CN214323414U

CN214323414U - Motion control device of joint robot

Info

Publication number: CN214323414U
Application number: CN202120209227.2U
Authority: CN
Inventors: 张重高
Original assignee: Dongguan Chuangfeng Technology Development Co ltd
Current assignee: Dongguan Chuangfeng Technology Development Co ltd
Priority date: 2021-01-25
Filing date: 2021-01-25
Publication date: 2021-10-01
Anticipated expiration: 2031-01-25

Abstract

The utility model discloses a joint robot motion control device, including placing the board, place board top upper surface central point and put fixedly connected with motor, motor drive end fixedly connected with rotates the telescopic link, it runs through the fixedly connected with gear wheel to rotate the telescopic link and keep away from motor one end, the meshing of gear wheel side is connected with the pinion, pinion central point puts and runs through the fixedly connected with dwang, pinion one end fixedly connected with initiative bevel gear is kept away from to the dwang, initiative bevel gear side meshing is connected with driven bevel gear, driven bevel gear central point puts and runs through the fixedly connected with rotation axis, the equal fixedly connected with drive wheel in rotation axis both ends. The utility model discloses a set up motion control device, improved handling efficiency and reduced the maintenance number of times, improved the availability factor, guarantee the performance of enterprises, through having set up direction control device, drive through self motor, simple structure, convenient operation does benefit to the maintenance.

Description

Motion control device of joint robot

Technical Field

The utility model relates to a joint robot technical field especially relates to a joint robot motion control device.

Background

Articulated robots, which may be referred to as articulated arm robots or articulated robotic arms, are one of the most common forms of industrial robots in the industrial field, and are suitable for use in mechanical automation operations in many industrial fields, such as: automatic assembly, painting, carrying, welding and the like.

The joint robot needs to be fixed in front of an assembly line or a workbench in daily production, automatic work is carried out after instructions are output through a computer, but the joint robot is only fixed in one place to work, so that the use range of the joint robot is limited, as the joint robot has more parts and a plurality of driving motors, the weight of the joint robot is higher, a cart or other carrying tools need to be used for carrying in the subsequent carrying process, the carrying efficiency is influenced, meanwhile, the joint robot is easy to damage in the lifting process, the maintenance cost is increased subsequently, the use efficiency is reduced, and the enterprise benefit is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art and providing a motion control device of an articulated robot.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a motion control device of a joint robot comprises a placing plate, wherein the center of the upper surface of the top of the placing plate is fixedly connected with a motor, the driving end of the motor is fixedly connected with a rotating telescopic rod, one end of the rotating telescopic rod, far away from the motor, is fixedly connected with a large gear in a penetrating way, the side surface of the big gear is engaged with a small gear, the central position of the small gear is fixedly connected with a rotating rod in a penetrating way, one end of the rotating rod, which is far away from the small gear, is fixedly connected with a driving bevel gear, the side surface of the driving bevel gear is engaged and connected with a driven bevel gear, the center of the driven bevel gear is fixedly connected with a rotating shaft in a penetrating way, both ends of the rotating shaft are fixedly connected with driving wheels, rotate telescopic link middle part position and run through to rotate and be connected with the movable sleeve, the telescopic end of dwang one side fixedly connected with one-way pneumatic cylinder is kept away from to the movable sleeve, rotate two stoppers of telescopic link below symmetry fixedly connected with that are located the movable sleeve.

As a further description of the above technical solution:

place the board and keep away from drive wheel one side symmetric position fixedly connected with directive wheel, place the board and keep away from drive wheel one side middle part position fixedly connected with bidirectional pneumatic cylinder, bidirectional pneumatic cylinder drive end runs through sliding connection and has sliding telescopic link, two sliding telescopic link keeps away from bidirectional pneumatic cylinder one end sliding connection and has a ball, two the spout has been seted up to the directive wheel is close to bidirectional pneumatic cylinder one side two sliding telescopic link one end and spout sliding connection are kept away from to the ball.

As a further description of the above technical solution:

one side of the one-way pneumatic cylinder, far away from the telescopic end, is fixedly connected with the upper surface of the placing plate.

As a further description of the above technical solution:

the storage battery is fixedly connected to one side, far away from the one-way pneumatic cylinder, of the upper surface of the placing plate.

As a further description of the above technical solution:

place board upper surface fixedly connected with guard box, it cup joints with the guard box top to rotate the telescopic link and keep away from motor one end, the dwang top is rotated with the guard box top and is connected, the dwang is close to drive bevel gear one end and places the board and runs through the rotation and be connected.

As a further description of the above technical solution:

the joint robot is connected to one end, far away from the motor, of the rotating telescopic rod in a sleeved mode, and the lower surface of the bottom of the joint robot is rotatably connected with the upper surface of the top of the protection box.

