CN103737607A - Six-shaft joint mechanical hand - Google Patents
Six-shaft joint mechanical hand Download PDFInfo
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- CN103737607A CN103737607A CN201310739310.0A CN201310739310A CN103737607A CN 103737607 A CN103737607 A CN 103737607A CN 201310739310 A CN201310739310 A CN 201310739310A CN 103737607 A CN103737607 A CN 103737607A
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Abstract
The invention discloses a six-shaft joint mechanical hand and relates to the industry mechanical hand technology. The six-shaft joint mechanical hand comprises a mechanical hand body and a control system; the mechanical hand body is connected with the control system through a data line; the mechanical hand body comprises a base, a first shaft servo motor and a speed reducer thereof, a first shaft rotary shaft, a second shaft base, a lower hand servo cylinder, a lower arm, an upper arm servo cylinder, an upper arm, a fourth shaft rotary shaft, a fifth shaft servo motor and a speed reducer thereof, a fifth shaft rotary base, a sixth shaft rotary shaft and a sixth shaft servo motor and a speed reducer thereof; the control system comprises a programmable controller, a movement control module, a servo driver, an alarming device, a hand box, a touch screen, a limit switch and a sensor. The six-shaft joint mechanical hand has the advantages of achieving six-shaft joint control through the control system, being simple in structure, achieving domestic production, reducing products, shortening the purchasing cycle, being suitable for small and medium businesses to use and high in positioning accuracy, improving the production quality and the production efficiency and having a good application prospect in the industry mechanical hand technology field.
Description
Technical field
The present invention relates to a kind of industrial machine workmanship art, relate in particular to a kind of six axle joint mechanical hands.
Background technology
At present, along with industrial automation level constantly improves, increasing production line adopts industrial machine hand to replace traditional manual work, than traditional manual work mode, it is high that industrial machine hand has automaticity, save the advantage of cost of labor, for industrial machine hand, the safety and stability of itself structure has reliably played very important effect for guaranteeing that production line is stably worked.Industrial machine hand extensively adopts in the prior art, has greatly improved operating efficiency and the safety that has guaranteed production and processing.Joint mechanical hand is applicable to various industries, can be applicable to the multiple uses such as automotive body welding, various workpiece handling, the carrying of ultra-large type weight, gluing, assembling parts, deburring.
At present, the multiaxial joint mechanical hand of domestic use is substantially from external import, and cost is high, after service cost is high, procurement cycle is long, is not suitable for medium-sized and small enterprises and uses.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of six axle joint mechanical hands, to solve the weak point that existing six axle joint mechanical hand costs are high, be not suitable for medium-sized and small enterprises' use.
The technical scheme solving the problems of the technologies described above is: a kind of six axle joint mechanical hands, comprise mechanical hand body, control system, mechanical hand body is connected by data wire with control system, and described mechanical hand body comprises base, I axle servomotor and reductor thereof, I axle rotating shaft, II axle base, underarm servoBcylinder, underarm, upper arm servoBcylinder, upper arm, IV axle rotating shaft, V axle servomotor and reductor thereof, V axle rotating shaft, VI axle rotating shaft, VI axle servomotor and reductor thereof;
Described I axle servomotor and reductor thereof, I axle rotating shaft are separately fixed on base, the output shaft of this I axle servomotor and reductor thereof is connected with I axle rotating shaft by travelling gear I, the top of described I axle rotating shaft is fixedly connected with II axle base, described underarm servoBcylinder is hinged on supporting seat A, it is upper that underarm is hinged on supporting seat B, and the external part of underarm servoBcylinder is also hinged with the bottom of underarm; Described supporting seat A, supporting seat B is separately fixed on II axle base; Described upper arm servoBcylinder is with to be fixed on supporting seat C on underarm hinged, and the end, one end of the external part of this upper arm servoBcylinder and upper arm is hinged, and upper arm is also hinged with the top of underarm; IV axle servomotor and reductor thereof are installed in upper arm, and the output shaft of this IV axle servomotor and reductor thereof is fixedly connected with IV axle rotating shaft; Described V axle servomotor and reductor thereof are fixed on IV axle rotating shaft by support I, and the output of this V axle servomotor and reductor thereof is connected with V axle rotating shaft; Described VI axle servomotor and reductor thereof are fixed on V axle rotating shaft by support II, and the output of this VI axle servomotor and reductor thereof is connected with VI axle rotating shaft;
