CN212331051U

CN212331051U - Six-joint robot

Info

Publication number: CN212331051U
Application number: CN202020717638.8U
Authority: CN
Inventors: 罗锋
Original assignee: Dezheng Cnc Machine Tool Ningbo Co ltd
Current assignee: Dezheng Cnc Machine Tool Ningbo Co ltd
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2021-01-12
Anticipated expiration: 2030-04-30

Abstract

The utility model discloses a six joint robot, including robot body, electric cabinet, base, removal structure, lift-off rod, pulley, supporting shoe, cushion and bearing structure. The utility model has the advantages that: the all-round spraying paint to furniture can be realized through the robot that is located the setting on the base, and the base that bears the weight of the robot can remove according to the spraying needs of difference, lift up the pole because the effect of lever principle when rotating, make the user can lift up the base comparatively laborsavingly, when the base lifts up, the supporting slide that is located the base four corners can take place to slide, make the pulley and the ground contact of supporting slide tip, and the other end of supporting slide is provided with the cushion, the cushion can slide to between supporting slide and the base, play the supporting role to the supporting slide, thereby make the base slide through the pulley, make the base that is used for installing the robot can carry out the adjustment of position according to actual demand.

Description

Six-joint robot

Technical Field

The utility model relates to a robot specifically is a six joint robot, belongs to the robotechnology field.

Background

A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace parts of human work, such as production, construction and, in particular, hazardous work. The robot arm generally adopts a space open-chain link mechanism, wherein a kinematic pair (a revolute pair or a revolute pair) is often called a joint, and the number of joints is usually the degree of freedom of the robot. The robot actuator may be classified into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type, and the like according to the joint configuration type and the motion coordinate type. For the sake of anthropomorphic reasons, the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (gripper or end effector), a walking part (for a mobile robot), and the like, respectively.

Compare six joint painting robot that patent document application number 201520383373.1 provided, though can realize evenly spraying paint to the no dead angle of furniture, the base that is used for fixed painting robot is inconvenient removes, because the whole quality of robot is great to the mounted position that leads to the robot is inconvenient changes.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a six joint robot just in order to solve above-mentioned problem, can conveniently carry out the position to the robot and remove, the installation of being convenient for is adjusted.

The utility model realizes the above purpose by the following technical proposal, a six-joint robot comprises a robot body, the bottom side of the robot body is fixed on a base, one side of the base is provided with an electric cabinet, two sides of the base are provided with a moving structure, the moving structure comprises a lifting rod, a pulley, supporting sliders and cushion blocks, two sides of the base are respectively provided with the lifting rod, two sides of the lifting rod are both L-shaped structures, the end part of the lifting rod is rotationally connected with the base, four corners of the base are respectively connected with the four supporting sliders in a sliding way, one end of each supporting slider is rotationally connected with the pulley, the bottom side surface of the base is tangent with the side surface of the pulley, the side surface of each supporting slider is provided with the cushion block, the cushion block is connected with the base in a sliding way, and one end of the cushion block is abutted against the side surface of the supporting slider, the other end of the cushion block is connected with a supporting structure.

Preferably, in order to facilitate the extension of the supporting slider, so that the pulley can automatically abut against the ground when the base is lifted, the moving structure further includes a second spring, one end of the second spring is fixedly connected to the supporting slider, and the other end of the second spring is fixedly connected to the base.

Preferably, in order to fix the lifting rods on the two sides of the base conveniently and prevent the lifting rods from interfering with the operation of the robot body, the moving structure further comprises a clamping block, the clamping block is vertically and fixedly connected to the side surfaces of the lifting rods, and the clamping block is clamped with the base.

Preferably, in order to further improve the fixing effect on the lifting rod and facilitate the taking out of the lifting rod, the moving structure further includes a clamping block and a first spring, the clamping block is respectively disposed on two sides of the clamping block, the clamping block is slidably connected with the base, one side of the clamping block abuts against the clamping block, the first spring is fixedly connected to the other end of the clamping block, and the other end of the first spring is fixedly connected to the base.

Preferably, in order to slide through the sliding block and provide pushing force and pulling force for the cushion block by matching with the third spring, the cushion block can be separated from and embedded into the supporting sliding block and the base, the supporting structure further comprises the third spring and the sliding block, one end, deviating from the supporting sliding block, of the cushion block is fixedly connected with the third spring, the other end of the third spring is fixedly connected with the sliding block, and the sliding block is in sliding connection with the base.

Preferably, in order to adjust the position of the sliding block conveniently, the supporting structure further comprises a connecting block and a pull rod, one end of the connecting block is rotatably connected with one end of the sliding block, which deviates from the cushion block, the other end of the connecting block is rotatably connected with the pull rod, and the connecting block and the pull rod are both slidably connected with the base.

