CN211565887U

CN211565887U - Robot

Info

Publication number: CN211565887U
Application number: CN202020060576.8U
Authority: CN
Inventors: 刘红兵; 彭少华; 屈爱英
Original assignee: Suzhou Penn Robot Co ltd
Current assignee: Suzhou Penn Robot Co ltd
Priority date: 2020-01-13
Filing date: 2020-01-13
Publication date: 2020-09-25
Anticipated expiration: 2030-01-13

Abstract

The utility model provides a robot, which comprises a shell, a set square arranged in the shell, three transmission driving mechanisms respectively arranged on three corners of the set square, a transmission mechanism connected with the transmission driving mechanism and a connecting block connecting the end parts of the three transmission mechanisms together, three fixing plates are respectively vertically arranged at three angles of the triangular plate, the transmission driving mechanism is arranged on the fixing plates, the transmission driving mechanism comprises a transmission driving motor arranged on the fixing plate, a first synchronous wheel connected with the transmission driving motor, a second synchronous wheel and a third synchronous wheel which are respectively arranged on the fixing plate, a first synchronous belt sleeved on the first synchronous wheel and the second synchronous wheel and a second synchronous belt sleeved on the second synchronous wheel and the third synchronous wheel. The utility model discloses can portably, accurately, carry the product safely, effectively replace artifical transport, improve handling efficiency.

Description

Robot

Technical Field

The utility model relates to a robotechnology field.

Background

Industrial robot can replace the manpower to accomplish long-time under various complex conditions and the bad environment of danger, high strength repetition labor, robot transport is used has comparatively extensive market, become essential part in the production, and along with the development of industrialization, industrial product is of a great variety, especially around production efficiency and accelerate, the improvement of intelligent level, automation line's use is more and more extensive, traditionally, when the product in the production need carry, need artifically carry it to it, can cause artificial waste like this, and the phenomenon of omitting appears easily, lead to the handling efficiency low, increase the manufacturing cost of product.

Therefore, it is necessary to provide a new robot to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an improve handling efficiency's robot.

In order to achieve the above object, the utility model discloses a technical scheme be: a robot comprises a shell, a triangular plate arranged in the shell, three transmission driving mechanisms respectively arranged on three corners of the triangular plate, a transmission mechanism connected with the transmission driving mechanisms, and connecting blocks for connecting the three ends of the transmission mechanisms together, wherein three fixing plates are respectively and vertically arranged on three corners of the triangular plate, the transmission driving mechanisms are arranged on the fixing plates and comprise transmission driving motors arranged on the fixing plates, first synchronizing wheels connected with the transmission driving motors, second synchronizing wheels and third synchronizing wheels respectively arranged on the fixing plates, first synchronizing belts sleeved on the first synchronizing wheels and the second synchronizing wheels, and second synchronizing belts sleeved on the second synchronizing wheels and the third synchronizing wheels, the second synchronizing wheels are provided with first clamping grooves and second clamping grooves which are coaxial, the first synchronous belt is sleeved in the first clamping groove, the second synchronous belt is sleeved in the second clamping groove, and the third synchronous wheel is connected with the transmission mechanism.

The transmission mechanism comprises a transmission arm connected with the third synchronizing wheel and two driven arms arranged in parallel and connected with the transmission arm.

The end part of the transmission arm is provided with a rotating shaft, the rotating shaft is provided with a through hole, two ends of the driven arm are respectively provided with a joint bearing seat and a connector matched with the joint bearing seat, the connector comprises a cylinder and a ball head arranged at the end part of the cylinder, the ball head is arranged in the joint bearing seat, and the cylinder at one end of the driven arm is contained in the through hole.

The connecting block is circular, and evenly be provided with three installation piece around it, the installation piece is equipped with the accepting hole, the cylinder of driven arm other end accept in the accepting hole.

The robot further comprises a rotating mechanism connected with the connecting block, the rotating mechanism is located in the middle of a triangular body surrounded by the transmission mechanism, and the rotating mechanism comprises a rotating shaft and a rotary driving motor for driving the rotating shaft to rotate.

The rotary driving motor is installed on the triangular plate and connected with a coupler, and two ends of the rotary shaft are respectively connected with the middle of the connecting block and the coupler through universal joints.

The casing includes base and lid, the base is triangle-shaped, and is three transmission actuating mechanism accept respectively in the three bight of base, the set-square set up in the triangle-shaped of base inside and with the lid is connected, rotary driving motor set up in the set-square with between the base, the lid with the base phase-match.

The robot is further provided with a vision system, and the vision system is installed on the set square.

The connecting block is provided with a flange connected with the connecting block.

