CN211073658U

CN211073658U - Multi-joint robot

Info

Publication number: CN211073658U
Application number: CN201922222804.7U
Authority: CN
Inventors: 高昂; 张开便; 轩春青; 任孝锋; 陈阳; 张晓冬
Original assignee: Zhengzhou Business University
Current assignee: Zhengzhou Business University
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-07-24
Anticipated expiration: 2029-12-12

Abstract

The utility model discloses a multi-joint robot, including coupling mechanism, No. five axles, No. four axles, No. three axles, No. two axles, an axle and base. The utility model discloses in, through inside slider one and the slider two of being provided with in circular spout, utilize circular through-hole between slider one and the slider two to inject hydraulic oil in the circular spout, make fixture block one and fixture block two and draw-in groove joint, thereby make the fixed disk be connected with multi-joint robot, and then realized using the quick installation of manipulator to multi-joint robot, when multi-joint robot need dismantle the manipulator, through injecting hydraulic oil in circular through-hole between two circular through-holes between two sliders one and two sliders two, make fixture block one and fixture block two and draw-in groove separation, thereby make fixed disk and multi-joint robot separation, and then accomplish the quick dismantlement to multi-joint robot use manipulator, thereby can improve the dismouting efficiency to the manipulator, improve the work efficiency of this multi-joint robot.

Description

Multi-joint robot

Technical Field

The utility model relates to the technical field of robot, concretely relates to articulated robot.

Background

The articulated robot, also called articulated arm robot or articulated robotic arm, is one of the most common forms of industrial robots in the industrial field at present, is suitable for mechanical automation operation in a plurality of industrial fields, for example, automatic assembly, painting, carrying, welding and other work, and has different classifications according to the structure.

The existing joint robots are classified according to their working properties, and may be classified into various types, such as: the handling robot, spot welding robot, arc welding robot, the robot that sprays paint, laser cutting robot etc. joint robot's overall structure is different greatly with the difference, and the difference mostly lies in the position of manipulator, uses different manipulators according to the work of difference, nevertheless when the manipulator is changed to needs, dismantles the process of grinding apparatus too loaded down with trivial details, and the speed of change leads to work efficiency to reduce slowly, influences work efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: in order to solve the problem that the speed of replacing a manipulator of a multi-joint robot is low, the multi-joint robot is provided.

The purpose of the utility model can be realized by the following technical scheme:

a multi-joint robot comprises a connecting mechanism, a fifth shaft, a fourth shaft, a third shaft, a second shaft, a first shaft and a base, wherein the base, the first shaft, the second shaft, the third shaft, the fourth shaft and the fifth shaft are sequentially connected with the connecting mechanism, and the connecting mechanism comprises a clamping disc and a fixed disc;

the clamping disc comprises a connecting disc, a cover plate is fixedly connected to one side of the connecting disc, a circular sliding groove is formed in one side of the connecting disc, two first arc-shaped through holes and two second arc-shaped through holes which correspond to the circular sliding grooves are formed in the top of the cover plate, first sliding blocks are slidably connected to positions, corresponding to the first arc-shaped through holes, in the circular sliding grooves, second sliding blocks are slidably connected to positions, corresponding to the second arc-shaped through holes, in the circular sliding grooves, the tops of the first sliding blocks are fixedly connected with first clamping blocks, the tops of the second sliding blocks are fixedly connected with second clamping blocks, four circular through holes are formed in one side of the circular sliding grooves at equal angles by taking a vertical central line of the connecting disc as a reference, the four circular through holes are arranged between the first sliding blocks and the second sliding blocks at intervals, clamping grooves are, when the multi-joint robot needs to be provided with the mechanical arm, the mechanical arm is fixed on the fixed disc, hydraulic oil is injected into the circular through hole at the corresponding position between the first sliding block and the second sliding block, the first sliding block and the second sliding block are pushed by the hydraulic oil to move, the first clamping block and the second clamping block are clamped with the clamping groove, thereby the clamping connection disc and the fixed disc are clamped, and the quick installation of the manipulator used by the multi-joint robot is realized, when the multi-joint robot needs to disassemble the mechanical arm, stopping injecting the hydraulic oil into the circular through hole at the corresponding position between the first sliding block and the second sliding block, starting injecting the hydraulic oil into the circular through hole between the first sliding blocks and the circular through hole between the second sliding blocks, moving the first sliding block and the second sliding block, and separating the first clamping block and the second clamping block from the clamping groove, and then the clamping disc and the fixed disc are separated, and the quick disassembly of the manipulator used by the multi-joint robot is completed.

