CN105619404A - Translation seven-shaft structure for transferring robot - Google Patents
Translation seven-shaft structure for transferring robot Download PDFInfo
- Publication number
- CN105619404A CN105619404A CN201610224683.8A CN201610224683A CN105619404A CN 105619404 A CN105619404 A CN 105619404A CN 201610224683 A CN201610224683 A CN 201610224683A CN 105619404 A CN105619404 A CN 105619404A
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- CN
- China
- Prior art keywords
- principal arm
- robot
- translation
- axle construction
- main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a translation seven-shaft structure for transferring a robot. The structure comprises a main arm with a cross section of an elliptical frame body, two top guide rails respectively installed at the left side and the right side of the top of the main arm in parallel, two bottom guide rails respectively installed at the left side and the right side of the bottom of the main arm in parallel, a rotor installing base slidingly connected with the top guide rails and fixedly connected with an end flange of the sixth shaft of the robot, a servo motor fixedly installed on the robot installing base, a main pulley connected with the servo motor, a main belt with the middle part twisted on the main pulley and two ends respectively fixed on the front end part and the rear end part of the main arm, two secondary pulleys respectively and rotatably installed on the front end part and the rear end part of the main arm, a hand grab installing plate slidingly connected with the bottom guide rails, and a secondary belt connected between secondary pulleys in a transmission manner and fixedly connected with the hand grab installing plate and the rotor installing base. The structure disclosed by the invention is small in noise, high in precision and high in efficiency in operation, and capable of driving a mechanical hand grab to stably move in a speed of 1500mm/s.
Description
Technical field
The present invention relates to robot technology field, specifically, it relates to translation seven axle construction of a kind of conveying robot people.
Background technology
Industrial robot is that it can automatically perform work towards the industry multi-joint manipulator in field or the machine device of multiple degree of freedom, is lean on self power and controllability to realize a kind of machine of various function. It can accept mankind commander, it is also possible to runs according to the program of layout in advance, the principle guiding principle action that modern industrial robot can also be formulated according to artificial intelligence technology.
Six-joint robot is industrial robot very common at present, and its excellent property is convenient to control, the dark favor by automatic production enterprise. But, its action that also there is working end mechanical paw is comparatively complicated, completes an operation problem such as too much consuming time.
Summary of the invention
The present invention seeks to: for the deficiencies in the prior art, it is proposed to a kind of structure is simple, easy to control.
The technical scheme of the present invention is: translation seven axle construction of a kind of conveying robot people, is connected between the 6th shaft end flange of described robot and handgrip, it is characterised in that the 7th axle construction comprises:
The principal arm of cross section ovalize framework,
Two the end face guide rails being installed in parallel in the left and right sides, described principal arm top respectively,
Two floor rails being installed in parallel in the left and right sides bottom described principal arm respectively,
The robot mount pad being slidably connected on described end face guide rail and be fixedly connected with described 6th shaft end flange,
The servomotor being fixedly mounted on described robot mount pad,
With the main pulley that described servomotor is connected,
Being wound around on described main pulley two ends in the middle part of it is separately fixed at the main belt in described principal arm rear and front end portion,
Two secondary pulley being rotatably mounted on the rear and front end portion of described principal arm respectively,
The handgrip mounting plate being slidably connected in described floor rails,
The secondary belt being in transmission connection between described two secondary pulley and be all fixedly connected with described handgrip mounting plate and robot mount pad.
The present invention, on the basis of technique scheme, also comprises following preferred version:
It is connected by step-down gear between described main pulley with described servomotor.
The length of described principal arm is 1600mm.
Described end face guide rail, floor rails are identical with the length of principal arm.
The cross section of described end face guide rail is 8 little fonts of big centre, two.
The cross section of described floor rails is 8 little fonts of big centre, two.
