CN211541202U - Robot structure - Google Patents
Robot structure Download PDFInfo
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- CN211541202U CN211541202U CN201921796238.4U CN201921796238U CN211541202U CN 211541202 U CN211541202 U CN 211541202U CN 201921796238 U CN201921796238 U CN 201921796238U CN 211541202 U CN211541202 U CN 211541202U
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Abstract
The utility model provides a robot structure, it makes whole robot increase the bearing capacity under the prerequisite that does not increase the power take off of power supply, and makes whole structure can adapt to the demand of carrying or pile up neatly on a large scale. The automatic feeding device comprises a fixed seat, a first rotating shaft mounting seat is fixedly arranged in the vertical direction of one side of the fixed seat, a first power driving device is arranged in an inner cavity of the first rotating shaft mounting seat, a first rotating shaft is fixedly connected to the input end of a first rotating arm, the output end of the first power driving device is fixedly connected with the lower convex end of the first rotating shaft, a second rotating shaft mounting seat is fixedly arranged at the output end of the first rotating arm, a second power driving device is arranged in an inner cavity of the second rotating shaft mounting seat, a second rotating shaft is fixedly connected to the output end of the second power outputting device, a supporting module is arranged on a lead screw module and a lead screw module is fixedly connected to the supporting module.
Description
Technical Field
The utility model relates to a technical field of transport or pile up neatly machine people structure specifically is a robot structure.
Background
The existing transfer robot or palletizing robot aims at solving the problem of transferring and palletizing workpieces from the head to the tail of an automatic production line, when in actual design, the output ratio of the output end of a rotary arm except the connected rear end can be set to a corresponding load value, when the mass size of the workpieces is larger or the transfer range is larger, the existing robot structure with a single rotary arm can not meet the transfer or palletizing requirements, the size of the rotary arm needs to be increased, the power output of a power source needs to be increased, and the whole robot structure is heavy in size and unreasonable in stress distribution.
Disclosure of Invention
To the above problem, the utility model provides a robot structure, it makes whole robot increase the load capacity under the prerequisite that does not increase the power take off of power supply, and makes whole structure can adapt to the demand of carrying or pile up neatly on a large scale.
A robotic structure characterized by: the device comprises a fixed seat, wherein a first rotating shaft mounting seat is fixedly arranged in the vertical direction of one side of the fixed seat, a first power driving device is arranged in an inner cavity of the first rotating shaft mounting seat, a first rotating shaft is fixedly connected to an input end of a first rotating arm, a lower protruding end of the first rotating shaft is fixedly connected to an output end of the first power driving device, a second rotating shaft mounting seat is fixedly connected to an output end of the first rotating arm, a second power driving device is arranged in an inner cavity of the second rotating shaft mounting seat, a second rotating shaft is fixedly connected to an output end of the second power outputting device, an upper screw rod module is fixedly connected to the second rotating shaft, a screw rod module is fixedly connected to the upper screw rod module, a third power driving device is arranged at the top of the screw rod module, a vertical screw rod is arranged in an inner cavity of the screw rod module, and the third power driving device drives the vertical screw rod to move, the vertical screw rod is in threaded connection with an input supporting seat of a second rotary arm, the output end of the second rotary arm is fixedly connected with a fourth mounting seat, a fourth power driving device is arranged in an inner cavity of the fourth mounting seat, the output part of a lower rotary shaft of the fourth power driving device is fixedly connected with the input end of a mounting rod of a gripper module, the distance between the central axis position of a gripper assembly of the gripper module and the lower rotary shaft is C, the distance between the central axis position of the lower rotary shaft and the central axis position of the second rotary shaft is B, the distance between the central axis position of the first rotary shaft and the central axis position of the second rotary shaft is A, a second connecting seat is arranged at the bottom of the first rotary shaft mounting seat, and a fifth rotary shaft mounting hole is formed in the second connecting seat, which corresponds to the position right below the first rotary shaft;
the support arm is obliquely arranged, one end of the upper part of the support arm is fixedly connected to the bottom position, close to the output end, of the first rotary arm, the other end of the lower part of the support arm is connected with the second connecting seat through a fifth rotary shaft, the other end of the lower part of the support arm rotates around the fifth rotary shaft, and the fifth rotary shaft and the first rotary shaft are arranged on the extension line of the same central shaft;
it still includes lead screw module under bracing module, lead screw module under bracing module slant is arranged, lead screw module under bracing module's upper portion one end rigid coupling in the bottom position that is close to the output of first revolving arm, the bottom of the shell of lead screw module is provided with the side-protruding connecting seat, lead screw module under bracing module's the lower part other end is connected through the sixth pivot the side-protruding connecting seat, lead screw module under bracing module's the lower part other end rotates around the sixth pivot, second pivot are arranged on the extension of same center pin.
