CN218285573U - Chain belt type joint robot with gravity center adjusting function - Google Patents
Chain belt type joint robot with gravity center adjusting function Download PDFInfo
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- CN218285573U CN218285573U CN202222323166.XU CN202222323166U CN218285573U CN 218285573 U CN218285573 U CN 218285573U CN 202222323166 U CN202222323166 U CN 202222323166U CN 218285573 U CN218285573 U CN 218285573U
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- chain belt
- block
- joint robot
- rotary
- gravity center
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Abstract
The utility model discloses a chain belt joint robot with focus adjustment function relates to chain belt joint robot technical field, including rotary joint robot structure, rotary joint robot structure's downside is provided with chain belt drive mechanism, chain belt drive mechanism's top fixedly connected with focus guiding mechanism, the utility model provides a current joint robot snatch the problem that loses gravity balance behind the object, the utility model discloses a setting of the fixed rotary mechanism of chain belt and joint drive structure in the rotary joint robot structure, realized that the location of joint robot gripper optional position snatchs to concentrate on chain belt fixed block department with gravity, rethread rotary joint robot structure, focus guiding mechanism and chain belt drive mechanism's the setting of mutually supporting, realized the transport of how the rotary joint robot structure moves, focus guiding mechanism is rather than arranging the removal all the time, with focus adjustment to chain belt drive mechanism center.
Description
Technical Field
The utility model relates to a chain belt type joint robot technical field specifically is a chain belt type joint robot with focus adjustment function.
Background
Joint robots are generally installed in factories, a front end gripper of each joint robot is generally moved to a designated position so as to automatically perform welding, grinding, assembling, transporting, and the like, and in order to automatically and efficiently perform such a work, the robot needs to be programmed to move, and when the joint robot performs a moving transporting work, the joint robot may lose a gravity balance after gripping a transported object due to a difference in gravity of the transported object.
In order to solve the above problem, a chain-link type articulated robot having a gravity center adjustment function is proposed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a chain belt formula joint robot with focus adjustment function has solved the present joint robot among the background and has transported the during operation, because the gravity by the transported object is different, can lead to joint robot to snatch and lose gravity balance's problem behind the transported object.
In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides a chain belt type joint robot with focus adjustment function, includes rotary joint robot structure, and rotary joint robot structure's downside is provided with chain belt drive mechanism, chain belt drive mechanism's top fixedly connected with focus guiding mechanism, rotary joint robot structure includes the fixed rotary mechanism of chain belt, and the top of the fixed rotary mechanism of chain belt is provided with joint transmission structure, and the fixed rotary mechanism of chain belt includes the chain belt fixed block with chain belt drive mechanism fixed connection, the inside fixed connection fixed block rotating electrical machines of chain belt fixed block, and rotary platform is connected to the output of fixed block rotating electrical machines.
Preferably, five groups of rotating wheel connecting mechanisms are fixedly connected above the chain belt fixing block.
Preferably, the rotating wheel connecting mechanism comprises a rotating wheel connector, and a rolling wheel is rotatably arranged in the middle of the rotating wheel connector.
Preferably, the joint transmission structure is provided with two sets, the joint transmission structure comprises a joint transmission motor, the output end of the joint transmission motor is fixedly connected with a rotary pull block, one end of the rotary pull block is movably provided with a first pull arm, one end of the first pull arm is rotatably provided with a triangular adjusting block, and one end of a triangle of the triangular adjusting block is movably provided with a second pull arm.
Preferably, the output end of the joint transmission motor is movably connected with the first connecting block, one side of the first connecting block is movably connected with the second connecting block, and one side of the second connecting block is provided with the manipulator fixing block.
Preferably, the gravity center adjusting mechanism comprises a first weight box, pull rods are arranged on the side face of the first weight box in a penetrating mode and provided with four groups of pull rods, one end of each pull rod is fixedly connected with a weight box cover, and a cover fixing hole is formed in the weight box cover.
Preferably, a second additional weight box is fixedly arranged on one side of the first weight box, an opening of the second additional weight box is not closed upwards, and a chain belt connecting block is fixedly arranged below the first weight box.
Preferably, the chain belt transmission mechanism comprises a chain belt clamping table, a transmission chain belt is movably arranged in the chain belt clamping table, a motor rotating gear structure is arranged in the transmission chain belt in a meshed mode, the motor rotating gear structure comprises a rotating motor, a first chain belt gear is arranged at the output end of the rotating motor, and a second chain belt gear is arranged on one side of the first chain belt gear.
