Ground rail type joint robot with speed reduction function

Abstract

The utility model relates to the technical field of robots, in particular to a ground rail type joint robot with a speed reduction function, which comprises a joint robot body and a speed reduction component. The speed reduction assembly comprises a rail, a sliding block and two speed reduction structures, the sliding block is slidably connected with the rail, the joint robot body is fixedly installed above the sliding block, each speed reduction structure comprises a telescopic rod, a sleeve, a buffer spring and a speed reduction rod, one end of each telescopic rod is fixedly connected with the rail, and the other end of each telescopic rod is fixedly connected with one end of the corresponding sleeve. The other end of the sleeve is slidably connected with one end of the speed reduction rod, the other end of the speed reduction rod is fixedly connected with the sliding block, the two ends of the buffer spring are fixedly connected with the speed reduction rod and the sleeve respectively, and the buffer spring is located in the sleeve. The problems that the buffering effect can be achieved only when a sliding block moves to the leftmost side to make contact with a speed reduction rod, the buffering effect cannot be achieved if the sliding block does not make contact with the speed reduction rod, and practicability is not high are solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a ground-rail articulated robot with deceleration function. Background Technology

[0002] Articulated robots move by rotating their joints, similar to a human arm. They are suitable for automated mechanical operations in many industrial sectors, often employing six-axis manipulators. However, existing ground-rail-based articulated robots lack effective buffering and deceleration during movement, leading to instability and significantly impacting work efficiency.

[0003] The utility model patent with publication number CN221985098U provides a ground-rail type articulated robot with deceleration function. The connecting rod drives the slider to slide left and right along the inner wall of the track, thereby moving the articulated robot left and right. When the slider moves to the leftmost position, the left side of the slider contacts the right end of the deceleration rod and interacts with it. This causes the deceleration rod to be stressed and cause the buffer spring to deform, thereby buffering the movement of the articulated robot with good buffering efficiency.

[0004] Although the above solution can buffer the movement of the articulated robot through the buffer spring, it can only provide buffering when the slider moves to the far left and contacts the deceleration rod. If the slider does not contact the deceleration rod, it cannot provide buffering, making it not very practical. Utility Model Content

[0005] The purpose of this invention is to provide a ground-rail articulated robot with deceleration function, which solves the problem that the buffering effect can only be achieved when the slider moves to the far left and contacts the deceleration rod, and the buffering effect cannot be achieved when the slider does not contact the deceleration rod, resulting in low practicality.

[0006] To achieve the above objectives, this utility model provides a ground-rail articulated robot with deceleration function, comprising an articulated robot body and a deceleration assembly; the deceleration assembly includes a track, a slider, and two deceleration structures, the slider being slidably connected to the track and located inside the track, the articulated robot body being fixedly mounted above the slider, and the two deceleration structures being respectively disposed on both sides of the slider, each deceleration structure including a telescopic rod, a sleeve, a buffer spring, and a deceleration rod, one end of the telescopic rod being fixedly connected to the track, the other end of the telescopic rod being fixedly connected to one end of the sleeve, the other end of the sleeve being slidably connected to one end of the deceleration rod, the other end of the deceleration rod being fixedly connected to the slider, and both ends of the buffer spring being fixedly connected to the deceleration rod and the sleeve respectively, the buffer spring being located inside the sleeve.

[0007] The telescopic rod includes a fixed base, a screw, and a threaded cylinder. The fixed base is fixedly connected to the track. One end of the screw is rotatably connected to the fixed base, and the other end of the screw is threadedly connected to the threaded cylinder. The end of the screw closer to the threaded cylinder is located inside the threaded cylinder, and the end of the threaded cylinder away from the screw is fixedly connected to the sleeve.

[0008] The telescopic rod also includes a rotating block, which is fixedly connected to the screw and is located on the side of the screw near the fixed base.

[0009] The deceleration rod has a positioning post at the end away from the sleeve, and the slider has a positioning groove that matches the positioning post, with the positioning post located inside the positioning groove.

[0010] The positioning post has a connecting structure inside, which includes a compression spring and a connecting bracket. The slider has a slot located above the positioning groove. The connecting bracket is slidably connected to the positioning post. The two ends of the compression spring are fixedly connected to the connecting bracket and the positioning post, respectively. The compression spring is located inside the positioning post, and the end of the connecting bracket away from the compression spring is located inside the slot.