It is further characterized in that:
the other end of the lower part of the supporting arm is fixedly provided with a connecting block, an inner groove is formed in the thickness direction of the connecting block corresponding to the position of the laterally-convex rotating shaft mounting hole of the second connecting seat, the laterally-convex of the second connecting seat is plugged and positioned in the inner groove, and the connecting block is pivoted with the laterally-convex of the second connecting seat through a fifth rotating shaft;
the side convex block of the lead screw module lower supporting module is embedded in the inner groove hole and then is pivoted through a sixth rotating shaft;
the third power driving device comprises a driving motor, a driving wheel and a guide belt, the driving motor is fixedly arranged in the support module on the screw rod module, an output wheel is sleeved on an output shaft of the driving motor, the driving wheel is arranged at the top of the screw rod module, the driving wheel is vertically sleeved on the top of the screw rod, and power is transmitted between the output wheel and the driving wheel through the guide belt, so that the whole structure is relatively low in height and small in occupied height space.
After the structure of the utility model is adopted, because the distance between the central axis position of the gripper assembly of the gripper module and the lower rotating shaft is C, the distance between the central axis position of the lower rotating shaft and the central axis position of the second rotating shaft is B, and the distance between the central axis position of the first rotating shaft and the central axis position of the second rotating shaft is A, the operation surface area of the whole robot covers the range of the revolution surface area of A + B + C, the whole structure can adapt to the requirement of large-scale carrying or stacking; the first rotary arm is supported by the support arm, and the screw rod module is supported in two directions by the upper support module and the lower support module of the screw rod module, so that the distribution of bearing force is improved, the requirement on a power source is reduced, and the stability of equipment is improved; in conclusion, the whole robot has the advantages that the load capacity is increased on the premise that the power output of the power source is not increased, and the whole structure can meet the requirement of large-range carrying or stacking.
Drawings
Fig. 1 is a schematic front view structure diagram (the maximum extension surface area range state, the dotted line part is a lifting position diagram) of the present invention;
FIG. 2 is a schematic top view of the structure of FIG. 1;
fig. 3 is a schematic top view structure diagram of the robot preparation stage of the present invention at the head and tail stations of the production line;
FIG. 4 is a schematic top view of the workpiece carrier according to the present invention;
the names corresponding to the sequence numbers in the figure are as follows:
the device comprises a fixed seat 1, a first rotating shaft mounting seat 2, a first rotating arm 3, a first rotating shaft 4, a second rotating shaft mounting seat 5, a second rotating shaft 6, a lead screw module upper supporting module 7, a lead screw module 8, a second rotating arm 9, an input supporting seat 10, a fourth mounting seat 11, a lower rotating shaft 12, a gripper module 13, a gripper assembly 14, a second connecting seat 15, a supporting arm 16, a fifth rotating shaft 17, a lead screw module lower supporting module 18, a side convex connecting seat 19, a sixth rotating shaft 20, a connecting block 21, an inner groove 22, an inner groove hole 23, a driving wheel 24, a guide belt 25 and an output wheel 26.
