CN220362596U - Horizontal multi-joint type industrial robot - Google Patents
Horizontal multi-joint type industrial robot Download PDFInfo
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- CN220362596U CN220362596U CN202321638464.6U CN202321638464U CN220362596U CN 220362596 U CN220362596 U CN 220362596U CN 202321638464 U CN202321638464 U CN 202321638464U CN 220362596 U CN220362596 U CN 220362596U
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- 238000013473 artificial intelligence Methods 0.000 description 1
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Abstract
The utility model discloses a horizontal multi-joint type industrial robot, which comprises a base station, a first arm, a second arm, an action rod and a chuck, wherein a first driving part for driving the first arm to rotate is arranged on the base station, the second arm is hinged to the outer end of the first arm, a second driving part for driving the second arm to rotate is arranged on the first arm, the action rod is arranged at the outer end of the second arm, a third driving part for driving the action rod to move up and down is arranged on the second arm, and the chuck is arranged at the lower end of the action rod, and the horizontal multi-joint type industrial robot is characterized in that: still include the support column, the upper end and the first arm of support column are connected, are provided with annular guide slot on the base station, and the lower extreme of support column sets up in annular guide slot and removes along annular guide slot. The utility model provides a horizontal multi-joint industrial robot, which reduces the influence of cantilever beam structures of a first arm and a second arm on the stability of the industrial robot and improves the weight of the horizontal multi-joint industrial robot capable of gripping objects.
Description
Technical Field
The utility model relates to the field of industrial robots, in particular to a horizontal multi-joint type industrial robot.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, and is a machine which realizes various functions by self power and control capability. The robot can be commanded by human beings, can operate according to a preset program, and can also act according to the principle formulated by artificial intelligence technology.
The industrial robot is mainly classified into 6 types including a polar coordinate type robot, a cylindrical coordinate type robot, a rectangular coordinate type robot, a vertical multi-joint type robot, a horizontal multi-joint type robot, and a parallel type robot. The horizontal multi-joint robot comprises a base station, a first arm, a second arm, an action rod and a chuck, wherein a first driving part for driving the first arm to rotate is arranged on the base station, the second arm is hinged to the outer end of the first arm, a second driving part for driving the second arm to rotate is arranged on the first arm, the action rod is arranged at the outer end of the second arm, a third driving part for driving the action rod to move up and down is arranged on the second arm, and the chuck is arranged at the lower end of the action rod.
Because the second arm sets up in the outer end of first arm, first arm and second arm form the longer cantilever structure of length, and when the heavy article of chuck centre gripping, industrial robot's joint department atress is great, and stability reduces, causes the horizontal multi-joint type industrial robot unable defect of carrying heavy article.
Disclosure of Invention
The utility model aims to solve the technical problem of providing a horizontal multi-joint type industrial robot aiming at the current state of the art, reduces the influence of cantilever beam structures of a first arm and a second arm on the stability of the industrial robot, and improves the weight of the horizontal multi-joint type industrial robot capable of gripping objects.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a horizontal multi-joint type industrial robot, including the base station, first arm, the second arm, action bars and chuck, be provided with the first drive part of drive first arm pivoted on the base station, the second arm articulates in the outer end of first arm, be provided with the second drive part of drive second arm pivoted on the first arm, the action bars sets up the outer end at the second arm, be provided with the third drive part that drive action bars reciprocated on the second arm, the chuck sets up the lower extreme at the action bars, its characterized in that: still include the support column, the upper end and the first arm of support column are connected, are provided with annular guide slot on the base station, and the lower extreme of support column sets up in annular guide slot and removes along annular guide slot.
As an improvement, the first driving part is arranged on the base in an inverted mode, and the output end of the first driving part is connected with the first arm.
And a central column is vertically arranged on the base, the first arm is rotatably arranged at the top of the central column, the first driving part is arranged on the lower end part of the supporting column, a driving gear is arranged at the output end of the first driving part, a central gear and a gear ring are arranged on the base, an annular guide groove is formed between the outer side wall of the central gear and the inner side wall of the gear ring, and the driving gear is meshed with the central gear and the gear ring.
