CN216229369U - Heavy-load assembly robot - Google Patents
Heavy-load assembly robot Download PDFInfo
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- CN216229369U CN216229369U CN202123022923.1U CN202123022923U CN216229369U CN 216229369 U CN216229369 U CN 216229369U CN 202123022923 U CN202123022923 U CN 202123022923U CN 216229369 U CN216229369 U CN 216229369U
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- 230000007246 mechanism Effects 0.000 claims abstract description 40
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- 239000000463 material Substances 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of robots, in particular to a heavy-load assembly robot which comprises a movable base and a mechanical arm, wherein the mechanical arm is fixedly connected to the movable base, the bottom end of the movable base is fixedly connected with a fixed pipe, two sliding rods are slidably connected in the fixed pipe, stabilizing plates are arranged on the sides, far away from the two sliding rods, of the two sliding rods, a pushing mechanism is arranged on the lower side of the movable base and used for driving the two sliding rods to move simultaneously so as to realize the movement of the two stabilizing plates, a group of elastic mechanisms is arranged between each of the two sliding rods and each of the two stabilizing plates, and the two groups of elastic mechanisms are respectively used for controlling the positions of the two stabilizing plates; according to the utility model, the movable base has a small volume, is light in weight and convenient to move, the movable base reduces the weight, simultaneously ensures the stability of the mechanical arm in use, facilitates the transportation of the mechanical arm, and is contacted with the ground through the two stabilizing plates after moving, so that the mechanical arm is kept stable in use.
Description
Technical Field
The utility model relates to the field of robots, in particular to a heavy-load assembly robot.
Background
The assembly robot is the core equipment of a flexible automatic assembly system and consists of a robot manipulator, a controller, an end effector and a sensing system. The structure types of the manipulator comprise a horizontal joint type, a rectangular coordinate type, a multi-joint type, a cylindrical coordinate type and the like; the controller generally adopts a multi-CPU or multi-stage computer system to realize motion control and motion programming; the end effector is designed into various paws, wrists and the like for adapting to different assembling objects; the sensing system is used to obtain information of the interaction between the assembly robot and the environment and the assembly object.
The prior art discloses partial patent documents related to the field of robots, Chinese patent with application number 201821257385.X, and discloses an automatic production heavy-load robot, which comprises a foundation, a connecting plate, a motor base, a servo motor, a lifting oil cylinder base, an upper connecting rod, a lower swing arm and a clamp mechanism, wherein a rotary support is assembled on the foundation, the connecting plate is installed on the upper end face of the rotary support, the motor base is installed on the front side of the rotary support, a motor adjusting plate is installed on the upper end face of the motor base, the servo motor is fixed on the upper end face of the motor adjusting plate, a gear is assembled in the motor base, a stand is installed in the middle of the upper end face of the connecting plate, the upper connecting rod is installed on the front side of the upper end face of the swing arm base, a middle vertical connecting rod is installed on the upper end face of the lifting connecting head, a clamp fixing seat is fixed at the bottom of the lower swing arm, and the clamp mechanism is arranged on the front end face of the clamp fixing seat.
At present, assembly robot comprises base and arm usually, and in order to ensure the stability of assembly robot when using, the base of current most assembly robot is usually bulky, has certain weight, and inconvenient assembly robot's removal leads to assembly robot to fix only and uses in a certain department, is difficult to be applicable to different service environment.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the defects in the prior art and provides a heavy-load assembly robot.