Detailed Description
A robotic structure, see fig. 1-4: the device comprises a fixed seat 1, wherein a first rotating shaft mounting seat 2 is fixedly arranged on one side of the fixed seat 1 in the vertical direction, a first power driving device is arranged in an inner cavity of the first rotating shaft mounting seat 2, a first rotating shaft 4 is fixedly connected to an input end of a first rotating arm 3, a lower convex end of the first rotating shaft 4 is fixedly connected to an output end of the first power driving device, a second rotating shaft mounting seat 5 is fixedly arranged at an output end of the first rotating arm 3, a second power driving device is arranged in an inner cavity of the second rotating shaft mounting seat 5, a second rotating shaft 6 is fixedly connected to an output end of the second power output device, a screw rod module upper supporting module 7 is fixedly connected to the second rotating shaft 6, a screw rod module 8 is fixedly connected to the screw rod module upper supporting module 7, a third power driving device is arranged at the top of the screw rod module 8, a vertically-oriented screw rod is arranged in an inner cavity of the screw rod, an input supporting seat 10 of a second rotary arm 9 is in threaded connection with the vertical screw rod, an output end of the second rotary arm 9 is fixedly connected with a fourth mounting seat 11, a fourth power driving device is arranged in an inner cavity of the fourth mounting seat 11, an output part of a lower rotary shaft 12 of the fourth power driving device is fixedly connected with an input end of a mounting rod of a gripper module 13, a distance between a central axis position of a gripper assembly 14 of the gripper module 13 and the lower rotary shaft 12 is C, a distance between a central axis position of the lower rotary shaft 12 and a central axis position of a second rotary shaft 6 is B, a distance between a central axis position of the first rotary shaft 4 and a central axis position of the second rotary shaft 6 is A, a second connecting seat 15 is arranged at the bottom of the first rotary shaft mounting seat 2, and a fifth rotary shaft mounting hole is formed in the second connecting seat 15 corresponding to the position right below the first rotary shaft 4;
the support arm 16 is obliquely arranged, one end of the upper part of the support arm 16 is fixedly connected to the bottom position, close to the output end, of the first rotating arm 3, the other end of the lower part of the support arm 16 is connected with the second connecting seat 15 through a fifth rotating shaft 17, the other end of the lower part of the support arm 16 rotates around the fifth rotating shaft 17, and the fifth rotating shaft 17 and the first rotating shaft 4 are arranged on the extension line of the same central shaft;
the lead screw module lower supporting module 18 is obliquely arranged, one end of the upper portion of the lead screw module lower supporting module 18 is fixedly connected to the bottom position, close to the output end, of the first rotating arm 3, a side convex connecting seat 19 is arranged at the bottom of the shell of the lead screw module 8, the other end of the lower portion of the lead screw module lower supporting module 18 is connected with the side convex connecting seat 19 through a sixth rotating shaft 20, the other end of the lower portion of the lead screw module lower supporting module 18 rotates around the sixth rotating shaft 20, and the sixth rotating shaft 20 and the second rotating shaft 6 are arranged on an extension line of the same central shaft.
The other end of the lower part of the supporting arm 16 is fixedly provided with a connecting block 21, the thickness direction of the connecting block 21 is provided with an inner groove 22 corresponding to the position of the lateral convex rotating shaft mounting hole of the second connecting seat 15, the lateral convex of the second connecting seat 15 is plugged and positioned in the inner groove 22, and the connecting block 21 is pivoted with the lateral convex of the second connecting seat 15 through a fifth rotating shaft 17;
the side convex connecting seat 19 is provided with an inner groove hole 23, and the side convex block of the lead screw module lower supporting module 18 is embedded in the inner groove hole 23 and then is pivoted through a sixth rotating shaft 20;
the third power driving device comprises a driving motor, a driving wheel 24 and a guide belt 25, the driving motor is fixedly arranged in the support module 7 on the screw rod module, an output wheel 26 is sleeved on an output shaft of the driving motor, the driving wheel 24 is arranged at the top of the screw rod module 8, the driving wheel 24 is vertically sleeved at the top of the screw rod, and power is transmitted between the output wheel 26 and the driving wheel 26 through the guide belt 25, so that the whole structure is relatively low in height and small in occupied height space.
