Movable seven-degree-of-freedom collaborative robot
By designing the base and support rod structure in a mobile seven-degree-of-freedom cooperative robot, the problem of unstable shaft motion is solved, higher stability and lower working errors are achieved, and the robot's adaptability in special environments is improved. Sex and flexibility.
Patent Information
- Application Number
- CN202421006804.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-10
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2034-05-10
AI Technical Summary
The existing mobile seven-degree-of-freedom cooperative robot is difficult to ensure stability when the shaft body moves, resulting in large working errors.
A structure including a base, a slide groove, a bottom support rod and a top support rod is designed. Through the cooperation of the slide groove and the support rod, the first fixed shaft and the second fixed shaft drive the rotation of the joint to ensure the rotation of the joint during rotation. Stability and further enhance stability through torsion springs and rotary blocks.
It effectively improves the stability of shaft body movement, reduces working errors, and improves the flexibility and flexibility of the robot in special working environments.
Smart Images
Figure CN222290202U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a mobile seven-degree-of-freedom collaborative robot. Background Art
[0002] The patent with publication number CN209579568U proposes a mobile seven-degree-of-freedom intelligent collaborative robot. Compared with the traditional six-axis robot, the utility model not only adds an extra axis to enable the robot to avoid certain specific targets, facilitates the end effector to reach a specific position, can more flexibly adapt to certain special working environments, and improves the kinematic and dynamic characteristics of the robot, but also realizes the flexible use and operation of the seven-degree-of-freedom mechanical arm by adding a movable mobile base, changing the technical limitation that the traditional robot can only be fixed at a certain workflow position of the production line for use, expanding its flexible use, and better applying it to actual production use;
[0003] However, when it is working, due to its large overall length, it is difficult to ensure the stability of the axis during movement, resulting in large working errors. Utility Model Content
[0004] The utility model aims to provide a mobile seven-degree-of-freedom collaborative robot to solve the problem in the prior art that it is difficult to ensure the stability of the axis during movement, resulting in large working errors.
[0005] To achieve the above object, the utility model provides the following technical solutions: a mobile seven-degree-of-freedom collaborative robot, comprising a base, wherein the upper part of the base is folded back and provided with a first joint, a second joint, a third joint, a connecting joint, a fourth joint, a fifth joint, a sixth joint and a seventh joint in sequence;
[0006] A sliding groove is provided on the top surface of the base, and a bottom support rod is slidably connected inside the sliding groove. A top support rod is rotatably installed on the top of the bottom support rod. A first fixed axis is fixed between the side of the first joint away from the second joint and the bottom support rod, and a second fixed axis is rotatably installed between the side of the connecting joint close to the bottom support rod and the top support rod.
[0007] Preferably, the slide groove is a T-shaped groove, and a T-shaped slider is installed at the lower end of the bottom support rod, and the T-shaped slider cooperates with the T-shaped groove.
[0008] Preferably, a bottom support rod is fixed to the top end of the top support rod, a rotating block is fixed to the lower end of the top support rod pair, and the rotating block is rotatably mounted on the central axis.
[0009] Preferably, a torsion spring is sleeved on the outer circumference of the central axis, and both ends of the torsion spring are clamped inside the rotating block.
[0010] Preferably, walking wheels are installed on the lower surface of the base.
[0011] Compared with the prior art, the beneficial effects of the utility model are:
[0012] The utility model is provided with a bottom support rod and a top support rod, and the two are rotatably connected. When the first joint rotates along the center of the base above the base, the first fixed shaft can drive the bottom support rod to rotate, and the bottom support rod can slide inside the slide groove. The bottom support rod can stabilize the rotation of the first joint. When the second joint rotates along the first joint, the rotation of the third joint and the fourth joint can make the top support rod rotate along the bottom support rod. The top support rod can ensure the stability of the connecting joint. When the connecting joint rotates along the third joint, the second fixed shaft will also rotate on the top support rod, further ensuring the stability of the connecting joint. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:
[0014] Figure 1 It is a schematic diagram of the structure of the utility model;
[0015] Figure 2 It is a structural schematic diagram of another state of the utility model;
[0016] Figure 3 This is an exploded view of the bottom support rod and the top support rod of the utility model.
