CN219006061U

CN219006061U - Four-joint robot

Info

Publication number: CN219006061U
Application number: CN202320051033.3U
Authority: CN
Inventors: 孙晓霞
Original assignee: Jiangsu Institute of Economic and Trade Technology
Current assignee: Jiangsu Institute of Economic and Trade Technology
Priority date: 2023-01-09
Filing date: 2023-01-09
Publication date: 2023-05-12
Anticipated expiration: 2033-01-09

Abstract

The application provides a four-joint robot, include: the supporting mechanism is used for supporting; the transmission mechanism is arranged on the upper surface of the supporting mechanism and is used for moving; wherein, supporting mechanism includes first drive assembly, first drive assembly's table wall is equipped with spacing subassembly, spacing subassembly includes the fixed plate, the table wall of fixed plate is equipped with the gag lever post, the connected mode of gag lever post and fixed plate is spot welding connection, the buffer column has been cup jointed to the surface of gag lever post, relate to four-axis robot technical field, wherein, upper surface at first drive assembly is equipped with spacing subassembly, and including the fixed plate, gag lever post and buffer column, the buffer column cup joints the surface at the gag lever post, when spacing subassembly carries out spacing like this, moving part and gag lever post contact each other, and the buffer column of can extrudees the gag lever post surface, the buffer column receives the extrusion and can carry out spacingly to the moving part, thereby can be better reach the effect that the buffering was spacing.

Description

Four-joint robot

Technical Field

The utility model relates to the technical field of four-axis robots, in particular to a four-joint robot.

Background

The multi-axis robot is also called as a single-axis manipulator, an industrial mechanical arm, an electric cylinder and the like, and is a multipurpose manipulator which can realize automatic control, can be programmed repeatedly, has multiple degrees of freedom and has the freedom of movement built into a space right angle relationship. The behavior of this work is primarily by completing a linear motion along the X, Y, Z axis.

The existing four-axis robot is driven by a screw rod, so that two ends of the screw rod are provided with limiting components, the limiting components are generally fixed by limiting blocks, but the limiting blocks are of an integrated structure and can be in direct contact with the components to be limited when limiting, and the problem that the components to be limited collide greatly due to large extrusion force is generated.

Disclosure of Invention

In order to overcome current problem, this application embodiment provides a four-joint robot, be equipped with spacing subassembly at first drive assembly's upper surface, and including fixed plate, gag lever post and buffer post, the buffer post cup joints the surface at the gag lever post, like this when spacing subassembly carries out spacing, moving part and gag lever post contact each other to can extrude the buffer post of gag lever post surface, the buffer post receives the extrusion and can carry out spacingly to moving part, thereby can be better reach the spacing effect of buffering.

The technical scheme adopted by the embodiment of the application for solving the technical problems is as follows:

a four-joint robot, comprising: the supporting mechanism is used for supporting; the transmission mechanism is arranged on the upper surface of the supporting mechanism and used for moving;

wherein, supporting mechanism includes first drive assembly, first drive assembly's table wall is equipped with spacing subassembly, spacing subassembly includes the fixed plate, the table wall of fixed plate is equipped with the gag lever post, the connected mode of gag lever post and fixed plate is spot welding connection, the surface of gag lever post has been cup jointed to the surface of gag lever post, and the buffering post cup joints the surface at the gag lever post, like this when spacing subassembly carries out spacingly, moving part and gag lever post contact each other to can extrude the buffering post of gag lever post surface, the buffering post receives the extrusion and can carry out spacingly to the moving part, thereby can be better reach the spacing effect of buffering.

Preferably, the first transmission assembly comprises a support, support top one side is equipped with first transfer line, the top of first transfer line is equipped with the second slider, the upper surface of first slide rail is equipped with first slider, the one end of first transfer line is equipped with first motor, one side that first transfer line was kept away from to the support top is equipped with first slide rail, the inside first motor operation of first transmission assembly drives first transfer line operation to make the fixing base of top drive second transmission assembly and remove.

Preferably, the transmission mechanism comprises a second transmission assembly, a third transmission assembly is arranged on the surface wall of the second transmission assembly, the third transmission assembly is connected with the second transmission assembly in a sliding manner, and the second transmission assembly can drive the third transmission assembly to move in an operating state.

Preferably, the second transmission assembly comprises a side plate, a second transmission rod is arranged on the surface wall of the side plate, a second sliding rail is respectively arranged on the upper side and the lower side of the second transmission rod, and a second motor is arranged at one end of the second transmission rod.

Preferably, the third transmission assembly comprises a stepping motor, the bottom of the stepping motor is provided with a transverse plate, the surface wall of the transverse plate is provided with a third transmission rod, the surface wall of the third transmission rod is provided with a support, a rotating motor is arranged in the support, the rotating motor is arranged in the third transmission assembly, the processing head to be processed can be installed at the bottom of the rotating motor, and the processing head can be rotated in an omnibearing manner through the rotation of the rotating motor, so that the processing head can be better adapted to the processing of different workpieces.

