CN218984872U

CN218984872U - Cylindrical coordinate type industrial robot

Info

Publication number: CN218984872U
Application number: CN202222712847.5U
Authority: CN
Inventors: 王国平
Original assignee: Beijing Shipbuilding Economic Technology Development Co
Current assignee: Beijing Shipbuilding Economic Technology Development Co
Priority date: 2022-10-15
Filing date: 2022-10-15
Publication date: 2023-05-09
Anticipated expiration: 2032-10-15

Abstract

The utility model discloses a cylindrical coordinate type industrial robot, in particular to the field of industrial robots, which comprises a supporting platform, wherein the bottom of the supporting platform is movably connected with a lifting bracket, the inner wall of the lifting bracket is movably connected with a supporting column, one end of the supporting column penetrates through a damping spring, the end part of the supporting column is movably penetrated through a positioning column, and the supporting column is connected with a movable rod through the positioning column. According to the utility model, through setting the relation among the lifting support, the support column, the positioning column, the telescopic cylinder and the support platform, when the industrial robot is used in the later stage, the telescopic cylinder can control the movable rod above to integrally perform telescopic movement, the lifting type adjustment and the telescopic movement of the industrial robot are completed through the series of structures, and when the cylindrical coordinate industrial robot is used for drilling assembly processing in the later stage, accurate slow lifting control can be performed, so that the distance between the cylindrical coordinate industrial robot and an assembly processing body can be regulated and controlled when the cylindrical coordinate industrial robot is used for controlling the later stage assembly.

Description

Cylindrical coordinate type industrial robot

Technical Field

The utility model relates to the field of industrial robots, in particular to a cylindrical coordinate type industrial robot.

Background

The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability;

through retrieval, the prior patent (publication number: CN 211163945U) discloses a cylindrical coordinate type industrial robot, which comprises a mounting seat, the centre of a circle department fixedly connected with pneumatic cylinder of mount pad top surface, the one end fixedly connected with gear plate that the pneumatic cylinder kept away from the mount pad, the centre of a circle department rotation of gear plate top surface is connected with the rolling disc, the edge fixedly connected with first motor of rolling disc top surface one side, the output fixedly connected with gear of first motor. The utility model has the advantages that: through having set up slider and guide way, the screw thread groove has been seted up at the middle part of slider bottom surface, and the through-hole has been seted up at the middle part of slider, and the equal sliding connection in both sides at through-hole middle part has the pressure board, and the equal fixedly connected with guide block in one side of pressure board, slider pass through screw thread groove and lead screw threaded connection simultaneously, can make the half parcel lead screw of slider to can stretch out and draw back through the guide block, and slide with the guide way cooperation, reach the purpose of being convenient for the dismouting under the prerequisite of guaranteeing stability. The inventor finds that the prior art has the following problems in the process of realizing the utility model;

most of the existing industrial robots are not provided with a linkage lifting device and a steering control mechanism when being used in the later period, and the situation that the operation of the robot is needed to be manually assisted possibly exists when the existing industrial robots are used in the later period, so that the existing industrial robots are not convenient and fast, and time and labor are wasted.

Therefore, a cylindrical coordinate type industrial robot has been proposed to solve the above-mentioned problems.

Disclosure of Invention

In order to overcome the above-mentioned drawbacks of the prior art, an embodiment of the present utility model provides a cylindrical coordinate type industrial robot to solve the above-mentioned problems set forth in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a cylindrical coordinates formula industrial robot, includes supporting platform, supporting platform's bottom swing joint has the lifting support, the inner wall swing joint of lifting support has the support column, the one end of support column runs through there is damping spring, the tip activity of support column runs through there is the reference column, the support column passes through the reference column and connects the movable rod, the bottom swing joint of movable rod has flexible cylinder, flexible cylinder's bottom outer wall winding is provided with the ring gear, one side meshing of ring gear is connected with drive gear, drive gear's top has driving motor through the coupling joint.