The working principle is as follows: because the distance between the central axis position of the gripper assembly of the gripper module and the lower rotating shaft is C, the distance between the central axis position of the lower rotating shaft and the central axis position of the second rotating shaft is B, and the distance between the central axis position of the first rotating shaft and the central axis position of the second rotating shaft is A, the whole robot has an operating surface area covering the range of the rotating surface area of A + B + C, so that the whole structure can meet the requirement of large-scale carrying or stacking; the first rotary arm is supported by the support arm, and the screw rod module is supported in two directions by the upper support module and the lower support module of the screw rod module, so that the distribution of bearing force is improved, the requirement on a power source is reduced, and the stability of equipment is improved; in conclusion, the whole robot has the advantages that the load capacity is increased on the premise that the power output of the power source is not increased, and the whole structure can meet the requirement of large-range carrying or stacking.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. A robotic structure characterized by: the device comprises a fixed seat, wherein a first rotating shaft mounting seat is fixedly arranged in the vertical direction of one side of the fixed seat, a first power driving device is arranged in an inner cavity of the first rotating shaft mounting seat, a first rotating shaft is fixedly connected to an input end of a first rotating arm, a lower protruding end of the first rotating shaft is fixedly connected to an output end of the first power driving device, a second rotating shaft mounting seat is fixedly connected to an output end of the first rotating arm, a second power driving device is arranged in an inner cavity of the second rotating shaft mounting seat, a second rotating shaft is fixedly connected to an output end of the second power outputting device, an upper screw rod module is fixedly connected to the second rotating shaft, a screw rod module is fixedly connected to the upper screw rod module, a third power driving device is arranged at the top of the screw rod module, a vertical screw rod is arranged in an inner cavity of the screw rod module, and the third power driving device drives the vertical screw rod to move, the vertical screw rod is in threaded connection with an input supporting seat of a second rotary arm, the output end of the second rotary arm is fixedly connected with a fourth mounting seat, a fourth power driving device is arranged in an inner cavity of the fourth mounting seat, the output part of a lower rotary shaft of the fourth power driving device is fixedly connected with the input end of a mounting rod of a gripper module, the distance between the central axis position of a gripper assembly of the gripper module and the lower rotary shaft is C, the distance between the central axis position of the lower rotary shaft and the central axis position of the second rotary shaft is B, the distance between the central axis position of the first rotary shaft and the central axis position of the second rotary shaft is A, a second connecting seat is arranged at the bottom of the first rotary shaft mounting seat, and a fifth rotary shaft mounting hole is formed in the second connecting seat, which corresponds to the position right below the first rotary shaft;
the support arm is obliquely arranged, one end of the upper part of the support arm is fixedly connected to the bottom position, close to the output end, of the first rotary arm, the other end of the lower part of the support arm is connected with the second connecting seat through a fifth rotary shaft, the other end of the lower part of the support arm rotates around the fifth rotary shaft, and the fifth rotary shaft and the first rotary shaft are arranged on the extension line of the same central shaft;
it still includes lead screw module under bracing module, lead screw module under bracing module slant is arranged, lead screw module under bracing module's upper portion one end rigid coupling in the bottom position that is close to the output of first revolving arm, the bottom of the shell of lead screw module is provided with the side-protruding connecting seat, lead screw module under bracing module's the lower part other end is connected through the sixth pivot the side-protruding connecting seat, lead screw module under bracing module's the lower part other end rotates around the sixth pivot, second pivot are arranged on the extension of same center pin.
2. A robotic structure as claimed in claim 1, wherein: the other end of the lower part of the supporting arm is fixedly provided with a connecting block, an inner groove is formed in the position, corresponding to the lateral convex rotating shaft mounting hole of the second connecting seat, of the thickness direction of the connecting block, the lateral convex of the second connecting seat is plugged and positioned in the inner groove, and the connecting block is pivoted with the lateral convex of the second connecting seat through a fifth rotating shaft.
3. A robotic structure as claimed in claim 1, wherein: the side convex connecting seat is provided with an inner groove hole, and the side convex block of the lead screw module lower supporting module is embedded in the inner groove hole and then is pivoted through a sixth rotating shaft.
4. A robotic structure as claimed in claim 1, wherein: the third power driving device comprises a driving motor, a driving wheel and a guide belt, the driving motor is fixedly arranged in the support module on the screw rod module, an output wheel is sleeved on an output shaft of the driving motor, the driving wheel is arranged at the top of the screw rod module, the driving wheel is vertically sleeved on the top of the screw rod, and power is transmitted between the output wheel and the driving wheel through the guide belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921796238.4U CN211541202U (en) | 2019-10-24 | 2019-10-24 | Robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921796238.4U CN211541202U (en) | 2019-10-24 | 2019-10-24 | Robot structure |
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| Publication Number | Publication Date |
|---|---|
| CN211541202U true CN211541202U (en) | 2020-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921796238.4U Active CN211541202U (en) | 2019-10-24 | 2019-10-24 | Robot structure |
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| CN (1) | CN211541202U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605707A (en) * | 2019-10-24 | 2019-12-24 | 苏州荣威工贸有限公司 | Slewing arm supporting structure of robot |
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2019
- 2019-10-24 CN CN201921796238.4U patent/CN211541202U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605707A (en) * | 2019-10-24 | 2019-12-24 | 苏州荣威工贸有限公司 | Slewing arm supporting structure of robot |
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