In order to achieve the above purposes, the technical scheme adopted by the utility model is as follows: a heavy-load assembly robot comprises a movable base and a mechanical arm, wherein the mechanical arm is fixedly connected to the movable base, a fixed pipe is fixedly connected to the bottom end of the movable base, two sliding rods are connected in the fixed pipe in a sliding mode, stabilizing plates are arranged on the sides, far away from the two sliding rods, of the two sliding rods, a pushing mechanism is arranged on the lower side of the movable base and used for driving the two sliding rods to move simultaneously so as to achieve movement of the two stabilizing plates, a group of elastic mechanisms is arranged between the two sliding rods and the two stabilizing plates respectively, and the two groups of elastic mechanisms are used for controlling the positions of the two stabilizing plates respectively; during operation, make two slide bars outwards extend from two fixed intraductal through pushing mechanism, two slide bars drive two firm boards and keep away from, two firm boards are kept away from the back through opening two sets of elastic mechanism, two sets of elastic mechanism make two firm boards and ground contact, increase the stability of removal base, it adopts the removal base that the material is lighter to remove the base, can remain stable through two firm boards, do not need too big counter weight also to make the arm keep good stability, when the arm needs to remove, through closing two sets of elastic mechanism, two firm board rebound do not contact with ground, then make two slide bars retract to the fixed intraductal through pushing mechanism, thereby make two firm boards fold up the both sides at the removal base, it can remove not receive the restriction of two firm boards to remove the base.
Preferably, the pushing mechanism comprises a fixed plate, a screw rod, a travel nut, two connecting rods and two sliding ways, the fixed plate is fixedly connected to the bottom end of the movable base, the screw rod is rotatably connected between the fixed pipe and the fixed plate, one end of the screw rod penetrates through one side of the fixed plate, the travel nut is in threaded connection with the outer surface of the screw rod, the two connecting rods are respectively and movably hinged to two side ends of the travel nut through hinge shafts, the two sliding ways are both chiseled at one side end of the fixed pipe, and one ends of the two connecting rods respectively penetrate through the two sliding ways and are movably hinged to the two sliding rods; during operation, rotate the screw rod through the stationary blade, the screw rod makes the stroke nut remove at the downside that removes the base, the stroke nut makes two connecting rods slide in two slides, two connecting rods expand to make two slide bars slide to the direction of keeping away from mutually in fixed intraductal simultaneously, thereby make two firm boards keep away from, two firm boards contact through two sets of elastic mechanism with ground, improve the stability that removes the base, when the arm needs to remove, make two firm boards rebound through two sets of elastic mechanism, rotate the screw rod once more, the screw rod makes the stroke nut remove, the stroke nut makes two connecting rods fold through two slides, two slide bars drive two firm boards respectively through two connecting rods and are close to mutually, two firm boards fold up the both sides at the removal base, make the removal base can drive the arm through the wheel of bottom and remove to suitable position.
Preferably, each group of elastic mechanisms comprises a fixed plate, two inserted rods, a brace, two springs and a handle, the fixed plate is fixedly connected to one end of a sliding rod, the two inserted rods are movably inserted into the fixed plate respectively, the brace is fixedly connected to one ends of the two inserted rods, the other ends of the two inserted rods are fixedly connected to a stabilizing plate, the two springs are sleeved on the outer surfaces of the two inserted rods respectively, the two springs are located between the fixed plate and the stabilizing plate, the handle is rotatably connected to one end, away from the two inserted rods, of the brace, a limiting assembly is arranged between the handle and the fixed plate, and the limiting assembly limits the stabilizing plate through the handle; the during operation, through handle pulling brace, the brace makes two inserted bars rebound on the fixed plate, two inserted bar rebound are followed to the firm board simultaneously and to two spring compression, then it is fixed with the handle through spacing subassembly, firm board this moment with ground contact, it can drive the arm and remove to remove the base, after removing the base and removing to suitable position, make its landing downwards on spacing subassembly through rotating the handle, the elasticity of two springs makes firm board and ground contact, firm board improves the stability of removing the base with ground contact, the use that makes the arm can be stable.
Preferably, the limiting assembly comprises a limiting plate and a limiting groove, the limiting plate is fixedly connected to the fixing plate, the limiting groove is cut on the limiting plate, and the handle is clamped in the limiting groove; during operation, the upside of the limiting plate is upwards pulled to the handle and is rotated, makes the bottom and the spacing groove of handle correspond, then loosens the handle, and the elasticity that two springs produced makes handle joint to spacing inslot, and limiting plate and spacing groove are to the handle restriction to make the steadying plate not contact with ground and remain stable.
