CN209364602U - A kind of articulated robot with exercise assist device - Google Patents
A kind of articulated robot with exercise assist device Download PDFInfo
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- CN209364602U CN209364602U CN201821959460.7U CN201821959460U CN209364602U CN 209364602 U CN209364602 U CN 209364602U CN 201821959460 U CN201821959460 U CN 201821959460U CN 209364602 U CN209364602 U CN 209364602U
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Abstract
The utility model discloses a kind of articulated robots with exercise assist device, including truss, vertical bar and cross bar, a vertical bar is respectively welded on two opposite flanks of truss, two vertical bars have been respectively fixedly connected with a graduated scale item, a cross bar is respectively welded on other two side of truss, No.1 groove is equipped on the upside of vertical bar, the inside of No.1 groove is equipped with No.1 threaded rod, vertical bar is rotatablely connected by shaft and No.1 threaded rod, one end of No.1 threaded rod passes through vertical bar and is welded with handle, two No.1 threaded rods are socketed in the inside of No.1 adjusting block and No. two adjusting blocks respectively, No.1 sliding block is welded on the upside of No. two adjusting blocks, No.1 adjusting block is rotatably connected to rail rods, a kind of articulated robot with exercise assist device of the utility model, before joint of robot arm carries out mobile operation, rail rods energy It is adjusted the angle under the action of No.1 adjusting block and No. two adjusting blocks, the motion profile of No. two sliding blocks can be cooked up in advance.
Description
Technical field
The utility model relates to a kind of articulated robot, in particular to a kind of joint machine with exercise assist device
People belongs to robot field.
Background technique
Articulated robot, also referred to as joint arm robot or joint Manipulator arm are most common in current industrial circle
One of form of industrial robot can be programmed freely suitable for the mechanical automation operation of many industrial circles, be completed entirely certainly
The work of dynamicization, advantage is obvious, effectively increase production efficiency, completes instead of being much not suitable for manpower, negative unhealthy
Complex work, but articulated robot also has significantly to do a large amount of preparations before articulated robot using disadvantage,
Programming and computer simulation process it is extremely time-consuming, and when joint of robot arm carries out mobile operation, the coordinate of articulated robot
It calculates and control flow is increasingly complex, it is difficult to reach very high required precision.
Utility model content
The technical problems to be solved in the utility model is to overcome the deficiencies of existing technologies, and is provided a kind of with movement auxiliary dress
The articulated robot set.
In order to solve the above-mentioned technical problem, the utility model provides the following technical solution:
A kind of articulated robot with exercise assist device of the utility model, including truss, vertical bar and cross bar, the purlin
A vertical bar is respectively welded on two opposite flanks of frame, two vertical bars have been respectively fixedly connected with a graduated scale item,
It is respectively welded a cross bar on other two side of the truss, No.1 groove is equipped on the upside of the vertical bar, it is described
The inside of No.1 groove is equipped with No.1 threaded rod, and the vertical bar is rotatablely connected by shaft and No.1 threaded rod, the No.1
One end of threaded rod passes through vertical bar and is welded with handle, and two No.1 threaded rods are socketed in No.1 adjusting block and No. two tune respectively
The inside of locking nub is welded with No.1 sliding block on the upside of No. two adjusting blocks, and the No.1 adjusting block is rotatably connected to rail rods,
Movement sliding slot is offered in the middle part of the rail rods, the rail rods offer angle modulation sliding slot far from one end of No.1 adjusting block,
The No.1 sliding block is located in angle modulation sliding slot, and the inside of the movement sliding slot is equipped with No. two sliding blocks, the downside of No. two sliding blocks
Screw is fixed with mounting plate, and the downside screw of the mounting plate is fixed with joint of robot arm, the inner part of two cross bars
Not She You No.1 limiting slot and No. two limiting slots, the inside of the No.1 limiting slot is equipped with No. two threaded rods, and the cross bar passes through
Shaft is rotatablely connected with No. two threaded rods, and one end of No. two threaded rods passes through cross bar and the output end of servo motor welds,
The servo motor is fixed with cross bar screw, and the inner wall of No. two limiting slots, which is tightened up a screw, is fixed with slide bar, No. two screw threads
Be socketed with active guide block on the outside of bar, be socketed with driven guide block on the outside of the slide bar, the active guide block and driven guide block it
Between be welded with guide rod, mobile chute is offered in the middle part of the guide rod, No. two sliding blocks are located in mobile chute, described
The upside screw of cross bar is fixed with PLC controller.
