CN211541196U

CN211541196U - Four-axis robot with flexibly rotatable joints

Info

Publication number: CN211541196U
Application number: CN202020111462.1U
Authority: CN
Inventors: 李秋银
Original assignee: Sichuan Yitian Technology Co ltd
Current assignee: Sichuan Yitian Technology Co ltd
Priority date: 2020-01-16
Filing date: 2020-01-16
Publication date: 2020-09-22
Anticipated expiration: 2030-01-16

Abstract

The utility model discloses a four-axis robot with flexibly rotatable joint, which comprises a movable seat, wherein a counterweight seat is arranged in the middle of the upper side of the movable seat, a lower base is arranged in the upper side of the counterweight seat, a rotary seat is arranged at the lower side of the lower base through a rotary shaft and a bearing, a first mechanical arm is arranged at the upper side of the rotary seat, a second mechanical arm and a third mechanical arm are arranged at one end of the first mechanical arm, a pneumatic clamping jaw is arranged at one end of the third mechanical arm, one side of the rotary seat is connected with a first motor through gear set transmission, a PLC control cabinet is arranged at the upper side of one end of the movable seat, the four-axis robot with flexibly rotatable joint is convenient to adjust the use horizontal angle of the mechanical arm due to the fact that the first motor is connected at one side of the rotary seat through gear set transmission, and is provided with a hydraulic cylinder in, the adjustment is flexible, convenient and fast, and the use is convenient.

Description

Four-axis robot with flexibly rotatable joints

Technical Field

The utility model relates to an industrial robot technical field specifically is a joint department can nimble pivoted four-axis robot.

Background

In recent years, with the coming of the automation development trend of the international manufacturing industry, the domestic industrial manufacturing industry is rapidly transforming, the demands for automation software and hardware equipment are high, in the process, the market demand of an inevitable industrial robot is greatly increased, the application field of the industrial robot is continuously widened, and the variety of the industrial robot is more diversified. An industrial robot is important automatic equipment in modern manufacturing industry, which integrates multiple discipline advanced technologies such as machinery, electronics, control, computers, sensors, artificial intelligence and the like. Since the first industrial robot in the world was developed in the united states in 1962, the development of robotics and its products has become a rapid tool for automation in Flexible Manufacturing Systems (FMS), automated Factories (FA), Computer Integrated Manufacturing Systems (CIMS). An industrial robot is composed of three basic parts, namely a main body, a driving system and a control system. The main body is a machine base and an actuating mechanism, and comprises an arm part, a wrist part and a hand part, and some robots also comprise a walking mechanism. Most industrial robots have 3-6 degrees of freedom of motion, wherein the wrist generally has 1-3 degrees of freedom of motion; the driving system comprises a power device and a transmission mechanism and is used for enabling the executing mechanism to generate corresponding actions; the control system sends command signals to the driving system and the executing mechanism according to the input program and controls the driving system and the executing mechanism.

The existing industrial four-axis robot is inconvenient to move, adjust and use and is inconvenient to rotate and adjust in all directions, so that the flexibility of adjustment and use is reduced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a joint department can be nimble pivoted four-axis robot to solve current industry four-axis robot, be not convenient for remove the regulation and use, the omnidirectional rotation regulation of being not convenient for moreover uses, thereby reduced the problem of the flexibility of adjusting the use.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a joint department can nimble pivoted four-axis robot, is including removing the seat, it has the counter weight seat to remove seat upside mid-mounting, counter weight seat upside internally mounted has down the base, the roating seat is installed through pivot and bearing to the base downside down, first arm is installed to the roating seat upside, second arm and third arm are installed to first arm one end, pneumatic clamping jaw is installed to third arm one end, roating seat one side is connected with first motor through the gear train transmission, remove seat one end upside and install the PLC switch board.

Preferably, lower support legs are installed on the lower side of the moving seat, and walking wheels are installed between the lower support legs through connecting shafts.

Preferably, the walking wheel is connected with a second motor through chain wheel and chain transmission, and the second motor is installed on the lower side of the movable seat.

Preferably, a hydraulic cylinder is installed in the middle of the lower side of the lower base, and the hydraulic cylinder is installed in the middle of the lower side of the movable base.

Preferably, a first gear is installed on the outer side of the rotating seat, one end of the first motor is connected with a second gear in a transmission mode, and the first gear is in meshed connection with the second gear.

Preferably, the battery is installed to removal seat one end upside, and battery one end installs the interface that charges.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses because roating seat one side is connected with first motor through the gear train transmission, be convenient for adjust robotic arm's the horizontal angle of use, through lower base downside mid-mounting there is the pneumatic cylinder, the use height of robotic arm is adjusted in the drive of being convenient for, adjusts nimble convenient and fast, convenient to use.

2. The utility model discloses a remove the seat downside and install down the stabilizer blade, install the walking wheel through the connecting axle between the lower stabilizer blade, the walking wheel is connected with the second motor through sprocket chain drive, and the second motor is installed and is being removed the seat downside, can remove the seat by electric drive and remove the use, is convenient for remove the operation and use.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

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

FIG. 2 is an enlarged schematic view of the structure at the position A of the present invention;

fig. 3 is a schematic view of a connection structure between the rotary base and the second gear according to the present invention.

