CN214686537U

CN214686537U - Horizontal multi-joint working robot

Info

Publication number: CN214686537U
Application number: CN202120793422.4U
Authority: CN
Inventors: 俞晓磊; 俞小双
Original assignee: Zhihu Robot Shanghai Co ltd
Current assignee: Zhihu Robot Shanghai Co ltd
Priority date: 2021-04-16
Filing date: 2021-04-16
Publication date: 2021-11-12
Anticipated expiration: 2031-04-16

Abstract

The utility model belongs to the technical field of robots, in particular to a horizontal multi-joint working robot, which comprises an outer surrounding shell; the left side and the right side of the outer surrounding shell are respectively and symmetrically fixedly connected with wing plates; the lower end of the outer surrounding shell is rotatably connected with a horizontal arm; the outer side of the horizontal arm is rotatably connected with an adjusting arm; the upper end of the inner part of the outer surrounding shell is fixedly connected with a motor; the lower end of the motor is rotatably connected with an oblique wheel set; the lower end of the motor is rotatably connected with a rotating wheel; and a threaded rod is rotatably connected below the other end of the rotating wheel. Utilize sole motor, control motor rotation direction can realize being changed into by horizontal position by the motor indirectly that the horizontal arm draws close each other, or the horizontal arm draws close each other and gradually changes into horizontal position's effect, utilizes the threaded rod to drive the horizontal pole, and when the horizontal arm of one side rotated, can directly slide in the spout through the horizontal pole, and the horizontal arm that realizes the opposite side carries out the deflection of the same degree.

Description

Horizontal multi-joint working robot

Technical Field

The utility model belongs to the technical field of the robot, specific horizontal multi-joint work robot that says so.

Background

An articulated robot, also called an articulated arm robot or an articulated robot arm, is one of the most common forms of industrial robots in the industrial field today, and is suitable for mechanical automation operations in many industrial fields.

At present, in the prior art, multiple types of multi-joint robots are various, and in the current research and development process of the multi-joint robot, the motors need to be arranged on the force arms of movement due to the fact that the multi-joint robot needs to be symmetrically moved or moved, so that one multi-joint robot possibly needs to use the motors, more resources are wasted, and the unified movement of the multiple force arms cannot be guaranteed.

SUMMERY OF THE UTILITY MODEL

In order to make up for the defects of the prior art, the horizontal multi-joint working robot is provided.

The utility model provides a technical scheme that its technical problem adopted is: the utility model relates to a horizontal multi-joint working robot, which comprises an outer surrounding shell; the left side and the right side of the outer surrounding shell are respectively and symmetrically fixedly connected with wing plates; the lower end of the outer surrounding shell is rotatably connected with a horizontal arm; the outer side of the horizontal arm is rotatably connected with an adjusting arm; the upper end of the inner part of the outer surrounding shell is fixedly connected with a motor; the lower end of the motor is rotatably connected with an oblique wheel set; the lower end of the motor is rotatably connected with a rotating wheel; and a threaded rod is rotatably connected below the other end of the rotating wheel.

Preferably, the lower end of the motor is rotatably connected with a first rotating rod; the rotating wheel is fixedly connected to the outer side of the middle part of the first rotating rod; the oblique wheel set is arranged at the lower end of the first rotating rod; and a gear is rotatably connected to the left side of the oblique wheel set.

Preferably, the middle part of the inner wall of the left side of the outer surrounding shell is fixedly connected with a connecting plate; a second rotating rod is connected with a through hole in the middle of the connecting plate; the other end of the rotating wheel is fixedly connected to the outer side of the middle part of the second rotating rod; the lower end of the second rotating rod is fixedly connected with a sleeve.

Preferably, the threaded rod is connected to the inner part of the sleeve in a threaded manner; the lower end of the threaded rod is fixedly connected with a cross rod.

Preferably, the lower end of the wing plate is rotatably connected with a first spring; the other end of the first spring is rotatably connected to the outer side of the horizontal arm; a sliding groove is formed in the outer side of the horizontal arm; the outer side of the cross rod is connected in the sliding groove in a sliding mode.

Preferably, the upper end of the horizontal arm is fixedly connected with a fixing frame; the lower end of the fixed frame is rotatably connected with a second spring; the other end of the second spring is rotatably connected to the upper end wall surface of the adjusting arm.

Preferably, the left end of the gear is engaged with sector teeth; the sector teeth are fixedly connected to the inner part of the horizontal arm.

The utility model has the advantages that: utilize sole motor, control motor rotation direction can realize being changed into by horizontal position by the motor indirectly that the horizontal arm draws close each other, or the horizontal arm draws close each other and gradually changes into horizontal position's effect, utilizes the threaded rod to drive the horizontal pole, and when the horizontal arm of one side rotated, can directly slide in the spout through the horizontal pole, and the horizontal arm that realizes the opposite side carries out the deflection of the same degree.

