CN105215986A - A kind of multi-spindle machining hand - Google Patents
A kind of multi-spindle machining hand Download PDFInfo
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- CN105215986A CN105215986A CN201510765753.6A CN201510765753A CN105215986A CN 105215986 A CN105215986 A CN 105215986A CN 201510765753 A CN201510765753 A CN 201510765753A CN 105215986 A CN105215986 A CN 105215986A
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Abstract
The invention discloses a kind of multi-spindle machining hand, comprise rotating seat and be connected to second of rotating seat successively, three, four, five and six transmission mechanisms, second transmission mechanism comprises robot ' s arm and the second servomotor, 3rd transmission mechanism comprises large arm pipe, arm in first robot, arm in second robot, 3rd servomotor and the second decelerator, 4th transmission mechanism comprises middle arm pipe, 4th servomotor and the 3rd reductor, 5th transmission mechanism comprises the first robot forearm, installation cavity, second robot forearm, 5th servomotor and the 4th reductor, 6th transmission mechanism comprises rotary flange, 6th servomotor and the 5th reductor.The drive mechanism of the RV series reduction that the present invention adopts the servomotor of high-quality to coordinate robot special, realizes high accuracy, high efficiency machine driving, simple to operate, compact conformation, parts are few, failure rate is low, there is good ambient adaptability, ensure precision and inertia.
Description
Technical field
The present invention relates to industry mechanical arm field, relate to a kind of multi-spindle machining hand more specifically.
Background technology
Robotics develops abroad certain history, and our country greatly develops Industrial Robot Technology in recent years, and achieves a series of technological achievement, but still there is a certain distance with developed country.
Multi-spindle machining hand is very important one large part in robot field, and it can move freely in three dimensions, can carry out quickly and accurately carrying, weld, polish, polishing, a large amount of repetitive operation such as spraying.In the factory of more, work under bad environment especially large at some labour intensity, consuming time, manipulator has played very important effect, greatly can increase work efficiency, ensure production safety.But although multi-spindle machining hand on the market has the abundant free degree, the problem that all ubiquity is so at present, the underaction that complicated in mechanical structure causes, transmission efficiency be low, control the problems such as instability, poor accuracy.
Summary of the invention
Technical problem to be solved by this invention overcomes above-mentioned the deficiencies in the prior art, provides the multi-spindle machining hand that a kind of structure is simple, meet the high-accuracy high-efficiency rate of industrial requirement.
The technical scheme that the present invention solves the problems of the technologies described above employing is: a kind of multi-spindle machining hand, comprise rotating seat and be connected to the second transmission mechanism of rotating seat, the 3rd transmission mechanism, the 4th transmission mechanism, the 5th transmission mechanism and the 6th transmission mechanism successively, described rotating seat is made up of the pedestal of turning and be located at side, upper end of turning;
Described second transmission mechanism comprises: syphon shape robot ' s arm, it has the horizontal ends of sealing and opening up vertical end, described robot ' s arm horizontal ends inside is separated into upper and lower two chambers, described bottom chamber is provided with the second servomotor, and described second servomotor clutch end is connected on the pedestal of rotating seat through port;
Described 3rd transmission mechanism comprises: be connected to the large arm pipe that robot ' s arm is vertically held successively, arm in arm and syphon shape second robot in syphon shape first robot, in described first robot, arm has with robot ' s arm horizontal ends towards identical horizontal ends, the 3rd servomotor is provided with in described robot ' s arm horizontal ends upper chamber, the second decelerator that its output is connected to arm one end in the second robot is provided with in arm horizontal ends in described first robot, described 3rd servomotor clutch end is connected by the first synchronizing wheel with the second decelerator input,
Described 4th transmission mechanism comprises: be connected to the middle arm pipe of arm in the second robot and the 4th servomotor be located in the second robot in arm and the 3rd reductor, described 4th servomotor clutch end is connected to the 3rd reductor input, and the 3rd output end of reducer is connected to middle arm pipe one end;
Described 5th transmission mechanism comprises: syphon shape first robot forearm being connected to middle arm pipe, described first robot forearm one end is formed with installation cavity towards the direction that middle arm pipe is contrary, installation cavity side is provided with the first robot forearm towards identical syphon shape second robot forearm, be provided with side by side in described installation cavity respectively towards first, 5th servomotor of two robot forearms and the 4th reductor, described 5th servomotor clutch end is connected by the second synchronizing wheel with the 4th decelerator input, 4th output end of reducer is connected to second robot forearm one end,
Described 6th transmission mechanism comprises: be connected to the rotary flange of the second robot forearm, be located at the 6th servomotor in the second robot forearm and the 5th reductor, described 6th servomotor clutch end is connected to the 5th reductor input, and the 5th output end of reducer is connected on rotary flange.