Preferably, in order to adjust the position of the sliding block and fix the position of the sliding block, the supporting structure further comprises a limiting rod and a bearing block, the limiting rod is arranged on each of two sides of the pull rod, the limiting rod is clamped with the base, and the bearing block is fixedly connected to the side face of the base.

The utility model has the advantages that: the robot body arranged on the base can realize the omnibearing paint spraying to the furniture, the base for bearing the robot body can move according to different spraying requirements, the end parts of the lifting rods arranged on the two sides of the base are rotationally connected with the base, when the lifting rod rotates, the user can lift the base more laborsavingly by rotating the lifting rod under the action of the lever principle, when the base is lifted, the supporting slide blocks positioned at the four corners of the base can slide, so that the pulleys at the end parts of the supporting slide blocks are contacted with the ground, the other end of the supporting slide block is provided with a cushion block which can slide between the supporting slide block and the base, the supporting function is achieved for the supporting sliding blocks, so that the base can slide through the pulleys, and the position of the base for installing the robot body can be adjusted according to actual requirements.

Drawings

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

FIG. 2 is a schematic view of the connection structure of the base and the moving structure shown in FIG. 1;

FIG. 3 is an enlarged view of portion A of FIG. 2;

fig. 4 is a schematic view of a connection structure of the base and the support structure shown in fig. 1.

In the figure: 1. the robot comprises a robot body, 2, an electric cabinet, 3, a base, 4, a moving structure, 41, a lifting rod, 42, a pulley, 43, a supporting sliding block, 44, a clamping block, 45, a clamping block, 46, a first spring, 47, a second spring, 48, a cushion block, 5, a supporting structure, 51, a third spring, 52, a sliding block, 53, a connecting block, 54, a pull rod, 55, a limiting rod, 56 and a bearing block.

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. 1-4, a six-joint robot includes a robot body 1, the bottom side of the robot body 1 is fixed to a base 3, an electric cabinet 2 is installed on one side of the base 3, two sides of the base 3 are provided with a moving structure 4, the moving structure 4 includes a lifting rod 41, a pulley 42, a supporting slider 43 and a spacer 48, two sides of the base 3 are respectively provided with the lifting rod 41, two sides of the lifting rod 41 are both in an "L" shape, an end of the lifting rod 41 is rotatably connected to the base 3, four corners of the base 3 are respectively slidably connected to the four supporting sliders 43, one end of each supporting slider 43 is rotatably connected to the pulley 42, a bottom side of the base 3 is tangent to a side of the pulley 42, a side of the supporting slider 43 is provided with the spacer 48, and the spacer 48 is slidably connected to the base 3, and one end of the cushion block 48 is abutted against the side surface of the support sliding block 43, and the other end of the cushion block 48 is connected with the support structure 5.

As a technical optimization scheme of the utility model, mobile structure 4 still includes second spring 47, second spring 47's one end fixed connection in supporting slide 43, second spring 47's the other end fixed connection in base 3.

As a technical optimization scheme of the utility model, mobile structure 4 still includes block 44, block 44 vertical fixation connect in lift up rod 41's side, block 44 with looks block between the base 3.

As the utility model discloses a technical optimization scheme, remove structure 4 and still include clamping block 45 and first spring 46, the both sides of clamping block 44 are equipped with respectively clamping block 45, clamping block 45 with sliding connection between the base 3, one side of clamping block 45 with clamping block 44 is inconsistent, clamping block 45's other end fixedly connected with first spring 46, first spring 46's other end fixed connection in base 3.

As a technical optimization scheme of the utility model, bearing structure 5 still includes third spring 51 and slider 52, cushion 48 deviates from the one end fixedly connected with of support slider 43 third spring 51, the other end fixed connection of third spring 51 in slider 52, slider 52 with sliding connection between the base 3.

As a technical optimization scheme of the utility model, bearing structure 5 still includes connecting block 53 and pull rod 54, connecting block 53 one end with slider 52 deviates from the one end of cushion 48 is rotated and is connected, connecting block 53 the other end with rotate between the pull rod 54 and connect, just connecting block 53 with pull rod 54 all with sliding connection between the base 3.

As a technical optimization scheme of the utility model, bearing structure 5 still includes gag lever post 55 and carrier block 56, the both sides of pull rod 54 are equipped with respectively gag lever post 55, gag lever post 55 with looks block between the base 3, the side fixedly connected with of base 3 carrier block 56.

