CN214924367U - Industrial robot - Google Patents
Industrial robot Download PDFInfo
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- CN214924367U CN214924367U CN202120113124.6U CN202120113124U CN214924367U CN 214924367 U CN214924367 U CN 214924367U CN 202120113124 U CN202120113124 U CN 202120113124U CN 214924367 U CN214924367 U CN 214924367U
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- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000003466 welding Methods 0.000 claims 1
- 230000003028 elevating effect Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 5
- 244000309464 bull Species 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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Abstract
The utility model discloses an industrial robot specifically includes the base and installs the elevating platform on the base, the bottom surface four corners department of elevating platform respectively with the top fixed connection of the first hydraulic stem of a vertical installation, the bottom of first hydraulic stem all with the top surface fixed connection of base, the top surface of elevating platform is rotated and is installed and turn to the piece, the guide way has been seted up to the top surface that turns to the piece, the inside slidable mounting of guide way has the telescopic bar, the top surface that turns to the piece rotates through the mount and installs drive gear, it slides along the spout to drive the telescopic bar by drive gear, the telescopic bar stretches out and turns to the outer one end underrun second hydraulic stem installation manipulator of piece. The utility model discloses an in the implementation, through all setting up coarse adjustment and fine adjustment measure to manipulator horizontal direction and vertical orientation to reach the effect that the robot is convenient for adjust, improved the work precision of robot manipulator.
Description
Technical Field
The utility model relates to a robot specifically is an industrial robot.
Background
A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.
When the existing industrial robot is used, in order to improve the flexibility of the robot in the use process, the robot can be realized through a complex joint structure, so that the manufacturing difficulty and the cost are high, and the assembly is inconvenient; in addition, although the articulated structure can improve the flexibility of the robot, the operation accuracy of the robot is not high due to lack of fine adjustment measures.
Disclosure of Invention
An object of the utility model is to provide an industrial robot to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides an industrial robot, include the base and install the elevating platform on the base, the bottom surface four corners department of elevating platform respectively with the top fixed connection of the first hydraulic stem of a vertical installation, the bottom of first hydraulic stem all with the top surface fixed connection of base, the top surface of elevating platform is rotated and is installed and turn to the piece, the guide way has been seted up to the top surface of turning to the piece, the inside slidable mounting of guide way has the telescopic bar, the top surface that turns to the piece is rotated through the mount and is installed drive gear, drive gear and the output shaft fixed connection who installs the first motor in the mount side through the bolt, drive gear rotates by first motor, and drive the telescopic bar by drive gear and slide along the guide way, the telescopic bar stretches out the outer one end underrun second hydraulic stem installation manipulator of turning to the piece.
As a further aspect of the present invention: the robot is characterized in that a control panel is arranged at one end of the top surface of the base, a mobile power supply is arranged in the control panel, power is supplied to all parts of the robot through the mobile power supply, and all electric parts of the robot are electrically connected with a chip arranged in the control panel, so that the robot is controlled in a unified mode through the control panel.
As a further aspect of the present invention: the walking wheel that is used for the robot to walk is all installed to the bottom surface four corners department of base, and the walking wheel is driven by electric motor and is removed, does not do this and does not describe repeatedly.
As a further aspect of the present invention: a large gear is rotatably mounted in the middle of the bottom surface of the lifting platform and is fixedly connected with the steering block through a rotating shaft, the large gear is meshed with a small gear, the small gear is fixed on an output shaft of a second motor, the second motor is fixed on a support through a bolt, and the support is welded and fixed on the bottom surface of the lifting platform.
As a further aspect of the present invention: the horizontal lead screw is installed to the one end bottom surface that the telescopic bar stretches out to turn to the piece outside, and the both ends of lead screw rotate with a fixed block respectively and are connected, and fixed block welded fastening is in the bottom surface of telescopic bar, and the one end of lead screw pass the fixed block outside with the output shaft fixed connection of third motor, threaded connection has the slider on the lead screw, slider and the bottom surface sliding connection of telescopic bar simultaneously, the bottom surface of slider and the top fixed connection of second hydraulic stem.
