CN104942814A - Multipurpose robot - Google Patents
Multipurpose robot Download PDFInfo
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- CN104942814A CN104942814A CN201510378816.2A CN201510378816A CN104942814A CN 104942814 A CN104942814 A CN 104942814A CN 201510378816 A CN201510378816 A CN 201510378816A CN 104942814 A CN104942814 A CN 104942814A
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Abstract
A multipurpose robot comprises a movement platform, an operation mechanism, a clamping plate, a vertical electric rotation module, a horizontal motor rotation module and a connecting plate. A workpiece to be machined is fixed to the upper end face of the clamping plate, the bottom surface of the clamping plate is fixed to the upper end of the vertical electric rotation module, the lower end of the vertical electric rotation module is fixedly connected with an output shaft of the horizontal motor rotation module, the horizontal motor rotation module is fixed to the upper end face of the connecting plate, and an output shaft of the horizontal motor rotation module is parallel with the upper end face of the connecting plate. When an operation object is a special-shaped tube of which the center line is in a space shape or in a closed shape, the multipurpose robot has the advantages that the multipurpose robot only needs to determine the position of the center line of the tube part before operation without knowing the accurate position of the outline of the tube part, in the process of operating and moving around the tube part by a whole circumference, the needed freedom degree is small, the manufacturing cost is low, and using and maintaining are convenient.
Description
Technical field
The present invention relates to Machining Technology field, particularly relate to a kind of multi-purpose robot.
Background technology
Along with the development of automated arm and Robotics, various co-ordinate-type lathe, machining center and joint type industrial robot are come out one after another, and define co-ordinate-type and articulated type two class popular motion platform gradually, connect different work head in this two type games platform end, various job task can be completed.
But for pipe fitting manipulating object, there is following shortcoming in this two classes popular motion platform: one, realizes the complicated movement of complete cycle operation, needs more than three frees degree to link; Its two, this two type games platform adopts spatial data to drive the operation of operation head, thus needs the accurate dimension knowing pipe profiles in advance; Its three, because operation head needs to reach accurate locus, just require that each free degree of this two type games platform has high precision, thus cost is high.
Summary of the invention
The object of the invention is to propose a kind of multi-purpose robot, can not only to plate and curved surface operation, all kinds of pipe fitting job task can also be applicable to well, comprising center line is spatial form or close-shaped complex pipes, when being applied to pipe fitting operation, have that cost is low, only need clear and definite pipe fitting position of center line before operation and without the need to knowing pipe profiles exact position, realize the advantages such as the free degree needed for the pipe fitting complete cycle Working motion is few, maintenance easy to use.
For reaching this object, the present invention by the following technical solutions:
A kind of multi-purpose robot; Comprise motion platform, Working mechanism, clamping plate, vertically electronic rotation module, horizontal motor rotary module and connecting plate, workpiece to be processed is fixed on the upper surface of described clamping plate, the bottom surface of described clamping plate and the upper end of described vertical electronic rotation module are fixed, the lower end of described vertical electronic rotation module is fixedly connected with the output shaft of horizontal motor rotary module, described horizontal motor rotary module is fixed on the upper surface of described connecting plate, and the output shaft of described horizontal motor rotary module is parallel with the upper surface of described connecting plate;
Described Working mechanism comprises connecting portion, open channel, driving mechanism, telescoping mechanism, working arm and working head; The link position of described connecting portion and described open channel is arranged on the outside at the middle part of described open channel, and form rotational freedom when described connecting portion is installed on machining center, this shaft axis is parallel to the center line place plane of described open channel; Centered by described open channel, line bends and the track do not closed, and described working arm can move along described open channel under the driving of described driving mechanism, and described working head is scalable under described telescoping mechanism drives;
Described motion platform comprises column, X-axis slideway, Y-axis slideway and Z axis slideway, and described Z axis slideway is vertically arranged on described column, and described open channel is fixed on the upper beam of described column by described connecting portion; Y-axis slide block is established in the bottom of described connecting plate, and described Y-axis slide block moves on described Y-axis slideway; The bottom of described Y-axis slideway is provided with X-axis slide block, and described X-axis slide block moves on described X-axis slideway; The sidewall of described connecting plate is provided with Z axis slide block, and described Z axis slide block moves on described Z axis slideway.
Further, the center line of described open channel is U-shaped, circular arc, V-arrangement, square, polygon, half elliptic or parabolic shape, keeps perpendicular to described open channel when described working arm runs on described open channel.