As a kind of optimal technical scheme of the utility model, the servo motor and PLC controller are electrically connected, described
PLC controller is the PLC controller of S7-200 model.
As a kind of optimal technical scheme of the utility model, two No.1 grooves respectively with No.1 adjusting block and two
Number adjusting block is slidably connected, and the active guide block is slidably connected with No.1 limiting slot, and the driven guide block and No. two limiting slots are sliding
Dynamic connection.
As a kind of optimal technical scheme of the utility model, the No.1 adjusting block and No. two adjusting blocks respectively with two
No.1 threaded rod is threadedly coupled, and the active guide block is threadedly coupled with No. two threaded rods, and the driven guide block and sliding bar connect
It connects.
As a kind of optimal technical scheme of the utility model, the movement sliding slot and mobile chute are sliding with No. two sliding blocks
Dynamic connection, the No.1 sliding block are slidably connected with angle modulation sliding slot.
The utility model beneficial effect achieved is: a kind of joint machine with exercise assist device of the utility model
People, with reasonable in internal structure, the precision high feature relatively simple with control, before joint of robot arm carries out mobile operation,
Rail rods can adjust the angle under the action of No.1 adjusting block and No. two adjusting blocks, can cook up the movement rail of No. two sliding blocks in advance
Mark, active guide block can push No. two sliding blocks mobile, and energy average rate area mobile robot joint arm banking motion reduces joint machine
The program calculation amount of people, shortens the time of programming and computer simulation, when improving joint of robot arm and carrying out mobile operation
Precision.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this
Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings:
Fig. 1 is the front view of the utility model；
Fig. 2 is the top view of the utility model；
Fig. 3 is enlarged drawing at the A of the utility model.
In figure: 1, truss；2, vertical bar；3, graduated scale item；4, No.1 groove；5, No.1 threaded rod；6, handle；7, No.1 tune
Locking nub；8, No. two adjusting blocks；9, No.1 sliding block；10, rail rods；11, sliding slot is moved；12, angle modulation sliding slot；13, No. two sliding blocks；
14, mounting plate；15, joint of robot arm；16, cross bar；17, No.1 limiting slot；18, No. two limiting slots；19, slide bar；20, No. two
Threaded rod；21, active guide block；22, driven guide block；23, servo motor；24, guide rod；25, mobile chute；26, PLC is controlled
Device.
Specific embodiment
It is illustrated below in conjunction with preferred embodiment of the attached drawing to the utility model, it should be understood that described herein excellent
It selects embodiment to be only used for describing and explaining the present invention, is not used to limit the utility model.
