CN105881515A - Light six-shaft universal robot provided with double arms - Google Patents
Light six-shaft universal robot provided with double arms Download PDFInfo
- Publication number
- CN105881515A CN105881515A CN201610368606.XA CN201610368606A CN105881515A CN 105881515 A CN105881515 A CN 105881515A CN 201610368606 A CN201610368606 A CN 201610368606A CN 105881515 A CN105881515 A CN 105881515A
- Authority
- CN
- China
- Prior art keywords
- split type
- type supporting
- supporting stand
- card
- ratchet
- Prior art date
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a light six-shaft universal robot provided with double arms. The light six-shaft universal robot provided with double arms comprises a base body, a waist rotating part pivotally connected on the base body, a large arm pivotally connected on the twisting rotating part and two small arms mounted on the large arm, wherein the waist rotating part rotates around the base body; the large arm rotates around the waist rotating part; the two small arms are respectively a first small arm and a second small arm; and the two small arms are mounted on the large arm through a split mechanism. According to the light six-shaft universal robot provided with double arms, during practical operation, the two small arms can rotate relative to the large arm through the split mechanism and can relatively rotate under the driving of the split mechanism as well, so that universal robot can adapt to various processing working conditions, and the operation efficiency of the robot is improved.
Description
Technical field:
The present invention relates to robotics, in particular to a kind of light-duty six axle general-purpose machinerys being provided with both arms
People.
Background technology:
The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of light-duty six axle all-purpose robots, bag
Including base body, waist rotation member, large arm, axle bed, forearm, waist rotation member rotates around base body, and large arm is around waist rotation member
Rotate.
Summary of the invention:
Technical problem solved by the invention: light-duty six axle all-purpose robots of the prior art, it has a forearm,
Whole machine task efficiency is made to be difficult to get a promotion.
For solving above-mentioned technical problem, the present invention provides following technical scheme: a kind of light-duty six axles being provided with both arms are general
Robot, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, installation
Forearm in large arm, waist rotation member rotates around base body, and large arm rotates around waist rotation member；The quantity of described forearm is
Article two, the respectively first forearm and the second forearm, two forearms are arranged in large arm by split mechanism；Described split
Mechanism includes the first Split type supporting stand, the spool being articulated on the first Split type supporting stand, is fixed on the ratchet at spool two ends, pivot
The second Split type supporting stand of being connected on spool, connect the first Split type supporting stand and the expansion link of the second Split type supporting stand；Described first
Split type supporting stand be provided with snap in hook tooth the first elastic card, order about the first elastic card and depart from and contact with ratchet
First driving means, described second Split type supporting stand be provided with snap in hook tooth the second elastic card, order about the second bullet
Property card depart from the second driving means of contacting with ratchet；Described ratchet include being fixed on spool left end the first ratchet and
It is fixed on the second ratchet of spool right-hand member, the first ratchet and the second coaxial ratchet and oppositely arranged；Fix in described large arm
The 3rd motor, the output shaft of the 3rd motor is had to couple with spool；Described first forearm is arranged on the first Split type supporting stand,
Second forearm is arranged on the second Split type supporting stand.
By technique scheme, the operation principle of a kind of light-duty six axle all-purpose robots being provided with both arms of the present invention is such as
Under:
First, under the driving of the 3rd motor, split mechanism and on two forearms can rotate relative to large arm.
Second, when the angle between two forearms need to change, the first driving means order about first elastic card depart from
Ratchet contacts, or, the second driving means is ordered about the second elastic card disengaging and is contacted with ratchet, afterwards, and expansion link
Flexible can order about the first Split type supporting stand and the second Split type supporting stand relatively rotates, the first Split type supporting stand and the second Split type supporting stand
Between variable angle, and then, the angle between two forearms obtains required change；Afterwards, the first elastic card or
Person's the second elastic card resets, and snaps in the tooth of the first ratchet and the second ratchet, owing to the first ratchet and the second ratchet are anti-
To setting, therefore, the tooth of the first ratchet and the tooth of the second ratchet in opposite direction, so, snap in the first ratchet simultaneously
The first Split type supporting stand or the second split can be limited with the first elastic card in the tooth of the second ratchet or the second elastic card
Holder pivots.
By technique scheme, two forearms both can rotate relative to large arm, and two forearms also can make relative rotation,
To adapt to various processing operating mode, the working performance of hoisting machine people.