When the utility model is used, the whole device needs to be arranged at the spraying position, when the position of the base 3 needs to be adjusted, because the mass of the robot body 1 is large and inconvenient to move directly, a user can rotate the lifting rods 41 which are positioned at the two sides of the base 3 in sequence, because the two sides of the lifting rods 41 are in an L-shaped structure, when the lifting rods 41 start to rotate, one side of the base 3 can be lifted to a certain height, and the pull rod 54 at the side surface of the base 3 is in a clamping state with the base 3, at the moment, along with the lifting of one side of the base 3, under the push of the second spring 47, the supporting slide block 43 slides towards the ground direction, and the pulley 42 is in contact with the ground, meanwhile, under the action of the third spring 51, the cushion block 48 can slide into the space between the supporting slide block 43 and the base 3, plays a supporting role for the supporting slide block 43, and fixes the position of the supporting, then the lifting rod 41 is rotated reversely, so that the lifting side of the base 3 is supported through the pulley 42, then the pull rod 54 is rotated to release the clamping state between the limiting rod 55 at the two sides of the pull rod 54 and the base 3 and slide out the pull rod 54, the connecting block 53 is rotatably connected with the pull rod 54, so that the limiting rod 55 at the side surface of the pull rod 54 is fixed through the bearing block 56, at this time, due to the clamping effect of the supporting slide block 43 and the base 3, the position of the cushion block 48 is fixed, at this time, the third spring 51 is in a stretching state, the other side of the base 3 is operated according to the same steps, so that the base 3 can slide through the pulley 42, at this time, the base 3 can be conveniently moved, after the position adjustment is completed, a user needs to rotate the lifting rod 41 again, when the base 3 is lifted, under the action of the third spring 51, the cushion block 48 slides out from between the base 3 and the supporting slide, the lifting rod 41 is reset, the pulleys 42 are retracted, the base 3 is fixed after all the pulleys 42 are retracted, on the other hand, the lifting rod 41 can be fixed in position through the clamping blocks 44 on the side face of the base 3, so that interference on the operation of the robot is avoided, and after the base 3 is arranged, the electric cabinet 2 is connected with an external power supply, so that the surface of furniture is sprayed.

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

1. A six-joint robot, comprising a robot body (1), characterized in that: the robot comprises a robot body (1), a base (3) and an electric cabinet (2), wherein the bottom side of the robot body (1) is fixed on the base (3), one side of the base (3) is provided with the electric cabinet (2), two sides of the base (3) are provided with moving structures (4), each moving structure (4) comprises a lifting rod (41), a pulley (42), a supporting slide block (43) and a cushion block (48), the lifting rods (41) are respectively arranged on the two sides of the base (3), the two sides of each lifting rod (41) are respectively of an L-shaped structure, the end part of each lifting rod (41) is rotatably connected with the base (3), four corners of the base (3) are respectively and slidably connected with the four supporting slide blocks (43), one end of each supporting slide block (43) is rotatably connected with the pulley (42), the bottom side surface of the base (3) is tangent to the side surface of the pulley (42), and the side surface of each supporting slide block (, the cushion block (48) is in sliding connection with the base (3), one end of the cushion block (48) is abutted to the side face of the supporting sliding block (43), and the other end of the cushion block (48) is connected with a supporting structure (5).

2. A six-joint robot according to claim 1, wherein: the moving structure (4) further comprises a second spring (47), one end of the second spring (47) is fixedly connected to the supporting sliding block (43), and the other end of the second spring (47) is fixedly connected to the base (3).

3. A six-joint robot according to claim 1, wherein: the moving structure (4) further comprises an engaging block (44), the engaging block (44) is vertically and fixedly connected to the side surface of the lifting rod (41), and the engaging block (44) is engaged with the base (3).

4. A six-joint robot according to claim 3, wherein: the movable structure (4) further comprises a clamping block (45) and a first spring (46), the clamping block (45) is arranged on each of two sides of the clamping block (44), the clamping block (45) is connected with the base (3) in a sliding mode, one side of the clamping block (45) is abutted to the clamping block (44), the other end of the clamping block (45) is fixedly connected with the first spring (46), and the other end of the first spring (46) is fixedly connected to the base (3).

5. A six-joint robot according to claim 1, wherein: the supporting structure (5) further comprises a third spring (51) and a sliding block (52), one end, deviating from the supporting sliding block (43), of the cushion block (48) is fixedly connected with the third spring (51), the other end of the third spring (51) is fixedly connected with the sliding block (52), and the sliding block (52) is in sliding connection with the base (3).

6. A six-joint robot according to claim 5, wherein: the supporting structure (5) further comprises a connecting block (53) and a pull rod (54), one end of the connecting block (53) is rotatably connected with one end, deviating from the cushion block (48), of the sliding block (52), the other end of the connecting block (53) is rotatably connected with the pull rod (54), and the connecting block (53) and the pull rod (54) are both in sliding connection with the base (3).

7. A six-joint robot according to claim 6, wherein: the supporting structure (5) further comprises a limiting rod (55) and a bearing block (56), the limiting rod (55) is arranged on each of two sides of the pull rod (54), the limiting rod (55) is clamped with the base (3), and the bearing block (56) is fixedly connected to the side face of the base (3).