CN110977952A - Embedded module four-axis robot - Google Patents
Embedded module four-axis robot Download PDFInfo
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- CN110977952A CN110977952A CN201911179933.0A CN201911179933A CN110977952A CN 110977952 A CN110977952 A CN 110977952A CN 201911179933 A CN201911179933 A CN 201911179933A CN 110977952 A CN110977952 A CN 110977952A
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- rotating mechanism
- shell
- sleeve
- axis robot
- motor
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- 230000007246 mechanism Effects 0.000 claims abstract description 113
- 238000001179 sorption measurement Methods 0.000 claims abstract description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 8
- 210000003437 trachea Anatomy 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an embedded module four-axis robot which comprises a base, wherein a bottom rotating mechanism is installed at the upper end of the base, a control panel is installed at the front end of the bottom rotating mechanism, a horizontal extending mechanism is fixedly connected to the upper portion of the bottom rotating mechanism, a middle rotating mechanism is installed at one end, far away from the bottom rotating mechanism, of the horizontal extending mechanism, a lifting mechanism is arranged at the upper end of the middle rotating mechanism, an upper rotating mechanism is installed at the top end of the lifting mechanism, a fixing rod is installed at one side of the upper rotating mechanism, and an adsorption mechanism is fixedly installed at the end. The mechanisms in the invention exist independently and are controlled by the control panel in a unified way, so that the modular assembly of the robot is realized, no redundant structure exists outside, the outside of the robot is more beautiful and concise, and meanwhile, the internal devices are protected and are not easy to be damaged.
Description
Technical Field
The invention relates to a robot, in particular to an embedded module four-axis robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
At present, robots applied in industrial production are wide, but the existing robots are not concise and attractive in appearance, and a plurality of control devices and circuits are arranged outside and are easy to damage. Therefore, those skilled in the art provide an embedded module four-axis robot to solve the above problems.
Disclosure of Invention
The present invention is directed to an embedded module four-axis robot, which solves the above problems.
In order to achieve the purpose, the invention provides the following technical scheme:
a four-axis robot with an embedded module comprises a base, wherein a bottom rotating mechanism is mounted at the upper end of the base, a control panel is mounted at the front end of the bottom rotating mechanism, a horizontal extension mechanism is fixedly connected to the upper portion of the bottom rotating mechanism, a middle rotating mechanism is mounted at one end, far away from the bottom rotating mechanism, of the horizontal extension mechanism, a lifting mechanism is arranged at the upper end of the middle rotating mechanism, an upper rotating mechanism is mounted at the top end of the lifting mechanism, a fixed rod is mounted at one side of the upper rotating mechanism, and an adsorption mechanism is fixedly mounted at;
adsorption device includes hollow core plate, and the fixed pipe of a plurality of is installed to hollow core plate's lower extreme, and the sucking disc is all installed to the bottom of fixed pipe, installs violently the pipe in the hollow core plate, and the lower extreme intercommunication of violently managing has a plurality of standpipes, and the lower extreme of standpipe passes fixed union coupling sucking disc, and the vacuum pump is installed to hollow core plate's upper end, and the outside cover of vacuum pump is equipped with the protective housing, and installs vacuum pump controller on the vacuum pump, and the gas outlet of vacuum pump is connected with the trachea, and the trachea passes the upper end.
As a further scheme of the invention: the bottom rotating mechanism comprises a first shell, the bottom of the first shell is fixedly mounted on the base, a first stepping motor is mounted in the first shell, a first speed reducer is connected to a motor shaft of the first stepping motor, a first rotating shaft is rotatably connected to the first speed reducer, a fixing block is arranged at the upper end of the first rotating shaft, a rotating sleeve is sleeved on the outer side of the fixing block, and the bottom surface of the rotating sleeve is in sliding connection with the top end surface of the first shell.
As a still further scheme of the invention: a first installation groove is formed in one side, located on the first stepping motor, of the first shell, a first motor controller is installed in the first installation groove, and the first motor controller is electrically connected with the first stepping motor.