[0011] This invention discloses a ground-rail articulated robot with deceleration function. After the articulated robot moves inside the track under the drive of the slider, two deceleration mechanisms simultaneously decelerate the robot body. The deceleration rod moves inward into the sleeve to compress the buffer spring, or moves outward from the sleeve to stretch the buffer spring. The buffer spring, being compressed or stretched, generates a restoring force, thereby buffering the slider and thus the movement of the articulated robot body. This solves the problem that buffering only occurs when the slider moves to the far left and contacts the deceleration rod; otherwise, buffering is ineffective, resulting in low practicality. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0013] Figure 1 This is a schematic diagram of the structure of a ground-rail articulated robot with deceleration function according to this utility model.

[0014] Figure 2 This is a structural cross-sectional view of a ground-rail articulated robot with deceleration function according to this utility model.

[0015] Figure 3 This utility model relates to a ground-rail articulated robot with deceleration function. Figure 2 A magnified view of a portion of point A in the middle.

[0016] 100-Articulated robot body, 210-Railway, 220-Slider, 221-Positioning groove, 222-Card slot, 230-Sleeve, 240-Buffer spring, 250-Decelerator rod, 251-Positioning post, 260-Fixed seat, 270-Screw, 280-Threaded cylinder, 290-Rotating block, 310-Compression spring, 320-Connecting bracket. Detailed Implementation

[0017] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0018] Please see Figures 1 to 3 , Figure 1 This is a structural schematic diagram of a ground-rail articulated robot with deceleration function according to this utility model. Figure 2 This is a structural cross-sectional view of a ground-rail articulated robot with deceleration function according to this utility model. Figure 3 This utility model relates to a ground-rail articulated robot with deceleration function. Figure 2 A magnified view of a portion of point A in the middle.

[0019] This utility model provides a ground-rail articulated robot with deceleration function, including an articulated robot body 100 and a deceleration assembly; the deceleration assembly includes a track 210, a slider 220 and two deceleration structures, the deceleration structure includes a telescopic rod, a sleeve 230, a buffer spring 240 and a deceleration rod 250, the telescopic rod includes a fixed base 260, a screw 270, a threaded cylinder 280 and a rotating block 290;

[0020] In this specific embodiment, the slider 220 is slidably connected to the track 210, and the slider 220 is located inside the track 210. The articulated robot body 100 is fixedly mounted above the slider 220. Two deceleration structures are respectively disposed on both sides of the slider 220. One end of the telescopic rod is fixedly connected to the track 210, and the other end of the telescopic rod is fixedly connected to one end of the sleeve 230. The other end of the sleeve 230 is slidably connected to one end of the deceleration rod 250, and the other end of the deceleration rod 250 is fixedly connected to the slider 220. Both ends of the buffer spring 240 are fixedly connected to the deceleration rod 250 and the sleeve 230, respectively, and the buffer spring 240 is located inside the sleeve 230. The slider 220 is used to mount the articulated robot body 100, and the slider 220 can slide horizontally inside the track 210. The deceleration structures are used to decelerate the slider 220. The telescopic rod is extendable, the deceleration rod 250 can slide inside the sleeve 230, and the buffer spring 240 can support the deceleration rod 250. The slider 220 can be driven by a cylinder or other driving element to move inside the track 210. After the articulated robot moves inside the track 210 under the drive of the slider 220, the two deceleration mechanisms simultaneously decelerate the articulated robot body 100. The deceleration rod 250 moves inward into the sleeve 230 to compress the buffer spring 240, or the deceleration rod 250 moves outward from the sleeve 230 to stretch the buffer spring 240. The buffer spring 240 generates a restoring force when compressed or stretched, thereby buffering the slider 220 and thus buffering the movement of the articulated robot body 100. This solves the problem that buffering can only be performed when the slider 220 moves to the far left and contacts the deceleration rod 250, and cannot be performed if the slider 220 does not contact the deceleration rod 250, resulting in low practicality.