The utility model provides a horizontal multi-joint working robot drives the runner of downside and bevel gear group through the motor and rotates for the runner can rotate through driving the second bull stick, realizes simultaneously when the gear drives fan-shaped tooth and rotates, and the second bull stick drives the screw rod and rotates to screw thread down, realizes promptly that the screw rod drives the horizontal pole and removes and horizontal arm pivoted simultaneity, and the square just can be in one side level pivoted, and the horizontal arm that drives the opposite side by the horizontal pole carries out the rotation of the same degree.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:

fig. 1 is a front view of the present invention;

FIG. 2 is a schematic perspective view of a horizontal arm of the present invention;

fig. 3 is a schematic structural view of a sector gear of the present invention;

fig. 4 is a partial structural schematic view of an outer enclosure of the present invention;

illustration of the drawings:

1. an outer surrounding shell; 11. a wing plate; 12. a first spring; 13. a motor; 131. a first rotating lever; 132. a rotating wheel; 133. a diagonal wheel group; 134. a gear; 135. sector-shaped teeth; 14. a second rotating rod; 141. a connecting plate; 142. a sleeve; 143. a threaded rod; 2. a horizontal arm; 21. a fixed mount; 22. a second spring; 23. an adjusting arm; 24. a cross bar; 25. a chute.

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 of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Specific examples are given below.

Referring to fig. 1-4, the present invention provides a horizontal multi-joint working robot, which comprises an outer enclosure 1; the left side and the right side of the outer surrounding shell 1 are respectively and symmetrically fixedly connected with wing plates 11; the lower end of the outer surrounding shell 1 is rotatably connected with a horizontal arm 2; the outer side of the horizontal arm 2 is rotatably connected with an adjusting arm 23; the upper end inside the outer surrounding shell 1 is fixedly connected with a motor 13; the lower end of the motor 13 is rotatably connected with an inclined wheel set 133; the lower end of the motor 13 is rotatably connected with a rotating wheel 132; a threaded rod 143 is rotatably connected below the other end of the rotating wheel 132; in operation, when the horizontal arm 2 is driven by the motor 13 indirectly to deflect, the wing plate 11 and the fixing frame 21 are used for connecting the first spring 12 and the second spring 22 to the horizontal arm 2 and the adjusting arm 23 respectively, so as to buffer the horizontal arm 2 and the adjusting arm 23 and assist in aligning the horizontal arm 2 and the adjusting arm 23.

As an embodiment of the present invention, the lower end of the motor 13 is rotatably connected to a first rotating rod 131; the rotating wheel 132 is fixedly connected to the outer side of the middle part of the first rotating rod 131; the skew wheel set 133 is disposed at a lower end of the first rotating shaft 131; a gear 134 is rotatably connected to the left side of the oblique wheel set 133; in operation, runner 132 rotates with helical gear set 133 with the frequency under the drive of motor 13 to make when helical gear set 133 transmits transmission power to gear 134, can drive the rotation of gear 134 with the frequency, thereby drive horizontal arm 2 and rotate.

As an embodiment of the present invention, the middle part of the left inner wall of the outer enclosure shell 1 is fixedly connected with a connecting plate 141; a second rotating rod 14 is connected to the middle of the connecting plate 141 through a through hole; the other end of the rotating wheel 132 is fixedly connected to the outer side of the middle part of the second rotating rod 14; the lower end of the second rotating rod 14 is fixedly connected with a sleeve 142; during operation, because runner 132 will transmit the transmission power with the same frequency of oblique wheel group 133 to second bull stick 14, thereby lead to sleeve 142 to drive its inside screw thread rotation connection's threaded rod 143 and rotate and the downstream under the drive of second bull stick 14, when threaded rod 143 downstream, can drive horizontal pole 24 of its lower extreme and slide in the spout 25 of horizontal arm 2 both sides downwards, because horizontal pole 24 is connected for the T font with threaded rod 143, lead to horizontal pole 24 can not deflect, can only vertical movement downwards, thereby realize only on one side horizontal arm 2 pivoted basis, slide in spout 25 through horizontal pole 24 and drive the horizontal arm 2 of opposite side and carry out the deflection of same angle.

As an embodiment of the present invention, the threaded rod 143 is screwed inside the sleeve 142; the lower end of the threaded rod 143 is fixedly connected with a cross bar 24.

As an embodiment of the present invention, the lower end of the wing plate 11 is rotatably connected with a first spring 12; the other end of the first spring 12 is rotatably connected to the outer side of the horizontal arm 2; a sliding groove 25 is formed in the outer side of the horizontal arm 2; the outer side of the cross bar 24 is slidably connected in a slide groove 25.

As an embodiment of the present invention, the upper end of the horizontal arm 2 is fixedly connected with a fixing frame 21; the lower end of the fixed frame 21 is rotatably connected with a second spring 22; the other end of the second spring 22 is rotatably connected to the upper end wall surface of the adjusting arm 23; during operation, because horizontal arm 2 or adjusting arm 23 rotate the back, can stretch first spring 12 or second spring 22, when not needing horizontal arm 2 and adjusting arm 23 to deflect, first spring 12 and second spring 22 can rely on the elasticity that its self possesses, supplementary horizontal arm 2 and the quick gyration of adjusting arm 23 to the state that is parallel to each other.