Preferably, the two ends of the second transmission assembly are respectively provided with a first vertical plate and a second vertical plate, the first vertical plate and the second vertical plate are of plate-shaped structures, a fixing seat is arranged at the intersection of the first vertical plate, the second vertical plate and the first transmission assembly, and the first vertical plate, the second vertical plate and the second transmission assembly are fixedly connected.

The embodiment of the application has the advantages that:

1. the upper surface of the first transmission component is provided with the limiting component, the limiting component comprises the fixed plate, the limiting rod and the buffer column, and the buffer column is sleeved on the outer surface of the limiting rod, so that when the limiting component is used for limiting, the moving part is in contact with the limiting rod, the buffer column on the outer surface of the limiting rod can be extruded, the moving part can be limited by extrusion of the buffer column, and the effect of buffering and limiting can be better achieved.

2. The robot can move at each position by arranging the first transmission assembly, the second transmission assembly and the third transmission assembly, so that the operation of the whole structure is facilitated.

3. In the utility model, the rotating motor is arranged in the third transmission assembly, so that the processing head to be processed can be arranged at the bottom end of the rotating motor, and the processing head can rotate in all directions through the rotation of the rotating motor, so that the processing head can better process different workpieces.

Drawings

The utility model will be further described with reference to the drawings and examples.

FIG. 1 is a schematic diagram of the overall structure of a four-joint robot according to the present utility model;

FIG. 2 is a schematic view of the overall structure of the first transmission assembly of the present utility model;

FIG. 3 is a schematic diagram of the overall structure of a second transmission assembly according to the present utility model;

FIG. 4 is a schematic view of the overall structure of the spacing assembly of the present utility model;

fig. 5 is a schematic diagram of the overall structure of the third transmission assembly according to the present utility model.

The main reference numerals illustrate:

1. a first transmission assembly; 11. a bracket; 12. a first motor; 13. a first transmission rod; 14. a first slide rail; 15. a first slider; 16. a second slider; 2. a second transmission assembly; 21. a side plate; 22. a second motor; 23. a second slide rail; 24. a second transmission rod; 3. a limit component; 31. a fixing plate; 32. a limit rod; 33. a buffer column; 4. a first riser; 5. a second riser; 6. a third transmission assembly; 61. a stepping motor; 62. a third transmission rod; 63. a cross plate; 64. a support; 65. a rotating electric machine; 7. a fixing seat.

Detailed Description

The technical scheme in the embodiment of the application aims to solve the problems, and the overall thought is as follows:

example 1:

the embodiment provides a specific structure of a four-joint robot, as shown in fig. 1-5, including: the supporting mechanism is used for supporting; the transmission mechanism is arranged on the upper surface of the supporting mechanism and is used for moving; wherein, supporting mechanism includes first drive assembly 1, first drive assembly 1's table wall is equipped with spacing subassembly 3, spacing subassembly 3 includes fixed plate 31, fixed plate 31's table wall is equipped with gag lever post 32, the connected mode of gag lever post 32 and fixed plate 31 is spot welding connection, the surface of gag lever post 32 has cup jointed buffer post 33, buffer post 33 cup joints the surface at gag lever post 32, like this when spacing subassembly 3 carries out spacing, moving part and gag lever post 32 contact each other, and can extrude the buffer post 33 of gag lever post 32 surface, buffer post 33 receives the extrusion to carry out spacingly to moving part, thereby can be better reach the spacing effect of buffering.

The first transmission assembly 1 comprises a support 11, a first transmission rod 13 is arranged on one side of the upper portion of the support 11, a second sliding block 16 is arranged on the upper portion of the first transmission rod 13, a first sliding block 15 is arranged on the upper surface of a first sliding rail 14, a first motor 12 is arranged at one end of the first transmission rod 13, a first sliding rail 14 is arranged on one side, far away from the first transmission rod 13, of the upper portion of the support 11, the first motor 12 in the first transmission assembly 1 operates to drive the first transmission rod 13 to operate, and accordingly the fixing seat 7 above drives the second transmission assembly 2 to move.

By adopting the technical scheme:

the buffer column 33 is sleeved on the outer surface of the limiting rod 32, so that when the limiting assembly 3 is limited, the moving part and the limiting rod 32 are in contact with each other, the buffer column 33 on the outer surface of the limiting rod 32 can be extruded, the buffer column 33 can limit the moving part due to extrusion, and the effect of buffering and limiting can be achieved better.

Example 2:

the embodiment provides a specific structure of a four-joint robot, as shown in fig. 1-5, the embodiment describes that the transmission mechanism comprises a second transmission assembly 2, a third transmission assembly 6 is arranged on the surface wall of the second transmission assembly 2, the third transmission assembly 6 is connected with the second transmission assembly 2 in a sliding manner, and the second transmission assembly 2 can drive the third transmission assembly 6 to move in an operating state.

The second transmission assembly 2 comprises a side plate 21, a second transmission rod 24 is arranged on the surface wall of the side plate 21, a second sliding rail 23 is arranged on the upper side and the lower side of the second transmission rod 24 respectively, and a second motor 22 is arranged at one end of the second transmission rod 24.

