CN221291368U - Rotary support base module and upright robot - Google Patents

Abstract

The utility model relates to a slewing bearing base module, comprising: the device comprises a bottom bracket, a slewing bearing, a bottom plate and a driving assembly. The slewing bearing is horizontally arranged. The outer ring of the slewing bearing is fixedly connected with the bottom bracket, and convex teeth are arranged on the outer periphery side of the outer ring of the slewing bearing. The bottom plate is horizontally arranged and fixedly connected with the inner ring of the slewing bearing. The drive assembly includes: the planetary speed reducer is arranged on the bottom plate and connected with the rotating motor of the planetary speed reducer, the planetary speed reducer and the rotating motor are coaxial, and are both positioned on the outer side of the slewing bearing, and an output gear of the planetary speed reducer is meshed with the outer ring of the slewing bearing. A column robot is also provided. The planetary reducer and the rotating motor are matched, and then the planetary reducer is driven and supported by the slewing bearing, so that the purposes of reducing equipment cost, maintenance difficulty and maintenance cost are achieved, and the thickness of the compression equipment is facilitated.

Description

Rotary support base module and upright robot

Technical Field

The utility model relates to the technical field of robot design, in particular to a rotary support base module and a stand column robot comprising the same.

Background

Nowadays, with the development of technology, robot operation gradually replaces manual operation, and becomes a main labor operation unit. For some use situations requiring high load, such as stacking and carrying of cargoes, a column robot is often adopted to perform work, and the column robot usually uses columns as its main frame to ensure that the column robot can bear large load.

In a conventional column robot, the rotation of the column is typically powered by a drive assembly consisting of a motor and an RV reducer, and then transmitted to a main shaft of the column through a transmission, thereby driving the column to rotate. The drawbacks of this conventional design are:

The RV speed reducer is high in price and often has a market price of over ten thousand, and is based on the principle structural design requirement (the RV speed reducer consists of a front stage of a planetary speed reducer and a rear stage of a cycloidal pin gear speed reducer), so that the thickness of the RV speed reducer is generally large, the RV speed reducer belongs to a precise device, and is not beneficial to the thickness of compression equipment, the maintenance cost is high, and the maintenance difficulty is high;

2. The stand of the stand robot needs to bear a great load, so that the main shaft of the stand also needs to bear great pressure, the stand is easy to damage, and the ball bearings needed by the matched installation of the main shaft of the stand are also needed, which is not beneficial to the thickness of compression equipment.

Disclosure of utility model

Based on the above, the utility model provides the rotary support base module, which adopts the combination of the planetary reducer and the rotating motor, and then carries out transmission and bearing support through the rotary bearing, thereby achieving the purposes of reducing equipment cost, maintenance difficulty and maintenance cost and being beneficial to the thickness of compression equipment.

A slewing bearing base module comprising:

a bottom bracket;

A slewing bearing mounted on the bottom bracket; the slewing bearing is horizontally arranged; the outer ring of the slewing bearing is fixedly connected with the bottom bracket; convex teeth are arranged on the outer periphery side of the outer ring of the slewing bearing;

A bottom plate connected with the slewing bearing; the bottom plate is horizontally arranged and fixedly connected with the inner ring of the slewing bearing; and

A drive assembly mounted on the base plate; the drive assembly includes: a planetary reducer arranged on the bottom plate and a rotating motor connected with the planetary reducer; the planetary reducer and the rotating motor are coaxial and are positioned on the outer side of the slewing bearing; the output gear of the planetary reducer is meshed with the outer ring of the slewing bearing.

