CN209256924U - A kind of robot - Google Patents

Abstract

The utility model provides a kind of robot, including pedestal, driving body, extending bracket, guide rod, spring, gear, rack assembly and guidance set.The ontology installation of driving body is on the base, one end of extending bracket and the ontology of driving body are fixed, are fixed with the first spring support plate on the other end, gear is mounted on the output shaft of driving body, rack assembly includes rack gear and the second spring supporting plate being fixed on one end of rack gear, spring is set on guide rod and is compressed between the first spring support plate and second spring supporting plate, and the decrement of the spring constantly changes with the movement of the rack gear.Guidance set includes rolling element and guide groove, rolling element be arranged in rack gear on the side of extending bracket.Guide groove is arranged on extending bracket.Rolling element is slidably connected with guide groove, and rolling element is consistent along the glide direction of guide groove and the direction of motion of rack gear.The utility model is by rack gear and being respectively set rolling element and guide groove on extending bracket, and rolling element can slide in guide groove, so as to play good guiding role.

Description

A kind of robot

Technical field

The utility model relates to robot fields, and in particular to a kind of robot.

Background technique

In robot field, mechanical arm is a kind of most commonly used multi-axis robot of industrial circle, mainly according to pre- From an initial position clamping target object to target position, the machine automatization suitable for many industrial circles is turned into fixed route Industry.

Existing robot is just like application No. is " 201710438383.4 ", entitled " a kind of with potential energy compensation function Structure disclosed in the utility model patent of robot ", include pedestal, driving body, arm, driving body ontology, driving body it is defeated Shaft, extending bracket, spring, spring support plate, gear, rack gear, guide rod etc..Wherein, the fixing end of extending bracket is fixedly mounted on On driving body ontology, spring support plate is fixedly mounted on the elongated end of extending bracket, and gear is mounted on the output shaft of driving body, Rack gear is slidably connected with driving body ontology and one end of rack gear is fixedly connected with one end of guide rod, and the other end of guide rod passes through bullet Through-hole on spring supporting plate, spring are set on guide rod and between rack gear and spring support plate, and spring is in rack gear and spring support plate Under the action of always be in confined state；The output shaft rotation of driving body is bowed with band swing arm to when rotation, while with moving gear It rotates, with the further compressed spring of drive rack；When the output shaft rotation of driving body is with band swing arm layback rotation, while with movable tooth Wheel rotation reduces the compression to spring with drive rack.Robot further includes having the guide rail and sliding block worked in coordination, and guide rail is fixed It is mounted on the side of rack gear, sliding block is fixedly mounted on driving body ontology, and guide rail can be slided along sliding block, when rack gear is in gear When moving forward and backward under driving, guide rail is slided by rack drives along sliding block, realizes being slidably connected for rack gear and driving body ontology.It should The robot of kind of structure during gear band carry-over bar moves, due to sliding block and sliding rail cooperation can not to rack gear and Spring is oriented to well, and rack gear is easy to deviate predetermined path of movement.

Utility model content

In view of the above problem provides a kind of robot, including pedestal, driving body, extension branch according to the utility model Frame, guide rod, spring, gear and rack assembly.The driving body includes ontology and output shaft, the ontology installation of the driving body On the pedestal, one end of the extending bracket and the ontology of the driving body are fixed, the extending bracket it is another The first spring support plate is fixed on end, the gear is mounted on the output shaft of the driving body, the rack assembly packet The second spring supporting plate for including the rack gear engaged with the gear and being fixed on one end of the rack gear, the spring are set in On the guide rod and be compressed between first spring support plate and the second spring supporting plate, the decrement of the spring with The movement of the rack gear and constantly change.The robot further includes guidance set, the guidance set include rolling element and Guide groove, the rolling element be arranged in the rack gear on the side of the extending bracket.The guide groove is arranged in institute It states on extending bracket.The rolling element is slidably connected with the guide groove, and the rolling element is along the sliding side of the guide groove To consistent with the direction of motion of the rack gear.

Illustratively, the guide groove is kidney slot.

Illustratively, the length of the guide groove is not less than the maximum compression stroke of the spring.