And the lower end of the support column is provided with a cross rod, ball head parts are respectively formed at two ends of the cross rod, and grooves matched with the ball head parts are respectively formed on the inner side wall and the outer side wall of the annular guide groove.
And in addition, a ball head is arranged on the lower end face of the driving gear, and a ball head groove matched with the ball head is formed on the bottom face of the annular groove.
And a sliding block is arranged on the lower side wall of the second arm in a sliding manner, a supporting ring is formed on the supporting column, a rotating sleeve is sleeved on the supporting column and supported on the supporting ring, and a telescopic cylinder or a telescopic motor is hinged between the rotating sleeve and the sliding block.
And in addition, the third driving part is a linear motor, and the output end of the linear motor is connected with the action rod.
And the outer end of the second arm is provided with a rotating motor, the action rod is arranged on the connecting block, the linear motor is arranged on the connecting block, and the connecting block is arranged at the output end of the rotating motor.
And the first arm comprises a left arm part connected with the central column and a right arm part connected with the second driving part, the left arm part and the right arm part are mutually arranged in a sliding way, a sliding driving part for driving the right arm part to slide is arranged on the left arm part, and the upper end of the supporting column is connected to the left arm part.
Still improve, the chuck includes the mount with action bars fixed connection, the upper end of mount is formed with the motor chamber, the lower extreme of mount is formed with the installation cavity, install the chuck motor in the motor chamber, the chuck motor is linear electric motor, be provided with the guide arm in the installation cavity, the output and the guide arm middle part of chuck motor are connected, slide at the left end of guide arm and be provided with left sliding sleeve, slide at the right-hand member of guide arm and be provided with right sliding sleeve, slide and be provided with left clamping part in the left side of installation cavity, slide and be provided with right clamping part in the right side of installation cavity, it is provided with first connecting rod to articulate between the lateral wall of left sliding sleeve and the lateral wall of left clamping part, articulate and be provided with the second connecting rod between the lateral wall of right sliding sleeve and the lateral wall of left clamping part, articulate and be provided with the third connection between the inside wall of right sliding sleeve and the inside wall of right clamping part.
Compared with the prior art, the utility model has the advantages that: according to the utility model, on the basis of a traditional horizontal multi-joint type industrial robot, the supporting column is additionally arranged on the base, the upper end of the supporting column is connected with the first arm, the annular guide groove is arranged on the base, the lower end of the supporting column is arranged in the annular guide groove and moves along the annular guide groove, the supporting column can synchronously rotate in the rotating process of the first arm, meanwhile, the supporting column also plays a role in supporting the first arm, the strength of a cantilever beam structure formed by the first arm and the second arm is improved, and therefore, the influence of the cantilever beam structure of the first arm and the second arm on the stability of the industrial robot is reduced, and the weight of the horizontal multi-joint type industrial robot capable of holding objects can be improved.
Drawings
Fig. 1 is a schematic view of a horizontal multi-joint type industrial robot according to embodiment 1 of the present utility model;
FIG. 2 is a schematic view of the structure of a horizontal articulated industrial robot according to embodiment 2 of the present utility model;
FIG. 3 is a schematic view showing the structure of a chuck according to embodiment 1 of the present utility model;
fig. 4 is a schematic view of the structure of fig. 3 in another direction.
Detailed Description
The utility model is described in further detail below with reference to the embodiments of the drawings.
Example 1
As shown in fig. 1, the horizontal articulated industrial robot according to embodiment 1 of the present utility model includes a base 1, a first arm 31, a second arm 32, an operation lever 33, a chuck 4, a support column 5, a first driving member 21, a second driving member 22, a third driving member 23, a slider 321, a telescopic cylinder 6, a rotation sleeve 52, a rotary motor 7, and a connection block 71.