Compared with the prior art, the beneficial effects of the utility model are as follows:
1. the utility model provides a pair of chain belt type joint robot with focus adjustment function, through the setting of the fixed rotary mechanism of chain belt and joint transmission structure in the rotary joint robot structure, realized that the location of joint robot gripper optional position snatchs to concentrate on chain belt fixed block department with gravity, tentatively solved the unbalanced problem of joint robot gravity.
2. The utility model provides a pair of chain belt formula joint robot with focus adjustment function, through the setting of mutually supporting of rotary joint robot structure, focus guiding mechanism and chain belt drive mechanism, realized that the rotary joint robot structure removes the transportation no matter how, focus guiding mechanism removes rather than collocation all the time, adjusts the focus to chain belt drive mechanism center, has solved joint robot and can lose gravity balance's problem.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the rotary joint robot structure of the present invention;
FIG. 3 is a schematic structural view of the chain belt fixing and rotating mechanism of the present invention;
fig. 4 is a schematic structural view of the joint transmission structure of the present invention;
FIG. 5 is a schematic view of the gravity center adjusting mechanism of the present invention;
fig. 6 is a schematic structural view of the chain belt transmission mechanism of the present invention.
In the figure: 1. a rotary joint robot structure; 11. the chain belt is fixed on the rotating mechanism; 111. a chain belt fixing block; 112. a fixed block rotating motor; 113. rotating the platform; 114. a rotating wheel connecting mechanism; 1141. a runner connector; 1142. a rolling wheel; 12. a joint transmission structure; 121. a joint drive motor; 122. a first connection block; 123. a second connecting block; 124. rotating the pulling block; 125. a first tension arm; 126. a triangular adjusting block; 127. a second tension arm; 128. a manipulator fixing block; 2. a center of gravity adjusting mechanism; 21. a first weight box; 22. a pull rod; 23. a counterweight box cover; 231. a cover fixing hole; 24. a second additional weight box; 25. a chain belt connecting block; 3. a chain belt transmission mechanism; 31. a chain belt clamping table; 32. a conveying chain belt; 33. the motor rotates the gear structure; 331. rotating the motor; 332. a first chain gear; 333. a second chain gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the 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.
For a further understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
Referring to fig. 1, the utility model discloses a chain belt type joint robot with focus adjustment function, including rotary joint robot structure 1, rotary joint robot structure 1's downside is provided with chain belt drive mechanism 3, and chain belt drive mechanism 3's top fixedly connected with focus adjustment mechanism 2, rotary joint robot structure 1 includes the fixed rotary mechanism 11 of chain belt, and the top of the fixed rotary mechanism 11 of chain belt is provided with joint drive structure 12, and the fixed rotary mechanism 11 of chain belt includes the chain belt fixed block 111 with 3 fixed connection of chain belt drive mechanism, the inside fixed connection fixed block rotating electrical machines 112 of chain belt fixed block 111, rotary platform 113 is connected to the output of fixed block rotating electrical machines 112, and chain belt fixed block 111 drives rotary joint robot structure 1 and follows the rotation of chain belt drive mechanism 3 and moves, and fixed block rotating electrical machines 112 drives rotary platform 113 and rotates.
The present invention will be further described with reference to the following examples.
The first embodiment is as follows:
referring to fig. 2 to 4, five sets of rotating wheel connecting mechanisms 114 are fixedly connected to the upper side of the chain belt fixing block 111, and the five sets of rotating wheel connecting mechanisms 114 are arranged, and the five sets of rotating wheel connecting mechanisms 114 are distributed in a circular array around the output end of the fixing block rotating motor 112 to support the joint transmission structure 12.
The rotating wheel connecting mechanism 114 includes a rotating wheel connector 1141, a rolling wheel 1142 is rotatably disposed in the middle of the rotating wheel connector 1141, the top height of the rolling wheel 1142 is slightly higher than the top height of the rotating wheel connector 1141, and when the fixed block rotating motor 112 drives the joint transmission structure 12 fixedly connected to the rotating platform 113 to rotate, the rolling wheel 1142 rotates synchronously to reduce the rotating friction force of the joint transmission structure 12.
The joint transmission structures 12 are provided with two groups, each joint transmission structure 12 comprises a joint transmission motor 121, the output end of each joint transmission motor 121 is fixedly connected with a rotary pull block 124, one end of each rotary pull block 124 is movably provided with a first pull arm 125, one end of each first pull arm 125 is rotatably provided with a triangular adjusting block 126, one end of each triangular adjusting block 126 is movably provided with a second pull arm 127, the two groups of joint transmission structures 12 are bilaterally symmetrical to form a mechanical arm of the joint robot, the joint transmission motors 121 drive the rotary pull blocks 124 to rotate, and the first pull arms 125, the triangular adjusting blocks 126 and the second pull arms 127 are pulled to move synchronously.
