CN206326600U - A modular combined multi-axis robot - Google Patents

Abstract

The utility model discloses a modularization combination multiaxis robot, it includes an at least rotatory elbow joint module and an at least self-rotation joint module, rotatory elbow joint module includes fixing support and rotatory support, the fixing support surface is provided with first mounting hole, rotatory support surface is provided with mutual parallel arrangement's second recess, the one end symmetry of self-rotation joint module extends there is the third mounting bar. The utility model discloses it comprises a plurality of modularization joints, can realize multiaxis robot through nimble combination, for the modularization part realizes that mass production provides the basis, has reduced equipment cost.

Description

A modular combined multi-axis robot

【Technical field】

The utility model belongs to the technical field of automation, in particular to a modular combined multi-axis robot.

【Background technique】

With the continuous development of the economy and the continuous progress of science and technology, it provides a strong economic and technical support for the development of the enterprise, and promotes the enterprise to move towards the direction of intelligence and high integration, and the manipulator is the intelligent machine developed by the enterprise. One of the products. In order to reduce the burden on the operator, or to replace the operator to perform dangerous operations, the application of manipulator is inseparable. The manipulator is used to replace the operation of the operator, so as to achieve the purpose of improving the effect or protecting the operator, so the manipulator is widely used in the occasion of automatic production. In the prior art, most of the designs of manipulators are customized according to the needs of customers. The shape and size of each joint and arm are different, so mass production cannot be realized, and consumables are time-consuming and costly.

Therefore, it is necessary to provide a new modular combined multi-axis robot to solve the above problems.

【Content of utility model】

The main purpose of the utility model is to provide a modular combined multi-axis robot, which is composed of a plurality of modular joints, which can realize a multi-axis robot through flexible combination, and provides a basis for mass production of modular parts, reducing cost of equipment.

The utility model achieves the above object through the following technical scheme: a modularized multi-axis robot, which includes at least one rotating elbow joint module and at least one self-rotating joint module, and the rotating elbow joint module includes a fixed support With the rotating support, the surface of the fixed support is provided with a first mounting hole, the surface of the rotating support is provided with second grooves arranged in parallel to each other, and a third mounting hole is symmetrically extended from one end of the rotating joint module. strip.

Further, it also includes a connection module, the connection module is located between the rotation elbow joint module and the self-rotation joint module, or is located between the rotation elbow joint module and the rotation elbow joint module between.

Further, the third installation bar is accommodated in the second groove, and the self-rotating joint module is located on the rotating support.

Further, the fixed support is located on the self-rotating joint module and is driven by it to rotate.

Further, the connection module includes a first load-bearing surface and a second load-bearing surface, the first load-bearing surface and the second load-bearing surface are both arranged horizontally, and two mutually parallel As for the first installation strip, two second installation strips parallel to each other are arranged on the second carrying surface.

Further, the first installation bar and the second installation bar are parallel to each other or perpendicular to each other.

Further, the rotary elbow joint module includes a first driving member fixed on the fixed support and a first reducer arranged at the rotating end of the first driving member, and the rotating support is connected to the first The rotary end of the reducer is fixedly connected.

Further, the fixed support includes a first connecting plate surface, a first supporting plate surface perpendicular to the first connecting plate surface and located at both ends thereof, and a second supporting plate surface located between the two first supporting plate surfaces. The supporting plate surface, the first connecting plate surface is provided with a first groove for accommodating the first mounting bar, and the first mounting hole is located on the first connecting plate surface.

Further, the rotating support includes a second connecting plate surface and a third supporting plate surface perpendicular to the second connecting plate surface and located at both ends thereof, the third supporting plate surface is wrapped around the first supporting plate surface The outer side of the surface, the second groove is arranged on the surface of the second connecting plate.

Further, the self-rotating joint module includes a connecting support, a second driving member fixed in the connecting support, and a second reducer arranged at the rotating end of the second driving member, and the connecting support is A hollow cylindrical structure, the third installation bar is located at the end of the connecting support.

Compared with the prior art, the beneficial effect of a modularized multi-axis robot of the utility model is that it is composed of a plurality of modular joints, and a multi-axis robot can be realized through flexible combination, and a large batch of modular parts can be realized. Production provides the basis and reduces equipment costs.

