CN207256226U - A kind of revolute robot - Google Patents

Abstract

The utility model discloses a kind of revolute robot, including babinet, first rotating shaft and shell, the top of the babinet is equipped with shell, the shell is connected by first rotating shaft with babinet, the right side of the shell is equipped with the first sleeve, the bottom of first sleeve is equipped with sliding block, and bottom is provided with the 3rd motor on the left of the inner cavity of the babinet, and the first rotating shaft is connected through babinet with the 3rd motor.The revolute robot, it is simple in structure, the kind of drive is convenient, simplify the operation difficulty of revolute robot, actuated element is used as by the first leading screw and the second leading screw, transmission is accurate, error can be preferably minimized, by the cooperation of first rotating shaft and the 3rd motor, shell is rotated, add the working range of mechanical arm, joint is installed on by the way that the second motor and the 3rd motor are substituted installed in box house, when greatly reducing joint operating, the load of mechanical arm, reduce rocking for machinery at the same time, reduce error.

Description

A kind of revolute robot

Technical field

Robotic technology field is the utility model is related to, is specially a kind of revolute robot.

Background technology

Robot of the prior art, has six-freedom degree, on the one hand, complicated, inconvenient to use, installation and debugging Difficulty is big, cost is high, and on the other hand, the driving mechanism of each dimension is generally located on corresponding joint, causes joint weight To measure excessive, when operation, easily rocks, so that robot precision is influenced, and also there are larger security risk, such as Application No. 201520890455.5 patent, including base, the first arm and the second arm, the first driving mechanism, the second driving mechanism；The One driving mechanism includes the first motor, the first driving wheel, the first synchronous belt, and the patent structure is complicated, and the kind of drive is cumbersome, improves The manufacture cost of revolute robot, while motor is installed on joint, the load of mechanical arm is added, increases machinery Shake when arm operates, considerably increases error, have impact on precision during machine work, and mechanical drive mode belt carries out Transmission, easily has skidded phenomenon in load excessive, have impact on transmission accuracy, add error rate, and the work of the patent Scope is small, reduces the efficiency of work, can not meet the needs of client.

Utility model content

The purpose of this utility model is to provide a kind of revolute robot, to solve proposed in the above background technology ask Topic.

To achieve the above object, the utility model provides following technical solution：A kind of revolute robot, including babinet, First rotating shaft and shell, the top of the babinet are equipped with shell, and the shell is connected by first rotating shaft with babinet, the shell Right side be equipped with the first sleeve, the bottom of first sleeve is equipped with sliding block, and bottom is provided with the on the left of the inner cavity of the babinet Three motors, the first rotating shaft are connected through babinet with the 3rd motor, and the first rotating shaft is connected by 3rd bearing with babinet, The right side bottom of the first rotating shaft is provided with second sleeve, and the inside left of the second sleeve is provided with the second motor, institute State and the second leading screw is installed on the right side of the second motor, second leading screw is connected by second bearing with second sleeve, described outer The inside left of shell is provided with the first motor, and the second shaft, the right side of first motor are provided with the right side of first motor Side is equipped with the 3rd shaft, and the 3rd shaft is internally provided with mandril, and second shaft is connected through the 3rd shaft with mandril, The bottom of 3rd shaft is equipped with the second kelly, and second kelly is engaged through shell and babinet with the second leading screw to be connected, The shell is connected by clutch shaft bearing with the first sleeve, and chuck, the chuck are provided with the left of the inner wall of first sleeve Right side be equipped with second gear, the 3rd shaft is connected through the first sleeve and chuck with second gear, the second gear Right side bottom be equipped with first gear, the first gear is engaged with second gear to be connected, and the first gear passes through first Thick stick is connected with the first sleeve, is provided with sliding block on the right side of the inner wall of first sleeve, the top of the sliding block is provided with the first card Bar, first kelly is engaged with the first leading screw to be connected.

Preferably, the inner bottom of the sliding block is equipped with bottom plate, and the bottom plate is connected by extension spring with sliding block, described Claw is equipped with left and right sides of the bottom of bottom plate, the claw is connected by bearing with bottom plate, and the bottom of the claw is equipped with knife Handle, the handle of a knife are connected with claw overlap joint.