The rotary support base module is used for fixedly connecting the bottom plate with the bottom of the upright post. When the stand column is required to be driven to rotate, the rotating motor arranged on the bottom plate is driven to the outer ring of the slewing bearing after the output moment is increased through the planetary speed reducer. Because the outer ring of the slewing bearing is fixedly connected with the bottom bracket, the outer ring of the slewing bearing is also limited to be in a static state, and the rotating motor and the planetary reducer are forced to move along the outer periphery of the slewing bearing under the reaction force and then rotate to the upright post through the bottom plate, so that the upright post rotates. The thickness, cost and precision of the planetary reducer are smaller than those of the RV reducer, so that the cost, maintenance difficulty and maintenance cost of equipment can be reduced. Meanwhile, the slewing bearing is fixedly connected with the bottom plate to bear the upright post, so that a main shaft of the upright post and a matched ball bearing are avoided, the equipment structure is simplified, the load capacity of the equipment is improved, the upright post is not easy to damage, and the thickness of the equipment is reduced. Through the design, the planetary reducer and the rotating motor are matched, and then the planetary reducer is driven and supported by the slewing bearing, so that the purposes of reducing equipment cost, maintenance difficulty and maintenance cost are achieved, and the thickness of the compression equipment is facilitated.

In one embodiment, a first extension part is arranged on the outer side of the bottom bracket, and a first positioning hole is formed in the first extension part; the outer side of the bottom plate is provided with a second extension part, and the second extension part is provided with a second positioning hole; when the first extension part is aligned with the second extension part, the first positioning hole is communicated with the second positioning hole. When the zero position of the rotation of the upright post is required to be set or calibrated, the first extension part and the second extension part are opposite through the rotation of the bottom plate, the pin is inserted into the first positioning hole and the second positioning hole to lock the relative positions, and then the zero position setting or calibration operation of the equipment is performed.

In one embodiment, the slewing bearing base module further comprises: a lubrication gear mounted on the base plate; the lubrication gear is meshed with an output gear of the planetary reducer, and an oil penetration hole arranged along the radial direction of the lubrication gear is arranged on the peripheral side of the lubrication gear; the rotating shaft of the lubrication gear extends to the outside of the bottom plate and is provided with an oil guide groove communicated with the oil seepage hole. When the outer ring of the slewing bearing is required to be lubricated and maintained, lubricating oil can be directly injected into the oil guide groove from the outside of the bottom plate, is led in along the wheel shaft of the lubricating gear and is discharged from the oil seepage hole, so that the lubricating oil is adhered to the output gear of the planetary reducer and then is transmitted to the outer ring of the slewing bearing.

In one embodiment, the number of oil penetration holes is plural and uniformly distributed along the circumferential direction of the lubrication gear. The plurality of oil seepage holes uniformly distributed along the circumference of the lubrication gear can uniformly discharge lubricating oil to the outer circumference side of the lubrication gear, and the lubrication effect is good.

The utility model further provides a stand column robot.

A column robot comprising a slewing bearing base module of any of the embodiments described above; the column robot further includes: the mechanical arm is connected with the upright post module in a sliding way; the column module is mounted on the base plate to rotate synchronously with the base plate.

According to the upright post robot, the planetary speed reducer and the rotating motor are matched, and then the rotation bearing is used for transmission and bearing support, so that the purposes of reducing equipment cost, maintenance difficulty and maintenance cost are achieved, and the thickness of compression equipment is facilitated.