Preferably, a group of pulleys are rotatably connected to the two sliding rods, and the two groups of pulleys are in contact with the inner wall of the fixed pipe; during operation, the two sliding rods slide in the fixed pipe, the two groups of pulleys can slide on the inner wall of the fixed pipe, and the two groups of pulleys enable the two sliding rods to slide more smoothly.
Preferably, one end of the travel nut, which is close to the moving base, is fixedly connected with a sliding block, one end of the moving base, which is close to the travel nut, is provided with a sliding groove, and the sliding block is connected in the sliding groove in a sliding manner; during operation, the travel nut moves to drive the sliding block to move, the sliding block slides in the sliding groove, and the sliding connection between the sliding block and the sliding groove enables the travel nut to move more stably.
Preferably, one end of the screw rod, which is far away from the fixed pipe, is fixedly connected with a rotating handle, and the rotating handle penetrates through one side of the fixed sheet; during operation, the rotation of the control screw rod is more convenient through the rotating handle, and the positions of the two stabilizing plates are convenient to adjust.
Compared with the prior art, the utility model has the following beneficial effects: the movable base is smaller in size and lighter in weight, movable wheels are arranged on the movable base, the movable base enables the mechanical arm to move more conveniently through the wheels, when the mechanical arm needs to move, the two stabilizing plates move upwards without contacting with the ground by closing the two groups of elastic mechanisms, then the two sliding rods retract into the fixed tubes through the pushing mechanism, so that the two stabilizing plates are folded at two sides of the movable base, the movable base can move without being limited by the two stabilizing plates, the two sliding rods extend outwards from the two fixed tubes through the pushing mechanism after the mechanical arm moves to a proper position, the two sliding rods drive the two stabilizing plates to be far away, the two stabilizing plates are far away by opening the two groups of elastic mechanisms, the two groups of elastic mechanisms enable the two stabilizing plates to contact with the ground, the stability of the movable base is improved, and the movable base is made of the movable base which is lighter in material, according to the utility model, the size of the movable base is smaller, the weight is lighter, the movable base is convenient to move, the stability of the mechanical arm in use is ensured while the weight is reduced, the mechanical arm is convenient to transport, and the mechanical arm is kept stable in use by contacting with the ground through the two stabilizing plates after moving.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is an exploded view of the present invention;
FIG. 4 is a top cross-sectional view of the present invention.
In the figure: 1. moving the base; 2. a mechanical arm; 3. a fixed tube; 4. a slide bar; 5. a stabilizing plate; 6. a fixing sheet; 7. a screw; 8. a travel nut; 9. a connecting rod; 10. a slideway; 11. inserting a rod; 12. bracing; 13. a spring; 14. a handle; 15. a limiting plate; 16. a limiting groove; 17. a pulley; 18. a slider; 19. a chute; 20. turning a handle; 21. and (7) fixing the plate.
Detailed Description
The following description is presented to disclose the utility model so as to enable any person skilled in the art to practice the utility model. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
The heavy-load assembly robot shown in fig. 1-4 comprises a movable base 1 and a mechanical arm 2, wherein the mechanical arm 2 is fixedly connected to the movable base 1, a fixed pipe 3 is fixedly connected to the bottom end of the movable base 1, two sliding rods 4 are slidably connected in the fixed pipe 3, stabilizing plates 5 are arranged on the sides, away from the two sliding rods 4, of the movable base 1, a pushing mechanism is arranged on the lower side of the movable base 1, the pushing mechanism is used for driving the two sliding rods 4 to move simultaneously so as to realize the movement of the two stabilizing plates 5, a group of elastic mechanisms is arranged between each of the two sliding rods 4 and the two stabilizing plates 5, and the two groups of elastic mechanisms are respectively used for controlling the positions of the two stabilizing plates 5; when the movable base 1 works, the two sliding rods 4 extend outwards from the two fixing pipes 3 through the pushing mechanism, the two sliding rods 4 drive the two stabilizing plates 5 to be far away, the two stabilizing plates 5 are far away, and then the two groups of elastic mechanisms are opened to enable the two stabilizing plates 5 to be in contact with the ground, so that the stability of the movable base 1 is improved, the movable base 1 is made of a movable base with a lighter material, the two stabilizing plates 5 can keep stable, the mechanical arm 2 can keep good stability without overlarge counterweight, when the mechanical arm 2 needs to move, the two groups of elastic mechanisms are closed, the two stabilizing plates 5 move upwards and are not contacted with the ground, then, the two sliding rods 4 are retracted towards the inside of the fixed tube 3 through the pushing mechanism, so that the two stabilizing plates 5 are folded at two sides of the movable base 1, and the movable base 1 can move without being limited by the two stabilizing plates 5.
