Six-axis robot capable of moving stably

Abstract

The utility model relates to the technical field of six-axis robots, and discloses a stably moving six-axis robot which comprises a base, a robot body is installed at the top of the base, and an adjusting assembly and a limiting assembly are arranged in the base and on the surface of the base; the adjusting assembly comprises a motor used for driving the linkage plate to rotate; the linkage plate is used for driving the movable hole to rotate synchronously; according to the six-axis robot capable of moving stably, through the arranged adjusting assembly, forward rotation or reverse rotation of the motor is started, the linkage plate rotates synchronously, and through synchronous radial movement of the movable holes, the short rods, the movable rods and the universal wheels, the distance between the universal wheels can be increased or decreased, and the robot can adapt to increase of the distance between different annular universal wheels; the moving stability of the robot body can be improved, the electric telescopic rods are started to retract, then the universal wheels can be driven to enter the fixing cylinders, the fixing cylinders support the base, and the using stability of the robot body is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to six -axis robot technical field, concretely is a six -axis robot of mobile stability. BACKGROUND

[0002] Six -axis robot is a precision mechanical arm specially designed for industrial automation, has six rotating joints (shaft), can realize six degrees of freedom movement. These six degrees of freedom include linear movement along X, Y, Z axis, and rotation (roll, pitch and yaw) around these three axes. This design makes six -axis robot can imitate the movement of human arm, has very high flexibility and adaptability, can perform various complex three -dimensional space tasks.

[0003] In order to improve the mobility of six -axis robot, the universal wheel is usually installed at the bottom of its base in the prior art. The design of universal wheel makes the robot can move freely on the plane, and it is convenient to transfer between different stations or flexible layout. However, in the actual use process, the spacing between the universal wheels of the existing six -axis robot is fixed, and cannot be adjusted according to the road conditions or task requirements. Different task scenarios may have different requirements for the mobility of the robot. For example, when moving in a narrow space, smaller spacing between the universal wheels may be more beneficial to the robot to pass through; while in spacious or fast transfer scenarios, larger spacing may be more beneficial to improve the moving efficiency. However, the existing fixed spacing universal wheel design cannot meet such diversified needs, and the center of gravity position of the six -axis robot is crucial to its stability. When the spacing between the universal wheels is fixed, the center of gravity position of the robot is also relatively fixed, and cannot be adjusted according to the road conditions or task requirements to optimize the stability. SUMMARY

[0004] The utility model aims at providing a kind of six -axis robot of mobile stability to solve the problems raised in the above background.

[0005] To achieve the above object, the utility model provides the following technical scheme: a kind of six -axis robot of mobile stability, including base, the top of the base is installed with robot body, the inside and surface of the base are provided with adjusting assembly and limiting component;

[0006] The adjusting assembly includes:

[0007] Motor, motor is used to drive the rotation of linkage plate;

[0008] Linkage plate, linkage plate is used to drive the synchronous rotation of movable hole;

[0009] Short rod, short rod is used to drive the synchronous movement of movable rod.

[0010] Preferably, the motor is fixed at the bottom of the base, the inside of the base is provided with a cavity, the inner wall of the cavity is rotationally connected with a linkage plate, the output shaft of the motor penetrates through the base, the top of the output shaft of the motor is fixed at the bottom of the linkage plate, the surface of the linkage plate is provided with a movable hole, the inner side of the movable hole is abutted with a short rod, the surface of the short rod is fixed with a movable rod, the end away from the short rod of the movable rod penetrates through the base, and the movable rod and the base are slidingly connected, the top of the end away from the short rod of the movable rod is fixed with an electric telescopic rod, the bottom of the end away from the short rod of the movable rod is fixed with a fixed cylinder, the output end of the electric telescopic rod penetrates through the movable rod and the fixed cylinder, and the output end of the electric telescopic rod is provided with a universal wheel at the bottom.

[0011] Preferably, the limiting assembly comprises a fixed block, the fixed block is fixed on the surface of the base, the bottom of the fixed block is fixed with a connecting block, the surface of the connecting block is provided with a sliding groove, the inner wall of the sliding groove is slidingly connected with a clamping block, the surface of the clamping block is fixed with a spring one, one end away from the clamping block of the spring one is fixed on the inner wall of the sliding groove, the surface of the clamping block is fixed with a fixed rod, the end away from the clamping block of the fixed rod penetrates through the connecting block, and the fixed rod and the connecting block are slidingly connected, the surface of the connecting block is rotationally connected with a rotating plate, the surface of the rotating plate is provided with a through hole, the end away from the clamping block of the connecting block is provided with a stabilizing groove, the side close to the connecting block of the rotating plate is provided with a connecting groove, the inner wall of the connecting groove is slidingly connected with a connecting column, the surface of the connecting column is fixed with a spring two, one end away from the connecting column of the spring two is fixed on the inner wall of the connecting groove, and the movable rod is provided with six groups, the surface of one group of the six groups of movable rods is provided with a clamping groove, when the movable rod moves, the surface of the clamping block is abutted with the inner wall of the clamping groove, the clamping block reciprocates into the clamping groove through the spring one, at the same time, the clamping block drives the fixed rod to reciprocate in the through hole, the rotating plate is rotated, the connecting column enters the stabilizing groove, the rotating plate is stabilized, the position of the through hole is staggered with the fixed rod, the surface of the fixed rod is attached to the surface of the rotating plate, and the fixed rod and the clamping block cannot move.