As an embodiment of the present invention, the left end of the gear 134 is engaged with a sector gear 135; said sector-shaped tooth 135 is fixedly connected to the inside of the horizontal arm 2.

The working principle is as follows: when the horizontal arm 2 is deflected under the indirect drive of the motor 13, the wing plate 11 and the fixing frame 21 are used for respectively connecting the first spring 12 and the second spring 22 to the horizontal arm 2 and the adjusting arm 23, so as to facilitate the buffering of the horizontal arm 2 and the adjusting arm 23 and the assisting of the returning of the horizontal arm and the adjusting arm, the rotating wheel 132 is driven by the motor 13 to rotate at the same frequency as the bevel wheel set 133, so that when the bevel wheel set 133 transmits a transmission force to the gear 134, the gear 134 can be driven to rotate at the same frequency, so as to drive the horizontal arm 2 to rotate, because the rotating wheel 132 transmits the transmission force at the same frequency as the bevel wheel set 133 to the second rotating rod 14, the sleeve 142 can drive the threaded rod 143 connected with the internal thread thereof to rotate and move downwards under the drive of the second rotating rod 14, and when the threaded rod 143 moves downwards, the transverse rod 24 at the lower end thereof can be driven to slide downwards in the sliding grooves 25 at both sides of the horizontal arm 2, because horizontal pole 24 is connected for the T font with threaded rod 143, lead to horizontal pole 24 can not deflect, only can downward vertical removal, thereby realize only one side horizontal arm 2 pivoted basis on, slide horizontal arm 2 that drives the opposite side in spout 25 through horizontal pole 24 and carry out the deflection of same angle, because horizontal arm 2 or regulating arm 23 rotate the back, can stretch first spring 12 or second spring 22, when not needing horizontal arm 2 and regulating arm 23 to deflect, first spring 12 can rely on the elasticity that its self possessed with second spring 22, supplementary horizontal arm 2 and the quick gyration of regulating arm 23 to the state that is parallel to each other.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.

Claims

1. A horizontal multi-joint working robot is characterized in that: comprising an outer surrounding shell (1); the left side and the right side of the outer surrounding shell (1) are respectively and symmetrically fixedly connected with wing plates (11); the lower end of the outer surrounding shell (1) is rotatably connected with a horizontal arm (2); the outer side of the horizontal arm (2) is rotatably connected with an adjusting arm (23); the upper end inside the outer surrounding shell (1) is fixedly connected with a motor (13); the lower end of the motor (13) is rotatably connected with an inclined wheel set (133); the lower end of the motor (13) is rotatably connected with a rotating wheel (132); a threaded rod (143) is rotatably connected below the other end of the rotating wheel (132).

2. A horizontal multi-joint working robot according to claim 1, characterized in that: the lower end of the motor (13) is rotatably connected with a first rotating rod (131); the rotating wheel (132) is fixedly connected to the outer side of the middle part of the first rotating rod (131); the oblique wheel set (133) is arranged at the lower end of the first rotating rod (131); the left side of the oblique wheel set (133) is rotatably connected with a gear (134).

3. A horizontal multi-joint working robot according to claim 1, characterized in that: the middle part of the inner wall of the left side of the outer surrounding shell (1) is fixedly connected with a connecting plate (141); the middle part of the connecting plate (141) is connected with a second rotating rod (14) through a through hole; the other end of the rotating wheel (132) is fixedly connected to the outer side of the middle part of the second rotating rod (14); the lower end of the second rotating rod (14) is fixedly connected with a sleeve (142).

4. A horizontal multi-joint working robot according to claim 1, characterized in that: the threaded rod (143) is in threaded rotary connection with the interior of the sleeve (142); the lower end of the threaded rod (143) is fixedly connected with a cross rod (24).

5. A horizontal multi-joint working robot according to claim 4, characterized in that: the lower end of the wing plate (11) is rotatably connected with a first spring (12); the other end of the first spring (12) is rotatably connected to the outer side of the horizontal arm (2); a sliding groove (25) is formed in the outer side of the horizontal arm (2); the outer side of the cross rod (24) is connected in the sliding groove (25) in a sliding way.

6. A horizontal multi-joint working robot according to claim 1, characterized in that: the upper end of the horizontal arm (2) is fixedly connected with a fixed frame (21); the lower end of the fixed frame (21) is rotatably connected with a second spring (22); the other end of the second spring (22) is rotatably connected to the upper end wall surface of the adjusting arm (23).

7. A horizontal multi-joint working robot according to claim 2, characterized in that: the left end of the gear (134) is connected with a sector gear (135) in a meshing manner; the sector teeth (135) are fixedly connected to the inner part of the horizontal arm (2).