In one embodiment, a stud module includes: the upright post is connected with the bottom plate and the counterweight component is arranged on the upright post; the upright post is provided with a slideway which is connected with the counterweight component in a sliding way. The counterweight assembly includes: the device comprises a balancing weight, a first lubricating oil distributor arranged on the balancing weight, a plurality of guide wheels arranged on the balancing weight and connected with the first lubricating oil distributor, and a transmission piece connected with the balancing weight; the first lubricating oil distributor is used for acquiring lubricating oil and carrying out flow equalization distribution; the projections of the guide wheels along the sliding direction of the balancing weight are uniformly distributed on the same circumference taking the center of the balancing weight as the circle center at intervals; each guide wheel radiates towards the outer side of the balancing weight to be in rolling contact with the inner wall of the slideway; each guide wheel comprises: the wheel carrier, the wheel axle installed on the wheel carrier, and the wheel pivoted on the wheel axle; the wheel axle is provided with an oil duct communicated with the first lubricating oil distributor and an oil drain hole communicated with the oil duct; the oil drain holes are distributed on the periphery side of the wheel shaft; the wheel is provided with an oil guide hole; one end of the oil guide hole is positioned at the inner side of the wheel and communicated with the oil drain hole, and the other end of the oil guide hole is positioned at the outer side of the wheel; the transmission piece includes: a chain connected with the balancing weight and a reversing wheel connected with the chain; one end of the chain is connected with the balancing weight, and the other end of the chain is connected with the mechanical arm after the direction of the chain is adjusted by the reversing wheel. Through set up a plurality of leading wheels on the balancing weight to make the even interval distribution of projection of these leading wheels along the slip direction of balancing weight on the same circumference that uses the center of balancing weight as the centre of a circle, the inner wall of cooperation stand again, thereby form the slip guide structure that can replace linear guide. Because the guide wheels are connected with the inner wall of the upright post in a rolling contact manner, the probability of blocking between the balancing weight and the upright post due to unbalanced stress is very small. Simultaneously, utilize the outside lubricating oil source of first lubricating oil distributor connection, again with lubricating oil flow equalizing distribution to the shaft of leading wheel on, on the transmission wheel for the shaft of leading wheel and the wheel outside all can obtain lubrication, this kind of lubrication mode need not to dismantle the processing to equipment, only need with lubricating oil through the pipeline drainage to first lubricating oil distributor can, simple and convenient.

In one embodiment, the weight is cylindrical; the number of the guide wheels is four, and the top surface and the bottom surface of the balancing weight are respectively provided with two guide wheels in the diagonal direction; the four guide wheels are arranged in a staggered mode so as to form cross-shaped distribution on projection along the sliding direction of the balancing weight. Four guide wheels which are arranged in a staggered manner are distributed along the diagonal line of the installation surface where the guide wheels are located, so that the stress of the balancing weights in the four central symmetry directions is relatively balanced when the balancing weights slide, and the risk of blocking is reduced.

In one embodiment, the oil guide holes are multiple in number and are uniformly distributed at intervals along the circumferential direction of the wheel. The plurality of oil guide holes evenly distributed at intervals along the circumference of the wheel can evenly spray lubricating oil on the peripheral side of the wheel, and the lubricating effect is good.

In one embodiment, the top and bottom of the weight are provided with stop blocks, respectively; the stop block protrudes outwards relative to the guide wheel along the sliding direction of the balancing weight. When the stop block can strike the top or the bottom of the upright post at the balancing weight, the stop block plays a role in stopping and protecting the guide wheel.

In one embodiment, a second lubricating oil distributor is arranged at one end of the mechanical arm, which is connected with the upright post module in a sliding way; the second lubricating oil distributor is used for spraying lubricating oil on the joint of the mechanical arm and the upright post module. The second lubricating oil distributor can simply and quickly lubricate and maintain the joint of the mechanical arm and the upright post.

Drawings

FIG. 1 is a perspective view of a slewing bearing base module in accordance with one embodiment of the present utility model;

FIG. 2 is a perspective view of the slewing bearing base module of FIG. 1 from another perspective;

FIG. 3 is a half cross-sectional view of the slewing bearing base module shown in FIG. 1;

FIG. 4 is a partial view of the slewing bearing base module shown in FIG. 1;

FIG. 5 is a schematic view of a lubrication gear in the slewing bearing base module shown in FIG. 4;

FIG. 6 is a cross-sectional view of the lubricated gear shown in FIG. 5;

FIG. 7 is a perspective view of a post robot according to one embodiment of the present utility model;

FIG. 8 is a perspective view of the post robot of FIG. 7 from another perspective;

FIG. 9 is an exploded view of the post robot shown in FIG. 8;

FIG. 10 is a partial view of a column module in the column robot shown in FIG. 8;

FIG. 11 is a perspective view of the sliding weight assembly in the column module shown in FIG. 10;

FIG. 12 is a perspective view of another view of the sliding weight assembly shown in FIG. 11;

FIG. 13 is a half cross-sectional view of an axle of a guide wheel in the sliding weight assembly shown in FIG. 11;

Figure 14 is a half cross-sectional view of the wheel of the guide wheel of the sliding weight assembly of figure 11;

fig. 15 is a partial view of a robotic arm in the column robot shown in fig. 8.

