Collaborative slide table and its pressure calculation device

Abstract

This utility model belongs to the field of collaborative robot technology, specifically relating to a collaborative slide table and its pressure calculation device. It includes a slide rail, on which a slide table is slidably connected. A drive assembly for moving the slide table is connected to the lower end of the slide table. A housing is connected to the slide table, and a liquid storage chamber is provided inside the housing. A base plate is connected to the lower end of the liquid storage chamber. A first slide groove and a second slide groove are provided on the base plate. A U-shaped rod is slidably connected to the first and second slide grooves. A second spring is connected to the lower end of the U-shaped rod. A limit assembly is connected to one side of the U-shaped rod. A liquid outlet pipe is connected to one end of the U-shaped rod. A pusher is connected to one end of the U-shaped rod to push it upwards. The pusher pushes the U-shaped rod to move, thus achieving an automatic effect.

Description

Technical Field

[0001] This utility model belongs to the field of collaborative robot technology, specifically relating to a collaborative slide and its pressure calculation device. Background Technology

[0002] Collaborative robots, abbreviated as cobots or co-robots, are robots designed for close interaction with humans in a shared workspace. Until 2010, most industrial robots were designed for automated operation or operation under limited guidance, thus not requiring consideration of close interaction with humans or the safety of surrounding humans during their movements. These are functions that collaborative robots need to consider. Traditional industrial robots, limited by technology and historical reasons, required measures to exclude humans from the work area to ensure safety. The purpose of collaborative robots is to combine the repetitive performance of robots with the unique skills, flexibility, and abilities of humans, thereby improving production quality and efficiency. Lubrication of the lead screw is crucial to ensuring production quality. However, due to the special nature of robot operation, workers are not allowed to enter the inside of the slide to lubricate it. Therefore, designing a slide that can achieve automatic lubrication is essential. Utility Model Content

[0003] In view of the above-mentioned shortcomings in the prior art, the present invention provides a collaborative slide table and its pressure calculation device to solve the problems in the background art.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A collaborative slide table includes a slide rail, on which the slide table is slidably connected. A drive assembly for moving the slide table is connected to the lower end of the slide table. A housing is connected to the slide table, and a liquid storage chamber is provided inside the housing. A base plate is connected to the lower end of the liquid storage chamber. A first slide groove and a second slide groove are provided on the base plate. A U-shaped rod is slidably connected to the first slide groove and the second slide groove. A second spring is connected to the lower end of the U-shaped rod. A limit assembly is connected to one side of the U-shaped rod. A liquid outlet pipe is connected to one end of the U-shaped rod. A pusher for moving the U-shaped rod upward is connected to the other end of the U-shaped rod.

[0006] Preferably, the drive assembly includes a motor, a first limiting plate and a second limiting plate are connected to the upper end of the slide rail, a lead screw is rotatably connected to the inner side of the first limiting plate and the second limiting plate, the output shaft of the motor is connected to the lead screw, and the slide table is connected to the lead screw through a ball nut.

[0007] Preferably, the limiting component includes a slider, and a third sliding groove is provided on the inner side of the box body. The slider is slidably connected to the third sliding groove, and both the slider and the third sliding groove are T-shaped.

[0008] Preferably, the pushing part includes a connecting rod, which is fixedly connected to a lead screw, and a protrusion is connected to one end of the connecting rod, which cooperates with the U-shaped rod.

[0009] Preferably, the inner side of the box is provided with a guide plate, the guide plate is slidably connected to a top plate, a third spring is connected between the box and the top plate, a connecting pipe is connected to the lower end of the guide plate, one end of the connecting pipe is connected to an annular pipe, the lower end of the annular pipe is provided with a liquid outlet, a fixing plate is connected to the lower end of the box, and the annular pipe is located inside the fixing plate.

[0010] Preferably, a liquid filling box is connected to the outside of the box body.

[0011] A pressure calculation device for calculating the force conditions of the cooperative slide table as described in any one of claims 1-6, comprising a displacement sensor connected to the slide table, the displacement sensor being slidably connected to a dielectric plate, a first spring connecting the dielectric plate to the slide table, a mounting plate connected to the outside of the slide table, and a multi-functional calculator for pressure calculation connected to the upper end of the mounting plate.