Described control system comprises Programmable Logic Controller, motion-control module, servo-driver, warning device, hand box, touch-screen limit switch, sensor;
The signal that described Programmable Logic Controller transmits according to limit switch, sensor sends control instruction;
Described motion-control module transfers to servo-driver by the control instruction of Programmable Logic Controller output;
Described servo-driver is for each servomotor work of the order-driven mechanical hand body according to motion-control module output, and the encoder of each servomotor is got back to Programmable Logic Controller data feedback;
Described warning device is for carrying out the alarm signal of Programmable Logic Controller output;
Described hand box is used for manually booting Programmable Logic Controller work;
Described touch-screen starts Programmable Logic Controller work for input signal, simultaneously for showing the various parameters of work at present;
Described limit switch is used for changing make and break contact opening and closing state and mechanical displacement is transformed into the signal of telecommunication inputs to Programmable Logic Controller;
Described sensor for detection of and become the signal of telecommunication to output to Programmable Logic Controller the information conversion detecting to realize and automatically detect and automatically control.
Further technical scheme of the present invention is: described I axle rotating shaft comprises bearing block I, I axle, I axle bearing, locking nut, travelling gear II; Described travelling gear II is arranged on I axle, and this travelling gear II is meshed with described travelling gear I; Described I axle is arranged in bearing block I by I axle bearing, and described locking nut locking is connected to the bottom of I axle; The top of I axle is fixedly connected with II axle base.
Further technical scheme of the present invention is: described underarm servoBcylinder comprises push rod, cylinder body, Timing Belt, synchronous pulley, servomotor, bearing, leading screw, leading screw nut, linear bearing; It is upper that described cylinder body is hinged on supporting seat A by bearing pin, and described leading screw is arranged in cylinder body by bearing, and one end of this leading screw is stretched out cylinder ends and is connected with synchronous pulley, and synchronous pulley is connected with the output of described servomotor by Timing Belt; The other end of leading screw is connected with the internal thread hole of leading screw nut, the external screw thread of leading screw nut is connected with one end of push rod, the other end of push rod is hinged as the external part of underarm servoBcylinder and the bottom of described underarm, and described linear bearing is installed between this push rod and cylinder body.
Further technical scheme of the present invention is: described upper arm servoBcylinder comprises push rod, cylinder body, Timing Belt, synchronous pulley I, servomotor, bearing, leading screw, leading screw nut, linear bearing; It is upper that described cylinder body is hinged on supporting seat C by bearing pin, and described leading screw is arranged in cylinder body by bearing, and one end of this leading screw is stretched out cylinder ends and is connected with synchronous pulley I, and synchronous pulley I is connected with the output of described servomotor by Timing Belt; The other end of leading screw is connected with the internal thread hole of leading screw nut, the external screw thread of leading screw nut is connected with one end of push rod, the other end of push rod is hinged as the external part of upper arm servoBcylinder and the end, one end of described upper arm, and described linear bearing is installed between this push rod and cylinder body.
Further technical scheme of the present invention is: the IV axle servomotor described in described upper arm comprises and reductor thereof, upper arm framework, this IV axle servomotor and reductor thereof are arranged in upper arm framework.
Further technical scheme of the present invention is: described IV axle rotating shaft comprises bearing block II, IV axle, IV axle bearing; Described IV axle is arranged in bearing block II by IV axle bearing, and one end of this IV axle is connected with described IV axle servomotor and speed reducer output shaft thereof, and the other end of IV axle is connected with described support I.