Further, described open channel comprises front side rail, track tooth bar and rear side rail, and described driving mechanism comprises front side slide block, rear side slide block, front side board, telescopic arm pedestal, driven wheel and driven wheel actuating unit;
Described front side rail and rear side rail are fixedly installed in described track tooth bar, described front side slide block and rear side slide block move along described front side rail and rear side rail respectively, described front side board and telescopic arm pedestal are installed on described front side slide block and rear side slide block respectively, described driven wheel to be installed between described front side board and telescopic arm pedestal by bearing and to engage with described track tooth bar, drives the driven wheel actuating unit of driven wheel to be arranged on described telescopic arm pedestal.
Further, the tooth of described track tooth bar is arranged on outside; Described front side rail and rear side rail are installed on the same side of described track tooth bar, and inside and outside setting.
Further, described telescoping mechanism comprises side rails, lower side rails, upper side slide, lower sliding block, working head pedestal, nut, screw mandrel and screw mandrel actuating unit; Described upper side rails and downside guide rails assembling are in described telescopic arm pedestal, described upper side slide and lower sliding block are respectively along described upper side rails and downside slide, described working head pedestal is fixedly installed in described upper side slide and lower sliding block simultaneously, described nut is fixedly installed in described working head pedestal and coordinates with described wire rod thread, described screw mandrel actuating unit is installed on described telescopic arm pedestal and drives described screw mandrel to rotate, and described working head is installed on described working head pedestal.
Further, described upper side rails and lower side rails are positioned at the side of described telescopic arm pedestal, and described track tooth bar, front side rail and rear side rail are positioned at the opposite side of described telescopic arm pedestal.
Further, described open channel comprises shell, inner track and outer side track, and described driving mechanism comprises some outside driven wheel, some inner sides driven pulley, inside block, outside slide block, belt, belt pulley and working arm pedestal;
Described inner track, outer side track, inner side driven pulley and outside driven wheel are fixedly mounted on described shell, and in order from inside to outside, described inside block and outside slide block slide in described inner track and outer side track respectively, described working arm pedestal is fixedly installed in described inside block and outside slide block simultaneously, described belt sleeve is at whole described inner sides driven pulley, outside driven wheel and belt pulley, described belt pulley drives described belt movement, working arm base motion described in described belt drive;
Or: described open channel comprises shell, inner track and outer side track, and described driving mechanism comprises some outside driven sprocket wheels, some inner sides driven sprocket, inside block, outside slide block, chain, sprocket wheel and working arm pedestal;
Described inner track, outer side track, inner side driven sprocket and outside driven sprocket wheel are fixedly mounted on described shell, and in order from inside to outside, described inside block and outside slide block slide in described inner track and outer side track respectively, described working arm pedestal is fixedly installed in described inside block and outside slide block simultaneously, described chain is enclosed within whole described inner sides driven sprocket, outside driven sprocket wheel and sprocket wheel, described sprocket wheel drives described chain movement, working arm base motion described in described chain-driving.
Further, described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, telescopic belt, telescopic belt actuating unit and telescopic belt wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described telescopic belt by described contiguous block, described telescopic belt is enclosed within described telescopic belt wheel, and under the drive of described telescopic belt actuating unit, drive described working head pedestal;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described flexible sprocket wheel by described contiguous block, described stretching chain is enclosed within described flexible sprocket wheel, and under the drive of described stretching chain actuating unit, drive described working head pedestal.
Further, described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described telescopic arm pedestal, described flexible tooth bar is fixedly installed in described working head pedestal, and described flexible gear engages with described flexible tooth bar;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described working head pedestal, described flexible tooth bar is fixedly installed in described telescopic arm pedestal, and described flexible gear engages with described flexible tooth bar.
Further, described open channel comprises mobile rack and shifting sledge, and described driving mechanism comprises moving slider, telescopic arm pedestal, carrier wheel and carrier wheel actuating unit; Described telescoping mechanism comprises a flexible slide rail, flexible slide block, working head pedestal, telescopic screw rod and a telescopic screw rod actuating unit;
Described moving slider is fixedly connected with telescopic arm pedestal, described moving slider slides at described shifting sledge, described carrier wheel engages with described mobile rack, and under the driving of described carrier wheel actuating unit, drive described moving slider and telescopic arm pedestal to move along described shifting sledge;
Described flexible slide rail is installed on described telescopic arm pedestal, described flexible skid is in described flexible slide rail, described telescopic screw rod is installed on described telescopic arm pedestal and is engaged in the nut of described working head pedestal setting, and described telescopic screw rod drives described working head pedestal to move under the driving of described telescopic screw rod actuating unit.