The output end of the joint transmission motor 121 is movably connected with a first connecting block 122, one side of the first connecting block 122 is movably connected with a second connecting block 123, one side of the second connecting block 123 is provided with a manipulator fixing block 128, the manipulator fixing block 128 controls and adjusts the inclination angle jointly through a second tension arm 127 and the second connecting block 123, and one end of the first connecting block 122, one end of the second connecting block 123 and one end of the triangular adjusting block 126 are movably connected through the same connecting rod.
Example two:
referring to fig. 5 and 6, the gravity center adjusting mechanism 2 includes a first weight box 21, a drawing rod 22 is disposed through a side surface of the first weight box 21, four sets of the drawing rods 22 are disposed, one end of the drawing rod 22 is fixedly connected to a weight box cover 23, a cover fixing hole 231 is disposed on the weight box cover 23, the drawing rod 22 can be drawn, and the weight box cover 23 and the first weight box 21 can be fixedly connected by inserting a screw into the cover fixing hole 231.
One side of the first weight box 21 is fixedly provided with a second additional weight box 24, the opening of the second additional weight box 24 is not closed upwards, a chain belt connecting block 25 is fixedly arranged below the first weight box 21, the chain belt connecting block 25 enables the gravity center adjusting mechanism 2 and the chain belt transmission mechanism 3 to be fixedly connected and enables the gravity center adjusting mechanism 2 to move along with the rotation of the chain belt transmission mechanism 3, the positions of the gravity center adjusting mechanism 2 and the rotary joint robot structure 1 are in central symmetry distribution relative to the central point of the chain belt clamping table 31 and are used for adjusting the gravity center, the gravity center adjusting mechanism 2 needs to be matched with a weight block for use, and the adaptive adjustment is carried out according to the gravity of an object clamped by the joint robot.
The chain belt transmission mechanism 3 comprises a chain belt clamping table 31, a transmission chain belt 32 is movably arranged in the chain belt clamping table 31, the transmission chain belt 32 is internally meshed with a motor rotating gear structure 33, the motor rotating gear structure 33 comprises a rotating motor 331, an output end of the rotating motor 331 is provided with a first chain belt gear 332, one side of the first chain belt gear 332 is provided with a second chain belt gear 333, the rotating motor 331 drives the first chain belt gear 332 to rotate, the first chain belt gear 332 drives the transmission chain belt 32 to rotate through meshing, the transmission chain belt 32 drives the second chain belt gear 333 to rotate again, and the second chain belt gear 333 plays roles in extruding and fixing the transmission chain belt 32 and reducing friction.
In conclusion: the rotary joint robot structure 1 can carry out the transportation and the focus adjustment of object through chain belt drive mechanism 3 and focus guiding mechanism 2, it is rotatory to rotate motor 331 drive first chain belt gear 332, first chain belt gear 332 drives transmission chain belt 32 through the meshing and rotates, transmission chain belt 32 drives second chain belt gear 333 and rotates again, second chain belt gear 333 plays the effect of fixed transmission chain belt 32 of extrusion and reduction friction, focus guiding mechanism 2 is central symmetric distribution with the relative chain belt block platform 31's of rotary joint robot structure 1 position central point, be used for carrying out centrobaric adjustment, focus guiding mechanism 2 needs the collocation balancing weight to use, carry out the adaptability adjustment according to the object gravity that the joint robot got.
