A robot seventh axis rail structure

Abstract

The utility model discloses a kind of robot seventh axis ground rail structures, it is related to robot moving technical field, including mobile carrier plate and self-supplying grease lubricating mechanism, the side fixed connection of mobile carrier plate has self-supplying grease lubricating mechanism, and self-supplying grease lubricating mechanism includes slider fixedly connected in mobile carrier plate one side position, the outer surface of the slider is fixedly connected with lubricating sheet, and the outer surface of lubricating sheet is fixedly connected with lubricating film, the inside of the slider is provided with ball bearing, and the side of slider is provided with grease tank, grease tank is connected with slider by capillary catheter, keep the lubricity of slider, paste lubricating sheet is polytetrafluoroethylene base composite material. The robot seventh axis ground rail structure compares with the existing ordinary use seventh axis ground rail structure, optimizes lubricating transport, guarantees lubrication in short oil supply interruption, reduces load fluctuation and energy consumption, reduces positioning error, and improves installation efficiency, shortens replacement time, enhances adaptability and operation convenience.

Description

Technical Field

[0001] This utility model relates to the field of robot mobility technology, specifically to a robot seventh-axis ground track structure. Background Technology

[0002] The robot's seventh-axis ground rail structure is a linear movement device that expands the working range of industrial robots. It is equivalent to the robot's "moving track" and allows the robot to reciprocate along a fixed path, breaking through the working radius limitations of traditional fixed bases. This structure is widely used in scenarios such as automobile production lines and logistics warehousing, which can extend the robot's working range to tens of meters and maintain a repeatability accuracy of ±0.02mm, greatly improving the flexibility and efficiency of automated production lines. However, the existing robot seventh-axis ground rail structure has certain defects.

[0003] For example, a vibration-damping and noise-reducing robot seventh-axis ground rail, application number CN202320116292.X, includes a base with ribs fixedly connected to both sides of the base. The advantages of this invention are: the feet are connected to the ribs next to the base via bolts and nuts; the top column is a flexible structure, effectively buffering vibrations transmitted from the seventh-axis ground rail and the base, abandoning the previous structure where the feet directly and rigidly contacted the ribs, effectively reducing overall vibration on the ground rail; it effectively shields and mitigates noise generated by the movable connection between the slider and the seventh-axis ground rail; the sound barrier has a buffer layer inside, composed of multiple vertically stacked non-woven fabric layers; the fibers in the multiple layers of non-woven fabric effectively absorb sound waves and reduce the energy transmitted by sound, thereby reducing the noise emitted by the seventh-axis ground rail heard from the outside; retainers are installed between the balls inside the slider to reduce friction between the balls, thereby reducing noise during slider operation, solving the problems existing in the prior art. However, the seventh-axis ground rail structure has the problem of insufficient lubricating grease, making it difficult to cope with the effects of temperature differences and sudden oil supply interruptions that could damage all equipment. The installation and replacement of the ground rail is also cumbersome, and the connection is unreliable in harsh environments.

[0004] Therefore, in view of this, we studied and improved the existing structure to address its shortcomings, and proposed a seventh-axis ground track structure for robots. Utility Model Content

[0005] The purpose of this invention is to provide a seventh-axis ground track structure for a robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robot seventh-axis ground rail structure, including a movable carrier plate and a self-lubricating mechanism. The self-lubricating mechanism is fixedly connected to one side of the movable carrier plate, and the self-lubricating mechanism includes a slider fixedly connected to one side of the movable carrier plate. A lubricating sheet is fixedly connected to the outer surface of the slider, and a lubricating film is fixedly connected to the outer surface of the lubricating sheet. A ball bearing is provided inside the slider, and a grease reservoir is provided on one side of the slider.

[0007] Preferably, the outer surface of the slider is slidably connected to a chrome-plated guide rail, and one end of the chrome-plated guide rail is provided with an extension mechanism.

[0008] Preferably, the extension mechanism includes a slot at the end of the chrome-plated guide rail, and a baffle is provided inside the slot. A buffer layer is fixedly connected to the bottom of the baffle, and a buffer layer is fixedly connected to one side of the baffle. A positioning bolt is provided at the bottom of the chrome-plated guide rail.

[0009] Preferably, a rack is fixedly connected to the inner surface of the chrome-plated guide rail, and the bed body is fixedly connected to the bottom of the rack.

[0010] Preferably, the top of the mobile carrier plate is fixedly connected to the robot body, and a drive component is provided on one side of the robot body.

[0011] Preferably, a sound-absorbing felt is fixedly connected to the outer surface of the chrome-plated guide rail, and a porous sound-absorbing cotton is fixedly connected to one side of the sound-absorbing felt.