[0012] Preferably, the movable hole is arc-shaped, and the short rod and the movable rod move radially synchronously when the linkage plate rotates.

[0013] Preferably, the end away from the spring one of the clamping block is triangular in cross section, and the inner wall of the clamping groove is abutted with the surface of the clamping block when the movable rod moves, so that the clamping block can be moved into the sliding groove.

[0014] Preferably, the connecting column is arranged as an arc shape away from one end of the spring, and when the rotating plate rotates, the connecting column is in contact with the inner wall of the stabilizing groove, so that the connecting column is moved into the connecting groove, and the rotation of the rotating plate is not affected.

[0015] Compared with the prior art, the mobile stable six-axis robot has the following beneficial effects:

[0016] 1. The mobile stable six-axis robot, by setting the adjusting assembly, the motor is turned on or reversed, the connecting plate is synchronously rotated, the movable hole, the short rod, the movable rod and the universal wheel are synchronously moved radially, the distance between the universal wheels can be increased or decreased, different annular can be adapted, the distance between the universal wheels is increased, the stability of movement is improved, the electric telescopic rod is retracted, the universal wheel is driven into the fixed cylinder, the fixed cylinder supports the base, and the stability of the robot body is improved.

[0017] 2. The mobile stable six-axis robot, by setting the limiting assembly, when the movable rod moves, the surface of the clamping block is in contact with the inner wall of the clamping groove, the clamping block reciprocates into the clamping groove through the spring, the clamping block drives the fixed rod to reciprocate in the through hole, when the adjustment is completed, the rotating plate is rotated, the connecting column is in the stabilizing groove, the rotating plate is stabilized, the position of the through hole is staggered with the fixed rod, the surface of the fixed rod is attached to the surface of the rotating plate, the fixed rod and the clamping block cannot move, the movable rod is limited, external accidental touch of the movable rod is avoided, and the stability is affected. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a front view structural schematic diagram of the utility model;

[0019] Figure 2 It is a side view structural schematic diagram of the utility model;

[0020] Figure 3 It is a bottom view internal structural schematic diagram of the utility model;

[0021] Figure 4 It is a front view structural schematic diagram of the adjusting assembly and the limiting assembly of the utility model;

[0022] Figure 5 It is an exploded sectional view structural schematic diagram of part of the adjusting assembly and the limiting assembly of the utility model;

[0023] Figure 6 It is an exploded sectional view structural schematic diagram of part of the limiting assembly of the utility model;

[0024] Figure 7 It is a sectional view structural schematic diagram of part of the limiting assembly of the utility model.

[0025] In the figure: 1, base; 2, robot body; 3, adjusting assembly; 30, motor; 31, cavity; 32, linkage plate; 33, movable hole; 34, short rod; 35, movable rod; 36, fixed cylinder; 37, electric telescopic rod; 38, universal wheel; 4, limiting assembly; 40, fixed block; 41, connecting block; 42, sliding groove; 43, clamping block; 44, spring I; 45, fixed rod; 46, clamping groove; 47, rotating plate; 48, through hole; 49, stabilizing groove; 400, connecting groove; 401, connecting column; 402, spring II. DETAILED DESCRIPTION

[0026] As Figures 1-7 shown, the utility model provides a kind of technical scheme: a kind of six-axis robot of mobile stability, including base 1, the top of base 1 is equipped with robot body 2, the inside and surface of base 1 are provided with adjusting assembly 3 and limiting assembly 4;Adjusting assembly 3 includes: motor 30, cavity 31, linkage plate 32, movable hole 33, short rod 34, movable rod 35, fixed cylinder 36, electric telescopic rod 37, universal wheel 38.