As a further aspect of the present invention: the telescopic strip comprises a sliding strip, a rack and a limiting block, the sliding strip slides in the guide groove, the rack is welded and fixed on the top surface of the sliding strip and is meshed with the transmission gear, so that the transmission gear drives the telescopic strip to slide, the limiting blocks are symmetrically welded and fixed at two ends of the sliding strip, the sliding strip is limited through the limiting block, and the sliding strip is effectively prevented from slipping off from the transmission gear.
As a further aspect of the present invention: the manipulator comprises a first connecting block fixedly connected with the bottom end of a second hydraulic rod, the bottom surface of the first connecting block is provided with an inclined first connecting surface, the included angle between the first connecting surface and the horizontal plane is 45 degrees, the top end and the bottom end of the first connecting surface are respectively and fixedly connected with one end of a connecting rod, the connecting rod is mutually vertical to the first connecting surface, the other end of the connecting rod is respectively and fixedly connected with two ends of an upper inclined surface of the second connecting block, an upper inclined surface of the second connecting block is mutually vertical to the connecting rod, a tool disc is rotatably installed on a lower inclined surface of the second connecting block and is fixedly connected with an output shaft of a fourth motor fixed on the upper inclined surface of the second connecting block through bolts, the surface where the tool disc is connected with the second connecting block is set as a second connecting surface, the included angle between the second connecting surface and the horizontal direction is 45 degrees, the side surface of the tool disc is composed of a cylindrical surface and a round table surface, and the cylindrical surface are coaxial, the cylindrical surface is positioned above the circular table surface, the included angle between the inclined plane of the circular table surface and the axis is 45 degrees, and a plurality of tools with different purposes are uniformly fixed on the circular table surface.
A control method of an industrial robot, comprising the steps of:
the method comprises the following steps: firstly, controlling the robot to move to a working position;
step two: the angle of the steering block is adjusted through a second motor, so that a manipulator of the robot faces to a working position;
step three: controlling a first hydraulic rod to roughly adjust the working height of the robot, and controlling a second hydraulic rod to finely adjust the working height of the robot;
step three: roughly adjusting the working position of the robot in the horizontal direction through a first motor, and finely adjusting the working position of the robot in the horizontal direction through a third motor;
step four: the fourth single machine drives the tool disc to rotate, so that corresponding tools are rotated to corresponding stations according to different use environments.
Step five: after the adjustment is completed, the robot starts working with the tool.
Compared with the prior art, the beneficial effects of the utility model are that:
1) the robot does not have artifical the participation in the course of the work, and degree of automation is high, has reduced workman's working strength.
2) Through all setting up coarse tuning and fine tuning measure in manipulator horizontal direction and the vertical direction to reach the effect that the robot is convenient for adjust, improved the work precision of robot manipulator.
3) Through the structural design of manipulator, under the prerequisite that need not complicated part, can realize that the manipulator satisfies the work of arbitrary angle between vertical station and the horizontal station, effectively improved the practicality of robot, improved the work flexibility of robot.
Drawings
Fig. 1 is a schematic view of an industrial robot.
Fig. 2 is a schematic structural view of a connection between a rotating block and a lifting table in an industrial robot.
Fig. 3 is a schematic structural view of connection between a second hydraulic rod and a telescopic bar in an industrial robot.
Fig. 4 is a schematic structural view of a telescopic bar in an industrial robot.
Fig. 5 is a schematic structural view of a robot hand in an industrial robot.
Fig. 6 is a schematic structural view of a first connection block in an industrial robot.
Fig. 7 is a schematic structural view of a tool tray in an industrial robot.
As shown in the figure: the hydraulic steering device comprises a base 1, a traveling wheel 2, a first hydraulic rod 3, a control panel 4, a lifting platform 5, a steering block 6, a guide groove 7, a transmission gear 8, a telescopic strip 9, a sliding strip 91, a rack 92, a limiting block 93, a second hydraulic rod 10, a manipulator 11, a first connecting block 111, a connecting rod 112, a second connecting block 113, a tool disc 114, a first connecting surface 115, a second connecting surface 116, a circular table surface 117, a tool 118, a cylindrical surface 119, a pinion 12, a support 13, a second motor 14, a bull gear 15, a fixing block 16, a sliding block 17 and a screw rod 18.
