CN215749200U

CN215749200U - Vertical multi-joint industrial robot

Info

Publication number: CN215749200U
Application number: CN202121944501.7U
Authority: CN
Inventors: 谭映雪
Original assignee: Guangdong Shenghao Robot Co ltd
Current assignee: Guangdong Shenghao Robot Co ltd
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2022-02-08
Anticipated expiration: 2031-08-18

Abstract

The utility model discloses a vertical multi-joint industrial robot, and relates to the technical field of industrial robots. The structure of the utility model comprises a base, a weight, a mechanical arm and a moving mechanism, wherein the mechanical arm is arranged on the base; the weight block is fixed at the bottom end of the base; moving mechanism's structure is including removing seat, support, CD-ROM drive motor, pneumatic cylinder, it sets up in the bottom recess of base to remove the seat, the support is fixed in removing the seat through-hole, be provided with the pivot in the top through-hole of support, the front end of pivot is provided with No. four gears, be provided with the wheel in the clearance of support, the front end of the axletree of wheel is fixed with No. three gears, No. three gears and No. four gears are connected through No. two driving chains, CD-ROM drive motor and pneumatic cylinder all set up in the groove of removing the seat, CD-ROM drive motor's rotor end is fixed with the rear end of pivot, the pneumatic cylinder is fixed with the base. The utility model realizes automatic movement and ensures the stability during working.

Description

Vertical multi-joint industrial robot

Technical Field

The utility model relates to the technical field of industrial robots, in particular to a vertical multi-joint industrial robot.

Background

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. The common form of industrial robot is perpendicular many festivals type, and for guaranteeing stability, general bottom does not set up the wheel of being convenient for to remove, has also increased the degree of difficulty of the removal of robot simultaneously.

Accordingly, those skilled in the art have provided a vertical articulated industrial robot to solve the problems set forth in the background art described above.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that the industrial robot in the prior art is inconvenient to move.

In order to solve the technical problems, the utility model provides a vertical multi-joint industrial robot which comprises a base, a weight, a mechanical arm and a moving mechanism, wherein the base is of a cuboid shell structure, and a bearing is arranged in a through hole in the top side wall of the base; the bottom end of the mechanical arm is fixed with the top end of a rotor of the bearing; the weight block is of a square-shaped block structure and is fixed at the bottom end of the base; moving mechanism's structure is including removing seat, support, CD-ROM drive motor, pneumatic cylinder, it is the cell body structure of cuboid to remove the seat, it sets up in the bottom recess of base to remove the seat, the support is the type of falling U structure, the support is fixed in the central through-hole that removes the seat, be provided with the pivot in the top through-hole of support, the front end of pivot is provided with No. four gears, be provided with the wheel in the bottom clearance of support, the front end of the axletree of wheel is fixed with No. three gears, No. three gears and No. four gears are connected through No. two driving chains, CD-ROM drive motor sets up in the groove that removes the seat, and the rotor end is fixed with the rear end of pivot, the pneumatic cylinder is fixed in the groove that removes the seat, and the top is fixed with the base.

As a further scheme of the utility model: the bottom side wall of the movable seat is provided with a plurality of universal wheels, and the universal wheels play a role in supporting and moving.

As a further scheme of the utility model: the utility model discloses a bearing, including base, motor, conveyer chain, gear, conveyer chain, motor, bearing, the rotor bottom mounting of bearing has a gear, be fixed with the motor on the top lateral wall of base, the rotor bottom of motor passes the roof after-fixing of base has No. two gears, a gear and No. two gears are connected through a conveyer chain, No. two gear of motor drive rotate No. two gears, No. two gears drive a gear through a conveyer chain for the rotor of bearing rotates.

As a further scheme of the utility model: the pneumatic manipulator is characterized in that an air cylinder is arranged in the vertical through hole of the weight block, a sliding column is fixed at the bottom end of a telescopic rod of the air cylinder, a sucker is fixed at the bottom end of the sliding column, the sliding column is pushed downwards after the air cylinder is extended, and the sucker is pressed on the ground by the sliding column, so that the sucker is adsorbed on the ground to prevent the weight block from shifting during the operation of the mechanical arm.

As a further scheme of the utility model: the air vent structure is characterized in that a vent pipe is arranged in a vertical hole in the bottom of the sliding column, the bottom end of the vent pipe is open, the top end of the vent pipe is closed, an opening is formed in the right side wall of the vent pipe, a through hole formed in the right side wall of the sliding column is an exhaust hole, and when the exhaust hole is aligned with the opening, air in the middle of the sucker is discharged along the vent pipe.

As a further scheme of the utility model: the novel sliding column structure is characterized in that a square limiting plate is arranged in a cavity at the top of the sliding column, a spring is arranged on the top side wall of the limiting plate, the top end of the sliding column is fixed on the bottom side wall of the limiting plate, the limiting plate prevents the sliding column from rotating, and the limiting plate is pushed downwards when the spring is compressed.