Further technical scheme of the present invention is: described V axle rotating shaft comprises synchronous pulley II, V axle, and described V axle is connected with the output of V axle servomotor and reductor thereof by synchronous pulley II.
Further technical scheme of the present invention is: described VI axle rotating shaft comprises synchronous pulley III, VI axle, and described VI axle is connected with the output of VI axle servomotor and reductor thereof by synchronous pulley III.
Further technical scheme more of the present invention is: the nitrogen spring that has also been connected with cushioning effect between described II axle base and underarm.
Owing to adopting said structure, the present invention's six axle joint mechanical hands compared with prior art, have following beneficial effect:
1. cost is low:
Owing to the present invention includes mechanical hand body, control system, wherein mechanical hand body is to adopt simple frame for movement to realize the action of six axle articulated robots, control system is to adopt touch-screen and Programmable Logic Controller, motion-control module, servo-driver etc. to realize the control of six axle articulated robots, it is simple in structure, simple to operate understandable, can realize domestic production completely, not only reduced production cost, and reduced after service cost, also shortened procurement cycle simultaneously.
2. being applicable to medium-sized and small enterprises uses:
Because the cost of this product is low, and the scope of application is wider, can be applicable to multiple industry, as can be applicable to automotive body welding, various workpiece handling, the carrying of ultra-large type weight, gluing, assembling parts, deburring etc., automaticity is high, is relatively suitable for medium-sized and small enterprises and uses.
3. positioning precision is high:
Because control system of the present invention comprises Programmable Logic Controller, motion-control module, servo-driver, warning device, hand box, touch-screen, limit switch, sensor; Wherein, by limit switch, sensor, each axle run-length data and the positional information of mechanical hand can be fed back to Programmable Logic Controller in time, Programmable Logic Controller can be controlled each servomotor of mechanical hand body in time, the encoder of each servomotor is got back to Programmable Logic Controller data feedback simultaneously, thereby the accurate location that can guarantee mechanical hand, its performance is reliable.
4. can improve the quality of production and production efficiency, alleviate workman's labour intensity:
Because this product is to move to replace manual operation by six axles of control system control mechanical hand, not only can avoid having influence on product quality because of artifact, and automaticity is higher, greatly improved production efficiency, significantly alleviated workman's labour intensity.
5. volume is little, and flexible structure is powerful, has good prospects:
This product comprises mechanical hand body, control system, its small volume, and mechanical hand body adopts simple frame for movement, and by the control of control system, can realize the flexible motion in each joint, this product can be applied to various occasions and realize different functions simultaneously, and it is powerful; Also facilitate upgrading and the expansion of product function, in industrial machine hand technical field, have a good application prospect.
Below, the technical characterictic of the six axle joint mechanical hands to the present invention is further described in conjunction with the accompanying drawings and embodiments.
Accompanying drawing explanation
Fig. 1: the structural representation of the present invention's six axle joint mechanical hands,
Fig. 2: the structural representation of the present invention's six axle joint mechanical hand I axle rotating shafts,
Fig. 3～Fig. 4: the structural representation of the present invention's six axle joint mechanical hand underarm servoBcylinders,
Fig. 3: front view, the A-A cutaway view of Fig. 4: Fig. 3;
Fig. 5～Fig. 6: the structural representation of the present invention's six axle joint mechanical hand upper arm servoBcylinders,
Fig. 5: front view, the B-B cutaway view of Fig. 6: Fig. 5;
Fig. 7: the structural representation of the present invention's six axle joint mechanical hand upper arm,
Fig. 8～Fig. 9: the structural representation of the present invention's six axle joint mechanical hand IV axle rotating shafts,
Fig. 8: front view, the C-C cutaway view of Fig. 9: Fig. 8;
Figure 10: the structural representation of the present invention's six axle joint mechanical hand V axle rotating shafts,
Figure 11: the structural representation of the present invention's six axle joint mechanical hand VI axle rotating shafts,
Figure 12: the structured flowchart of the present invention's six axle joint mechanical hand control systems.
