Four-axis column robot

Abstract

The application relates to the technical field of robots, in particular to a four-axis vertical column robot which comprises a mounting seat, a groove is formed in the top of the mounting seat, a robot seat body is arranged in the groove, a driving mechanism is arranged on the mounting seat and used for pulling the robot seat body to move into the groove so as to complete the matching installation of the robot seat body and the mounting seat, wherein the bottom wall of the groove comprises a horizontal section, an inclined section and an arc-shaped section, the arc-shaped section is used for connecting the horizontal section and the inclined section, the existing four-axis vertical column robot structure is improved, the improved four-axis vertical column robot changes the installation of the robot seat body and the mounting seat through the traditional carrying mode into the installation of the robot seat body and the mounting seat through the pulling mode of the driving mechanism, the structure design of the driving mechanism is simple and reasonable, in the installation process, the simple operation effect can be achieved, and the time and labor saving effect can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a four-axis column robot. BACKGROUND

[0002] In recent years, with the continuous rise of labor costs, traditional manufacturing is gradually transforming into intelligent manufacturing. Industrial robots are applied to various fields due to their low cost and high efficiency, showing a strong development trend. However, the four-axis column swing arm robot on the market needs to be carried to the seat by multiple workers before use, and then the user needs to use tools to repeatedly operate multiple screws to install it, which is relatively complicated and troublesome. Patent No. CN220660851U discloses a four-axis column swing arm robot, which comprises a base, a mounting seat is fixedly installed on the top of the base, a groove is formed in the top of the mounting seat, sliding rails are formed in the left and right sides inside the groove, a wheel groove is formed in the inside lower part of the groove, a small roller is connected in the inside of the wheel groove, a robot seat body is fixedly installed on the top of the small roller, sliding blocks are arranged on the left and right sides of the robot seat body, a rotating shaft body is connected in the inside of the robot seat body, a supporting column is connected to the top of the rotating shaft body, and a hydraulic rod is further arranged on the robot body. The small roller under the robot seat body rolls on the ground, then the plate is sent into the groove inside the mounting seat from the inclined plate on one side, and finally the plate is locked and fixed by the fixing bolts, thereby facilitating the fixing and installation of the robot.

[0003] However, this patent still has the following problems: when the plate is sent into the groove inside the mounting seat, the robot seat body still needs to be moved upward to be connected and fixed with the mounting seat, which still has the problems of complex operation and time and labor consumption. In order to solve the above problems, a four-axis column robot is proposed in the present application. SUMMARY

[0004] To achieve the above-mentioned purpose, the present application provides a four-axis column robot, which comprises:

[0005] a mounting seat, a groove is formed in the top of the mounting seat;

[0006] a robot seat body arranged in the groove;

[0007] a driving mechanism arranged on the mounting seat, used for pulling the robot seat body to move into the groove, so as to complete the matching installation of the robot seat body and the mounting seat;

[0008] wherein the bottom wall of the groove comprises a horizontal segment, an inclined segment, and an arc segment, and the arc segment is used for connecting the horizontal segment and the inclined segment.

[0009] Optionally, the driving mechanism comprises:

[0010] a moving seat movably arranged in the horizontal section, the robot seat body being stored in the moving seat, the moving seat being in a U-shaped structure;

[0011] a traction rope, one end of which is fixedly connected to the outer side wall of the moving seat, and the other end of which extends into a supporting box, the supporting box being fixedly inserted into the mounting seat;

[0012] a winding shaft movably arranged in the supporting box, for winding the traction rope;

[0013] a first rotating rod, one end of which is fixedly connected to the winding shaft;

[0014] a driving motor fixedly arranged on the outer side wall of the supporting box, the driving end of the driving motor being connected to the other end of the first rotating rod.

[0015] Optionally, the guiding mechanism is further included, the guiding mechanism being used for guiding the movement of the moving seat along the bottom wall of the groove body, the guiding mechanism comprising:

[0016] a first guiding groove arranged on the bottom wall of the groove body;

[0017] a second guiding groove arranged on the bottom wall of the groove body, the second guiding groove being in communication with the first guiding groove, the size of the cavity of the first guiding groove being smaller than the size of the cavity of the second guiding groove;

[0018] a connecting assembly movably arranged in the first guiding groove and the second guiding groove, and the upper end of the connecting assembly being connected to the bottom wall of the moving seat.