Illustratively, the rolling element is bearing, and bearing mounts is equipped on the second spring supporting plate, and the bearing is logical The bearing mounts is crossed to be mounted on the second spring supporting plate.

Illustratively, the second spring supporting plate is protruding with mounting portion, the bearing installation to the extending bracket direction Part is arranged on the mounting portion.

Illustratively, the guidance set further includes guide rail and sliding block, the guide rail be arranged in the rack gear in face of described On the side of extending bracket, the sliding block is arranged on the extending bracket, and the sliding block is slidably connected with the guide rail.

Illustratively, the guide rail has the first end far from the second spring supporting plate and the close second spring supporting plate Second end, the second end abuts against with the mounting portion.

Illustratively, the guide rod includes the first guide rod and the second guide rod；

The first end of first guide rod is fixed with first spring support plate, and the second end of first guide rod is vacantly set It sets；

The first end of second guide rod is fixed with the second spring supporting plate, and the second end of second guide rod is vacantly set It sets, there is spacing between the second end of first guide rod and the second end of second guide rod；The spring is set in described On first guide rod and second guide rod and it is compressed between first spring support plate and the second spring supporting plate.

Illustratively, first guide rod and second guide rod all include metallic rod body and are set in outside the metallic rod body Noise reduction body.

Illustratively, the material of the noise reduction body is self-lubricating material.

Guiding is arranged by the way that rolling element is arranged on rack gear in robot provided by the utility model on extending bracket Slot, rolling element can slide in guide groove along with the consistent direction of the direction of motion of rack gear, so as in rack movement Play good guiding role.

Detailed description of the invention

The utility model embodiment is described in more detail in conjunction with the accompanying drawings, the utility model above-mentioned and its Its purpose, feature and advantage will be apparent.Attached drawing is used to provide to further understand the utility model embodiment, and And part of specification is constituted, it is used to explain the utility model together with the utility model embodiment, not constitute to this reality With novel limitation.In the accompanying drawings, identical reference label typically represents same parts or step.

Fig. 1 is the structural schematic diagram according to the robot of the utility model embodiment；

Fig. 2 is the structural schematic diagram according to a part of the utility model embodiment；

Fig. 3 is according to the structural schematic diagram of a part of the utility model embodiment, which can embody guidance set；

Fig. 4 is the main view of corresponding diagram 3；

Fig. 5 is the structure chart of a part in Fig. 2；

Fig. 6 is the explosive view of the structure in Fig. 5；

Fig. 7 is the first guide rod/second guide rod structure chart of Fig. 2.

Wherein, appended drawing reference is

10-pedestals

20-driving bodies

21-ontologies

22-output shafts

30-arms

40-potential energy compensation mechanisms

41-extending brackets

42-the first spring support plate

43-springs

44-guide rods

441-the first guide rod

4411-metallic rod bodies

44111-threaded connection sections

44112-through-holes

4412-noise reduction bodies

44121-straight bodies

441211-through holes

44122-end bodies

4413-fasteners

442-the second guide rod

45-gears

46-rack assemblies

461-rack gears

462-second spring supporting plates

4621-mounting portions

47-guidance sets

471-rolling elements

472-guide grooves

473-bearing mounts

474-guide rails

4741-first ends

475-sliding blocks

Specific embodiment

In order to enable the purpose of this utility model, technical solution and advantage become apparent, retouch in detail below with reference to accompanying drawings State example embodiment according to the present utility model.Obviously, described embodiment is only that a part of the utility model is implemented Example, rather than the whole embodiments of the utility model, it should be appreciated that the utility model is not by the limit of example embodiment described herein System.Based on the utility model embodiment described in the utility model, those skilled in the art are not being made the creative labor In the case where obtained all other embodiment should all fall within the protection scope of the utility model.

The robot of the utility model is suitable for the mechanical automation operation of many industrial circles, according to scheduled route Target object is clamped to target position from an initial position.It describes in detail below to the utility model.