The hydraulic oil sealing device is characterized in that a plurality of sealing washers are bonded at the position, corresponding to the circular sliding groove, of one side, connected with the connecting disc, of the cover plate, the sealing washers are arranged between the first two clamping blocks and the second two clamping blocks at intervals, the sealing washers can be used for sealing hydraulic oil on the inner side of the circular sliding groove, and leakage of the hydraulic oil is avoided.

The clamping disc is arranged on the fixed disc, the diameter of one side, adjacent to the fixed disc, of the clamping disc is the same as that of the fixed disc, a plurality of mounting holes are formed in one side, deviating from the clamping disc, of the fixed disc at equal angles, and therefore the manipulator can be conveniently mounted and fixed.

The clamping grooves are arc-shaped, bayonets used with the first clamping block and the second clamping block are arranged at two ends of the inner side walls of the two clamping grooves, and the clamping discs and the fixed discs are firmly connected when the clamping discs and the fixed discs are used.

Further, the cross sections of the first arc-shaped through hole and the second arc-shaped through hole are arc-shaped, so that the first clamping block and the second clamping block can move along the first arc-shaped through hole and the second arc-shaped through hole respectively, and the normal use of the connecting mechanism is guaranteed.

The thickness of one end, connected with the sliding block, of each clamping block I is smaller than the width of the corresponding arc-shaped through hole I, and the other ends of the two clamping blocks I are arranged in opposite directions, so that the clamping blocks I are prevented from being clamped when moving in the arc-shaped through holes I, and normal use of the clamping blocks I is guaranteed.

The utility model has the advantages that:

1. through be provided with slider one and slider two inside the circular spout, utilize the circular through-hole between slider one and the slider two to pour into hydraulic oil into circular spout in, make fixture block one and fixture block two and draw-in groove joint, thereby make the fixed disk be connected with multi-joint robot, and then realized using quick installation of manipulator to multi-joint robot, when multi-joint robot need dismantle the manipulator, through pouring into hydraulic oil into circular through-hole between two sliders one and the circular through-hole between two sliders two, make fixture block one and fixture block two and draw-in groove separation, thereby make fixed disk and multi-joint robot separation, and then accomplish the quick dismantlement of using the manipulator to multi-joint robot, thereby can improve the dismouting efficiency to the manipulator, improve the work efficiency of this multi-joint robot.

Drawings

The present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the position relationship between the connecting mechanism and the fifth shaft of the present invention;

FIG. 3 is a schematic structural view of the chuck plate and the fixing plate of the present invention;

FIG. 4 is a schematic view of the structure of the chuck plate of the present invention;

FIG. 5 is a schematic structural view of a first slider and a first clamping block of the present invention;

fig. 6 is a schematic structural view of the middle fixing disc of the present invention.

In the figure: 100. a connecting mechanism; 110. a clamping disc; 111. a cover plate; 1111. a first arc-shaped through hole; 1112. a second arc-shaped through hole; 112. a first sliding block; 1121. a first clamping block; 113. a second sliding block; 1131. a second clamping block; 114. a connecting disc; 1141. a circular chute; 1142. a circular through hole; 120. fixing the disc; 121. a card slot; 200. a fifth shaft; 300. a fourth shaft; 400. a third shaft; 500. a second shaft; 600. a first shaft; 700. a base.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1-6, a multi-joint robot includes a connecting mechanism 100, a fifth shaft 200, a fourth shaft 300, a third shaft 400, a second shaft 500, a first shaft 600 and a base 700, wherein the base 700, the first shaft 600, the second shaft 500, the third shaft 400, the fourth shaft 300, the fifth shaft 200 are sequentially connected with the connecting mechanism 100, and the connecting mechanism 100 includes a chuck plate 110 and a fixing plate 120;

