CN211163945U

CN211163945U - Cylindrical coordinate type industrial robot

Info

Publication number: CN211163945U
Application number: CN201922017948.9U
Authority: CN
Inventors: 王小元
Original assignee: Zhi Maide Co ltd
Current assignee: Zhi Maide Co ltd
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2020-08-04
Anticipated expiration: 2029-11-21

Abstract

The utility model relates to an industrial robot technical field, especially a cylindrical coordinates type industrial robot, which comprises a mounting bas, the fixedly connected with pneumatic cylinder of the centre of a circle department of mount pad top surface, the one end fixedly connected with toothed disc of mount pad is kept away from to the pneumatic cylinder, the centre of a circle department of toothed disc top surface rotates and is connected with the rolling disc, the first motor of edge fixedly connected with of rolling disc top surface one side, the output fixedly connected with gear of first motor. The utility model has the advantages that: through having set up slider and guide way, the thread groove has been seted up at the middle part of slider bottom surface, the through-hole has been seted up at the middle part of slider, the equal sliding connection in both sides at through-hole middle part has the press plate, press the equal fixedly connected with guide block in one side of press plate, the slider passes through thread groove and lead screw threaded connection simultaneously, can make the slider half wrap up the lead screw, and can stretch out and draw back through the guide block, and slide with the guide way cooperation, reach the purpose of the dismouting of being convenient for under the prerequisite of guaranteeing stability.

Description

Cylindrical coordinate type industrial robot

Technical Field

The utility model relates to an industrial robot technical field, especially a cylindrical coordinates type industrial robot.

Background

The industrial robot is a multi-joint manipulator or multi-freedom-degree machine device oriented to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands, can run according to a pre-programmed program, and can also perform a compendium action according to a principle formulated by an artificial intelligence technology. The cylinder coordinate robot that uses at present mainly indicates to use a back shaft as centre of a circle seat circular motion's robot, and its gripper of current cylinder coordinate robot relies on lead screw drive to remove more, but the lead screw drive that present cylinder coordinate robot adopted still exists following not enoughly:

(1) most of transmission lead screws of the existing cylindrical coordinate robots are driven by using threaded sleeves or threaded sliders which completely wrap the lead screws, but the sliders are inconvenient to disassemble due to the mode, the whole lead screw needs to be disassembled after the disassembly, and the maintenance and the replacement are very inconvenient;

(2) the sliding rail and the sliding block which are used by the existing cylindrical coordinate robot in cooperation with the lead screw are in sliding friction, the friction force is large, the kinetic energy loss is large, and the abrasion of the sliding rail and the sliding block can be accelerated.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's shortcoming, provide a cylindrical coordinates type industrial robot, effectively solved prior art not enough.

The purpose of the utility model is realized through the following technical scheme: a cylindrical coordinate type industrial robot comprises a mounting seat, wherein a hydraulic cylinder is fixedly connected at the circle center of the top surface of the mounting seat, a gear disc is fixedly connected at one end, away from the mounting seat, of the hydraulic cylinder, a rotating disc is rotatably connected at the circle center of the top surface of the gear disc, a first motor is fixedly connected at the edge of one side of the top surface of the rotating disc, a gear is fixedly connected at the output end of the first motor, a sliding rail is fixedly connected at one side, away from the first motor, of the top surface of the rotating disc, a second motor is fixedly connected at one end of the sliding rail, a lead screw is rotatably connected at the middle part of the inner wall of the sliding rail, guide grooves are respectively formed at two sides of the inner wall of the sliding rail, a sliding block is slidably connected inside the sliding rail, a thread groove is formed in the middle part of the bottom surface, the through-hole has been seted up at the middle part of slider, the equal sliding connection in both sides at through-hole middle part has the pressure board, the equal fixedly connected with guide block in one side of pressure board, the side that the guide block kept away from the pressure board rotates and is connected with a plurality of gyro wheels.

Optionally, the number of the pressing plates is two, the two pressing plates are symmetrically distributed, and a return spring is fixedly connected between the two pressing plates.