As shown in Figure 1, robot provided by the utility model, including pedestal 10, driving body 20, arm 30 and potential energy are mended Repay mechanism 40.Pedestal 10 is typically designed as tubular structure.Driving body 20 is mounted on pedestal 10, is realized and is rotated with actuating arm 30. Driving body 20 includes ontology 21 and output shaft 22, and ontology 21 is fixed on pedestal 10.Arm 30 is mounted on the output shaft of driving body 20 On 22, when driving body 20 work when, driving body 20 output shaft 22 rotation can be rotated with swing arm 30, in attached drawing 1, with human eye to The angle that attached drawing is vertically watched will drive arm 30 centered on the axle center of output shaft 22, edge when output shaft 22 rotates clockwise The direction of S1 bends down movement；When output shaft 22 rotates counterclockwise, arm 30 will drive centered on the axle center of output shaft 22, edge The direction of S2, which is swung back, to be moved.Potential energy compensation mechanism 40 is mainly used for offsetting a part of 30 bring torque of arm to realize to robot Potential energy compensation, enable robot to grab heavier object, increase the lifting capacity of robot.

In conjunction with refering to Fig. 2, Fig. 3 and Fig. 5, potential energy compensation mechanism 40 includes extending bracket 41, the first spring support plate 42, spring 43, guide rod 44 and mutually matched gear 45 and rack assembly 46.

Gear 45 is mounted on the output shaft 22 of driving body 20, can be rotated synchronously with the rotation of output shaft 22, be worked as tooth When wheel 45 is rotated synchronously with the rotation of output shaft 22, rack assembly 46 will be driven to be moved along a straight line forward or backward (such as Fig. 2 institute Show, before the dextrad arrow direction along X-axis is, the left-hand arrow direction along X-axis is rear).Gear 45 can be sector gear (that is, Gear shape is fan shape), sector gear weight is small, tooth quantity and size can be carried according to the maximum of Robot Design Torque and be calculated.In unshowned embodiment, gear 45 can also be designed in circular ring shape.

Rack assembly 46 includes the rack gear 461 engaged with gear 45 and the second bullet being fixed on one end of rack gear 461 Spring supporting plate 462.

In conjunction with refering to Fig. 3 and Fig. 4, extending bracket 41 is mounted on the ontology 21 of driving body 20, and the first spring support plate 42 is solid It is scheduled on extending bracket 41.Specifically, one end of extending bracket 41 is mounted on the ontology 21 of driving body 20, and the end is due to solid It is scheduled on ontology 21, fixing end can also be called, fixing end can realize fixation by modes such as screws.Extending bracket 41 it is another One end is elongated end, and the first spring support plate 42 is fixed on the elongated end of extending bracket 41.

Guide rod 44 includes the first guide rod 441 and the second guide rod 442.First guide rod 441 has a first end and a second end, and first End is fixed on the first spring support plate 42, and first end can also be called fixing end, and second end is vacantly arranged, thus second end can also It is called free end.Second guide rod 442 has a first end and a second end, and first end is fixed on second spring supporting plate 462, and second It holds opposite with free end and there is spacing between free end.43 one end of spring is set on the first guide rod 441, the other end is arranged On the second guide rod 442, spring 43 is compressed between the first spring support plate 42 and second spring supporting plate 462, and gear 45 rotates energy Rack assembly 46 is driven to increase or reduce the compression to spring 43 (that is, the decrement of the spring is with the rack gear Movement and constantly change), spacing between the first guide rod 441 and the second guide rod 442 constitutes the compression travel of spring 43.

The robot of the utility model is based on above structure, and spring 43 is in the first spring support plate 42 and second spring supporting plate Always confined state is between 462；Driving body 20 output shaft 22 rotation with band swing arm 30 bow to rotation when, will simultaneously Band moving gear 45 rotates, with the further compressed spring 43 of drive rack component 46；The output shaft 22 of driving body 20 is rotated to drive When the layback rotation of arm 30, while reducing the compression to spring 43 with the rotation of moving gear 45, with drive rack component 46；To offset A part of 30 bring torque of arm, which is realized, compensates the potential energy of robot, enables robot to grab heavier object, increases machine The lifting capacity of device people.

In addition, due to setting segmented for guide rod 44, so as to using the first guide rod 441 and the second guide rod 442 it Between compression travel of the spacing as spring 43, and then the first spring support plate 42 can be pierced by avoid guide rod, avoid increasing whole Size achievees the purpose that save installation space.

