CN218659173U

CN218659173U - Two-degree-of-freedom robot

Info

Publication number: CN218659173U
Application number: CN202221300785.0U
Authority: CN
Inventors: 王盼; 焦培源; 张昊; 彭美琳
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2022-05-27
Filing date: 2022-05-27
Publication date: 2023-03-21
Anticipated expiration: 2032-05-27

Abstract

The utility model discloses a two-degree-of-freedom robot, which comprises a base, wherein the top end of the base is connected with a connecting plate through a lifting component, a supporting plate is arranged above the connecting plate, and a rotating component for driving the supporting plate to rotate is arranged on the connecting plate; the connecting plate top is rotated and is connected with the rotating ring, rotating ring top fixedly connected with elastic buffer spare, elastic buffer spare top and backup pad bottom fixed connection. The utility model can realize the buffering function by arranging the elastic buffering part, and avoids the situation that the structure is easy to damage, deform and the like due to overlarge impact force on the device and the AGV robot when an object is placed on the supporting plate; and elastic buffer can play the effect of support to the backup pad, realizes avoiding the weight in the backup pad to concentrate on axis of rotation and backup pad junction, leads to the condition such as this structure easy damage to take place.

Description

Two-degree-of-freedom robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a two degree of freedom robots.

Background

With the development of science and technology, various robots are applied to various industries, for example, in the process of warehouse logistics, an AGV robot is often used, and according to the needs, the robot has the functions of jacking and steering, and is a common two-degree-of-freedom robot.

However, when goods are placed on the robot, the moment when the goods contact the robot tends to have a large impact force on the robot, resulting in a situation that the robot structure is easily damaged after long-term use.

Therefore, a two-degree-of-freedom robot is provided to solve the problems.

SUMMERY OF THE UTILITY MODEL

To the above problem, the utility model provides a two degree of freedom robots, the device can realize that the object is placed in the backup pad, plays the effect of buffering to the device to solve the problem that proposes in the above-mentioned background art.

In order to realize the purpose, the utility model adopts the following technical scheme:

a two-degree-of-freedom robot comprises a base, wherein the top end of the base is connected with a connecting plate through a lifting assembly, a supporting plate is arranged above the connecting plate, and a rotating assembly for driving the supporting plate to rotate is arranged on the connecting plate;

the top end of the connecting plate is rotatably connected with a rotating ring, the top end of the rotating ring is fixedly connected with an elastic buffer part, and the top end of the elastic buffer part is fixedly connected with the bottom end of the supporting plate.

Further, elastic buffer includes barrel, the body of rod and sliding block, barrel fixed connection is on the rotating ring, body of rod top fixed connection is in the backup pad, inside the body of rod bottom runs through the barrel and extends to the barrel, the sliding block is located inside the barrel, and with body of rod bottom fixed connection.

Further, the lateral wall of the cylinder body is of a smooth structure, and the sliding block is connected with the cylinder body in a sealing and sliding mode.

Further, the bottom wall fixedly connected with buffer spring in the barrel, buffer spring top and sliding block fixed connection.

Further, the rotating assembly comprises a driving motor, a rotating cylinder and a rotating shaft, the driving motor is fixedly connected to the bottom end of the connecting plate, the rotating cylinder is rotatably connected to the top end of the connecting plate, the output end of the driving motor is fixedly connected with the rotating cylinder, the top end of the rotating shaft is fixedly connected to the supporting plate, and the bottom end of the rotating shaft is in transmission connection with the rotating cylinder.

Furthermore, a square groove is formed in the top end of the rotating cylinder, the rotating shaft is of a square columnar structure, and the rotating shaft extends to the inside of the square groove and is connected with the square groove in a sliding mode.

Furthermore, the lifting assembly comprises a plurality of lifting hydraulic cylinders, the lifting hydraulic cylinders are fixedly connected to the base, and output ends of the lifting hydraulic cylinders are fixedly connected with the connecting plate.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model can realize the buffering function by arranging the elastic buffering part, and avoids the situation that the structure is easy to damage, deform and the like due to overlarge impact force on the device and the AGV robot when an object is placed on the supporting plate; and elastic buffer can play the effect of support to the backup pad, realizes avoiding the weight in the backup pad to concentrate on axis of rotation and backup pad junction, leads to the condition such as this structure easy damage to take place.

Drawings

Fig. 1 is a schematic view of an overall structure of a two-degree-of-freedom robot provided by the present invention;

fig. 2 is a schematic front view of a two-degree-of-freedom robot according to the present invention;

FIG. 3 is a schematic view of the two-degree-of-freedom robot with a rotating cylinder and a rotating rod engaged together

Fig. 4 is a schematic cross-sectional structural view of an elastic buffer in a first embodiment of a two-degree-of-freedom robot according to the present invention;

fig. 5 is a schematic sectional view of an elastic buffer in a second embodiment of a two-degree-of-freedom robot according to the present invention.

In the figure: 1. a base; 2. a lifting assembly; 3. a connecting plate; 4. a support plate; 5. a rotating assembly; 51. a drive motor; 52. a rotating cylinder; 53. a rotating shaft; 54. a square groove; 6. a rotating ring; 7. an elastic buffer member; 71. a cylinder body; 72. a rod body; 73. a slider; 74. a buffer spring.

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.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Referring to fig. 1-5, a two-degree-of-freedom robot, including base 1, can be through fixing base 1 on the AGV robot automobile body to realize the installation of device, base 1 top is connected with connecting plate 3 through lifting unit 2, and its lifting unit 2 includes a plurality of hydraulic cylinder, hydraulic cylinder fixed connection is on base 1, hydraulic cylinder output and connecting plate 3 fixed connection can realize the lift of connecting plate 3 through hydraulic cylinder. The lifting assembly 2 can be replaced by a screw lifting or screw lifting structure.