[0021] Furthermore, the fixed base 260 is fixedly connected to the track 210, one end of the screw 270 is rotatably connected to the fixed base 260, and the other end of the screw 270 is threadedly connected to the threaded cylinder 280. The end of the screw 270 near the threaded cylinder 280 is located inside the threaded cylinder 280, and the end of the threaded cylinder 280 away from the screw 270 is fixedly connected to the sleeve 230. The screw 270 can rotate, and when the screw 270 rotates, its length within the threaded cylinder 280 can change, thereby adjusting the overall length of the telescopic rod to adjust the position of the sleeve 230, and thus adjusting the initial length of the buffer spring 240, thereby changing the strength of the buffer spring 240.

[0022] Specifically, the rotating block 290 is fixedly connected to the screw 270, and the rotating block 290 is located on the side of the screw 270 near the fixed base 260. The rotating block 290 is provided on the side of the screw 270 to facilitate the rotation of the screw 270.

[0023] The deceleration lever 250 has a positioning post 251 at its end away from the sleeve 230. The slider 220 has a positioning groove 221 that matches the positioning post 251, and the positioning post 251 is located inside the positioning groove 221. A connecting structure is provided inside the positioning post 251, including a compression spring 310 and a connecting bracket 320. The slider 220 has a retaining groove 222 located above the positioning groove 221. The connecting bracket 320 is slidably connected to the positioning post 251. Both ends of the compression spring 310 are fixedly connected to the connecting bracket 320 and the positioning post 251, respectively, and the compression spring 310 is located inside the positioning post 251. The end of the connecting bracket 320 away from the compression spring 310 is located inside the retaining groove 222. When connecting the deceleration rod 250 to the slider 220, the positioning post 251 is aligned with the positioning groove 221 and inserted to position the deceleration rod 250, so as to connect the deceleration rod 250 and the slider 220. The compression spring abuts against the connecting bracket 320, so that the end of the connecting bracket 320 away from the compression spring 310 enters the slot 222, thereby fixing the positioning post 251 inside the positioning groove 221 to fix the deceleration rod 250 and the slider 220.

[0024] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A ground-rail articulated robot with deceleration function, comprising an articulated robot body, characterized in that, It also includes a deceleration component; The deceleration assembly includes a track, a slider, and two deceleration structures. The slider is slidably connected to the track and is located inside the track. The articulated robot body is fixedly mounted above the slider. The two deceleration structures are respectively disposed on both sides of the slider. Each deceleration structure includes a telescopic rod, a sleeve, a buffer spring, and a deceleration rod. One end of the telescopic rod is fixedly connected to the track, and the other end of the telescopic rod is fixedly connected to one end of the sleeve. The other end of the sleeve is slidably connected to one end of the deceleration rod, and the other end of the deceleration rod is fixedly connected to the slider. Both ends of the buffer spring are fixedly connected to the deceleration rod and the sleeve, respectively, and the buffer spring is located inside the sleeve.

2. The track-mounted articulated robot with deceleration function as described in claim 1, characterized in that, The telescopic rod includes a fixed base, a screw, and a threaded cylinder. The fixed base is fixedly connected to the track. One end of the screw is rotatably connected to the fixed base, and the other end of the screw is threadedly connected to the threaded cylinder. The end of the screw closer to the threaded cylinder is located inside the threaded cylinder, and the end of the threaded cylinder away from the screw is fixedly connected to the sleeve.

3. The track-mounted articulated robot with deceleration function as described in claim 2, characterized in that, The telescopic rod also includes a rotating block, which is fixedly connected to the screw and is located on the side of the screw near the fixed base.

4. The track-mounted articulated robot with deceleration function as described in claim 1, characterized in that, The end of the deceleration lever away from the sleeve is provided with a positioning post, and the slider has a positioning groove adapted to the positioning post, with the positioning post located inside the positioning groove.

5. The track-mounted articulated robot with deceleration function as described in claim 4, characterized in that, The positioning post has a connecting structure inside, which includes a compression spring and a connecting bracket. The slider has a slot located above the positioning groove. The connecting bracket is slidably connected to the positioning post. The two ends of the compression spring are fixedly connected to the connecting bracket and the positioning post, respectively. The compression spring is located inside the positioning post, and the end of the connecting bracket away from the compression spring is located inside the slot.

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