Optionally, the guide block penetrates through two sides of the inner wall of the through hole, the position of the guide block corresponds to the position of the guide groove, and the size of the guide block is matched with the size of the guide groove.

Optionally, the position of the thread groove corresponds to the position of the lead screw, the width of the thread groove is matched with the diameter of the lead screw, the thread groove is in threaded connection with the lead screw, and the slider is in threaded connection with the lead screw through the thread groove.

Optionally, one end of the lead screw penetrates through the center of one end of the slide rail, and one end of the lead screw is fixedly connected with the output end of the second motor through penetrating through the slide rail.

Optionally, the position of the gear corresponds to the position of the gear plate, the tooth width of the gear is equal to the tooth width of the gear plate, the diameter of the gear is smaller than that of the gear plate, and the gear plate are meshed with each other.

Optionally, the center of the bottom surface of the slide rail is fixedly connected with a reinforcing rib, the reinforcing rib is a right triangle, and a short right-angle edge of the reinforcing rib is fixedly connected with the side wall of the rotating disc.

Optionally, the roller is slidably connected to one side of the inner wall of the guide groove, the wheel hub of the roller is provided with a spring telescopic shaft, and the width of the roller is smaller than that of the inner wall of the guide groove.

The utility model has the advantages of it is following:

1. this cylinder coordinate type industrial robot, through having set up slider and guide way, the thread groove has been seted up at the middle part of slider bottom surface, the through-hole has been seted up at the middle part of slider, the equal sliding connection in both sides at through-hole middle part presses the clamp plate, the equal fixedly connected with guide block in one side of pressing the clamp plate, the guide block is kept away from a side rotation of pressing the clamp plate and is connected with a plurality of gyro wheels, and the position of guide block is corresponding with the position of guide way, there are two according to the quantity of clamp plate, two press the clamp plate symmetric distribution, two fixedly connected with reset spring between the clamp plate, the slider passes through thread groove and lead screw threaded connection simultaneously, can make slider half parcel lead screw, and can stretch out and draw back through the guide block, and slide with the guide.

2. This cylindrical coordinates type industrial robot, through having set up the gyro wheel, and one side sliding connection of gyro wheel and guide way inner wall, the width of gyro wheel is less than the width of guide way inner wall, can make the guide block make the gyro wheel contact with the inner wall of guide way after stretching into the guide way to the sliding friction who makes guide block and guide way changes rolling friction into, greatly reduced frictional force, reduced sliding wear, improved its life.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic top view of the present invention;

fig. 3 is a schematic top view of the slide rail of the present invention;

FIG. 4 is a schematic cross-sectional view taken along line A of FIG. 3 according to the present invention;

fig. 5 is a schematic structural view of the slide block of the present invention;

fig. 6 is a schematic side view of the slider of the present invention.

In the figure: 1-mounting seat, 2-hydraulic cylinder, 3-gear disc, 4-rotating disc, 5-first motor, 6-gear, 7-sliding rail, 8-second motor, 9-reinforcing rib, 10-guide groove, 11-sliding block, 12-connecting frame, 13-mechanical claw mounting station, 14-screw rod, 15-thread groove, 16-through hole, 17-pressing plate, 18-reset spring, 19-guide block and 20-roller.

Detailed Description

The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following description.

As shown in fig. 1 to 6, a cylindrical coordinate type industrial robot comprises a mounting base 1, a hydraulic cylinder 2 is fixedly connected to the center of a circle of the top surface of the mounting base 1, a gear plate 3 is fixedly connected to one end of the hydraulic cylinder 2 away from the mounting base 1, a rotating plate 4 is rotatably connected to the center of a circle of the top surface of the gear plate 3, a first motor 5 is fixedly connected to the edge of one side of the top surface of the rotating plate 4, a gear 6 is fixedly connected to the output end of the first motor 5, a slide rail 7 is fixedly connected to one side of the top surface of the rotating plate 4 away from the first motor 5, a second motor 8 is fixedly connected to one end of the slide rail 7, a lead screw 14 is rotatably connected to the middle portion of the inner wall of the slide rail 7, guide grooves 10 are respectively formed on both sides of the inner wall of the slide rail 7, a slide block 11 is slidably connected, one end fixedly connected with gripper installation station 13 of link 12, through-hole 16 has been seted up at the middle part of slider 11, and the equal sliding connection in both sides at through-hole 16 middle part has a pressure board 17, presses the equal fixedly connected with guide block 19 in one side of pressure board 17, and a side that press board 17 was kept away from to guide block 19 rotates and is connected with a plurality of gyro wheels 20.