[0019] Optionally, the connecting assembly comprises:

[0020] a fixed seat fixedly inserted into the bottom wall of the moving seat;

[0021] a telescopic rod fixedly arranged on the lower end surface of the fixed seat;

[0022] a telescopic cylinder movably sleeved on the telescopic rod;

[0023] a telescopic spring wound on the telescopic rod, the two ends of the telescopic spring being fixedly connected to the side wall of the telescopic rod and the outer side wall of the telescopic cylinder, respectively;

[0024] a sliding assembly connected to the lower end of the telescopic cylinder;

[0025] wherein, the telescopic rod, the telescopic cylinder and the telescopic spring are movably arranged in the first guiding groove, and the sliding assembly is movably arranged in the second guiding groove.

[0026] Optionally, the sliding assembly comprises:

[0027] A fixed rod is fixedly arranged on the lower end of the telescopic cylinder;

[0028] A swing ball is fixedly arranged on the lower end of the fixed rod;

[0029] A sliding block is movably arranged in the second guide slot, the swing slot is arranged on the sliding block, and the swing ball is movably arranged in the swing slot, wherein the opening size of the swing slot is between the diameter of the fixed rod and the diameter of the swing ball.

[0030] Optionally, the supporting mechanism is further provided, which is in abutment with the moving seat from the bottom at the inclined section, and the supporting mechanism comprises:

[0031] An abutment rod is movably arranged in the first guide slot and the second guide slot, and the abutment rod is arranged in abutment with the connecting assembly;

[0032] A first slot is arranged on the mounting seat, the first slot is connected with the second guide slot, the abutment rod is movably arranged in the first slot, and the lower end of the abutment rod is in sliding connection with the bottom wall of the first slot;

[0033] A first straight rack is fixedly arranged on the side wall of the abutment rod, and the first straight rack is movably arranged in the first slot;

[0034] A drive gear is in meshing connection with the first straight rack;

[0035] A second rotating rod is fixedly inserted in the middle part of the drive gear, and the second rotating rod is rotatably arranged in the first slot;

[0036] A second straight rack is in meshing connection with the drive gear;

[0037] A supporting plate is fixedly arranged on the side wall of the second straight rack, and the supporting plate is movably arranged in the first slot, and the supporting plate is arranged in abutment with the moving seat.

[0038] Optionally, the supporting mechanism further comprises a guide support assembly, and the guide support assembly comprises:

[0039] A guide support rod is fixedly arranged on the lower end of the supporting plate;

[0040] A guide support cylinder is fixedly arranged on the bottom wall of the first slot, and the guide support cylinder is movably sleeved on the guide support rod;

[0041] A guide support spring is arranged outside the guide support rod, and two ends of the guide support spring are fixedly connected to the side wall of the guide support rod and the outer side wall of the guide support cylinder, respectively.

[0042] Optionally, the locking mechanism is further included, which synchronously locks the robot seat body in the moving seat when the robot seat body is installed into the mounting seat, and the locking mechanism comprises:

[0043] A moving plate is arranged in mutual abutment with the supporting plate.

[0044] A second groove is formed in the bottom wall of the moving seat, and the moving plate is movably arranged in the second groove.

[0045] A first push-pull rod is movably arranged in the through hole, one end of the first push-pull rod is hingedly connected to the moving plate, and the other end of the first push-pull rod is hingedly connected to a second push-pull rod, and the second push-pull rod is movably arranged in the third groove.

[0046] A locking plate is fixedly connected to the second push-pull rod, and the locking plate is arranged in mutual abutment with the robot seat body.

[0047] Optionally, the locking mechanism further comprises:

[0048] A locking spring is movably arranged in the second groove, the lower end of the locking spring is fixedly connected to the upper end face of the moving plate, and the upper end of the locking spring is fixedly connected to the top wall of the second groove.

