Foot and robot seventh axis

Abstract

This utility model discloses a foot and a seventh axis for a robot. The foot includes a base and two limiting components. The base has two spaced-apart holes. The limiting components include a cap rod, a first nut, a second nut, a bolt for passing through a lug in the corresponding main rail seat, a first adjusting pad for abutting the bottom of the lug in the main rail seat, and a second adjusting pad for abutting the top of the lug in the main rail seat. The bolt passes sequentially from the bottom of the base through the corresponding hole, the first nut, the cap rod, the first adjusting pad, and the second adjusting pad, and is threaded to the second nut. The first nut is fitted over the cap rod and threaded to it. The first and second adjusting pads can be tilted at an angle α relative to the axial direction of the bolt. This utility model meets the requirements of the robot's seventh axis for track flatness, thereby achieving full surface contact of all load-bearing connecting parts even on completely uneven ground, extending the service life of the main components in the robot's seventh axis.

Description

Technical Field

[0001] This utility model relates to the field of ground rail equipment structure technology, and in particular to a ground foot and a seventh axis of a robot. Background Technology

[0002] The seventh axis of a robot, also known as the ground track or walking axis, is an additional motion axis for industrial robots. Its main function is to extend the working radius and flexibility of the robot. It has wide applications in the new energy field and can achieve efficient and accurate positioning of battery trays.

[0003] The seventh axis of the robot is formed by splicing multiple slide rails, and the bottom of the slide rails is supported by multiple feet. The height of the slide rail at the corresponding position can be adjusted by adjusting the feet. However, due to the limitations of the flatness of the ground, the installation and debugging of the seventh axis of the robot is more difficult when the ground is uneven. Uneven track problems are very likely to occur, which will affect the positioning accuracy of the robot above the seventh axis. In severe cases, it will shorten the service life of the main components of the seventh axis of the robot, such as linear sliders and slide rails, which are prone to damage. Utility Model Content

[0004] The purpose of this utility model is to provide a footrest and a seventh axis for robots to solve the problem that the existing seventh axis of robots is limited by the flatness of the ground. When the ground is uneven, the installation and debugging of the seventh axis of the robot is more difficult and the track is easily uneven. This will affect the positioning accuracy of the robot above the seventh axis and, in severe cases, shorten the service life of the main components of the seventh axis of the robot.

[0005] This utility model is implemented as follows: This utility model provides a foot, comprising: The base has two spaced-apart sockets; Two limiting components are provided, each including a cap rod, a first nut, a second nut, a bolt for passing through a lug in the corresponding ground rail main seat, a first adjusting pad for abutting the bottom of the lug in the ground rail main seat, and a second adjusting pad for abutting the top of the lug in the ground rail main seat. The bolt passes sequentially from the bottom of the foot seat through the corresponding insertion hole, the first nut, the cap rod, the first adjusting pad, and the second adjusting pad, and is then threadedly connected to the second nut. The first nut is sleeved on the cap rod and threadedly connected to it. The first adjusting pad and the second adjusting pad can be inclined at an angle α relative to the axial direction of the bolt.

[0006] Furthermore, the first adjusting pad includes a first washer, which is sleeved on the bolt and located between the cap rod and the second adjusting pad. The cap rod has a first convex spherical surface on the side facing the second adjusting pad. The first washer is a concave spherical washer, and the inner wall of the first washer has a first concave spherical chamfer that matches the first convex spherical surface.

[0007] Furthermore, the second adjusting pad includes a second washer and a third washer, both of which are fitted onto the bolt, with the third washer located between the second washer and the second nut. The second washer can be inclined at an angle α relative to the axial direction of the bolt.

[0008] Furthermore, the third washer is a spherical washer, and the side of the third washer facing the first nut is provided with a second convex spherical surface. The second washer is a concave spherical washer, and the inner wall of the second washer is provided with a second concave spherical chamfer that mates with the second convex spherical surface.

[0009] Furthermore, the cap rod has a through hole along its axial direction. The cap rod includes an externally threaded sleeve and a button protruding from the externally threaded sleeve. The through hole passes through the button and the externally threaded sleeve in sequence. The bolt passes through the through hole. The externally threaded sleeve is threadedly connected to the first nut. The button abuts against the first adjusting pad. The externally threaded sleeve is partially inserted into the insertion hole.

[0010] Furthermore, the bolt includes a bolt head and a threaded rod connecting the bolt head. The foot is provided with at least two grooves, at least two connecting holes, and at least two receiving grooves. The grooves are located at the top of the foot, and the receiving grooves are located at the bottom of the foot. The inner diameters of the grooves and the receiving grooves are both larger than the inner diameters of the connecting holes. One end of the connecting hole communicates with the corresponding groove, and the other end communicates with the corresponding receiving groove. The grooves and the corresponding connecting holes constitute the insertion hole. The bolt head is located in the receiving groove, and the threaded rod passes through the insertion hole. The outer diameter of the first nut is larger than the inner diameter of the groove.

[0011] Furthermore, the foot includes a base and a plurality of stops for restricting the rotation of the bolt. The insertion hole is provided on the base, and the stops protrude from the bottom of the base and abut against the corresponding bolt head.

[0012] Furthermore, the foot is also provided with multiple positioning holes for screws to pass through.

[0013] Furthermore, the included angle α ranges from 85 to 90 degrees.

[0014] This utility model also provides a seventh axis for a robot, including the feet as described above.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: Both bolts of this invention are connected to the foot base with a large clearance. When the foot base is tilted due to uneven ground, the height of the corresponding main rail base can be adjusted by rotating the adjusting cap rod. The first and second adjusting pads can be tilted at an angle α relative to the axis of the bolts, which can correct the tilt of the main rail base in a surface contact state, thus meeting the requirements of the robot's seventh axis for track flatness. This achieves full surface contact of all load-bearing connecting parts even on completely uneven ground, extending the service life of the main components in the robot's seventh axis. It also enables easy installation and debugging of the robot's seventh axis even on uneven ground, ensuring that the flatness of the robot's seventh axis is not affected by the ground, and maintaining stable operation of the robot under high dynamic load, thereby improving positioning accuracy. Attached Figure Description

[0016] Figure 1 A schematic diagram of the structure of the foot provided in an embodiment of this utility model; Figure 2 for Figure 1 Exploded view; Figure 3 A schematic diagram of the structure of the cap rod provided in an embodiment of this utility model; Figure 4 This is a schematic diagram of the structure of the first washer provided in an embodiment of the present utility model; Figure 5 This is a schematic diagram of the structure of the third washer provided in an embodiment of the present utility model; Figure 6 Schematic diagram of the foot support provided in the embodiment of this utility model Figure 1 ; Figure 7 Schematic diagram of the foot support provided in the embodiment of this utility model Figure 2 ; Figure 8 A schematic diagram of the structure of the seventh axis of the robot provided in this embodiment of the utility model; Figure 9 for Figure 8 A magnified view of a portion of point A in the middle.

[0017] In the picture: 10. Foot; 20. Base; 21. Insertion hole; 22. Groove; 23. Connecting hole; 24. Receiving groove; 25. Base; 26. Stop; 27. Positioning hole; 30. Limiting component; 31. Bolt; 311. Bolt head; 312. Screw; 32. Cap rod; 321. First convex spherical surface; 322. Through hole; 323. External threaded sleeve; 324. Button block; 33. First nut; 34. First adjusting pad; 341. First washer; 3411. First concave spherical chamfer; 35. Second adjusting pad; 351. Second washer; 3511. Second concave spherical chamfer; 352. Third washer; 3521. Second convex spherical surface; 36. Second nut; 37. Wire retaining ring; 40. Rail; 41. Ground rail main seat; 411. Lug; 42. Positioning pin; 50. Slide table. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0019] Please see Figures 1 to 2 ,as well as Figures 8 to 9 As shown in the figure, this utility model embodiment discloses a foot 10, which is mainly used in the seventh axis of a robot. The foot 10 includes a foot base 20 and two limiting components 30. The foot base 20 is provided with two spaced-apart insertion holes 21. The two limiting components 30 have the same structure and are respectively installed on the two insertion holes 21. The two limiting components 30 on the foot 10 are respectively connected to two ground rail main seats 41 to support two adjacent ground rail main seats 41. Multiple ground rail main seats 41 are connected by multiple foot 10s to form a track 40. The foot 10 can adjust the height and angle of the corresponding ground rail main seat 41 to meet the requirements of the robot's seventh axis for the flatness of the track 40. Several positioning pins 42 are pre-installed between the joints of the two ground rail main seats 41 to play a role in positioning and connection.

[0020] The limiting assembly 30 includes a bolt 31, a cap rod 32, a first nut 33, a first adjusting pad 34, a second adjusting pad 35, and a second nut 36. The bolt 31 passes through the limiting hole of the lug 411 in the corresponding ground rail main seat 41. The first adjusting pad 34 abuts against the bottom of the lug 411 in the ground rail main seat 41, and the second adjusting pad 35 abuts against the top of the lug 411 in the ground rail main seat 41. The bolt 31 passes sequentially from the bottom of the foot seat 20 through the corresponding insertion hole 21, the first nut 33, the cap rod 32, the first adjusting pad 34, and the second adjusting pad 35 before engaging with the foot seat 20. The second nut 36 is threaded, and the first nut 33 is located above the foot 20. The first nut 33 is sleeved on the cap rod 32 and threadedly connected to the cap rod 32. Here, neither the cap rod 32 nor the first nut 33 is threadedly connected to the bolt 31. The first adjusting pad 34 and the second adjusting pad 35 can be tilted at an angle α relative to the axial direction of the bolt 31, so as to achieve the tilt correction of the ground rail main seat 41 in a surface contact state, so as to meet the requirements of the robot's seventh axis for the flatness of the track 40, thereby achieving a state of complete surface contact of each load-bearing connecting part in a completely uneven ground state.

[0021] It should be noted that if the foot 10 is installed on the main rail seat 41, and the foot 10 is on uneven ground, the bolt 31 passes sequentially from the bottom of the foot seat 20 through the corresponding insertion hole 21, the first nut 33, the cap rod 32, the first adjusting pad 34, the limiting hole of the main rail seat 41, and the second adjusting pad 35, and is then threadedly connected to the second nut 36. By rotating the cap rod 32, the cap rod 32 can be raised or lowered relative to the first nut 33, thereby adjusting the height of the main rail seat 41. During the ascent of rod 32, the cap rod 32 will lift the corresponding ground rail main seat 41. The first adjustment pad 34 and the second adjustment pad 35 can be tilted at an angle α relative to the axial direction of bolt 31. The first adjustment pad 34 and the second adjustment pad 35 will automatically correct the deviation of the ground rail main seat 41, so that the installation and debugging of the robot's seventh axis can be easily realized even on sites with poor ground unevenness. At the same time, it ensures that the flatness of the track 40 is not affected by the site and can maintain the stable operation of the robot under high dynamic load.

[0022] In some embodiments, the included angle α ranges from 85 to 90 degrees. That is, when the ground is uneven, the foot 10 will be tilted when installed on the ground. The maximum correction range of the foot 10 is less than or equal to 5°. At this time, the maximum tilt range of the ground is less than or equal to 5°. In the state of uneven ground, each load-bearing component, namely the first adjustment pad 34 and the second adjustment pad 35, is in full surface contact with the corresponding ground rail main seat 41 to ensure the horizontal flatness of the ground rail main seat 41 and to maintain the stability of the track 40 under high dynamic load impact.

[0023] Please refer to further information. Figures 2 to 9In this embodiment, the first adjusting pad 34 includes a first washer 341 arranged in an annular shape. The first washer 341 is sleeved on the bolt 31 and is located between the cap rod 32 and the second adjusting pad 35. The cap rod 32 has a first convex spherical surface 321 protruding on the side facing the second adjusting pad 35. The inner wall of the first washer 341 has a first concave spherical chamfer 3411 that matches the first convex spherical surface 321, so that the first washer 341 can tilt and rotate relative to the axial direction of the bolt 31, thereby ensuring that the top of the first washer 341 can always be in close contact with the bottom of the ground rail main seat 41 and have the maximum contact area with the ground rail main seat 41. The first washer 341 is the existing GB / T850-1998 concave spherical washer.

[0024] The second adjusting pad 35 includes a second washer 351 and a third washer 352 arranged in an annular shape. Both the second washer 351 and the third washer 352 are fitted onto the bolt 31, and the third washer 352 is located between the second washer 351 and the second nut 36. The second washer 351 can be inclined at an angle α relative to the axial direction of the bolt 31, and the third washer 352 and the second nut 36 are always aligned.

[0025] The third washer 352 has a second convex spherical surface 3521 protruding from the side facing the first nut 33. The inner diameter of the hole in the third washer 352 is smaller than the inner diameter of the hole in the second washer 351. The inner wall of the second washer 351 has a second concave spherical chamfer 3511 that mates with the second convex spherical surface 3521. The top of the third washer 352 is in close contact with the second nut 36, and the bottom of the second washer 351 is in close contact with the main base 41 of the ground rail. When the ground is uneven, causing the foot 20 to tilt... When tilted, rotating the cap rod 32 causes the ground rail main seat 41 to rotate together with the second washer 351 relative to the third washer 352 within the included angle α. The second washer 351 and the ground rail main seat 41 remain stationary relative to each other, as do the third washer 352 and the second nut 36. The second washer 351 is the existing GB / T850-1998 concave spherical washer, and the third washer 352 is the existing GB / T849-1998 convex spherical washer.

[0026] The cap rod 32 has a through hole 322 along its axial direction. The cap rod 32 includes an external threaded sleeve 323 and a button 324 protruding from the external threaded sleeve 323. The through hole 322 passes through the button 324 and the external threaded sleeve 323 in sequence. The outer diameter of the button 324 is larger than the outer diameter of the external threaded sleeve 323. The bolt 31 passes through the through hole 322. The external threaded sleeve 323 is threadedly connected to the first nut 33. The button 324 abuts against the first adjusting pad 34. The external threaded sleeve 323 is partially inserted into the insertion hole 21. The structure of the button 324 is similar to a nut without internal threads. By holding the button 324 and rotating the cap rod 32, the height of the corresponding ground rail main seat 41 in the seventh axis of the robot can be adjusted.

[0027] In this embodiment, the bolt 31 includes a bolt head 311 and a threaded rod 312 connecting the bolt head 311. The foot 20 is provided with at least two grooves 22, at least two connecting holes 23, and at least two receiving grooves 24. The number of grooves 22, connecting holes 23, and receiving grooves 24 are all three. The grooves 22 are located at the top of the foot 20, and the receiving grooves 24 are located at the bottom of the foot 20. The inner diameter of both the grooves 22 and the receiving grooves 24 is larger than the inner diameter of the connecting holes 23. One end of the connecting hole 23 communicates with the corresponding groove 22, and the other end communicates with the corresponding receiving groove 24. The grooves 22 and the corresponding connecting holes 23 constitute the aforementioned bolt. Hole 21, bolt head 311 is located in receiving groove 24, screw 312 passes through insertion hole 21, the outer diameter of first nut 33 is larger than the inner diameter of groove 22, groove 22 is circular, external thread sleeve 323 is partially inserted into groove 22. It should be noted that when the foot 10 is installed at the end of the entire track 40, only one limiting component 30 needs to be inserted into the insertion hole 21 in the middle of the foot seat 20 to support the main rail seat 41. When the foot 10 is used to connect two adjacent main rail seats 41, two limiting components 30 need to be inserted into the insertion holes 21 at both ends of the foot seat 20 to support the two adjacent main rail seats 41.

[0028] In some embodiments, the limiting component 30 further includes a wire retaining ring 37, which is located in the groove 22 and sleeved on the outer side wall of the cap rod 32. The wire retaining ring 37 is located at the end of the cap rod 32 away from the second nut 36. The wire retaining ring 37 can limit the first nut 33 and prevent the first nut 33 from falling off the cap rod 32 due to excessive rotation.

[0029] In some embodiments, the foot 20 includes a base 25 and a plurality of spaced-apart blocks 26. The insertion hole 21 and the receiving groove 24 are both provided on the base 25. The blocks 26 protrude from the bottom of the base 25 and abut against the corresponding bolts 31 so as to restrict the rotation of the bolt head 311 during operation. The blocks 26 are located in the receiving groove 24.

[0030] In some embodiments, the foot 20 is further provided with a plurality of positioning holes 27 for screws to pass through, so as to fix the foot 20 to the ground or machine platform using screws.

[0031] This utility model also provides a seventh axis for a robot, including a track 40, a slide 50, and multiple feet 10 as described above. The track 40 is formed by splicing multiple rail main seats 41 through several positioning pins 42. The multiple feet 10 are respectively connected to the corresponding rail main seats 41. The slide 50 is slidably installed on the track 40, and the robot can be installed on the slide 50.

[0032] The working principle of foot 10: Each main rail seat 41 is equipped with four feet 10. The feet 10 can be shared at the connection between two adjacent main rail seats 41. During installation, the bolt 31 in one of the limiting components 30 is passed from the bottom of the foot seat 20 through the corresponding insertion hole 21, the first nut 33, the cap rod 32, the first washer 341, the limiting hole of the main rail seat 41, the second washer 351, and the annularly arranged third washer 352, and then threadedly connected to the second nut 36. The first nut 33 is located above the foot seat 20. The first nut 33 is sleeved on the cap rod 32 and threadedly connected to the cap rod 32. Then, the other main rail seat 41 is positioned and installed in the same order using another limiting component 30. If the ground under the footplate 10 is uneven, for one of the main rail seats 41, rotate the corresponding cap rod 32 to raise or lower the cap rod 32 relative to the first nut 33. Alternatively, rotate the first nut 33 to adjust the height of the corresponding main rail seat 41. At this time, the first washer 341 rotates relative to the cap rod 32 in the axial direction of the bolt 31 until the main rail seat 41 is in a horizontal state. Tighten the second nut 36, and the second washer 351 rotates relative to the third washer 352 in the axial direction of the bolt 31 to complete the horizontal adjustment of the main rail seat 41. The other main rail seat 41 can be adjusted in the same way.

[0033] In summary, both bolts 31 of this utility model are connected to the foot 20 with a large clearance. When the ground is uneven and the foot 20 is tilted, the height of the corresponding ground rail main seat 41 can be adjusted by rotating the adjusting cap rod 32. The first adjusting pad 34 and the second adjusting pad 35 can be tilted at an angle α relative to the axis of the bolt 31, which can correct the tilt of the ground rail main seat 41 in a surface contact state, so as to meet the requirements of the robot's seventh axis for the flatness of the track 40. This achieves a state of complete surface contact of all load-bearing connecting parts in a completely uneven ground state, extends the service life of the main components in the robot's seventh axis, and enables easy installation and debugging of the robot's seventh axis in places with poor ground unevenness. It ensures that the flatness of the robot's seventh axis is not affected by the ground, and can maintain the stable operation of the robot under high dynamic load, thus improving positioning accuracy.

[0034] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A type of foot, characterized in that, include: The base has two spaced-apart sockets; Two limiting components are provided, each including a cap rod, a first nut, a second nut, a bolt for passing through a lug in the corresponding ground rail main seat, a first adjusting pad for abutting the bottom of the lug in the ground rail main seat, and a second adjusting pad for abutting the top of the lug in the ground rail main seat. The bolt passes sequentially from the bottom of the foot seat through the corresponding insertion hole, the first nut, the cap rod, the first adjusting pad, and the second adjusting pad, and is then threadedly connected to the second nut. The first nut is sleeved on the cap rod and threadedly connected to it. The first adjusting pad and the second adjusting pad can be inclined at an angle α relative to the axial direction of the bolt.

2. The footrest according to claim 1, characterized in that, The first adjusting pad includes a first washer, which is sleeved on the bolt and located between the cap rod and the second adjusting pad. The cap rod has a first convex spherical surface on the side facing the second adjusting pad. The first washer is a concave spherical washer, and the inner wall of the first washer has a first concave spherical chamfer that matches the first convex spherical surface.

3. The footrest according to claim 1, characterized in that, The second adjusting pad includes a second washer and a third washer. Both the second washer and the third washer are fitted onto the bolt, and the third washer is located between the second washer and the second nut. The second washer can be tilted at an angle α relative to the axial direction of the bolt.

4. The footrest according to claim 3, characterized in that, The third washer is a spherical washer, and the side of the third washer facing the first nut has a second convex spherical surface. The second washer is a concave spherical washer, and the inner wall of the second washer has a second concave spherical chamfer that matches the second convex spherical surface.

5. The footrest according to claim 1, characterized in that, The cap rod has a through hole along its axial direction. The cap rod includes an external threaded sleeve and a button protruding from the external threaded sleeve. The through hole passes through the button and the external threaded sleeve in sequence. The bolt passes through the through hole. The external threaded sleeve is threadedly connected to the first nut. The button abuts against the first adjusting pad. The external threaded sleeve is partially inserted into the insertion hole.

6. The footrest according to claim 1, characterized in that, The bolt includes a bolt head and a threaded rod connecting the bolt head. The base has at least two grooves, at least two connecting holes, and at least two receiving grooves. The grooves are located at the top of the base, and the receiving grooves are located at the bottom of the base. The inner diameters of the grooves and the receiving grooves are both larger than the inner diameters of the connecting holes. One end of the connecting hole communicates with the corresponding groove, and the other end communicates with the corresponding receiving groove. The grooves and the corresponding connecting holes constitute the insertion hole. The bolt head is located in the receiving groove, and the threaded rod passes through the insertion hole. The outer diameter of the first nut is larger than the inner diameter of the groove.

7. The footing according to claim 6, characterized in that, The foot includes a base and a plurality of stops for limiting the rotation of the bolt. The insertion hole is provided on the base, and the stops protrude from the bottom of the base and abut against the corresponding bolt head.

8. The footrest according to claim 1, characterized in that, The foot is also provided with multiple positioning holes for screws to pass through.

9. The footrest according to claim 1, characterized in that, The included angle α ranges from 85 to 90 degrees.

10. A seventh axis for a robot, characterized in that, Including the foot as described in any one of claims 1-9.

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