As an optional technical solution of the utility model:

the quantity of pressing board 17 has two, and two are pressed board 17 symmetric distribution, and fixedly connected with reset spring 18 between two pressing boards 17 to make the user press down the guide block 19 that can pull back to pressing board 17 to the centre, loosen and press board 17, reset spring 18 can push back guide block 19 automatically, reaches the purpose of the dismouting of being convenient for.

As an optional technical solution of the utility model:

the guide block 19 penetrates through two sides of the inner wall of the through hole 16, the position of the guide block 19 corresponds to the position of the guide groove 10, and the size of the guide block 19 is matched with that of the guide groove 10, so that the guide block 19 can be inserted into the guide groove 10, and the slide block 11 can slide more stably through the matched guide of the guide block 19 and the guide groove 10.

As an optional technical solution of the utility model:

the position of thread groove 15 corresponds with lead screw 14's position, and the width and the lead screw 14 diameter looks adaptation of thread groove 15, thread groove 15 and lead screw 14 threaded connection, slider 11 pass through thread groove 15 and lead screw 14 threaded connection to make slider 11 rotate through lead screw 14 and remove, slider 11 has still realized half parcel simultaneously, has made things convenient for taking out of slider 11.

As an optional technical solution of the utility model:

one end of the screw 14 penetrates through the center of one end of the slide rail 7, and one end of the screw 14 is fixedly connected with the output end of the second motor 8 through the slide rail 7, so that the second motor 8 can drive the screw 14 to rotate.

As an optional technical solution of the utility model:

the position of the gear 6 corresponds to the position of the gear plate 3, the tooth width of the gear 6 is equal to the tooth width of the gear plate 3, the diameter of the gear 6 is smaller than that of the gear plate 3, and the gear 6 is meshed with the gear plate 3.

As an optional technical solution of the utility model:

fixedly connected with strengthening rib 9 is located at the center of 7 bottom surfaces of slide rail, and strengthening rib 9 is right triangle, and the short right-angle limit of strengthening rib 9 and the lateral wall fixed connection of rolling disc 4 can disperse the decurrent pressure of slide rail 7 to rolling disc 4 through the support of strengthening rib to improve the stability of slide rail 7.

As an optional technical solution of the utility model:

the roller 20 is connected with one side of the inner wall of the guide groove 10 in a sliding mode, so that sliding friction between the guide block 19 and the guide groove 10 is changed into rolling friction, friction force is reduced, abrasion is reduced, the width of the roller 20 is smaller than that of the inner wall of the guide groove 10 due to the fact that the spring telescopic shaft is arranged at the wheel axle position of the roller 20.