[0049] The number of the locking springs is at least several, and the several locking springs are arranged at equal distances.

[0050] Optionally, the driving mechanism further comprises:

[0051] A guide tube is fixedly arranged at one end on the inner side wall of the support box and is suspended in the support box at the other end, and the traction rope is movably arranged in the guide tube.

[0052] The guide tube is in L-shaped structure, the guide tube guides the traction rope to change from a horizontal state to a vertical state, so that the traction rope is wound on the winding shaft in the vertical direction.

[0053] The beneficial effects of the present application are as follows:

[0054] The application improves the existing four-axis column robot structure, the improved four-axis column robot changes the traditional carrying mode to realize the installation of the robot seat and the mounting seat, and changes the driving mechanism to realize the installation of the robot seat and the mounting seat, and the structure of the driving mechanism is simple and reasonable, and the installation process is simple and time-saving. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure.

[0056] Figure 2 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure. Figure 1 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure.

[0057] Figure 3 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure. Figure 2 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure.

[0058] Figure 4 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure. Figure 2 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure.

[0059] Figure 5 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure. Figure 4 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure.

[0060] Figure 6 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure.

[0061] Figure 7 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure. Figure 6 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure.

[0062] Figure 8 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure.

[0063] Figure 9 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure. Figure 8 The embodiment structure diagram of the four-axis column robot of the application is shown in the figure.

[0064] BRIEF DESCRIPTION OF DRAWINGS

[0065] The mounting base 1, the groove body 2, the horizontal section 21, the inclined section 22, the arc-shaped section 23, the robot base 3, the driving mechanism 4, the moving base 41, the traction rope 42, the guide pipe 43, the winding shaft 44, the first rotating rod 45, the driving motor 46, the support box 47, the guide mechanism 5, the first guide groove 51, the second guide groove 52, the connecting assembly 53, the fixing base 531, the telescopic rod 532, the telescopic cylinder 533, the telescopic spring 534, the sliding assembly 535, the fixed rod 5351, the swing ball 5352, the swing groove 5353, the sliding block 5354, the supporting mechanism 6, the abutting rod 61, the first groove 62, the first straight rack 63, the driving gear 64, the second rotating rod 65, the second straight rack 66, the supporting plate 67, the guide support assembly 68, the guide support rod 681, the guide support cylinder 682, the guide support spring 683, the locking mechanism 7, the moving plate 71, the second groove 72, the locking spring 73, the third groove 74, the through hole 75, the first push-pull rod 76, the second push-pull rod 77, and the locking plate 78. DETAILED DESCRIPTION

[0066] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application. Unless otherwise defined, the technical terms or scientific terms used herein should be understood as the common meanings of the same by those of ordinary skill in the art to which the present application belongs. The similar words such as “comprise” used herein mean that the elements or objects before the words cover the elements or objects listed after the words and their equivalents, and do not exclude other elements or objects.

[0067] In view of the problems in the prior art, the embodiments of the present application provide a four-axis column robot, which comprises Figure 1As shown, the four-axis column robot comprises: a groove 2 is opened in the top of the mounting seat 1; a robot seat body 3 is arranged in the groove 2; a driving mechanism 4 is arranged on the mounting seat 1, used for pulling the robot seat body 3 to move into the groove 2, so as to complete the matching installation of the robot seat body 3 and the mounting seat 1; wherein the bottom wall of the groove 2 comprises a horizontal section 21 and an inclined section 22, and an arc-shaped section 23 for connecting the horizontal section 21 and the inclined section 22. This embodiment improves the existing four-axis column robot structure. The improved four-axis column robot changes the traditional installation of the robot seat body 3 and the mounting seat 1 through carrying into the installation through pulling by the driving mechanism 4. The structure design of the driving mechanism 4 is simple and reasonable. In the installation process, it can not only achieve the effect of simple operation, but also achieve the effect of saving time and effort.