Beneficial effect of the present invention: be connected to the machining center with more than one free degree by connecting portion, working arm along open channel move and the stretching motion of working arm self completes the complete cycle operation of pipe fitting local, stretched out outside open channel opening by working arm and complete plate or curved surface operation.By changing working head; Working head can stretch under the drive of telescoping mechanism, and when the distance between the machined surface of irregular workpiece and working head changes, telescoping mechanism arrives the distance adapting to work pieces process by telescopic adjustment working head, and the range of work more extensively flexibly; Described multi-purpose robot's body can be used for the operations such as grinding, polishing, welding, spraying, boring, riveted joint, and manipulating object can be various pipe fitting, plate or curved surface; When manipulating object to be center line be spatial form or close-shaped shape tube, only need clear and definite pipe fitting position of center line before described a kind of multi-purpose robot has operation and without the need to knowing pipe profiles exact position, realize the advantages such as the free degree needed for the pipe fitting complete cycle Working motion is few, cost is low, maintenance easy to use.
In the technical program, the link position of described connecting portion and described open channel is arranged on the bottom at the middle part of described open channel, described connecting portion forms rotational freedom when being installed on machining center, and the axis of this rotational freedom and the center line of described open channel are positioned at same plane; The position that connecting portion is arranged is at the middle part of open channel, and during rotation, stability is high, ensures machining accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of the present of invention;
Fig. 2 is the mounting structure figure of first embodiment of split shed track of the present invention and driving mechanism;
Fig. 3 is the mounting structure figure of first embodiment of telescoping mechanism in the present invention;
Fig. 4 is the mounting structure figure of second embodiment of split shed track of the present invention and driving mechanism;
Fig. 5 is the mounting structure figure of second embodiment of telescoping mechanism in the present invention;
Fig. 6 is the mounting structure figure of the 3rd embodiment of telescoping mechanism in the present invention;
Fig. 7 is the mounting structure figure of the 3rd embodiment of split shed track of the present invention and driving mechanism.
Wherein: connecting portion 1, open channel 2, front side rail 201, track tooth bar 202, rear side rail 203, shell 211, inner track 212, outer side track 213, mobile rack 221, shifting sledge 222;
Front side slide block 301, rear side slide block 302, front side board 303, telescopic arm pedestal 304, driven wheel 305, driven wheel actuating unit 306, outside driven wheel 311, inner side driven pulley 312, inside block 313, outside slide block 314, belt 315, belt pulley 316, moving slider 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, working 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, flexible tooth bar 426, flexible gear 427, expansion teeth wheel power machine structure 428, flexible slide rail 431, flexible slide block 432, telescopic screw rod 433, telescopic screw rod actuating unit 434;
Working arm 5, working head 6, workpiece 7, connecting plate 8, column 9, horizontal motor rotary module 10, X-axis slideway 11, Y-axis slideway 12, Z axis slideway 13, clamping plate 14, vertical electronic rotation module 15.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of multi-purpose robot, comprise motion platform, Working mechanism, clamping plate 14, vertical electronic rotation module 15, horizontal motor rotary module 10 and connecting plate 8, workpiece 7 to be processed is fixed on the upper surface of described clamping plate 14, the bottom surface of described clamping plate 14 and the upper end of described vertical electronic rotation module 15 are fixed, the lower end of described vertical electronic rotation module 15 is fixedly connected with the output shaft of horizontal motor rotary module 10, described horizontal motor rotary module 10 is fixed on the upper surface of described connecting plate 8, and the output shaft of described horizontal motor rotary module 10 is parallel with the upper surface of described connecting plate 8, the output shaft rotation of horizontal motor rotary module 10, drives vertical electronic rotation module 15 to swing, and then drives the workpiece 7 of vertical electronic rotation module 15 upper end to do adaptability operation and processes with cooperating head 6,
In the technical program, the axis that described vertical electronic rotation module 15 rotation and described horizontal motor rotary module 10 rotate is vertical relation, described horizontal motor rotary module 10 rotation axis parallel is in described connecting plate, and described horizontal motor rotary module 10 is fixedly mounted on described connecting plate 8; Described vertical electronic rotation module 15 is made up of upper and lower two parts, and its upper and lower two parts can relative rotary motion; Described horizontal motor rotary module 10 is made up of front and back two parts, and before and after it, two parts can relative rotary motion;
Described Working mechanism comprises connecting portion 1, open channel 2, driving mechanism, telescoping mechanism, working arm 5 and working head 6; Described connecting portion 1 and the link position of described open channel 2 are arranged on the outside at the middle part of described open channel 2, and form rotational freedom when described connecting portion 1 is installed on machining center, this shaft axis is parallel to the center line place plane of described open channel 2; Centered by described open channel 2, line bends and the track do not closed, and described working arm 5 can move along described open channel 2 under the driving of described driving mechanism, and described working head 6 is scalable under described telescoping mechanism drives;
Described motion platform comprises column 9, X-axis slideway 11, Y-axis slideway 12 and Z axis slideway 13, and described Z axis slideway 13 is vertically arranged on described column 9, and described open channel 2 is fixed on the upper beam of described column by described connecting portion 1; Y-axis slide block is established in the bottom of described connecting plate, and described Y-axis slide block moves on described Y-axis slideway 12; The bottom of described Y-axis slideway 12 is provided with X-axis slide block, and described X-axis slide block moves on described X-axis slideway 11; The sidewall of described connecting plate 8 is provided with Z axis slide block, and described Z axis slide block moves on described Z axis slideway 13.