Specifically, in the embodiment of the utility model, the first driving part 21 is arranged on the base 1 in an inverted mode, the output end of the first driving part 21 is connected with the first arm 31, the second arm 32 is hinged to the outer end of the first arm 31, the first arm 31 is provided with the second driving part 22 for driving the second arm 32 to rotate, the action rod 33 is arranged at the outer end of the second arm 32, the second arm 32 is provided with the third driving part 23 for driving the action rod 33 to move up and down, the chuck 4 is arranged at the lower end of the action rod 33, the upper end of the support column 5 is connected with the first arm 31, the base 1 is provided with an annular guide groove, and the lower end of the support column 5 is arranged in the annular guide groove and moves along the annular guide groove.
Preferably, the third driving part 23 is a linear motor, and an output end of the linear motor is connected to the actuating lever 33.
Further, in order to improve the stability of the connection between the support column 5 and the base 1, a cross rod 53 is provided at the lower end of the support column 5, ball heads 531 are respectively formed at two ends of the cross rod 53, and grooves adapted to the ball heads 531 are respectively formed on the inner side wall and the outer side wall of the annular guide groove.
According to the utility model, on the basis of a traditional horizontal multi-joint type industrial robot, the supporting column 5 is additionally arranged on the base 1, the upper end of the supporting column 5 is connected with the first arm 31, the annular guide groove is arranged on the base 1, the lower end of the supporting column 5 is arranged in the annular guide groove and moves along the annular guide groove, the supporting column 5 can synchronously rotate in the process that the first driving part 21 drives the first arm 31 to rotate, meanwhile, the supporting column 5 also plays a role of supporting the first arm 31, the strength of a cantilever structure formed by the first arm 31 and the second arm 32 is improved, and therefore, the influence of the cantilever structure of the first arm 31 and the second arm 32 on the stability of the industrial robot is reduced, and the weight of the horizontal multi-joint type industrial robot capable of holding objects can be improved.
In addition, in order to realize the synchronous supporting function to the second arm 32, a sliding block 321 is slidably arranged on the lower side wall of the second arm 32, a supporting ring 51 is formed on the supporting column 5, a rotating sleeve 52 is sleeved on the supporting column 5, the rotating sleeve 52 is supported on the supporting ring 51, and a telescopic cylinder 6 or a telescopic motor is hinged between the rotating sleeve 52 and the sliding block 321. In this way, in the process that the second driving part 22 drives the second arm 32 to rotate, the telescopic cylinder 6 or the telescopic motor can perform telescopic motion, meanwhile, the sliding block 321 can slide on the lower side wall of the second arm 32, and the rotating sleeve 52 can rotate on the supporting column 5 so as to adapt to the rotating motion of the second arm 32.
In order to increase the degree of freedom in which the collet 4 can rotate, in the embodiment of the present utility model, the rotary motor 7 is provided at the outer end of the second arm 32, the operation lever 33 is provided on the connection block 71, the linear motor is provided on the connection block 71, and the connection block 71 is provided at the output end of the rotary motor 7.
In addition, in order to realize that the length of the first arm 31 can be changed, the first arm 31 includes a left arm portion connected to the center column and a right arm portion connected to the second driving member 22, the left arm portion and the right arm portion are slidably provided to each other, a slide driving member for driving the right arm portion to slide is provided to the left arm portion, and the upper end of the support column 5 is connected to the left arm portion.