As the present invention a kind of explanation to split mechanism, described first elastic card includes the first card, first stretches
Spring, first fix seat；Offering the first chute on described first Split type supporting stand, described first card is slidably fitted in
In one chute, described first coil tension spring one end is set on the first card, and the other end of the first coil tension spring is against
One fixes on seat, and first fixes seat is fixed on the first Split type supporting stand；Described first driving means includes being fixed on first
The first cylinder on Split type supporting stand, the first drive block being arranged on the first cylinder piston rod, in the driving of the first cylinder
Under, the first drive block drives the first card to slide along the first chute, and the first card orders about first along sliding of the first chute
Coil tension spring shrinks.Wherein, described first card is provided with guide part, and described first coil tension spring is set on guide part,
Described first fixes seat offers pilot hole, and guide part activity is plugged in pilot hole.
As the present invention a kind of explanation to split mechanism, state the second elastic card and include the second card, second stretch bullet
Spring, second fix seat；Offering the second chute on described second Split type supporting stand, described second card is slidably fitted in second
In chute, described second coil tension spring one end is set on the second card, and the other end of the second coil tension spring is against second
On fixing seat, second fixes seat is fixed on the second Split type supporting stand；Described second driving means includes being fixed on second point
The second cylinder on body support frame, the second drive block being arranged on the second cylinder piston rod, under the driving of the second cylinder,
Second drive block drives the second card to slide along the second chute, the second card along the second chute slide order about second stretch
Spring contraction.Wherein, described second card is provided with guide part, and described second coil tension spring is set on guide part, institute
Stating second to fix seat and offer pilot hole, guide part activity is plugged in pilot hole.
As the present invention a kind of explanation to split mechanism, one end that described first Split type supporting stand is articulated with spool is provided with the
One arcuate projection, described first arcuate projection is offered the bayonet socket that can coordinate with the second elastic card.State on by
Bright, the second driving means order about second elastic card depart from contact with ratchet on the premise of, the stretching, extension of expansion link is ordered about
Second Split type supporting stand rotates relative to the first Split type supporting stand, and the first arcuate projection acts on the second elastic card, the second bullet
Property card slide on the first arcuate projection, angle between the first Split type supporting stand and the second Split type supporting stand become big until
Reaching 180 degree, now, the second elastic card snaps in the bayonet socket of the first arcuate projection, the first Split type supporting stand and
Angle between second Split type supporting stand is positioned at 180 degree, i.e. the angle between two forearms is positioned at 108
Ten degree.
As the present invention a kind of explanation to split mechanism, described expansion link include being fixed on the first Split type supporting stand the
One pole, the second pole being fixed on the second Split type supporting stand, one end threaded rod hinged with the first pole, one end with
The sleeve that second pole is hinged, the first gear being articulated in the sleeve other end and the second gear of the first gear engagement,
The 4th motor that output shaft and the second gear couple；The centre of described first gear offers screwed hole, threaded rod and spiral shell
Pit is spirally connected, and the other end activity of threaded rod is plugged in sleeve, and described 4th motor is fixed on sleeve.By above-mentioned
Illustrating, the operation principle of described expansion link is as follows: the 4th motor drives the second gear to rotate, and the second gear drives first
Gear rotates, and the first gear drives threaded rod relative sleeve to extend into or out action, so, and threaded rod and sleeve
Total length changes, and makees relative rotation ordering about the first Split type supporting stand and the second Split type supporting stand.
Accompanying drawing illustrates:
The present invention is described further below in conjunction with the accompanying drawings:
Fig. 1 is the structural representation of a kind of light-duty six axle all-purpose robots being provided with both arms of the present invention；
Fig. 2 is the combinative structure schematic diagram of Tu1Zhong split mechanism 200 and forearm 50；
Fig. 3 is the schematic diagram observing split mechanism 200 and the combinative structure gained of forearm 50 in Fig. 2 from left front.
Symbol description in figure:
10, base body；
20, large arm；
200, split mechanism；21, the 3rd motor；24, the first Split type supporting stand；240, the first chute；241, first
Elastic card；242, the first driving means；243, the first card；244, the first coil tension spring；245, first is solid
Reservation；246, bayonet socket；25, spool；261, the first ratchet；262, the second ratchet；27, the second Split type supporting stand；
270, the second chute；271, the second elastic card；272, the second driving means；273, the second card；274,
Two coil tension springs；275, second seat is fixed；28, expansion link；281, threaded rod；282, sleeve；283, first
Gear；284, the second gear；285, the 4th motor；
30, waist rotation member；
50, forearm.