Again refering to Fig. 3 and Fig. 4, in order to play good guiding role when rack gear 461 moves, this is practical new The robot of type further includes guidance set 47, and guidance set 47 includes that rolling element 471 and guide groove 472 illustratively roll Body 471 be arranged in rack gear 461 on the side of extending bracket 41, guide groove 472 be arranged on extending bracket 41.As one Kind is for example, guide groove can be located between the fixing end of extending bracket 41 and the elongated end of extending bracket 41.Rolling element 471 It is slidably connected with guide groove 472, when 45 rotate driving rack assembly 46 of gear moves along a straight line forward or backward, rolling element 471 It can be slided in guide groove 472, and rolling element 471 is consistent with the direction of motion of rack gear 461 along the glide direction of guide groove 472, As shown in Fig. 2, X-axis compression of the spring 43 in figure, rolling element 471 is also the X in figure along the glide direction of guide groove 472 Axis.

Illustratively, guide groove 472 is kidney slot, and so-called kidney slot is slot shape similar to people's waist, and intermediate width is consistent, Both sides gradually become smaller.

Illustratively, due to rolling element 471 along guide groove 472 sliding distance substantially with the maximum compression stroke phase of spring 43 When as shown in figure 4, the length L of guide groove 472 is not less than the maximum compression stroke of spring 43.

Illustratively, rolling element 471 is bearing, and bearing is mounted on second spring supporting plate 462 by bearing mounts 473. Bearing and protrude into bearing in guide groove 472 in order to facilitate the installation of, second spring supporting plate 462 is protruded above to 41 direction of extending bracket There is mounting portion 4621, bearing mounts 473 is arranged on mounting portion 4621.In unshowned embodiment, rolling element 471 is not Be confined to bearing, can also be it is other can be in the rolling element of rolling.

Illustratively, in order to which guiding is better achieved, guidance set 47 further includes guide rail 474 and sliding block 475, and guide rail 474 is set It sets in rack gear 461 on the side of extending bracket 41, sliding block 475 is arranged on extending bracket 41, sliding block 475 and guide rail 474 are slidably connected, in this way, when 45 rotate driving rack assembly 46 of gear moves along a straight line forward or backward, in 474 He of guide rail Under the limitation of sliding block 475, rack assembly 46 can only move along a straight line forward or backward.

Illustratively, guide rail 474 has the first end 4741 far from second spring supporting plate 462 and close second spring supporting plate 462 second end (unmarked in figure), the second end are abutted against with mounting portion 4621, are moved in 475 opposite rail 474 of sliding block When to second end, mounting portion 4621, which realizes sliding block 475, to be stopped, so that guide rail 474 and sliding block 475 be avoided to be detached from.

In view of gear 45 drive rack assembly 46 move during, the guide rod and spring of prior art metal material Between friction it is larger, noise is larger.In order to reduce the friction noise between guide rod and spring, the utility model makees guide rod It is further to improve.

In conjunction with refering to Fig. 6 and Fig. 7, the first guide rod 441 and the structure having the same of the second guide rod 442, only installation site Difference is described in detail it is how to accomplish to reduce friction noise below by taking the first guide rod 441 as an example.

First guide rod 441 includes metallic rod body 4411 and the noise reduction body 4412 being set in outside metallic rod body 4411.Noise reduction The material of body 4412 is self-lubricating material (for example, plastics).

Illustratively, fixed by fastener 4413 between metallic rod body 4411 and noise reduction body 4412, fastener 4413 Common screw can be used.

Illustratively, threaded hole (not shown), noise reduction body 4412 are provided on the one end of metallic rod body 4411 Including straight body 44121 and end cap body 44122, fastener 4413 is passed through on end cap body 44122 and metallic rod body 4411 Threaded hole connection, so that metallic rod body 4411 and noise reduction body 4412 be fitted together.

Illustratively, there is threaded connection section 44111 on the end of the separate threaded hole of metallic rod body 4411, pass through screw thread The setting of linkage section 44111 can facilitate and the first guide rod 441 is fixed on the first spring support plate 42.For the second guide rod 442, Its setting for being connected through a screw thread section 44111 can facilitate and the second guide rod 441 is fixed on second spring supporting plate 462.