[0068] In one embodiment, as shown in Figure 2 and Figure 3 The driving mechanism 4 comprises:

[0069] A moving seat 41 is movably arranged in the horizontal section 21, the robot seat body 3 is stored in the moving seat 41, and the moving seat 41 has a U-shaped structure; one end (which can be understood as the left end) of a traction rope 42 is fixedly connected to the outer side wall of the moving seat 41, and the other end (which can be understood as the right end) extends into a support box 47; the support box 47 is fixedly inserted into the mounting seat 1; a winding shaft 44 is movably arranged in the support box 47 and used for winding the traction rope 42; one end (which can be understood as the right end) of a first rotating rod 45 is fixedly connected to the winding shaft 44; a driving motor 46 is fixedly arranged on the outer side wall of the support box 47, and the driving end of the driving motor 46 is connected to the other end (which can be understood as the left end) of the first rotating rod 45.

[0070] Specifically, as shown in Figure 3 The driving mechanism 4 further comprises: one end (which can be understood as the right end) of a guide pipe 43 is fixedly arranged on the inner side wall of the support box 47, and the other end (which can be understood as the left end) is suspended in the support box 47; the traction rope 42 is movably arranged in the guide pipe 43. Wherein, the guide pipe 43 has an L-shaped structure, and the guide pipe 43 guides the traction rope 42 to change from a horizontal state to a vertical state, so that the traction rope 42 is wound on the winding shaft 44 in the vertical direction. In one example, a hole is opened in the support box 47, the hole is in communication with the guide pipe 43, and the traction rope 42 is movably arranged in the hole and the guide pipe 43.

[0071] During operation, in the first stage (the robot seat 3 placement stage): during this process, the mobile seat 41 is tilted and set within the tilt section 22, and the right end of the mobile seat 41 is in contact with the ground. At this time, the robot seat 3 can be placed on the mobile seat 41 through convenient operation.

[0072] The second stage (installation of robot base 3 and mounting base 1): During this process, the drive motor 46 is started. The operation of the drive motor 46 will cause the first rotating rod 45 to rotate. The rotation of the first rotating rod 45 will cause the winding shaft 44 to rotate. The rotation of the winding shaft 44 will cause the traction rope 42 to wind. The winding of the traction rope 42 will cause the traction rope 42 to move to the left. The movement of the traction rope 42 will pull the moving seat 41 to the left. The leftward movement of the moving seat 41 will cause the robot base 3 to move to the left. As the pulling continues, the moving seat 41 will move from an inclined state to a horizontal state. When the left end of the moving seat 41 abuts against the left side wall of the groove 2, the installation of the robot base 3 and mounting base 1 is completed.

[0073] The third stage (disassembly and assembly of robot base 3 and mounting base 1): In this process, compared with the second stage, the drive motor 46 is reversed. The operation of the drive motor 46 will cause the winding shaft 44 to rotate in the opposite direction, thereby loosening the traction rope 42. Then, manually or with the help of tools, pull the moving base 41 to the right. At this time, the moving base 41 will perform a reset movement until the right end of the moving base 41 touches the ground again. Then, remove the robot base 3 from the moving base 41 to complete the disassembly and assembly of robot base 3 and mounting base 1.

[0074] In order to ensure that the movement of the movable seat 41 is limited to the bottom wall of the groove 2, in one embodiment, as shown in example 2, ... Figure 3 and Figure 4 As shown, the four-axis column robot also includes a guiding mechanism 5, which guides the moving base 41 to move along the bottom wall of the tank 2. The guiding mechanism 5 includes:

[0075] A first guide groove 51 is formed on the bottom wall of the groove body 2; a second guide groove 52 is formed on the bottom wall of the groove body 2, and the second guide groove 52 is interconnected with the first guide groove 51. The cavity size of the first guide groove 51 is smaller than the cavity size of the second guide groove 52. Figure 5 As shown; the connecting component 53 is movably disposed within the first guide groove 51 and the second guide groove 52, and the upper end of the connecting component 53 is connected to the bottom wall of the movable seat 41.

[0076] In this embodiment, the lower end of the moving seat 41 is always in contact with the bottom wall of the groove body 2 and is slidably connected, so that the moving seat 41 does not shake in the groove body 2 when moving, thereby making the installation or disassembly process of the robot seat 3 more stable.