[0012] Compared with the prior art, this utility model has the following advantages:

[0013] By setting a connecting rod and a protrusion, when the motor rotates, the motor drives the lead screw to rotate, and the lead screw drives the ball nut at the lower end of the fixed plate to move, which in turn drives the connecting rod fixedly connected to the lead screw to rotate. When the protrusion at the upper end of the connecting rod contacts the longer end of the U-shaped rod, the U-shaped rod will move upward along the first slide groove, and then drive the shorter end of the U-shaped rod to disengage from the second slide groove, so that the lubricating fluid inside the liquid storage chamber falls from the second slide groove into the outlet pipe, and then falls onto the guide plate. When the liquid is low, the top plate slidably connected to the lower end of the circular groove inside the guide plate can ensure that the weight of the lubricating fluid and the top plate will not overcome the spring force. When the weight of the lubricating fluid and the top plate overcomes the spring force, the lubricating fluid enters the annular pipe from the connecting pipe, and then slides from the outlet onto the lead screw, thereby achieving the effect of automatic lubrication.

[0014] The displacement of the spring is calculated by a displacement sensor. When the spring is not under force, the lower surface of the dielectric plate is flush with the upper surface of the displacement sensor. When the dielectric plate is under pressure, it moves inward to the inside of the displacement sensor. The displacement of the dielectric plate can be calculated by the change in the capacitor, and thus the displacement of the spring can be obtained. In addition, the magnitude of the pressure on the spring can be calculated.

[0015] By connecting a T-shaped slider to the outside of the U-shaped rod, when the U-shaped rod moves, the T-shaped slider slides along the T-shaped groove, thus ensuring that the movement trajectory of the U-shaped rod is not affected by the spring, causing the U-shaped rod to misalign with the first and second grooves. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This is an exploded view of the computing component provided by this utility model;

[0018] Figure 3 This is a frontal sectional view of the lubrication assembly provided by this utility model;

[0019] Figure 4 This is a top sectional view of the slider portion provided by this utility model;

[0020] Figure 5 for Figure 3 A magnified view of a section at point A in the middle;

[0021] The reference numerals in the accompanying drawings include: mounting plate 1, slide rail 2, slide table 3, dielectric plate 5, first limiting plate 6, second limiting plate 7, lead screw 8, motor 9, box body 10, multi-function calculator 11, first spring 12, displacement sensor 13, connecting rod 14, protrusion 15, base plate 16, first slide groove 17, second slide groove 18, U-shaped rod 19, second spring 20, slider 21, third slide groove 22, liquid outlet pipe 23, liquid storage chamber 24, liquid filling box 25, guide plate 26, top plate 27, third spring 28, connecting pipe 29, annular pipe 30, liquid outlet 31, and fixing plate 32. Detailed Implementation

[0022] To enable those skilled in the art to better understand this utility model, the technical solution of this utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of this utility model, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0024] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0025] In the description of this utility model, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating the connection relationship between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] Example 1:

[0027] like Figure 1-5The collaborative slide table and its pressure calculation device shown in this invention include a slide rail 2, a slide table 3 slidably connected to the slide rail 2, the slide table being a Z-axis slide table, a drive assembly for moving the slide table 3 connected to the lower end of the slide table 3, a housing 10 fixedly connected to the slide table 3, a liquid storage chamber 24 provided inside the housing 10, a base plate 16 connected to the lower end of the liquid storage chamber 24, a first sliding groove 17 and a second sliding groove 18 provided on the base plate 16, the first sliding groove 17 being slidably connected to the long end of a U-shaped rod 19, the second sliding groove 18 being slidably connected to the short end of the U-shaped rod 19, a second spring 20 provided at the lower end of the U-shaped rod 19, the second spring 20 being connected to the U-shaped rod 19 and the base plate 16, a limit assembly connected to one side of the U-shaped rod 19, a liquid outlet pipe 23 connected to one end of the U-shaped rod 19, and a device for pushing the U-shaped rod 19 upwards connected to the other end of the U-shaped rod 19. The driving unit includes a motor 9, a first limiting plate 6 and a second limiting plate 7 connected to the upper end of the slide rail 2, a lead screw 8 rotatably connected to the inner side of the first limiting plate and the second limiting plate 7, an output shaft of the motor 9 connected to the lead screw 8, a slide table 3 connected to the lead screw 8 via a ball nut, and a connecting rod 14 fixedly connected to the lead screw 8. One end of the connecting rod 14 is connected to a protrusion 15, and both the protrusion 15 and the long end of the U-shaped rod 19 are spherical. When the motor 9 rotates, it will drive the lead screw 8 to rotate, and the lead screw 8 will drive the slide table 3 to move up and down, while simultaneously driving the connecting rod 14 to rotate. When the protrusion 15 at the upper end of the connecting rod 14 collides with the long end of the U-shaped rod 19, it will cause the U-shaped rod 19 to move upward, thereby causing the short end of the U-shaped rod 19 to move out of the second slide groove 18, allowing the lubricant in the liquid storage chamber 24 to slide out.