Embodiment
As shown in Figure 1-3, a kind of articulated robot with exercise assist device, including truss 1, vertical bar 2 and cross bar 16,
A vertical bar 2 is respectively welded on two opposite flanks of truss 1, two vertical bars 2 have been respectively fixedly connected with a graduated scale item
3, a cross bar 16 is respectively welded on other two side of truss 1, and the upside of vertical bar 2 is equipped with No.1 groove 4, and No.1 is recessed
The inside of slot 4 is equipped with No.1 threaded rod 5, and vertical bar 2 is rotatablely connected by shaft and No.1 threaded rod 5, and the one of No.1 threaded rod 5
End is welded with handle 6 across vertical bar 2, and two No.1 threaded rods 5 are socketed in the interior of No.1 adjusting block 7 and No. two adjusting blocks 8 respectively
Portion, the upside of No. two adjusting blocks 8 are welded with No.1 sliding block 9, and No.1 adjusting block 7 is rotatably connected to rail rods 10, rail rods 10
Middle part offers movement sliding slot 11, and rail rods 10 offer angle modulation sliding slot 12, No.1 sliding block 9 far from one end of No.1 adjusting block 7
In angle modulation sliding slot 12, the inside of movement sliding slot 11 is equipped with No. two sliding blocks 13, and the downside screw of No. two sliding blocks 13 is fixed with peace
Loading board 14, the downside screw of mounting plate 14 are fixed with joint of robot arm 15, and the inside of two cross bars 16 is respectively equipped with No.1 limit
Position slot 17 and No. two limiting slots 18, the inside of No.1 limiting slot 17 are equipped with No. two threaded rods 20, and cross bar 16 passes through shaft and No. two
Threaded rod 20 is rotatablely connected, and one end of No. two threaded rods 20 passes through cross bar 16 and the output end of servo motor 23 welds, servo electricity
Machine 23 is fixed with 16 screw of cross bar, and the inner wall of No. two limiting slots 18, which is tightened up a screw, is fixed with slide bar 19, the outside of No. two threaded rods 20
It is socketed with active guide block 21, the outside of slide bar 19 is socketed with driven guide block 22, welds between active guide block 21 and driven guide block 22
There is guide rod 24, the middle part of guide rod 24 offers mobile chute 25, and No. two sliding blocks 13 are located in mobile chute 25, cross bar 16
Upside screw is fixed with PLC controller 26.
Servo motor 23 and PLC controller 26 are electrically connected, and PLC controller 26 is the PLC controller 26 of S7-200 model,
It realizes and is automatically brought into operation process, two No.1 grooves 4 are slidably connected with No.1 adjusting block 7 and No. two adjusting blocks 8 respectively, actively lead
Block 21 is slidably connected with No.1 limiting slot 17, and driven guide block 22 is slidably connected with No. two limiting slots 18, defines No.1 adjusting block
7,22 motion profile of No. two adjusting blocks 8, active guide block 21 and driven guide block, No.1 adjusting block 7 and No. two adjusting blocks 8 are respectively with two
A No.1 threaded rod 5 is threadedly coupled, and active guide block 21 is threadedly coupled with No. two threaded rods 20, and driven guide block 22 is slided with slide bar 19
Connection moves sliding slot 11 and mobile chute 25 is slidably connected with No. two sliding blocks 13 convenient for driving, and No.1 sliding block 9 and angle modulation are sliding
Slot 12 is slidably connected, and is conveniently adjusted rail rods 10.
Specifically, when the utility model is used, manual rotational handle 6 can drive No.1 threaded rod 5 to rotate, therefore one
Under the limit of number groove 4, No.1 adjusting block 7 and No. two adjusting blocks 8 can move along a straight line, since cross bar 16 passes through shaft and No. two
Threaded rod 20 is rotatablely connected, and angle modulation sliding slot 12 is offered in rail rods 10, therefore rail rods 10 can be in No.1 adjusting block 7 and two
It is adjusted the angle under the action of number adjusting block 8, the motion profile of No. two sliding blocks 13 can be cooked up in advance, start servo motor 23, energy
It drives No. two threaded rods 20 to rotate, and then active guide block 21 can be driven to move, 21 energy band action-oriented bar 24 of active guide block is mobile, leads
No. two sliding blocks 13 can be pushed mobile to bar 24, under the action of rail rods 10, No. two sliding blocks 13 will be moved along sliding slot 11 is moved, energy
15 banking motion of average rate area mobile robot joint arm.
Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention, it is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic
It is equivalently replaced.Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of articulated robot with exercise assist device, including truss (1), vertical bar (2) and cross bar (16), feature exists
In being respectively welded a vertical bar (2) on two opposite flanks of the truss (1), two vertical bars (2) are fixed respectively to be connected
It is connected to a graduated scale item (3), a cross bar (16) is respectively welded on other two side of the truss (1), it is described perpendicular
It is equipped on the upside of bar (2) No.1 groove (4), the inside of the No.1 groove (4) is equipped with No.1 threaded rod (5), described perpendicular
Bar (2) is rotatablely connected by shaft and No.1 threaded rod (5), and one end of the No.1 threaded rod (5) passes through vertical bar (2) and is welded with
Handle (6), two No.1 threaded rods (5) are socketed in the inside of No.1 adjusting block (7) and No. two adjusting blocks (8), institute respectively
It states and is welded with No.1 sliding block (9) on the upside of No. two adjusting blocks (8), the No.1 adjusting block (7) is rotatably connected to rail rods (10),
Movement sliding slot (11), the one end of the rail rods (10) far from No.1 adjusting block (7) are offered in the middle part of the rail rods (10)
It offers angle modulation sliding slot (12), the No.1 sliding block (9) is located in angle modulation sliding slot (12), and the inside of movement sliding slot (11) is set
There are No. two sliding blocks (13), the downside screw of No. two sliding blocks (13) is fixed with mounting plate (14), under the mounting plate (14)
Side screw is fixed with joint of robot arm (15), and the inside of two cross bars (16) is respectively equipped with No.1 limiting slot (17) and two
The inside of number limiting slot (18), the No.1 limiting slot (17) is equipped with No. two threaded rods (20), and the cross bar (16) passes through shaft
It is rotatablely connected with No. two threaded rods (20), one end of No. two threaded rods (20) passes through cross bar (16) and servo motor (23)
Output end welding, the servo motor (23) are fixed with cross bar (16) screw, and the inner wall of No. two limiting slots (18) is tightened up a screw
It is fixed with slide bar (19), is socketed with active guide block (21) on the outside of No. two threaded rods (20), the outside of the slide bar (19)
It is socketed with driven guide block (22), is welded between the active guide block (21) and driven guide block (22) guide rod (24), it is described to lead
It is offered mobile chute (25) in the middle part of to bar (24), No. two sliding blocks (13) are located in mobile chute (25), the cross bar
(16) upside screw is fixed with PLC controller (26).
2. a kind of articulated robot with exercise assist device according to claim 1, which is characterized in that the servo
Motor (23) and PLC controller (26) are electrically connected, and the PLC controller (26) is the PLC controller (26) of S7-200 model.
3. a kind of articulated robot with exercise assist device according to claim 1, which is characterized in that described in two
No.1 groove (4) is slidably connected with No.1 adjusting block (7) and No. two adjusting blocks (8) respectively, the active guide block (21) and No.1
Limiting slot (17) is slidably connected, and the driven guide block (22) is slidably connected with No. two limiting slots (18).
4. a kind of articulated robot with exercise assist device according to claim 1, which is characterized in that the No.1
Adjusting block (7) and No. two adjusting blocks (8) are threadedly coupled with two No.1 threaded rods (5) respectively, the active guide block (21) and two
Number threaded rod (20) is threadedly coupled, and the driven guide block (22) is slidably connected with slide bar (19).
5. a kind of articulated robot with exercise assist device according to claim 1, which is characterized in that the movement
Sliding slot (11) and mobile chute (25) are slidably connected with No. two sliding blocks (13), the No.1 sliding block (9) and angle modulation sliding slot (12)
It is slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821959460.7U CN209364602U (en) | 2018-11-27 | 2018-11-27 | A kind of articulated robot with exercise assist device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821959460.7U CN209364602U (en) | 2018-11-27 | 2018-11-27 | A kind of articulated robot with exercise assist device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209364602U true CN209364602U (en) | 2019-09-10 |
Family
ID=67833820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821959460.7U Active CN209364602U (en) | 2018-11-27 | 2018-11-27 | A kind of articulated robot with exercise assist device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209364602U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340667A (en) * | 2020-11-26 | 2021-02-09 | 国网江苏省电力有限公司淮安供电分公司 | Electric power lift platform with auxiliary robot |
-
2018
- 2018-11-27 CN CN201821959460.7U patent/CN209364602U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340667A (en) * | 2020-11-26 | 2021-02-09 | 国网江苏省电力有限公司淮安供电分公司 | Electric power lift platform with auxiliary robot |
| CN112340667B (en) * | 2020-11-26 | 2022-04-12 | 国网江苏省电力有限公司淮安供电分公司 | Electric power lift platform with auxiliary robot |
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