[0012] Preferably, a mounting block is fixedly connected to the bottom of the bed body, and a triangular support frame is fixedly connected to the outer surface of the bed body, with a rubber shock-absorbing pad fixedly connected to the bottom of the triangular support frame.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This utility model optimizes multi-dimensional performance through the setting of a self-lubricating mechanism. The capillary tube connection between the grease tank and the slider adopts a micron-level aperture design. It uses the surface tension of the liquid to achieve quantitative oil supply, which avoids dust adsorption caused by excessive grease and prevents dry friction caused by insufficient oil supply. It stabilizes the friction coefficient between the slider and the chrome-plated guide rail. The polytetrafluoroethylene lubricating sheet has high and low temperature resistance and can adapt to the temperature difference between day and night in the workshop and the local temperature rise during equipment operation. The solid lubricating coating adopts a composite system of molybdenum disulfide and epoxy resin. After curing, it forms a dense film. It can still maintain the lubrication effect when the oil supply is interrupted for a short time, avoiding sudden friction damage. This stable lubrication state can reduce the load fluctuation of the drive components, reduce motor energy consumption, and avoid positioning errors caused by friction vibration, providing a basic guarantee for the high-precision operation of the robot body (7).

[0015] 2. This utility model achieves deep optimization of modular expansion and operational stability by extending the mechanism. The modular splicing design improves the on-site installation efficiency of the ground rail, shortens the replacement time of a single section of the guide rail, and the quick disassembly structure of the baffle can realize the rapid switching of the splicing state. With the anti-loosening nut of the positioning bolt, it can maintain the connection reliability in dusty, humid and other industrial environments, significantly improving the environmental adaptability and operation and maintenance convenience of the ground rail structure. Attached Figure Description

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

[0017] Figure 2 This is a schematic diagram of the structure of the self-lubricating grease supply mechanism 2 of this utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the extension mechanism 4 of this utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the drive component 8 of this utility model.

[0020] In the diagram: 1. Moving carrier plate; 2. Self-lubricating mechanism; 201. Slider; 202. Lubricating plate; 203. Lubricating film; 204. Ball bearing; 205. Grease reservoir; 3. Chrome-plated guide rail; 4. Extension mechanism; 401. Slot; 402. Baffle; 403. Buffer layer; 404. Positioning bolt; 5. Rack; 6. Bed body; 7. Robot body; 8. Drive assembly; 9. Sound-absorbing felt; 10. Porous sound-absorbing cotton; 11. Mounting block; 12. Triangular support frame; 13. Rubber shock-absorbing pad. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] like Figures 1-2As shown, a seventh-axis ground track structure for a robot includes a movable carrier plate 1 and a self-lubricating mechanism 2. The self-lubricating mechanism 2 is fixedly connected to one side of the movable carrier plate 1. The self-lubricating mechanism 2 includes a slider 201 fixedly connected to one side of the movable carrier plate 1. A lubricating sheet 202 is fixedly connected to the outer surface of the slider 201, and a lubricating film 203 is fixedly connected to the outer surface of the lubricating sheet 202. A ball bearing 204 is installed inside the slider 201, and a grease reservoir 205 is installed on one side of the slider 201. The can 205 is connected to the slider 201 through a capillary tube to maintain the lubrication of the slider 201. The adhesive lubricating sheet 202 is made of polytetrafluoroethylene composite material, and the adhesive lubricating sheet 202 is covered with a solid lubricating film 203 to reduce the coefficient of friction. The ball bearing 204 inside the slider 201 is in contact with the chrome-plated guide rail 3. The lithium-based grease inside the grease can 205 is connected to the oil passage of the slider 201 through a capillary tube to continuously supply oil, so that the lubricating film 203 always maintains a suitable oil film thickness and ensures long-term lubrication of the slider 201.

[0023] like Figure 3 As shown, a chrome-plated guide rail 3 is slidably connected to the outer surface of the slider 201, and an extension mechanism 4 is provided at one end of the chrome-plated guide rail 3. The extension mechanism 4 includes a slot 401 opened at the end of the chrome-plated guide rail 3, and a baffle 402 is provided inside the slot 401. A buffer layer 403 is fixedly connected to one side of the baffle 402. A positioning bolt 404 is provided at the bottom of the chrome-plated guide rail 3. A U-shaped slot 401 is opened at the end of the chrome-plated guide rail 3 along the axial direction. The baffle 402 is embedded in the slot 401. The positioning bolt 404 is a high-strength bolt that is compatible with the screw hole of the mounting block 11 of the adjacent chrome-plated guide rail 3. The structure of each section of the chrome-plated guide rail 3 is consistent. The buffer layer 403 is a polyurethane buffer layer that can absorb most of the impact energy. The splicing is achieved by removing the baffle 402 and tightening the positioning bolt 404 to meet the requirements of different distances.