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, in an embodiment of the present invention, an industrial robot includes a base 1 and a lifting platform 5 installed on the base 1, the four corners of the bottom surface of the lifting platform 5 are respectively fixedly connected with the top end of a vertically installed first hydraulic rod 3, the bottom ends of the first hydraulic rods 3 are fixedly connected with the top surface of the base 1, the top surface of the lifting platform 5 is rotatably provided with a steering block 6, the top surface of the steering block 6 is provided with a guide groove 7, a telescopic strip 9 is slidably installed in the guide groove 7, the top surface of the steering block 6 is rotatably provided with a transmission gear 8 through a fixing frame, the transmission gear 8 is fixedly connected with an output shaft of a first motor which is installed on the side surface of the fixing frame through a bolt, and the transmission gear 8 is driven to rotate by the first motor, and the transmission gear 8 drives the telescopic bar 9 to slide along the guide groove 7, and the bottom surface of one end of the telescopic bar 7, which extends out of the steering block 6, is provided with a manipulator 11 through a second hydraulic rod 10.
It should be noted that the height of the lifting platform 5 is adjusted through the first hydraulic rod 3, so that the height of the manipulator 11 is roughly adjusted, the height of the manipulator 11 is finely adjusted through the second hydraulic rod 10, so that the characteristic that the manipulator 11 is convenient to control during operation is ensured, the working direction of the manipulator 11 is adjusted through the steering block 6, and the flexibility and the practicability of the robot are improved.
The robot is characterized in that a control panel 4 is arranged at one end of the top surface of the base 1, a mobile power supply is arranged inside the control panel 4, power is supplied to all parts of the robot through the mobile power supply, all electric parts of the robot are electrically connected with a chip arranged in the control panel 4, and therefore the robot is controlled in a unified mode through the control panel 4.
Referring to fig. 2, a large gear 15 is rotatably mounted in the middle of the bottom surface of the lifting table 5, the large gear 15 is fixedly connected with the steering block 6 through a rotating shaft, the large gear 15 is engaged with the small gear 12, the small gear 12 is fixed on an output shaft of the second motor 14, the second motor 14 is fixed on a support 13 through a bolt, and the support 13 is welded and fixed on the bottom surface of the lifting table 5.
It should be noted that the second motor 14 drives the pinion 12 to rotate, the pinion 12 and the bull gear 15 are engaged to drive the bull gear 15 to rotate, and the bull gear 15 finally drives the turning block 6 to rotate, so as to realize the function of adjusting the working direction of the manipulator 11.
Referring to fig. 1 and 3, a horizontal screw rod 18 is installed on the bottom surface of one end of the telescopic bar 9 extending out of the steering block 6, two ends of the screw rod 18 are rotatably connected with a fixing block 16 respectively, the fixing block 16 is welded and fixed on the bottom surface of the telescopic bar 9, one end of the screw rod 18 penetrates through the outside of the fixing block 16 and is fixedly connected with an output shaft of a third motor, a sliding block 17 is connected to the screw rod 18 through a thread, the sliding block 17 is simultaneously connected with the bottom surface of the telescopic bar 9 in a sliding manner, and the bottom surface of the sliding block 17 is fixedly connected with the top end of the second hydraulic rod 10.
It should be noted that the first motor drives the transmission gear 8 to rotate, and the transmission gear 8 drives the telescopic strip 9 to stretch, so as to perform rough adjustment on the working position of the manipulator 11 in the horizontal direction, the third motor drives the lead screw 18 to rotate, the lead screw 18 drives the slider 17 to slide on the bottom surface of the telescopic strip 9 through the effect of threaded connection with the slider 17, so as to perform fine adjustment on the working position of the manipulator 11 in the horizontal direction, thereby achieving the effect of facilitating adjustment of the manipulator 11 in the horizontal direction, and improving the accuracy of the manipulator 11 in working in the horizontal direction.