The meaning of the reference numerals in the drawings are:

100-slewing support base module;

10-a bottom bracket;

20-slewing bearing;

30-a bottom plate, 31-a first extension part, 311-a first positioning hole, 32-a second extension part, 321-a second positioning hole and 33-a pin;

40-driving components, 41-planetary speed reducers and 42-rotating motors;

50-lubrication gears, 51-oil seepage holes and 52-oil guide grooves;

200-upright column modules, 201-upright columns, 2011-slide ways, 202-counterweight components, 2021-counterweight blocks, 20211-stop blocks, 2022-first lubricating oil distributors, 2023-guide wheels, 20231-wheel frames, 20232-wheel shafts, 202321-oil passages, 202333-oil discharge holes, 20233-wheels, 202331-oil guide holes, 2024-transmission parts, 20241-chains and 20242-reversing wheels;

300-mechanical arm, 301-second lubricating oil distributor.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

As shown in fig. 1-6, a swivel support base module 100 is an embodiment of the utility model.

As shown in fig. 1 and 2, the swing support base module 100 includes: a bottom bracket 10, a pivoting support 20 mounted on the bottom bracket 10, a bottom plate 30 connected to the pivoting support 20, and a driving assembly 40 mounted on the bottom plate 30. Wherein, the driving component 40 is used for providing driving force for driving the upright column to rotate. The base plate 30 is used to mount the column and obtains the driving force required for rotation from the driving assembly 40 via the slewing bearing 20. The bottom bracket 10 is used to fix and support the slewing bearing 20. The slewing bearing 20 is used not only as a transmission device but also as a support.

Hereinafter, the above-mentioned slewing bearing base module 100 will be further described with reference to fig. 1 to 6.

As shown in fig. 2, in the present embodiment, the bottom bracket 10 has a boss shape, and a cylindrical mounting structure is provided at a central position thereof to load the slewing bearing 20.

As shown in fig. 3, the slewing bearing 20 is horizontally disposed. The outer ring of the slewing bearing 20 is fixedly connected with the bottom bracket 10. And the outer circumferential side of the outer ring of the slewing bearing 20 is provided with convex teeth.

As shown in fig. 1 and 3, the bottom plate 30 is horizontally disposed and fixedly coupled to the inner ring of the slewing bearing 20.

As shown in fig. 1 and 3, the driving assembly 40 includes: a planetary reducer 41 mounted on the base plate 30, and a rotary motor 42 connected to the planetary reducer 41. The planetary reducer 41 is coaxial with the rotary motor 42, and is located outside the slewing bearing 20. The output gear of the planetary reducer 41 meshes with the outer ring of the slewing bearing 20.

In order to facilitate lubrication maintenance of the slewing bearing 20, as shown in fig. 4 to 6, in the present embodiment, the slewing bearing base module 100 may further include: a lubrication gear 50 mounted on the base plate 30. The lubrication gear 50 engages with the output gear of the planetary reducer 41, and an oil seepage hole 51 provided along the radial direction of the lubrication gear 50 is provided on the outer peripheral side of the lubrication gear 50. The rotation shaft of the lubrication gear 50 extends to the outside of the bottom plate 30 and is provided with an oil guide groove 52 communicating with the oil penetration hole 51. When it is necessary to lubricate and maintain the outer ring of the slewing bearing 20, the lubricating oil can be directly injected into the oil guide groove 52 from the outside of the bottom plate 30, guided along the wheel shaft 20232 of the lubricating gear 50 and discharged from the oil seepage hole 51, so that the lubricating oil adheres to the output gear of the planetary reducer 41 and is transferred to the outer ring of the slewing bearing 20.

In order to allow the lubricating oil to be dispersed more efficiently, in the present embodiment, the number of oil penetration holes 51 may be plural and uniformly distributed in the circumferential direction of the lubricating gear 50. The plurality of oil penetration holes 51 uniformly distributed along the circumferential direction of the lubrication gear 50 can uniformly discharge the lubrication oil to the outer circumferential side of the lubrication gear 50, and the lubrication effect is good.