[0024] Furthermore, a rack 5 is fixedly connected to the inner surface of the chrome-plated guide rail 3, and a bed body 6 is fixedly connected to the bottom of the rack 5. A robot body 7 is fixedly connected to the top of the movable carrier plate 1, and a drive assembly 8 is provided on one side of the robot body 7. The drive assembly 8 consists of a drive gear and a drive motor. The drive gear meshes with the rack 5 to drive the movable carrier plate 1 to move. The drive assembly 8 consists of a drive motor and a drive gear. The drive motor is a rare earth permanent magnet synchronous motor, and its output shaft is connected to the drive gear. The drive gear meshes with the rack 5 to drive the movable carrier plate 1 to move smoothly along the guide rail.

[0025] Furthermore, a sound-absorbing felt 9 is fixedly connected to the outer surface of the chrome-plated guide rail 3, and a porous sound-absorbing cotton 10 is fixedly connected to one side of the sound-absorbing felt 9. An installation block 11 is fixedly connected to the bottom of the bed body 6, and a triangular support frame 12 is fixedly connected to the outer surface of the bed body 6. A rubber shock-absorbing pad 13 is fixedly connected to the bottom of the triangular support frame 12. The sound-absorbing felt 9 wrapped on the outer surface of the chrome-plated guide rail 3 is made of polyester fiber, and the porous sound-absorbing cotton 10 bonded to its outer side is made of glass fiber. Both of them can reduce noise. The installation blocks 11 at the four corners of the bottom of the bed body 6 are welded with threaded holes that are compatible with the positioning bolts 404. Multiple sets of triangular support frames 12 are symmetrically welded to the outer surface to improve rigidity. The rubber shock-absorbing pad 13 is made of nitrile rubber to reduce vibration transmission rate.

[0026] Working principle: When using the seventh-axis ground rail structure of this robot, firstly, the bed body 6 is stabilized by the triangular support frame 12 and the rubber shock-absorbing pad 13. According to the transportation distance, the baffle 402 inside the slot 401 of the extension mechanism 4 is removed. After the mounting slot and mounting block 11 inside the adjacent chrome-plated guide rail 3 are engaged, the positioning bolt 404 passes through the mounting block 11 to complete the splicing of the chrome-plated guide rail 3. Then, the self-lubricating mechanism 2 of the moving carrier plate 1 is activated. The grease tank 205 supplies oil through the capillary tube. The lubricating plate 202, lubricating film 203 and ball bearing 204 of the slider 201 assist in sliding. The moving carrier plate 1 drives the robot body 7 to move by meshing with the rack 5 through the drive component 8. The sound-absorbing felt 9 and the porous sound-absorbing cotton 10 reduce noise. Finally, the work is completed, the moving carrier plate 1 is reset, the oil level of the grease tank 205 and the condition of each component are checked, and the chrome-plated guide rail 3 and rack 5 are cleaned to ensure smooth operation next time. This is the working principle of the seventh-axis ground rail structure of this robot.

Claims

1. A seventh-axis ground track structure for a robot, comprising a movable carrier plate (1) and a self-lubricating grease supply mechanism (2), characterized in that, A self-lubricating mechanism (2) is fixedly connected to one side of the movable carrier plate (1), and the self-lubricating mechanism (2) includes a slider (201) fixedly connected to one side of the movable carrier plate (1). A lubricating sheet (202) is fixedly connected to the outer surface of the slider (201), and a lubricating film (203) is fixedly connected to the outer surface of the lubricating sheet (202). A ball bearing (204) is provided inside the slider (201), and a grease reservoir (205) is provided on one side of the slider (201).

2. The robot seventh-axis ground track structure according to claim 1, characterized in that, The outer surface of the slider (201) is slidably connected to a chrome-plated guide rail (3), and one end of the chrome-plated guide rail (3) is provided with an extension mechanism (4).

3. The robot seventh-axis ground track structure according to claim 2, characterized in that, The extension mechanism (4) includes a slot (401) opened at the end of the chrome-plated guide rail (3), and a baffle (402) is provided inside the slot (401). A buffer layer (403) is fixedly connected to one side of the baffle (402), and a positioning bolt (404) is provided at the bottom of the chrome-plated guide rail (3).

4. The robot seventh-axis ground track structure according to claim 2, characterized in that, The inner surface of the chrome-plated guide rail (3) is fixedly connected to a rack (5), and the bottom of the rack (5) is fixedly connected to the bed body (6).

5. The robot seventh-axis ground track structure according to claim 1, characterized in that, The top of the mobile carrier plate (1) is fixedly connected to the robot body (7), and a drive component (8) is provided on one side of the robot body (7).

6. The robot seventh-axis ground track structure according to claim 2, characterized in that, The outer surface of the chrome-plated guide rail (3) is fixedly connected with a sound-absorbing felt (9), and a porous sound-absorbing cotton (10) is fixedly connected to one side of the sound-absorbing felt (9).

7. The robot seventh-axis ground track structure according to claim 4, characterized in that, The bottom of the bed body (6) is fixedly connected to an installation block (11), and the outer surface of the bed body (6) is fixedly connected to a triangular support frame (12), and the bottom of the triangular support frame (12) is fixedly connected to a rubber shock-absorbing pad (13).

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