[0077] Because the groove depth is inconsistent at the positions of the horizontal section 21 and the inclined section 22 of the groove body 2, in order to enable the guide mechanism 5 to always play a guiding role and not cause the device to be stuck, in an embodiment, as shown in Figure 4 the connecting assembly 53 includes a fixed seat 531 fixedly inserted into the bottom wall of the moving seat 41, a telescopic rod 532 fixedly arranged on the lower end face of the fixed seat 531, a telescopic cylinder 533 movably sleeved on the telescopic rod 532, a telescopic spring 534 woundly arranged on the telescopic rod 532, and two ends of the telescopic spring 534 fixedly connected to the side wall of the telescopic rod 532 and the outer side wall of the telescopic cylinder 533, respectively, and a sliding assembly 535 connected to the lower end of the telescopic cylinder 533. Among them, the telescopic rod 532, the telescopic cylinder 533, and the telescopic spring 534 are movably arranged in the first guide groove 51, and the sliding assembly 535 is movably arranged in the second guide groove 52.

[0078] In this embodiment, the connecting assembly 53 has a telescopic function in the vertical direction, so that the connecting assembly 53 can adapt to different groove depths. Specifically, when the moving seat 41 moves from the horizontal stage to the inclined stage during work, the telescopic rod 532 moves outward relative to the telescopic cylinder 533, so that the length of the connecting assembly 53 increases.

[0079] In this embodiment, the connecting assembly 53 is rationally designed, and the telescopic cylinder 533 and the sliding block 5354 can swing by a certain radian, so that when the moving seat 41 moves from the horizontal stage to the inclined stage, it can be ensured that the sliding block 5354 is always parallel to the horizontal section 21 or the inclined section 22.

[0080] It should be noted that the number of the connecting assembly 53 can be several.

[0081] In an embodiment, as shown in Figure 4 the sliding assembly 535 includes a fixed rod 5351 fixedly arranged on the lower end of the telescopic cylinder 533, a swing ball 5352 fixedly arranged on the lower end of the fixed rod 5351, and a sliding block 5354 movably arranged in the second guide groove 52, and a swing groove 5353 is formed in the sliding block 5354, and the swing ball 5352 is movably arranged in the swing groove 5353. Among them, the opening size of the swing groove 5353 is between the diameter of the fixed rod 5351 and the diameter of the swing ball 5352.

[0082] In this embodiment, the sliding assembly 535 is rationally designed. The swinging of the swinging ball 5352 in the swinging groove 5353 can make the sliding block 5354 swing relative to the telescopic cylinder 533, so as to ensure that the sliding block 5354 keeps parallel to the bottom wall of the groove body 2 at any stage.

[0083] In the installation stage of the robot seat 3, when the moving seat 41 is in the horizontal stage, in order to support the moving seat 41 in the inclined section 22, the moving seat 41 is more stable in the installation seat 1, and the damage of the shearing force to the moving seat 41 is reduced. In an embodiment, as shown in Figure 6 and Figure 7 The four-axis column robot further comprises a supporting mechanism 6 which is in contact with the moving seat 41 from the bottom at the inclined section 22, so as to make the moving seat 41 more stable in the installation seat 1 and reduce the damage of the shearing force to the moving seat 41. The supporting mechanism 6 comprises:

[0084] The contact rod 61 is movably arranged in the first guide groove 51 and the second guide groove 52, and is in contact with the connecting assembly 53. The first groove 62 is arranged on the installation seat 1, and is connected with the second guide groove 52. The contact rod 61 is movably arranged in the first groove 62, and the lower end of the contact rod 61 is slidably connected with the bottom wall of the first groove 62. The first straight rack 63 is fixedly arranged on the side wall of the contact rod 61, and is movably arranged in the first groove 62. The driving gear 64 is in mesh with the first straight rack 63. The second rotating rod 65 is fixedly inserted in the middle of the driving gear 64, and is rotatably arranged in the first groove 62. The second straight rack 66 is in mesh with the driving gear 64. The supporting plate 67 is fixedly arranged on the side wall of the second straight rack 66, and is movably arranged in the first groove 62. The supporting plate 67 is in contact with the moving seat 41.