Compared with the prior art, the utility model discloses robot's beneficial effect lies in:

1. the transmission driving mechanism adopts a synchronous wheel and a synchronous belt to transmit, so that the accurate transmission ratio and the higher stability are ensured, the belt transmission belongs to flexible transmission, a certain amount of buffering is generated when a motor is started or braked, and the operation effect of the equipment is favorably optimized.

2. Be provided with rotary mechanism, strengthen flexibility and stability in the handling.

3. The shell is arranged, so that the appearance is attractive and elegant, dust is prevented from entering the transmission driving mechanism and the rotary driving motor, and the driving accuracy is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive work, wherein:

figure 1 is a schematic view of the robot of the present invention;

FIG. 2 is a partial schematic view of the robot of the present invention;

FIG. 3 is a schematic view of the transmission drive mechanism of the present invention;

FIG. 4 is a schematic view of the transmission mechanism of the present invention;

FIG. 5 is a partial schematic view of FIG. 4;

FIG. 6 is another partial schematic view of FIG. 4;

fig. 7 is a schematic view of the rotating mechanism of the present invention;

fig. 8 is a partially exploded view of the present invention.

Detailed Description

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

Referring to fig. 1 to 8, the present invention relates to a robot, which comprises a housing 1, a triangle 2 installed inside the housing 1, three transmission driving mechanisms 3 installed on three corners of the triangle 2 respectively, a transmission mechanism 4 connected to the transmission driving mechanism 3, and a connecting block 5 connecting end portions of the three transmission mechanisms 4 together, wherein three fixing plates 6 are installed at three corners of the triangle 2 respectively, the transmission driving mechanisms 3 are installed on the fixing plates 6, the transmission driving mechanism 3 comprises a transmission driving motor 31 installed on the fixing plates 6, a first synchronizing wheel 32 connected to the transmission driving motor 31, a second synchronizing wheel 33 and a third synchronizing wheel 34 installed on the fixing plates 6 respectively, a first synchronizing belt 35 sleeved on the first synchronizing wheel 32 and the second synchronizing wheel 33, and a second synchronizing belt 36 sleeved on the second synchronizing wheel 33 and the third synchronizing wheel 34, the second synchronous wheel 33 is provided with a first clamping groove 331 and a second clamping groove 332 which are coaxial, the first synchronous belt 35 is sleeved in the first clamping groove 331, the second synchronous belt 36 is sleeved in the second clamping groove 332, and the third synchronous wheel 34 is connected with the transmission mechanism 4.

Under the drive of transmission driving motor 31, first synchronizing wheel 32 drives second synchronizing wheel 33 rotatory through first hold-in range 35, second synchronizing wheel 33 drives third synchronizing wheel 34 rotatory through second hold-in range 36, make drive mechanism 4 can move about, adopt synchronizing wheel and hold-in range to transmit, guarantee accurate drive ratio and higher stability, and belt drive belongs to flexible transmission, there is a certain amount of buffering when the motor starts or brakes, help optimizing equipment's operation effect.

Referring to fig. 4 to 6, the transmission mechanism 4 includes a transmission arm 41 connected to the third synchronizing wheel 34 and two driven arms 42 connected to the transmission arm 41 and arranged in parallel, a rotation shaft 411 is disposed at an end of the transmission arm 41, a through hole 412 is disposed on the rotation shaft 411, joint bearing seats 421 and connectors 422 matching the joint bearing seats 421 are respectively disposed at two ends of the driven arms 42, each connector 422 includes a cylinder 423 and a ball 424 disposed at an end of the cylinder 423, the ball 424 is disposed in the joint bearing seat 421, the cylinder 423 at one end of the driven arm 42 is received in the through hole 412, the two parallel driven arms 42 are connected to the transmission arm 41, and the transmission arm 41 drives the driven arms 42 to move under the action of the transmission driving mechanism 3.

The connecting block 5 connects the ends of the driven arms 42 together, the connecting block 5 is circular, three mounting blocks 51 are uniformly arranged around the connecting block 5, each mounting block 51 is provided with a receiving hole 511 (not indicated), a cylinder 423 at the other end of each driven arm 42 is received in the corresponding receiving hole 511, the two parallel driven arms 42 are connected to the connecting block 5, and the driven arms 42 drive the connecting block 5 to move. The driven arm 42 is connected with the transmission arm 41 and the connecting block 5 in a spherical hinge mode, so that the reliable force transmission and the flexible rotation are ensured.

Referring to fig. 7, the robot further includes a rotating mechanism 7 connected to the connecting block 5, the rotating mechanism 7 is located in the middle of a triangular body surrounded by the transmission mechanism 4, the rotating mechanism 7 includes a rotating shaft 71 and a rotating driving motor 72 for driving the rotating shaft 71 to rotate, the rotating driving motor 72 is mounted on the triangular plate 2, the rotating driving motor 72 is connected to a coupler 73, two ends of the rotating shaft 71 are respectively connected to the middle of the connecting block 5 and the coupler 73 through a universal joint 74, and the rotating mechanism 7 enhances flexibility and stability in the carrying process.