The pushing mechanism comprises a fixing piece 6, a screw 7, a stroke nut 8, two connecting rods 9 and two slideways 10, the fixing piece 6 is fixedly connected to the bottom end of the movable base 1, the screw 7 is rotatably connected between the fixed pipe 3 and the fixing piece 6, one end of the screw 7 penetrates through one side of the fixing piece 6, the stroke nut 8 is in threaded connection with the outer surface of the screw 7, the two connecting rods 9 are respectively and movably hinged to two side ends of the stroke nut 8 through hinged shafts, the two slideways 10 are respectively drilled at one side end of the fixed pipe 3, and one ends of the two connecting rods 9 respectively penetrate through the two slideways 10 and are movably hinged to the two sliding rods 4; when the device works, the screw 7 is rotated through the fixing sheet 6, the screw 7 enables the stroke nut 8 to move at the lower side of the movable base 1, the stroke nut 8 enables the two connecting rods 9 to slide in the two slideways 10, at the same time, the two connecting rods 9 are unfolded to enable the two sliding rods 4 to slide in the direction away from each other in the fixed pipe 3, thereby keeping the two stabilizing plates 5 away from each other, the two stabilizing plates 5 are contacted with the ground through two groups of elastic mechanisms, the stability of the movable base 1 is improved, when the mechanical arm 2 needs to move, the two stabilizing plates 5 are enabled to move upwards through the two groups of elastic mechanisms, the screw rod 7 is rotated again, the screw rod 7 enables the stroke nut 8 to move, the stroke nut 8 enables the two connecting rods 9 to be folded through the two slideways 10, the two sliding rods 4 respectively drive the two stabilizing plates 5 to be close to each other through the two connecting rods 9, the two stabilizing plates 5 are folded on the two sides of the movable base 1, and the movable base 1 can drive the mechanical arm 2 to move to a proper position through the wheels at the bottom.
Each group of elastic mechanisms comprises a fixed plate 21, two inserted rods 11, a brace 12, two springs 13 and a handle 14, the fixed plate 21 is fixedly connected to one end of the sliding rod 4, the two inserted rods 11 are respectively movably inserted into the fixed plate 21, the brace 12 is fixedly connected to one ends of the two inserted rods 11, the other ends of the two inserted rods 11 are fixedly connected to the stabilizing plate 5, the two springs 13 are respectively sleeved on the outer surfaces of the two inserted rods 11, the two springs 13 are located between the fixed plate 21 and the stabilizing plate 5, the handle 14 is rotatably connected to one end of the brace 12 away from the two inserted rods 11, a limiting assembly is arranged between the handle 14 and the fixed plate 21, and the limiting assembly can limit the stabilizing plate 5 through the handle 14; during operation, pull strip 12 through handle 14 pulling, pull strip 12 makes two inserted bar 11 rebound on fixed plate 21, two inserted bar 11 rebound are followed to the firm board 5 simultaneously and are compressed two springs 13, then it is fixed with handle 14 through spacing subassembly, firm board 5 is not with ground contact this moment, it can drive arm 2 and remove to remove base 1, after removing base 1 and removing suitable position, make its landing downwards on spacing subassembly through rotating handle 14, the elasticity of two springs 13 makes firm board 5 and ground contact, firm board 5 improves the stability of removing base 1 with ground contact, the use that makes arm 2 can be stable.