Modifications can also be made to account for zero setting and calibration requirements. For example, as shown in fig. 1 and 3, the outer side of the bottom bracket 10 is provided with a first outer extension 31, and the first outer extension 31 is provided with a first positioning hole 311. The outer side of the bottom plate 30 is provided with a second extension 32, and the second extension 32 is provided with a second positioning hole 321. When the first extension 31 is aligned with the second extension 32, the first positioning hole 311 and the second positioning hole 321 communicate. When it is necessary to set or calibrate the zero position of the rotation of the upright 201, the first and second extensions 31 and 32 are brought into opposition by rotating the base plate 30, and the pins 33 are inserted into the first and second positioning holes 311 and 321 to lock the relative positions, and then the zero setting or calibration operation of the apparatus is performed.

The working principle is briefly described:

As shown in fig. 3, in use, the bottom plate 30 is fixedly connected to the bottom of the column. When it is necessary to rotate the column, the rotating motor 42 mounted on the bottom plate 30 increases the output torque via the planetary reducer 41 and transmits the output torque to the outer ring of the slewing bearing 20. Since the outer ring of the slewing bearing 20 is fixedly connected with the bottom bracket 10, the outer ring of the slewing bearing 20 is also limited to be in a static state, and the rotating motor 42 and the planetary reducer 41 are forced to move along the outer periphery of the slewing bearing 20 under the reaction force, and then rotate to the upright post via the bottom plate 30, so that the upright post 201 rotates. The thickness, cost, and precision of the planetary reducer 41 are smaller than those of the RV reducer, so that the cost, maintenance difficulty, and maintenance cost of the apparatus can be reduced. Meanwhile, the slewing bearing 20 is fixedly connected with the bottom plate 30 to bear the upright post 201, so that a main shaft of the upright post and a matched ball bearing are avoided, the equipment structure is simplified, the load capacity of the equipment is improved, the upright post 201 is not easy to damage, and the thickness of the equipment is reduced.

The above-mentioned slewing bearing base module 100 adopts the planetary reducer 41 and the rotating motor 42 to match, and then carries out transmission and bearing support through the slewing bearing 20, thereby achieving the purposes of reducing equipment cost, maintenance difficulty and maintenance cost, and being beneficial to the thickness of the compression equipment.

As shown in fig. 7 to 15, the present utility model also provides a column robot.

As shown in fig. 7 to 9, the column robot includes the swing support base module 100 of the above-described embodiment. The column robot further includes: a column module 200 connected to the swing support base module 100 and a robot arm 300 slidably connected to the column module 200. The column module 200 is mounted on the base plate 30 to rotate in synchronization with the base plate 30.

As shown in fig. 10 to 12, in the present embodiment, the pillar module 200 may include: a column 201 connecting the base plate 30 and a weight assembly 202 mounted on the column 201. The upright 201 is provided with a slideway 2011 slidingly engaging the counterweight. The weight assembly 202 includes: the balancing weight 2021, a first lubricant distributor 2022 mounted on the balancing weight 2021, a plurality of guide wheels 2023 mounted on the balancing weight 2021 and connected with the first lubricant distributor 2022, and a transmission 2024 connected with the balancing weight 2021. The first lube distributor 2022 is used to pick up lube and distribute the flow evenly. The projections of the plurality of guide wheels 2023 along the sliding direction of the balancing weight 2021 are uniformly distributed at intervals on the same circumference with the center of the balancing weight 2021 as the center of a circle. Each guide wheel 2023 radiates toward the outside of the counterweight 2021 to rollingly contact the inner wall of the chute 2011.

As shown in fig. 11, each guide wheel 2023 includes: wheel frame 20231, wheel axle 20232 mounted on wheel frame 20231, and wheel 20233 pivotally connected to wheel axle 20232.

As shown in fig. 13, the axle 20232 is provided with an oil passage 202321 that communicates with the first lubricating oil dispenser 2022 and a drain hole 202333 that communicates with the oil passage 202321. The drain holes 202333 are distributed on the outer peripheral side of the wheel shaft 20232.