It is an advantage of the invention that: operationally noise is little for the 7th axle of the present invention this kind of conveying robot people, precision height, efficiency height, and the travelling speed of its machinery handgrip can reach 1500mm/s.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the invention will be described further:
Fig. 1 is one of perspective view of the embodiment of the present invention this kind of conveying robot people seven axle translation structure;
Fig. 2 is the transverse sectional view of the embodiment of the present invention this kind of conveying robot people seven axle translation structure;
Fig. 3 is one of perspective view of the embodiment of the present invention this kind of conveying robot people seven axle translation structure;
Wherein: 1-principal arm, 2-end face guide rail, 3-floor rails, 4-robot mount pad, 5-servomotor, 6-main pulley, the main belt of 7-, 8-secondary pulley, 9-handgrip mounting plate, the secondary belt of 10-.
Embodiment
Fig. 1 to Fig. 3 shows a specific embodiment of the present invention's this kind of conveying robot people seven axle translation structure, it is when practical application, it is connected between the 6th shaft end flange of robot and handgrip (i.e. handgrip), thus form the seven axle robots than the tradition many motion axle of six-joint robot, the present embodiment introduction be exactly the structure of the 7th motion axle of this seven axles robot.
The present embodiment this kind of conveying robot people seven axle translation structure mainly comprises: the principal arm 1 of cross section ovalize framework, it is installed in parallel in two end face guide rails 2 of the left and right sides, described principal arm 1 top respectively, it is installed in parallel in two floor rails 3 of the left and right sides bottom described principal arm 1 respectively, it is slidably connected on described end face guide rail 2, and the robot mount pad 4 being fixedly connected with described 6th shaft end flange, the servomotor 5 being fixedly mounted on described robot mount pad 4, with the main pulley 6 that described servomotor 5 is connected, it is wound around on described main pulley 6 in the middle part of it, and two ends are separately fixed at the main belt 7 in described principal arm 1 rear and front end portion, it is rotatably mounted on two secondary pulley 8 in the rear and front end portion of described principal arm 1 respectively, the handgrip mounting plate 9 being slidably connected in described floor rails 3, it is in transmission connection between described two secondary pulley 8, and the secondary belt 10 being all fixedly connected with robot mount pad 4 with described handgrip mounting plate 9.
During work, servomotor 5 energising runs thus drives main pulley 6 to rotate, and main pulley 6 drives the main belt 7 being wound around thereon to move again. Because the two ends of main belt 7 are fixed on the rear and front end of principal arm 1, and main pulley is arranged on the robot mount pad 4 being slidably connected on end face guide rail 2 (end face guide rail 2 is relative with principal arm 1 fixing), so robot mount pad 4 can be caused along end face guide rail 2 horizontal linear slide to the left or to the right. The transverse direction movement of robot mount pad 4 can drive secondary belt 10 to move, and then makes secondary belt 10 drag handgrip mounting plate 9 fixing with it horizontal linear slide (direction of motion of handgrip mounting plate 9 and robot mount pad 4 is contrary) or to the left to the right. So just drive the mechanical handgrip being fixed on handgrip mounting plate 9 to do corresponding rectilinear movement, capture corresponding workpiece, thus realize robot to the carrying work of workpiece.
Being not difficult to find out, in the 7th axle translation structure of the present embodiment this kind of robot, be operationally do to move linearly along the length direction of main shaft 1 for the mechanical handgrip of grabbing workpiece, it enormously simplify the motion track of conveying robot people machinery handgrip.
Further, main pulley 6 described in this example is connected by step-down gear with between described servomotor 5, and namely step-down gear is provided therebetween, to ensure that main pulley 6 steadily operates.
In the present embodiment, the length of described principal arm 1 is 1600mm, and end face guide rail 2, floor rails 3 are identical with the length of principal arm 1. The cross section of described end face guide rail 2 and floor rails 3 is 8 little font structures of big centre, two, to ensure that robot mount pad 4 and handgrip mounting plate 9 can be connected to end face guide rail 2 and floor rails 3 respectively firmly.
Certainly, above-described embodiment, only for the technical conceive of the present invention and feature are described, its object is to allow people can understand the content of the present invention and implement according to this, can not limit the scope of the invention with this. All equivalent transformations of doing according to the spirit of main technical schemes of the present invention or modification, all should be encompassed within protection scope of the present invention.
