A maintenance-friendly lead screw robot

Abstract

The utility model discloses a screw rod mechanical hand convenient to maintain belongs to screw rod processing equipment technical field, and its technical scheme main points are: including base, be installed with motor on the base, be provided with screw rod on the base and rotate, the output of motor is connected with screw rod, is connected with the nut on screw rod screw, is equipped with two guide posts on the base, is equipped with the sliding seat and slides on the guide post, the nut is connected with the sliding seat, is equipped with the clamping mechanical hand on the sliding seat, is equipped with the current sensor for real -time detection motor output electric quantity and transmission signal to the controller on the motor, and the controller is equipped with the power fluctuation interval in advance, is equipped with the alarm unit on the controller, and the fluctuation value of motor output electric quantity is calculated according to the signal transmission of current sensor received on the controller, and the fluctuation value of motor output electric quantity is compared with the power fluctuation interval of preset, and this screw rod mechanical hand can monitor whether the screw rod is seriously worn in the operation process, and the on -the -spot personnel is convenient to detect the problem in time and takes the countermeasure fast.

Description

Technical Field

[0001] This utility model belongs to the technical field of lead screw processing equipment, and specifically relates to a lead screw manipulator that is easy to maintain. Background Technology

[0002] A lead screw is a common transmission device widely used in mechanical equipment. A lead screw robot is an automated device with a lead screw as its core transmission component. It drives the lead screw to rotate through a motor, converting the rotational motion into the linear motion of the nut, thereby achieving high-precision, high-load linear displacement control.

[0003] Lead screw manipulators undertake high-intensity, continuous tasks in industrial production. Because they need to precisely clamp workpieces and complete stable transmission, they are under heavy-load, high-frequency reciprocating motion conditions for a long time. Specifically, lead screw manipulators need to continuously bear the weight of the workpiece itself and the dynamic inertial load during transmission. This continuous heavy pressure and frequent movement make the lead screw extremely susceptible to wear. Moreover, metal shavings and dust in the processing environment can easily enter the raceway gap between the lead screw and the nut, further accelerating the wear of the lead screw. However, existing lead screw manipulators lack monitoring of the degree of lead screw wear, making it difficult for on-site maintenance personnel to grasp the actual wear condition of the lead screw in a timely manner, and thus unable to perform timely and accurate maintenance. This undoubtedly poses a hidden danger to the continuity and stability of industrial production. Utility Model Content

[0004] The purpose of this invention is to address the aforementioned problems in the existing technology by proposing a lead screw manipulator that is easy to maintain. The technical problem to be solved by this invention is: how to monitor whether the lead screw is severely worn during operation.

[0005] The above-mentioned technical objective of this utility model can be achieved through the following technical solution: a screw-type manipulator that is easy to maintain, comprising a base, a motor mounted on the base, a screw rotatably mounted on the base, the output end of the motor connected to the screw, a nut threaded onto the screw, at least two guide rods mounted on the base, slide blocks slidably mounted on the guide rods, the nut connected to the slide blocks, two gripping manipulators spaced apart on the slide blocks, a current sensor mounted on the motor, the current sensor being used to detect the motor's output power in real time and transmit a signal to a corresponding controller, the controller having a preset power fluctuation range, and an alarm unit mounted on the controller, the controller calculating the fluctuation value of the motor's output power based on the received signal transmitted by the current sensor, the controller comparing the fluctuation value of the motor's output power with the preset power fluctuation range, the motor maintaining normal operation when the fluctuation value of the motor's output power is within the preset power fluctuation range, and conversely, when the fluctuation value of the motor's output power is not within the preset power fluctuation range, the controller controlling the motor to stop running and the alarm unit issuing a first type of alarm information.

[0006] In the aforementioned easy-to-maintain ball screw mechanical hand, the power fluctuation range includes a normal range and a warning range. When the fluctuation value of the motor output power is within the warning range, the motor continues to operate normally and the alarm unit issues a second type of alarm information.

[0007] In the aforementioned easy-to-maintain screw manipulator, the clamping manipulator includes a lifting cylinder, a guide rod frame, a rotary cylinder, and a suction cup assembly. The lifting cylinder is mounted on the slide block, the guide rod frame is slidably mounted on the slide block, the output end of the lifting cylinder is connected to the guide rod frame, the rotary cylinder is mounted on the guide rod frame, and the output end of the rotary cylinder is connected to the suction cup assembly, which is used to hold the workpiece.