As a further scheme of the utility model: the rubber layer is attached to the wall of the outer side wall of the vent pipe, and the rubber layer fills a gap between the outer wall of the vent pipe and the inner wall of the sliding column to prevent external air from flowing into the sucker from the gap.

The utility model has the beneficial effects that:

(1) the moving mechanism is arranged, the hydraulic cylinder extends to enable the moving seat to move downwards, the wheels and the universal wheels are enabled to be supported on the ground, the base is pushed to enable the universal wheels to roll on the ground, and therefore the industrial robot is moved; the driving motor drives the fourth gear to rotate through the rotating shaft, and the fourth gear drives the third gear to rotate through the second transmission chain, so that the wheels automatically roll on the ground; when the mobile platform moves to the destination, the hydraulic cylinder contracts, so that the mobile seat retracts into the base, the wheels and the universal wheels retract into the weight, and the weight is supported on the ground. The utility model realizes automatic movement and ensures the stability during working.

(2) The air cylinder is arranged on the mechanical arm, the air cylinder pushes the sliding column downwards after being extended, the sliding column presses the sucker on the ground, when the vent pipe is not in contact with the ground, air in the sucker is exhausted from the vent pipe, when the vent pipe is pressed into the sliding column, the through hole and the exhaust hole are staggered, so that a closed space is formed between the sucker and the ground, the sucker is adsorbed on the ground, and the heavy block is prevented from shifting when the mechanical arm works; the cylinder contracts before moving so that the sliding column moves upwards, and meanwhile, the spring pushes the vent pipe downwards until the through hole is aligned with the vent hole so that the sucker is separated from the ground.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a cross-sectional view of the base and weight;

fig. 3 is a partial cross-sectional view of the weight.

Wherein: the device comprises a base 10, a bearing 11, a first gear 12, a motor 13, a second gear 14, a first transmission chain 15, a mechanical arm 16, a weight 17, a moving seat 18, a support 19, a wheel 20, a third gear 21, a fourth gear 22, a second transmission chain 23, a driving motor 24, a universal wheel 25, a hydraulic cylinder 26, a sliding column 27, a suction cup 28, an air cylinder 29, an air pipe 30, a limiting plate 31, a spring 32 and an exhaust hole 33.

Detailed Description

The vertical multi-joint industrial robot provided by the embodiment has a structure as shown in fig. 1-3, and comprises a base 10, a weight 17, a mechanical arm 16 and a moving mechanism, wherein the base 10 is in a cuboid shell structure, and a bearing 11 is arranged in a through hole in the top side wall of the base 10; the bottom end of the mechanical arm 16 is fixed with the top end of the rotor of the bearing 11; the weight 17 is of a clip-shaped block structure, and the weight 17 is fixed at the bottom end of the base 10; moving mechanism's structure is including removing seat 18, support 19, driving motor 24, pneumatic cylinder 26, it is the cell body structure of cuboid to remove seat 18, it sets up in the bottom recess of base 10 to remove seat 18, support 19 is the type of falling U structure, support 19 is fixed in the central through hole that removes seat 18, be provided with the pivot in the top through hole of support 19, the front end of pivot is provided with No. four gears 22, be provided with wheel 20 in the bottom clearance of support 19, the front end of the axletree of wheel 20 is fixed with No. three gears 21, No. three gears 21 and No. four gears 22 are connected through No. two driving chain 23, driving motor 24 sets up in the groove that removes seat 18, and the rotor end is fixed with the rear end of pivot, pneumatic cylinder 26 is fixed in the groove that removes seat 18, and the top is fixed with base 10.

A plurality of universal wheels 25 are arranged on the bottom side wall of the movable seat 18, and the universal wheels 25 play a role in supporting and moving.

Bearing 11's rotor bottom mounting has gear 12, be fixed with motor 13 on the top lateral wall of base 10, the rotor bottom of motor 13 passes the roof after-fixing of base and has gear 14 No. two, gear 12 and gear 14 connect through a transfer chain 15 No. one, motor 13 drive gear 14 No. two rotates, gear 14 drives gear 12 through a transfer chain 15 and rotates No. two for bearing 11's rotor rotates.

An air cylinder 29 is arranged in a vertical through hole of the weight 17, a sliding column 27 is fixed at the bottom end of a telescopic rod of the air cylinder 29, a suction cup 28 is fixed at the bottom end of the sliding column 27, the sliding column 27 is pushed downwards after the air cylinder 29 is extended, and the suction cup 28 is pressed on the ground by the sliding column 27, so that the suction cup 28 is adsorbed on the ground to prevent the weight from shifting when the mechanical arm works.