In the present invention, Working mechanism can move along X, Y, Z axis direction under the adjustment of motion platform, convenient, flexible, adapts to process without the workpiece 7 under operating mode; And the output shaft rotation of horizontal motor rotary module 10, drive vertical electronic rotation module 15 to swing, then drive the workpiece 7 of vertical electronic rotation module 15 upper end to do adaptability operation and process with cooperating head 6, improve machining accuracy and efficiency.
The machining center with more than one free degree is connected to by connecting portion 1, working arm 5 along open channel 2 move and the stretching motion of working arm 5 self completes the complete cycle operation of pipe fitting local, stretched out outside open channel 2 opening by working arm 5 and complete plate or curved surface operation.By changing working head 6; Working head 6 can stretch under the drive of telescoping mechanism, and when the distance between the machined surface of irregular workpiece and working head 6 changes, telescoping mechanism arrives the distance adapting to work pieces process by telescopic adjustment working head 6, and the range of work more extensively flexibly; Described multi-purpose robot's body can be used for the operations such as grinding, polishing, welding, spraying, boring, riveted joint, and manipulating object can be various pipe fitting, plate or curved surface; When manipulating object to be center line be spatial form or close-shaped shape tube, only need clear and definite pipe fitting position of center line before described a kind of multi-purpose robot has operation and without the need to knowing pipe profiles exact position, realize the advantages such as the free degree needed for the pipe fitting complete cycle Working motion is few, cost is low, maintenance easy to use.
In the technical program, described connecting portion 1 and the link position of described open channel 2 are arranged on the bottom at the middle part of described open channel 2, described connecting portion 1 forms rotational freedom when being installed on machining center, and the axis of this rotational freedom and the center line of described open channel 2 are positioned at same plane; The position that connecting portion 1 is arranged is at the middle part of open channel 2, and during rotation, stability is high, ensures machining accuracy.
Preferably, the center line of described open channel 2 is U-shaped, circular arc, V-arrangement, square, polygon, half elliptic or parabolic shape, keeps perpendicular to described open channel 2 when described working arm 5 runs on described open channel 2.
Open channel 2 back work 6 can complete the shape and structure of complete cycle Working motion; U-shaped or circular arc or V-arrangement are all in the protection domain of the technical program; perpendicular to described open channel 2 when working arm 5 runs on described open channel 2; difform open channel 2 can be used for the processing of difformity workpiece, the applied range of device.
As shown in Figure 2, described open channel 2 comprises front side rail 201, track tooth bar 202 and rear side rail, and described driving mechanism comprises front side slide block 301, rear side slide block 302, front side board 303, telescopic arm pedestal 304, driven wheel 305 and driven wheel actuating unit 306;
Described front side rail 201 and rear side rail are fixedly installed in described track tooth bar 202, described front side slide block 301 and rear side slide block 302 move along described front side rail 201 and rear side rail respectively, described front side board 303 and telescopic arm pedestal 304 are installed on described front side slide block 301 and rear side slide block 302 respectively, described driven wheel 305 to be installed between described front side board 303 and telescopic arm pedestal 304 by bearing and to engage with described track tooth bar 202, and the driven wheel actuating unit 306 regulating driven wheel 305 to move is arranged on described telescopic arm pedestal 304.