In figure: each label is as follows:
1-base, 2-I axle servomotor and reductor thereof, 3-travelling gear I, 4-I axle rotating shaft,
401-bearing block I, 402-I axle, 403-I axle bearing, 404-locking nut, 405-travelling gear II,
5-II axle base, 6-nitrogen spring, 7-underarm servoBcylinder; 701-push rod, 702-cylinder body, 703-Timing Belt,
704-synchronous pulley, 705-servomotor, 706-bearing, 707-leading screw, 708-leading screw nut,
709-linear bearing, 8-underarm, 9-upper arm servoBcylinder, 901-push rod, 902-cylinder body, 903-Timing Belt,
904-synchronous pulley I, 905-servomotor, 906-bearing, 907-leading screw, 908-leading screw nut,
909-linear bearing, 10-upper arm, 1001-IV axle servomotor and reductor thereof,
1002-upper arm framework, 11-IV axle rotating shaft, 1101-bearing block II, 1102-IV axle, 1103-IV axle bearing,
12-V axle servomotor and reductor thereof, 13-V axle rotating shaft, 1301-synchronous pulley II, 1302-V axle,
14-VI axle rotating shaft, 1401-synchronous pulley III, 1402-VI axle, 15-VI axle servomotor and reductor thereof,
16-supporting seat A, 17-supporting seat B, 18-supporting seat C, 19-support I, 20-support II;
21-control system, 2101-Programmable Logic Controller, 2102-motion-control module, 2103-servo-driver,
2104-warning device, 2105-hand box, 2106-touch-screen, 2107-limit switch, 2108-sensor.
The specific embodiment
Embodiment mono-:
Disclosed in Fig. 1 is a kind of six axle joint mechanical hands, comprise mechanical hand body, control system 21, mechanical hand body is connected by data wire with control system, and described mechanical hand body comprises base 1, I axle servomotor and reductor 2 thereof, I axle rotating shaft 4, II axle base 5, underarm servoBcylinder 7, underarm 8, upper arm servoBcylinder 9, upper arm 10, IV axle rotating shaft 11, V axle servomotor and reductor 12 thereof, V axle rotating shaft 13, VI axle rotating shaft 14, VI axle servomotor and reductor 15 thereof;
Described I axle servomotor and reductor 2 thereof, I axle rotating shaft 4 are separately fixed on base 1, the output shaft of this I axle servomotor and reductor 2 thereof is connected with I axle rotating shaft 4 by travelling gear I 3, the top of described I axle rotating shaft 4 is fixedly connected with II axle base 5, described underarm servoBcylinder 7 is hinged on supporting seat A16, it is upper that underarm 8 is hinged on supporting seat B17, and the external part of underarm servoBcylinder 7 is also hinged with the bottom of underarm 8; Described supporting seat A16, supporting seat B17 is separately fixed on II axle base 5; Between described II axle base 5 and underarm 8, be also connected with the nitrogen spring 6 of cushioning effect; Described upper arm servoBcylinder 9 is with to be fixed on supporting seat C18 on underarm hinged, and the end, one end of the external part of this upper arm servoBcylinder 9 and upper arm 10 is hinged, and upper arm 10 is also hinged with the top of underarm 8; IV axle servomotor and reductor 1001 thereof are installed in upper arm 10, and the output shaft of this IV axle servomotor and reductor 1001 thereof is fixedly connected with IV axle rotating shaft 11; Described V axle servomotor and reductor 12 thereof are fixed on IV axle rotating shaft 11 by support I 19, and the output of this V axle servomotor and reductor 12 thereof is connected with V axle rotating shaft 13; Described VI axle servomotor and reductor 15 thereof are fixed on V axle rotating shaft 13 by support II 20, and the output of this VI axle servomotor and reductor 15 thereof is connected with VI axle rotating shaft 14;
Above-mentioned I axle rotating shaft 4 comprises that bearing block I 401, I axle 402, I axle bearing 403, locking nut 404, travelling gear II 405(are referring to Fig. 2); Described travelling gear II 405 is arranged on I axle 402, and this travelling gear II 405 is meshed with described travelling gear I 3; Described I axle 402 is arranged in bearing block I 401 by I axle bearing 403, and described locking nut 404 lockings are connected to the bottom of I axle 402; The top of I axle 402 is fixedly connected with II axle base 5.