As shown in fig. 14, the wheel 20233 is provided with oil guide holes 202331. One end of the oil guide hole 202331 is located inside the wheel 20233 and communicates with the drain hole 202333, and the other end of the oil guide hole 202331 is located outside the wheel 20233. The transmission 2024 includes: a chain 20241 connected to the weight 2021 and a reversing wheel 20242 connected to the chain 20241. One end of the chain 20241 is connected with the balancing weight 2021, and the other end of the chain 20241 is connected with the mechanical arm 300 after the direction of the chain is adjusted by the reversing wheel 20242.

The sliding counterweight assembly 202 has the advantages that the plurality of guide wheels 2023 are arranged on the counterweight 2021, and the projections of the guide wheels 2023 along the sliding direction of the counterweight 2021 are uniformly distributed at intervals on the same circumference taking the center of the counterweight 2021 as the center of a circle, and then are matched with the inner wall of the upright post 201, so that a sliding guide structure capable of replacing a linear guide rail is formed. Since the guide wheel 2023 is connected with the inner wall of the upright 201 in a rolling contact manner, the probability of locking between the counterweight 2021 and the upright 201 due to unbalanced stress is small. Simultaneously, utilize first lubrication oil distributor 2022 to connect outside lubricating oil source, again distribute the lubricating oil flow equalizes on the shaft 20232 of leading wheel 2023, and then transmit on wheel 20233 for the shaft 20232 of leading wheel 2023 and the outside of wheel 20233 all can obtain the lubrication, this kind of lubrication mode need not to dismantle the processing to equipment, only need with the lubricating oil drain to first lubrication oil distributor 2022 through the pipeline can, simple and convenient.

As shown in fig. 11 and 12, in the present embodiment, the weight 2021 is columnar. The number of the guide wheels 2023 is four, and the top surface and the bottom surface of the counterweight 2021 are each provided with two guide wheels 2023 in the diagonal direction. The four guide wheels 2023 are arranged in a staggered manner to form a cross-shaped distribution on the projection along the sliding direction of the counterweight 2021. Four guide wheels 2023 which are arranged in a staggered manner are distributed along the diagonal line of the installation surface where each guide wheel is located, so that the stress of the balancing weight 2021 in four central symmetry directions is relatively balanced during sliding, and the risk of jamming is reduced.

Further, as shown in fig. 14, in the present embodiment, the oil guiding holes 202331 may be multiple and uniformly spaced along the circumference of the wheel 20233. The plurality of oil guide holes 202331 uniformly spaced along the circumference of the wheel 20233 can uniformly spray the lubricating oil to the outer circumferential side of the wheel 20233, and the lubricating effect is good.

As shown in fig. 11 and 12, the top and bottom of the weight 2021 are provided with stopper blocks 20211, respectively. The stopper 20211 protrudes outward with respect to the guide wheel 2023 in the sliding direction of the weight 2021. When the stopper 20211 can strike the top or bottom of the upright 201 at the counterweight 2021, it acts as a stopper, protecting the guide wheel 2023.

As shown in fig. 15, a second lubricant distributor 301 is provided at one end of the mechanical arm 300 slidably connected to the column module 200. The second lubricant distributor 301 is used for spraying lubricant on the joint between the mechanical arm 300 and the column module 200. Lubrication maintenance can be performed simply and quickly on the connection of the mechanical arm 300 and the upright 201 by using the second lubrication distributor 301.

The upright robot adopts the planetary reducer 41 and the rotary motor 42 to match, and then carries out transmission and bearing support through the slewing bearing 20, thereby achieving the purposes of reducing equipment cost, maintenance difficulty and maintenance cost and being beneficial to the thickness of compression equipment.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples only represent preferred embodiments of the present utility model, which are described in more detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. A slewing bearing base module, comprising:

a bottom bracket;

A slewing bearing mounted on the bottom bracket; the slewing bearing is horizontally arranged; the outer ring of the slewing bearing is fixedly connected with the bottom bracket; convex teeth are arranged on the outer periphery side of the outer ring of the slewing bearing;

A bottom plate connected to the slewing bearing; the bottom plate is horizontally arranged and fixedly connected with the inner ring of the slewing bearing; and

A drive assembly mounted on the base plate; the drive assembly includes: a planetary reducer mounted on the base plate and a rotating motor connected with the planetary reducer; the planetary reducer is coaxial with the rotating motor and is positioned on the outer side of the slewing bearing; and an output gear of the planetary reducer is meshed with the outer ring of the slewing bearing.