[0027] Motor 30 is fixed in the bottom of base 1, cavity 31 is opened in the inside of base 1, the inner wall of cavity 31 is rotatably connected with linkage plate 32, the output shaft of motor 30 penetrates base 1, the output shaft top of motor 30 is fixed in the bottom of linkage plate 32, movable hole 33 is opened in the surface of linkage plate 32, short rod 34 is abutted in the inside of movable hole 33, movable rod 35 is fixed on the surface of short rod 34, the end away from short rod 34 of movable rod 35 penetrates base 1, and movable rod 35 is slidably connected with base 1, the top of the end away from short rod 34 of movable rod 35 is fixed with electric telescopic rod 37, the bottom of the end away from short rod 34 of movable rod 35 is fixed with fixed cylinder 36, the output end of electric telescopic rod 37 penetrates movable rod 35, fixed cylinder 36, the output end bottom of electric telescopic rod 37 is equipped with universal wheel 38, movable hole 33 is set as arc, opens motor 30 forward rotation or reverse rotation, linkage plate 32 is synchronously rotated, movable hole 33 inner wall and short rod 34 surface abut, movable rod 35 is synchronously radially moved, simultaneously make universal wheel 38 synchronous movement, can increase or reduce the spacing between universal wheel 38, can face different use environment, and increase the spacing between universal wheel 38, can improve its stability, when not need to move, open electric telescopic rod 37 retraction, can drive universal wheel 38 into fixed cylinder 36, so that fixed cylinder 36 supports base 1, improves the stability of robot body 2 use.

[0028] The limiting assembly 4 comprises a fixed block 40 fixed on the surface of the base 1, the bottom of the fixed block 40 is fixedly connected with a connecting block 41, the surface of the connecting block 41 is provided with a sliding groove 42, the inner wall of the sliding groove 42 is slidably connected with a clamping block 43, the surface of the clamping block 43 is fixedly connected with a spring 44, the end, away from the clamping block 43, of the spring 44 is fixed on the inner wall of the sliding groove 42, the surface of the clamping block 43 is fixedly connected with a fixed rod 45, the end, away from the clamping block 43, of the fixed rod 45 penetrates through the connecting block 41 and is slidably connected with the connecting block 41, the surface of the connecting block 41 is rotatably connected with a rotating plate 47, the surface of the rotating plate 47 is provided with a through hole 48, the end, away from the clamping block 43, of the connecting block 41 is provided with a stabilizing groove 49, the side, close to the connecting block 41, of the rotating plate 47 is provided with a connecting groove 400, the inner wall of the connecting groove 400 is slidably connected with a connecting column 401, the surface of the connecting column 401 is fixedly connected with a spring 402, the end, away from the connecting column 401, of the spring 402 is fixed on the inner wall of the connecting groove 400, the six groups of movable rods 35 are provided with a clamping groove 46 on the surface of one group of the six groups of movable rods 35, the end, away from the spring 44, of the clamping block 43 is triangular in cross section, the end, away from the spring 402, of the connecting column 401 is arc-shaped, when the movable rod 35 moves, the surface of the clamping block 43 abuts against the inner wall of the clamping groove 46, the clamping block 43 reciprocates into the clamping groove 46 through the spring 44, and the clamping block 43 drives the fixed rod 45 to reciprocate in the through hole 48, when the distance between the universal wheels 38 is adjusted, the rotating plate 47 is rotated, the connecting column 401 enters the stabilizing groove 49, the rotating plate 47 is stabilized, the position of the through hole 48 is staggered with the fixed rod 45, the surface of the fixed rod 45 is attached to the surface of the rotating plate 47, so that the fixed rod 45 and the clamping block 43 cannot move, thereby limiting the clamping groove 46 and the movable rod 35 by the clamping block 43, avoiding the external accidental touch of the movable rod 35 and affecting the stability.

