A waist structure for a robot

Abstract

The utility model relates to the technical field of robot equipment, and discloses a waist structure for a robot, comprising a rotating motor, a rotating frame is rotatably connected to the middle part of the top of the rotating motor, motor seats are fixedly connected to the left and right sides of the outer bottom end of the rotating frame, a rotating motor is fixedly connected to the bottom end of the motor seat, a rotating motor is rotatably connected to the middle part of the right side of the rotating motor, a bearing seat is fixedly connected to the left, middle and right sides of the inner side of the rotating frame, a rotating bearing is rotatably connected to the inner side of the bearing seat, and a conveying frame is fixedly connected to the front and rear parts of the inner side of the rotating bearing. In the utility model, sheet materials are conveyed by conveying rollers inside the conveying frame, the conveying frame is adjusted 360 degrees in horizontal and vertical directions by a rolling motor and a rotating motor, and the sheet materials are corrected by a correction rod arranged in the roller gap between the conveying platforms, thereby improving the efficiency of subsequent processing processes.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a waist structure for a robot. Background Art

[0002] An industrial robot is an automated mechanical device. It has the following key features: First, it has a high degree of accuracy and repeatability, can accurately perform preset actions and tasks, and ensure stable product quality. Second, it has strong strength and endurance, can work continuously for a long time, and complete high-intensity operations such as carrying heavy objects and performing high-precision processing. Furthermore, industrial robots are programmable and can be flexibly programmed according to different production processes and needs to adapt to a variety of production tasks. It usually consists of a mechanical body, a control system, a drive system, and a perception system. The mechanical body provides physical support and movement ability; the control system is like the brain, commanding the robot's movements; the drive system provides power; and the perception system enables the robot to perceive the surrounding environment. Industrial robots play a vital role in modern industrial production and can be used in many fields such as welding, assembly, handling, spraying, and polishing. They have greatly improved production efficiency, reduced labor costs, improved product quality, and promoted the development of industrial intelligence and automation.

[0003] The waist structure of the robot plays an important role in its overall design. It usually has the following characteristics and functions: Flexible rotation: It can achieve multi-angle rotation, allowing the robot to flexibly change direction and posture. Support and balance: Provide stable support for the upper body and arms, etc., to help maintain the overall balance of the robot. Carrying capacity: Able to withstand a certain weight and force to meet various task requirements. High-precision movement: Ensure the accuracy and precision of the movement. The waist structure of the robot may include various joints, drive devices, transmission mechanisms, etc. For example, some joints driven by motors use precise transmission systems to achieve flexible movement of the waist; others may use hydraulic or pneumatic devices to enhance their power and carrying capacity. The waist structure of different types of robots will be designed according to specific application scenarios and functional requirements to meet the efficient operation of robots in different fields such as industrial production, service industry, scientific research and exploration.

[0004] Existing industrial robots fail to properly flip and adjust the angle of sheets when conveying and transporting sheets, which can easily lead to processing errors in the subsequent processing process, resulting in product scrapping and waste of raw materials. In addition, sheets of different sizes need to be adjusted in size each time they are used, affecting the processing efficiency of the sheets. Utility Model Content

[0005] In order to make up for the above shortcomings, the utility model provides a waist structure for a robot, aiming to improve the problems in the prior art that the robot equipment is not properly positioned for sheet material conveying and handling and the efficiency of adjusting different sheet material sizes is low, which affects the processing efficiency.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a waist structure for a robot, comprising a rotating motor, a rotating frame is rotatably connected to the middle of the top of the rotating motor, the left and right sides of the outer bottom end of the rotating frame are fixedly connected to the motor seat, the bottom end of the motor seat is fixedly connected to the rotating motor, the right middle part of the rotating motor is rotatably connected to the rotating wheel, the left, middle and right sides of the inner side of the rotating frame are fixedly connected to the bearing seat, the inner side of the bearing seat is rotatably connected to the rotating bearing, the front and rear parts of the inner side of the rotating bearing are fixedly connected to the conveying frame, and the left and right ends of the conveying frame are fixedly connected to the rotating disk. , a conveying wheel frame is slidably connected to the middle upper and middle lower parts of the conveying frame, and a limiting block is fixedly connected to the left and right sides of the front and rear ends of the conveying wheel frame. A positioning rod is slidably connected to the middle part of the top of the limiting block, and a reset spring is inserted into the bottom of the outer side of the positioning rod. A transmission shaft is fixedly connected to the inner side of the conveying wheel frame equidistantly from left to right, and a transmission wheel is rotatably connected to the middle part of the outer side of the transmission shaft. Electromagnetic pushers are provided on the left and right sides of the middle of the conveying frame, and reset rods are fixedly connected to the upper and lower sides of the rear end of the electromagnetic pusher, and a correction frame is fixedly connected to the rear end of the reset rod, and correction rods are rotatably connected between the correction frames.

[0007] As a further description of the above technical solution:

[0008] A bearing groove is provided in the middle of the inner side of the bearing seat, and lubricating oil is added into the bearing groove.