[0085] It is worth noting that the first straight rack 63 and the supporting plate 67 are arranged in a staggered manner.

[0086] The structure of the supporting mechanism 6 is reasonable, and the abutting supporting process of the supporting mechanism 6 can be linked with the left movement of the moving seat 41. It should be noted that the abutting rod 61 is arranged on the left side of the leftmost connecting assembly 53. During work, with the left movement of the connecting assembly 53 on the horizontal section 21, the abutting rod 61 is pushed to move leftward, the left movement of the abutting rod 61 drives the first straight rack 63 to move leftward, the left movement of the first straight rack 63 drives the driving gear 64 to rotate counterclockwise, and the rotation of the driving gear 64 drives the supporting plate 67 to move upward through the second straight rack 66. When the moving seat 41 abuts against the left side wall of the groove body 2, the upper end of the supporting plate 67 abuts against the bottom wall of the moving seat 41, at this time, the supporting plate 67 supports the moving seat 41.

[0087] In an embodiment, as shown in Figure 7 The supporting mechanism 6 further comprises a guiding and supporting assembly 68, the guiding and supporting assembly 68 comprises: a guiding and supporting rod 681 fixedly arranged on the lower end of the supporting plate 67; a guiding and supporting cylinder 682 fixedly arranged on the bottom wall of the first groove 62, the guiding and supporting cylinder 682 movably sleeved on the guiding and supporting rod 681; and a guiding and supporting spring 683 wound on the guiding and supporting rod 681, and the two ends of the guiding and supporting spring 683 are fixedly connected to the side wall of the guiding and supporting rod 681 and the outer side wall of the guiding and supporting cylinder 682 respectively.

[0088] In this embodiment, the guiding and supporting assembly 68 can guide and support the movement of the supporting plate 67, so that the supporting plate 67 only moves in the vertical direction, and can also provide a reset force for the reset movement of the supporting plate 67. Specifically, when the connecting assembly 53 moves rightward and loses the left abutting of the abutting rod 61, the guiding and supporting assembly 68 pulls the supporting plate 67 to move downward, and in this process, the abutting rod 61 is reset to move rightward through the second straight rack 66, the second rotating rod 65 and the first straight rack 63.

[0089] In order to make the device have higher effect and simpler operation process, in an embodiment, as shown in Figure 8 and Figure 9 The four-axis column robot further comprises a locking mechanism 7, which synchronously locks the robot seat body 3 in the moving seat 41 when the robot seat body 3 is installed into the mounting seat 1.

[0090] Specifically, the locking mechanism 7 comprises: a moving plate 71 arranged in abutment with the supporting plate 67.

[0091] A second groove 72 is formed on the bottom wall of the moving seat 41, the moving plate 71 is movably arranged in the second groove 72, a third groove 74 and a through hole 75 are also formed on the moving seat 41, the through hole 75 is used for the communication of the second groove 72 and the third groove 74; a first push-pull rod 76 is movably arranged in the through hole 75, one end of the first push-pull rod 76 is hingedly connected to the moving plate 71, the other end of the first push-pull rod 76 is hingedly connected to a second push-pull rod 77, the second push-pull rod 77 is movably arranged in the third groove 74; a locking plate 78 is fixedly connected to the second push-pull rod 77, and the locking plate 78 is arranged in mutual abutment with the robot seat body 3.

[0092] In this embodiment, the locking process of the locking mechanism 7 can be linked with the abutment process of the supporting mechanism 6, so that the operation difficulty of the equipment can be reduced, and the operation efficiency of the equipment can be improved. Specifically, during work, the upward movement of the supporting plate 67 abuts against the upward movement of the moving plate 71, and the upward movement of the moving plate 71 pushes the second push-pull rod 77 to move left through the first push-pull rod 76, and the left movement of the second push-pull rod 77 moves the locking plate 78 left, and in this process, the robot seat body 3 can be more firmly fixed in the moving seat 41 through clamping.