the clamping disk 110 comprises a connecting disk 114, one side of the connecting disk 114 is fixedly connected with a cover plate 111, one side of the connecting disk 114 is provided with a circular sliding groove 1141, the top of the cover plate 111 is provided with two arc-shaped through holes one 1111 and two arc-shaped through holes two 1112 corresponding to the circular sliding groove 1141, the positions corresponding to the two arc-shaped through holes one 1111 in the circular sliding groove 1141 are respectively and slidably connected with a sliding block one 112, the positions corresponding to the two arc-shaped through holes two 1112 in the circular sliding groove 1141 are respectively and slidably connected with a sliding block two 113, the tops of the two sliding blocks one 112 are respectively and fixedly connected with a clamping block one 1121, the tops of the two sliding blocks two 113 are respectively and fixedly connected with a clamping block two 1131, one side of the circular sliding groove 1141 is provided with four circular through holes 1142 at equal angles by taking a vertical central line of the connecting disk 114 as a reference, the four circular through holes 1142 are arranged between, when the multi-joint robot needs to install the mechanical arm, the mechanical arm is fixed on the fixed disc 120 through a bolt, hydraulic oil is injected into the circular through hole 1142 at the corresponding position between the first slider 112 and the second slider 113, the hydraulic oil pushes the first slider 112 and the second slider 113 to move, the first fixture block 1121 and the second fixture block 1131 are both clamped with the clamping groove 121, so that the clamping disc 110 is clamped with the fixed disc 120, the mechanical arm is quickly installed, when the multi-joint robot needs to disassemble the mechanical arm, the hydraulic oil is stopped being injected into the circular through hole 1142 at the corresponding position between the first slider 112 and the second slider 113, the hydraulic oil is started being injected into the circular through hole 1142 between the first slider 112 and the second slider 113, the hydraulic oil between the first slider 112 and the second slider 113 is discharged out of the inner side of the connecting disc 114 through a guide pipe, so that the first slider 112 and the second slider 113 move, therefore, the first clamping block 1121 and the second clamping block 1131 are separated from the clamping groove 121, and further the clamping disc 110 is separated from the fixed disc 120, so that the manipulator is rapidly disassembled.

One side that apron 111 and connection pad 114 are connected corresponds circular spout 1141 position department and bonds and has a plurality of seal ring, and a plurality of seal ring interval arrange between two fixture block 1121 and two fixture block 1131, utilize seal ring can seal the inboard hydraulic oil of circular spout 1141, avoid hydraulic oil to leak, the diameter of the adjacent one side of joint dish 110 and fixed disk 120 is the same with the diameter of fixed disk 120, and fixed disk 120 deviates from one side of joint dish 110 and waits the angle and has seted up a plurality of mounting holes, be convenient for install the manipulator fixedly, two draw-in grooves 121 are the arc, and the bayonet socket that uses with fixture block 1121 and two fixture block 1131 joints is all seted up at the both ends of two draw-in groove 121 inside walls, make joint dish 110 and fixed disk 120 firm in connection when using.

The cross sections of the first arc-shaped through hole 1111 and the second arc-shaped through hole 1112 are arc-shaped, so that the first fixture block 1121 and the second fixture block 1131 can move along the first arc-shaped through hole 1111 and the second arc-shaped through hole 1112 respectively, the normal use of the connecting mechanism 100 is ensured, the thickness of one end, connected with the first fixture block 1121 and the first slider 112, of the first fixture block 1121 is smaller than the width of the first arc-shaped through hole 1111, the other ends of the two first fixture blocks 1121 are arranged in opposite directions, the first fixture block 1121 is prevented from being clamped when moving in the first arc-shaped through hole.

The two side walls of the first sliding block 112 and the second sliding block 113 are respectively in contact with the inner walls of the two sides of the circular sliding groove 1141, so that the filled hydraulic oil can be sealed, and the normal use of the first sliding block 112 and the second sliding block 113 is ensured.