Preferably, described rotating seat lower end is also provided with the first transmission mechanism, described first transmission mechanism comprises: base, be arranged on the first servomotor in base and the first reductor, described first servomotor clutch end is connected to the first reductor input, and the first output end of reducer is connected to the lower end of turning of rotating seat.
Preferably, the shell be made up of arm, middle arm pipe, the first robot forearm, installation cavity and the second robot forearm in arm, the second robot in described robot ' s arm, large arm pipe, the first robot all adopts full aluminium frame to process, and the connection cable of each servomotor and decelerator is all located at described enclosure.
Preferably, on described robot ' s arm, side relative to its horizontal ends is provided with the first maintenance end cap.
Preferably, in described robot ' s arm horizontal ends, corresponding 3rd servomotor is provided with the second maintenance end cap.
Preferably, in described first robot, on arm, corresponding second decelerator input is provided with the 3rd maintenance end cap.
Preferably, in described second robot, on arm, corresponding 4th servomotor is provided with the 4th maintenance end cap.
Preferably, on described first robot forearm, corresponding 5th servomotor is provided with the 5th maintenance end cap.
Preferably, on described installation cavity, corresponding 4th reductor input and the 5th servomotor clutch end are provided with the 6th maintenance end cap.
Preferably, on described second robot forearm, corresponding 6th servomotor is provided with the 7th maintenance end cap.
Compared with prior art, beneficial effect of the present invention: the present invention has the advantages such as compact structure, speed is fast, moment is large, working range is wide, can remote-controlled operation, can realize various action flexibly, joint stability in the course of work, meet various demand.
1. the present invention does not have complicated transmission mechanism, traditional gear & rack structure abandoned completely by transmission mechanism, but the drive mechanism of the RV series reduction adopting the servomotor of high-quality to coordinate robot special, realize high accuracy, high efficiency machine driving, simple to operate, compact conformation, parts are few, failure rate is low, has good ambient adaptability, ensures precision and inertia; And the programming of corresponding manipulation software systems is also very simple, reduces production cost.
2. be furnished with altogether 7 maintenance end caps, maintenance end cap is all arranged on transmission mechanism, and maintenance, disassembling operations is simply very convenient; Maintenance work is also very easy to, and is regularly oiled to corresponding reductor by maintenance cover.
3. shell adopts full aluminium frame to process first, compares existing cast member shell, greatly weight reduction and reduction volume.The connection cable of each servomotor and decelerator adopts whole closed to design simultaneously, is all arranged on enclosure, guarantees anti-explosion safety.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, wherein:
Fig. 1 is the structural blast figure of first embodiment of the invention;
Fig. 2 is the first transmission mechanism profile of first embodiment of the invention;
Fig. 3 is the second transmission mechanism profile of first embodiment of the invention;
Fig. 4 is the 3rd transmission mechanism profile of first embodiment of the invention;
Fig. 5 is the 4th transmission mechanism profile of first embodiment of the invention;
Fig. 6 is the 5th transmission mechanism profile of first embodiment of the invention;
Fig. 7 is the 6th transmission mechanism profile of first embodiment of the invention;
Fig. 8 is the using state figure of first embodiment of the invention;
Fig. 9 is the rotating seat structure schematic diagram of second embodiment of the invention;
Figure 10 is the using state figure of second embodiment of the invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described further.Quote in all embodiments as " on ", D score, "left", "right", the term such as " centre " and " ", only for ease of understanding of describing, and be not used to limit the enforceable scope of the present invention, the change of its relativeness or adjustment, under changing technology contents without essence, when being also considered as the enforceable category of the present invention.