The limiting assembly comprises a limiting plate 15 and a limiting groove 16, the limiting plate 15 is fixedly connected to the fixing plate 21, the limiting groove 16 is cut on the limiting plate 15, and the handle 14 is clamped in the limiting groove 16; during operation, the handle 14 upwards pulls the upper side of the limiting plate 15 to rotate, so that the bottom end of the handle 14 corresponds to the limiting groove 16, then the handle 14 is loosened, the handle 14 is clamped in the limiting groove 16 through elastic force generated by the two springs 13, the limiting plate 15 and the limiting groove 16 limit the handle 14, and therefore the stabilizing plate 5 is not in contact with the ground and keeps stable.
A group of pulleys 17 is rotatably connected to the two slide bars 4, and the two groups of pulleys 17 are in contact with the inner wall of the fixed tube 3; during operation, the two slide bars 4 slide in the fixed tube 3, the two groups of pulleys 17 can slide on the inner wall of the fixed tube 3, and the two groups of pulleys 17 enable the two slide bars 4 to slide more smoothly.
One end of the stroke nut 8 close to the movable base 1 is fixedly connected with a sliding block 18, one end of the movable base 1 close to the stroke nut 8 is provided with a sliding groove 19 in a chiseled mode, and the sliding block 18 is connected in the sliding groove 19 in a sliding mode; during operation, the stroke nut 8 moves to drive the sliding block 18 to move, the sliding block 18 slides in the sliding groove 19, and the sliding connection between the sliding block 18 and the sliding groove 19 enables the stroke nut 8 to move more stably.
One end of the screw 7, which is far away from the fixed pipe 3, is fixedly connected with a rotating handle 20, and the rotating handle 20 penetrates to one side of the fixed sheet 6; when the device works, the rotation of the screw 7 is more convenient to control through the rotating handle 20, and the positions of the two stabilizing plates 5 are convenient to adjust.
The working principle of the utility model is as follows:
when the mechanical arm 2 needs to be used, the screw 7 is rotated through the fixing piece 6, the screw 7 enables the stroke nut 8 to move on the lower side of the movable base 1, the stroke nut 8 enables the two connecting rods 9 to slide in the two slide ways 10, meanwhile, the two connecting rods 9 are unfolded to enable the two sliding rods 4 to slide in the fixed pipe 3 in the direction away from each other, so that the two stabilizing plates 5 are away from each other, then the handle 14 is rotated to enable the handle 14 to slide downwards on the limiting assembly, the elastic force of the two springs 13 enables the stabilizing plates 5 to be in contact with the ground, the stability of the movable base 1 is improved due to the fact that the stabilizing plates 5 are in contact with the ground, the mechanical arm 2 can be stably used, the stability of the movable base 1 is improved, when the mechanical arm 2 needs to be moved, the pull strip 12 is pulled through the handle 14, the pull strip 12 enables the two inserting rods 11 to move upwards on the fixed plate 21, meanwhile, the stabilizing plates 5 follow the two inserting rods 11 to move upwards and compress the two springs 13, then fix handle 14 through spacing subassembly, rotate screw rod 7 once more, screw rod 7 makes stroke nut 8 remove, and stroke nut 8 makes two connecting rods 9 fold through two slides 10, and two slide bars 4 drive two steadying plates 5 respectively through two connecting rods 9 and are close to mutually, and two steadying plates 5 fold up in the both sides of moving base 1, make and move base 1 and can drive arm 2 through the wheel of bottom and remove to suitable position.
The foregoing shows and describes the general principles, essential features, and advantages of the utility model. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the utility model, but that various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined by the appended claims and their equivalents.