【Description of drawings】

Fig. 1 is the structural representation of the utility model embodiment;

Fig. 2 is one of the structural representations of the connection module in the embodiment of the present invention;

Fig. 3 is a structural schematic diagram of the rotary elbow joint module in the embodiment of the present invention;

Fig. 4 is a schematic diagram of the explosion structure of the rotary elbow joint module in the embodiment of the present invention;

Fig. 5 is a schematic structural view of the fixed support in the rotary elbow joint module in the embodiment of the utility model;

Fig. 6 is a structural schematic diagram of the rotating support in the rotating elbow joint module in the embodiment of the utility model;

Fig. 7 is a schematic structural diagram of the self-rotating joint module in the embodiment of the present invention;

Fig. 8 is a schematic diagram of a combined four-axis structure according to an embodiment of the present invention;

Fig. 9 is a schematic diagram of a combined five-axis structure according to an embodiment of the present invention;

Fig. 10 is a schematic diagram of the combined six-axis structure of the embodiment of the utility model;

Fig. 11 is the second structural diagram of the connection module in the embodiment of the utility model;

The numbers in the figure indicate:

100 modular combined multi-axis robots;

1 connection module, 11 first bearing surface, 12 second bearing surface, 13 first installation strip, 14 second installation strip, 15 second installation hole;

2 rotating elbow joint module, 21 fixed support, 211 the first groove, 212 the first connecting plate surface, 213 the first supporting plate surface, 214 the second supporting plate surface, 215 the first hole, 216 the first reinforcing bar, 217 the first installation hole, 22 the first driver, 23 the first reducer, 24 the swivel support, 241 the second groove, 242 the second connecting plate surface, 243 the third supporting plate surface, 244 the second hole, 245 the first Two reinforcing strips, 25 pin covers;

3 self-rotating joint module, 31 connecting support, 32 the second driving member, 33 the second reducer, 34 the third installation bar.

【detailed description】

Example:

Please refer to FIG. 1-FIG. 7 and FIG. 11 , this embodiment is a modular combined multi-axis robot 100 , which includes a connection module 1 , a rotating elbow joint module 2 and a self-rotating joint module 3 .

The connecting module 1 has an I-shaped cross section and includes a first bearing surface 11 and a second bearing surface 12 . Both the first bearing surface 11 and the second bearing surface 12 are arranged horizontally. The first bearing surface 11 is provided with two mutually parallel first installation bars 13 and a plurality of second installation holes 15, and the second bearing surface 12 is provided with two mutually parallel second installation bars 14, and the first installation bars 13 and the second installation bar 14 are parallel or perpendicular to each other. The connection module 1 is mainly used as a base or an intermediate arm of the manipulator, and its length is designed in various specifications, which can be configured according to actual needs.

The rotary elbow joint module 2 includes a fixed support 21 fixed on the connection module 1, a first drive member 22 fixed on the fixed support 21, a first speed reducer 23 arranged at the rotating end of the first drive member 22, and a set The swivel support 24 at the swivel end of the first reducer 23 .

The outer surface of the fixed support 21 is provided with two parallel first grooves 211 connected with the connection module 1 , and a plurality of first mounting holes 217 are provided on the surface, which are mainly used for connecting with the reducer. The outer surface of the rotating support 24 is provided with two parallel second grooves 241 connected with the connecting module 1 . The first groove 211 and the second groove 241 are parallel to or perpendicular to each other. The first mounting bar 13 is accommodated in the first groove 211 for positioning installation, and the second mounting bar 14 is accommodated in the second groove 241 for positioning installation.

The fixed support 21 includes a first connecting plate surface 212 , a first supporting plate surface 213 perpendicular to the first connecting plate surface 212 and located at both ends thereof, and a second supporting plate surface 214 located between the two first supporting plate surfaces 213 . The first supporting plate surface 213 and the second supporting plate surface 214 are provided with first holes 215 whose centers are collinear. The first driving member 22 is fixedly mounted on the second support plate surface 214 , and the first reducer 23 is fixedly mounted on the first support plate surface 213 . A first reinforcing bar 216 is symmetrically erected between the two first supporting board surfaces 213 . The first groove 211 and the first installation hole 217 are disposed on the first connecting plate surface 212 .