Referring to fig. 1 and 8, the housing 1 includes a base 11 and a cover 12, the base 11 is substantially triangular, the three transmission driving mechanisms 3 are respectively accommodated in three corners of the base 11, the triangle 2 is disposed inside the triangle of the base 11 and connected to the cover 12, the rotation driving motor 72 is disposed between the triangle 2 and the base 11, and the cover 12 is matched with the base 11, so that the appearance is attractive and elegant, and dust is prevented from entering the transmission driving mechanisms 3 and the rotation driving motor 72, thereby ensuring the driving accuracy.

The robot still is equipped with vision system 8, and vision system 8 installs on set-square 2 and is located the below of lid 12, and vision system 8 can accurate seizure product image, does benefit to the transport to the target product. The connecting block 4 is provided with a flange 9 connected with the connecting block, and different carrying requirements can be completed by connecting the flange 9 with a proper clamping jaw.

During operation, the flange 9 is connected with a proper clamping jaw, the vision system 8 catches a target product, the transmission driving mechanism 3 drives the transmission arm 41 and the driven arm 42 to move, meanwhile, the rotary driving motor 72 acts on the rotary shaft 71, the rotary shaft 71 and the driven arm 42 drive the connecting block 5 to move, and therefore the flange 9 and the clamping jaw are driven to move to the target product to be carried.

The utility model discloses a robot has simple structure, with low costs, the action is accurate, the power is said moderate, characteristics such as convenient maintenance, can portably, accurately, carry the product safely, effectively replaces artifical transport, improves handling efficiency.

Of course, those skilled in the art should realize that the above-mentioned embodiments are only used for illustrating the present invention, and not for limiting the present invention, and that the changes and modifications to the above-mentioned embodiments are all within the scope of the appended claims as long as they are within the true spirit of the present invention.

Claims

1. A robot, characterized by: the three transmission driving mechanisms are respectively and vertically arranged on three corners of the triangular plate, the transmission driving mechanisms are arranged on the fixed plates, the transmission driving mechanisms comprise transmission driving motors arranged on the fixed plates, first synchronizing wheels connected with the transmission driving motors, second synchronizing wheels and third synchronizing wheels respectively arranged on the fixed plates, first synchronizing belts sleeved on the first synchronizing wheels and the second synchronizing wheels, and second synchronizing belts sleeved on the second synchronizing wheels and the third synchronizing wheels, the second synchronizing wheels are provided with first clamping grooves and second clamping grooves which are coaxial, the first synchronous belt is sleeved in the first clamping groove, the second synchronous belt is sleeved in the second clamping groove, and the third synchronous wheel is connected with the transmission mechanism.

2. The robot of claim 1, wherein: the transmission mechanism comprises a transmission arm connected with the third synchronizing wheel and two driven arms arranged in parallel and connected with the transmission arm.

3. The robot of claim 2, wherein: the end part of the transmission arm is provided with a rotating shaft, the rotating shaft is provided with a through hole, two ends of the driven arm are respectively provided with a joint bearing seat and a connector matched with the joint bearing seat, the connector comprises a cylinder and a ball head arranged at the end part of the cylinder, the ball head is arranged in the joint bearing seat, and the cylinder at one end of the driven arm is contained in the through hole.

4. A robot as claimed in claim 3, wherein: the connecting block is circular, and evenly be provided with three installation piece around it, the installation piece is equipped with the accepting hole, the cylinder of driven arm other end accept in the accepting hole.

5. The robot of claim 1, wherein: the robot further comprises a rotating mechanism connected with the connecting block, the rotating mechanism is located in the middle of a triangular body surrounded by the transmission mechanism, and the rotating mechanism comprises a rotating shaft and a rotary driving motor for driving the rotating shaft to rotate.

6. The robot of claim 5, wherein: the rotary driving motor is installed on the triangular plate and connected with a coupler, and two ends of the rotary shaft are respectively connected with the middle of the connecting block and the coupler through universal joints.

7. The robot of claim 6, wherein: the casing includes base and lid, the base is triangle-shaped, and is three transmission actuating mechanism accept respectively in the three bight of base, the set-square set up in the triangle-shaped of base inside and with the lid is connected, rotary driving motor set up in the set-square with between the base, the lid with the base phase-match.

8. The robot of claim 1, wherein: the robot is further provided with a vision system, and the vision system is installed on the set square.

9. The robot of claim 1, wherein: the connecting block is provided with a flange connected with the connecting block.