[0093] The structure of the present application is reasonable, and when the driving mechanism 4 pulls the moving seat 41 to contact the left side wall of the groove of the groove body 2, the abutment process of the supporting mechanism 6 and the locking and clamping fastening process of the locking mechanism 7 can be completed synchronously.

[0094] It is worth noting that in an example, the locking plate 78 can be the right side wall of the moving seat 41, that is, during work, the left movement of the locking plate 78 can reduce the volume of the groove cavity of the moving seat 41, so as to fasten the robot seat body 3 in the mounting seat 1 through clamping.

[0095] In an embodiment, as shown in Figure 8 The locking mechanism 7 further comprises: a locking spring 73 movably arranged in the second groove 72, the lower end of the locking spring 73 is fixedly connected to the upper end face of the moving plate 71, and the upper end of the locking spring 73 is fixedly connected to the top wall of the second groove 72; wherein the number of the locking spring 73 is at least several, and the several locking springs 73 are arranged at equal distances.

[0096] The arrangement of the locking spring 73 can play a guiding and supporting role for the movement of the moving plate 71, and can also provide a reset force for the reset movement of the moving plate 71 and control the unlocking process of the locking plate 78.

[0097] While the embodiments of the application have been illustrated and described in detail, it will be readily apparent to those skilled in the art that various modifications and changes can be made to the embodiments without departing from the scope and spirit of the application. It is therefore intended that the application not be limited to the exact details of implementation and design set forth above, but that the application can include other embodiments as can be readily envisioned by those skilled in the art, and that the present application may be practiced or carried out in various ways.

Claims

1. A four-axis column robot, characterized in that, include: Mounting base (1), the top of which is provided with a groove (2); The robot base (3) is located inside the groove (2); A drive mechanism (4) is provided on the mounting base (1) for pulling the robot seat (3) into the slot (2) to complete the matching installation of the robot seat (3) and the mounting base (1); The bottom wall of the trough (2) includes a horizontal section (21), an inclined section (22), and an arc-shaped section (23), which is used to connect the horizontal section (21) and the inclined section (22). The drive mechanism (4) includes: The mobile seat (41) is movably set within the horizontal section (21), and the robot seat (3) is stored within the mobile seat (41), which has a U-shaped structure. The traction rope (42) has one end fixedly connected to the outer wall of the movable seat (41) and the other end extended into the support box (47), which is fixedly inserted into the mounting base (1); The winding shaft (44) is movably disposed inside the support box (47) and is used to wind the traction rope (42). The first rotating rod (45) is fixedly connected at one end to the winding shaft (44); A drive motor (46) is fixedly mounted on the outer side wall of the support box (47), and the drive end of the drive motor (46) is connected to the other end of the first rotating rod (45). It also includes a guiding mechanism (5) for guiding the movable seat (41) to move along the bottom wall of the groove (2), the guiding mechanism (5) comprising: The first guide groove (51) is formed on the bottom wall of the groove body (2); The second guide groove (52) is formed on the bottom wall of the groove body (2). The second guide groove (52) is connected to the first guide groove (51). The cavity size of the first guide groove (51) is smaller than the cavity size of the second guide groove (52). The connecting component (53) is movably disposed in the first guide groove (51) and the second guide groove (52), and the upper end of the connecting component (53) is connected to the bottom wall of the movable seat (41).

2. The four-axis column robot according to claim 1, characterized in that, The connection component (53) includes: The fixed base (531) is fixedly inserted into the bottom wall of the movable base (41); The telescopic rod (532) is fixedly installed on the lower end surface of the fixed base (531); The telescopic cylinder (533) is movably sleeved outside the telescopic rod (532); A telescopic spring (534) is wound around the telescopic rod (532), and the two ends of the telescopic spring (534) are respectively fixedly connected to the side wall of the telescopic rod (532) and the outer side wall of the telescopic cylinder (533); The sliding assembly (535) is connected to the lower end of the telescopic cylinder (533). The telescopic rod (532), telescopic cylinder (533) and telescopic spring (534) are movably disposed in the first guide groove (51), and the sliding assembly (535) is movably disposed in the second guide groove (52).