Refer to Fig. 1, a kind of multi-spindle machining hand designed in first embodiment of the invention, it is six axis robot, specifically comprise: substrate 70 and be connected to the first transmission mechanism of substrate 70, the second transmission mechanism, the 3rd transmission mechanism, the 4th transmission mechanism, the 5th transmission mechanism and the 6th transmission mechanism successively, substrate 70 is fixed for six axis robot being carried out installation, 6th transmission mechanism is used for mounting tool fixture 80, thus realizes a large amount of repetitive operation such as carrying, welding, polishing, polishing, spraying.
Refer to Fig. 1 and Fig. 2, substrate 70 is platy structure, and the first transmission mechanism is arranged on substrate 70.First transmission mechanism comprises: base 11, first servomotor 12, first reductor 13 and rotating seat 14, base 11 is fixedly mounted on the upper end of substrate 70, container cavity is formed in the inside of base 11, first servomotor 12 and the first reductor 13 are arranged in this container cavity, rotating seat 14 is arranged on the top of base 11, rotating seat 14 be by turn 141 and the pedestal 142 of being located at 141 sides, upper end of turning form.The clutch end of the first servomotor 12 is connected to the input of the first reductor 13, the output of the first reductor 13 through the container cavity of base 11, and be connected to turn 141 lower end.Thus make the first servomotor 12 can carry out 0 ~ 360 ° of rotation by driven rotary seat 14 by the first reductor 13.
Preferably, for the ease of overhauling the first transmission mechanism, substrate 70 and base 11 adopt integral molding techniques manufacture, the port that now the first servomotor 12 and the first reductor 13 are communicated with base 11 container cavity by substrate 70 bottom is installed, thus makes the dismounting to the first servomotor 12 and the first reductor 13, inspection operation simply very convenient.750W servomotor selected by first servomotor 12, the RV32-80 harmonic wave speed reducing machine that the first reductor 13 selects robot special.
Refer to Fig. 1 and Fig. 3, second transmission mechanism is connected to the rotating seat 14 of the first transmission mechanism, second transmission mechanism comprises: robot ' s arm 21 and the second servomotor 22, robot ' s arm 21 is in syphon shape structure, have the horizontal ends of sealing and opening up vertical end, the horizontal ends of robot ' s arm 21 is inside the pedestal 142 of rotating seat 14.The horizontal ends inside of robot ' s arm 21 is divided into upper and lower two chambers, second servomotor 22 is arranged on the horizontal ends bottom chamber of robot ' s arm 21, the clutch end of the second servomotor 22 through this horizontal ends, and is connected on the pedestal 142 of rotating seat 14.Thus make the second servomotor 22 that robot ' s arm 21 can be driven to carry out 0 ~ 180 ° of rotation.
Preferably, for the ease of overhauling the second transmission mechanism, side relative with its horizontal ends on robot ' s arm 21 is provided with the first maintenance end cap 23, thus makes the dismounting to the second servomotor 22, inspection operation simply very convenient.750W servomotor selected by second servomotor 22, and strap brake.
Refer to Fig. 1 and Fig. 4, robot ' s arm the 21, three transmission mechanism that 3rd transmission mechanism is connected to the second transmission mechanism comprises: arm 33, the 3rd servomotor 34, second decelerator 35 and a pair first synchronizing wheels 36 in arm 32, second robot in large arm pipe 31, first robot.In first robot, arm 32 is in syphon shape structure, and have horizontal ends and downward opening vertical end, wherein horizontal ends and the horizontal ends of robot ' s arm 21 are towards identical.One end of large arm pipe 31 is connected on the vertical end of robot ' s arm 21, and the other end is then connected on the vertical end of arm 32 in the first robot.In second robot, arm 33 is also in syphon shape structure, and in the second robot, one end of arm 33 is connected with the horizontal ends of arm 32 in the first robot.3rd servomotor 34 is arranged in the horizontal ends upper chamber of robot ' s arm 21, be positioned at the top of the second servomotor 22, the clutch end of the 3rd servomotor 34 is connected with the first synchronizing wheel 36A, the horizontal ends that second decelerator 35 is arranged on arm 32 in the first robot is inner, the input of the second decelerator 35 is connected with the first synchronizing wheel 36B, the output of the second decelerator 35 is connected in the second robot on arm 33, and the first synchronizing wheel 36A is connected by the Timing Belt be arranged in large arm pipe 31 with the first synchronizing wheel 36B.Thus make the 3rd servomotor 34 arm 33 in the second robot can be driven to carry out 0 ~ 270 ° of rotation by a pair first synchronizing wheels 36 and the second decelerator 35.
