CN104942643B - A kind of Working mechanism of multi-purpose robot - Google Patents
A kind of Working mechanism of multi-purpose robot Download PDFInfo
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- CN104942643B CN104942643B CN201510378975.2A CN201510378975A CN104942643B CN 104942643 B CN104942643 B CN 104942643B CN 201510378975 A CN201510378975 A CN 201510378975A CN 104942643 B CN104942643 B CN 104942643B
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- track
- pedestal
- sliding block
- slide
- work head
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
- B23Q9/0064—Portable machines cooperating with guide means not supported by the workpiece during working
- B23Q9/0071—Portable machines cooperating with guide means not supported by the workpiece during working the guide means being fixed to the machine
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Abstract
A kind of Working mechanism of multi-purpose robot；Including connecting portion, open channel, drive mechanism, telescoping mechanism, working arm and work head；The connecting portion and the link position of the open channel are arranged on the outside at the middle part of the open channel, and the connecting portion forms rotational freedom when being installed on machining center, and the shaft axis are parallel to plane where the center line of the open channel；The track that line bends and do not closed centered on the open channel, the working arm can move under the driving of the drive mechanism along the open channel, and the work head is scalable under telescoping mechanism drive.When it is spatial form or close-shaped shape tube that manipulating object, which is center line, a kind of Working mechanism of multi-purpose robot has the advantages that only to need before operation clear and definite pipe fitting position of center line without knowing pipe profiles exact position, realizing around the free degree needed for pipe fitting complete cycle Working motion is few, low cost, is easy to use and safeguards.
Description
Technical field
The present invention relates to machining technology field, more particularly to a kind of Working mechanism of multi-purpose robot.
Background technology
With the development of automated arm and robot technology, various co-ordinate-type lathes, machining center and joint type work
Industry robot comes out one after another, and has gradually formed co-ordinate-type and the class popular motion platform of articulated type two, in this two type games platform
End connects different work head, can complete various job tasks.
But had the following disadvantages for pipe fitting manipulating object, this two classes popular motion platform：First, realize complete cycle
The complicated movement of operation is, it is necessary to which more than three free degree linkages are completed；Second, this two type games platform uses spatial data
Operation head operation is driven, thus needs to be known a priori by the accurate dimension of pipe profiles；Third, because operation head needs to reach accurate
Locus, it is desirable to each free degree of this two type games platform has a high precision, thus cost is high.
The content of the invention
It is an object of the invention to propose a kind of Working mechanism of multi-purpose robot, plate and curved surface can not only be made
Industry, additionally it is possible to be perfectly suitable for all kinds of pipe fitting job tasks, including center line is spatial form or close-shaped complicated pipe
Part, during applied to pipe fitting operation, clear and definite pipe fitting position of center line is only needed without knowing pipe profiles before there is low cost, operation
Exact position, realize around the free degree needed for pipe fitting complete cycle Working motion it is few, be easy to use safeguard the advantages that.
To use following technical scheme up to this purpose, the present invention：
A kind of Working mechanism of multi-purpose robot；Including connecting portion, open channel, drive mechanism, telescoping mechanism, work
Arm and work head；The connecting portion and the link position of the open channel are arranged on the outside at the middle part of the open channel,
The connecting portion forms rotational freedom when being installed on machining center, and the shaft axis of the rotational freedom are parallel to the opening
Plane where the center line of track；The track that line bends and do not closed centered on the open channel, the working arm is described
It can be moved under the driving of drive mechanism along the open channel, the work head is scalable under telescoping mechanism drive.
Further, the center line of the open channel be U-shaped, circular arc, V-arrangement, square, polygon, half elliptic or
Parabolic shape, the working arm remain perpendicular to the open channel when running on the open channel.
Further, the open channel includes front side rail, track rack and rear side rail, and the drive mechanism includes
Front side sliding block, rear side sliding block, front side board, telescopic arm pedestal, drive gear and drive gear actuating unit；
The front side rail and rear side rail are fixedly installed in the track rack, front side sliding block and the rear side sliding block point
Do not moved along the front side rail and rear side rail, front side board and the telescopic arm pedestal be respectively arranged in the front side sliding block and
Rear side sliding block, the drive gear be installed on by bearing between front side board and the telescopic arm pedestal and with the track rack
Engagement, drives the drive gear actuating unit 306 of drive gear to be arranged on the telescopic arm pedestal.
Further, the tooth of the track rack is arranged on outside；The front side rail and rear side rail are installed on institute
State the same side of track rack, and inside and outside setting.