[0029] When the robot body 2 needs to be moved, the universal wheels 38 can be normally moved, when facing different environments, the motor 30 is started to rotate forward or reverse, so that the connecting plate 32 rotates synchronously, at this time, the inner wall of the movable hole 33 and the surface of the short rod 34 are in contact, so that the movable rod 35 is driven to move synchronously in the radial direction, at the same time, the universal wheels 38 are synchronously moved, so that the distance between the universal wheels 38 is increased or decreased, which can face different use environments, and increasing the distance between the universal wheels 38 can improve the stability, at the same time, when the movable rod 35 moves, the surface of the clamping block 43 and the inner wall of the clamping groove 46 are in contact, so that the clamping block 43 enters the sliding groove 42, the spring I 44 is compressed, when the position of the clamping block 43 is parallel to the clamping groove 46, the spring I 44 is released, so that the clamping block 43 enters the clamping groove 46, when the movable rod 35 continuously moves, the clamping block 43 reciprocally enters the clamping groove 46, at the same time, the clamping block 43 drives the fixed rod 45 to reciprocally move in the through hole 48, when the distance between the universal wheels 38 is adjusted, the rotating plate 47 is rotated, the surface of the connecting column 401 and the inner wall of the stabilizing groove 49 are in contact, at this time, the connecting column 401 moves into the connecting groove 400, at the same time, the spring II 402 is compressed, when the position of the connecting column 401 is parallel to the stabilizing groove 49, the spring II 402 is released to drive the connecting column 401 to enter the stabilizing groove 49, so as to stabilize the rotating plate 47, without external interference, the rotating plate 47 will not rotate, at the same time, the position of the through hole 48 and the fixed rod 45 are staggered, at this time, the surface of the fixed rod 45 and the surface of the rotating plate 47 are in contact, so that the fixed rod 45 and the clamping block 43 cannot move, so that the clamping block 43 limits the clamping groove 46 and the movable rod 35, avoiding external accidental touch of the movable rod 35, affecting the stability, when the movement is not needed, the electric telescopic rod 37 is started to retract, so as to drive the universal wheels 38 to enter the fixed cylinder 36, so that the fixed cylinder 36 supports the base 1, improving the stability of the robot body 2.

[0030] The above is a detailed description of the general utility model, but some modifications or improvements can be made on the basis of the utility model, which is obvious to those skilled in the art. Therefore, without departing from the spirit of the utility model, the modifications or improvements are within the scope of the utility model.

Claims

1. A mobile stable six-axis robot comprising a base (1), characterized in that: The top of the base (1) is provided with a robot body (2), and the inside and surface of the base (1) are provided with an adjusting assembly (3) and a limiting assembly (4); The adjusting assembly (3) comprises: A motor (30) is used for driving the rotation of the linkage plate (32); The linkage plate (32) is used for driving the synchronous rotation of the movable hole (33); The short rod (34) is used for driving the synchronous movement of the movable rod (35).

2. The mobile, stable six-axis robot of claim 1, wherein: The motor (30) is fixed at the bottom of the base (1), the inside of the base (1) is provided with a cavity (31), the inner wall of the cavity (31) is rotatably connected with the linkage plate (32), the output shaft of the motor (30) penetrates through the base (1), the output shaft of the motor (30) is fixed at the bottom of the linkage plate (32), the surface of the linkage plate (32) is provided with the movable hole (33), the inner side of the movable hole (33) abuts against the short rod (34), the surface of the short rod (34) is fixed with the movable rod (35), one end of the movable rod (35) away from the short rod (34) penetrates through the base (1), and the movable rod (35) is slidably connected with the base (1), the top of one end of the movable rod (35) away from the short rod (34) is fixed with the electric telescopic rod (37), the bottom of one end of the movable rod (35) away from the short rod (34) is fixed with the fixed cylinder (36), and the output end of the electric telescopic rod (37) penetrates through the movable rod (35) and the fixed cylinder (36).

3. A mobile, stable six-axis robot according to claim 2, characterized in that: The limiting assembly (4) comprises a fixed block (40), the fixed block (40) is fixed on the surface of the base (1), the bottom of the fixed block (40) is fixed with a connecting block (41), the surface of the connecting block (41) is provided with a sliding groove (42), the inner wall of the sliding groove (42) is slidably connected with a clamping block (43), the surface of the clamping block (43) is fixed with a spring (44), one end of the spring (44) away from the clamping block (43) is fixed on the inner wall of the sliding groove (42), the surface of the clamping block (43) is fixed with a fixed rod (45), one end of the fixed rod (45) away from the clamping block (43) penetrates through the connecting block (41), the fixed rod (45) is slidably connected with the connecting block (41), the surface of the connecting block (41) is rotatably connected with a rotating plate (47), the surface of the rotating plate (47) is provided with a through hole (48), one end of the connecting block (41) away from the clamping block (43) is provided with a stabilizing groove (49), one side of the rotating plate (47) close to the connecting block (41) is provided with a connecting groove (400), the inner wall of the connecting groove (400) is slidably connected with a connecting column (401), the surface of the connecting column (401) is fixed with a spring (402), one end of the spring (402) away from the connecting column (401) is fixed on the inner wall of the connecting groove (400), and the movable rod (35) is provided with six groups, the surface of one group of the movable rod (35) is provided with a clamping groove (46).

4. The mobile, stable six-axis robot of claim 1, wherein: The active hole (33) is arranged as an arc shape.

5. The mobile, stable six-axis robot of claim 3, wherein: The cross section of the end of the clamping block (43) away from the spring (44) is triangular.

6. The mobile, stable six-axis robot of claim 3, wherein: The end of the connecting column (401) away from the spring (402) is arranged as an arc shape.

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