Preferably, for the ease of overhauling the 3rd transmission mechanism, in the horizontal ends of robot ' s arm 21, corresponding 3rd servomotor 34 is provided with the second maintenance end cap 37, thus makes the dismounting to the 3rd servomotor 34, inspection operation simply very convenient.In the first robot, on arm 32, the input of corresponding second decelerator 35 is provided with the 3rd maintenance end cap 38, thus makes the dismounting to the second decelerator 35, inspection operation simply very convenient.400W servomotor selected by 3rd servomotor 34, the RV32-120 harmonic wave speed reducing machine that the 3rd reductor 35 selects robot special.
Refer to Fig. 1 and Fig. 5,4th transmission mechanism is connected to arm 33 in the second robot of the 3rd transmission mechanism, 4th transmission mechanism comprises: middle arm pipe 41, the 4th servomotor 42 and the 3rd reductor 43, and one end of middle arm pipe 41 is connected to one end of arm 33 in the second robot.4th servomotor 42 and the 3rd reductor 43 are arranged on the inside of arm 33 in the second robot towards middle arm pipe 41, the clutch end of the 4th servomotor 42 is connected to the input of the 3rd reductor 43, the output of the 3rd reductor 43 by Flange joint on middle arm pipe 41.Thus arm pipe 41 carries out 0 ~ 360 ° of rotation in making the 4th servomotor 42 can be driven by the 3rd reductor 43.
Preferably, for the ease of overhauling the 4th transmission mechanism, in the second robot, on arm 33, corresponding 4th servomotor 42 is provided with the 4th maintenance end cap 44, thus makes the dismounting to the 4th servomotor 42 and the 3rd reductor 43, inspection operation simply very convenient.200W servomotor selected by 4th servomotor 42, the RV25-80 harmonic wave speed reducing machine that the 3rd reductor 43 selects robot special.
Refer to Fig. 1 and Fig. 6, middle arm pipe the 41, five transmission mechanism that 5th transmission mechanism is connected to the 4th transmission mechanism comprises: the first robot forearm 51, second robot forearm 52, the 5th servomotor 53, the 4th reductor 54 and a pair second synchronizing wheels 55.First robot forearm 51 is in syphon shape structure, and wherein one end is connected to one end of middle arm pipe 41, and the other end is then formed with installation cavity 56 towards the direction that middle arm pipe 41 is contrary.Second robot forearm 52 is also in syphon shape structure, and wherein one end is arranged on the side of installation cavity 56, and is positioned at the same side with the first robot forearm 51.5th servomotor 53 and the 4th reductor 54 are disposed side by side on the inside of installation cavity 56, the 5th servomotor 53 near the first robot forearm the 51, four reductor 54 near the second robot forearm 52.The clutch end of the 5th servomotor 53 is connected with the second synchronizing wheel 55A, the input of the 4th reductor 54 is connected with the second synchronizing wheel 55B, the output of the 4th reductor 54 is through installation cavity 56, and being connected to one end of the second robot forearm 52, the second synchronizing wheel 55A is connected by the Timing Belt be arranged in installation cavity 56 with the second synchronizing wheel 55B.Thus make the 5th servomotor 53 the second robot forearm 52 can be driven to carry out 0 ~ 270 ° of rotation by a pair second synchronizing wheels 55 and the 4th reductor 54.
