stability of the elastic sleeve 5, protects the output shaft of the drive motor 21 in all directions, and improves the stability and safety of the robot's seventh axis operation.

[0040] The working principle of the seventh axis of a high-precision motion robot of this utility model is as follows:

[0041] When operating the robot's seventh axis, the main control unit first starts the drive motor 21 of the drive wheel assembly 2. The output shaft of the drive motor 21 drives the gear set 22 to rotate, which in turn causes the transmission shaft 23 to rotate, thereby driving the drive wheel 24 to rotate, thus realizing the movement of the robot's seventh axis. During the movement, the laser rangefinder 3 monitors the movement distance and position in real time and feeds the data back to the main control unit. The main control unit precisely adjusts the operation of the drive motor 21 based on the data to ensure high-precision movement. When it is necessary to stop, the main control unit controls the drive... Cylinder 41 pushes slot 42 to engage with the block on drive shaft 23, stopping drive wheel assembly 2 from rotating. Elastic sleeve 5 is fitted onto the output shaft of drive motor 21 to buffer motor vibration. Fastening spring 61 pushes clamp block 62 to clamp elastic sleeve 5. Limit seat 7 supports and positions elastic sleeve 5 to ensure stable motor operation. At the same time, sealing partition inside fixed shaft frame 1 and dust cover 8 on top prevent dust and impurities from entering. Metal spring 9 fastens dust cover 8 to maintain internal cleanliness and ensure stable and safe operation of the robot's seventh axis.

[0042] Compared with the prior art, the present invention has the following advantages:

[0043] 1. A sealing partition is installed inside the fixed shaft frame 1 that connects the robot's seventh axis and the robot body to isolate and protect the drive wheel assembly 2. A dust cover 8 supported by the sealing partition is installed to seal the inside of the fixed shaft frame 1, thus enclosing the main transmission part of the drive wheel assembly 2 in a relatively closed space for protection. This effectively isolates the robot from the outside world and prevents dust and debris from the ground from entering the transmission structure and affecting it during the operation of the robot's seventh axis. This effectively ensures the stability of the robot's seventh axis operation and improves the safety of the robot's seventh axis.

[0044] 2. An elastic rubber sleeve 5 is installed on the motor spindle of the drive wheel assembly 2 to cover and protect it. At the same time, an elastic clamping plate 6 and a limit seat 7 are installed to clamp and position the elastic rubber sleeve 5. The elasticity of the elastic rubber sleeve 5 itself provides safety protection for the motor spindle, reduces the impact of vibration on the motor, and helps to further improve the stability and safety of the robot's seventh axis operation.

Claims

1. A high-precision motion robot seventh axis, comprising a fixed shaft frame (1) connected with a robot body, a motor-driven drive wheel set (2) is fixedly installed inside the fixed shaft frame (1), characterized in that: The drive wheel assembly (2) is connected to a main control unit for automated control. The main control unit is connected to a laser rangefinder (3) for motion detection. A brake block (4) is provided on one side of the laser rangefinder (3) to stop the drive wheel assembly (2). An elastic rubber sleeve (5) is provided on one side of the brake block (4) for protection. An elastic clamp (6) is fixedly installed at one end of the elastic rubber sleeve (5) to fasten it. A limiting seat (7) is fixedly installed at one end of the elastic clamp (6) to support it. A dust cover (8) is engaged at one end of the limiting seat (7) to seal and protect it.

2. The seventh axis of a high-precision motion robot as described in claim 1, characterized in that: The fixed shaft bracket (1) is provided with a protective sealing partition inside, and the top of the fixed shaft bracket (1) is provided with a metal spring (9) for fastening the dust cover (8).

3. A high precision motion robotic seventh axis as claimed in claim 2, characterized in that: The drive wheel assembly (2) includes a drive motor (21) controlled by the main control unit, a gear set (22) for mechanical transmission, a transmission shaft (23) for transmitting power, and a drive wheel (24) for movement. The drive motor (21) is fixedly installed inside the fixed shaft frame (1). The output shaft of the drive motor (21) passes through the sealing partition and is fixedly installed with the gear set (22). The transmission shaft (23) that passes through the sealing partition is fixedly installed inside the gear set (22). The drive wheel (24) is fixedly installed at one end of the transmission shaft (23). The lowest point of the drive wheel (24) is located below the bottom surface of the fixed shaft frame (1).

4. A high precision motion robotic seventh axis as claimed in claim 3, characterized in that: The surface of the drive shaft (23) is provided with a locking block for engaging, and the laser rangefinder (3) is fixedly installed at one end of the fixed shaft bracket (1).

5. A high precision motion robotic seventh axis as claimed in claim 4, characterized in that: The brake block (4) includes a drive cylinder (41) connected to the main control unit signal and a slot (42) for movement. The drive cylinder (41) is fixedly installed inside the fixed shaft frame (1), and the output end of the drive cylinder (41) is fixedly installed with a slot (42) that engages with the transmission shaft (23).

6. A high precision motion robotic seventh axis as claimed in claim 5, characterized in that: The elastic rubber sleeve (5) passes through the sealing partition and is sleeved on the output shaft of the drive motor (21). The limiting seat (7) is inserted into the inside of the fixed shaft frame (1) and fits against the end face of the elastic rubber sleeve (5). The dust cover (8) is placed between the top surface of the sealing partition and the bottom surface of the metal spring sheet (9).

7. A high precision motion robotic seventh axis as claimed in claim 6, characterized in that: The elastic clamp (6) includes a support spring (61) and a clamping block (62) for fastening. The support spring (61) is fixedly installed inside the limiting seat (7), and one end of the support spring (61) is fixedly installed with a clamping block (62) that moves inside the limiting seat (7).

Images