In the present embodiment, driving mechanism drives driven wheel 305 to rotate, thus drives telescopic arm pedestal 304 according to the orbiting motion of front and back two side rails constraint.Driven wheel actuating unit 306 drives described driven wheel 305 to rotate, driven wheel 305 moves along the track tooth bar 202 in open channel, move in front side rail 201 with the front side slide block 301 on front side board 303 and rear side slide block 302 on telescopic arm pedestal 304 moves in rear side rail, the working arm 5 that telescopic arm pedestal 304 is fixed carries out operation processing with working head 6 pairs of workpiece simultaneously.
When driving mechanism drives, inevitably produce certain mechanical oscillation, so driven wheel 305 to be installed between described front side board 303 and telescopic arm pedestal 304 by bearing and to engage with described track tooth bar 202, born the weight of driven wheel 305 together with telescopic arm pedestal 304 by front side board 303, the stability that driven wheel 305 is arranged is high; During working motion, front side slide block 301 on front side board 303 and the rear side slide block 302 on telescopic arm pedestal 304 (are located in figure the position coordinating rear side slide block 302 to slide in front side rail 201 and rear side rail respectively, directly do not draw in the drawings) upper motion, the cooperation of two tracks and two slide blocks, the stability of operation is high.
As shown in Figure 3, the tooth of described track tooth bar 202 is arranged on outside; Described front side rail 201 and rear side rail 203 are installed on the same side of described track tooth bar 202, and inside and outside setting.
The tooth of track tooth bar 202 is arranged on outside, and can reduce taking open channel 2 inner space, during working motion, flexibility ratio is higher; In the present embodiment, described front side rail 201 and rear side rail 203 are installed on the same side of described track tooth bar 202, two guide rails add man-hour, after the side of open channel 2 processes one, without the need to the processing by Article 2 guide rail just can be carried out after open channel 2 turn-over, improve working (machining) efficiency.
In the present embodiment, described telescoping mechanism comprises side rails 401, lower side rails 402, upper side slide 403, lower sliding block 404, working head pedestal 405, nut 406, screw mandrel 407 and screw mandrel actuating unit 408; Described upper side rails 401 and lower side rails 402 are installed on described telescopic arm pedestal 304, described upper side slide 403 and lower sliding block 404 slide along described upper side rails 401 and lower side rails 402 respectively, described working head pedestal 405 is fixedly installed in described upper side slide 403 and lower sliding block 404 simultaneously, described nut 406 be fixedly installed in described working head pedestal 405 and with described screw mandrel 407 threaded engagement, described screw mandrel actuating unit 408 is installed on described telescopic arm pedestal 304 and drives described screw mandrel 407 to rotate, and described working head 6 is installed on described working head pedestal 405.
In the present embodiment, screw mandrel actuating unit 408 provides power drive screw mandrel 407 to rotate, after screw mandrel 407 and nut 406 relatively rotate, upper side slide 403 on the working head pedestal 405 of hold-down nut 406 and lower sliding block 404 respectively along upper side rails 401, lower side rails 402 moving linearly, then the working head 6 being fixed on working head pedestal 405 simultaneously by with do away from or near the rectilinear motion of workpiece.
Described upper side rails 401 and lower side rails 402 are positioned at the side of described telescopic arm pedestal 304, and described track tooth bar 202, front side rail 201 and rear side rail 201 are positioned at the opposite side of described telescopic arm pedestal 304.
Upper side rails 401, lower side rails 402 and track tooth bar 202, front side rail 201, rear side rail 201 arrange the both sides of telescopic arm pedestal 304 respectively, balance the weight that each portion installs admirably, improve the stability of plant running.
As shown in Figure 4, described open channel comprises shell 211, inner track 212 and outer side track 213, and described driving mechanism comprises some outside driven wheel 311, some inner sides driven pulley 312, inside block 313, outside slide block 314, belt 315, belt pulley 316 and working arm pedestal 304;
Described inner track 212, outer side track 213, inner side driven pulley 312 and outside driven wheel 311 are fixedly mounted on described shell 211, and in order from inside to outside, described inside block 313 and outside slide block 314 slide in described inner track 212 and outer side track 213 respectively, described working arm pedestal 304 is fixedly installed in described inside block 313 and outside slide block 314 simultaneously, described belt 315 is enclosed within whole described inner sides driven pulley 312, outside driven wheel 311 and belt pulley 316, described belt pulley 316 drives described belt 315 to move, described belt 315 drives described working arm pedestal 304 to move.