The third drive assembly 6 includes step motor 61, step motor 61's bottom is equipped with diaphragm 63, diaphragm 63's table wall is equipped with third transfer line 62, third transfer line 62's table wall is equipped with support 64, support 64's inside is equipped with rotating electrical machines 65, be equipped with rotating electrical machines 65 in third drive assembly 6's inside, wait to process the processing head like this can install in rotating electrical machines 65's bottom, can make the processing head carry out the omnidirectional rotation through rotating electrical machines 65's rotation for better processing that adapts to different work pieces.

The both ends of second drive assembly 2 are equipped with first riser 4 and second riser 5 respectively, and first riser 4 and second riser 5 are platelike structure, and the crossing department of first riser 4 and second riser 5 and first drive assembly 1 is equipped with fixing base 7, and the connected mode of first riser 4 and second riser 5 and second drive assembly 2 is fixed connection.

By adopting the technical scheme:

the first motor 12 inside the first transmission assembly 1 operates to drive the first transmission rod 13 to operate, so that the fixing seat 7 above drives the second transmission assembly 2 to move, when the first transmission assembly 1 stops moving when moving to a set position, the second motor 22 inside the second transmission assembly 2 operates to drive the third transmission assembly 6 of the surface wall to move, the spatial position relation of the third transmission assembly 6 can be changed, then the second transmission assembly 2 stops when reaching the set position, the stepping motor 61 inside the third transmission assembly 6 operates to drive the welding assembly at the bottom end of the third transmission assembly 6 to move downwards, and then the rotating motor 65 operates, so that the spatial relation of the welding assembly can be changed.

Working principle: when the welding operation is needed, the welding assembly is installed in the third transmission assembly 6, then the first transmission assembly 1 is powered on, at the moment, the first motor 12 in the first transmission assembly 1 runs to drive the first transmission rod 13 to run, so that the fixing seat 7 above drives the second transmission assembly 2 to move, when the second transmission assembly 2 moves to a set position, the first transmission assembly 1 stops moving, the second motor 22 in the second transmission assembly 2 runs to drive the third transmission assembly 6 on the surface wall to move, the spatial position relation of the third transmission assembly 6 can be changed, then the second transmission assembly 2 stops at the set position, the step motor 61 in the third transmission assembly 6 runs to drive the welding assembly at the bottom end of the third transmission assembly 6 to move downwards, and then the rotating motor 65 runs to change the spatial relation of the welding assembly, so that the welding position is more precise and comprehensive.

Finally, it should be noted that: it is apparent that the above examples are only illustrative of the present utility model and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present utility model.

Claims

1. A four-joint robot, comprising:

the supporting mechanism is used for supporting;

the transmission mechanism is arranged on the upper surface of the supporting mechanism and used for moving;

the supporting mechanism comprises a first transmission assembly (1), a limiting assembly (3) is arranged on the surface wall of the first transmission assembly (1), the limiting assembly (3) comprises a fixed plate (31), a limiting rod (32) is arranged on the surface wall of the fixed plate (31), the limiting rod (32) is in spot welding connection with the fixed plate (31), and a buffer column (33) is sleeved on the outer surface of the limiting rod (32).

2. The four-joint robot according to claim 1, wherein the first transmission assembly (1) comprises a bracket (11), a first transmission rod (13) is arranged on one side above the bracket (11), a first motor (12) is arranged at one end of the first transmission rod (13), and a first sliding rail (14) is arranged on one side, away from the first transmission rod (13), above the bracket (11).

3. A four-joint robot according to claim 1, characterized in that the transmission mechanism comprises a second transmission assembly (2), a third transmission assembly (6) is arranged on the surface wall of the second transmission assembly (2), and the third transmission assembly (6) and the second transmission assembly (2) are connected in a sliding manner.

4. A four-joint robot according to claim 3, wherein the second transmission assembly (2) comprises a side plate (21), a second transmission rod (24) is arranged on the surface wall of the side plate (21), a second sliding rail (23) is respectively arranged on the upper side and the lower side of the second transmission rod (24), and a second motor (22) is arranged at one end of the second transmission rod (24).

5. A four-joint robot according to claim 3, wherein the third transmission assembly (6) comprises a stepping motor (61), a transverse plate (63) is arranged at the bottom end of the stepping motor (61), a third transmission rod (62) is arranged on the surface wall of the transverse plate (63), a support (64) is arranged on the surface wall of the third transmission rod (62), and a rotating motor (65) is arranged inside the support (64).

6. A four-joint robot according to claim 2, characterized in that a second slide block (16) is arranged above the first transmission rod (13), and a first slide block (15) is arranged on the upper surface of the first slide rail (14).

7. A four-joint robot according to claim 3, wherein the two ends of the second transmission assembly (2) are respectively provided with a first riser (4) and a second riser (5), the first riser (4) and the second riser (5) are both plate-shaped structures, and the connection modes of the first riser (4) and the second riser (5) and the second transmission assembly (2) are fixedly connected.

8. A four-joint robot according to claim 7, characterized in that the first riser (4) and the intersection of the second riser (5) and the first transmission assembly (1) are provided with a fixed seat (7).