CN215358533U

CN215358533U - Variable-degree-of-freedom modular cooperative robot

Info

Publication number: CN215358533U
Application number: CN202120315500.XU
Authority: CN
Inventors: 陈锋
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-02-03
Filing date: 2021-02-03
Publication date: 2021-12-31
Anticipated expiration: 2031-02-03

Abstract

The utility model belongs to the field of cooperative robots, and particularly discloses a variable-freedom-degree modular cooperative robot, which comprises a damping spring and a connecting spring, wherein when the robot passes through a rugged place and a chassis of the cooperative robot is subjected to acting force, the chassis of the cooperative robot buffers partial acting force through the damping device, so that the acting force applied to a connecting plate is weakened, the damage degree to a casing of the cooperative robot is reduced, the damping spring and the connecting spring are arranged to play a role in damping and buffering, when the force is buffered by the damping device, the chassis of the robot transmits the acting force to two second sliding rods, the upper ends of the second sliding rods slide to two sides along a fixed rod and simultaneously extrude a first damping device, and when the second sliding rods move, the lower ends of the first sliding rods are driven to slide to two sides along the fixed rod through the second damping device, and simultaneously extrude a first fixed spring and a second fixed spring, the partial force is buffered by the first fixing spring and the second fixing spring.

Description

Variable-degree-of-freedom modular cooperative robot

Technical Field

The utility model relates to the field of cooperative robots, in particular to a variable-degree-of-freedom modular cooperative robot.

Background

With the rapid development of modern science and technology, the robot industry develops more and more rapidly and is applied more and more in factory automation production. In addition, due to popularization of the robot technology, when the robot in the prior art is used, the existing robot has poor damping effect, and the service life of the robot is shortened.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to a variable-degree-of-freedom modular cooperative robot, which solves the above problems of the related art.

In order to achieve the purpose, the utility model provides the following technical scheme: a variable-freedom-degree modular cooperative robot comprises a cooperative robot shell, a connecting plate arranged at the bottom of the cooperative robot shell, an inserting plate arranged along the periphery of the bottom of the connecting plate and a cooperative robot chassis arranged at the bottom of the connecting plate;

the utility model discloses a cooperation robot chassis, including connecting plate, damping spring, connecting plate, buffer, damping spring and connection spring, connecting plate bottom is connected with cooperation robot chassis through buffer, damping spring is installed respectively to the both sides of connecting plate bottom, damping spring vertically inserts in the spout of support column upper end, damping spring and the inside fixed connection of spout, buffer is located between the damping spring of connecting plate both sides, the lower extreme of picture peg inserts in the slot of cooperation robot chassis upper end, slot internally mounted has connection spring, the picture peg is connected with connection spring, and the picture peg slides from top to bottom along the slot is inside.

Preferably, the buffer device comprises two first slide bars which are arranged in a crossed manner, two second slide bars which are arranged in a crossed manner, a fixed bar for connecting the first slide bars and the second slide bars, a first buffer spring and a second buffer spring which are respectively wound at two ends of the fixed bar, and limiting blocks which are arranged at two ends of the fixed bar.

Preferably, the intersection of the two first slide bars is movably connected with the connecting plate, the intersection of the two second slide bars is movably connected with the cooperative robot chassis, and the upper ends of the two second slide bars are respectively positioned at two sides of the lower ends of the two first slide bars.

Preferably, the bottom of the connecting plate is fixed with the fixed rod through a first fixed spring, the cooperative robot chassis is fixedly connected with the fixed rod through a second fixed spring, and the first fixed spring, the second fixed spring, the intersection of the two first slide bars and the intersection of the two second slide bars are all located on the same vertical plane.

Preferably, the first sliding rod and the second sliding rod slide along the fixing rod, the first sliding rod is connected with the second sliding rod through a second buffer spring, and the second sliding rod is connected with the limiting block through the first buffer spring.