Be provided with breather pipe 30 in the vertical hole of the bottom of traveller 27, the bottom of breather pipe 30 is the opening, the top is for closing, and sets up the opening on the right side wall, the through-hole that sets up on the right side wall of traveller 27 is exhaust hole 33, when exhaust hole 33 aligns with the opening, the air in the middle of the sucking disc 28 is discharged along breather pipe 30.

A square limiting plate 31 is arranged in a cavity at the top of the sliding column 27, a spring 32 is arranged on the top side wall of the limiting plate 31, the top end of the sliding column 27 is fixed on the bottom side wall of the limiting plate 31, the limiting plate 31 prevents the sliding column 27 from rotating, and the limiting plate 31 is pushed downwards when the spring 32 is compressed.

The rubber layer is adhered to the outer side wall of the vent pipe 30, and fills the gap between the outer wall of the vent pipe 30 and the inner wall of the sliding column 27, so that external air is prevented from flowing into the suction cup 28 from the gap.

The working principle of the utility model is as follows: when movement is required, the hydraulic cylinder 26 is extended, so that the moving seat 18 moves downwards, the wheels 20 and the universal wheels 25 are supported on the ground, and the base 10 is pushed, so that the universal wheels 25 roll on the ground to move the industrial robot; the driving motor 24 drives the fourth gear 22 to rotate through a rotating shaft, and the fourth gear 22 drives the third gear 21 to rotate through the second transmission chain 23, so that the wheels 20 automatically roll on the ground; when the hydraulic cylinder 26 is contracted after moving to the destination, the movable seat 18 is retracted into the base 10, the wheels 20 and the universal wheels 25 are retracted into the weight 17, and the weight 17 is supported on the ground; the air cylinder 29 is extended to push the sliding column 27 downwards, the sliding column 27 presses the suction cup 28 on the ground, when the vent pipe 30 is not in contact with the ground, air in the suction cup 28 is exhausted from the vent pipe 30, when the vent pipe 30 is pressed into the sliding column 27, the through hole is staggered with the exhaust hole 33, a closed space is formed between the suction cup 18 and the ground, the suction cup 28 is made to be adsorbed on the ground, and the weight is prevented from being displaced when the mechanical arm works; the cylinder 29 is contracted prior to movement causing the spool 27 to move upwardly while the spring 32 pushes the vent tube 30 downwardly until the opening aligns with the vent hole 33 causing the suction cup 18 to disengage from the floor. The utility model realizes automatic movement and ensures the stability during working.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model 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 vertical multi-joint industrial robot is characterized by comprising a base (10), a weight (17), a mechanical arm (16) and a moving mechanism, wherein the base (10) is of a cuboid shell structure, and a bearing (11) is arranged in a through hole in the top side wall of the base (10); the bottom end of the mechanical arm (16) is fixed with the top end of a rotor of the bearing (11); the weight (17) is of a clip-shaped block structure, and the weight (17) is fixed at the bottom end of the base (10); the structure of the moving mechanism comprises a moving seat (18), a support (19), a driving motor (24) and a hydraulic cylinder (26), wherein the moving seat (18) is of a cuboid groove body structure, the moving seat (18) is arranged in a bottom end groove of a base (10), the support (19) is of an inverted U-shaped structure, the support (19) is fixed in a central through hole of the moving seat (18), a rotating shaft is arranged in a top through hole of the support (19), a fourth gear (22) is arranged at the front end of the rotating shaft, a wheel (20) is arranged in a bottom gap of the support (19), a third gear (21) is fixed at the front end of an axle of the wheel (20), the third gear (21) and the fourth gear (22) are connected through a second transmission chain (23), the driving motor (24) is arranged in a groove of the moving seat (18), and the rotor end is fixed with the rear end of the rotating shaft, the hydraulic cylinder (26) is fixed in a groove of the movable seat (18), and the top end of the hydraulic cylinder is fixed with the base (10).

2. Industrial robot of the vertical articulated type according to claim 1, characterized in that: a plurality of universal wheels (25) are arranged on the bottom side wall of the movable seat (18).

3. Industrial robot of the vertical articulated type according to claim 1, characterized in that: the rotor bottom mounting of bearing (11) has a gear (12), be fixed with motor (13) on the top lateral wall of base (10), the rotor bottom of motor (13) is fixed with No. two gears (14) after passing the roof of base, a gear (12) and No. two gears (14) are connected through a transfer chain (15).

4. Industrial robot of the vertical articulated type according to claim 1, characterized in that: an air cylinder (29) is arranged in a vertical through hole of the heavy block (17), a sliding column (27) is fixed at the bottom end of a telescopic rod of the air cylinder (29), and a sucking disc (28) is fixed at the bottom end of the sliding column (27).