Preferably, the outer wall of the extension spring is socketed with silica gel sheath.

Preferably, the outer wall of the clutch shaft bearing is provided with sealing ring.

Preferably, the top of first sleeve is equipped with through hole.

Compared with prior art, the beneficial effects of the utility model are：The revolute robot, simple in structure, transmission side Formula is convenient, improves mechanically operated efficiency, by the cooperation of kelly and the second shaft, can quickly switch the first sleeve Rotation is moved up and down with sliding block, is simplified the operation difficulty of revolute robot, is used as by the first leading screw and the second leading screw Actuated element, transmission is accurate, can be preferably minimized error, by the cooperation of first rotating shaft and the 3rd motor, enable shell Rotate, add the working range of mechanical arm, improve efficiency, by the way that the second motor and the 3rd motor are installed on box house Substitution is installed on joint, and when greatly reducing joint operating, the load of mechanical arm, improves the service life of mechanical arm, drop Low cost, while reduce rocking for machinery, error is reduced, meets the demand of client.

Brief description of the drawings

Fig. 1 is the utility model structure diagram；

Fig. 2 is the enclosure structure diagram of the utility model；

Fig. 3 is the first sleeve internal structure schematic diagram of the utility model；

Fig. 4 is the chuck internal structure schematic diagram of the utility model；

Fig. 5 is the second kelly structure diagram of the utility model；

Fig. 6 is the sliding block internal structure schematic diagram of the utility model.

In figure：1st, babinet, 2, first rotating shaft, 3, shell, the 4, first sleeve, 5, sliding block, the 6, first motor, 7, second turns Axis, 8, mandril, the 9, the 3rd shaft, 10, chuck, the 11, first leading screw, the 12, first kelly, 13, first gear, 14, second gear, 15th, clutch shaft bearing, the 16, second kelly, 17, second bearing, the 18, second leading screw, the 19, second motor, the 20, the 3rd motor, 21, Two sleeves, 22,3rd bearing, 23, extension spring, 24, bottom plate, 25, bearing, 26, handle of a knife, 27, claw, 28, silica gel sheath, 29, Sealing ring, 30, through hole.

Embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work All other embodiments obtained, shall fall within the protection scope of the present invention.