Preferably, one end of the driving motor is fixedly connected with a protection cylinder, and the bottom of the protection cylinder is fixedly connected with a base.

Preferably, the upper middle part fixedly connected with control panel of supporting platform, the inside mounting panel that is fixed with of inlaying of one end of supporting platform, the top of mounting panel is run through the bolt and is installed drilling motor, drilling motor's bottom is through output shaft has the drill bit.

Preferably, the quantity of mounting panel is two sets of, and two sets of the mounting panel equidistance distributes in supporting platform's both sides, a set of the top fixedly connected with assembly cylinder of mounting panel, the one end swing joint of assembly cylinder has the telescopic link, the bottom block of telescopic link is connected with the mould head, the week side swing joint of telescopic link has the spacing ring.

Preferably, the gear ring forms a rotating structure with the driving motor through a transmission gear, the gear ring is fixedly connected with the telescopic cylinder, and the bottom of the telescopic cylinder is movably connected with the inner wall of the base.

Preferably, the number of the support columns is two, the included angle between the two groups of support columns is thirty degrees, and the support columns form a telescopic structure through the positioning columns, the movable rods and the telescopic cylinders.

Preferably, the lifting support is movably connected with the telescopic cylinder, the middle part of the lifting support movably penetrates through the rotating shaft, the number of the lifting supports is two, and the two groups of lifting supports are symmetrical with each other about the central axis of the telescopic cylinder.

The utility model has the technical effects and advantages that:

1. compared with the prior art, through setting up the relation between lifting support, support column, reference column, flexible cylinder, the supporting platform, when later stage use, can wholly stretch out and draw back through the movable rod of flexible cylinder control top, and accomplish this industrial robot's lift-type through this series of structures and adjust flexible, and this cylindrical coordinates industrial robot carries out drilling assembly processing in the later stage, can carry out accurate type slow lifting control to when controlling later stage assembly, can regulate and control with the assembly processing body between the distance, it is very convenient.

2. Compared with the prior art, through setting up drive gear, flexible cylinder, driving motor, cooperation constitution steering adjustment mechanism between the drive gear, and when carrying out work in the later stage, can adopt the gear ring control flexible cylinder of one side of the drive gear drive of driving motor control bottom whole can rotate, and when carrying out industrial processing in the later stage, can adopt control panel output control program control this robot to realize integral regulation and rotate, and when later stage uses, in addition the supporting platform of cooperation top can realize that later stage turns to fast and adjusts the operation, it is very convenient.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model.

Fig. 2 is a schematic perspective view of the present utility model.

Fig. 3 is a schematic structural view of the lifting mechanism of the present utility model.

Fig. 4 is an enlarged view of the structure of fig. 1 a according to the present utility model.

Fig. 5 is a schematic view of the assembled cylinder structure of the present utility model.

The reference numerals are: 1. assembling a cylinder; 2. a telescopic rod; 3. a die head; 4. a control panel; 5. a support platform; 6. a drilling motor; 7. a mounting plate; 8. a drill bit; 9. lifting the bracket; 10. a telescopic cylinder; 11. a driving motor; 12. a base; 13. a gear ring; 14. a transmission gear; 15. a support column; 16. a damping spring; 17. a movable rod; 18. positioning columns; 19. a limiting ring; 20. and a protective cylinder.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

The utility model provides a cylindrical coordinates formula industrial robot as shown in fig. 1-5, including supporting platform 5, the bottom swing joint of supporting platform 5 has lifting support 9, lifting support 9's inner wall swing joint has support column 15, damping spring 16 has been run through to one end of support column 15, the tip activity of support column 15 is run through and is had reference column 18, support column 15 passes through reference column 18 and connects movable rod 17, the bottom swing joint of movable rod 17 has telescopic cylinder 10, telescopic cylinder 10's bottom outer wall winding is provided with ring gear 13, one side meshing of ring gear 13 is connected with drive gear 14, drive gear 14's top is connected with driving motor 11 through the shaft coupling.