As a still further scheme of the invention: the upper portion of the front end of the control panel is provided with a display screen, the lower end, located at the display screen, of the front end of the control panel is provided with a plurality of control keys, and the control panel controls the whole operation of the device.
As a still further scheme of the invention: horizontal extension mechanism is including the sleeve, sleeve fixed connection swivel sleeve, and telescopic one end is the opening setting, and has seted up mounting groove two in the sleeve, and one side is equipped with the telescopic link controller in the mounting groove two, and electric telescopic handle is installed to the opposite side in the mounting groove two, and the spout has all been seted up to the both sides that lie in mounting groove two in the sleeve, and sliding connection has the slide bar in the spout.
As a still further scheme of the invention: middle rotary mechanism includes shell two, install step motor two in the shell two, motor controller two is installed to the lower extreme that lies in step motor two in the shell two, motor controller two electric connection step motor two, control step motor two work, step motor two upper ends are rotated through reduction gear two and are connected rotation axis two, the installation piece is installed to two upper ends of rotation axis, the lower extreme bilateral symmetry of installation piece is equipped with the bracing piece, the bottom of bracing piece lies in the shell two and with two sliding connection of shell, shell two and slide bar, electric telescopic handle's piston rod fixed connection.
As a still further scheme of the invention: the lifting mechanism is identical in structure with the horizontal elongation mechanism.
As a still further scheme of the invention: the structure of the upper rotating mechanism is the same as that of the middle rotating mechanism.
Compared with the prior art, the invention has the beneficial effects that:
the mechanisms in the invention exist independently and are controlled by the control panel in a unified way, so that the modular assembly of the robot is realized, no redundant structure exists outside, the outside of the robot is more beautiful and concise, and meanwhile, the internal devices are protected and are not easy to be damaged.
Drawings
Fig. 1 is a schematic structural diagram of an embedded module four-axis robot.
Fig. 2 is a schematic structural diagram of a bottom rotating mechanism in an embedded type modular four-axis robot.
Fig. 3 is a schematic view of a horizontal extension mechanism of an embedded modular four-axis robot.
Fig. 4 is a schematic structural view of a middle rotating mechanism in an embedded type modular four-axis robot.
Fig. 5 is a schematic structural diagram of an adsorption mechanism in an embedded module four-axis robot.
In the figure: 1-a base; 2-a bottom rotating mechanism; 21-shell one; 22-a first stepping motor; 23-a first speed reducer; 24-a first rotating shaft; 25-fixing block; 26-a rotating sleeve; 27-a first mounting groove; 28-motor controller one; 3-a horizontal elongation mechanism; 31-a sleeve; 32-mounting groove two; 33-a telescopic rod controller; 34-an electric telescopic rod; 35-a chute; 36-a slide bar; 4-an intermediate rotating mechanism; 41-shell two; 42-a second stepping motor; 43-motor controller two; 44-reducer two; 45-rotating shaft two; 46-a mounting block; 47-support bars; 5-a raising mechanism; 6-upper rotating mechanism; 7-fixing the rod; 8-an adsorption mechanism; 80-hollow core slab; 81-fixed tube; 82-a suction cup; 83-horizontal tube; 84-a standpipe; 85-a vacuum pump; 86-a protective shell; 87-vacuum pump controller; 88-trachea; 9-a control panel; 91-a display screen; 92-control buttons.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5, in an embodiment of the present invention, an embedded module four-axis robot includes a base 1, a bottom rotating mechanism 2 is installed at an upper end of the base 1, the bottom rotating mechanism 2 includes a first housing 21, a bottom of the first housing 21 is fixedly installed on the base 1, a first stepping motor 22 is installed in the first housing 21, a first speed reducer 23 is connected to a motor shaft of the first stepping motor 22, the first speed reducer 23 is rotatably connected to a first rotating shaft 24, a fixed block 25 is installed at an upper end of the first rotating shaft 24, a rotating sleeve 26 is sleeved on an outer side of the fixed block 25, and a bottom surface of the rotating sleeve 26 is slidably connected to a top end;