2. The slewing bearing base module according to claim 1, wherein a first outer extension is arranged on the outer side of the bottom bracket, and a first positioning hole is arranged on the first outer extension; a second extension part is arranged on the outer side of the bottom plate, and a second positioning hole is formed in the second extension part; when the first epitaxial portion is aligned with the second epitaxial portion, the first positioning hole and the second positioning hole are communicated.

3. The slewing bearing base module of claim 1, further comprising: a lubrication gear mounted on the base plate; the lubricating gear is meshed with an output gear of the planetary reducer, and an oil penetration hole arranged along the radial direction of the lubricating gear is formed in the peripheral side of the lubricating gear; the rotating shaft of the lubricating gear extends to the outside of the bottom plate and is provided with an oil guide groove communicated with the oil seepage hole.

4. The slewing bearing base module as recited in claim 3 wherein the number of oil seepage holes is a plurality and evenly distributed along the circumference of the lubricated gear.

5. A column robot comprising the slewing bearing base module of any one of claims 1 to 4; the column robot further includes: the stand column module is connected with the slewing support base module, and the mechanical arm is connected to the stand column module in a sliding manner; the column module is mounted on the base plate to rotate synchronously with the base plate.

6. The column robot of claim 5, wherein the column module comprises: the upright post is connected with the bottom plate and the counterweight component is arranged on the upright post; the upright post is provided with a slideway which is connected with the counterweight component in a sliding way; the counterweight assembly includes: the device comprises a balancing weight, a first lubricating oil distributor arranged on the balancing weight, a plurality of guide wheels arranged on the balancing weight and connected with the first lubricating oil distributor, and a transmission piece connected with the balancing weight; the first lubricating oil distributor is used for acquiring lubricating oil and carrying out flow equalization distribution; the projections of the guide wheels along the sliding direction of the balancing weight are uniformly distributed on the same circumference taking the center of the balancing weight as the circle center at intervals; each guide wheel radiates towards the outer side of the balancing weight to be in rolling contact with the inner wall of the slideway; each of the guide wheels includes: the wheel carrier, the wheel axle installed on the wheel carrier, and the wheel pivoted on the wheel axle; the wheel axle is provided with an oil duct communicated with the first lubricating oil distributor and an oil drain hole communicated with the oil duct; the oil drain holes are distributed on the outer peripheral side of the wheel axle; the wheel is provided with an oil guide hole; one end of the oil guide hole is positioned at the inner side of the wheel and communicated with the oil drain hole, and the other end of the oil guide hole is positioned at the outer side of the wheel; the transmission member includes: a chain connected with the balancing weight and a reversing wheel connected with the chain; one end of the chain is connected with the balancing weight, and the other end of the chain is connected with the mechanical arm after the direction of the chain is adjusted by the reversing wheel.

7. The column robot of claim 6, wherein the weight is columnar; the number of the guide wheels is four, and the top surface and the bottom surface of the balancing weight are respectively provided with two guide wheels in the diagonal direction; the four guide wheels are arranged in a staggered mode so as to form cross-shaped distribution on projection along the sliding direction of the balancing weight.

8. The column robot of claim 6, wherein the number of oil guide holes is plural and uniformly spaced along the circumference of the wheel.

9. The column robot of claim 8, wherein the top and bottom of the weight are provided with stop blocks, respectively; the stop block protrudes outwards relative to the guide wheel along the sliding direction of the balancing weight.

10. The column robot of claim 5, wherein a second lubrication distributor is provided at one end of the mechanical arm slidably connected to the column module; the second lubricating oil distributor is used for spraying lubricating oil on the joint of the mechanical arm and the upright post module.