Further, the telescoping mechanism includes upper side rails, lower side rails, upper side slide, lower sliding block, work head
Pedestal, nut, screw mandrel and screw mandrel actuating unit；The upper side rails and lower side rails are installed on the telescopic arm pedestal, described
Upper side slide and lower sliding block slide along the upper side rails and lower side rails respectively, and the work head pedestal is fixedly mounted simultaneously
In the upper side slide and lower sliding block, the nut is fixedly installed in the work head pedestal and matched somebody with somebody with the wire rod thread
Close, the screw mandrel actuating unit is installed on the telescopic arm pedestal and drives the screw mandrel to rotate, and the work head is installed on institute
State work head pedestal.
Further, the upper side rails and lower side rails are located at the side of the telescopic arm pedestal, the track tooth
Bar, front side rail and rear side rail are located at the opposite side of the telescopic arm pedestal.
Further, the open channel includes shell, inner track and outer side track, and the drive mechanism includes some
Outside driven wheel, some inner side driven pulleys, inside block, outer side slide, belt, belt pulley and working arm pedestal；
The inner track, outer side track, inner side driven pulley and outside driven wheel are fixedly mounted on the shell, and in from
Order from inside to outside, the inside block and outer side slide slide in the inner track and outer side track respectively, the work
Arm pedestal is fixedly installed in the inside block and outer side slide simultaneously, and the belt sleeve is in all inner side driven pulleys, outer
Side driven pulley and belt pulley, the belt pulley drive the belt movement, working arm base motion described in the belt drive；
Or：The open channel includes shell, inner track and outer side track, and the drive mechanism includes some outsides
Driven sprocket, some inner side driven sprockets, inside block, outer side slide, chain, sprocket wheel and working arm pedestal；
The inner track, outer side track, inner side driven sprocket and outside driven sprocket wheel are fixedly mounted on the shell, and
In order from inside to outside, the inside block and outer side slide slide in the inner track and outer side track respectively, described
Working arm pedestal is fixedly installed in the inside block and outer side slide simultaneously, and the chain is enclosed on all inner side driven chains
Wheel, outside driven sprocket wheel and sprocket wheel, the sprocket wheel drive the chain movement, and working arm pedestal described in the chain-driving is transported
It is dynamic.
Further, the telescoping mechanism includes upper siding track, lower side rail, upper side slide, lower sliding block, work head base
Seat, contiguous block, telescopic belt, telescopic belt actuating unit and telescopic belt wheel；The upper siding track and lower side rail are installed on
The telescopic arm pedestal, the upper side slide and lower sliding block slide on the upper siding track and lower side rail, the work respectively
Make head pedestal while be installed on the upper side slide and lower sliding block, the work head pedestal is stretched by the contiguous block with described
Contracting belt is fixedly connected, and the telescopic belt is enclosed on the telescopic belt wheel, and in the drive of the telescopic belt actuating unit
The lower driving work head pedestal；
Or：The telescoping mechanism include upper siding track, lower side rail, upper side slide, lower sliding block, work head pedestal,
Contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel；The upper siding track and lower side rail are installed on described stretch
Contracting arm pedestal, the upper side slide and lower sliding block slide on the upper siding track and lower side rail, the work head base respectively
Seat is installed on the upper side slide and lower sliding block simultaneously, and the work head pedestal passes through the contiguous block and the flexible sprocket wheel
It is fixedly connected, the stretching chain is enclosed on the flexible sprocket wheel, and drives institute under the drive of the stretching chain actuating unit
State work head pedestal.
Further, the telescoping mechanism includes upper siding track, lower side rail, upper side slide, lower sliding block, work head
Pedestal, flexible rack, flexible gear and expansion teeth wheel power machine structure；The upper siding track and lower side rail are installed on described flexible
Arm pedestal, the upper side slide and lower sliding block slide on the upper siding track and lower side rail, the work head pedestal respectively
The upper side slide and lower sliding block are installed on simultaneously, and flexible gear and expansion teeth the wheel power machine structure is installed on described flexible
Arm pedestal, the flexible rack are fixedly installed in the work head pedestal, and the flexible gear engages with the flexible rack；
Or：The telescoping mechanism include upper siding track, lower side rail, upper side slide, lower sliding block, work head pedestal,
Flexible rack, flexible gear and expansion teeth wheel power machine structure；The upper siding track and lower side rail are installed on the telescopic arm base
Seat, the upper side slide and lower sliding block slide on the upper siding track and lower side rail respectively, and the work head pedestal is simultaneously
The upper side slide and lower sliding block are installed on, flexible gear and expansion teeth the wheel power machine structure is installed on the work head base
Seat, the flexible rack are fixedly installed in the telescopic arm pedestal, and the flexible gear engages with the flexible rack.