- 6 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of revolute robot, the life for factory Producing line, including babinet 1, first rotating shaft 2 and shell 3, the top of babinet 1 are equipped with shell 3, and shell 3 passes through first rotating shaft 2 and babinet 1 is connected, and shell 3 is rotated by first rotating shaft 2 on babinet 1, the right side of shell 3 is equipped with the first sleeve 4, the first sleeve 4 bottom is equipped with sliding block 5, and bottom is provided with the 3rd motor 20 on the left of the inner cavity of babinet 1, and the 3rd motor 20 is servomotor, type Number it is SM80-D601930, external power supply is 220V alternating currents, and first rotating shaft 2 is connected through babinet 1 with the 3rd motor 20, the 3rd Motor 20 can control the speed that first rotating shaft 2 is rotated forward or inverted and its rotates, and first rotating shaft 2 passes through 3rd bearing 22 and case Body 1 is connected, and first rotating shaft 2 is rotated around 3rd bearing 22, and the right side bottom of first rotating shaft 2 is provided with second sleeve 21, First rotating shaft 2, which rotates, drives second sleeve 21 to rotate, and the inside left of second sleeve 21 is provided with the second motor 19, the second motor 19 be servomotor, and model SM80-D601930, external power supply is 220V alternating currents, and the right side of the second motor 19 is provided with Two leading screws 18, the second leading screw 18 are connected by second bearing 17 with second sleeve 21, the second motor 19 drive the second leading screw 18 around Second bearing rotates, and the inside left of shell 3 is provided with the first motor 6, and the first motor 6 is servomotor, model SM80- D601930, external power supply are 220V alternating currents, and the right side of the first motor 6 is provided with the second shaft 7, and the first motor 6 drives second Shaft 7 rotates, and the right side of the first motor 6 is equipped with the 3rd shaft 9, and the 3rd shaft 9 is internally provided with mandril 8, and mandril 8 is stuck in the 3rd In card slot inside shaft and it can horizontally slip, the second shaft 7 is connected through the 3rd shaft 9 with mandril 8, the second shaft 7 The 3rd shaft 9 is driven to rotate by mandril 8, the bottom of the 3rd shaft 9 is equipped with the second kelly 16, and the second kelly 16 runs through shell 3 Engage and be connected with the second leading screw 18 with babinet 1, the second motor 19 is controlled by driving the second leading screw 18 to be rotated around second bearing 17 Second kelly 16 moves left and right, and the second kelly 16 promotes the 3rd shaft 9 to move left and right, while there is arc chute on the top of babinet 1, The second kelly 16 is with rotating with it when enabling the second sleeve 21 follow the first rotating shaft 2 to rotate, while the second kelly 16 is stuck in the Sliding slot inside two sleeves 21 horizontally slips, and prevents it from toppling over, and shell 3 is connected by clutch shaft bearing 15 with the first sleeve 4, makes One sleeve 4 can be rotated by clutch shaft bearing 15, and the outer wall of clutch shaft bearing 15 is provided with sealing ring 29, and sealing ring 29 is rubber material Matter, can be sleeved on clutch shaft bearing 15, prevent its dust stratification from leading to not rotate, and chuck is provided with the left of the inner wall of the first sleeve 4 10, the inner wall of chuck 10 is provided with latch, can engage and be connected with second gear 14, the right side of chuck 10 is equipped with second gear 14, the 3rd shaft 9 is connected through the first sleeve 4 and chuck 10 with second gear 14, when second gear 14 moves left and chuck 10 When engagement is connected, the first sleeve 4 is driven to be rotated around clutch shaft bearing 15, the right side bottom of second gear 14 is equipped with first gear 13, First gear 13 is engaged with second gear 14 to be connected, and first gear 13 is connected by the first leading screw 11 with the first sleeve 4, when second Gear 14, which moves right, to be engaged with first gear 13 when being connected, and drives the first leading screw 11 to rotate, peace on the right side of the inner wall of the first sleeve 4 Equipped with sliding block 5, the top of sliding block 5 is provided with the first kelly 12, and the first kelly 12 is engaged with the first leading screw 11 to be connected, the first leading screw 11, which rotate the first kellies 12 of control, moves up and down, so as to be moved up and down with movable slider 15, starts processing the by instrument thereon The top of one sleeve 4 is equipped with through hole 30, and through hole 30 is convenient to 11 drip-feed lubricating of the first leading screw oil, prevents the first leading screw 11 for a long time Damage of getting rusty in atmosphere is exposed, the inner bottom of sliding block 5 is equipped with bottom plate 24, and bottom plate 24 passes through extension spring 23 and 5 phase of sliding block Even, the coefficient of elasticity of extension spring is 10N/CM, and the outer wall of extension spring 23 is socketed with silica gel sheath 28, and silica gel sheath 28 is socketed in drawing On the outer wall for stretching spring 23, prevent it from exposing damage of getting rusty in atmosphere, claw 27 be equipped with left and right sides of the bottom of bottom plate 24, Claw 27 is connected by bearing 25 with bottom plate 24, and the bottom of claw 27 is equipped with handle of a knife 26, and handle of a knife 26 is connected with the overlap joint of claw 27, Processing, which makes to use, arrives a variety of different cutters, and different cutters can be separately mounted to the bottom of handle of a knife 26, blocked by pulling Pawl 27, rotates claw by bearing 25, handle of a knife 26 is stuck in two claws 27, under the pulling force of extension spring 23, pulls bottom Plate 24, drives claw 27 to be moved upwards up to the inside of sliding block 5, and claw 27 can not open at this time, and handle of a knife 26 is clamped, and starts work Make.