[0008] In the aforementioned easy-to-maintain screw-type hand, the suction cup assembly includes a mounting base and several suction cups. The suction cups are all mounted on the mounting base, which has several airflow channels connecting the corresponding suction cups. The suction cups are arranged in a square pattern, and each suction cup has a perforated plate for blocking impurities.

[0009] In the aforementioned easy-to-maintain ball screw manipulator, a guide sleeve is provided on the slide, and an inner sleeve is connected inside the guide sleeve. A ring-shaped solid lubricant is embedded in the inner sleeve. The guide rod passes through the inner sleeve and the two slide in cooperation. The outer wall of the guide rod is in contact with the solid lubricant.

[0010] In the aforementioned easy-to-maintain lead screw mechanical hand, the inner sleeve is threadedly connected to the guide sleeve.

[0011] In the aforementioned easy-to-maintain screw-driven mechanical hand, the base is provided with a bearing seat one and a bearing seat two, and the two ends of the screw are respectively coaxially inserted through the bearing seat one and the bearing seat two.

[0012] In the aforementioned easy-to-maintain lead screw manipulator, a dust cover is detachably mounted on the bearing housing one, and a dust cover is detachably mounted on the bearing housing two. The two ends of the lead screw pass through the dust cover one and the dust cover two, respectively.

[0013] In the aforementioned easy-to-maintain ball screw manipulator, the dust cover one is provided with several protrusions one, and the several protrusions one are inserted and unplugged into the bearing seat one. The dust cover two is provided with several protrusions two, and the several protrusions two are inserted and unplugged into the bearing seat two.

[0014] In summary, the beneficial effects of this utility model compared to the prior art are as follows:

[0015] Wear on the lead screw can cause abnormal fluctuations in the motor's output power. Therefore, a current sensor detects the motor's output power and transmits the signal to the corresponding controller. The controller calculates the fluctuation value of the motor's output power based on the received signal from the current sensor. The controller compares the fluctuation value of the motor's output power with a preset power fluctuation range. When the fluctuation value of the motor's output power is within the preset power fluctuation range, the motor continues to operate normally. Conversely, when the fluctuation value of the motor's output power is not within the preset power fluctuation range, the controller stops the motor and the alarm unit issues the first type of alarm information. This allows for monitoring of whether the lead screw is severely worn during operation, enabling on-site personnel to promptly detect problems and take quick countermeasures for maintenance. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an embodiment;

[0017] Figure 2 This is a schematic diagram of the structure from another angle of the embodiment;

[0018] Figure 3 This is a schematic diagram of the gripper arm in an embodiment;

[0019] Figure 4 This is a schematic diagram of the suction cup assembly in an embodiment;

[0020] Figure 5 This is a schematic diagram of the structure of the dust cover in the embodiment one;

[0021] Figure 6This is a schematic diagram of the structure of the dust cover second embodiment, mainly for illustration;

[0022] Figure 7 This is a partial cross-sectional view of an embodiment;

[0023] Figure 8 This is a schematic diagram of the control flow for an example.

[0024] Reference numerals: 1. Base; 2. Motor; 3. Lead screw; 4. Nut; 5. Guide rod; 6. Slide; 7. Clamping robot; 71. Lifting cylinder; 72. Guide rod frame; 73. Rotary cylinder; 74. Suction cup assembly; 741. Mounting base; 742. Suction cup; 8. Current sensor; 9. Controller; 10. Guide sleeve; 11. Inner sleeve; 12. Solid lubricant; 13. Bearing seat one; 14. Bearing seat two; 15. Dust cover one; 16. Dust cover two; 17. Protrusion one; 18. Protrusion two; 19. Hollow plate; 20. Airflow channel. Detailed Implementation

[0025] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0026] An easy-to-maintain ball screw manipulator, such as Figures 1 to 8 As shown, it includes a base 1, a motor 2 mounted on the base 1, a lead screw 3 rotatably mounted on the base 1, the output end of the motor 2 connected to the lead screw 3, a nut 4 threadedly connected to the lead screw 3, at least two guide rods 5 mounted on the base 1, slide blocks 6 slidably mounted on the guide rods 5, the nut 4 connected to the slide blocks 6, and two gripping manipulators 7 spaced apart on the slide blocks 6.

[0027] The output end of motor 2 rotates and drives lead screw 3. As lead screw 3 rotates, nut 4 and slide 6 move along the length of lead screw 3. Slide 6 drives two gripping manipulators 7 to move and adjust their positions.