Further, the open channel includes mobile rack and shifting sledge, the drive mechanism include mobile sliding block,
Telescopic arm pedestal, carrier wheel and carrier wheel actuating unit；The telescoping mechanism includes a flexible slide rail, a flexible cunning
Block, work head pedestal, telescopic screw rod and telescopic screw rod actuating unit；
The mobile sliding block is fixedly connected with telescopic arm pedestal, and the mobile sliding block slides in the shifting sledge, described
Carrier wheel engages with the mobile rack, and drive under the driving of the carrier wheel actuating unit the mobile sliding block and
Telescopic arm pedestal moves along the shifting sledge；
The flexible slide rail is installed on the telescopic arm pedestal, and the flexible sliding block slides on the flexible slide rail, described
Telescopic screw rod is installed on the telescopic arm pedestal and is engaged in the nut that the work head pedestal is set, and the telescopic screw rod is in institute
State and drive the work head pedestal to move under the driving of telescopic screw rod actuating unit.
Beneficial effects of the present invention：Machining center with more than one free degree, working arm are connected to by connecting portion
Pipe fitting part complete cycle operation is completed along the stretching motion of the motion of open channel and working arm itself, is stretched out and is open by working arm
Plate or curved surface operation are completed outside track opening.Pass through the head that more changes jobs；Work head can be stretched under the drive of telescoping mechanism
When the distance between contracting, machined surface of irregular workpiece and work head change, telescoping mechanism is worked head by telescopic adjustment
The distance for adapting to work pieces process is reached, the range of work is more flexible extensively；A kind of Working mechanism body of the multi-purpose robot
Can be various pipe fittings, plate or curved surface available for being ground, polishing, weld, spray, drill, operation, the manipulating object such as rivet；
When it is spatial form or close-shaped shape tube that manipulating object, which is center line, a kind of working rig of multi-purpose robot
Structure only needs clear and definite pipe fitting position of center line without knowing pipe profiles exact position, realizing and make around pipe fitting complete cycle before having operation
The free degree is few needed for industry motion, low cost, is easy to use the advantages that safeguarding.
In the technical program, the connecting portion and the link position of the open channel are arranged in the open channel
The outside in portion, the connecting portion form rotational freedom when being installed on machining center, and the shaft axis of the rotational freedom are parallel
The plane where the center line of the open channel；The position that connecting portion is set stability at the middle part of open channel, rotation
Height, ensure machining accuracy.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the present of invention；
Fig. 2 is the installation diagram of one embodiment of split shed track of the present invention and drive mechanism；
Fig. 3 is the installation diagram of one embodiment of telescoping mechanism in the present invention；
Fig. 4 is the installation diagram of second embodiment of split shed track of the present invention and drive mechanism；
Fig. 5 is the installation diagram of second embodiment of telescoping mechanism in the present invention；
Fig. 6 is the installation diagram of the 3rd embodiment of telescoping mechanism in the present invention；
Fig. 7 is the installation diagram of the 3rd embodiment of split shed track of the present invention and drive mechanism.
Wherein：Connecting portion 1, open channel 2, front side rail 201, track rack 202, rear side rail 203, shell 211 are interior
Siding track 212, outer side track 213, mobile rack 221, shifting sledge 222
Front side sliding block 301, rear side sliding block 302, front side board 303, telescopic arm pedestal 304, drive gear 305, drive gear
Actuating unit 306, outside driven wheel 311, inner side driven pulley 312, inside block 313, outer side slide 314, belt 315, belt
Wheel 316, mobile sliding block 321, carrier wheel 322, carrier wheel actuating unit 323；
Upper side rails 401, lower side rails 402, upper side slide 403, lower sliding block 404, work head pedestal 405, nut
406, screw mandrel 407, screw mandrel actuating unit 408, upper siding track 411, lower side rail 412, upper side slide 413, lower sliding block 414,
Contiguous block 416, telescopic belt 417, telescopic belt actuating unit 418, telescopic belt wheel 419, stretch rack 426, and stretch gear
427, expansion teeth wheel power machine structure 428, stretch slide rail 431, and stretch sliding block 432, telescopic screw rod 433, telescopic screw rod actuating unit
434；
Working arm 5, work first 6.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
A kind of as shown in figure 1, Working mechanism of multi-purpose robot；Including connecting portion 1, open channel 2, drive mechanism,
Telescoping mechanism, working arm 5 and work first 6；The connecting portion 1 and the link position of the open channel 2 are arranged on the opening
The outside at the middle part of track 2, the connecting portion 1 form rotational freedom when being installed on machining center, and the rotational freedom turns
Axle diameter parallel plane where the center line of the open channel；Line bends and not closed centered on the open channel 2
Track, the working arm 5 can move under the driving of the drive mechanism along the open channel 2, and the work first 6 is described
Telescoping mechanism is scalable under driving.