[0009] As a further description of the above technical solution:

[0010] A rotating groove is provided in the middle of the outer side of the rotating disk, and a transmission tooth is provided in the rotating groove.

[0011] As a further description of the above technical solution:

[0012] Transmission teeth are arranged on the outer side of the rotating wheel.

[0013] As a further description of the above technical solution:

[0014] A fixing ring is fixedly connected between the right middle part and the left middle part of the conveying frame.

[0015] As a further description of the above technical solution:

[0016] The upper and lower parts of the left and right sides of the front end of the conveying frame are provided with sliding grooves.

[0017] As a further description of the above technical solution:

[0018] A pushing spring is fixedly connected to the middle of the electromagnetic pusher, and the electromagnetic pusher is connected to a power line.

[0019] As a further description of the above technical solution:

[0020] The outer side of the correction rod adopts a rubber wheel.

[0021] The utility model has the following beneficial effects:

[0022] 1. In the utility model, the sheet material is transported by the conveying rollers inside the conveying frame, and the conveying frame is adjusted 360° in the vertical direction by the rolling motor on the conveying frame, and the rotating motor at the bottom is adjusted 360° in the horizontal direction of the conveying frame.

[0023] 2. In the utility model, the sheet material is corrected by a correction rod arranged in the roller gap between the conveying platforms, so that the sheet material can be corrected quickly during the conveying process, thereby improving the efficiency of the subsequent processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a three-dimensional diagram of a waist structure for a robot proposed by the utility model;

[0025] Figure 2 This is a schematic diagram of the structure of a rotating frame for the waist structure of a robot proposed by the utility model;

[0026] Figure 3 This is a schematic structural diagram of a rotating frame for a waist structure of a robot proposed by the utility model;

[0027] Figure 4 This is a schematic structural diagram of a conveying frame for the waist structure of a robot proposed by the utility model.

[0028] Legend:

[0029] 1. Rotating motor; 2. Rotating frame; 3. Rotating motor; 4. Rotating wheel; 5. Motor seat; 6. Conveying frame; 7. Rotating disk; 8. Rotating bearing; 9. Fixed ring; 10. Conveying wheel frame; 11. Transmission shaft; 12. Transmission wheel; 13. Limit block; 14. Positioning rod; 15. Reset spring; 16. Correction rod; 17. Correction frame; 18. Reset rod; 19. Electromagnetic pusher; 20. Bearing seat. DETAILED DESCRIPTION

[0030] 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.

[0031] Reference Figure 1-Figure 2 , the utility model provides an embodiment: a waist structure for a robot, comprising a rotating motor 1, a rotating frame 2 is rotatably connected to the middle of the top of the rotating motor 1, a motor seat 5 is fixedly connected to the left and right sides of the outer bottom of the rotating frame 2, a rotating motor 3 is fixedly connected to the bottom of the motor seat 5, a rotating motor 3 is rotatably connected to the middle of the right side of the rotating motor 3, a bearing seat 20 is fixedly connected to the left, middle and right sides of the inner side of the rotating frame 2, a rotating bearing 8 is rotatably connected to the inner side of the bearing seat 20, a conveying frame 6 is fixedly connected to the front and rear parts of the inner side of the rotating bearing 8, and a rotating disk 7 is fixedly connected to the left and right ends of the conveying frame 6, and the rotating wheel 4 is driven to rotate by the rotating motor 3 on the rotating frame 2, so that the rotating wheel 4 controls the rotating disk 7 to adjust the conveying frame 6 360° in the vertical direction, and at the same time, the rotating motor 1 at the bottom rotates, so that the rotating frame 2 is adjusted 360° in the horizontal direction.

[0032] Reference Figure 1 and Figure 3-Figure 4 The upper and lower middle parts of the conveying frame 6 are slidably connected with a conveying wheel frame 10, and the front and rear ends of the conveying wheel frame 10 are fixedly connected to the left and right sides of the limited block 13, and the middle part of the top of the limited block 13 is slidably connected with a positioning rod 14, and the bottom of the outer side of the positioning rod 14 is sleeved with a reset spring 15. The inner side of the conveying wheel frame 10 is equidistantly fixedly connected with a transmission shaft 11 from left to right, and the middle part of the outer side of the transmission shaft 11 is rotatably connected with a transmission wheel 12. Electromagnetic pushers 19 are arranged on the left and right sides of the middle of the conveying frame 6, and the upper and lower sides of the rear end of the electromagnetic pusher 19 are fixedly connected with a reset rod 18, and the rear end of the reset rod 18 is fixedly connected with a correction frame 17, and between the correction frames 17 The correction rod 16 is equidistantly connected to the conveying wheel frame 10, and the conveying wheel frame 10 conveys the sheet material in the conveying frame 6 under the restriction of the positioning rod 14 in the middle of the limit block 13. At the same time, the reset spring 15 on the positioning rod 14 squeezes the conveying wheel frame 10 toward the middle and fixes the sheet material in the middle. Subsequently, the electromagnetic pusher 19 is energized to adsorb to the conveying frame (6), so that the reset rod 18 drives the correction rod 16 on the correction frame 17 to squeeze toward the middle, and corrects the sheet material fixed between the conveying wheel frames 10. After power is cut off, the electromagnetic pusher 19 is pushed by the push spring to make the correction rod 16 return to its original position.