Referring to fig. 4, the telescopic bar 9 includes a sliding bar 91, a rack 92 and a limiting block 93, the sliding bar 91 slides in the guide groove 7, the rack 92 is welded and fixed to the top surface of the sliding bar 91, the rack 92 is meshed with the transmission gear 8, so that the transmission gear 8 drives the telescopic bar 9 to slide, the limiting blocks 93 are symmetrically welded and fixed to two ends of the sliding bar 91, the sliding bar 91 is limited by the limiting block 93, and therefore the sliding bar 91 is effectively prevented from slipping off from the transmission gear 8.
Referring to fig. 5 and 7, the manipulator 11 includes a first connecting block 111 fixedly connected to a bottom end of the second hydraulic rod 10, a first inclined connecting surface 115 is disposed on a bottom surface of the first connecting block 111, an included angle between the first connecting surface 115 and a horizontal plane is 45 °, a top end and a bottom end of the first connecting surface 115 are respectively fixedly connected to one end of a connecting rod 112, the connecting rod 112 is perpendicular to the first connecting surface 115, the other end of the connecting rod 112 is respectively fixedly connected to two ends of an upper inclined surface of the second connecting block 113, the upper inclined surface of the second connecting block 113 is perpendicular to the connecting rod 112, a tool tray 114 is rotatably mounted on a lower inclined surface of the second connecting block 113, the tool tray 114 is fixedly connected to an output shaft of a fourth motor fixed to the upper inclined surface of the second connecting block 113 by a bolt, a surface where the tool tray 114 is connected to the second connecting block 113 is a second connecting surface 116, an included angle between the second connecting surface 116 and the horizontal direction is 45 °, the side surface of the tool tray 114 is composed of a cylindrical surface 119 and a circular table surface 117, the cylindrical surface 119 and the circular table surface 117 are coaxial, the cylindrical surface 119 is positioned above the circular table surface 117, the included angle between the inclined surface of the circular table surface 117 and the axis is 45 degrees, and a plurality of tools 118 with different purposes are uniformly fixed on the circular table surface 117.
It should be noted that, the tool tray 114 is driven to rotate by the fourth motor, the tool 118 on the tool tray 114 is in a vertical state when rotating to the bottommost part, and the tool 118 is in a horizontal state when rotating to the highest part, so that the manipulator 11 can meet the requirement of the operation of any angle between the vertical station and the horizontal station on the premise of not needing complex parts, and the practicability of the robot is effectively improved.
A control method of an industrial robot, comprising the steps of:
the method comprises the following steps: firstly, controlling the robot to move to a working position;
step two: the angle of the steering block 6 is adjusted through a second motor, so that a manipulator 11 of the robot faces to a working position;
step three: the first hydraulic rod 3 is controlled to roughly adjust the working height of the robot, and the second hydraulic rod 10 is controlled to finely adjust the working height of the robot;
step three: roughly adjusting the working position of the robot in the horizontal direction through a first motor, and finely adjusting the working position of the robot in the horizontal direction through a third motor;
step four: the fourth stand-alone machine rotates the tool tray 114, so that the corresponding tool 118 is rotated to the corresponding station according to different use environments.
Step five: after the adjustment is completed, the robot starts working with the tool 118.
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 may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention, and the following claims are therefore to be read in this light of the appended claims.
Claims (7)
1. An industrial robot comprises a base (1) and a lifting platform (5) installed on the base (1), and is characterized in that four corners of the bottom surface of the lifting platform (5) are respectively fixedly connected with the top end of a vertically installed first hydraulic rod (3), the bottom end of the first hydraulic rod (3) is fixedly connected with the top surface of the base (1), a steering block (6) is rotatably installed on the top surface of the lifting platform (5), a guide groove (7) is formed in the top surface of the steering block (6), a telescopic strip (9) is slidably installed in the guide groove (7), a transmission gear (8) is rotatably installed on the top surface of the steering block (6) through a fixing frame, the transmission gear (8) is fixedly connected with an output shaft of a first motor installed on the side surface of the fixing frame through a bolt, the transmission gear (8) is driven to rotate by the first motor, and the telescopic strip (9) is driven by the transmission gear (8) to slide along the guide groove (7), the bottom surface of one end of the telescopic bar (9) extending out of the steering block (6) is provided with a manipulator (11) through a second hydraulic rod (10).