[0017] In the figure: 1. base; 2. first joint; 3. second joint; 4. third joint; 5. connecting joint; 6. fourth joint; 7. fifth joint; 8. sixth joint; 9. seventh joint; 10. bottom support rod; 11. top support rod; 12. slide groove; 13. first support shaft; 14. second support shaft; 15. rotating block; 16. middle shaft; 17. torsion spring. DETAILED DESCRIPTION
[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0019] See also Figure 1As shown, in the embodiment of the utility model, a mobile seven-degree-of-freedom collaborative robot includes a base 1, on the lower surface of which walking wheels are installed, and the upper part of the base 1 is folded in a reverse shape and is provided with a first joint 2, a second joint 3, a third joint 4, a connecting joint 5, a fourth joint 6, a fifth joint 7, a sixth joint 8 and a seventh joint 9 in sequence, the first joint 2 can rotate on the base 1, the second joint 3 can rotate on the first joint 2, the third joint 4 can rotate on the second joint 3, the connecting joint 5 can rotate on the third joint 4, the fourth joint 6 can rotate on the connecting joint 5, the fifth joint 7 can rotate on the fourth joint 6, the sixth joint 8 can rotate on the fifth joint 7, and the seventh joint 9 can rotate on the sixth joint 8;
[0020] Combination Figure 1 and Figure 2 As shown, a slide groove 12 is provided on the top surface of the base 1, and a bottom support rod 10 is slidably connected inside the slide groove 12. A first fixed shaft 13 is fixed between the side of the first joint 2 away from the second joint 3 and the bottom support rod 10. When the first joint 1 rotates along the center of the base 1 above the base 1, the first fixed shaft 13 can drive the bottom support rod 10 to rotate, and the bottom support rod 10 can slide inside the slide groove 12, and the bottom support rod 12 can stabilize the rotation of the first joint 2.
[0021] Continue to refer to Figure 1 and Figure 2 As shown, a top support rod 11 is rotatably installed at the top of the bottom support rod 10, and a second fixed shaft 14 is rotatably installed between the side of the connecting joint 5 close to the bottom support rod 10 and the top support rod 11. When the second joint 3 rotates along the first joint 2, the top support rod 11 can rotate along the bottom support rod 10 due to the rotation of the third joint 4 and the fourth joint 5. The top support rod 10 can ensure the stability of the connecting joint 5. When the connecting joint 5 rotates along the third joint 4, the second fixed shaft 14 will also rotate on the top support rod 11, further ensuring the stability of the fourth joint 5.
[0022] Preferably, the slide groove 12 is a T-shaped groove, and a T-shaped slider is installed at the lower end of the bottom support rod 10, and the T-shaped slider cooperates with the T-shaped groove;
[0023] In this embodiment, a bottom support rod 10 is fixed to the top end of the top support rod 11, and a rotating block 15 is fixed to the lower end of the top support rod 11. The rotating block 15 is rotatably installed on the central axis 16, that is, the rotating block 15 can rotate on the central axis 16 to realize the rotation of the top support rod 11. Preferably, a torsion spring 17 is sleeved on the outer circumference of the central axis 16, and both ends of the torsion spring 17 are clamped in the rotating block 15. The torsion spring 17 can play a stabilizing role.
[0024] The working principle and usage process of the utility model are as follows: when using the device, when the first joint 1 rotates along the center of the base 1 above the base 1, the first fixed axis 13 can drive the bottom support rod 10 to rotate, and the bottom support rod 10 can slide inside the slide groove 12, and the bottom support rod 12 can stabilize the rotation of the first joint 2. When the second joint 3 rotates along the first joint 2, the rotation of the third joint 4 and the fourth joint 5 can make the top support rod 11 rotate along the bottom support rod 10, and the top support rod 10 can ensure the stability of the connecting joint 5. When the connecting joint 5 rotates along the third joint 4, the second fixed axis 14 will also rotate on the top support rod 11, further ensuring the stability of the fourth joint 5.
[0025] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.
Claims
1. A mobile seven-degree-of-freedom collaborative robot, comprising a base (1), characterized in that: The upper part of the base (1) is folded back and is provided with a first joint (2), a second joint (3), a third joint (4), a connecting joint (5), a fourth joint (6), a fifth joint (7), a sixth joint (8) and a seventh joint (9) in sequence; A slide groove (12) is provided on the top surface of the base (1), a bottom support rod (10) is slidably connected inside the slide groove (12), a top support rod (11) is rotatably mounted on the top of the bottom support rod (10), a first fixed shaft (13) is fixed between a side of the first joint (2) away from the second joint (3) and the bottom support rod (10), and a second fixed shaft (14) is rotatably mounted between a side of the connecting joint (5) close to the bottom support rod (10) and the top support rod (11).
2. A mobile seven-degree-of-freedom collaborative robot according to claim 1, characterized in that: The slide groove (12) is a T-shaped groove, and a T-shaped sliding block is installed at the lower end of the bottom support rod (10), and the T-shaped sliding block cooperates with the T-shaped groove.
3. The mobile seven-degree-of-freedom collaborative robot according to claim 1, characterized in that: A bottom support rod (10) is fixed to the top end of the top support rod (11), a rotating block (15) is fixed to the lower end of the top support rod (11), and the rotating block (15) is rotatably mounted on the central axis (16).
4. The mobile seven-degree-of-freedom collaborative robot according to claim 3, characterized in that: A torsion spring (17) is sleeved on the outer circumference of the central shaft (16), and two ends of the torsion spring (17) are clamped inside the rotating block (15).
5. The mobile seven-degree-of-freedom collaborative robot according to claim 1, characterized in that: Travel wheels are mounted on the lower surface of the base (1).