The utility model discloses following beneficial effect has:

1. the utility model discloses a set up one-way pneumatic cylinder, bevel gear and rotation axis have formed motion control device, the motor that carries through joint robot bottom self reforms transform, the rotation telescopic link on the flexible end control motor through one-way pneumatic cylinder stretches out and draws back, thereby can control gear wheel and pinion meshing, and then reach control bevel gear and drive the rotation axis and rotate, just so can drive the drive wheel and rotate, the working range that can guarantee joint robot like this no longer receives the restriction, need not dismantle or the step of loading simultaneously at the in-process of transport, the handling efficiency is improved, can not cause the injury to joint robot because of the in-process of lifting up, reduce and maintain the number of times, the use efficiency is improved, guarantee the performance of enterprises.

2. The utility model discloses a set up two-way pneumatic cylinder and directive wheel and formed direction control device, drive the slip telescopic link through two-way pneumatic cylinder and remove to promote the ball and make the directive wheel carry out the horizontal hunting, thereby can control joint robot at the in-process control direction who removes, just so can promote without the manpower, drive through self motor, simple structure, convenient operation does benefit to the maintenance.

Drawings

Fig. 1 is a main sectional view of a motion control device of a joint robot according to the present invention;

fig. 2 is a bottom view of the motion control device for an articulated robot according to the present invention;

fig. 3 is a schematic structural view of a steering wheel of the motion control device of the joint robot according to the present invention;

fig. 4 is a schematic structural view of the sliding telescopic rod of the motion control device of the joint robot according to the present invention.

Illustration of the drawings:

1. placing the plate; 2. a motor; 3. a bull gear; 4. rotating the telescopic rod; 5. moving the sleeve; 6. a limiting block; 7. a pinion gear; 8. rotating the rod; 9. a drive bevel gear; 10. a driven bevel gear; 11. a rotating shaft; 12. a drive wheel; 13. a protection box; 14. a storage battery; 15. an articulated robot; 16. a bidirectional pneumatic cylinder; 17. sliding the telescopic rod; 18. a steering wheel; 19. a ball bearing; 20. a chute; 21. one-way pneumatic cylinder.

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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-4, the present invention provides an embodiment: a motion control device of a joint robot comprises a placing plate 1, wherein a motor 2 is fixedly connected to the central position of the upper surface of the top of the placing plate 1, the motor 2 is a motor 2 which is controlled by the bottom of a joint robot 15 and is steered by itself without adding a driving motor 2, so that the weight of equipment is not increased, a driving end of the motor 2 is fixedly connected with a rotating telescopic rod 4, one end of the rotating telescopic rod 4, far away from the motor 2, penetrates through a large gear 3, the rotating telescopic rod 4 is driven by a one-way pneumatic cylinder 21 to move downwards so that the large gear 3 is meshed with a small gear 7 to carry out transmission, so that the joint robot 15 is driven to move, the side surface of the large gear 3 is meshed with a small gear 7, the central position of the small gear 7 penetrates through a rotating rod 8, one end of the rotating rod 8, far away from the small gear 7, is fixedly connected with a driving bevel gear 9, and the bevel gear is used because the bearing capacity of the bevel gear is high, the corrosion resistance is strong, low in cost, moreover, the steam generator is simple in structure, easy maintenance, the meshing of the 9 side surfaces of drive bevel gear is connected with driven bevel gear 10, driven bevel gear 10 central point puts and runs through fixedly connected with rotation axis 11, the equal fixedly connected with drive wheel 12 in rotation axis 11 both ends, it is connected with traveling sleeve 5 to rotate 4 middle part positions of telescopic link through rotating, traveling sleeve 5 rotates with rotation telescopic link 4, in-process traveling sleeve 5 and stopper 6 moving down are connected, it moves down to drive traveling sleeve 5 through stopper 6, traveling sleeve 5 keeps away from the flexible end of 8 one-way pneumatic cylinders 21 of dwang, it is located two stoppers 6 of the below symmetry fixedly connected with of traveling sleeve 5 to rotate telescopic link 4.

Place board 1 and keep away from drive wheel 12 one side symmetric position fixedly connected with directive wheel 18, directive wheel 18 is for the direction of control removal but set up, place board 1 and keep away from drive wheel 12 one side middle part position fixedly connected with two-way pneumatic cylinder 16, two-way pneumatic cylinder 16 is for controlling directive wheel 18 and turn to and set up, two-way pneumatic cylinder 16 drive end runs through sliding connection and has slip telescopic link 17, two slip telescopic link 17 keep away from 16 one end sliding connection of two-way pneumatic cylinder have ball 19, two directive wheel 18 are close to 16 one side of two-way pneumatic cylinder and have been seted up spout 20 two ball 19 and keep away from slip telescopic link 17 one end and spout 20 sliding connection, one-way pneumatic cylinder 21 keeps away from flexible end one side and places board 1 upper surface fixed connection.

