CN218342115U

CN218342115U - Six-axis robot

Info

Publication number: CN218342115U
Application number: CN202221747827.5U
Authority: CN
Inventors: 李伟; 石鹏礼
Original assignee: Nanjing Wolian Technology Co ltd
Current assignee: Nanjing Wolian Technology Co ltd
Priority date: 2022-07-07
Filing date: 2022-07-07
Publication date: 2023-01-20
Anticipated expiration: 2032-07-07

Abstract

The utility model discloses a six robots, the supporting seat comprises a supporting pedestal, the top fixed mounting of supporting seat has the motor, be connected with the connecting seat on the output shaft of motor, the surface of connecting seat is rotated and is connected with the connecting axle, first linking arm is installed to the top of connecting axle, the top of first linking arm is rotated and is installed first pivot, the second linking arm is installed to the top of first pivot, the left side of second linking arm is rotated and is installed the third linking arm, the left side of third linking arm is rotated and is connected with the second pivot, the fourth linking arm is installed to the below of second pivot, the below of fourth linking arm is rotated and is connected with the third pivot, the connecting plate is installed to the below of third pivot. The six-axis robot can realize the function of adjusting a plurality of degrees of freedom through six steering assemblies when in use, and can automatically stop when the torque is too large, thereby improving the safety of the device when in use.

Description

Six-axis robot

Technical Field

The utility model relates to the technical field of robot, specifically be a six robots.

Background

The robot rotates through motor encoder cooperation motor drive arm, realizes picking up or removes functions such as angle regulation, and current robot still has some defects when using, and the adjustable pivot quantity of the robot on the existing market is less, and the degree of freedom that each part can move about is less, influences the adjustable degree of robot, and current robot can not be when the too big automatic stall of torque, has the potential safety hazard moreover when using.

Therefore, we improve the above and provide a six-axis robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a six robots to the degree of freedom that each part of the current robot that solves above-mentioned background art and provide can move about is less, influences the normal work of robot, and the problem of automatic stall when the torque is too big can not be in addition to current robot when using.

In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides a six-axis robot, includes the supporting seat, the top fixed mounting of supporting seat has the motor, be connected with the connecting seat on the output shaft of motor, the surface rotation of connecting seat is connected with the connecting axle, first linking arm is installed to the top of connecting axle, the top of first linking arm is rotated and is installed first pivot, the second linking arm is installed to the top of first pivot, the left side of second linking arm is rotated and is installed the third linking arm, the left side of third linking arm is rotated and is connected with the second pivot, the fourth linking arm is installed to the below of second pivot, the below of fourth linking arm is rotated and is connected with the third pivot, the connecting plate is installed to the below of third pivot, the left side fixed mounting of second linking arm has the connecting block, the outside fixedly connected with damping block of connecting block.

Preferably, the third connecting arm and the central axis of the connecting block are on the same straight line, and the damping blocks are symmetrically distributed on the upper side and the lower side of the connecting block.

Preferably, the upper side and the lower side of the inside of the third connecting arm are both provided with a first sliding block in a sliding manner, the top of the first sliding block is fixedly provided with a fixed plate, and the side surface of the fixed plate is provided with a groove.

Preferably, both sides all run through about the third linking arm and are provided with the kelly, the outside cover of kelly is equipped with the spring, the head and the tail both ends of spring link to each other with kelly and third linking arm respectively.

Preferably, a pressure spring is fixedly connected to the lower portion of the first sliding block, a pressing block is fixedly mounted on the lower portion of the pressure spring, and a spherical clamping groove is formed in the pressing block.

Preferably, the inner wall of the pressing block is attached to the outer wall of the damping block, and the third connecting arm forms a clamping structure with the second connecting arm through the damping block and the pressing block.