Finally, as shown in fig. 3 and 4, in the embodiment of the present utility model, the chuck 4 includes a fixing frame 41 fixedly connected to the actuating rod 33, a motor cavity 411 is formed at an upper end of the fixing frame 41, a mounting cavity 412 is formed at a lower end of the fixing frame 41, a chuck motor 42 is mounted in the motor cavity 411, the chuck motor 42 is a linear motor, a guide rod 43 is disposed in the mounting cavity 411, an output end of the chuck motor 42 is connected to a middle portion of the guide rod 43, a left sliding sleeve 441 is slidably disposed at a left end of the guide rod 43, a right sliding sleeve 442 is slidably disposed at a right end of the guide rod 43, a left clamping portion 461 is slidably disposed at a left side of the mounting cavity 412, a right clamping portion 462 is slidably disposed at a right side of the mounting cavity 412, a first link 451 is hinged between an outer side wall of the left sliding sleeve 441 and an outer side wall of the left clamping portion 461, a second link 452 is hinged between an outer side wall of the right sliding sleeve 442 and an outer side wall of the right clamping portion 462, a third connection is hinged between an inner side wall of the left sliding sleeve 441 and an inner side wall of the left clamping portion 462, and a fourth link 453 is hinged between an inner side wall of the right clamping portion 453 and a fourth link 453 is hinged between an inner side wall of the right clamping portion and a side wall of the right clamping portion of the inner side wall of the left clamping portion and a wall of a part 453. When the chuck motor 42 drives the guide rod 43 to move outwards, the third connecting rod 453 and the fourth connecting rod 454 respectively push the left sliding sleeve 441 and the right sliding sleeve 442 on the guide rod 43 to be close to each other, and the left sliding sleeve 441 and the right sliding sleeve 442 drive the left clamping part 461 and the right clamping part 462 to be closed through the first connecting rod 451 and the second connecting rod 452, so that clamping action is realized; when the chuck motor 52 drives the guide rod 43 to retract, the four connecting rods drive the left clamping part 461 and the right clamping part 462 to be separated from each other, so that the telescopic action of the chuck motor 42 is controlled to control the mutual opening and closing action of the left clamping part 461 and the right clamping part 462, and the clamping and loosening functions of the chuck 4 are realized.
Example 2
As shown in fig. 2, the distinguishing technical features of embodiment 2 and embodiment 1 are that the driving structure for driving the first arm 31 to rotate is different, in embodiment 2, a center post 11 is vertically provided on the base 1, the first arm 31 is rotatably provided on the top of the center post 11, a first driving member 21 is provided on the lower end portion of the support post 5, a driving gear 211 is provided at the output end of the first driving member 21, a sun gear 12 and a ring gear 13 are provided on the base 1, an annular guide groove is formed between the outer side wall of the sun gear 12 and the inner side wall of the ring gear 13, and the driving gear 211 is engaged with the sun gear 12 and the ring gear 13.
Further, a ball head 212 is disposed on the lower end surface of the driving gear 211, and a ball head groove adapted to the ball head 212 is formed on the bottom surface of the annular groove.
In embodiment 2, the first driving part 21 is disposed on the lower end of the support column 5, the first driving part 21 is used to drive the driving gear 211 to rotate, the driving gear 211 drives the support column 5 to rotate around the annular guide groove, so as to drive the first arm 31 to rotate around the central column 11, and by disposing the first driving part 21 on the support column 5, the first driving part 21 is closer to the position where the first arm 31 and the second arm 32 are hinged to each other, so that the transmission stability of the whole industrial robot is improved.
Claims (10)
1. The utility model provides a horizontal multi-joint type industrial robot, including base station (1), first arm (31), second arm (32), action bars (33) and chuck (4), be provided with first drive part (21) of drive first arm (31) pivoted on base station (1), second arm (32) articulate in the outer end of first arm (31), be provided with second drive part (22) of drive second arm (32) pivoted on first arm (31), action bars (33) set up the outer end at second arm (32), be provided with third drive part (23) of drive action bars (33) reciprocates on second arm (32), chuck (4) set up the lower extreme at action bars (33), its characterized in that: still include support column (5), the upper end and the first arm (31) of support column (5) are connected, are provided with annular guide slot on base station (1), and the lower extreme of support column (5) sets up in annular guide slot and removes along annular guide slot.
2. The horizontal articulated industrial robot of claim 1, wherein: the first driving component (21) is arranged on the base (1) in an inverted mode, and the output end of the first driving component (21) is connected with the first arm (31).