Wherein, several outside driven wheel 311 and several inside driven pulley 312 be arranged on shell 211, belt 315 drives running by belt pulley 316, working arm pedestal 304 and belt 315 are connected, the orbiting motion that the running of belt 315 drives working arm pedestal 304 to be retrained along inner track 212 and outer side track 213 by inside block 313 and outside slide block 314.In the present embodiment, the kind of drive of open channel 2 is belt transmission, similarly, also can use chain drive: bel-drivenn precision is high, be applicable to the transmission of light small workpiece; The bearing capacity of chain drive is large, is applicable to the transmission of large-scale workpiece.
As shown in Figures 5 and 6, described telescoping mechanism comprises siding track 411, lower side rail 412, upper side slide 413, lower sliding block, working head pedestal 405, contiguous block 416, telescopic belt 417, telescopic belt actuating unit 418 and telescopic belt wheel 419; Described upper siding track 411 and lower side rail 412 are installed on described telescopic arm pedestal 304, described upper side slide 413 and lower sliding block slide on described upper siding track 411 and lower side rail 412 respectively, described working head pedestal 405 is installed on described upper side slide 413 and lower sliding block 414 simultaneously, described working head pedestal 405 is fixedly connected with described telescopic belt 417 by described contiguous block 416, described telescopic belt 417 is enclosed within described telescopic belt wheel 419, and under the drive of described telescopic belt actuating unit 418, drive described working head pedestal 405.
Working head pedestal 405 is fixedly connected with telescopic belt 417 by contiguous block 416, driving telescopic belt to take turns 419 rotations by telescopic belt actuating unit 418 drives telescopic belt 417 to operate, thus drives the orbiting motion that working arm pedestal 304 is retrained along upper siding track 411 and lower side rail 412 by upper side slide 413 and lower sliding block 414.In the present embodiment, the flexible kind of drive of working arm 5 is belt transmission, similarly, also can use chain drive: bel-drivenn precision is high, be applicable to the transmission of light small workpiece; The bearing capacity of chain drive is large, is applicable to the transmission of large-scale workpiece.
As shown in Figure 6, described telescoping mechanism comprises siding track 411, lower side rail 412, upper side slide 413, lower sliding block 414, working head pedestal 405, flexible tooth bar 426, flexible gear 427 and expansion teeth wheel power machine structure 428; Described upper siding track 411 and lower side rail 412 are installed on described telescopic arm pedestal 304, described upper side slide 413 and lower sliding block 414 slide on described upper siding track 411 and lower side rail 412 respectively, described working head pedestal 405 is installed on described upper side slide 413 and lower sliding block 414 simultaneously, described flexible gear 427 and expansion teeth wheel power machine structure 428 are installed on described telescopic arm pedestal 304, described flexible tooth bar 426 is fixedly installed in described working head pedestal 405, and described flexible gear 427 engages with described flexible tooth bar 426.
It is rack pinion that working arm 5 realizes the flexible kind of drive.Wherein, working head pedestal 405 is fixedly connected with flexible tooth bar 426, flexible gear 427 is arranged on working head pedestal 405, moved by the rotary actuation of flexible gear 427 tooth bar 426 that stretches, thus drive the orbiting motion that working head pedestal 405 is retrained along upper siding track 411 and lower side rail 412 by upper side slide 413 and lower sliding block 414.In the present embodiment; flexible tooth bar 426 is arranged on working head pedestal 405, and flexible gear 427 is arranged on telescopic arm pedestal 304, according to concrete open operating mode; both installation sites can exchange mutually, and the structure before and after exchanging all drops in the protection domain of the technical program.
As shown in Figure 7, described open channel 2 comprises mobile rack 221 and shifting sledge 222, and described driving mechanism comprises moving slider 321, telescopic arm pedestal 304, carrier wheel 322 and carrier wheel actuating unit 323; Described telescoping mechanism comprises a flexible slide rail 431, flexible slide block 432, working head pedestal 405, telescopic screw rod 433 and a telescopic screw rod actuating unit 434;
Described moving slider 321 is fixedly connected with telescopic arm pedestal 304, described moving slider 321 slides at described shifting sledge 222, described carrier wheel 322 engages with described mobile rack 221, and under the driving of described carrier wheel actuating unit 323, drive described moving slider 321 and telescopic arm pedestal 304 to move along described shifting sledge 222;
Described flexible slide rail 431 is installed on described telescopic arm pedestal 304, described flexible slide block 432 slides on described flexible slide rail 431, described telescopic screw rod 433 is installed on described telescopic arm pedestal 304 and is engaged in the nut of described working head pedestal 405 setting, and described telescopic screw rod 433 drives described working head pedestal 405 to move under the driving of described telescopic screw rod actuating unit 434.