Compared with the prior art, the utility model provides a six robots possesses following beneficial effect:

(1) The six rotating assemblies are arranged on the device, so that the device can perform steering adjustment work of multiple degrees of freedom on the robot, the functionality of the device is improved, and the defect that the existing robot is low in adjustability during use is overcome;

(2) Through the damping piece that sets up and the draw-in groove of spherical crown shape for the third linking arm of second linking arm front end on the device can rotate at the pivoted in-process, and automatic shutdown when the rotation resistance is too big rotates, has solved the condition that current robot appears damaging easily when the arm rotation resistance is too big, has promoted the security when the device uses.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic cross-sectional structural view of the second connecting arm and the third connecting arm of the present invention;

fig. 3 is a schematic side sectional view of a third connecting arm according to the present invention;

fig. 4 is a schematic view of the split structure of the clamping rod and the fixing plate of the present invention.

In the figure: 1. a supporting seat; 2. a motor; 3. a connecting seat; 4. a connecting shaft; 5. a first connecting arm; 6. a first rotating shaft; 7. a second connecting arm; 8. a third connecting arm; 9. a second rotating shaft; 10. a fourth connecting arm; 11. a third rotating shaft; 12. a connecting plate; 13. connecting blocks; 14. a damping block; 15. a first slider; 16. a fixing plate; 17. a groove; 18. a clamping rod; 19. a spring; 20. a pressure spring; 21. and (7) briquetting.

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. 1-4, the present invention provides a technical solution: the utility model provides a six-axis robot, including supporting seat 1, the top fixed mounting of supporting seat 1 has motor 2, be connected with connecting seat 3 on motor 2's the output shaft, the surface rotation of connecting seat 3 is connected with connecting axle 4, first connecting arm 5 is installed to the top of connecting axle 4, first connecting arm 5's top is rotated and is installed first pivot 6, second connecting arm 7 is installed to first pivot 6's top, third linking arm 8 is installed in the left side rotation of second connecting arm 7, the left side rotation of third connecting arm 8 is connected with second pivot 9, fourth linking arm 10 is installed to the below of second pivot 9, the below rotation of fourth linking arm 10 is connected with third pivot 11, connecting plate 12 is installed to the below of third pivot 11, the left side fixed mounting of second connecting arm 7 has connecting block 13, the outside fixedly connected with damping piece 14 of connecting block 13, damping piece 14 makes second connecting arm 7 on the device not the direct drive third connecting arm 8 rotate, but make third connecting arm 8 rotate through the resistance between damping piece 14 and the 8 internal components of third connecting arm, when the too big resistance of the too big damping piece 14 of the drive of resistance that has realized when the automatic rotation of connecting arm 8 has passed through, the resistance of the rotation of the resistance of the device that has been used.

The central axes of the third connecting arm 8 and the connecting block 13 are on the same straight line, the damping blocks 14 are symmetrically distributed on the upper side and the lower side of the connecting block 13, the device realizes torque transmission through the friction force between the damping blocks 14 and an object when transmitting torque, and can automatically stop rotating when the subsequent rotation resistance is overlarge, thereby realizing the function of protecting the connecting arm.

Inside upper and lower both sides of third linking arm 8 all slidable mounting have first slider 15, and the fixed plate 16 that is provided with in top of first slider 15, recess 17 has been seted up to the side of fixed plate 16, and the follow-up position that can adjust first slider 15 through fixed plate 16 to required moment of torsion when changing two adjacent linking arms and breaking away from the block has promoted the controllability of device.

The upper side and the lower side of the third connecting arm 8 are all provided with a clamping rod 18 in a penetrating mode, the outer side of the clamping rod 18 is sleeved with a spring 19, the head end and the tail end of the spring 19 are respectively connected with the clamping rod 18 and the third connecting arm 8, and the spring 19 enables the device to stably abut against the clamping rod 18 so as to keep the stability of clamping of the clamping rod 18 in the subsequent process.

The lower part of the first sliding block 15 is fixedly connected with a pressure spring 20, a pressing block 21 is fixedly installed below the pressure spring 20, a spherical-crown-shaped clamping groove is formed in the pressing block 21, the pressure spring 20 can always abut against the pressing block 21, and the pressing block 21 can also have an upward moving space when being subsequently disengaged from the clamping.

The inner wall of briquetting 21 and the outer wall of damping piece 14 laminate mutually, and third linking arm 8 passes through to constitute the block structure between damping piece 14 and briquetting 21 and the second linking arm 7, and this block structure is flexible block structure, can break away from the block automatically when the torque is too big to make the linking arm possess protect function, avoid the connecting piece fracture.