[0028] Furthermore, the limiting component includes a slider 21, which is connected to the short end of the U-shaped rod 19. A third groove 22 is provided inside the housing 10, and the slider 21 is slidably connected to the third groove 22. Both the slider 21 and the third groove 22 are T-shaped. The slider 21 is used to limit the U-shaped rod 19, preventing it from deflecting, thus ensuring that it maintains a fixed direction during the rebound of the second spring 20. This can block the first groove 17 and the second groove 18. A guide plate 26 is provided inside the housing 10, located at the lower end of the liquid outlet pipe 23. The lower end of the groove inside the guide plate 26 is slidably connected to... A top plate 27 is connected to the box body 10, and a third spring 28 is connected between the box body 10 and the top plate 27. A connecting pipe 29 is connected to the lower end of the guide plate 26, and an annular pipe 30 is connected to one end of the connecting pipe 29. An outlet 31 is provided at the lower end of the annular pipe 30. A fixing plate 32 is connected to the lower end of the box body 10, and the annular pipe 30 is located inside the fixing plate 32. When the lubricating fluid and the weight of the top plate 27 press down the third spring 28, the lubricating fluid can enter the annular pipe 30 from the connecting pipe 29, and then flow down from the outlet 31 at the lower end of the annular pipe 30 to lubricate the lead screw 8. A liquid filling box 25 is connected to the outside of the box body 10.

[0029] The collaborative slide table and its pressure calculation device also include a displacement sensor 13, which is fixedly connected to the slide table 3. A dielectric plate 5 is slidably connected to the displacement sensor 13. A first spring 12 is connected between the dielectric plate 5 and the slide table 3. A mounting plate 1 is connected to the outside of the slide table 3. A multi-functional calculator 11 for pressure calculation is connected to the upper end of the mounting plate 1. When the dielectric plate 5 is not under force, the dielectric plate 5 and the connection surface of the displacement sensor 13 are in contact. At this time, the capacitance in the dielectric plate 5 is stable at a certain value. When the dielectric plate 5 is under force, the dielectric plate 5 moves along the displacement sensor 13 towards the slide table 3, which causes the capacitance to change. The moving distance of the first spring 12 can be deduced from the changed capacitance. Therefore, the magnitude of the pressure on the dielectric plate 5 can be calculated according to Hooke's Law.

[0030] Working principle:

[0031] Automatic lubrication principle: When motor 9 starts, it drives lead screw 8 to rotate around its own axis; slide table 3 cooperates with lead screw 8 through ball nut, converting the rotational motion of lead screw into linear lifting motion of slide table along slide rail 2. The inner side of box 10 on slide table 3 is provided with liquid storage chamber 24 for storing lubricant. The lower end of liquid storage chamber is closed by bottom plate 16. The first slide groove 17 and the second slide groove 18 on bottom plate are slidably connected to the long end and short end of U-shaped rod 19, respectively. The lower end of U-shaped rod 19 is connected to bottom plate 16 through second spring 20. Initially... In the current state, the short end of the U-shaped rod 19 closes the second groove 18, preventing lubricant from flowing out. The connecting rod 14, fixedly connected to the lead screw 8, rotates synchronously with the lead screw. The spherical protrusion 15 at one end of the connecting rod periodically contacts the long end of the U-shaped rod 19. When the protrusion 15 collides with the long end of the U-shaped rod 19, it pushes the U-shaped rod upward against the elastic force of the second spring 20, causing the short end of the U-shaped rod 19 to move out of the second groove 18. The lubricant in the reservoir 24 flows into the outlet pipe 23 through the second groove 18. The T-shaped rod 19 connected to the short end of the U-shaped rod 19... The slider 21 slides along the T-shaped third groove 22 inside the box, ensuring that the U-shaped rod 19 only moves vertically up and down without deflection; when the protrusion 15 separates from the long end of the U-shaped rod 19, the second spring 20 rebounds, driving the U-shaped rod 19 to reset, and the short end re-closes the second groove 18. The outflowing lubricant is collected by the guide plate 26. When the lubricant and the top plate 27 overcome the elastic force of the third spring 28, the top plate moves down, and the lubricant enters the annular tube 30 through the connecting pipe 29, and finally drips evenly from the outlet 31 at the lower end of the annular tube onto the lead screw 8 to achieve lubrication; the liquid filling box 25 on the outside of the box can replenish the lubricant in the liquid storage chamber 24 at any time.