3. The four-axis column robot according to claim 2, characterized in that, The sliding component (535) includes: A fixing rod (5351) is fixedly installed on the lower end of the telescopic cylinder (533); The swing ball (5352) is fixedly mounted on the lower end of the fixed rod (5351); A sliding block (5354) is movably disposed in the second guide groove (52). A swing groove (5353) is provided on the sliding block (5354). The swing ball (5352) is movably disposed in the swing groove (5353). The opening size of the swing groove (5353) is between the diameter of the fixed rod (5351) and the diameter of the swing ball (5352).

4. The four-axis column robot according to claim 1, characterized in that, It also includes a support mechanism (6) that abuts against the movable seat (41) from the bottom at the inclined section (22), the support mechanism (6) comprising: An abutting rod (61) is movably disposed within the first guide groove (51) and the second guide groove (52), and the abutting rod (61) is disposed in mutual contact with the connecting assembly (53); The first groove (62) is formed on the mounting base (1). The first groove (62) is connected to the second guide groove (52). The abutment rod (61) is movably disposed in the first groove (62), and the lower end of the abutment rod (61) is slidably connected to the bottom wall of the first groove (62). The first straight rack (63) is fixedly disposed on the side wall of the abutment rod (61), and the first straight rack (63) is movably disposed in the first groove (62); The drive gear (64) meshes with the first spur rack (63); The second rotating rod (65) is fixedly inserted into the middle of the drive gear (64), and the second rotating rod (65) is rotatably disposed in the first groove (62); The second spur rack (66) meshes with the drive gear (64); The support plate (67) is fixedly disposed on the side wall of the second straight rack (66), and the support plate (67) is movably disposed in the first groove (62). The support plate (67) and the movable seat (41) are mutually abutted.

5. The four-axis column robot according to claim 4, characterized in that, The supporting mechanism (6) further includes a guide support assembly (68), which includes: A guide support rod (681) is fixedly installed on the lower end of the support plate (67); A guide support cylinder (682) is fixedly disposed on the bottom wall of the first groove (62), and the guide support cylinder (682) is movably sleeved outside the guide support rod (681); A guide support spring (683) is wound around the outside of the guide support rod (681), and the two ends of the guide support spring (683) are respectively fixedly connected to the side wall of the guide support rod (681) and the outer side wall of the guide support cylinder (682).

6. The four-axis column robot according to claim 4, characterized in that, It also includes a locking mechanism (7), which locks the robot body (3) into the movable seat (41) simultaneously when the robot body (3) is installed into the mounting base (1). The locking mechanism (7) includes: The movable plate (71) is disposed in contact with the supporting plate (67); The second groove (72) is formed on the bottom wall of the movable seat (41), and the movable plate (71) is movably disposed in the second groove (72). The movable seat (41) is also provided with a third groove (74) and a through hole (75). The through hole (75) is used for communication between the second groove (72) and the third groove (74). The first push-pull rod (76) is movably disposed in the through hole (75). One end of the first push-pull rod (76) is hinged to the movable plate (71), and the other end of the first push-pull rod (76) is hinged to the second push-pull rod (77). The second push-pull rod (77) is movably disposed in the third groove (74). The locking plate (78) is fixedly connected to the second push-pull rod (77), and the locking plate (78) is set to abut against the robot seat (3).

7. The four-axis column robot according to claim 6, characterized in that, The locking mechanism (7) further includes: A locking spring (73) is movably disposed in the second groove (72). The lower end of the locking spring (73) is fixedly connected to the upper end surface of the movable plate (71), and the upper end of the locking spring (73) is fixedly connected to the top wall of the second groove (72). The number of the locking springs (73) is at least several, and the several locking springs (73) are arranged at equal distances.

8. The four-axis column robot according to claim 1, characterized in that, The drive mechanism (4) also includes: The guide tube (43) is fixed at one end to the inner wall of the support box (47) and suspended in the support box (47) at the other end. The traction rope (42) is movably inserted in the guide tube (43). The guide tube (43) has an L-shaped structure and guides the traction rope (42) from a horizontal state to a vertical state so that the traction rope (42) is wound on the winding shaft (44) in the vertical direction.

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