[0028] A guide sleeve 10 is provided on the slide block 6, and an inner sleeve 11 is connected inside the guide sleeve 10. A ring-shaped solid lubricant 12 is embedded in the inner sleeve 11. The guide rod 5 passes through the inner sleeve 11 and the two slide together. The outer wall of the guide rod 5 contacts the solid lubricant 12. The solid lubricant 12 lubricates the guide rod 5, which can avoid the leakage or evaporation of liquid lubricant. This achieves self-lubrication, reduces the frictional resistance when the guide rod 5 moves, and extends its service life. Moreover, in this embodiment, the inner sleeve 11 is threadedly connected to the guide sleeve 10, so the inner sleeve 11 can be replaced separately, which can effectively reduce maintenance costs.

[0029] The base 1 is provided with bearing housing 13 and bearing housing 14. The two ends of the lead screw 3 are coaxially inserted through bearing housing 13 and bearing housing 14 respectively. A dust cover 15 is detachably installed on bearing housing 13 and a dust cover 16 is detachably installed on bearing housing 14. Through the blocking effect of dust cover 15 and dust cover 16, damage to the bearings of lead screw 3, bearing housing 13 and bearing housing 14 is avoided.

[0030] Dust cover 15 has several protrusions 17, which are pluggable onto bearing housing 13. Dust cover 26 has several protrusions 18, which are pluggable onto bearing housing 24. Bearing housing 13 and dust cover 15, as well as bearing housing 24 and dust cover 26, are connected by plugging and unplugging. This makes it easier to assemble and disassemble dust cover 15 and dust cover 26. Specifically, bearing housing 13 has matching grooves corresponding to the protrusions 17, and bearing housing 24 has matching grooves corresponding to the protrusions 18.

[0031] The gripping robot 7 includes a lifting cylinder 71, a guide rod frame 72, a rotary cylinder 73, and a suction cup assembly 74. The lifting cylinder 71 is mounted on a slide 6, and the guide rod frame 72 is slidably mounted on the slide 6. The output end of the lifting cylinder 71 is connected to the guide rod frame 72. The rotary cylinder 73 is mounted on the guide rod frame 72, and the output end of the rotary cylinder 73 is connected to the suction cup assembly 74. The lifting cylinder 71 drives the guide rod frame 72 to slide, and the movement of the guide rod frame 72 causes the suction cup assembly 74 to move closer to or away from the workpiece.

[0032] The suction cup assembly 74 is used to hold the workpiece. The suction cup assembly 74 includes a mounting base 741 and a plurality of suction cups 742. The plurality of suction cups 742 are all mounted on the mounting base 741. The mounting base 741 has a plurality of airflow channels 20 that connect to the corresponding suction cups 742. The plurality of suction cups 742 are arranged in a square to form a symmetrical suction force on the workpiece, thereby preventing the workpiece from tilting due to uneven force and ensuring the stability of workpiece holding.

[0033] Each of the suction cups 742 is provided with a perforated plate 19 to block impurities. The perforated plate 19 prevents debris and impurities from entering and prevents blockage.

[0034] A current sensor 8 is installed on the motor 2. The current sensor 8 is used to detect the output power of the motor 2 in real time and transmit the signal to the corresponding controller 9. The controller 9 has a preset power fluctuation range and an alarm unit. The controller 9 calculates the fluctuation value of the output power of the motor 2 based on the signal transmitted by the current sensor 8. The controller 9 compares the fluctuation value of the output power of the motor 2 with the preset power fluctuation range. When the fluctuation value of the output power of the motor 2 is within the preset power fluctuation range, the motor 2 continues to operate normally. Conversely, when the fluctuation value of the output power of the motor 2 is not within the preset power fluctuation range, the controller 9 controls the motor 2 to stop running and the alarm unit issues the first type of alarm information.

[0035] The power fluctuation range includes a normal range and a warning range. When the power fluctuation value of motor 2 is within the warning range, motor 2 continues to operate normally and the alarm unit issues a second type of alarm information.

[0036] The fluctuation value of the output power of motor 2 is specifically the difference between the output power of motor 2 detected by current sensor 8 in two consecutive detection intervals.

[0037] The first alarm message and the second alarm message are two different alarm messages. In this embodiment, the first alarm message is a buzzer sound, and the second alarm message is an indicator light.

[0038] It should be noted that wear on the lead screw 3 will cause abnormal fluctuations in the output power of the motor 2. Therefore, by detecting whether the fluctuation value of the output power of the motor 2 is within the corresponding preset power fluctuation range, it can be determined whether the lead screw 3 is severely worn during operation. This allows on-site personnel to detect the problem in time and take quick countermeasures for maintenance. Of course, when the fluctuation value of the output power of the motor 2 is within the warning range, maintenance personnel can intervene in time to inspect the lead screw 3 and the motor 2, and discover potential wear, loosening or other problems in advance to avoid further deterioration.