Above-mentioned underarm servoBcylinder 7 comprises that push rod 701, cylinder body 702, Timing Belt 703, synchronous pulley 704, servomotor 705, bearing 706, leading screw 707, leading screw nut 708, linear bearing 709(are referring to Fig. 3～Fig. 4); Described cylinder body 702 is hinged on supporting seat A16 by bearing pin, described leading screw 707 is arranged in cylinder body 702 by bearing 706, one end of this leading screw 707 is stretched out cylinder ends and is connected with synchronous pulley 704, and synchronous pulley 704 is connected with the output of described servomotor 705 by Timing Belt 703; The other end of leading screw 707 is connected with the internal thread hole of leading screw nut 708, the external screw thread of leading screw nut 708 is connected with one end of push rod, the other end of push rod is hinged as the external part of underarm servoBcylinder 7 and the bottom of described underarm 8, and described linear bearing 709 is installed between this push rod and cylinder body.
Above-mentioned upper arm servoBcylinder 9 comprises that push rod 901, cylinder body 902, Timing Belt 903, synchronous pulley I 904, servomotor 905, bearing 906, leading screw 907, leading screw nut 908, linear bearing 909(are referring to Fig. 5～Fig. 6); Described cylinder body 902 is hinged on supporting seat C18 by bearing pin, described leading screw 907 is arranged in cylinder body 902 by bearing 906, one end of this leading screw 907 is stretched out cylinder ends and is connected with synchronous pulley I 904, and synchronous pulley I 904 is connected with the output of described servomotor 905 by Timing Belt 903; The other end of leading screw 907 is connected with the internal thread hole of leading screw nut 908, the external screw thread of leading screw nut 908 is connected with one end of push rod, the other end of push rod is hinged as the external part of upper arm servoBcylinder 9 and the end, one end of described upper arm 10, and described linear bearing 909 is installed between this push rod and cylinder body.
IV axle servomotor described in described upper arm 10 comprises and reductor 1001 thereof, upper arm framework 1002, this IV axle servomotor and reductor 1001 thereof are arranged in upper arm framework 1002 (referring to Fig. 7).
Described IV axle rotating shaft 11 comprises that bearing block II 1101, IV axle 1102, IV axle bearing 1103(are referring to Fig. 8～Fig. 9); Described IV axle 1102 is arranged in bearing block II 1101 by IV axle bearing 1103, and one end of this IV axle 1102 is connected with described IV axle servomotor and reductor 1001 output shafts thereof, and the other end of IV axle 1102 is connected with described support I 19.
Described V axle rotating shaft 13 comprises that synchronous pulley II 1301, V axle 1302(are referring to Figure 10), described V axle 1302 is connected with the output of V axle servomotor and reductor 12 thereof by synchronous pulley II 1301.
Described VI axle rotating shaft 14 comprises that synchronous pulley III 1401, VI axle 1402(are referring to Figure 11), described VI axle 1402 is connected with the output of VI axle servomotor and reductor 15 thereof by synchronous pulley III 1401.
Described control system 21 comprises that Programmable Logic Controller 2101, motion-control module 2102, servo-driver 2103, warning device 2104, hand box 2105, touch-screen 2106, limit switch 2107, sensor 2108(are referring to Figure 12);
The signal that described Programmable Logic Controller 2101 transmits according to limit switch 2107, sensor 2108 sends control instruction;
Described motion-control module 2102 transfers to servo-driver 2103 by the control instruction of Programmable Logic Controller output;
Described servo-driver 2103 is for each servomotor work of the order-driven mechanical hand body exported according to motion-control module 2102, and the encoder of each servomotor is got back to Programmable Logic Controller data feedback;
Described warning device 2104 is for carrying out the alarm signal of Programmable Logic Controller output;
Described hand box 2105 is for manually booting Programmable Logic Controller work;
Described touch-screen 2106 starts Programmable Logic Controller work for input signal, simultaneously for showing the various parameters of work at present;
Described limit switch 2107 is transformed into the signal of telecommunication by mechanical displacement and inputs to Programmable Logic Controller for changing make and break contact opening and closing state;
Described sensor 2108 for detection of and become the signal of telecommunication to output to Programmable Logic Controller the information conversion detecting to realize and automatically detect and automatically control.