Preferably, for the ease of overhauling the 5th transmission mechanism, on the first robot forearm 51, corresponding 5th servomotor 53 is provided with the 5th maintenance end cap 57, on installation cavity 56, corresponding 4th reductor 54 input and the 5th servomotor 53 clutch end are provided with the 6th maintenance end cap 58, thus make the dismounting to the 5th servomotor 53 and the 4th reductor 54, inspection operation simply very convenient.100W servomotor selected by 5th servomotor 53, the RV14-50 harmonic wave speed reducing machine that the 4th reductor 54 selects robot special.
Refer to Fig. 1 and Fig. 7,6th transmission mechanism is connected to the second robot forearm 52 of the 5th transmission mechanism, 6th transmission mechanism comprises: rotary flange 61, the 6th servomotor 62 and the 5th reductor 63, rotary flange 61 is arranged on one end of the second robot forearm 52, it is inner towards one end of rotary flange 61 that 6th servomotor 62 and the 5th reductor 63 are arranged on the second robot forearm 52, the clutch end of the 6th servomotor 62 is connected to the input of the 5th reductor 63, and the output of the 5th reductor 63 is connected on rotary flange 61.Thus make the 6th servomotor 62 can carry out 0 ~ 360 ° of rotation by driven rotary flange 61 by the 5th reductor 63.
Preferably, for the ease of overhauling the 6th transmission mechanism, on the second robot forearm 52, corresponding 6th servomotor 62 is provided with the 7th maintenance end cap 64, thus makes the dismounting to the 6th servomotor 62 and the 5th reductor 63, inspection operation simply very convenient.100W servomotor selected by 6th servomotor 62, the RV14-50 harmonic wave speed reducing machine that the 5th reductor 63 selects robot special.
Refer to Fig. 8, six axis robot in use, is fixed by substrate 70 and is arranged on relevant position, then on rotary flange 61, installs corresponding frock clamp 80, can realize a large amount of repetitive operation such as carrying, welding, polishing, polishing, spraying.
A kind of multi-spindle machining hand designed in second embodiment of the invention, it is five axis robot, and the difference comparing the first embodiment is only to have lacked the first transmission mechanism.Refer to Fig. 9, particularly, 141 upper ends being set directly at substrate 70 of turning of rotating seat 14, and second and third, four, five and six transmission mechanisms are all basically the same as those in the first embodiment.
Refer to Figure 10, five axis robot in use, are movably connected on the guide rail of portal frame 90 by substrate 70, then on rotary flange 61, install longer gun shot 91, can realize the on-line tracing spraying of branched spray gun side by side.
In the present invention, the shell be made up of arm 33, middle arm pipe 41, first robot forearm 51, installation cavity 56 and the second robot forearm 52 in arm 32, second robot in robot ' s arm 21, large arm pipe 31, first robot all adopts full aluminium frame to process, and the connection cable of each servomotor and decelerator is all arranged on the inside of this shell, guarantees anti-explosion safety.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, the any brief introduction amendment done above embodiment according to technical spirit of the present invention, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (10)
1. a multi-spindle machining hand, comprise rotating seat and be connected to the second transmission mechanism of rotating seat, the 3rd transmission mechanism, the 4th transmission mechanism, the 5th transmission mechanism and the 6th transmission mechanism successively, it is characterized in that, described rotating seat is made up of the pedestal of turning and be located at side, upper end of turning;
Described second transmission mechanism comprises: syphon shape robot ' s arm, it has the horizontal ends of sealing and opening up vertical end, described robot ' s arm horizontal ends inside is separated into upper and lower two chambers, described bottom chamber is provided with the second servomotor, and described second servomotor clutch end is connected on the pedestal of rotating seat through port;
Described 3rd transmission mechanism comprises: be connected to the large arm pipe that robot ' s arm is vertically held successively, arm in arm and syphon shape second robot in syphon shape first robot, in described first robot, arm has with robot ' s arm horizontal ends towards identical horizontal ends, the 3rd servomotor is provided with in described robot ' s arm horizontal ends upper chamber, the second decelerator that its output is connected to arm one end in the second robot is provided with in arm horizontal ends in described first robot, described 3rd servomotor clutch end is connected by the first synchronizing wheel with the second decelerator input,
Described 4th transmission mechanism comprises: be connected to the middle arm pipe of arm in the second robot and the 4th servomotor be located in the second robot in arm and the 3rd reductor, described 4th servomotor clutch end is connected to the 3rd reductor input, and the 3rd output end of reducer is connected to middle arm pipe one end;
Described 5th transmission mechanism comprises: syphon shape first robot forearm being connected to middle arm pipe, described first robot forearm one end is formed with installation cavity towards the direction that middle arm pipe is contrary, installation cavity side is provided with the first robot forearm towards identical syphon shape second robot forearm, be provided with side by side in described installation cavity respectively towards first, 5th servomotor of two robot forearms and the 4th reductor, described 5th servomotor clutch end is connected by the second synchronizing wheel with the 4th decelerator input, 4th output end of reducer is connected to second robot forearm one end,
Described 6th transmission mechanism comprises: be connected to the rotary flange of the second robot forearm, be located at the 6th servomotor in the second robot forearm and the 5th reductor, described 6th servomotor clutch end is connected to the 5th reductor input, and the 5th output end of reducer is connected on rotary flange.