The rotary joint robot structure 1 can realize positioning clamping and gravity concentration on an object, a fixed block rotating motor 112 drives a rotary platform 113 to rotate, five groups of rotating wheel connecting mechanisms 114 are distributed in a circular array by taking an output end of the fixed block rotating motor 112 as a center and support a joint transmission structure 12, the top height of a rolling wheel 1142 is slightly higher than that of a rotating wheel connector 1141, when the fixed block rotating motor 112 drives the joint transmission structure 12 fixedly connected with the rotary platform 113 to rotate, the rolling wheel 1142 synchronously rotates to reduce the rotating friction force of the joint transmission structure 12, the rotary positioning in the positioning process is realized by the structure, two groups of joint transmission structures 12 are bilaterally symmetrical to jointly form a mechanical arm of the joint robot, the joint transmission motor 121 drives a rotary pull block 124 to rotate, a first pull arm 125, a triangular adjusting block 126 and a second pull arm 127 synchronously move, the mechanical arm 128 jointly controls an inclination angle through the second pull arm 127 and the second connecting block 123, one end of the first connecting block 122, the second connecting block 123 and the triangular adjusting block 126 are movably connected by the same connecting rod to realize the up-and-down synchronous movement of the left and right of the fixed block, no matter how the rotary joint robot structure can finally pick up and down the rotary joint robot, and move the fixed block 111.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A chain belt type joint robot with a gravity center adjusting function comprises a rotary joint robot structure (1), and is characterized in that: the lower side of rotary joint robot structure (1) is provided with chain belt drive mechanism (3), the top fixedly connected with focus guiding mechanism (2) of chain belt drive mechanism (3), rotary joint robot structure (1) is including the fixed rotary mechanism of chain belt (11), and the top of the fixed rotary mechanism of chain belt (11) is provided with joint transmission structure (12), and the fixed rotary mechanism of chain belt (11) includes chain belt fixed block (111) with chain belt drive mechanism (3) fixed connection, inside fixed connection fixed block rotating electrical machines (112) of chain belt fixed block (111), and rotary platform (113) is connected to the output of fixed block rotating electrical machines (112).
2. The chain belt type articulated robot with a gravity center adjusting function according to claim 1, characterized in that: the upper part of the chain belt fixing block (111) is fixedly connected with a rotating wheel connecting mechanism (114), and five groups of rotating wheel connecting mechanisms (114) are arranged.
3. The chain belt type articulated robot with a gravity center adjusting function according to claim 2, characterized in that: the rotating wheel connecting mechanism (114) comprises a rotating wheel connector (1141), and a rolling wheel (1142) is rotatably arranged in the middle of the rotating wheel connector (1141).
4. The chain belt type articulated robot with a gravity center adjusting function according to claim 1, characterized in that: the joint transmission structure (12) is provided with two groups, the joint transmission structure (12) comprises a joint transmission motor (121), the output end of the joint transmission motor (121) is fixedly connected with a rotary pull block (124), one end of the rotary pull block (124) is movably provided with a first pull arm (125), one end of the first pull arm (125) is rotatably provided with a triangular adjusting block (126), and one triangular end of the triangular adjusting block (126) is movably provided with a second pull arm (127).
5. The chain belt type articulated robot with a gravity center adjusting function according to claim 4, characterized in that: the output end of the joint transmission motor (121) is movably connected with a first connecting block (122), one side of the first connecting block (122) is movably connected with a second connecting block (123), and one side of the second connecting block (123) is provided with a manipulator fixing block (128).
6. The chain-link type articulated robot having a gravity center adjusting function according to claim 1, characterized in that: the gravity center adjusting mechanism (2) comprises a first weight box (21), wherein the side face of the first weight box (21) is provided with a drawing rod (22) in a penetrating mode, the drawing rod (22) is provided with four groups, one end of the drawing rod (22) is fixedly connected with a weight box cover (23), and a cover fixing hole (231) is formed in the weight box cover (23).
7. The chain belt type articulated robot having a gravity center adjustment function according to claim 6, characterized in that: one side of the first weight box (21) is fixedly provided with a second additional weight box (24), an opening of the second additional weight box (24) is not closed upwards, and a chain belt connecting block (25) is fixedly arranged below the first weight box (21).
8. The chain belt type articulated robot with a gravity center adjusting function according to claim 1, characterized in that: the chain belt transmission mechanism (3) comprises a chain belt clamping table (31), a transmission chain belt (32) is movably arranged in the chain belt clamping table (31), the transmission chain belt (32) is internally meshed with a motor rotating gear structure (33), the motor rotating gear structure (33) comprises a rotating motor (331), an output end of the rotating motor (331) is provided with a first chain belt gear (332), and one side of the first chain belt gear (332) is provided with a second chain belt gear (333).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222323166.XU CN218285573U (en) | 2022-09-01 | 2022-09-01 | Chain belt type joint robot with gravity center adjusting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222323166.XU CN218285573U (en) | 2022-09-01 | 2022-09-01 | Chain belt type joint robot with gravity center adjusting function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218285573U true CN218285573U (en) | 2023-01-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222323166.XU Active CN218285573U (en) | 2022-09-01 | 2022-09-01 | Chain belt type joint robot with gravity center adjusting function |
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| Country | Link |
|---|---|
| CN (1) | CN218285573U (en) |
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2022
- 2022-09-01 CN CN202222323166.XU patent/CN218285573U/en active Active
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