In the present invention, the machining center with more than one free degree is connected to by connecting portion 1, working arm 5 is along opening
The stretching motion of the motion of track 2 and working arm 5 itself completes pipe fitting part complete cycle operation, stretches out notched rail by working arm 5
Road 2 is open outer completion plate or curved surface operation.By more changing jobs first 6；Work first 6 can be stretched under the drive of telescoping mechanism
Contracting, when the machined surface of irregular workpiece changes with work first the distance between 6, telescoping mechanism is worked head by telescopic adjustment
6 reach the distance for adapting to work pieces process, and the range of work is more flexible extensively；A kind of Working mechanism body of the multi-purpose robot
Can be various pipe fittings, plate or curved surface available for being ground, polishing, weld, spray, drill, operation, the manipulating object such as rivet；
When it is spatial form or close-shaped shape tube that manipulating object, which is center line, a kind of working rig of multi-purpose robot
Structure only needs clear and definite pipe fitting position of center line without knowing pipe profiles exact position, realizing and make around pipe fitting complete cycle before having operation
The free degree is few needed for industry motion, low cost, is easy to use the advantages that safeguarding.
In the technical program, the connecting portion 1 and the link position of the open channel 2 are arranged on the open channel 2
Middle part outside, the connecting portion 1 forms rotational freedom when being installed on machining center, the shaft axis of the rotational freedom
Parallel to plane where the center line of the open channel；The position that connecting portion 1 is set is at the middle part of open channel 2, rotation
Stability is high, ensures machining accuracy.
Preferably, the center line of the open channel 2 is U-shaped, circular arc, V-arrangement, square, polygon, half elliptic or throwing
Thing wire shaped, the working arm 5 remain perpendicular to the open channel 2 when running on the open channel 2.
Open channel 2 is the shape and structure that complete cycle Working motion is completed in energy back work first 6, U-shaped or circular arc or V-arrangement
All in the protection domain of the technical program, perpendicular to the open channel 2 when working arm 5 runs on the open channel 2, no
The open channel 2 of similar shape can be used for the processing of different shape workpiece, and device has a wide range of application.
As shown in Fig. 2 the open channel 2 includes front side rail 201, track rack 202 and rear side rail, the driving
Mechanism includes front side sliding block 301, rear side sliding block 302, front side board 303, telescopic arm pedestal 304, drive gear 305 and drive gear
Actuating unit 306；
The front side rail 201 and rear side rail are fixedly installed in the track rack 202, the He of front side sliding block 301
Rear side sliding block 302 moves along the front side rail 201 and rear side rail respectively, and the front side board 303 and telescopic arm pedestal 304 divide
The front side sliding block 301 and rear side sliding block 302 are not installed on, and the drive gear 305 is installed on the front side board by bearing
Engaged between 303 and telescopic arm pedestal 304 and with the track rack 202, the sliding tooth that regulation drive gear 305 moves moves in turn
Force mechanisms 306 are arranged on the telescopic arm pedestal 304.
In the present embodiment, drive mechanism driving drive gear 305 rotates, so as to drive telescopic arm pedestal 304 according to front and rear
The track motion of two side rails constraint.Drive gear actuating unit 306 drives the drive gear 305 to rotate, drive gear 305
Moved along the track rack 202 in open channel, while with the front side sliding block 301 on front side board 303 in front side rail 201
Rear side sliding block 302 in upper motion and telescopic arm pedestal 304 moves in rear side rail, fixed work on telescopic arm pedestal 304
Make arm 5 and carry out operation processing with the first 6 pairs of workpiece that work.
When drive mechanism is driven, certain mechanical oscillation are inevitably produced, so drive gear 305 is led to
Cross bearing to be installed between the front side board 303 and telescopic arm pedestal 304 and engage with the track rack 202, pass through front side
Plate 303 and telescopic arm pedestal 304 bear the weight of drive gear 305 together, and the stability that drive gear 305 is set is high；Processing
During motion, the rear side sliding block 302 on front side sliding block 301 and telescopic arm pedestal 304 on front side board 303 is respectively in front side rail
201 and rear side rail (be located at figure in coordinate rear side sliding block 302 slide position, do not drawn directly in figure) on move, two
The cooperation of track and two sliding blocks, the stability of operation are high.