2. An industrial robot according to claim 1, characterized in that a control panel (4) is arranged at one end of the top surface of the base (1), a mobile power supply is arranged inside the control panel (4), power is supplied to each part of the robot through the mobile power supply, and each electric part of the robot is electrically connected with a chip built in the control panel (4), so that the robot is controlled uniformly through the control panel (4).
3. An industrial robot according to claim 1, characterized in that the four corners of the bottom of the base (1) are provided with walking wheels (2) for walking the robot, and the walking wheels (2) are moved by an electric motor.
4. An industrial robot according to claim 1, characterized in that a large gear (15) is rotatably mounted in the middle of the bottom surface of the lifting table (5), the large gear (15) is fixedly connected with the steering block (6) through a rotating shaft, the large gear (15) is meshed with a small gear (12), the small gear (12) is fixed on an output shaft of a second motor (14), the second motor (14) is fixed on a bracket (13) through bolts, and the bracket (13) is welded and fixed on the bottom surface of the lifting table (5).
5. An industrial robot according to claim 1, characterized in that a horizontal screw rod (18) is mounted on the bottom surface of the end of the telescopic bar (9) extending out of the steering block (6), both ends of the screw rod (18) are respectively connected with a fixed block (16) in a rotating manner, the fixed block (16) is fixed on the bottom surface of the telescopic bar (9) in a welding manner, one end of the screw rod (18) penetrates through the fixed block (16) and is fixedly connected with an output shaft of a third motor, a sliding block (17) is connected to the screw rod (18) in a threaded manner, the sliding block (17) is simultaneously connected with the bottom surface of the telescopic bar (9) in a sliding manner, and the bottom surface of the sliding block (17) is fixedly connected with the top end of the second hydraulic rod (10).
6. An industrial robot according to claim 1, characterized in that the telescopic bar (9) comprises a slide bar (91), a rack (92) and a stop block (93), the slide bar (91) slides in the guide groove (7), the rack (92) is welded and fixed on the top surface of the slide bar (91), the rack (92) is meshed with the transmission gear (8), and the stop block (93) is symmetrically welded and fixed on two ends of the slide bar (91).
7. An industrial robot according to claim 1, characterized in that the robot arm (11) comprises a first connecting block (111) fixedly connected to the bottom end of the second hydraulic rod (10), the bottom surface of the first connecting block (111) is provided with an inclined first connecting surface (115), the first connecting surface (115) forms an angle of 45 ° with the horizontal plane, the top end and the bottom end of the first connecting surface (115) are fixedly connected to one end of a connecting rod (112), the connecting rod (112) is perpendicular to the first connecting surface (115), the other end of the connecting rod (112) is fixedly connected to the two ends of the upper inclined surface of the second connecting block (113), the upper inclined surface of the second connecting block (113) is perpendicular to the connecting rod (112), the lower inclined surface of the second connecting block (113) is rotatably provided with a tool disk (114), the tool disk (114) is fixedly connected to the output shaft of a fourth motor which is fixed to the upper inclined surface of the second connecting block (113) by bolts, the surface of the tool tray (114) connected with the second connecting block (113) is set as a second connecting surface (116), the included angle between the second connecting surface (116) and the horizontal direction is 45 degrees, the side surface of the tool tray (114) is composed of a cylindrical surface (119) and a round table surface (117), the cylindrical surface (119) and the round table surface (117) are coaxial, the cylindrical surface (119) is positioned above the round table surface (117), the included angle between the inclined surface and the axis of the round table surface (117) is 45 degrees, and a plurality of tools (118) with different purposes are uniformly fixed on the round table surface (117).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120113124.6U CN214924367U (en) | 2021-01-15 | 2021-01-15 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120113124.6U CN214924367U (en) | 2021-01-15 | 2021-01-15 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214924367U true CN214924367U (en) | 2021-11-30 |
Family
ID=79122437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120113124.6U Expired - Fee Related CN214924367U (en) | 2021-01-15 | 2021-01-15 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214924367U (en) |
-
2021
- 2021-01-15 CN CN202120113124.6U patent/CN214924367U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211130 |
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| CF01 | Termination of patent right due to non-payment of annual fee |