Place 1 upper surface of board and keep away from one-way pneumatic cylinder 21 one side fixedly connected with battery 14, battery 14 is for guaranteeing that articulated robot 15 has sufficient electric power to support at the removal in-process, place 1 upper surface fixedly connected with guard box 13 of board, guard box 13 sets up for the part in protection and the set casing, it cup joints with guard box 13 top to rotate telescopic link 4 to keep away from 2 one end of motor, 8 tops of dwang rotate with guard box 13 top and be connected, dwang 8 is close to initiative bevel gear 9 one end and is connected with placing 1 through rotating of board, it has articulated robot 15 to rotate telescopic link 4 and has cup jointed to keep away from 2 one end of motor, 15 bottom lower surfaces of articulated robot are connected with 13 top upper surfaces of guard box and rotate.

The working principle is as follows: if the joint robot 15 is controlled to move, firstly, the one-way pneumatic cylinder 21 is started to contract, the one-way pneumatic cylinder 21 drives the rotary telescopic rod 4 to move downwards, so that the large gear 3 on the rotary telescopic rod 4 is meshed with the small gear 7, then, the motor 2 is started, the motor 2 drives the large gear 3 to rotate through the rotary telescopic rod 4, so as to drive the small gear 7 to rotate, the small gear 7 drives the rotary rod 8 to rotate in the rotating process, so as to drive the driving bevel gear 9 to rotate, the driving bevel gear 9 drives the driven bevel gear 10 to rotate, so as to drive the rotary shaft 11 to rotate, and the rotary shaft 11 drives the driving wheel 12 to rotate, so that the joint robot 15 can be moved;

if need control moving direction, just can move in-process control two-way pneumatic cylinder 16, two-way pneumatic cylinder 16 drives slip telescopic link 17 and removes to control directive wheel 18 rotates, thereby changes the direction that shutdown robot 15 removed, stops motor 2 and starts one-way pneumatic cylinder 21 and resets when moving to the enactment position, thereby drives and rotates telescopic link 4 and rises to be connected with joint robot 15 bottom, just can normally work.

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 and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. A joint robot motion control device, including placing board (1), its characterized in that: the upper surface center position of the top of the placing plate (1) is fixedly connected with a motor (2), the driving end of the motor (2) is fixedly connected with a rotating telescopic rod (4), one end of the rotating telescopic rod (4), far away from the motor (2), penetrates through and is fixedly connected with a large gear (3), the side surface of the large gear (3) is meshed and is connected with a small gear (7), the center position of the small gear (7) penetrates through and is fixedly connected with a rotating rod (8), one end of the rotating rod (8), far away from the small gear (7), is fixedly connected with a driving bevel gear (9), the side surface of the driving bevel gear (9) is meshed and is connected with a driven bevel gear (10), the center position of the driven bevel gear (10) penetrates through and is fixedly connected with a rotating shaft (11), two ends of the rotating shaft (11) are fixedly connected with driving wheels (12), and the middle position of the rotating telescopic rod (4) penetrates and is rotatably connected with a moving sleeve (5), the flexible end of dwang (8) one side fixedly connected with one-way pneumatic cylinder (21) is kept away from in movable sleeve (5), rotate two stoppers (6) of below symmetry fixedly connected with that telescopic link (4) are located movable sleeve (5).

2. The articulated robot motion control apparatus according to claim 1, wherein: place board (1) and keep away from drive wheel (12) one side symmetrical position fixedly connected with directive wheel (18), place board (1) and keep away from drive wheel (12) one side middle part position fixedly connected with two-way pneumatic cylinder (16), two-way pneumatic cylinder (16) drive end runs through sliding connection and has slip telescopic link (17), two slip telescopic link (17) keep away from two-way pneumatic cylinder (16) one end sliding connection has ball (19), two directive wheel (18) are close to two-way pneumatic cylinder (16) one side and have seted up spout (20) two slip telescopic link (17) one end and spout (20) sliding connection are kept away from in ball (19).

3. The articulated robot motion control apparatus according to claim 1, wherein: one side of the one-way pneumatic cylinder (21) far away from the telescopic end is fixedly connected with the upper surface of the placing plate (1).

4. The articulated robot motion control apparatus according to claim 1, wherein: the upper surface of the placing plate (1) is fixedly connected with a storage battery (14) at one side far away from the one-way pneumatic cylinder (21).

5. The articulated robot motion control apparatus according to claim 1, wherein: place fixed surface be connected with guard box (13) on board (1), rotate telescopic link (4) and keep away from motor (2) one end and cup joint with guard box (13) top, dwang (8) top is rotated with guard box (13) top and is connected, dwang (8) are close to initiative bevel gear (9) one end and place board (1) and run through the rotation and be connected.

6. The articulated robot motion control apparatus according to claim 5, wherein: the joint robot (15) is sleeved at one end, far away from the motor (2), of the rotating telescopic rod (4), and the lower surface of the bottom of the joint robot (15) is rotatably connected with the upper surface of the top of the protection box (13).