As shown in figure 3, the tooth of the track rack 202 is arranged on outside；The front side rail 201 and rear side rail 203
It is installed on the same side of the track rack 202, and inside and outside setting.
The tooth of track rack 202 is arranged on outside, it is possible to reduce to the occupancy of the inner space of open channel 2, working motion
When flexibility ratio it is higher；In the present embodiment, the front side rail 201 and rear side rail 203 are installed on the track rack 202
The same side, during the processing of two guide rails, after processing one in the side of open channel 2, without by ability after the turn-over of open channel 2
The processing of Article 2 guide rail is carried out, improves processing efficiency.
In the present embodiment, the telescoping mechanism includes upper side rails 401, lower side rails 402, upper side slide 403, lower sideslip
Block 404, work head pedestal 405, nut 406, screw mandrel 407 and screw mandrel actuating unit 408；The upper side rails 401 and downside are led
Rail 402 is installed on the telescopic arm pedestal 304, and the upper side slide 403 and lower sliding block 404 are respectively along the upper side rails
401 and lower side rails 402 slide, the work head pedestal 405 is fixedly installed in the upper side slide 403 and lower sliding block simultaneously
404, the nut 406 is fixedly installed in the work head pedestal 405 and coordinated with the screw thread of screw mandrel 407, and the screw mandrel moves
Force mechanisms 408 are installed on the telescopic arm pedestal 304 and drive the screw mandrel 407 to rotate, and the work first 6 is installed on the work
Make head pedestal 405.
In the present embodiment, screw mandrel actuating unit 408 provides power drive screw mandrel 407 and rotated, and screw mandrel 407 is sent out with nut 406
After raw relative rotation, the upper side slide 403 and lower sliding block 404 on the work head pedestal 405 of fixing nut 406 are respectively along upper
Side rails 401, lower side rails 402 are for linear motion, then are fixed on the work first 6 of work head pedestal 405 simultaneously by remote with making
From or close to workpiece linear motion.
The upper side rails 401 and lower side rails 402 are located at the side of the telescopic arm pedestal 304, the track rack
202nd, front side rail 201 and rear side rail 201 are located at the opposite side of the telescopic arm pedestal 304.
Upper side rails 401, lower side rails 402 and track rack 202, front side rail 201, rear side rail 201 are set respectively
The both sides of telescopic arm pedestal 304, the weight of each portion's installation is admirably balanced, improve the stability of plant running.
As shown in figure 4, the open channel includes shell 211, inner track 212 and outer side track 213, the driving machine
Structure includes some outside driven wheels 311, some inner side driven pulleys 312, inside block 313, outer side slide 314, belt 315, skin
Belt wheel 316 and working arm pedestal 304；
The inner track 212, outer side track 213, inner side driven pulley 312 and outside driven wheel 311 are fixedly mounted on institute
Shell 211 is stated, and in order from inside to outside, the inside block 313 and outer side slide 314 are respectively in the inner track
212 and outer side track 213 slide, the working arm pedestal 304 is fixedly installed in the inside block 313 and outer side slide simultaneously
314, the belt 315 is enclosed on all inner side driven pulley 312, outside driven wheel 311 and the belt pulley 316, the belt pulley
316 drive the belt 315 to move, and the belt 315 drives the working arm pedestal 304 to move.
Several outside driven wheels 311 and several inner side driven pulleys 312 are arranged on shell 211, and belt 315 is by belt
The driving operating of wheel 316, working arm pedestal 304 are connected with belt 315, and the operating of belt 315 drives working arm pedestal 304 by interior
Side slide 313 and outer side slide 314 move along the track that inner track 212 and outer side track 213 constrain.In the present embodiment,
The kind of drive of open channel 2 is belt transmission, similarly, can also use chain drive:The precision of belt transmission is high, is applicable
In the transmission of light small workpiece；The bearing capacity of chain drive is big, suitable for the transmission of large-scale workpiece.