Detailed description of the invention:
Such as Fig. 1, a kind of light-duty six axle all-purpose robots being provided with both arms, including base body 10, it is articulated on base body
Waist rotation member 30, the large arm 20 being articulated on waist rotation member, the forearm 50 that is arranged in large arm, waist rotation member is the end of around
Pedestal rotates, and large arm rotates around waist rotation member.The quantity of described forearm is two, the respectively first forearm and second little
Arm, two forearms are arranged in large arm by split mechanism 200.
In conjunction with Fig. 2, Fig. 3, the volume that described split mechanism includes the first Split type supporting stand 24, is articulated on the first Split type supporting stand
Axle 25, the ratchet being fixed on spool two ends, the second Split type supporting stand 27 being articulated on spool, connect the first Split type supporting stand
Expansion link 28 with the second Split type supporting stand；Described first Split type supporting stand is provided with the first elastic card snapped in hook tooth
241, order about the first elastic card and depart from the first driving means 242 contacted with ratchet, described second Split type supporting stand sets
There is the second elastic card 271 snapped in hook tooth, order about the second driving dress that the second elastic card disengaging contacts with ratchet
Put 272；Described ratchet includes the first ratchet 261 being fixed on spool left end and is fixed on the second ratchet of spool right-hand member
262, the first ratchet and the second coaxial ratchet and oppositely arranged.Such as Fig. 1, described large arm is fixed with the 3rd motor 21,
The output shaft of the 3rd motor couples with spool；Described first forearm is arranged on the first Split type supporting stand, and the second forearm is installed
On the second Split type supporting stand.
In above-mentioned split mechanism 200, described first elastic card 241 includes first card the 243, first coil tension spring
244, first seat 245 is fixed；Offering the first chute 240 on described first Split type supporting stand 24, described first card slides
Coordinating in the first chute, described first coil tension spring one end is set on the first card, another of the first coil tension spring
End is against first and fixes on seat, and first fixes seat is fixed on the first Split type supporting stand.Described first driving means 242 is wrapped
Include the first cylinder being fixed on the first Split type supporting stand, the first drive block being arranged on the first cylinder piston rod,
Under the driving of one cylinder, the first drive block drives the first card to slide along the first chute, and the first card is along the first chute
Slide and order about the first coil tension spring contraction.Wherein, described first card 243 is provided with guide part, and described first stretches bullet
Spring 244 is set on guide part, and described first fixes seat 245 offers pilot hole, and guide part activity is plugged in pilot hole
In.
In above-mentioned split mechanism 200, described second elastic card 271 includes second card the 273, second coil tension spring
274, second seat 275 is fixed；Offering the second chute 270 on described second Split type supporting stand 27, described second card slides
Coordinating in the second chute, described second coil tension spring one end is set on the second card, another of the second coil tension spring
End is against second and fixes on seat, and second fixes seat is fixed on the second Split type supporting stand.Described second driving means 272 is wrapped
Include the second cylinder being fixed on the second Split type supporting stand, the second drive block being arranged on the second cylinder piston rod,
Under the driving of two cylinders, the second drive block drives the second card to slide along the second chute, and the second card is along the second chute
Slide and order about the second coil tension spring contraction.Wherein, described second card 273 is provided with guide part, and described second stretches bullet
Spring 274 is set on guide part, and described second fixes seat 275 offers pilot hole, and guide part activity is plugged in pilot hole
In.
In above-mentioned split mechanism 200, one end that described first Split type supporting stand 24 is articulated with spool 25 is provided with the first arc
Protuberance, described first arcuate projection is offered the bayonet socket 246 that can coordinate with the second elastic card 271.
In above-mentioned split mechanism 200, the first pole that described expansion link 28 includes being fixed on the first Split type supporting stand 24,
The second pole of being fixed on the second Split type supporting stand, one end threaded rod 281 hinged with the first pole, one end with second
The hinged sleeve 282 of bar, be articulated in the second gear 284 that the first gear 283 of the sleeve other end engages with the first gear,
The 4th motor 285 that output shaft and the second gear couple；The centre of described first gear offers screwed hole, threaded rod with
Screw hole, the other end activity of threaded rod is plugged in sleeve, and described 4th motor is fixed on sleeve.