The rotating support 24 includes a second connecting plate surface 242 and third supporting plate surfaces 243 perpendicular to the second connecting plate surface 242 and located at two ends thereof. The third supporting surface 243 wraps the outside of the first supporting surface 213 . The third supporting plate surface 243 is provided with a second hole 244 whose centers are collinear. One of the third support plate surfaces 243 is fixedly connected to the rotating end of the first reducer 23 , and the second hole 244 in the other third support plate surface 243 is connected to the first hole 215 in the corresponding first support plate surface 213 Middle is hinged by pin cover 25. The second reinforcement strips 245 are symmetrically erected between the two third supporting board surfaces 243 . The second groove 241 is disposed on the second connecting plate surface 242 .

The self-rotating joint module 3 includes a connecting support 31 connected with the rotating elbow joint module 2 , a second drive member 32 fixed in the connecting support 31 , and a second reducer 33 arranged at the rotating end of the second drive member 32 .

The connecting support 31 is a hollow cylindrical structure, and a third mounting bar 34 is extended outwardly from one end surface. There are two third installation bars 34 arranged parallel to each other. The third mounting bar 34 is received in the second groove 241 .

The modular combination multi-axis robot 100 of this embodiment includes three basic modules: a connection module 1, a rotating elbow joint module 2, and a self-rotating joint module 3. A multi-axis joint robot can be formed by combining the three basic modules. , such as a two-axis robot composed of connection module 1, rotating elbow joint module 2 and self-rotating joint module 3. Please refer to FIGS. 8-10 . In other embodiments, robots with three axes, four axes, five axes, six axes or more can be freely combined according to requirements.

The beneficial effect of the modular combination multi-axis robot 100 of this embodiment is that it is composed of a plurality of modular joints, and can realize a multi-axis robot through flexible combination, which provides a basis for mass production of modular components and reduces the cost of equipment. cost. Using modular rotary joints and connecting arms, various motion trajectories can be met through module combinations.

What have been described above are only some embodiments of the present utility model. For those skilled in the art, without departing from the inventive concept of the present utility model, some modifications and improvements can be made, and these all belong to the protection scope of the present utility model.

Claims (10)

1. A modular combined multi-axis robot, characterized in that it includes at least one rotating elbow joint module and at least one self-rotating joint module, the rotating elbow joint module includes a fixed support and a rotating support, The surface of the fixed support is provided with a first mounting hole, the surface of the rotating support is provided with second grooves arranged parallel to each other, and a third mounting strip is symmetrically extended from one end of the self-rotating joint module. 2. The modular combined multi-axis robot according to claim 1, further comprising a connecting module, the connecting module is located between the rotating elbow joint module and the self-rotating joint module , or located between the rotating elbow joint module and the rotating elbow joint module. 3. The modular combined multi-axis robot according to claim 1, characterized in that: the third mounting bar is accommodated in the second groove, and the self-rotating joint module is located on the rotating support superior. 4 . The modular combined multi-axis robot according to claim 1 , wherein the fixed support is located on the self-rotating joint module and is driven by it to rotate. 5. The modular combined multi-axis robot according to claim 2, characterized in that: the connection module includes a first load-bearing surface and a second load-bearing surface, and the first load-bearing surface and the second load-bearing surface They are all arranged horizontally, two first installation strips parallel to each other are arranged on the first bearing surface, and two second installation strips parallel to each other are arranged on the second bearing surface. 6. The modular combined multi-axis robot according to claim 5, wherein the first installation bar and the second installation bar are parallel to or perpendicular to each other. 7. The modular combined multi-axis robot according to claim 1, characterized in that: the rotary elbow module includes a first driving member fixed on the fixed support and a The first reducer at the rotating end of the component, and the rotating support is fixedly connected with the rotating end of the first reducer. 8. The modular combined multi-axis robot according to claim 5, wherein the fixed support includes a first connecting plate surface, first supports perpendicular to the first connecting plate surface and located at both ends thereof board surface and a second support board surface located between the two first support board surfaces, the first connecting board surface is provided with a first groove for accommodating the first installation strip, and the first installation The holes are located on the surface of the first connecting plate. 9. The modular combined multi-axis robot according to claim 8, wherein the rotating support includes a second connecting plate surface and third supports perpendicular to the second connecting plate surface and located at both ends thereof The board surface, the third support board surface wraps the outside of the first support board surface, and the second groove is arranged on the second connecting board surface. 10. The modular combined multi-axis robot according to claim 1, characterized in that: the self-rotating joint module includes a connecting support, a second driving member fixed in the connecting support, and a The second reducer at the rotating end of the second driving member, the connecting support is a hollow cylindrical structure, and the third installation bar is located at the end of the connecting support.