In the figure: 1. a movable seat; 2. a PLC control cabinet; 3. a counterweight seat; 4. a lower base; 5. a rotating base; 6. a rotating shaft; 7. a hydraulic cylinder; 8. a first gear; 9. a second gear; 10. a first motor; 11. a storage battery; 12. a first robot arm; 13. a second mechanical arm; 14. a third mechanical arm; 15. a pneumatic clamping jaw; 16. a lower leg; 17. a traveling wheel; 18. a second motor; 19. a sprocket chain; 20. and a bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in 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 in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, 2 and 3, in an embodiment of the present invention, a four-axis robot with a flexibly rotatable joint includes a movable base 1, a counterweight base 3 is installed at the middle of the upper side of the movable base 1 for increasing the weight of the movable base 1 and improving the stability of the lower portion of the robot, a lower base 4 is installed inside the upper side of the counterweight base 3, a rotary base 5 is installed at the lower side of the lower base 4 through a rotating shaft 6 and a bearing 20 for rotatably adjusting the robot arm, a first mechanical arm 12 is installed at the upper side of the rotary base 5, a second mechanical arm 13 and a third mechanical arm 14 are installed at one end of the first mechanical arm 12, a pneumatic clamping jaw 15 is installed at one end of the third mechanical arm 14 for clamping and carrying the workpiece, a first motor 10 is connected to one side of the rotary base 5 through a gear set transmission, the first motor 10 drives the rotary base 5 to horizontally rotate, so as to adjust the use horizontal angle, remove 1 one end upside of seat and install PLC switch board 2, and the control end of each equipment all with 2 electric connection of PLC switch board, be convenient for carry out whole regulation and control.

Preferably, remove seat 1 downside and install down stabilizer blade 16, install walking wheel 17 through the connecting axle between the lower stabilizer blade 16, walking wheel 17 is connected with second motor 18 through sprocket chain 19 transmission, and second motor 18 installs and removes seat 1 downside at removal seat 1, can remove through the drive of second motor 18, is convenient for remove the operation and use.

Preferably, the middle part of the lower side of the lower base 4 is provided with the hydraulic cylinder 7, and the hydraulic cylinder 7 is arranged in the middle part of the lower side of the movable base 1, so that the use height of the mechanical arm can be conveniently adjusted, and the adjustment is flexible, convenient and quick.

Preferably, a first gear 8 is installed on the outer side of the rotary base 5, one end of a first motor 10 is connected with a second gear 9 in a transmission manner, the first gear 8 is meshed with the second gear 9, and the first motor 10 drives the rotary base 5 to horizontally rotate, so that the horizontal angle of the mechanical arm can be adjusted.

Preferably, the battery 11 is installed to 1 one end upside of removal seat for provide the electric quantity, and the interface that charges is installed to battery 11 one end, is convenient for replenish the electric quantity.

The utility model discloses a theory of operation and use flow: one side of the rotating seat 5 is connected with a first motor 10 through a gear set in a transmission manner, the first motor 10 drives the rotating seat 5 to horizontally rotate, so that the use horizontal angle of the mechanical arm can be adjusted, and then a hydraulic cylinder 7 is mounted in the middle of the lower side of the lower base 4, so that the use height of the mechanical arm can be conveniently adjusted, and the adjustment is flexible, convenient and rapid, and the operation and the use are convenient; lower support legs 16 are installed on the lower side of the moving seat 1, walking wheels 17 are installed between the lower support legs 16 through connecting shafts, the walking wheels 17 are connected with second motors 18 through chain wheels and chains 19 in a transmission mode, the second motors 18 are installed on the lower side of the moving seat 1, the moving seat 1 can be driven to move through the second motors 18, and moving operation and use are facilitated.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a but joint department nimble pivoted four-axis robot, is including removing seat (1), its characterized in that: remove seat (1) upside mid-mounting and have counter weight seat (3), counter weight seat (3) upside internally mounted has lower base (4), roating seat (5) are installed through pivot (6) to base (4) downside down, first arm (12) are installed to roating seat (5) upside, second arm (13) and third arm (14) are installed to first arm (12) one end, pneumatic clamping jaw (15) are installed to third arm (14) one end, roating seat (5) one side is connected with first motor (10) through the gear train transmission, remove seat (1) one end upside and install PLC switch board (2).

2. The four-axis robot capable of flexibly rotating at joints according to claim 1, wherein: remove seat (1) downside and install down stabilizer blade (16), install walking wheel (17) through the connecting axle between lower stabilizer blade (16).

3. The four-axis robot capable of flexibly rotating at joints according to claim 2, wherein: the walking wheel (17) is connected with a second motor (18) through a chain wheel chain (19) in a transmission mode, and the second motor (18) is installed on the lower side of the moving seat (1).

4. The four-axis robot capable of flexibly rotating at joints according to claim 1, wherein: the middle part of the lower side of the lower base (4) is provided with a hydraulic cylinder (7), and the hydraulic cylinder (7) is arranged in the middle of the lower side of the movable base (1).

5. The four-axis robot capable of flexibly rotating at joints according to claim 1, wherein: first gear (8) are installed in roating seat (5) outside, first motor (10) one end transmission is connected with second gear (9), and first gear (8) and second gear (9) meshing are connected.

6. The four-axis robot capable of flexibly rotating at joints according to claim 1, wherein: remove seat (1) one end upside and install battery (11), and battery (11) one end is installed and is charged the interface.