The working principle is as follows: when the multi-joint robot is used, a manipulator is connected with the fixed disc 120 in a screwing mode through a fastening bolt, hydraulic oil is injected into the circular through hole 1142 at the corresponding position between the first sliding block 112 and the second sliding block 113, the first sliding block 112 and the second sliding block 113 are pushed by the hydraulic oil to move, the first clamping block 1121 and the second clamping block 1131 are clamped with the clamping groove 121, the clamping disc 110 is clamped with the fixed disc 120, the manipulator is installed on the multi-joint robot, when the manipulator needs to be disassembled, the hydraulic oil is stopped being injected into the circular through hole 1142 at the corresponding position between the first sliding block 112 and the second sliding block 113, the hydraulic oil is started being injected into the circular through hole 1142 between the first sliding blocks 112 and the circular through hole 1142 between the second sliding blocks 113, the first sliding blocks 112 and the second sliding blocks 113 are moved, the first clamping block 1121 and the second clamping block 1131 are separated from the clamping groove 121, and the fixed disc 120 is separated from the multi-joint robot, and loosening the fastening bolt to finish the disassembly of the manipulator used by the multi-joint robot.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is illustrative and explanatory only, and various modifications, additions and substitutions as described for the specific embodiments described herein may be made by those skilled in the art without departing from the scope of the invention or exceeding the scope of the invention as defined in the claims.

Claims

1. A multi-joint robot comprises a connecting mechanism (100), a fifth shaft (200), a fourth shaft (300), a third shaft (400), a second shaft (500), a first shaft (600) and a base (700), wherein the base (700), the first shaft (600), the second shaft (500), the third shaft (400), the fourth shaft (300) and the fifth shaft (200) are sequentially connected with the connecting mechanism (100), and the multi-joint robot is characterized in that the connecting mechanism (100) comprises a clamping disc (110) and a fixed disc (120);

the clamping disc (110) comprises a connecting disc (114), a cover plate (111) is fixedly connected to one side of the connecting disc (114), a circular sliding groove (1141) is formed in one side of the connecting disc (114), two first arc-shaped through holes (1111) and two second arc-shaped through holes (1112) corresponding to the circular sliding groove (1141) are formed in the top of the cover plate (111), a first sliding block (112) is connected to the position, corresponding to the first arc-shaped through holes (1111), in the circular sliding groove (1141), a second sliding block (113) is connected to the position, corresponding to the second arc-shaped through holes (1112), in the circular sliding groove (1141), the tops of the first sliding blocks (112) are fixedly connected with a first clamping block (1121), the tops of the second sliding blocks (113) are fixedly connected with a second clamping block (1131), four circular through holes (1142) are formed in one side of the circular sliding groove (1141) at equal angles by taking a vertical central line of the, and four circular through holes (1142) are arranged between the two first sliding blocks (112) and the two second sliding blocks (113) at intervals, and clamping grooves (121) are formed in positions, corresponding to the first clamping blocks (1121) and the second clamping blocks (1131), on one side of the fixed disc (120).

2. The articulated robot of claim 1, wherein a plurality of sealing washers are bonded to the side of the cover plate (111) connected to the connecting plate (114) at positions corresponding to the circular sliding grooves (1141), and the sealing washers are disposed between the first two retainers (1121) and the second two retainers (1131) at intervals.

3. The articulated robot of claim 1, wherein the diameter of the side of the clamping disc (110) adjacent to the fixed disc (120) is the same as the diameter of the fixed disc (120), and a plurality of mounting holes are formed in the side of the fixed disc (120) away from the clamping disc (110) at equal angles.

4. The multi-joint robot as claimed in claim 1, wherein the two slots (121) are both arc-shaped, and two ends of the inner side walls of the two slots (121) are both provided with bayonets for clamping with the first fixture block (1121) and the second fixture block (1131).

5. The articulated robot of claim 1, wherein the first through arc-shaped hole (1111) and the second through arc-shaped hole (1112) are arc-shaped in cross section.

6. The articulated robot of claim 5, wherein the thickness of the end of the first fixture block (1121) connected with the first slider block (112) is smaller than the width of the first arc-shaped through hole (1111), and the other ends of the two first fixture blocks (1121) are arranged opposite to each other.