a first mounting groove 27 is formed in one side, located at the first stepping motor 22, of the first housing 21, a first motor controller 28 is mounted in the first mounting groove 27, and the first motor controller 28 is electrically connected with the first stepping motor 22 and controls the first stepping motor 22 to operate;
a control panel 9 is installed at the front end of the bottom rotating mechanism 2, a display screen 91 is arranged at the upper part of the front end of the control panel 9, a plurality of control keys 92 are arranged at the lower end of the display screen 91 at the front end of the control panel 9, and the control panel 9 controls the whole operation of the device;
the upper part of the bottom rotating mechanism 2 is fixedly connected with a horizontal extension mechanism 3, the horizontal extension mechanism 3 comprises a sleeve 31, the sleeve 31 is fixedly connected with a rotating sleeve 26, one end of the sleeve 31 is provided with an opening, a second mounting groove 32 is formed in the sleeve 31, a telescopic rod controller 33 is arranged on one side in the second mounting groove 32, an electric telescopic rod 34 is arranged on the other side in the second mounting groove 32, sliding grooves 35 are formed in two sides of the second mounting groove 32 in the sleeve 31, and sliding rods 36 are connected in the sliding grooves 35 in a sliding mode;
the middle rotating mechanism 4 is installed at one end, far away from the bottom rotating mechanism 2, of the horizontal extending mechanism 3, the middle rotating mechanism 4 comprises a second shell 41, a second stepping motor 42 is installed in the second shell 41, a second motor controller 43 is installed at the lower end, located at the second stepping motor 42, of the second shell 41, the second motor controller 43 is electrically connected with the second stepping motor 42 and controls the second stepping motor 42 to work, the upper end of the second stepping motor 42 is rotatably connected with a second rotating shaft 45 through a second speed reducer 44, an installation block 46 is installed at the upper end of the second rotating shaft 45, support rods 47 are symmetrically arranged at the lower end of the installation block 46 in the left-right direction, the bottom of each support rod 47 is located in the second shell 41 and is in sliding connection with the second shell 41;
the upper end of the middle rotating mechanism 4 is provided with a lifting mechanism 5, the lifting mechanism 5 and the horizontal extension mechanism 3 have the same structure, the top end of the lifting mechanism 5 is provided with an upper rotating mechanism 6, the structure of the upper rotating mechanism 6 is the same as that of the middle rotating mechanism 4, one side of the upper rotating mechanism 6 is provided with a fixed rod 7, and the end part of the fixed rod 7 far away from the upper rotating mechanism 6 is fixedly provided with an adsorption mechanism 8;
The working principle of the invention is as follows:
the whole robot is controlled to work through a control key 92 on a control panel 9, a bottom rotating mechanism 2 drives a horizontal extension mechanism 3 to rotate in the horizontal direction, meanwhile, the horizontal extension mechanism 3 can drive a middle rotating mechanism 4 to move left and right back and forth in the horizontal direction, the middle rotating mechanism 4 drives a lifting mechanism 5 to rotate, the lifting mechanism 5 can enable an upper rotating mechanism 6 to move up and down, the upper rotating mechanism 6 can drive an adsorption mechanism 8 to rotate through rotation, and the adsorption mechanism 8 can adsorb materials through a sucker 82 so as to realize the transfer of the materials;
when the bottom rotating mechanism 2 works, the stepping motor I22 works to drive the rotating shaft I24 to rotate through the speed reducer I23, the rotating shaft I24 rotates to enable the fixing block 25 to rotate, the fixing block 25 drives the rotating sleeve 26 sleeved on the outer side of the fixing block to rotate, so that the rotating sleeve 26 drives the horizontal extension mechanism 3 to rotate, the motor controller I28 is electrically connected with the control panel 9, and the control panel 9 controls the action of the bottom rotating mechanism 2 through controlling the motor controller I28;
when the horizontal extension mechanism 3 works, the control panel 9 controls the telescopic rod controller 33 to work, the telescopic rod controller 33 controls the electric telescopic rod 34 to extend or contract, and the sliding rod 36 moves along with the movement of the electric telescopic rod 34 in the sliding groove 35, so that the middle rotating mechanism 4 is driven to move left and right;