The working process of the utility model is as follows: when a user uses the novel lead screw, the novel lead screw comprises a slider 11 and a guide groove 10, a thread groove 15 is formed in the middle of the bottom surface of the slider 11, a through hole 16 is formed in the middle of the slider 11, two sides of the middle of the through hole 16 are connected with a pressing plate 17 in a sliding mode, one side of the pressing plate 17 is fixedly connected with a guide block 19, one side face, away from the pressing plate 17, of the guide block 19 is rotatably connected with a plurality of idler wheels 20, the position of the guide block 19 corresponds to the position of the guide groove 10, the two pressing plates 17 are two in number, the two pressing plates 17 are symmetrically distributed, a reset spring 18 is fixedly connected between the two pressing plates 17, the slider 11 is in threaded connection with a lead screw 14 through the thread groove 15, the slider 11 can be wrapped on the lead screw 14 in a half mode and can stretch out and draw back through the guide block 19 and slide in cooperation with the, and the roller 20 is connected with one side of the inner wall of the guide groove 10 in a sliding manner, the width of the roller 20 is smaller than that of the inner wall of the guide groove 10, and the roller 20 can be contacted with the inner wall of the guide groove 10 after the guide block 19 extends into the guide groove 10, so that the sliding friction between the guide block 19 and the guide groove 10 is changed into rolling friction, the friction force is greatly reduced, the sliding wear is reduced, and the service life of the guide block is prolonged.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A cylindrical coordinate type industrial robot characterized in that: comprises a mounting seat (1), a hydraulic cylinder (2) is fixedly connected with the circle center of the top surface of the mounting seat (1), one end of the hydraulic cylinder (2) far away from the mounting seat (1) is fixedly connected with a gear disc (3), the circle center of the top surface of the gear disc (3) is rotatably connected with a rotating disc (4), a first motor (5) is fixedly connected with the edge of one side of the top surface of the rotating disc (4), a gear (6) is fixedly connected with the output end of the first motor (5), one side of the top surface of the rotating disc (4) far away from the first motor (5) is fixedly connected with a sliding rail (7), one end of the sliding rail (7) is fixedly connected with a second motor (8), a lead screw (14) is rotatably connected with the middle part of the inner wall of the sliding rail (7), guide grooves (10) are respectively arranged on two sides of the inner wall of the sliding rail (, thread groove (15) have been seted up at the middle part of slider (11) bottom surface, fixedly connected with link (12) have been located at the center of slider (11) top surface, the one end fixedly connected with gripper installation station (13) of link (12), through-hole (16) have been seted up at the middle part of slider (11), the equal sliding connection in both sides at through-hole (16) middle part has press plate (17), the equal fixedly connected with guide block (19) in one side of press plate (17), a side that press plate (17) were kept away from in guide block (19) rotates and is connected with a plurality of gyro wheels (20).

2. Industrial robot of cylindrical coordinate type according to claim 1, characterized in that: the number of the pressing plates (17) is two, the two pressing plates (17) are symmetrically distributed, and a return spring (18) is fixedly connected between the two pressing plates (17).

3. Industrial robot of cylindrical coordinate type according to claim 1, characterized in that: the guide block (19) penetrates through two sides of the inner wall of the through hole (16), the position of the guide block (19) corresponds to the position of the guide groove (10), and the size of the guide block (19) is matched with the size of the guide groove (10).

4. Industrial robot of cylindrical coordinate type according to claim 1, characterized in that: the position of the thread groove (15) corresponds to the position of the lead screw (14), the width of the thread groove (15) is matched with the diameter of the lead screw (14), the thread groove (15) is in threaded connection with the lead screw (14), and the sliding block (11) is in threaded connection with the lead screw (14) through the thread groove (15).

5. Industrial robot of cylindrical coordinate type according to claim 1, characterized in that: one end of the lead screw (14) penetrates through the center of one end of the sliding rail (7), and one end of the lead screw (14) is fixedly connected with the output end of the second motor (8) through penetrating through the sliding rail (7).

6. Industrial robot of cylindrical coordinate type according to claim 1, characterized in that: the position of gear (6) corresponds to the position of toothed disc (3), the tooth width of gear (6) equals with the tooth width of toothed disc (3), the diameter of gear (6) is less than the diameter of toothed disc (3), gear (6) and toothed disc (3) intermeshing.

7. Industrial robot of cylindrical coordinate type according to claim 1, characterized in that: the center department fixedly connected with strengthening rib (9) of slide rail (7) bottom surface, strengthening rib (9) are right angled triangle, the short right-angle side of strengthening rib (9) and the lateral wall fixed connection of rolling disc (4).

8. Industrial robot of cylindrical coordinate type according to claim 1, characterized in that: the roller (20) is connected with one side of the inner wall of the guide groove (10) in a sliding mode, the wheel hub position of the roller (20) is provided with a spring telescopic shaft, and the width of the roller (20) is smaller than that of the inner wall of the guide groove (10).