[0032] Pressure calculation principle: The dielectric plate 5 connected to the outside of the slide 3 is a pressure-bearing component. When the dielectric plate 5 is subjected to external pressure, it will move along the displacement sensor 13 towards the slide and compress the first spring 12 between the dielectric plate 5 and the slide. The relative displacement between the displacement sensor 13 and the dielectric plate 5 will cause the capacitance value between them to change. The distance that causes the capacitance change can be calculated from the multi-function calculator 11, thereby converting the electrical signal into a digital signal. The digital signal value is the change value of the first spring 12. Then, the pressure on the first spring 12 can be calculated according to Hooke's law.

[0033] The above are merely embodiments of this utility model. The circuits, electronic components, and modules involved are all prior art, fully achievable by those skilled in the art, and require no further explanation. The content protected by this application does not involve improvements to the software or methods. Commonly known structures and characteristics in the solution are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field to which this utility model pertains prior to the application date or priority date, are able to access all existing technologies in that field, and possess the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in conjunction with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of this utility model. These should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent.

Claims

1. A cooperative skid characterized in that: Includes a slide rail (2), which is slidably connected to a slide table (3). The lower end of the slide table (3) is connected to a drive assembly for moving the slide table (3). A box (10) is connected to the slide table (3). A liquid storage chamber (24) is provided inside the box (10). A base plate (16) is connected to the lower end of the liquid storage chamber (24). A first slide groove (17) and a second slide groove (18) are provided on the base plate (16). A U-shaped rod (19) is slidably connected to the first slide groove (17) and the second slide groove (18). A second spring (20) is connected to the lower end of the U-shaped rod (19). A limit assembly is connected to one side of the U-shaped rod (19). A liquid outlet pipe (23) is connected to one end of the U-shaped rod (19). A pusher is connected to one end of the U-shaped rod (19) to push the U-shaped rod (19) upward.

2. The cooperative slide table as described in claim 1, characterized in that: The drive assembly includes a motor (9), the upper end of the slide rail (2) is connected to a first limiting plate (6) and a second limiting plate (7), the inner sides of the first limiting plate and the second limiting plate (7) are rotatably connected to a lead screw (8), the output shaft of the motor (9) is connected to the lead screw (8), and the slide table (3) is connected to the lead screw (8) through a ball nut.

3. The cooperative skid of claim 2, wherein: The limiting component includes a slider (21), and a third slide groove (22) is provided on the inner side of the box (10). The slider (21) is slidably connected to the third slide groove (22), and both the slider (21) and the third slide groove (22) are T-shaped.

4. The cooperative skid of claim 3, wherein: The pushing part includes a connecting rod (14), which is fixedly connected to the lead screw (8). One end of the connecting rod (14) is connected to a protrusion (15), which cooperates with the U-shaped rod (19).

5. The cooperative skid of claim 4, wherein: The inner side of the box body (10) is provided with a guide plate (26), the guide plate (26) is slidably connected to a top plate (27), a third spring (28) is connected between the box body (10) and the top plate (27), a connecting pipe (29) is connected to the lower end of the guide plate (26), an annular pipe (30) is connected to one end of the connecting pipe (29), an outlet (31) is provided at the lower end of the annular pipe (30), a fixing plate (32) is connected to the lower end of the box body (10), and the annular pipe (30) is located inside the fixing plate (32).

6. The cooperative skid of claim 5, wherein: A liquid filling box (25) is connected to the outside of the box body (10).

7. Pressure calculation device for calculating the forces on a cooperative slide as claimed in any one of the preceding claims 1-6, characterized in that: It includes a displacement sensor (13), which is connected to a slide (3). The displacement sensor (13) is slidably connected to a dielectric plate (5). A first spring (12) is connected between the dielectric plate (5) and the slide (3). A mounting plate (1) is connected to the outside of the slide (3). A multi-functional calculator (11) for pressure calculation is connected to the upper end of the mounting plate (1).

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