a second motor controller 43 in the middle rotating mechanism 4 controls a second stepping motor 42 to work, the second motor controller 43 is electrically connected with the control panel 9, when the second stepping motor 42 works, a second rotating shaft 45 is driven to rotate through a second speed reducer 44, so that the mounting block 46 rotates and drives the lifting mechanism 5 to rotate, the lifting mechanism 5 and the horizontal extension mechanism 3 have the same structure and the same working principle, and the difference is that the lifting mechanism 5 drives the upper rotating mechanism 6 to move up and down, the upper rotating mechanism 6 and the middle rotating mechanism 4 have the same structure and the same working principle, and the upper rotating mechanism 6 drives the adsorption mechanism 8 to rotate;
Each mechanism in the invention is independent and is controlled by the control panel 9 in a unified way, so that the modular assembly of the robot is realized, and no redundant structure is arranged outside, so that the outside of the robot is more beautiful and concise.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The embedded module four-axis robot comprises a base (1) and is characterized in that a bottom rotating mechanism (2) is mounted at the upper end of the base (1), a control panel (9) is mounted at the front end of the bottom rotating mechanism (2), a horizontal extension mechanism (3) is fixedly connected to the upper portion of the bottom rotating mechanism (2), a middle rotating mechanism (4) is mounted at one end, far away from the bottom rotating mechanism (2), of the horizontal extension mechanism (3), a lifting mechanism (5) is arranged at the upper end of the middle rotating mechanism (4), an upper rotating mechanism (6) is mounted at the top end of the lifting mechanism (5), a fixing rod (7) is mounted at one side of the upper rotating mechanism (6), and an adsorption mechanism (8) is fixedly mounted at the end, far away from the upper;
adsorption apparatus constructs (8) including hollow core plate (80), fixed pipe (81) of a plurality of are installed to the lower extreme of hollow core plate (80), sucking disc (82) are all installed to the bottom of fixed pipe (81), install violently pipe (83) in hollow core plate (80), the lower extreme intercommunication of violently pipe (83) has a plurality of standpipe (84), the lower extreme of standpipe (84) passes fixed pipe (81) and connects sucking disc (82), vacuum pump (85) are installed to the upper end of hollow core plate (80), the outside cover of vacuum pump (85) is equipped with protective housing (86), and install vacuum pump controller (87) on vacuum pump (85), the gas outlet of vacuum pump (85) is connected with trachea (88), trachea (88) pass the upper end wall cross-connection violently pipe (83) of hollow core plate (80).
2. The embedded module four-axis robot is characterized in that the bottom rotating mechanism (2) comprises a first shell (21), the bottom of the first shell (21) is fixedly installed on the base (1), a first stepping motor (22) is installed in the first shell (21), a first speed reducer (23) is connected to a motor shaft of the first stepping motor (22), a first rotating shaft (24) is rotatably connected to the first speed reducer (23), a fixed block (25) is arranged at the upper end of the first rotating shaft (24), a rotating sleeve (26) is sleeved on the outer side of the fixed block (25), and the bottom surface of the rotating sleeve (26) is slidably connected with the top end surface of the first shell (21).
3. The embedded module four-axis robot as claimed in claim 2, wherein a first mounting groove (27) is formed in the first housing (21) at one side of the first stepping motor (22), a first motor controller (28) is mounted in the first mounting groove (27), and the first motor controller (28) is electrically connected to the first stepping motor (22).
4. The embedded module four-axis robot as claimed in claim 1, wherein a display screen (91) is disposed on an upper portion of a front end of the control panel (9), and a plurality of control keys (92) are disposed on a lower portion of the display screen (91) on the front end of the control panel (9).
5. The embedded module four-axis robot according to claim 1, wherein the horizontal extension mechanism (3) comprises a sleeve (31), the sleeve (31) is fixedly connected with the rotating sleeve (26), one end of the sleeve (31) is provided with an opening, a second mounting groove (32) is formed in the sleeve (31), a telescopic rod controller (33) is arranged on one side in the second mounting groove (32), an electric telescopic rod (34) is arranged on the other side in the second mounting groove (32), sliding grooves (35) are formed in two sides of the second mounting groove (32) in the sleeve (31), and sliding rods (36) are slidably connected in the sliding grooves (35).