In this embodiment, one end of the driving motor 11 is fixedly connected with a protection cylinder 20, the bottom of the protection cylinder 20 is fixedly connected with a base 12, and when in operation, the protection cylinder 20 is adopted to protect the whole internal telescopic cylinder 10.

In this embodiment, the control panel 4 is fixedly connected with the middle part of the top of the supporting platform 5, the mounting plate 7 is embedded and fixed in one end of the supporting platform 5, the drilling motor 6 is installed in the top of the mounting plate 7 in a penetrating way through the bolt, the drill bit 8 is connected with the bottom of the drilling motor 6 through the output shaft, during operation, the drill bit 8 in the control of the drilling motor 6 below is wholly capable of carrying out drilling treatment, and the drilling motor 6 on one side is wholly installed in a penetrating way by matching with the mounting plate 7 and the supporting platform 5.

In this embodiment, the quantity of mounting panel 7 is two sets of, and two sets of mounting panel 7 equidistance distributes in the both sides of supporting platform 5, and the top fixedly connected with assembly cylinder 1 of a set of mounting panel 7, the one end swing joint of assembly cylinder 1 has telescopic link 2, and the bottom block of telescopic link 2 is connected with mould head 3, and the week side swing joint of telescopic link 2 has spacing ring 19, and during operation adopts telescopic link 2 and spacing ring 19 and assembly cylinder 1 to cooperate, adopts assembly cylinder 1 to control mould head 3 cooperation assembly sleeve of telescopic link 2 drive below at the later stage during operation, and dock drill bit 8 and use.

In this embodiment, the gear ring 13 forms a rotating structure with the driving motor 11 through the transmission gear 14, the gear ring 13 is fixedly connected with the telescopic cylinder 10, the bottom of the telescopic cylinder 10 is movably connected with the inner wall of the base 12, and when in operation, the gear ring 13, the transmission gear 14 and the driving motor 11 are matched, and the driving motor 11 is used for controlling the transmission gear 14 to drive the gear ring 13 to rotate integrally, so that the telescopic cylinder 10 is driven to rotate through the gear ring 13.

In this embodiment, the number of the support columns 15 is two, and the included angle between the two groups of support columns 15 is thirty degrees, and the support columns 15 form a telescopic structure through the positioning columns 18, the movable rods 17 and the telescopic cylinders 10, and when in operation, the two groups of support columns 15 are matched with the two groups of lifting brackets 9, and the lifting brackets 9 above the movable support of the support columns 15 are adopted, so that the whole lifting of the device is realized.

In this embodiment, the lifting support 9 is movably connected with the telescopic cylinder 10, the middle part of the lifting support 9 movably penetrates through the rotating shaft, the number of the lifting supports 9 is two, the two groups of lifting supports 9 are symmetrical with each other about the central axis of the telescopic cylinder 10, the lifting supports 9 and the telescopic cylinder 10 are adopted in operation, the whole lifting support 9 can be movably extended, and one end of the lifting support is not limited.

The electrical components are all connected with an external main controller and 220V mains supply, and the main controller can be conventional known equipment for controlling a computer and the like.

The working process of the utility model is as follows:

firstly, when the device is used in the later stage, firstly, the device is placed on the horizontal ground, then the base 12 is placed on the horizontal ground, and when the device works in the later stage, firstly, the transmission gear 14 at the bottom is controlled to rotate through the driving motor 11, then the whole gear ring 13 at one side is driven to rotate through the transmission gear 14, then the whole telescopic cylinder 10 at the inner side is driven to rotate through the gear ring 13, then the whole drill bit 8 at the lower side is controlled to rotate through the telescopic cylinder 10, then the whole lifting support 9 at the upper side is driven to rotate through the telescopic cylinder 10, then the whole supporting platform 5 at the upper side is driven to rotate through the lifting support 9, so that later-stage rotary drilling processing is realized, meanwhile, the whole lifting support 9 at the upper side is controlled through the movable rod 17, then the supporting column 15 at the upper side is controlled to rotate through the movable rod 17, thus the whole device is controlled to lift the mounting plate 7 at the upper side, when the whole device is lifted to a certain height, then the whole drill bit 8 at the lower side is controlled through the telescopic cylinder 10, then the whole drill bit 8 at the lower side is controlled to rotate through the telescopic cylinder 10, then the whole drilling support 5 is driven to rotate and then the whole supporting platform 5 is controlled to rotate, the later stage is controlled to stretch and the assembly is controlled through the other end of the die assembly device is controlled through the supporting platform 2, the die assembly device is driven to rotate through the supporting platform 2, the other end is controlled to rotate 2, and the other end is controlled to install the assembly device is 2.

The last points to be described are: first, in the description of the present application, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed;

secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict;

finally: the foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the utility model are intended to be included within the scope of the utility model.

Claims

1. Cylindrical coordinate type industrial robot, including supporting platform (5), its characterized in that: the bottom swing joint of supporting platform (5) has lifting support (9), the inner wall swing joint of lifting support (9) has support column (15), the one end of support column (15) is run through and is had damping spring (16), the tip activity of support column (15) is run through and is had reference column (18), support column (15) are connected movable rod (17) through reference column (18), the bottom swing joint of movable rod (17) has telescopic cylinder (10), the bottom outer wall winding of telescopic cylinder (10) is provided with ring gear (13), one side meshing of ring gear (13) is connected with drive gear (14), the top of drive gear (14) is connected with driving motor (11) through the coupling joint.

2. A cylindrical coordinate type industrial robot according to claim 1, wherein: one end of the driving motor (11) is fixedly connected with a protection cylinder (20), and the bottom of the protection cylinder (20) is fixedly connected with a base (12).

3. A cylindrical coordinate type industrial robot according to claim 1, wherein: the drilling machine is characterized in that a control panel (4) is fixedly connected to the middle part of the upper part of the supporting platform (5), a mounting plate (7) is fixedly embedded in one end of the supporting platform (5), a drilling motor (6) is installed above the mounting plate (7) in a penetrating mode through bolts, and a drill bit (8) is connected to the bottom of the drilling motor (6) through an output shaft.

4. A cylindrical coordinate type industrial robot according to claim 3, wherein: the number of the mounting plates (7) is two, the two mounting plates (7) are equidistantly distributed on two sides of the supporting platform (5), one group of mounting plates (7) are fixedly connected with the assembly air cylinder (1) above, one end of the assembly air cylinder (1) is movably connected with the telescopic rod (2), the bottom clamping of the telescopic rod (2) is connected with the die head (3), and the periphery of the telescopic rod (2) is movably connected with the limiting ring (19).

5. A cylindrical coordinate type industrial robot according to claim 1, wherein: the gear ring (13) forms a rotary structure with the driving motor (11) through a transmission gear (14), the gear ring (13) is fixedly connected with the telescopic cylinder (10), and the bottom of the telescopic cylinder (10) is movably connected with the inner wall of the base (12).

6. A cylindrical coordinate type industrial robot according to claim 1, wherein: the number of the support columns (15) is two, the included angle between the two groups of support columns (15) is thirty degrees, and the support columns (15) form a telescopic structure through the positioning columns (18), the movable rods (17) and the telescopic cylinders (10).

7. A cylindrical coordinate type industrial robot according to claim 1, wherein: the lifting supports (9) are movably connected with the telescopic air cylinders (10), the middle parts of the lifting supports (9) movably penetrate through the rotating shafts, the number of the lifting supports (9) is two, and the two groups of lifting supports (9) are symmetrical with each other about the central axis of the telescopic air cylinders (10).