Claims (7)
1. The utility model provides a heavy load assembly robot, is including removing base (1) and arm (2), its characterized in that, arm (2) fixed connection is on removing base (1), the fixed pipe (3) of bottom fixedly connected with of removing base (1), sliding connection has two slide bars (4) in fixed pipe (3), two one side that slide bar (4) were kept away from mutually all is provided with firm board (5), the downside of removing base (1) is provided with pushing mechanism, pushing mechanism is used for driving two slide bars (4) simultaneously and removes in order to realize that two firm boards (5) remove, two slide bar (4) respectively with two firm boards (5) between be provided with a set of elastic mechanism, two sets of elastic mechanism is used for controlling the position of two firm boards (5) respectively.
2. A heavy-duty assembly robot according to claim 1, characterized in that said pushing mechanism comprises a fixing plate (6), a screw (7), a travel nut (8), two connecting rods (9) and two slideways (10), the fixing piece (6) is fixedly connected with the bottom end of the movable base (1), the screw rod (7) is rotatably connected between the fixed pipe (3) and the fixing piece (6), the one end of screw rod (7) runs through to one side of stationary blade (6), stroke nut (8) threaded connection is in the surface of screw rod (7), two connecting rod (9) articulate in the both sides end of stroke nut (8) through the hinge activity respectively, two slide (10) all dig in a side end of fixed pipe (3), two the one end of connecting rod (9) runs through two slide (10) activity respectively and articulates in two slide bars (4).
3. The heavy-load assembly robot according to claim 2, wherein each set of the elastic mechanism comprises a fixed plate (21), two insert rods (11), a brace (12), two springs (13) and a handle (14), the fixed plate (21) is fixedly connected to one end of the sliding rod (4), the two insert rods (11) are movably inserted into the fixed plate (21), the brace (12) is fixedly connected to one end of the two insert rods (11), the other end of the two insert rods (11) is fixedly connected to the stabilizing plate (5), the two springs (13) are respectively sleeved on the outer surfaces of the two insert rods (11), the two springs (13) are located between the fixed plate (21) and the stabilizing plate (5), the handle (14) is rotatably connected to one end of the brace (12) far away from the two insert rods (11), and a limit component is arranged between the handle (14) and the fixed plate (21), the limiting component realizes the limitation of the stabilizing plate (5) through a handle (14).
4. The heavy-load assembly robot as claimed in claim 3, wherein the limiting component comprises a limiting plate (15) and a limiting groove (16), the limiting plate (15) is fixedly connected to the fixing plate (21), the limiting groove (16) is cut on the limiting plate (15), and the handle (14) is clamped in the limiting groove (16).
5. A heavy-duty assembly robot as claimed in claim 4, characterized in that a set of pulleys (17) is rotatably connected to each of said two slide bars (4), both sets of said pulleys (17) being in contact with the inner wall of the fixed tube (3).
6. A heavy-duty assembly robot as claimed in claim 5, characterized in that a sliding block (18) is fixedly connected to one end of the travel nut (8) close to the moving base (1), a sliding groove (19) is cut at one end of the moving base (1) close to the travel nut (8), and the sliding block (18) is slidably connected in the sliding groove (19).
7. The heavy-load assembly robot as claimed in claim 6, wherein a rotating handle (20) is fixedly connected to one end of the screw rod (7) far away from the fixed pipe (3), and the rotating handle (20) penetrates through one side of the fixed plate (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123022923.1U CN216229369U (en) | 2021-12-03 | 2021-12-03 | Heavy-load assembly robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123022923.1U CN216229369U (en) | 2021-12-03 | 2021-12-03 | Heavy-load assembly robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216229369U true CN216229369U (en) | 2022-04-08 |
Family
ID=80960181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123022923.1U Expired - Fee Related CN216229369U (en) | 2021-12-03 | 2021-12-03 | Heavy-load assembly robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216229369U (en) |
-
2021
- 2021-12-03 CN CN202123022923.1U patent/CN216229369U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220408 |