In practical operation, the workflow of a kind of light-duty six axle all-purpose robots being provided with both arms of the present invention is as follows:
First, under the driving of the 3rd motor 21, split mechanism 200 and two forearms 50 thereon can large arm relatively
20 rotate.
Second, when the angle between two forearms 50 need to change, the first driving means 242 orders about the first elastic card
241 disengagings contact with ratchet, or, the second driving means 272 is ordered about the second elastic card 271 disengaging and is contacted with ratchet,
Afterwards, expansion link 28 flexible can order about the first Split type supporting stand 24 and the second Split type supporting stand 27 relatively rotates, and first
Variable angle between Split type supporting stand and the second Split type supporting stand, and then, the angle between two forearms 50 obtains required change
Change；Afterwards, the first elastic card 241 or the second elastic card 271 reset, and snap in the first ratchet 261 and second
In the tooth of ratchet 262, owing to the first ratchet and the second ratchet are oppositely arranged, therefore, the tooth of the first ratchet and the second spine
Tooth in opposite direction of wheel, so, snaps in first in the tooth of the first ratchet 261 and the second ratchet 262 elastic simultaneously
Card 241 or the second elastic card 271 can limit the first Split type supporting stand 24 or the second Split type supporting stand 27 rotates, and enter
And position the first forearm and the second forearm.
Above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, the most all will change, it is right that this specification content should not be construed as
The restriction of the present invention.
Claims (7)
1. it is provided with light-duty six axle all-purpose robots for both arms, including base body (10), is articulated on base body
Waist rotation member (30), the large arm (20) being articulated on waist rotation member, the forearm (50) that is arranged in large arm, waist transfer part
Part rotates around base body, and large arm rotates around waist rotation member；It is characterized in that:
The quantity of described forearm is two, the respectively first forearm and the second forearm, and two forearms are by split mechanism
(200) it is arranged in large arm；
Described split mechanism includes the first Split type supporting stand (24), be articulated on the first Split type supporting stand spool (25), solid
The ratchet, the second Split type supporting stand (27) being articulated on spool that are scheduled on spool two ends, connect the first Split type supporting stand and second
The expansion link (28) of Split type supporting stand；Described first Split type supporting stand is provided with the first elastic card snapped in hook tooth
(241), ordering about the first driving means (242) that the first elastic card disengaging contacts with ratchet, described second split is propped up
Frame be provided with snap in hook tooth the second elastic card (271), order about the second elastic card and depart from and contact with ratchet
Second driving means (272)；Described ratchet includes the first ratchet (261) being fixed on spool left end and is fixed on spool
Second ratchet (262) of right-hand member, the first ratchet and the second coaxial ratchet and oppositely arranged；
Being fixed with the 3rd motor (21) in described large arm, the output shaft of the 3rd motor couples with spool；Described first forearm
Being arranged on the first Split type supporting stand, the second forearm is arranged on the second Split type supporting stand.
A kind of light-duty six axle all-purpose robots being provided with both arms, it is characterised in that: described
First elastic card (241) includes the first card (243), the first coil tension spring (244), first fixes seat (245)；
Offering the first chute (240) on described first Split type supporting stand (24), described first card is slidably fitted in the first chute
In, described first coil tension spring one end is set on the first card, and the other end of the first coil tension spring is against first and fixes
On seat, first fixes seat is fixed on the first Split type supporting stand；
Described first driving means (242) includes the first cylinder being fixed on the first Split type supporting stand, is arranged on the first gas
The first drive block on cylinder piston rod, under the driving of the first cylinder, the first drive block drives the first card sliding along first
Groove slides, and the first card orders about the first coil tension spring contraction along sliding of the first chute.
A kind of light-duty six axle all-purpose robots being provided with both arms, it is characterised in that: described
First card (243) is provided with guide part, and described first coil tension spring (244) is set on guide part, and described first
Fixing seat (245) offers pilot hole, and guide part activity is plugged in pilot hole.
A kind of light-duty six axle all-purpose robots being provided with both arms, it is characterised in that: described
Second elastic card (271) includes the second card (273), the second coil tension spring (274), second fixes seat (275)；
Offering the second chute (270) on described second Split type supporting stand (27), described second card is slidably fitted in the second chute
In, described second coil tension spring one end is set on the second card, and the other end of the second coil tension spring is against second and fixes
On seat, second fixes seat is fixed on the second Split type supporting stand；
Described second driving means (272) includes the second cylinder being fixed on the second Split type supporting stand, is arranged on the second gas
The second drive block on cylinder piston rod, under the driving of the second cylinder, the second drive block drives the second card sliding along second
Groove slides, and the second card orders about the second coil tension spring contraction along sliding of the second chute.