3. The horizontal articulated industrial robot of claim 1, wherein: the novel bearing support is characterized in that a center column (11) is vertically arranged on the base (1), a first arm (31) is rotatably arranged at the top of the center column (11), a first driving part (21) is arranged on the lower end portion of a supporting column (5), a driving gear (211) is arranged at the output end of the first driving part (21), a center gear (12) and a gear ring (13) are arranged on the base (1), an annular guide groove is formed between the outer side wall of the center gear (12) and the inner side wall of the gear ring (13), and the driving gear (211) is meshed with the center gear (12) and the gear ring (13).
4. The horizontal articulated industrial robot of claim 2, wherein: the lower extreme of support column (5) is provided with horizontal pole (53), and the both ends of horizontal pole (53) are formed with bulb portion (531) respectively, be formed with the recess with bulb portion (531) looks adaptation on the inside wall and the lateral wall of annular guide slot respectively.
5. A horizontal articulated industrial robot according to claim 3, characterized in that: a ball head (212) is arranged on the lower end face of the driving gear (211), and a ball head groove matched with the ball head (212) is formed on the bottom face of the annular groove.
6. The horizontal articulated industrial robot of claim 1, wherein: the lower side wall of the second arm (32) is provided with a sliding block (321) in a sliding manner, a support ring (51) is formed on the support column (5), a rotating sleeve (52) is sleeved on the support column (5), the rotating sleeve (52) is supported on the support ring (51), and a telescopic cylinder (6) or a telescopic motor is hinged between the rotating sleeve (52) and the sliding block (321).
7. The horizontal articulated industrial robot of claim 1, wherein: the third driving part (23) is a linear motor, and the output end of the linear motor is connected with the action rod (33).
8. The horizontal articulated industrial robot of claim 7, wherein: the outer end of the second arm (32) is provided with a rotating motor (7), the action rod (33) is arranged on the connecting block (71), the linear motor is arranged on the connecting block (71), and the connecting block (71) is arranged at the output end of the rotating motor (7).
9. A horizontal articulated industrial robot according to claim 3, characterized in that: the first arm (31) comprises a left arm part connected with the center column (11) and a right arm part connected with the second driving part (22), the left arm part and the right arm part are arranged in a sliding mode, a sliding driving part for driving the right arm part to slide is arranged on the left arm part, and the upper end of the supporting column (5) is connected to the left arm part.
10. The horizontal articulated industrial robot of claim 1, wherein: the chuck (4) comprises a fixing frame (41) fixedly connected with an action rod (33), a motor cavity (411) is formed at the upper end of the fixing frame (41), a mounting cavity (412) is formed at the lower end of the fixing frame (41), a chuck motor (42) is mounted in the motor cavity (411), the chuck motor (42) is a linear motor, a guide rod (43) is arranged in the mounting cavity (412), the output end of the chuck motor (42) is connected with the middle part of the guide rod (43), a left sliding sleeve (441) is slidably arranged at the left end of the guide rod (43), a right sliding sleeve (442) is slidably arranged at the right end of the guide rod (43), a left clamping part (461) is slidably arranged at the left side of the mounting cavity (412), a first connecting rod (451) is hinged between the outer side wall of the left sliding sleeve (441) and the outer side wall of the left clamping part (461), a second connecting rod (452) is hinged between the outer side wall of the right sliding sleeve (442) and the outer side wall of the right clamping part (462), a third connecting rod (453) is hinged between the left inner side wall of the left sliding sleeve (461) and the third connecting part (453), a fourth connecting rod (454) is hinged between the inner side wall of the right sliding sleeve (442) and the inner side wall of the right clamping part (462).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321638464.6U CN220362596U (en) | 2023-06-27 | 2023-06-27 | Horizontal multi-joint type industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321638464.6U CN220362596U (en) | 2023-06-27 | 2023-06-27 | Horizontal multi-joint type industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220362596U true CN220362596U (en) | 2024-01-19 |
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ID=89518368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321638464.6U Active CN220362596U (en) | 2023-06-27 | 2023-06-27 | Horizontal multi-joint type industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220362596U (en) |
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2023
- 2023-06-27 CN CN202321638464.6U patent/CN220362596U/en active Active
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