Compared with the prior art, the utility model has the beneficial effects that: when the combined type cooperation robot is used, when the robot passes through a rugged place, acting force is transmitted to the cooperation robot chassis through wheels arranged at the bottom of the cooperation robot chassis, when the cooperation robot chassis is subjected to the acting force, partial acting force is buffered through the buffering device, so that the acting force applied to the connecting plate is weakened, the damage degree to a cooperation robot shell is reduced, meanwhile, the damping spring arranged at the bottom of the connecting plate and the connecting spring arranged at the bottom of the inserting plate both play a role in damping and buffering, when the partial force is buffered through the buffering device, the robot chassis transmits the acting force to the two second sliding rods, the upper ends of the second sliding rods slide to two sides along the fixing rods, the first buffering device is simultaneously extruded, when the second sliding rods move, the lower ends of the first sliding rods are driven to slide to two sides along the fixing rods through the second buffering device, the first fixing spring and the second fixing spring are pressed at the same time, and partial acting force is buffered through the first fixing spring and the second fixing spring.

Drawings

FIG. 1 is a schematic structural view of the present invention as a whole;

FIG. 2 is a schematic structural diagram of the present invention A;

FIG. 3 is a schematic structural diagram of the present invention B.

In the figure: 1. a cooperating robot housing; 2. a collaborative robot chassis; 3. a connecting plate; 4. a buffer device; 41. a first slide bar; 42. a first buffer spring; 43. a second buffer spring; 44. a first fixed spring; 45. a second fixed spring; 46. a limiting block; 47. fixing the rod; 48. a second slide bar; 5. a damping spring; 6. a support pillar; 7. a connecting spring; 8. a slot; 9. and (4) inserting plates.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be 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 meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1-3, the present invention provides a technical solution: a variable-freedom-degree modular cooperative robot comprises a cooperative robot shell 1, a connecting plate 3 arranged at the bottom of the cooperative robot shell 1, an inserting plate 9 arranged along the periphery of the bottom of the connecting plate 3 and a cooperative robot chassis 2 arranged at the bottom of the connecting plate 3;

3 bottoms of connecting plate are connected with cooperation robot chassis 2 through buffer 4, damping spring 5 is installed respectively to the both sides of 3 bottoms of connecting plate, in the vertical spout that inserts 6 upper ends of support column of damping spring 5, damping spring 5 and the inside fixed connection of spout, buffer 4 is located between the damping spring 5 of 3 both sides of connecting plate, the lower extreme of picture peg 9 inserts in the slot 8 of 2 upper ends on the cooperation robot chassis, 8 internally mounted on slots have connecting spring 7, picture peg 9 is connected with connecting spring 7, and picture peg 9 slides from top to bottom along slot 8 is inside.

Further, the buffer device 4 includes two first sliding rods 41 arranged in a crossed manner, two second sliding rods 48 arranged in a crossed manner, a fixing rod 47 connecting the first sliding rods 41 and the second sliding rods 48, a first buffer spring 42 and a second buffer spring 43 respectively wound on two ends of the fixing rod 47, and a limiting block 46 installed on two ends of the fixing rod 47.

Furthermore, the intersection of the two first sliding rods 41 is movably connected with the connecting plate 3, the intersection of the two second sliding rods 48 is movably connected with the cooperative robot chassis 2, and the upper ends of the two second sliding rods 48 are respectively located at two sides of the lower ends of the two first sliding rods 41.

Further, the bottom of the connecting plate 3 is fixed to a fixing rod 47 through a first fixing spring 44, the cooperative robot chassis 2 is fixedly connected to the fixing rod 47 through a second fixing spring 45, and the first fixing spring 44, the second fixing spring 45, the intersection of the two first sliding rods 41 and the intersection of the two second sliding rods 48 are all located on the same vertical plane.

Further, the first sliding rod 41 and the second sliding rod 48 slide along the fixing rod 47, the first sliding rod 41 is connected with the second sliding rod 48 through the second buffer spring 43, and the second sliding rod 48 is connected with the limiting block 46 through the first buffer spring 42.