[0039] The specific embodiments described herein are merely illustrative examples of the spirit of this utility model; those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or adopt similar methods to replace them, but without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A screw-type robotic arm that is easy to maintain, comprising a base (1), characterized in that: A motor (2) is mounted on the base (1), and a lead screw (3) is rotatably mounted on the base (1). The output end of the motor (2) is connected to the lead screw (3), and a nut (4) is threaded onto the lead screw (3). At least two guide rods (5) are mounted on the base (1), and a slide block (6) is slidably mounted on each guide rod (5). The nut (4) is connected to the slide block (6), and two gripping manipulators (7) are spaced apart on the slide block (6). A current sensor (8) is mounted on the motor (2). The current sensor (8) is used to detect the output power of the motor (2) in real time and transmit the signal to the corresponding controller (9). The device (9) has a preset power fluctuation range, and the controller (9) is equipped with an alarm unit. The controller (9) calculates the power fluctuation value of the motor (2) output power based on the signal transmitted by the current sensor (8). The controller (9) compares the power fluctuation value of the motor (2) output power with the preset power fluctuation range. When the power fluctuation value of the motor (2) output power is within the preset power fluctuation range, the motor (2) continues to operate normally. Conversely, when the power fluctuation value of the motor (2) output power is not within the preset power fluctuation range, the controller (9) controls the motor (2) to stop running and the alarm unit issues the first type of alarm information.

2. The easily maintainable lead screw manipulator according to claim 1, characterized in that: The power fluctuation range includes a normal range and a warning range. When the power fluctuation value of the motor (2) is within the warning range, the motor (2) continues to operate normally and the alarm unit issues a second type of alarm information.

3. A maintenance-friendly lead screw manipulator according to any one of claims 1 or 2, characterized in that: The clamping manipulator (7) includes a lifting cylinder (71), a guide rod frame (72), a rotary cylinder (73), and a suction cup assembly (74). The lifting cylinder (71) is mounted on the slide (6), and the guide rod frame (72) is slidably mounted on the slide (6). The output end of the lifting cylinder (71) is connected to the guide rod frame (72). The rotary cylinder (73) is mounted on the guide rod frame (72), and the output end of the rotary cylinder (73) is connected to the suction cup assembly (74). The suction cup assembly (74) is used to hold the workpiece.

4. The easily maintainable lead screw manipulator according to claim 3, characterized in that: The suction cup assembly (74) includes a mounting base (741) and a plurality of suction cups (742). The plurality of suction cups (742) are all mounted on the mounting base (741). The mounting base (741) has a plurality of airflow channels (20) connecting the corresponding suction cups (742). The plurality of suction cups (742) are arranged in a square. Each of the plurality of suction cups (742) is provided with a perforated plate (19) for blocking impurities.

5. A maintenance-friendly lead screw manipulator according to claim 3, characterized in that: The slide block (6) is provided with a guide sleeve (10), and an inner sleeve (11) is connected inside the guide sleeve (10). A ring-shaped solid lubricant (12) is embedded in the inner sleeve (11). The guide rod (5) passes through the inner sleeve (11) and the two slide together. The outer wall of the guide rod (5) is in contact with the solid lubricant (12).

6. The easily maintainable lead screw manipulator according to claim 5, characterized in that: The inner sleeve (11) is threadedly connected to the guide sleeve (10).

7. A maintenance-friendly lead screw manipulator according to claim 6, characterized in that: The base (1) is provided with a bearing seat one (13) and a bearing seat two (14), and the two ends of the lead screw (3) are coaxially inserted through the bearing seat one (13) and the bearing seat two (14).

8. A maintenance-friendly lead screw manipulator according to claim 7, characterized in that: A dust cover (15) is detachably mounted on the bearing housing (13), and a dust cover (16) is detachably mounted on the bearing housing (14). The two ends of the lead screw (3) pass through the dust cover (15) and the dust cover (16) respectively.

9. A screw-type robotic arm that is easy to maintain according to claim 8, characterized in that: The dust cover one (15) is provided with a plurality of protrusions one (17), and the plurality of protrusions one (17) are inserted and unplugged onto the bearing seat one (13). The dust cover two (16) is provided with a plurality of protrusions two (18), and the plurality of protrusions two (18) are inserted and unplugged onto the bearing seat two (14).

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