As shown in Figures 5 and 6, the telescoping mechanism include upper siding track 411, lower side rail 412, upper side slide 413, under
Side slide, work head pedestal 405, contiguous block 416, telescopic belt 417, telescopic belt actuating unit 418 and telescopic belt wheel
419；The upper siding track 411 and lower side rail 412 are installed on the telescopic arm pedestal 304, the upper side slide 413 and downside
Sliding block slides on the upper siding track 411 and lower side rail 412 respectively, and the work head pedestal 405 is installed on described simultaneously
Side slide 413 and lower sliding block 414, the work head pedestal 405 are solid by the contiguous block 416 and the telescopic belt 417
Fixed connection, the telescopic belt 417 are enclosed on the telescopic belt wheel 419, and in the drive of the telescopic belt actuating unit 418
The lower driving work head pedestal 405.
Work head pedestal 405 is fixedly connected by contiguous block 416 with telescopic belt 417, by telescopic belt actuating unit 418
Driving telescopic belt wheel 419, which rotates, drives telescopic belt 417 to operate, so as to drive working arm pedestal 304 to pass through upper side slide 413
Moved with lower sliding block 414 along the track that upper siding track 411 and lower side rail 412 constrain.In the present embodiment, working arm 5 is stretched
The contracting kind of drive is belt transmission, similarly, can also use chain drive:The precision of belt transmission is high, suitable for light unskilled labourer
The transmission of part；The bearing capacity of chain drive is big, suitable for the transmission of large-scale workpiece.
As shown in fig. 6, the telescoping mechanism includes upper siding track 411, lower side rail 412, upper side slide 413, lower sideslip
Block 414, work head pedestal 405, flexible rack 426, flexible gear 427 and expansion teeth wheel power machine structure 428；The upper siding track
411 and lower side rail 412 be installed on the telescopic arm pedestal 304, the upper side slide 413 and lower sliding block 414 slide respectively
In the upper siding track 411 and lower side rail 412, the work head pedestal 405 is installed on the upper side slide 413 with simultaneously
Side slide 414, the flexible gear 427 and expansion teeth wheel power machine structure 428 are installed on the telescopic arm pedestal 304, described to stretch
Contracting rack 426 is fixedly installed in the work head pedestal 405, and the flexible gear 427 engages with the flexible rack 426.
Working arm 5 realizes that the flexible kind of drive is rack pinion.Wherein, work head pedestal 405 and flexible rack
426 are fixedly connected, and the gear 427 that stretches is arranged on work head pedestal 405, by the flexible rack of the rotation driving for the gear 427 that stretches
426 motions, so as to drive work head pedestal 405 by upper side slide 413 and lower sliding block 414 along upper siding track 411 and downside
The track motion that track 412 constrains.In the present embodiment, flexible rack 426 is arranged on work head pedestal 405, stretch gear 427
Telescopic arm pedestal 304 is arranged on, according to specific open operating mode, both installation sites can be exchanged with each other, and exchange front and rear knot
Structure is all fallen within the protection domain of the technical program.
As shown in fig. 7, the open channel 2 includes mobile rack 221 and shifting sledge 222, the drive mechanism includes
Mobile sliding block 321, telescopic arm pedestal 304, carrier wheel 322 and carrier wheel actuating unit 323；The telescoping mechanism includes one
431, flexible sliding blocks 432 of the flexible slide rail of bar, work head pedestal 405, telescopic screw rod 433 and telescopic screw rod actuating unit 434；
The mobile sliding block 321 is fixedly connected with telescopic arm pedestal 304, and the mobile sliding block 321 is in the shifting sledge
222 slide, and the carrier wheel 322 engages with the mobile rack 221, and in the drive of the carrier wheel actuating unit 323
The mobile sliding block 321 and telescopic arm pedestal 304 is driven to be moved along the shifting sledge 222 under dynamic；
The flexible slide rail 431 is installed on the telescopic arm pedestal 304, and the flexible sliding block 432 slides on described flexible
Slide rail 431, the telescopic screw rod 433 are installed on the telescopic arm pedestal 304 and are engaged in what the work head pedestal 405 was set
Nut, the telescopic screw rod 433 drive the work head pedestal 405 to move under the driving of the telescopic screw rod actuating unit 434
It is dynamic.
Single track can be used in open channel 2 and the drive rail of work head pedestal 405, smaller with guide rail vertical direction moment of torsion
When, cost can be saved using this mode, structure is reduced and taken up space.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel would not require any inventive effort the other embodiments that can associate the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (8)
- A kind of 1. Working mechanism of multi-purpose robot, it is characterised in that：Including connecting portion, open channel, drive mechanism, flexible Mechanism, working arm and work head；The connecting portion and the link position of the open channel are arranged in the open channel The outside in portion, the connecting portion form rotational freedom when being installed on machining center, and the shaft axis of the rotational freedom are parallel The plane where the center line of the open channel；The track that line bends and do not closed centered on the open channel, the work Making arm can move under the driving of the drive mechanism along the open channel, and the work head is under telescoping mechanism drive It is scalable；The open channel includes front side rail, track rack and rear side rail, and the drive mechanism includes front side sliding block, rear side Sliding block, front side board, telescopic arm pedestal, drive gear and drive gear actuating unit；The front side rail and rear side rail are fixedly installed in the track rack, the front side sliding block and rear side sliding block edge respectively Front side rail and the rear side rail motion, front side board and the telescopic arm pedestal are respectively arranged in the front side sliding block and rear side Sliding block, the drive gear are installed between front side board and the telescopic arm pedestal by bearing and nibbled with the track rack Close, drive the drive gear actuating unit of drive gear to be arranged on the telescopic arm pedestal；Or：The open channel includes shell, inner track and outer side track, and the drive mechanism includes some outside drivens Wheel, some inner side driven pulleys, inside block, outer side slide, belt, belt pulley and working arm pedestal；The inner track, outer side track, inner side driven pulley and outside driven wheel are fixedly mounted on the shell, and are in from introversion Outer order, the inside block and outer side slide slide in the inner track and outer side track respectively, the working arm base Seat is fixedly installed in the inside block and outer side slide simultaneously, the belt sleeve all inner side driven pulleys, outside from Driving wheel and belt pulley, the belt pulley drive the belt movement, working arm base motion described in the belt drive；Or：The open channel includes shell, inner track and outer side track, and the drive mechanism includes some outside drivens Sprocket wheel, some inner side driven sprockets, inside block, outer side slide, chain, sprocket wheel and working arm pedestal；The inner track, outer side track, inner side driven sprocket and outside driven sprocket wheel are fixedly mounted on the shell, and in from Order from inside to outside, the inside block and outer side slide slide in the inner track and outer side track respectively, the work Arm pedestal is fixedly installed in the inside block and outer side slide simultaneously, the chain be enclosed on all the inner side driven sprockets, Outside driven sprocket wheel and sprocket wheel, the sprocket wheel drive the chain movement, working arm base motion described in the chain-driving.
- A kind of 2. Working mechanism of multi-purpose robot according to claim 1, it is characterised in that：The open channel Center line is U-shaped, circular arc, V-arrangement, square, polygon, half elliptic or parabolic shape, and the working arm runs on described The open channel is remained perpendicular to during open channel.
- A kind of 3. Working mechanism of multi-purpose robot according to claim 1, it is characterised in that：The track rack Tooth is arranged on outside；The front side rail and rear side rail are installed on the same side of the track rack, and inside and outside setting.
- A kind of 4. Working mechanism of multi-purpose robot according to claim 3, it is characterised in that：The telescoping mechanism bag Include side rails, lower side rails, upper side slide, lower sliding block, work head pedestal, nut, screw mandrel and screw mandrel actuating unit；It is described Upper side rails and lower side rails are installed on the telescopic arm pedestal, and the upper side slide and lower sliding block are led along the upside respectively Rail and lower side rails slide, and the work head pedestal is fixedly installed in the upper side slide and lower sliding block, the nut simultaneously It is fixedly installed in the work head pedestal and coordinates with the wire rod thread, the screw mandrel actuating unit is installed on the telescopic arm Pedestal simultaneously drives the screw mandrel to rotate, and the work head is installed on the work head pedestal.
- A kind of 5. Working mechanism of multi-purpose robot according to claim 4, it is characterised in that：The upper side rails and Lower side rails are located at the side of the telescopic arm pedestal, and track rack, front side rail and the rear side rail are positioned at described flexible The opposite side of arm pedestal.
- A kind of 6. Working mechanism of multi-purpose robot according to claim 1, it is characterised in that：The telescoping mechanism bag Include siding track, lower side rail, upper side slide, lower sliding block, work head pedestal, contiguous block, telescopic belt, telescopic belt power Mechanism and telescopic belt wheel；The upper siding track and lower side rail are installed on the telescopic arm pedestal, and the upper side slide is with Side slide slides on the upper siding track and lower side rail respectively, the work head pedestal be installed on simultaneously the upper side slide and Lower sliding block, the work head pedestal are fixedly connected by the contiguous block with the telescopic belt, and the telescopic belt is enclosed on The telescopic belt wheel, and the work head pedestal is driven under the drive of the telescopic belt actuating unit；Or：The telescoping mechanism includes upper siding track, lower side rail, upper side slide, lower sliding block, work head pedestal, connection Block, stretching chain, stretching chain actuating unit and flexible sprocket wheel；The upper siding track and lower side rail are installed on the telescopic arm Pedestal, the upper side slide and lower sliding block slide on the upper siding track and lower side rail respectively, and the work head pedestal is same When be installed on the upper side slide and lower sliding block, the work head pedestal is fixed by the contiguous block and the flexible sprocket wheel Connection, the stretching chain is enclosed on the flexible sprocket wheel, and drives the work under the drive of the stretching chain actuating unit Make head pedestal.
- A kind of 7. Working mechanism of multi-purpose robot according to claim 1, it is characterised in that：The telescoping mechanism bag Include siding track, lower side rail, upper side slide, lower sliding block, work head pedestal, flexible rack, flexible gear and flexible gear Actuating unit；The upper siding track and lower side rail are installed on the telescopic arm pedestal, the upper side slide and lower sliding block point The upper siding track and lower side rail are not slided on, and the work head pedestal is installed on the upper side slide and lower sideslip simultaneously Block, flexible gear and expansion teeth the wheel power machine structure are installed on the telescopic arm pedestal, and the flexible rack is fixedly installed in The work head pedestal, the flexible gear engage with the flexible rack；Or：The telescoping mechanism includes upper siding track, lower side rail, upper side slide, lower sliding block, work head pedestal, flexible Rack, flexible gear and expansion teeth wheel power machine structure；The upper siding track and lower side rail are installed on the telescopic arm pedestal, institute State side slide and lower sliding block and slide on the upper siding track and lower side rail respectively, the work head pedestal is installed on simultaneously The upper side slide and lower sliding block, flexible gear and expansion teeth the wheel power machine structure are installed on the work head pedestal, institute State flexible rack and be fixedly installed in the telescopic arm pedestal, the flexible gear engages with the flexible rack.
- A kind of 8. Working mechanism of multi-purpose robot according to claim 1, it is characterised in that：The open channel bag Mobile rack and shifting sledge are included, the drive mechanism includes mobile sliding block, telescopic arm pedestal, carrier wheel and carrier wheel and moved Force mechanisms；The telescoping mechanism includes a flexible slide rail, a flexible sliding block, work head pedestal, telescopic screw rod and flexible silk Bar actuating unit；The mobile sliding block is fixedly connected with telescopic arm pedestal, and the mobile sliding block slides in the shifting sledge, the movement Gear engages with the mobile rack, and drives the mobile sliding block under the driving of the carrier wheel actuating unit and stretch Arm pedestal moves along the shifting sledge；The flexible slide rail is installed on the telescopic arm pedestal, and the flexible sliding block slides on the flexible slide rail, described flexible Screw mandrel is installed on the telescopic arm pedestal and is engaged in the nut that the work head pedestal is set, and the telescopic screw rod is stretched described The work head pedestal is driven to move under the driving of contracting screw mandrel actuating unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510378975.2A CN104942643B (en) | 2015-06-30 | 2015-06-30 | A kind of Working mechanism of multi-purpose robot |
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| CN201510378975.2A CN104942643B (en) | 2015-06-30 | 2015-06-30 | A kind of Working mechanism of multi-purpose robot |
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| CN104942643A CN104942643A (en) | 2015-09-30 |
| CN104942643B true CN104942643B (en) | 2018-01-09 |
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| CN111111974A (en) * | 2019-12-31 | 2020-05-08 | 扬州工业职业技术学院 | Guide tracked car panel beating paint spraying apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3505564A1 (en) * | 1984-04-03 | 1985-10-10 | Kraftwerk Union AG, 4330 Mülheim | MANIPULATOR SYSTEM FOR MOTION CONTROL, SUPPLY AND SIGNAL REQUEST OF A SPECIAL ENDOSCOPE, ESPECIALLY FOR OPTICAL TISSUE INSPECTION |
| JP3867010B2 (en) * | 2002-05-09 | 2007-01-10 | 株式会社不二越 | Industrial robot arm structure |
| DE10337803A1 (en) * | 2003-08-14 | 2005-03-17 | Eisenmann Lacktechnik KG (Komplementär: Eisenmann Stiftung) | Device for treating the surface of workpieces, in particular vehicle bodies |
| DE102006032094A1 (en) * | 2006-07-11 | 2008-01-17 | Siemens Ag | X-ray system with an industrial robot |
| CN204913453U (en) * | 2015-06-30 | 2015-12-30 | 佛山市新恒萃材料科技有限公司 | Operation mechanism of multipurpose robot |
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