Claims (9)
1. an axle joint mechanical hand, comprise mechanical hand body, control system (21), mechanical hand body is connected by data wire with control system, it is characterized in that: described mechanical hand body comprises base (1), I axle servomotor and reductor thereof (2), I axle rotating shaft (4), II axle base (5), underarm servoBcylinder (7), underarm (8), upper arm servoBcylinder (9), upper arm (10), IV axle rotating shaft (11), V axle servomotor and reductor thereof (12), V axle rotating shaft (13), VI axle rotating shaft (14), VI axle servomotor and reductor thereof (15),
Described I axle servomotor and reductor (2) thereof, I axle rotating shaft (4) are separately fixed on base (1), the output shaft of this I axle servomotor and reductor (2) thereof is connected with I axle rotating shaft (4) by travelling gear I (3), the top of described I axle rotating shaft (4) is fixedly connected with II axle base (5), described underarm servoBcylinder (7) is hinged on supporting seat A(16) on, underarm (8) is hinged on supporting seat B(17) upper, the external part of underarm servoBcylinder (7) is also hinged with the bottom of underarm (8); Described supporting seat A(16), supporting seat B(17) be separately fixed on II axle base (5); Described upper arm servoBcylinder (9) be fixed on the supporting seat C(18 on underarm) hinged, the end, one end of the external part of this upper arm servoBcylinder (9) and upper arm (10) is hinged, upper arm (10) is also hinged with the top of underarm (8); IV axle servomotor and reductor (1001) thereof are installed in upper arm (10), and the output shaft of this IV axle servomotor and reductor (1001) thereof is fixedly connected with IV axle rotating shaft (11); It is upper that described V axle servomotor and reductor (12) thereof are fixed on IV axle rotating shaft (11) by support I (19), and the output of this V axle servomotor and reductor (12) thereof is connected with V axle rotating shaft (13); It is upper that described VI axle servomotor and reductor (15) thereof are fixed on V axle rotating shaft (13) by support II (20), and the output of this VI axle servomotor and reductor (15) thereof is connected with VI axle rotating shaft (14);
Described control system (21) comprises Programmable Logic Controller (2101), motion-control module (2102), servo-driver (2103), warning device (2104), hand box (2105), touch-screen (2106), limit switch (2107), sensor (2108);
The signal that described Programmable Logic Controller (2101) transmits according to limit switch (2107), sensor (2108) sends control instruction;
Described motion-control module (2102) transfers to servo-driver (2103) by the control instruction of Programmable Logic Controller output;
Described servo-driver (2103) is for each servomotor work of the order-driven mechanical hand body according to motion-control module (2102) output, and the encoder of each servomotor is got back to Programmable Logic Controller data feedback;
Described warning device (2104) is for carrying out the alarm signal of Programmable Logic Controller output;
Described hand box (2105) is for manually booting Programmable Logic Controller work;
Described touch-screen (2106) starts Programmable Logic Controller work for input signal, simultaneously for showing the various parameters of work at present;
Described limit switch (2107) is transformed into the signal of telecommunication by mechanical displacement and inputs to Programmable Logic Controller for changing make and break contact opening and closing state;
Described sensor (2108) for detection of and become the signal of telecommunication to output to Programmable Logic Controller the information conversion detecting to realize and automatically detect and automatically control.
2. six axle joint mechanical hands according to claim 1, is characterized in that: described I axle rotating shaft (4) comprises bearing block I (401), I axle (402), I axle bearing (403), locking nut (404), travelling gear II (405); It is upper that described travelling gear II (405) is arranged on I axle (402), and this travelling gear II (405) is meshed with described travelling gear I (3); It is upper that described I axle (402) is arranged on bearing block I (401) by I axle bearing (403), and described locking nut (404) locking is connected to the bottom of I axle (402); The top of I axle (402) is fixedly connected with II axle base (5).
3. six axle joint mechanical hands according to claim 1, is characterized in that: described underarm servoBcylinder (7) comprises push rod (701), cylinder body (702), Timing Belt (703), synchronous pulley (704), servomotor (705), bearing (706), leading screw (707), leading screw nut (708), linear bearing (709); Described cylinder body (702) is hinged on supporting seat A(16 by bearing pin) on, described leading screw (707) is arranged in cylinder body (702) by bearing (706), one end of this leading screw (707) is stretched out cylinder ends and is connected with synchronous pulley (704), and synchronous pulley (704) is connected with the output of described servomotor (705) by Timing Belt (703); The other end of leading screw (707) is connected with the internal thread hole of leading screw nut (708), the external screw thread of leading screw nut (708) is connected with one end of push rod, the other end of push rod is hinged as the external part of underarm servoBcylinder (7) and the bottom of described underarm (8), and described linear bearing (709) is installed between this push rod and cylinder body.
4. six axle joint mechanical hands according to claim 1, is characterized in that: described upper arm servoBcylinder (9) comprises push rod (901), cylinder body (902), Timing Belt (903), synchronous pulley I (904), servomotor (905), bearing (906), leading screw (907), leading screw nut (908), linear bearing (909); Described cylinder body (902) is hinged on supporting seat C(18 by bearing pin) on, described leading screw (907) is arranged in cylinder body (902) by bearing (906), one end of this leading screw (907) is stretched out cylinder ends and is connected with synchronous pulley I (904), and synchronous pulley I (904) is connected with the output of described servomotor (905) by Timing Belt (903); The other end of leading screw (907) is connected with the internal thread hole of leading screw nut (908), the external screw thread of leading screw nut (908) is connected with one end of push rod, the other end of push rod is hinged as the external part of upper arm servoBcylinder (9) and the end, one end of described upper arm (10), and described linear bearing (909) is installed between this push rod and cylinder body.
5. six axle joint mechanical hands according to claim 1, it is characterized in that: the IV axle servomotor described in described upper arm (10) comprises and reductor (1001) thereof, upper arm framework (1002), this IV axle servomotor and reductor (1001) thereof are arranged in upper arm framework (1002).
6. six axle joint mechanical hands according to claim 1, is characterized in that: described IV axle rotating shaft (11) comprises bearing block II (1101), IV axle (1102), IV axle bearing (1103); Described IV axle (1102) is arranged in bearing block II (1101) by IV axle bearing (1103), one end of this IV axle (1102) is connected with described IV axle servomotor and reductor (1001) output shaft thereof, and the other end of IV axle (1102) is connected with described support I (19).
7. six axle joint mechanical hands according to claim 1, it is characterized in that: described V axle rotating shaft (13) comprises synchronous pulley II (1301), V axle (1302), described V axle (1302) is connected with the output of V axle servomotor and reductor (12) thereof by synchronous pulley II (1301).
8. six axle joint mechanical hands according to claim 1, it is characterized in that: described VI axle rotating shaft (14) comprises synchronous pulley III (1401), VI axle (1402), described VI axle (1402) is connected with the output of VI axle servomotor and reductor (15) thereof by synchronous pulley III (1401).
9. according to six axle joint mechanical hands described in the arbitrary claim of claim 1 to 8, it is characterized in that: the nitrogen spring (6) that has also been connected with cushioning effect between described II axle base (5) and underarm (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310739310.0A CN103737607B (en) | 2013-12-27 | 2013-12-27 | Six axle joint mechanical hands |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310739310.0A CN103737607B (en) | 2013-12-27 | 2013-12-27 | Six axle joint mechanical hands |
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| CN103737607A true CN103737607A (en) | 2014-04-23 |
| CN103737607B CN103737607B (en) | 2016-01-06 |
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| CN201310739310.0A Expired - Fee Related CN103737607B (en) | 2013-12-27 | 2013-12-27 | Six axle joint mechanical hands |
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| CN104985301A (en) * | 2015-08-06 | 2015-10-21 | 苏州五圣通机器人自动化有限公司 | Robot-based automatic welding apparatus especially for steel grating plate and working method thereof |
| CN104999202A (en) * | 2015-08-06 | 2015-10-28 | 苏州五圣通机器人自动化有限公司 | High-precision automatic robot welding device and working method thereof |
| CN105856272A (en) * | 2016-05-24 | 2016-08-17 | 马鞍山市博宇智能装备有限公司 | Manufacturing and assembling system for six-axis robot |
| CN106182076A (en) * | 2016-08-08 | 2016-12-07 | 江苏捷帝机器人股份有限公司 | A kind of can the mechanical joint of all-direction rotation |
| CN106426270A (en) * | 2016-12-15 | 2017-02-22 | 徐航 | Mechanical arm joint structure |
| CN106426177A (en) * | 2016-11-11 | 2017-02-22 | 西北机器有限公司 | Robot for precise assembling |
| CN113119093A (en) * | 2021-04-10 | 2021-07-16 | 新乡市银星机械设备有限公司 | Automatic welding and cutting robot |
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| CN203317423U (en) * | 2013-06-25 | 2013-12-04 | 王常勇 | Six-axis DOF (degree of freedom) mechanical arm |
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| CN102658549A (en) * | 2012-05-10 | 2012-09-12 | 上海理工大学 | Six-axis industrial robot control system with PLC (programmable logic control) function |
| CN202684913U (en) * | 2012-07-17 | 2013-01-23 | 昆山华恒焊接股份有限公司 | Six-degree-of-freedom spraying robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626144A (en) * | 2015-02-11 | 2015-05-20 | 苏州荣威工贸有限公司 | Six-axis robot based on servo electric cylinders |
| CN104626144B (en) * | 2015-02-11 | 2016-08-17 | 苏州荣威工贸有限公司 | A kind of six-joint robot based on servo electric jar |
| CN104985301A (en) * | 2015-08-06 | 2015-10-21 | 苏州五圣通机器人自动化有限公司 | Robot-based automatic welding apparatus especially for steel grating plate and working method thereof |
| CN104999202A (en) * | 2015-08-06 | 2015-10-28 | 苏州五圣通机器人自动化有限公司 | High-precision automatic robot welding device and working method thereof |
| CN104999202B (en) * | 2015-08-06 | 2016-09-07 | 苏州五圣通机器人自动化有限公司 | A kind of high precision machines people's automatic soldering device and method of work thereof |
| CN105856272A (en) * | 2016-05-24 | 2016-08-17 | 马鞍山市博宇智能装备有限公司 | Manufacturing and assembling system for six-axis robot |
| CN106182076A (en) * | 2016-08-08 | 2016-12-07 | 江苏捷帝机器人股份有限公司 | A kind of can the mechanical joint of all-direction rotation |
| CN106182076B (en) * | 2016-08-08 | 2019-01-29 | 江苏捷帝机器人股份有限公司 | It is a kind of can all-direction rotation mechanical joint |
| CN106426177A (en) * | 2016-11-11 | 2017-02-22 | 西北机器有限公司 | Robot for precise assembling |
| CN106426270A (en) * | 2016-12-15 | 2017-02-22 | 徐航 | Mechanical arm joint structure |
| CN113119093A (en) * | 2021-04-10 | 2021-07-16 | 新乡市银星机械设备有限公司 | Automatic welding and cutting robot |
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| CN103737607B (en) | 2016-01-06 |
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