[0033] Reference Figure 1-Figure 4A bearing groove is provided in the middle of the inner side of the bearing seat 20, and lubricating oil is added to the bearing groove. A rotating groove is provided in the middle of the outer side of the rotating disk 7, and a transmission tooth is provided in the rotating groove. A transmission tooth is provided on the outer side of the rotating wheel 4. A fixing ring 9 is fixedly connected to the right middle and left middle parts of the conveying frame 6. Sliding grooves are provided on the upper and lower parts of the left and right sides of the front end of the conveying frame 6. A push spring is fixedly connected to the middle of the electromagnetic pusher 19, and the electromagnetic pusher 19 is connected to a power cord. A rubber wheel is used on the outer side of the correction rod 16.

[0034] Working principle: the sheet material is transported to the conveying wheel frame 10, and the conveying wheel frame 10 conveys the sheet material in the conveying frame 6 under the restriction of the positioning rod 14 in the middle of the limit block 13. At the same time, the reset spring 15 on the positioning rod 14 squeezes the conveying wheel frame 10 to the middle and fixes the sheet material in the middle. Subsequently, the electromagnetic pusher 19 is energized to adsorb to the conveying frame (6), so that the reset rod 18 drives the correction rod 16 on the correction frame 17 to squeeze to the middle, and corrects the sheet material fixed between the conveying wheel frames 10. After power failure, the electromagnetic pusher 19 pushes the correction rod 16 back to its original position under the push of the push spring, and then drives the rotating wheel 4 to rotate through the rotating motor 3 on the rotating frame 2, prompting the rotating wheel 4 to control the rotating disk 7 to adjust the conveying frame 6 360° in the vertical direction, and at the same time, the rotating motor 1 at the bottom rotates, prompting the rotating frame 2 to adjust the angle 360° in the horizontal direction.

[0035] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A waist structure for a robot, comprising a rotary motor (1), characterized in that: The middle part of the top of the rotating motor (1) is rotatably connected to a rotating frame (2), the left and right sides of the outer bottom end of the rotating frame (2) are fixedly connected to motor seats (5), the bottom end of the motor seat (5) is fixedly connected to a rotating motor (3), the middle part of the right side of the rotating motor (3) is rotatably connected to a rotating wheel (4), the left, middle and right sides of the inner side of the rotating frame (2) are fixedly connected to a bearing seat (20), the inner side of the bearing seat (20) is rotatably connected to a rotating bearing (8), the inner front and rear parts of the rotating bearing (8) are fixedly connected to a conveying frame (6), the left and right ends of the conveying frame (6) are fixedly connected to a rotating disk (7), the upper and middle parts of the conveying frames (6) are slidably connected to a conveying wheel frame (10), and the conveying The front and rear ends of the wheel frame (10) are fixedly connected to the left and right sides of the limit blocks (13), the middle part of the top of the limit blocks (13) is slidably connected to a positioning rod (14), the outer bottom of the positioning rod (14) is sleeved with a reset spring (15), the inner side of the conveying wheel frame (10) is fixedly connected to a transmission shaft (11) equidistantly from left to right, the middle part of the outer side of the transmission shaft (11) is rotatably connected to a transmission wheel (12), the middle part of the conveying frame (6) is provided with electromagnetic pushers (19) on the left and right sides of the middle part, the upper and lower sides of the rear end of the electromagnetic pushers (19) are fixedly connected to reset rods (18), the rear end of the reset rods (18) is fixedly connected to a correction frame (17), and the correction frames (17) are rotatably connected to correction rods (16) equidistantly.

2. A waist structure for a robot according to claim 1, characterized in that: A bearing groove is provided in the middle of the inner side of the bearing seat (20), and lubricating oil is added into the bearing groove.

3. A waist structure for a robot according to claim 1, characterized in that: A rotating groove is provided in the middle of the outer side of the rotating disk (7), and a transmission tooth is provided in the rotating groove.

4. The waist structure for a robot according to claim 1, characterized in that: Transmission teeth are provided on the outer side of the rotating wheel (4).

5. The waist structure for a robot according to claim 1, characterized in that: A fixing ring (9) is fixedly connected to the right middle part and the left middle part of the conveying frame (6).

6. The waist structure for a robot according to claim 1, characterized in that: The conveying frame (6) is provided with sliding grooves at the upper and lower parts of the left and right sides of the front end.

7. The waist structure for a robot according to claim 1, characterized in that: A pushing spring is fixedly connected to the middle of the electromagnetic pusher (19), and the electromagnetic pusher (19) is connected to a power line.

8. The waist structure for a robot according to claim 1, characterized in that: The outer side of the correction rod (16) adopts a rubber wheel.

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