Claims (6)
1. translation seven axle construction of conveying robot people, is connected between the 6th shaft end flange of described robot and handgrip, it is characterised in that the 7th axle construction comprises:
The principal arm (1) of cross section ovalize framework,
It is connected to front support block () of both sides before and after described principal arm (1) bottom and rear support block ()
Two the end face guide rails (2) being installed in parallel in described principal arm (1) left and right sides, top respectively,
Two floor rails (3) being installed in parallel in the left and right sides, described principal arm (1) bottom respectively,
It is slidably connected at the robot mount pad (4) that described end face guide rail (2) is upper and is fixedly connected with described 6th shaft end flange,
The servomotor (5) being fixedly mounted in described robot mount pad (4),
The main pulley (6) being connected with described servomotor (5),
It is wound around in the middle part of it that described main pulley (6) is upper and two ends are separately fixed at the main belt (7) in described principal arm (1) rear and front end portion,
Two secondary pulley (8) being rotatably mounted on the rear and front end portion of described principal arm (1) respectively,
The handgrip mounting plate (9) being slidably connected in described floor rails (3),
The secondary belt (10) being in transmission connection between described two secondary pulley (8) and be all fixedly connected with robot mount pad (4) with described handgrip mounting plate (9).
2. translation seven axle construction of conveying robot people according to claim 1, it is characterised in that: it is connected by step-down gear between described main pulley (6) with described servomotor (5).
3. translation seven axle construction of conveying robot people according to claim 1, it is characterised in that: the length of described principal arm (1) is 1600mm.
4. translation seven axle construction of conveying robot people according to claim 1, it is characterised in that: described end face guide rail (2), floor rails (3) are identical with the length of principal arm (1).
5. translation seven axle construction of conveying robot people according to claim 1, it is characterised in that: the cross section of described end face guide rail (2) is 8 little fonts of big centre, two.
6. translation seven axle construction of conveying robot people according to claim 1, it is characterised in that: the cross section of described floor rails (3) is 8 little fonts of big centre, two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610224683.8A CN105619404A (en) | 2016-04-12 | 2016-04-12 | Translation seven-shaft structure for transferring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610224683.8A CN105619404A (en) | 2016-04-12 | 2016-04-12 | Translation seven-shaft structure for transferring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105619404A true CN105619404A (en) | 2016-06-01 |
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ID=56034942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610224683.8A Pending CN105619404A (en) | 2016-04-12 | 2016-04-12 | Translation seven-shaft structure for transferring robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105619404A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942901A (en) * | 2018-10-19 | 2018-12-07 | 浙江启成智能科技有限公司 | A kind of robot the 7th axis of double-speed |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200974243Y (en) * | 2006-11-29 | 2007-11-14 | 沈阳新松机器人自动化股份有限公司 | Ultra-thin glass clean conveying robot |
| CN201586972U (en) * | 2009-11-20 | 2010-09-22 | 格兰达技术（深圳）有限公司 | Grabbing and emptying device of compact-type full-automatic IC material strip laser marking machine |
| CN202572405U (en) * | 2011-12-27 | 2012-12-05 | 东莞市威得客自动化科技有限公司 | Arm upper and lower section transmission structure |
| CN103358319A (en) * | 2013-07-23 | 2013-10-23 | 上海发那科机器人有限公司 | Linear seven-shaft device of handling robot for stamping |
-
2016
- 2016-04-12 CN CN201610224683.8A patent/CN105619404A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200974243Y (en) * | 2006-11-29 | 2007-11-14 | 沈阳新松机器人自动化股份有限公司 | Ultra-thin glass clean conveying robot |
| CN201586972U (en) * | 2009-11-20 | 2010-09-22 | 格兰达技术（深圳）有限公司 | Grabbing and emptying device of compact-type full-automatic IC material strip laser marking machine |
| CN202572405U (en) * | 2011-12-27 | 2012-12-05 | 东莞市威得客自动化科技有限公司 | Arm upper and lower section transmission structure |
| CN103358319A (en) * | 2013-07-23 | 2013-10-23 | 上海发那科机器人有限公司 | Linear seven-shaft device of handling robot for stamping |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942901A (en) * | 2018-10-19 | 2018-12-07 | 浙江启成智能科技有限公司 | A kind of robot the 7th axis of double-speed |
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Application publication date: 20160601 |