Robot seventh axis

Abstract

The utility model discloses a robot seventh axis, including track, sliding table and a plurality of ground pin, track includes a plurality of positioning pin, a plurality of sequentially connected base and a plurality of respectively install in the guide strip of base both sides, and the base is equipped with a plurality of pinholes and a plurality of limit hole, and the both ends of positioning pin are connected with two pinholes respectively, sliding table includes pedestal and gyro wheel subassembly, and the pedestal includes the deck and two respectively set in the both ends of deck bottom side plate, and gyro wheel subassembly includes a plurality of first support wheel, a plurality of second support wheel and a plurality of third support wheel, and each first support wheel, each second support wheel and each third support wheel are equally divided and respectively installed on both side plates, and the top of first support wheel is in abutment with the guide strip, and the bottom of second support wheel is in abutment with the guide strip, and the outside end of third support wheel is in abutment with the guide strip, and the ground pin includes foot base and two limit components, and the foot base is equipped with two insertion hole, and the limit component is connected with the limit hole after passing through the insertion hole, and the base is oblique to the axis direction of limit component and presents the angle alpha.

Description

Technical Field

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

[0002] The seventh axis of a robot, also known as the ground rail 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. The seventh axis of a robot generally adopts a gear and rack + linear slider rail transmission method. The robot is installed on the slider and moves with the slider. The bottom of the rail is supported by multiple feet. The height of the rail at the corresponding position can be adjusted by adjusting the feet.

[0003] However, due to the limitations of site flatness, the installation and debugging of the robot's seventh axis is quite difficult when the site is uneven, and the problem of uneven slide rails is very easy to occur. In addition, the slider and slide rail in the linear slider-slide rail transmission method are supported by ball bearings, which has high frictional resistance. Under high speed and heavy load, this will seriously shorten the service life of the main load-bearing components in the robot's seventh axis, making the slider and slide rail easy to be damaged. The service life is basically no more than one year, which is short and cannot meet the needs of social development, making it unsuitable for large-scale promotion. Utility Model Content

[0004] The purpose of this utility model is to provide a seventh axis for a robot, which solves the problem that existing robot seventh axes are limited by the flatness of the ground. When the ground is uneven, the installation and debugging of the robot seventh axis is difficult, and the problem of uneven slide rails is easy to occur. In addition, the ball bearing support between the slider and the slide rail has high frictional resistance, which will seriously shorten the service life of the main components of the robot seventh axis under high speed and heavy load. The service life of the slider and the slide rail is basically no more than one year. The short service life cannot meet the needs of social development and is not suitable for large-scale promotion.

[0005] This utility model is implemented as follows: This utility model provides a seventh axis for a robot, including: The track includes multiple bases connected in sequence, multiple guide bars respectively installed on both sides of the bases, and multiple positioning pins spaced apart. The guide bars protrude from the corresponding bases. The guide bars are made of high-strength steel bars. Multiple pin holes are provided at both ends of the bases. The two ends of the positioning pins are movably connected to two of the pin holes respectively. A sliding table includes a base and a roller assembly. The base includes a platform for fixing a robot and two side plates protruding from the bottom ends of the platform. The roller assembly includes a plurality of first support wheels, a plurality of second support wheels, and a plurality of third support wheels. Each of the first support wheels, each of the second support wheels, and each of the third support wheels are equally mounted on the two side plates. The first support wheel abuts against the top of the corresponding guide bar, the second support wheel abuts against the bottom of the corresponding guide bar, and the third support wheel abuts against the outer end of the corresponding guide bar. The base has multiple feet, and each end of the base is provided with multiple limiting holes. Each foot includes a foot base and two limiting components. The foot base is provided with two spaced-apart insertion holes. The limiting components pass through the corresponding insertion holes from the bottom of the foot base and connect to the limiting holes. The base can tilt at an angle α relative to the axial direction of the corresponding limiting components.

[0006] Furthermore, the side plate is provided with multiple through holes, and the third support wheel is horizontally installed on the inner wall of the corresponding through hole.

[0007] Furthermore, the slide table also includes a drive assembly, which includes a motor, a reducer mounted on the output end of the motor, and a gear mounted on the output end of the reducer. Both the reducer and the motor are laterally arranged on the outer wall of the platform, and the reducer is a right-angle reducer. The track also includes multiple racks, the base has a through cavity, the racks are mounted on the inner wall of the cavity, and the gears mesh with the racks.

[0008] Furthermore, the limiting assembly includes a bolt, a cap rod, a first adjusting pad, a second adjusting pad, a first nut, and a second nut. The bolt passes sequentially from the bottom of the base through the corresponding insertion hole, the first nut, the cap rod, the first adjusting pad, the limiting hole, 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 are respectively inclined at an angle α relative to the axial direction of the bolt.

[0009] 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.

[0010] 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 third washer is a spherical washer, and a second convex spherical surface is provided on the side of the third washer facing the first nut. 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.

[0011] 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.

[0012] Furthermore, the bolt includes a bolt head and a threaded rod connecting the bolt head. The foot is provided with two grooves, two connecting holes, and two receiving grooves. The grooves are located at the top of the base, 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.

[0013] Furthermore, the foot includes a base and a plurality of stops for restricting the rotation of the bolt. The insertion hole and the receiving groove are both provided on the base, and the stops protrude from the inner wall of the receiving groove and abut against the corresponding bolt head.

[0014] Furthermore, the included angle α ranges from 85 to 90 degrees.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: When the ground is uneven and the foot is tilted, the base can tilt at an angle α relative to the axis of the corresponding limiting component. This allows for correction of the tilted base in a surface-contact state, meeting the requirements of the robot's seventh axis for track flatness. This enables easy installation and debugging of the robot's seventh axis even on uneven ground. The robot's seventh axis has a stronger bearing capacity, effectively solving a series of problems caused by uneven installation ground. The slide and track use a roller support connection instead of the previous ball support connection, reducing frictional resistance. The guide bar is made of high-strength steel, which effectively improves the slide's running speed and load-bearing capacity, extending its service life by more than three times. The low heat generation during high-speed operation of the slide extends the service life of the slide and guide bar under high loads. The faster running speed allows the robot's seventh axis to operate at high speeds and high loads while maintaining the running accuracy of the ground track and ensuring stable operation of the robot under high dynamic loads. This meets the needs of social development and is suitable for widespread application. Attached Figure Description

[0016] Figure 1 A schematic diagram of the structure of the seventh axis of the robot provided in this embodiment of the utility model; Figure 2 for Figure 1 A magnified view of a portion of point A in the middle; Figure 3 for Figure 1 Exploded view; Figure 4 A schematic diagram of the structure of the ground track main seat provided in an embodiment of this utility model; Figure 5 Schematic diagram of the slide table provided in the embodiment of this utility model Figure 1 ; Figure 6 Schematic diagram of the slide table provided in the embodiment of this utility model Figure 2 ; Figure 7 A schematic diagram of the base structure provided in an embodiment of this utility model; Figure 8 for Figure 7 Exploded view; Figure 9 A schematic diagram of the structure of the cap rod provided in an embodiment of this utility model; Figure 10 This is a schematic diagram of the structure of the first washer provided in an embodiment of the present utility model; Figure 11 This is a schematic diagram of the structure of the third washer provided in an embodiment of the present utility model; Figure 12 This is a schematic diagram of the structure of the foot after removing one limiting component, as provided in an embodiment of the present utility model.

[0017] In the picture: 10. Track; 11. Base; 111. Pin hole; 112. Limiting hole; 113. Cavity; 12. Guide bar; 13. Positioning pin; 14. Main base of ground track; 15. Rack; 16. Lug; 20. Slide table; 21. Platform; 211. Table; 212. Side plate; 2121. Through hole; 22. Roller assembly; 221. First support wheel; 222. Second support wheel; 223. Third support wheel; 23. Drive assembly; 231. Motor; 232. Reducer; 24. Lubrication assembly; 241. Automatic lubricator; 30. Foot; 31. Foot base; 311. Insertion hole; 312. Groove; 313. Connecting hole; 3 14. Receiving groove; 315. Seat body; 316. Stop block; 317. Positioning hole; 318. Mounting hole; 32. Limiting component; 33. Bolt; 331. Bolt head; 332. Screw; 34. Cap rod; 341. First convex spherical surface; 342. Through hole; 343. External threaded sleeve; 344. Button block; 35. First adjusting pad; 351. First washer; 3511. First concave spherical chamfer; 36. Second adjusting pad; 361. Second washer; 3611. Second concave spherical chamfer; 362. Third washer; 3621. Second convex spherical surface; 37. First nut; 38. Second nut; 39. Wire retaining ring. 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 8 As shown, this utility model embodiment discloses a seventh axis of a robot, including a track 10, a slide 20, and multiple feet 30. The track 10 includes multiple bases 11, multiple guide bars 12, and multiple spaced positioning pins 13. The multiple bases 11 are connected in sequence and arranged in a straight line. The multiple guide bars 12 are installed on both sides of the base 11 along the length direction of the track 10. Each base 11 is equipped with at least two guide bars 12. A base 11 and the corresponding guide bars 12 installed on it constitute a ground rail main seat 14. The number of ground rail main seats 14 is set according to actual needs. The guide bars 12 protrude from the corresponding base 11 in the width direction. The guide bars 12 are made of high-strength steel bars. The two ends of the base 11 are respectively provided with multiple pin holes 111 and multiple limiting holes 112. The two ends of the positioning pins 13 are movably connected to the two pin holes 111, so that two adjacent ground rail main seats 14 are movably connected.

[0020] The slide table 20 includes a base 21 and a roller assembly 22. The base 21 includes a platform 211 for fixing the robot and two side plates 212 protruding from the bottom sides of the platform 211. The roller assembly 22 includes multiple first support wheels 221, multiple second support wheels 222, and multiple third support wheels 223. Each first support wheel 221, each second support wheel 222, and each third support wheel 223 is equally distributed and installed on the two side plates 212. The first support wheels 221 abut against the top of the corresponding guide bars 12, mainly to bear the gravity load of the slide table 20 and improve the running stability of the slide table 20. The second support wheels 222 abut against the bottom of the corresponding guide bars 12 to further provide reliable stability for the operation of the slide table 20 and prevent the slide table 20 from tipping over during operation. The third support wheels 223 abut against the outer end of the corresponding guide bars 12 to ensure the straightness of the slide table 20 and correct its deviation.

[0021] The foot 30 includes a foot base 31 and two limiting components 32. The two limiting components 32 have the same structure. The foot base 31 is provided with two spaced-apart insertion holes 311. The limiting components 32 pass through the corresponding insertion holes 311 from the bottom of the foot base 31 and connect with the limiting holes 112 to connect two adjacent bases 11. The base 11 can be tilted at an angle α relative to the axial direction of the corresponding limiting component 32 to achieve tilt correction of the main rail base 14 in a surface contact state.

[0022] In this embodiment, there are four of each of the multiple first support wheels 221, multiple second support wheels 222, and multiple third support wheels 223. The four first support wheels 221 are located directly above the four second support wheels 222. The first support wheels 221, second support wheels 222, and third support wheels 223 are all steel guide wheels. Steel guide wheels can withstand a greater load. The outer diameter of the first support wheel 221 is larger than the outer diameter of the second support wheel 222. The second support wheel 222 is an eccentric wheel. When the slide table 20 is running, the eccentric wheel can be rotated to adjust the contact surface between the corresponding steel guide wheel and the guide bar 12 to reach a certain preload, ensuring the running accuracy of the slide table 20 and preventing problems from occurring during operation.

[0023] The side plate 212 is provided with multiple through holes 2121, and there are four through holes 2121. The through holes 2121 are square structures. The third support wheel 223 is horizontally installed on the inner wall of the corresponding through hole 2121. The third support wheel 223 protrudes out of the corresponding through hole 2121 so as to contact the outer wall of the corresponding guide bar 12.

[0024] The slide table 20 also includes a drive assembly 23, which includes a motor 231, a reducer 232 mounted on the output end of the motor 231, and a gear mounted on the output end of the reducer 232. The reducer 232 and the motor 231 are both arranged laterally on the outer wall of the base 21. The reducer 232 is a right-angle reducer 232 to meet the installation requirements of the drive assembly 23.

[0025] The track 10 also includes multiple racks 15. The base 11 has a cavity 113 extending through it along its length. The racks 15 are mounted on the inner wall of the cavity 113. The gears mesh with the racks 15. The motor 231 can drive the gears to rotate, thereby driving the entire slide 20 to move relative to the track 10 through the rotation of the gears. The gears are helical gears, and the racks 15 are helical racks. The speed of the slide 20 in the seventh axis of the robot can reach 2.8 m / s, which is nearly three times higher than the speed of the seventh axis of a traditional robot. The repeatability accuracy can reach 0.06 mm, which greatly extends the service life of the key guide bar 12 and the steel guide wheel.

[0026] The slide table 20 also includes multiple lubrication components 24. There are four lubrication components 24, which are arranged in pairs to correspond to two corresponding guide bars 12. Each lubrication component 24 includes an automatic lubricator 241 and a pipeline. The automatic lubricator 241 is used to be set in correspondence with the corresponding guide bar 12. One end of the pipeline is connected to the automatic lubricator 241, and the other end of the pipeline is used to be connected to the external host. The automatic lubricator 241 is installed on the base 21 and electrically connected to the host. The host provides lubricating oil to the automatic lubricator 241 through the pipeline to lubricate the corresponding guide bar 12.

[0027] Please refer to further information. Figures 2 to 4 ,as well as Figures 7 to 12 In this embodiment, two lugs 16 are respectively provided at both ends of the base 11. Each lug 16 is provided with a limiting hole 112 and a pin hole 111. The limiting component 32 includes a bolt 33, a cap rod 34, a first adjusting pad 35, a second adjusting pad 36, a first nut 37, and a second nut 38. The bolt 33 passes through the corresponding insertion hole 311, the first nut 37, the cap rod 34, the first adjusting pad 35, the limiting hole 112, and the second adjusting pad 36 in sequence from the bottom of the base 11 and is threadedly connected to the second nut 38. The first nut 37 is sleeved on the cap rod 34 and threadedly connected to the cap rod 34. The first adjusting pad 35 and the second adjusting pad 36 can be tilted at an angle α relative to the axial direction of the bolt 33, that is, tilted within a certain angle α range, so as to achieve the tilt correction of the ground rail main seat 14 in the state of surface contact, so as to meet the requirements of the robot's seventh axis for the flatness of the track 10, thereby achieving the state of complete surface contact of each load-bearing connecting component in the state of completely uneven ground.

[0028] It should be noted that if the foot 30 is installed on the track 10, and the foot 30 is on uneven ground, the bolt 33 passes sequentially from the bottom of the base 11 through the corresponding insertion hole 311, the first nut 37, the cap rod 34, the first adjusting pad 35, the limiting hole 112 of the main rail seat 14, and the second adjusting pad 36, and is then threadedly connected to the second nut 38. By rotating the cap rod 34, the cap rod 34 can be raised or lowered relative to the first nut 37, thereby adjusting the height of the main rail seat 14. During the ascent of the cap rod 34, the cap rod 34 will lift the corresponding ground rail main seat 14. The first adjustment pad 35 and the second adjustment pad 36 can be tilted at an angle α relative to the axial direction of the bolt 33. The first adjustment pad 35 and the second adjustment pad 36 will automatically correct the deviation of the ground rail main seat 14, 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 10 is not affected by the site and can maintain the stable operation of the robot under high dynamic load.

[0029] In some embodiments, the included angle α ranges from 85 to 90 degrees. That is, when the ground is uneven, the foot 30 will be tilted when installed on the ground. At this time, the maximum tilt range of the ground is less than or equal to 5°. Under the condition of uneven ground, the tilt range of the first adjustment pad 35 and the second adjustment pad 36 is less than or equal to 5°, ensuring the horizontal flatness of the track 10 and maintaining the stability of the track 10 under high dynamic load impact.

[0030] In this embodiment, the first adjusting pad 35 includes a first washer 351, which is sleeved on the bolt 33. The first washer 351 is located between the cap rod 34 and the second adjusting pad 36. The cap rod 34 has a first convex spherical surface 341 protruding on the side facing the second adjusting pad 36. The inner wall of the first washer 351 has a first concave spherical chamfer 3511 that matches the first convex spherical surface 341, so that the first washer 351 can tilt and rotate relative to the axial direction of the bolt 33, thereby ensuring that the top of the first washer 351 can always be in close contact with the bottom of the guide bar 12 and have the maximum contact area with the guide bar 12. The first washer 351 is the existing GB / T850-1998 concave spherical washer.

[0031] The second adjusting pad 36 includes a second washer 361 and a third washer 362. Both the second washer 361 and the third washer 362 are fitted onto the bolt 33, with the third washer 362 located between the second washer 361 and the second nut 38. The third washer 362 has a second convex spherical surface 3621 protruding from the side facing the first nut 37. The inner diameter of the hole in the third washer 362 is smaller than the inner diameter of the hole in the second washer 361. The inner wall of the second washer 361 has a second concave spherical chamfer 3611 that mates with the second convex spherical surface 3621. The top of the third washer 362 is tightly closed. The bottom of the second washer 361 is attached to the guide bar 12. When the base 11 is tilted due to uneven ground, the cap bar 34 is rotated. The guide bar 12 can drive the second washer 361 to tilt and rotate relative to the third washer 362. The second washer 361 and the guide bar 12 remain stationary relative to each other, and the third washer 362 and the second nut 38 remain stationary relative to each other. The second washer 361 is the existing GB / T850-1998 concave spherical washer, and the third washer 362 is the existing GB / T849-1998 convex spherical washer.

[0032] The cap rod 34 has a through hole 342 along its axial direction. The cap rod 34 includes an external threaded sleeve 343 and a button 344 protruding from the external threaded sleeve 343. The outer diameter of the button 344 is larger than the outer diameter of the external threaded sleeve 343. The through hole 342 passes through the button 344 and the external threaded sleeve 343 in sequence. The bolt 33 passes through the through hole 342. The external threaded sleeve 343 is threadedly connected to the first nut 37. The button 344 abuts against the first adjusting pad 35. The external threaded sleeve 343 is partially inserted into the insertion hole 311. By holding the button 344 and rotating the cap rod 34, the height of the corresponding guide bar 12 in the seventh axis of the robot can be adjusted.

[0033] In this embodiment, the bolt 33 includes a bolt head 331 and a screw 332 connecting the bolt head 331. The foot 31 is provided with two grooves 312, two connecting holes 313, and two receiving grooves 314. The grooves 312 are located at the top of the base 11, and the receiving grooves 314 are located at the bottom of the foot 31. The inner diameters of the grooves 312 and the receiving grooves 314 are both larger than the inner diameter of the connecting holes 313. One end of the connecting hole 313 is connected to the corresponding groove 312, and the other end is connected to the corresponding receiving groove 314. The grooves 312 and the corresponding connecting holes 313 constitute the insertion hole 311. The bolt head 331 is located in the receiving groove 314, and the screw 332 passes through the insertion hole 311. The outer diameter of the first nut 37 is larger than the inner diameter of the groove 312. The groove 312 is circular, and the external threaded sleeve 343 is partially inserted into the groove 312.

[0034] In some embodiments, the base 11 is also provided with a mounting hole 318, which is located between two insertion holes 311. When the foot 30 is installed at the end of the entire track 10, the mounting hole 318 can be used for the insertion of bolts 33. The structure of the mounting hole 318 can be designed as needed.

[0035] In some embodiments, the limiting component 32 further includes a wire retaining ring 39, which is located in the groove 312 and sleeved on the outer side wall of the cap rod 34. The wire retaining ring 39 is located at the end of the cap rod 34 away from the second nut 38. The wire retaining ring 39 can limit the first nut 37 and prevent the first nut 37 from falling off the cap rod 34 due to excessive rotation.

[0036] The foot 31 includes a base 315 and a plurality of stops 316 for limiting the rotation of the bolt 33. The insertion hole 311 and the receiving groove 314 are both provided on the base 315. The stops 316 protrude from the inner wall of the receiving groove 314 and abut against the corresponding bolt head 331, so as to limit the rotation of the bolt 33 during operation. The stops 316 are located on the bottom wall inside the receiving groove 314.

[0037] In some embodiments, the foot 31 is further provided with a plurality of positioning holes 317 for screws to pass through, so as to fix the base 11 to the ground or machine platform using screws.

[0038] The steps for using the robot's seventh axis are as follows: Step S101: Assemble the slide table 20. First, install the four first support wheels 221 and the four second support wheels 222 on the side plates 212 at both ends of the base 21 respectively. Install the four second support wheels 222 in the corresponding through holes 2121 of the two side plates 212 respectively. Then, install the gear on the motor 231 through the reducer 232. The reducer 232 is installed horizontally on the outer side wall of the base 21. The reducer 232 is a right-angle reducer 232. Finally, install the four lubrication components 24 at the four corners of the base 21 respectively. Step S102: Assemble the track 10. First, connect the two ends of each positioning pin 13 to the two pin holes 111 in the corresponding base 11. Then, the bolt 33 in one of the limiting components 32 of the foot 30 passes through the corresponding insertion hole 311, the first nut 37, the cap rod 34, the annular first washer 351, the limiting hole 112 of the ground rail main seat 14, the annular second washer 361, and the annular third washer 362 from the bottom of the base 11 and is threaded to the second nut 38. The first nut 37 is located above the base 11 and is sleeved on the cap rod 34 and threaded to the cap rod 34. Then, use another limiting component 32 to position and install the other ground rail main seat 14 in the same order, and so on. Step S103: Install the slide table 20 on the track 10. Insert the slide table 20 into the track 10 from the end of the track 10. The four first support wheels 221 in the slide table 20 abut against the top of the corresponding two guide bars 12 in the track 10, the four second support wheels 222 abut against the bottom of the two guide bars 12, and the four third support wheels 223 abut against the outer ends of the two guide bars 12. The gear meshes with the rack 15 in the track 10 to complete the assembly. Step S104: Debugging. When the ground under the foot 30 is uneven, both adjacent main rail seats 14 will be uneven. For one of the main rail seats 14, rotate the corresponding cap rod 34 to raise or lower the cap rod 34 relative to the first nut 37. Alternatively, rotate the first nut 37 to adjust the height of the corresponding main rail seat 14. At this time, the first washer 351 rotates relative to the cap rod 34 in the axial direction of the bolt 33 until the main rail seat 14 is horizontal. Tighten the second nut 38, and the second washer 361 rotates relative to the third washer 362 in the axial direction of the bolt 33 to complete the horizontal adjustment of the main rail seat 14. The other main rail seat 14 can be adjusted in the same way. The seventh axis of this robot can be used to load various handling equipment, such as elevators, forks, and various conveying devices.

[0039] In summary, when the uneven ground causes the foot 31 to tilt, the base 11 can tilt at an angle α relative to the axis of the corresponding limiting component 32. This allows for correction of the tilt of the base 11 in a surface-contact state, meeting the requirements of the robot's seventh axis for the flatness of the track 10. This enables easy installation and debugging of the robot's seventh axis even on uneven ground. The robot's seventh axis has a stronger bearing capacity, effectively solving a series of problems caused by uneven installation ground. The roller support connection between the slide table 20 and the track 10 replaces the previous ball support connection, reducing frictional resistance. Furthermore, the guide bar 12 is made of high-strength steel, which effectively improves the running speed and load-bearing capacity of the slide table 20, extending its service life by more than three times. The low heat generated during high-speed operation of the slide table 20 extends the service life of both the slide table 20 and the guide bar 12, resulting in faster running speeds. This allows the robot's seventh axis to operate at high speeds and high loads while maintaining the running accuracy of the ground track and ensuring stable operation of the robot under high dynamic loads, meeting the needs of social development and making it suitable for widespread adoption.

[0040] 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 seventh axis for a robot, characterized in that, include: The track includes multiple bases connected in sequence, multiple guide bars respectively installed on both sides of the bases, and multiple positioning pins spaced apart. The guide bars protrude from the corresponding bases. The guide bars are made of high-strength steel bars. The two ends of the bases are respectively provided with multiple pin holes and multiple limiting holes. The two ends of the positioning pins are movably connected to the two pin holes respectively. A sliding table includes a base and a roller assembly. The base includes a platform for fixing a robot and two side plates protruding from the bottom ends of the platform. The roller assembly includes a plurality of first support wheels, a plurality of second support wheels, and a plurality of third support wheels. Each of the first support wheels, each of the second support wheels, and each of the third support wheels are equally mounted on the two side plates. The first support wheel abuts against the top of the corresponding guide bar, the second support wheel abuts against the bottom of the corresponding guide bar, and the third support wheel abuts against the outer end of the corresponding guide bar. Multiple feet, each foot including a base and two limiting components, the base having two spaced-apart holes, the limiting components passing through the corresponding holes from the bottom of the base and connecting to the limiting holes, the base being able to tilt at an angle α relative to the axial direction of the corresponding limiting components.

2. The seventh axis of the robot according to claim 1, characterized in that, The side plate is provided with multiple through holes, and the third support wheel is installed laterally on the inner wall of the corresponding through hole.

3. The seventh axis of the robot according to claim 1, characterized in that, The slide table also includes a drive assembly, which includes a motor, a reducer mounted on the output end of the motor, and a gear mounted on the output end of the reducer. The reducer and the motor are both arranged laterally on the outer wall of the platform, and the reducer is a right-angle reducer. The track also includes multiple racks, the base has a through cavity, the racks are mounted on the inner wall of the cavity, and the gears mesh with the racks.

4. The seventh axis of the robot according to claim 1, characterized in that, The limiting assembly includes a bolt, a cap rod, a first adjusting pad, a second adjusting pad, a first nut, and a second nut. The bolt passes sequentially from the bottom of the base through the corresponding insertion hole, the first nut, the cap rod, the first adjusting pad, the limiting hole, 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 are respectively inclined at an angle α relative to the axial direction of the bolt.

5. The seventh axis of the robot according to claim 4, 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.

6. The seventh axis of the robot according to claim 4, 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 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.

7. The seventh axis of the robot according to claim 4, 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.

8. The seventh axis of the robot according to claim 4, characterized in that, The bolt includes a bolt head and a threaded rod connecting the bolt head. The base has two grooves, two connecting holes, and 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 form 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.

9. The seventh axis of the robot according to claim 8, characterized in that, The foot includes a base and a plurality of stops for limiting the rotation of the bolt. The insertion hole and the receiving groove are both provided on the base. The stops protrude from the inner wall of the receiving groove and abut against the corresponding bolt head.

10. The seventh axis of the robot according to claim 1, characterized in that, The included angle α ranges from 85 to 90 degrees.

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