The working principle is as follows:

in the using process, when the robot passes through a rugged place, acting force is transmitted to the cooperative robot chassis 2 through wheels arranged at the bottom of the cooperative robot chassis 2, when the cooperative robot chassis 2 is subjected to the acting force, partial acting force is buffered through the buffer device 4, so that the acting force applied to the connecting plate 3 is weakened, the damage degree to the cooperative robot shell 1 is reduced, meanwhile, the damping spring 5 arranged at the bottom of the connecting plate 3 and the connecting spring 7 arranged at the bottom of the inserting plate 9 play a role in damping and buffering, when the force is buffered through the buffer device 4, the robot chassis 2 transmits the acting force to the two second sliding rods 48, the upper ends of the second sliding rods 48 slide towards two sides along the fixing rod 47, and simultaneously press the first buffer device 42, when the second sliding rods 48 move, the lower ends of the first sliding rods 41 are driven to slide towards two sides along the fixing rod 47 through the second buffer device 42, the first fixing spring 44 and the second fixing spring 45 are pressed at the same time, and a part of the force is buffered by the first fixing spring 44 and the second fixing spring 45.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A variable degree of freedom modular cooperative robot, characterized by: the device comprises a cooperative robot shell (1), a connecting plate (3) arranged at the bottom of the cooperative robot shell (1), a plugboard (9) arranged along the periphery of the bottom of the connecting plate (3), and a cooperative robot chassis (2) arranged at the bottom of the connecting plate (3);

connecting plate (3) bottom is connected with cooperation robot chassis (2) through buffer (4), damping spring (5) are installed respectively to the both sides of connecting plate (3) bottom, damping spring (5) are vertical to be inserted in the spout of support column (6) upper end, damping spring (5) and the inside fixed connection of spout, buffer (4) are located between damping spring (5) of connecting plate (3) both sides, the lower extreme of picture peg (9) inserts in slot (8) of cooperation robot chassis (2) upper end, slot (8) internally mounted has coupling spring (7), picture peg (9) are connected with coupling spring (7), and picture peg (9) slide from top to bottom along slot (8) inside.

2. The variable degree-of-freedom modular cooperative robot according to claim 1, wherein: the buffer device (4) comprises two first sliding rods (41) which are arranged in a crossed mode, two second sliding rods (48) which are arranged in a crossed mode, a fixed rod (47) which is connected with the first sliding rods (41) and the second sliding rods (48), a first buffer spring (42) and a second buffer spring (43) which are wound on the two ends of the fixed rod (47) respectively, and limiting blocks (46) which are installed on the two ends of the fixed rod (47).

3. The variable degree-of-freedom modular cooperative robot according to claim 2, wherein: the intersection of the two first sliding rods (41) is movably connected with the connecting plate (3), the intersection of the two second sliding rods (48) is movably connected with the cooperative robot chassis (2), and the upper ends of the two second sliding rods (48) are respectively positioned on two sides of the lower ends of the two first sliding rods (41).

4. A variable degree of freedom modular cooperative robot in accordance with claim 3, wherein: the bottom of the connecting plate (3) is fixed with a fixing rod (47) through a first fixing spring (44) for fixing, the cooperative robot chassis (2) is fixedly connected with the fixing rod (47) through a second fixing spring (45), and the first fixing spring (44), the second fixing spring (45), the intersection of the two first sliding rods (41) and the intersection of the two second sliding rods (48) are all located on the same vertical plane.

5. A variable degree of freedom modular cooperative robot in accordance with claim 3, wherein: the first sliding rod (41) and the second sliding rod (48) slide along a fixing rod (47), the first sliding rod (41) is connected with the second sliding rod (48) through a second buffer spring (43), and the second sliding rod (48) is connected with a limiting block (46) through a first buffer spring (42).