2. multi-spindle machining hand according to claim 1, it is characterized in that, described rotating seat lower end is also provided with the first transmission mechanism, described first transmission mechanism comprises: base, be arranged on the first servomotor in base and the first reductor, described first servomotor clutch end is connected to the first reductor input, and the first output end of reducer is connected to the lower end of turning of rotating seat.
3. multi-spindle machining hand according to claim 1 and 2, it is characterized in that, the shell be made up of arm, middle arm pipe, the first robot forearm, installation cavity and the second robot forearm in arm, the second robot in described robot ' s arm, large arm pipe, the first robot all adopts full aluminium frame to process, and the connection cable of each servomotor and decelerator is all located at described enclosure.
4. multi-spindle machining hand according to claim 3, is characterized in that, on described robot ' s arm, side relative to its horizontal ends is provided with the first maintenance end cap.
5. multi-spindle machining hand according to claim 3, is characterized in that, in described robot ' s arm horizontal ends, corresponding 3rd servomotor is provided with the second maintenance end cap.
6. multi-spindle machining hand according to claim 3, is characterized in that, in described first robot, on arm, corresponding second decelerator input is provided with the 3rd maintenance end cap.
7. multi-spindle machining hand according to claim 3, is characterized in that, in described second robot, on arm, corresponding 4th servomotor is provided with the 4th maintenance end cap.
8. multi-spindle machining hand according to claim 3, is characterized in that, on described first robot forearm, corresponding 5th servomotor is provided with the 5th maintenance end cap.
9. multi-spindle machining hand according to claim 3, is characterized in that, on described installation cavity, corresponding 4th reductor input and the 5th servomotor clutch end are provided with the 6th maintenance end cap.
10. multi-spindle machining hand according to claim 3, is characterized in that, on described second robot forearm, corresponding 6th servomotor is provided with the 7th maintenance end cap.
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| CN201510765753.6A CN105215986B (en) | 2015-11-11 | 2015-11-11 | Multi-axis manipulator |
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| CN201510765753.6A CN105215986B (en) | 2015-11-11 | 2015-11-11 | Multi-axis manipulator |
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| CN105215986B CN105215986B (en) | 2017-04-26 |
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| CN105522567A (en) * | 2016-01-30 | 2016-04-27 | 东莞市腾迈五金塑胶制品有限公司 | Multifunctional six-axis manipulator |
| CN106002980A (en) * | 2016-06-15 | 2016-10-12 | 广州启帆工业机器人有限公司 | Six-axis spraying manipulator |
| CN106368627A (en) * | 2016-11-24 | 2017-02-01 | 中国地质大学（武汉） | Automatic drill pipe loading and unloading equipment of offshore drilling platform |
| CN108673476A (en) * | 2018-07-10 | 2018-10-19 | 湖州鸿进自动化科技有限公司 | The six-joint robot of installed with built-in component |
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| CN108673476A (en) * | 2018-07-10 | 2018-10-19 | 湖州鸿进自动化科技有限公司 | The six-joint robot of installed with built-in component |
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| Publication number | Publication date |
|---|---|
| CN105215986B (en) | 2017-04-26 |
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