Open channel 2 and working head pedestal 405 drive rail can use single track, when less with guide rail vertical direction moment of torsion, adopt this mode to save cost, reduce structure and taken up space.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (10)
1. a multi-purpose robot, it is characterized in that: comprise motion platform, Working mechanism, clamping plate, vertical electronic rotation module, horizontal motor rotary module and connecting plate, workpiece to be processed is fixed on the upper surface of described clamping plate, the bottom surface of described clamping plate and the upper end of described vertical electronic rotation module are fixed, the lower end of described vertical electronic rotation module is fixedly connected with the output shaft of horizontal motor rotary module, described horizontal motor rotary module is fixed on the upper surface of described connecting plate, and the output shaft of described horizontal motor rotary module is parallel with the upper surface of described connecting plate,
Described Working mechanism comprises connecting portion, open channel, driving mechanism, telescoping mechanism, working arm and working head; The link position of described connecting portion and described open channel is arranged on the outside at the middle part of described open channel, and this shaft axis is parallel to the center line place plane of described open channel; Centered by described open channel, line bends and the track do not closed, and described working arm can move along described open channel under the driving of described driving mechanism, and described working head is scalable under described telescoping mechanism drives;
Described motion platform comprises column, X-axis slideway, Y-axis slideway and Z axis slideway, and described Z axis slideway is vertically arranged on described column, and described open channel is fixed on the upper beam of described column by described connecting portion; Y-axis slide block is established in the bottom of described connecting plate, and described Y-axis slide block moves on described Y-axis slideway; The bottom of described Y-axis slideway is provided with X-axis slide block, and described X-axis slide block moves on described X-axis slideway; The sidewall of described connecting plate is provided with Z axis slide block, and described Z axis slide block moves on described Z axis slideway.
2. a kind of multi-purpose robot according to claim 1, it is characterized in that: the center line of described open channel is U-shaped, circular arc, V-arrangement, square, polygon, half elliptic or parabolic shape, keep perpendicular to described open channel when described working arm runs on described open channel.
3. a kind of multi-purpose robot according to claim 1, it is characterized in that: described open channel comprises front side rail, track tooth bar and rear side rail, described driving mechanism comprises front side slide block, rear side slide block, front side board, telescopic arm pedestal, driven wheel and driven wheel actuating unit;
Described front side rail and rear side rail are fixedly installed in described track tooth bar, described front side slide block and rear side slide block move along described front side rail and rear side rail respectively, described front side board and telescopic arm pedestal are installed on described front side slide block and rear side slide block respectively, described driven wheel to be installed between described front side board and telescopic arm pedestal by bearing and to engage with described track tooth bar, drives the driven wheel actuating unit 306 of driven wheel to be arranged on described telescopic arm pedestal.
4. a kind of multi-purpose robot according to claim 3, is characterized in that: the tooth of described track tooth bar is arranged on outside; Described front side rail and rear side rail are installed on the same side of described track tooth bar, and inside and outside setting.
5. a kind of multi-purpose robot according to claim 4, is characterized in that: described telescoping mechanism comprises side rails, lower side rails, upper side slide, lower sliding block, working head pedestal, nut, screw mandrel and screw mandrel actuating unit; Described upper side rails and downside guide rails assembling are in described telescopic arm pedestal, described upper side slide and lower sliding block are respectively along described upper side rails and downside slide, described working head pedestal is fixedly installed in described upper side slide and lower sliding block simultaneously, described nut is fixedly installed in described working head pedestal and coordinates with described wire rod thread, described screw mandrel actuating unit is installed on described telescopic arm pedestal and drives described screw mandrel to rotate, and described working head is installed on described working head pedestal.
6. a kind of multi-purpose robot according to claim 5, is characterized in that: described upper side rails and lower side rails are positioned at the side of described telescopic arm pedestal, and described track tooth bar, front side rail and rear side rail are positioned at the opposite side of described telescopic arm pedestal.