First motor 6, the second motor 19 connect external power supply, the first motor 6, the second motor 19 and with the 3rd motor 20 Three motors 20 are started to work, and the 3rd motor 20 is rotated by 2 controling shell 4 of first rotating shaft, and second sleeve 21 follows first rotating shaft 2 Rotate, the first motor 6 drives mandril 8 to rotate by the second shaft 7, and the card slot that mandril 8 blocks inside the 3rd shaft 9 makes its turn Dynamic, by driving the second leading screw 18 to be rotated around second bearing 17, the second kelly 16 of control moves left and right the second motor 19, the second card Bar 16 promotes the 3rd shaft 9 to move left and right, and makes the 3rd shaft 9 drive second gear 14 to move left and right, while the top of babinet 1 has Arc chute, the second kelly 16 is with rotating with it when enabling the second sleeve 21 follow the first rotating shaft 2 to rotate, while the second kelly 16 sliding slots for being stuck in inside second sleeve 21 horizontally slip, and prevent it from toppling over, and are engaged when second gear 14 is moved left with chuck 10 When being connected, drive the first sleeve 4 to be rotated around clutch shaft bearing 15, be connected when second gear 14 moves right to engage with first gear 13 When, drive the first leading screw 11 to rotate, the first kelly 12 of control moves up and down, so as to be moved up and down with movable slider 15, by thereon Instrument start to process.

While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art, It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from the principle of the utility model and spirit, repaiied Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.

Claims (5)

1. a kind of revolute robot, including babinet (1), first rotating shaft (2) and shell (3), the top of the babinet (1) are equipped with Shell (3), the shell (3) are connected by first rotating shaft (2) with babinet (1), it is characterised in that：The right side of the shell (3) Equipped with the first sleeve (4), the bottom of first sleeve (4) is equipped with sliding block (5), and bottom is pacified on the left of the inner cavity of the babinet (1) Equipped with the 3rd motor (20), the first rotating shaft (2) is connected through babinet (1) with the 3rd motor (20), the first rotating shaft (2) It is connected by 3rd bearing (22) with babinet (1), the right side bottom of the first rotating shaft (2) is provided with second sleeve (21), institute The inside left for stating second sleeve (21) is provided with the second motor (19), and second is provided with the right side of second motor (19) Thick stick (18), second leading screw (18) are connected by second bearing (17) with second sleeve (21), and the inside of the shell (3) is left Side is provided with the first motor (6), and the second shaft (7) is provided with the right side of first motor (6), first motor (6) Right side is equipped with the 3rd shaft (9), and the 3rd shaft (9) is internally provided with mandril (8), and second shaft (7) runs through the 3rd Shaft (9) is connected with mandril (8), and the bottom of the 3rd shaft (9) is equipped with the second kelly (16), and second kelly (16) is passed through Wear shell (3) and babinet (1) and engaged with the second leading screw (18) and is connected, the shell (3) passes through clutch shaft bearing (15) and first set Cylinder (4) is connected, and chuck (10) is provided with the left of the inner wall of first sleeve (4), and the right side of the chuck (10) is equipped with second Gear (14), the 3rd shaft (9) are connected through the first sleeve (4) and chuck (10) with second gear (14), and described second The right side bottom of gear (14) is equipped with first gear (13), and the first gear (13) is engaged with second gear (14) to be connected, institute State first gear (13) by the first leading screw (11) with the first sleeve (4) to be connected, installation on the right side of the inner wall of first sleeve (4) There is sliding block (5), the top of the sliding block (5) is provided with the first kelly (12), first kelly (12) and the first leading screw (11) Engagement is connected.

A kind of 2. revolute robot according to claim 1, it is characterised in that：The inner bottom of the sliding block (5) is set There is bottom plate (24), the bottom plate (24) is connected by extension spring (23) with sliding block (5), bottom of the bottom plate (24) or so two Side is equipped with claw (27), and the claw (27) is connected by bearing (25) with bottom plate (24), and the bottom of the claw (27) is set There is handle of a knife (26), the handle of a knife (26) is connected with claw (27) overlap joint.

A kind of 3. revolute robot according to claim 2, it is characterised in that：The outer wall set of the extension spring (23) It is connected to silica gel sheath (28).

A kind of 4. revolute robot according to claim 1, it is characterised in that：The outer wall peace of the clutch shaft bearing (15) Equipped with sealing ring (29).

A kind of 5. revolute robot according to claim 1, it is characterised in that：The top of first sleeve (4) is set There is through hole (30).