Be provided with backup pad 4 above connecting plate 3, be provided with on the connecting plate 3 and drive backup pad 4 pivoted runner assembly 5, wherein runner assembly 5 includes driving motor 51, a rotating cylinder 52 and axis of rotation 53, driving motor 51 fixed connection is in the 3 bottom of connecting plate, a rotating cylinder 52 rotates and connects on the 3 top of connecting plate, driving motor 51 output and a rotating cylinder 52 fixed connection, axis of rotation 53 top fixed connection is in backup pad 4, axis of rotation 53 bottom is connected with a rotating cylinder 52 transmission, and can take place axial slip between axis of rotation 53 and the rotating cylinder 52.

For example, square groove 54 has been seted up at a rotation section of thick bamboo 52 top, and axis of rotation 53 is square column structure, and axis of rotation 53 extend to square groove 54 inside and with square groove 54 sliding connection to when realizing rotating between section of thick bamboo 52 and the axis of rotation 53 and can transmitting the moment of torsion each other, the axial slip can take place for the two. The above-mentioned structures can also be arranged into other non-cylindrical structures, such as hexagonal groove and hexagonal prism structures, such as octagonal groove and octagonal prism structures.

And further rotate on 3 tops of connecting plate and be connected with

swivel becket

6, 6 top fixed connection elastic buffer 7 of swivel becket, 7 tops of elastic buffer and 4 bottom fixed connection of backup pad, thereby cooperate with foretell runner assembly 5, in-process with the relative movement can take place for realization connecting plate 3 and backup pad 4, can realize playing the effect of buffering through elastic buffer 7, and then when avoiding the object to fall on backup pad 4, too big to the impact of device and AGV robot.

The elastic buffer 7 includes a cylinder 71, a rod 72 and a sliding block 73, the cylinder 71 is fixedly connected to the rotating ring 6, the top end of the rod 72 is fixedly connected to the supporting plate 4, the bottom end of the rod 72 penetrates through the cylinder 71 and extends into the cylinder 71, and the sliding block 73 is located inside the cylinder 71 and is fixedly connected to the bottom end of the rod 72.

In the first embodiment, the side wall of the cylinder 71 is smooth, and the sliding block 73 is in sliding connection with the cylinder 71 in a sealing manner, so that an air spring structure is formed among the cylinder 71, the sliding block 73 and the rod body 72, and the effect of buffering can be achieved through the air spring.

In the second embodiment, a buffer spring 74 may be fixedly connected to the inner bottom wall of the cylinder 71, and the top end of the buffer spring 74 is fixedly connected to the sliding block 73, so as to achieve the buffering function through the buffer spring 74.

The above, only be the embodiment of the preferred of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, which are designed to be replaced or changed equally, all should be covered within the protection scope of the present invention.

Claims

1. A two-degree-of-freedom robot comprises a base (1) and is characterized in that the top end of the base (1) is connected with a connecting plate (3) through a lifting assembly (2), a supporting plate (4) is arranged above the connecting plate (3), and a rotating assembly (5) for driving the supporting plate (4) to rotate is arranged on the connecting plate (3);

the connecting plate (3) top is rotated and is connected with swivel becket (6), swivel becket (6) top fixed connection elastic buffer spare (7), elastic buffer spare (7) top and backup pad (4) bottom fixed connection.

2. The robot with two degrees of freedom according to claim 1, wherein the elastic buffer member (7) comprises a cylinder (71), a rod (72) and a sliding block (73), the cylinder (71) is fixedly connected to the rotating ring (6), the top end of the rod (72) is fixedly connected to the support plate (4), the bottom end of the rod (72) penetrates through the cylinder (71) and extends into the cylinder (71), and the sliding block (73) is located inside the cylinder (71) and is fixedly connected with the bottom end of the rod (72).

3. The robot with two degrees of freedom according to claim 2, characterized in that the side wall of the cylinder (71) is of smooth structure, and the sliding block (73) is in sealed sliding connection with the cylinder (71).

4. The robot with two degrees of freedom according to claim 2, characterized in that a buffer spring (74) is fixedly connected to the inner bottom wall of the cylinder (71), and the top end of the buffer spring (74) is fixedly connected with the sliding block (73).

5. The robot with two degrees of freedom according to any one of claims 1-4, characterized in that the rotating assembly (5) comprises a driving motor (51), a rotating cylinder (52) and a rotating shaft (53), the driving motor (51) is fixedly connected to the bottom end of the connecting plate (3), the rotating cylinder (52) is rotatably connected to the top end of the connecting plate (3), the output end of the driving motor (51) is fixedly connected to the rotating cylinder (52), the top end of the rotating shaft (53) is fixedly connected to the supporting plate (4), and the bottom end of the rotating shaft (53) is in transmission connection with the rotating cylinder (52).

6. The robot with two degrees of freedom according to claim 5, wherein a square groove (54) is formed at the top end of the rotating cylinder (52), the rotating shaft (53) is of a square cylindrical structure, and the rotating shaft (53) extends into the square groove (54) and is slidably connected with the square groove (54).

7. The two-degree-of-freedom robot according to claim 1, wherein the lifting assembly (2) comprises a plurality of lifting hydraulic cylinders, the lifting hydraulic cylinders are fixedly connected to the base (1), and output ends of the lifting hydraulic cylinders are fixedly connected with the connecting plate (3).