7. a kind of multi-purpose robot according to claim 1, it is characterized in that: described open channel comprises shell, inner track and outer side track, described driving mechanism comprises some outside driven wheel, some inner sides driven pulley, inside block, outside slide block, belt, belt pulley and working arm pedestal;
Described inner track, outer side track, inner side driven pulley and outside driven wheel are fixedly mounted on described shell, and in order from inside to outside, described inside block and outside slide block slide in described inner track and outer side track respectively, described working arm pedestal is fixedly installed in described inside block and outside slide block simultaneously, described belt sleeve is at whole described inner sides driven pulley, outside driven wheel and belt pulley, described belt pulley drives described belt movement, working arm base motion described in described belt drive;
Or: described open channel comprises shell, inner track and outer side track, and described driving mechanism comprises some outside driven sprocket wheels, some inner sides driven sprocket, inside block, outside slide block, chain, sprocket wheel and working arm pedestal;
Described inner track, outer side track, inner side driven sprocket and outside driven sprocket wheel are fixedly mounted on described shell, and in order from inside to outside, described inside block and outside slide block slide in described inner track and outer side track respectively, described working arm pedestal is fixedly installed in described inside block and outside slide block simultaneously, described chain is enclosed within whole described inner sides driven sprocket, outside driven sprocket wheel and sprocket wheel, described sprocket wheel drives described chain movement, working arm base motion described in described chain-driving.
8. a kind of multi-purpose robot according to claim 3, is characterized in that: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, telescopic belt, telescopic belt actuating unit and telescopic belt wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described telescopic belt by described contiguous block, described telescopic belt is enclosed within described telescopic belt wheel, and under the drive of described telescopic belt actuating unit, drive described working head pedestal;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described working head pedestal is fixedly connected with described flexible sprocket wheel by described contiguous block, described stretching chain is enclosed within described flexible sprocket wheel, and under the drive of described stretching chain actuating unit, drive described working head pedestal.
9. a kind of multi-purpose robot according to claim 3, is characterized in that: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described telescopic arm pedestal, described flexible tooth bar is fixedly installed in described working head pedestal, and described flexible gear engages with described flexible tooth bar;
Or: described telescoping mechanism comprises siding track, lower side rail, upper side slide, lower sliding block, working head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure; Described upper siding track and lower side rail are installed on described telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively, described working head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible gear and expansion teeth wheel power machine structure are installed on described working head pedestal, described flexible tooth bar is fixedly installed in described telescopic arm pedestal, and described flexible gear engages with described flexible tooth bar.
10. a kind of multi-purpose robot according to claim 1, is characterized in that: described open channel comprises mobile rack and shifting sledge, described driving mechanism comprises moving slider, telescopic arm pedestal, carrier wheel and carrier wheel actuating unit; Described telescoping mechanism comprises a flexible slide rail, flexible slide block, working head pedestal, telescopic screw rod and a telescopic screw rod actuating unit;
Described moving slider is fixedly connected with telescopic arm pedestal, described moving slider slides at described shifting sledge, described carrier wheel engages with described mobile rack, and under the driving of described carrier wheel actuating unit, drive described moving slider and telescopic arm pedestal to move along described shifting sledge;
Described flexible slide rail is installed on described telescopic arm pedestal, described flexible skid is in described flexible slide rail, described telescopic screw rod is installed on described telescopic arm pedestal and is engaged in the nut of described working head pedestal setting, and described telescopic screw rod drives described working head pedestal to move under the driving of described telescopic screw rod actuating unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510378816.2A CN104942814B (en) | 2015-06-30 | 2015-06-30 | A kind of multi-purpose robot |
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| CN201510378816.2A CN104942814B (en) | 2015-06-30 | 2015-06-30 | A kind of multi-purpose robot |
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| CN104942814B CN104942814B (en) | 2016-09-14 |
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| EP3296025A1 (en) * | 2016-09-16 | 2018-03-21 | Cefla Societa' Cooperativa | Apparatus and method for painting three-dimensional objects |
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| CN109454489A (en) * | 2018-11-21 | 2019-03-12 | 金鑫乐 | A kind of four axis rotary carrier platforms |
| CN109987286A (en) * | 2017-12-29 | 2019-07-09 | 深圳星河智能科技有限公司 | A kind of drink mediums railcar |
| CN111830312A (en) * | 2020-06-03 | 2020-10-27 | 南方电网科学研究院有限责任公司 | Electricity testing operation equipment for distribution line |
| CN113085085A (en) * | 2021-03-04 | 2021-07-09 | 金华万得福日用品股份有限公司 | Periodic track simple driving device of feeding mechanical arm of injection molding machine |
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| Publication number | Publication date |
|---|---|
| CN104942814B (en) | 2016-09-14 |
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