The working principle is as follows: when the six-axis robot is used, as shown in fig. 1-2, when the six-axis robot is used, the motor 2 can drive the angle of the connecting seat 3 on the supporting seat 1, the connecting shaft 4 can adjust the angle of the first connecting arm 5 on the connecting seat 3 through the first connecting arm 5, the second connecting arm 7 can adjust the angle of the first rotating shaft 6 on the first connecting arm 5, the connecting block 13 can adjust the angle of the third connecting arm 8 on the second connecting arm 7, the second rotating shaft 9 can adjust the angle of the fourth connecting arm 10 at the front end of the third connecting arm 8, and finally the third rotating shaft 11 can adjust the angle of the connecting plate 12, so that the six-axis adjusting function is realized;

as shown in fig. 3-4, when the second connecting arm 7 rotates, the second connecting arm 7 can abut against the clamping groove in the pressing block 21 through the damping block 14, so that the pressing block 21 and the third connecting arm 8 are driven to rotate, when the third connecting arm 8 rotates, and when the torque is too large, the resistance between the pressing block 21 and the damping block 14 is not enough to drive the third connecting arm 8 to rotate, at this time, the damping block 14 is separated from the inside of the pressing block 21, the pressure spring 20 is compressed, the second connecting arm 7 does not drive the third connecting arm 8 to rotate any more, so that the protection function of the connecting arm is realized, the initial position of the clamping rod 18 in the fixing plate 16 can be adjusted through the spring 19 and the groove 17, so that the device can adjust the initial elastic force of the pressure spring 20, and further change the torque required when two adjacent connecting arms are separated from being clamped.

Those not described in detail in this specification are well within the skill of the art.

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.

Claims

1. The utility model provides a six axis robot, includes supporting seat (1), its characterized in that: the utility model discloses a damping device of a motor, including supporting seat (1), motor (2), connecting seat (3) are connected to the top fixed mounting of supporting seat (1), be connected with on the output shaft of motor (2), the surface of connecting seat (3) is rotated and is connected with connecting axle (4), first connecting arm (5) are installed to the top of connecting axle (4), first pivot (6) are installed in the top of first connecting arm (5) rotation, second linking arm (7) are installed to the top of first pivot (6), the left side of second linking arm (7) is rotated and is installed third linking arm (8), the left side of third linking arm (8) is rotated and is connected with second pivot (9), fourth linking arm (10) is installed to the below of second pivot (9), the below of fourth linking arm (10) is rotated and is connected with third pivot (11), connecting plate (12) are installed to the below of third pivot (11), the left side fixed mounting of second linking arm (7) has connecting block (13), the outside fixedly connected with damping piece (14) of connecting block (13).

2. A six-axis robot as set forth in claim 1, wherein: the central axes of the third connecting arm (8) and the connecting block (13) are on the same straight line, and the damping blocks (14) are symmetrically distributed on the upper side and the lower side of the connecting block (13).

3. A six-axis robot as set forth in claim 2, wherein: the upper side and the lower side of the interior of the third connecting arm (8) are respectively provided with a first sliding block (15) in a sliding manner, the top of each first sliding block (15) is fixedly provided with a fixed plate (16), and the side surface of each fixed plate (16) is provided with a groove (17).

4. A six-axis robot as claimed in claim 3, wherein: both sides all run through about third linking arm (8) and are provided with kelly (18), the outside cover of kelly (18) is equipped with spring (19), the head and the tail both ends of spring (19) link to each other with kelly (18) and third linking arm (8) respectively.

5. A six-axis robot as claimed in claim 4, wherein: the lower portion of the first sliding block (15) is fixedly connected with a pressure spring (20), a pressing block (21) is fixedly mounted below the pressure spring (20), and a spherical clamping groove is formed in the pressing block (21).

6. A six-axis robot as claimed in claim 5, wherein: the inner wall of the pressing block (21) is attached to the outer wall of the damping block (14), and the third connecting arm (8) forms a clamping structure with the second connecting arm (7) through the damping block (14) and the pressing block (21).