In view of metallic rod body 4411 and noise reduction body 4412 be it is cylindric, rub small, be not easy to install, can be in straight body Longitudinal through hole 441211 for running through straight body is set on 44121；441211 position of through hole is corresponded on metallic rod body 4411 to set Set through-hole 44112.Setting based on through hole 441211 and through-hole 44112 can be inserted through hole 441211 by installation tool It is convenient for the first guide rod 441 being installed to corresponding position with through-hole 44112.

Second guide rod, 442 structure is identical as 441 structure of the first guide rod, does not just repeat it herein more.

441/ second guide rod 442 of the first guide rod of above structure setting, due to the noise reducing sleeve outside metallic rod body 4411 Body 4412, it is understood that for 441/ second guide rod 442 of the first guide rod be double-layer structure, that is, metal layer (metal layer i.e. golden Belong to the body of rod 4411) and noise reduction layer (noise reduction layer i.e. noise reduction body 4412), since material is the noise reduction layer of self-lubricating material Setting so that rack and pinion assembly noise substantially reduces at runtime.

Above description is only a specific implementation of the present invention or to the explanation of specific embodiment, this is practical new The protection scope of type is not limited thereto, the technology model that anyone skilled in the art discloses in the utility model In enclosing, it can easily think of the change or the replacement, should be covered within the scope of the utility model.The protection of the utility model Range should be subject to the protection scope in claims.

Claims (10)

1. a kind of robot, including pedestal, driving body, extending bracket, guide rod, spring, gear and rack assembly；

The driving body includes ontology and output shaft, and the ontology of the driving body is mounted on the pedestal, the extending bracket One end and the ontology of the driving body fix, the first spring support plate, institute are fixed on the other end of the extending bracket Gear is stated to be mounted on the output shaft of the driving body, the rack assembly include the rack gear engaged with the gear and The second spring supporting plate being fixed on one end of the rack gear, the spring are set on the guide rod and are compressed in described first Between spring support plate and the second spring supporting plate, the decrement of the spring constantly changes with the movement of the rack gear；

It is characterized by:

The robot further includes guidance set, and the guidance set includes:

Rolling element, the rolling element be arranged in the rack gear on the side of the extending bracket；And

Guide groove, the guide groove are arranged on the extending bracket；

Wherein, the rolling element is slidably connected with the guide groove, and the rolling element along the guide groove glide direction with The direction of motion of the rack gear is consistent.

2. robot according to claim 1, which is characterized in that the guide groove is kidney slot.

3. robot according to claim 2, which is characterized in that the length of the guide groove is most not less than the spring Big compression travel.

4. robot according to claim 1, which is characterized in that the rolling element is bearing, the second spring supporting plate On bearing mounts is installed, the bearing is mounted on the second spring supporting plate by the bearing mounts.

5. robot according to claim 4, which is characterized in that the second spring supporting plate is to the extending bracket direction It is protruding with mounting portion, the bearing mounts is arranged on the mounting portion.

6. robot according to claim 5, which is characterized in that the guidance set further includes guide rail and sliding block, described Guide rail be arranged in the rack gear on the side of the extending bracket, the sliding block is arranged on the extending bracket, institute Sliding block is stated to be slidably connected with the guide rail.

7. robot according to claim 6, which is characterized in that the guide rail has far from the second spring supporting plate The second end of first end and the close second spring supporting plate, the second end are abutted against with the mounting portion.

8. robot described in any one of -6 according to claim 1, which is characterized in that

The guide rod includes the first guide rod and the second guide rod；

The first end of first guide rod is fixed with first spring support plate, and the second end of first guide rod is vacantly arranged；

The first end of second guide rod is fixed with the second spring supporting plate, and the second end of second guide rod is vacantly arranged, There is spacing between the second end of first guide rod and the second end of second guide rod；The spring is set in described first On guide rod and second guide rod and it is compressed between first spring support plate and the second spring supporting plate.

9. robot according to claim 8, which is characterized in that first guide rod and second guide rod all include gold The noise reduction body for belonging to the body of rod and being set in outside the metallic rod body.

10. robot according to claim 9, which is characterized in that the material of the noise reduction body is self-lubricating material.