6. The in-line modular four-axis robot of claim 1, middle rotary mechanism (4) are including shell two (41), install step motor two (42) in shell two (41), motor controller two (43) are installed to the lower extreme that lies in step motor two (42) in shell two (41), motor controller two (43) electric connection step motor two (42), control step motor two (42) work, step motor two (42) upper end is rotated through reduction gear two (44) and is connected rotation axis two (45), installation piece (46) are installed to rotation axis two (45) upper end, the lower extreme bilateral symmetry of installation piece (46) is equipped with bracing piece (47), the bottom of bracing piece (47) is located shell two (41) and with shell two (41) sliding connection, shell two (41) and slide bar (36), the piston rod fixed connection of electric telescopic handle (34).
7. An in-line modular four-axis robot according to claim 1, characterized in that the lifting mechanism (5) is structurally identical to the horizontal elongation mechanism (3).
8. An in-line modular four-axis robot according to claim 1, wherein the upper swivel mechanism (6) is structurally identical to the intermediate swivel mechanism (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911179933.0A CN110977952A (en) | 2019-11-27 | 2019-11-27 | Embedded module four-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911179933.0A CN110977952A (en) | 2019-11-27 | 2019-11-27 | Embedded module four-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110977952A true CN110977952A (en) | 2020-04-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911179933.0A Pending CN110977952A (en) | 2019-11-27 | 2019-11-27 | Embedded module four-axis robot |
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| Country | Link |
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| CN (1) | CN110977952A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111688137A (en) * | 2020-06-04 | 2020-09-22 | 佛山市顺德区协佳创塑胶电器有限公司 | Automatic unloader of man-machine separation formula air conditioner part of moulding plastics |
| CN114850681A (en) * | 2022-06-22 | 2022-08-05 | 中国原子能科学研究院 | Mechanical arm for laser sodium removal and laser sodium removal system |
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| CN108748113A (en) * | 2018-08-20 | 2018-11-06 | 安徽爱依特科技有限公司 | Educational robot height adjustment mechanism and its robot |
| CN109927017A (en) * | 2019-04-22 | 2019-06-25 | 苏州神运机器人有限公司 | A kind of four axis robots for punching press feeding |
| CN209579573U (en) * | 2019-03-26 | 2019-11-05 | 安徽建筑大学 | A kind of sorting mechanical arm that can carry multiple articles simultaneously |
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2019
- 2019-11-27 CN CN201911179933.0A patent/CN110977952A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202985558U (en) * | 2012-11-13 | 2013-06-12 | 陈文� | Rotating structure of robot rotating mechanical arm |
| CN106426124A (en) * | 2016-09-18 | 2017-02-22 | 青岛海豚智能装备有限公司 | Plane joint robot with length of arms capable of being adjusted |
| WO2018093417A1 (en) * | 2016-11-17 | 2018-05-24 | Bowe Delores Tasneen | Mounting base |
| CN108748113A (en) * | 2018-08-20 | 2018-11-06 | 安徽爱依特科技有限公司 | Educational robot height adjustment mechanism and its robot |
| CN209579573U (en) * | 2019-03-26 | 2019-11-05 | 安徽建筑大学 | A kind of sorting mechanical arm that can carry multiple articles simultaneously |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111688137A (en) * | 2020-06-04 | 2020-09-22 | 佛山市顺德区协佳创塑胶电器有限公司 | Automatic unloader of man-machine separation formula air conditioner part of moulding plastics |
| CN114850681A (en) * | 2022-06-22 | 2022-08-05 | 中国原子能科学研究院 | Mechanical arm for laser sodium removal and laser sodium removal system |
| CN114850681B (en) * | 2022-06-22 | 2023-09-29 | 中国原子能科学研究院 | A arm and laser remove sodium system for laser removes sodium |
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Application publication date: 20200410 |