A kind of light-duty six axle all-purpose robots being provided with both arms, it is characterised in that: described
Second card (273) is provided with guide part, and described second coil tension spring (274) is set on guide part, and described second
Fixing seat (275) offers pilot hole, and guide part activity is plugged in pilot hole.
A kind of light-duty six axle all-purpose robots being provided with both arms, it is characterised in that: described
First Split type supporting stand (24) is articulated with one end of spool (25) and is provided with the first arcuate projection, and described first arc is dashed forward
Go out and in portion, offer the bayonet socket (246) that can coordinate with the second elastic card (271).
A kind of light-duty six axle all-purpose robots being provided with both arms, it is characterised in that: described
Expansion link (28) includes the first pole being fixed on the first Split type supporting stand (24), is fixed on the second Split type supporting stand
The second pole, one end threaded rod (281) hinged with the first pole, one end sleeve (282) hinged with the second pole,
Be articulated in the second gear (284) that first gear (283) of the sleeve other end engages with the first gear, output shaft with
The 4th motor (285) that second gear couples；The centre of described first gear offers screwed hole, threaded rod and screw thread
Hole is spirally connected, and the other end activity of threaded rod is plugged in sleeve, and described 4th motor is fixed on sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368606.XA CN105881515B (en) | 2016-05-28 | 2016-05-28 | A kind of light-duty six axles all-purpose robot provided with both arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368606.XA CN105881515B (en) | 2016-05-28 | 2016-05-28 | A kind of light-duty six axles all-purpose robot provided with both arms |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881515A true CN105881515A (en) | 2016-08-24 |
| CN105881515B CN105881515B (en) | 2017-09-08 |
Family
ID=56710292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610368606.XA Active CN105881515B (en) | 2016-05-28 | 2016-05-28 | A kind of light-duty six axles all-purpose robot provided with both arms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881515B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1397410A (en) * | 2002-07-11 | 2003-02-19 | 上海交通大学 | Multifunctional dual-arm robot for education |
| CN2764719Y (en) * | 2004-10-16 | 2006-03-15 | 无锡力马化工机械有限公司 | Double arm clamping type bag feeding manipulator |
| CN201224101Y (en) * | 2008-06-13 | 2009-04-22 | 宁波问鼎机器人有限公司 | Manipulator for taking out forming machine products |
| CN102001089A (en) * | 2010-10-08 | 2011-04-06 | 四川大学 | Iron tower climbing articulated robot |
| CN102380871A (en) * | 2011-11-14 | 2012-03-21 | 瞿鹏飞 | Double-arm manipulator for industrial production |
| CN104149081A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular handheld double-operating-end master robot |
| KR20140148211A (en) * | 2013-06-21 | 2014-12-31 | 한국기계연구원 | method of controlling posture for dual-arm robot |
-
2016
- 2016-05-28 CN CN201610368606.XA patent/CN105881515B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1397410A (en) * | 2002-07-11 | 2003-02-19 | 上海交通大学 | Multifunctional dual-arm robot for education |
| CN2764719Y (en) * | 2004-10-16 | 2006-03-15 | 无锡力马化工机械有限公司 | Double arm clamping type bag feeding manipulator |
| CN201224101Y (en) * | 2008-06-13 | 2009-04-22 | 宁波问鼎机器人有限公司 | Manipulator for taking out forming machine products |
| CN102001089A (en) * | 2010-10-08 | 2011-04-06 | 四川大学 | Iron tower climbing articulated robot |
| CN102380871A (en) * | 2011-11-14 | 2012-03-21 | 瞿鹏飞 | Double-arm manipulator for industrial production |
| KR20140148211A (en) * | 2013-06-21 | 2014-12-31 | 한국기계연구원 | method of controlling posture for dual-arm robot |
| CN104149081A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular handheld double-operating-end master robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105881515B (en) | 2017-09-08 |
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Effective date of registration: 20190515 Address after: 215400 No. 3 Xinxing Road, South Suburb of Chengxiang Town, Taicang City, Suzhou City, Jiangsu Province Patentee after: Taicang Wang Ji Automation Technology Co., Ltd. Address before: 523000 productivity building 406, high tech Industrial Development Zone, Songshan Lake, Dongguan, Guangdong Patentee before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |