CN105881526A - Light six-shaft all-purpose robot with extension arm - Google Patents
Light six-shaft all-purpose robot with extension arm Download PDFInfo
- Publication number
- CN105881526A CN105881526A CN201610370535.7A CN201610370535A CN105881526A CN 105881526 A CN105881526 A CN 105881526A CN 201610370535 A CN201610370535 A CN 201610370535A CN 105881526 A CN105881526 A CN 105881526A
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- China
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- axle
- thread bar
- telescoping mechanism
- chassis
- adjutage
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Classifications
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- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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 all-purpose robot with an extension arm. The extension arm is arranged on a small arm of the robot and comprises a support body, a first telescoping mechanism, a second telescoping mechanism, a swing mechanism and a swing driving mechanism, wherein the support body is fixedly connected to the small arm, the first telescoping mechanism and the second telescoping mechanism are installed on the support body, the swing mechanism is hinged to the first telescoping mechanism, and the swing driving mechanism is fixed to the second telescoping mechanism. When a left-hand threaded rod and a right-hand threaded rod on the support body drive the two telescoping mechanisms to be telescoped oppositely to the extreme positions, the swing mechanism can swing by a certain range with the swing driving mechanism as a supporting body under the driving effect of a power device. According to the robot, the length of the extension arm and the total length of the small arm and the extension arm can be increased or reduced through opposite motion of the two telescoping mechanisms for adapting to various working conditions; the swing mechanism can swing by a certain range relative to the swing driving mechanism, and therefore the small arm can be bent for adapting to various working conditions.
Description
Technical field:
The present invention relates to robotics, in particular to a kind of light-duty six axle universal machines being provided with adjutage
Device 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, axle
Seat is fixed on arm axle, and axle bed is fixed with axle bed guard box, Three-axis drive motor, the 4th axis drive motor, the
Five axis drive motors and the 6th axis drive motor are placed in axle bed guard box；Forearm rod shell and forearm extension bar housing divide
Before and after not being fixed on forearm decelerator, the 6th axle sleeve in the 5th axle, the 5th axle sleeve in the 4th axle,
In four axles, sleeve is in forearm rod shell, forearm decelerator and forearm extension bar housing, the 4th axle, the 5th axle and the 6th
The 4th axle driven gear, the 5th axle driven gear and the 6th axle driven gear it is respectively fixed with on axle.
Summary of the invention:
Technical problem solved by the invention: light-duty six axle all-purpose robots of the prior art, its forearm is only capable of ordering about
The execution end being arranged on forearm end rotates, it is difficult to meet the demand of practical operation.
For solving above-mentioned technical problem, the present invention provides following technical scheme: a kind of light-duty six axles being provided with adjutage lead to
By robot, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, peace
The forearm being contained in large arm, waist rotation member rotates around base body, and large arm rotates around waist rotation member；
Described forearm is provided with adjutage, and described adjutage includes the stake body of fixing connection forearm, is arranged on stake body
On the first telescoping mechanism and the second telescoping mechanism, the swing mechanism being hinged on the first telescoping mechanism, be fixed on second
Swing driving mechanism on telescoping mechanism；Described stake body be provided with head and the tail couple left hand thread bar and right-handed thread bar,
For the power set driving left hand thread bar and right-handed thread bar to rotate；Described first telescoping mechanism and left hand thread bar
Being spirally connected, the second telescoping mechanism is spirally connected with right-handed thread bar, and stake body is provided with the first telescoping mechanism and the second telescopic machine
Structure carries out the guide post guided；Described swing mechanism includes the first axle and the second axle be arrangeding in parallel, described wobble drive
Mechanism includes linear gathering sill, be arranged on linear gathering sill end and the circular arc that connects with linear gathering sill is led
To groove, it is arranged on circular arc shaped guide slots side and a pair elastic device being symmetrical set, is arranged on circular arc and guides
Second power set of groove side；Described second axle is hinged with the first telescoping mechanism by connecting rod, and the second axle slides and joins
Being combined in linear gathering sill, the first axle is slidably fitted in circular arc shaped guide slots, and a pair elastic device is by the first axle clamp
Holding the connectivity part at linear gathering sill and circular arc shaped guide slots, the distance value of the first axle and the second axle is led equal to circular arc
To the arc radius value of groove, described second power set slide in circular arc shaped guide slots for driving the first axle.
By technique scheme, the work of a kind of light-duty six axle all-purpose robots being provided with adjutage of the present invention is former
Manage as follows: the left hand thread bar being linked together and right-handed thread bar head and the tail are fixed together, left hand thread bar and dextrorotation
Threaded rod is coaxially disposed, and left hand thread bar and right-handed thread bar rotate simultaneously, and left hand thread bar drives the first telescoping mechanism
Rising, right-handed thread bar drives the second telescoping mechanism to decline, and the first telescoping mechanism drives swing mechanism to rise, and second stretches
Contracting mechanism drives swing driving mechanism to decline, and first the first axle and the second axle slide in linear gathering sill, afterwards,
First axle snaps in a pair elastic device and enters in circular arc shaped guide slots, and the second axle is stayed in linear gathering sill；It
After, the second power set drive the first axle to swing in circular arc shaped guide slots with the axial line of the second axle for rotation centerline,
So, swing mechanism can make the swing of certain amplitude, and the robot being arranged on swing mechanism performs end and puts the most therewith
Dynamic；When robot is without using the oscillating function of adjutage, the second power set interrupt the power to the first axle conveying,
Under the elastic force effect of a pair elastic device, the first axle is reset to the connectivity part of linear gathering sill and circular arc shaped guide slots,
Afterwards, under the driving of the left hand thread bar being linked together and right-handed thread bar, first telescoping mechanism decline and second
Telescoping mechanism rises, and the first axle and the second axle slide in linear gathering sill and make descending relative to linear gathering sill
Motion, so far, swing mechanism is limited.
By technique scheme, the present invention has the following technical effect that first, left hand thread bar and right-handed thread bar
Utilization make swing mechanism rapid relative to the lifting action of swing driving mechanism, to improve work efficiency；The second, the
The adverse movement of one telescoping mechanism and the second telescoping mechanism can elongate or shorten the length of adjutage, and then elongate or shorten
Forearm and the total length of adjutage, to adapt to various operating mode；3rd, swing mechanism can be made relative to swing driving mechanism
The swing of certain amplitude, i.e. imparts the function of little brachiocylloosis, to adapt to various operating mode.
As the present invention a kind of explanation to adjutage, described stake body includes base, support plate；Described base is fixing even
Connecing forearm, described guide post is fixed on base, and described support plate is fixed on the top of guide post；Described first telescopic machine
Structure includes that first stretches chassis, a pair first leads, the first telescopic block；Described first chassis of stretching is screwed onto left-handed
On threaded rod, the first guiding slot port is offered on the first chassis of stretching, and described first guiding slot port is slidably matched with guide post；
The pair of first lead is arranged on first and stretches on chassis, and described support plate offers a pair first pilot holes, a pair
First lead coordinates in a pair first pilot holes in man-to-man mode, and described first telescopic block is arranged on first and leads
To the top of post, one end of described connecting rod is fixing with the first telescopic block to be connected, the other end of connecting rod and the second axle hinge
Connect；Described second telescoping mechanism includes that second stretches chassis, the second lead, flexible dish；Described second stretches chassis
Being screwed onto on right-handed thread bar, the second guiding slot port, described second guiding slot port and guide post are offered in the second chassis of stretching
It is slidably matched；Described second lead is arranged on second and stretches on chassis, and the second chassis of stretching is positioned at first and stretches chassis
Lower section；The second pilot hole is offered on described first chassis of stretching, and described support plate offers the 3rd pilot hole, and described second
Lead is upward through the second pilot hole and the 3rd pilot hole；Described flexible dish is arranged on the top of the second lead, institute
State swing driving mechanism to be fixed on flexible dish.
As described above, the left hand thread bar being linked together rotates with right-handed thread bar simultaneously, and left hand thread bar drives
First stretches chassis lifting, and right-handed thread bar drives second to stretch chassis lifting, and first stretches the lifting on chassis first
Carry out under the guiding of guiding slot port and guide post, the second lifting leading at the second guiding slot port and guide post stretching chassis
Carry out downwards.
As the present invention a kind of explanation to adjutage, described right-handed thread bar is positioned at the lower section of left hand thread bar, dextrorotation
The bottom of threaded rod is articulated on base, and the top of left hand thread bar is articulated on support plate, and described power set include peace
It is contained in the first servomotor that the worm screw that the worm gear bottom right-handed thread bar engages couples with worm screw, worm screw with worm gear
Being articulated on base, the first servomotor is arranged on base.As described above, left hand thread bar and right-handed thread bar
Rotate by the first driven by servomotor worm and gear drive, owing to worm and gear has good auto-lock function, because of
This, swing mechanism of the present invention can stably rest on the optional position in space in swing process.
As the present invention a kind of explanation to adjutage, described swing mechanism includes pendular body, described first axle and second
Axle is fixed on pendular body, and pendular body is provided with the mounting flange connecting robot execution end；Described wobble drive machine
Structure includes that the guide plate being fixed on flexible dish, described linear gathering sill and circular arc shaped guide slots are opened on guide plate,
The pair of elastic device and the second power set are arranged on guide plate.
Based on the above-mentioned explanation to adjutage, in adjutage, the pair of elastic device includes the first elastic device and
Two elastic devices, the first elastic device and the second elastic device all include support pedestal, the one end being fixed on guide plate
The spacing plate that the coil tension spring being connected with support pedestal is connected with the coil tension spring other end, the limit of the first elastic device
The spacing plate of position plate and the second elastic device is oppositely arranged.As described above, the curved shape in end of limiting plate,
During the first axle is entered circular arc shaped guide slots by linear gathering sill, the first axle has snapped in the first elastic dress simultaneously
Put between spacing plate and the spacing plate of the second elastic device, the first axle in circular arc shaped guide slots during left swing, the first bullet
Property device limiting plate offset with the first axle under the effect of coil tension spring and have make first axle reset trend, the first axle
In circular arc shaped guide slots during right pendulum, the second elastic device limiting plate offsets also with the first axle under the effect of coil tension spring
There is the trend making the first axle reset.Once the second power set interrupt to the first axle conveying power, and the first axle is i.e. the
Reset under the effect of one elastic device or the second elastic device, in order to the first axle and the second axle are simultaneously at linear gathering sill
Interior slip.
Based on the above-mentioned explanation to adjutage, in adjutage, described second power set include being fixed on guide plate and
Across the U-shaped pedestal of linear gathering sill, the second servomotor being fixed on U-shaped pedestal, one end and the second servo
The second connecting rod that motor output shaft connects, it is arranged on the first cylinder of the second connecting rod other end, the work of the first cylinder
Stopper rod is parallel with the first axle, and the end face of the first axle is offered the first hole that can coordinate with the first cylinder piston rod.By above-mentioned
Illustrating, when the first axle enters in circular arc shaped guide slots, the first axle is stopped by the sidewall of circular arc shaped guide slots, the first axle
All stopping with the second axle, wherein, the axial line of the second axle and the axial line of the second servo motor output shaft overlap, and second watches
Second connecting rod that rotarily drives taking motor output shaft swings, and the second connecting rod drives the first cylinder to swing, the first cylinder
Piston rod insert in the first hole of the first axle to drive the first axle to swing；When robot swings without swing mechanism,
The piston rod of the first cylinder resets, and disengaging contacts with the first axle, and under the effect of a pair elastic device, the first axle is multiple
Position.
As the present invention a kind of explanation to adjutage, described stake body is enclosed with the first housing, the first housing and the end
Seat and the fixing connection of support plate；Being enclosed with the second housing on described flexible dish, the second housing is fixing with flexible dish to be connected, institute
State the first telescoping mechanism and the second telescoping mechanism is positioned at the second housing.
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 adjutage of the present invention；
Fig. 2 is the structural representation of adjutage 60 in Fig. 1；
Fig. 3 is the structural representation after adjutage 60 conceals the first housing 66 and the second housing 67 in Fig. 2；
Fig. 4 is the combinative structure schematic diagram of Fig. 3 medium-height trestle body the 61, first telescoping mechanism the 62, second telescoping mechanism 63；
Fig. 5 is the combinative structure schematic diagram of swing mechanism 64 and swing driving mechanism 65 in Fig. 3；
Fig. 6 is the combinative structure gained in Fig. 5 from another view swing mechanism 64 and swing driving mechanism 65
Schematic diagram；
Fig. 7 is the structural representation after the swing mechanism 64 in adjutage 60 swings certain angle in Fig. 2；
Fig. 8 is the structural representation after adjutage 60 conceals the first housing 66 and the second housing 67 in Fig. 7.
Symbol description in figure:
10, base body；
20, waist rotation member；
30, large arm；
40, forearm；
60, adjutage；
61, stake body；611, left hand thread bar；612, right-handed thread bar；613, guide post；614, base；
615, support plate；616, worm gear；617, worm screw；618, the first servomotor；
62, the first telescoping mechanism；622, first stretches chassis；623, the first lead；624, the first telescopic block；
626, the first guiding slot port；
63, the second telescoping mechanism；632, second stretches chassis；633, the second lead；634, flexible dish；636、
Second guiding slot port；
64, swing mechanism；640, pendular body；641, the first axle；642, the second axle；643, connecting rod；644、
Mounting flange；
65, swing driving mechanism；650, guide plate；651, linear gathering sill；652, circular arc shaped guide slots；653、
Support pedestal；654, coil tension spring；655, spacing plate；656, U-shaped pedestal；657, the second servomotor；658、
First cylinder；
66, the first housing；
67, the second housing.
Detailed description of the invention:
Such as Fig. 1, a kind of light-duty six axle all-purpose robots being provided with adjutage, including base body 10, it is articulated in base body
On waist rotation member 20, the large arm 30 being articulated on waist rotation member, the forearm 40 that is arranged in large arm, waist rotation member around
Base body rotates, and large arm rotates around waist rotation member.Described forearm is provided with adjutage 60.
Such as Fig. 3, described adjutage 60 include fixing connect forearm stake body 61, first stretching of being arranged on stake body
Contracting mechanism 62 and the second telescoping mechanism 63, the swing mechanism 64 being hinged on the first telescoping mechanism, it is fixed on second and stretches
Swing driving mechanism 65 in contracting mechanism.
In conjunction with Fig. 4, Fig. 5, described stake body be provided with head and the tail couple left hand thread bar 611 and right-handed thread bar 612,
For the power set driving left hand thread bar and right-handed thread bar to rotate；Described first telescoping mechanism and left hand thread bar
Being spirally connected, the second telescoping mechanism is spirally connected with right-handed thread bar, and stake body is provided with the first telescoping mechanism and the second telescopic machine
Structure carries out the guide post 613 guided.
In conjunction with Fig. 4, Fig. 6, described swing mechanism includes the first axle 641 and the second axle 642, the described pendulum be arrangeding in parallel
Dynamic drive mechanism includes linear gathering sill 651, is arranged on linear gathering sill end and connects with linear gathering sill
Circular arc shaped guide slots 652, it is arranged on circular arc shaped guide slots side and a pair elastic device being symmetrical set, is arranged on
Second power set of circular arc shaped guide slots side.Described second axle is hinged with the first telescoping mechanism by connecting rod 643,
Second axle is slidably fitted in linear gathering sill, and the first axle is slidably fitted in circular arc shaped guide slots, a pair elastic dress
Put the connectivity part that the first axle is clamped in linear gathering sill and circular arc shaped guide slots, the first axle and the distance value of the second axle
Equal to the arc radius value of circular arc shaped guide slots, described second power set are for driving the first axle in circular arc shaped guide slots
Interior slip.
In adjutage 60, such as Fig. 4, described stake body 61 includes base 614, support plate 615；Described base is fixing even
Connecing forearm 40, described guide post 613 is fixed on base, and described support plate is fixed on the top of guide post.Described first
Telescoping mechanism 62 includes that first stretches chassis 622, a pair first lead the 623, first telescopic block 624；Described first
Flexible chassis is screwed onto on left hand thread bar 611, and the first chassis of stretching offers
One guiding slot port 626, described first guiding slot port is slidably matched with guide post；The pair of first lead is arranged on
One stretches on chassis, and described support plate is offered a pair first pilot holes, and a pair first leads are joined in man-to-man mode
Being combined in a pair first pilot holes, described first telescopic block is arranged on the top of the first lead, described connecting rod 643
One end and the first telescopic block fixing be connected, the other end and second axle 642 of connecting rod are hinged.Described second telescopic machine
Structure 63 includes that second stretches chassis the 632, second lead 633, flexible dish 634；Described second chassis of stretching is screwed onto
On right-handed thread bar 612, the second guiding slot port 636, described second guiding slot port and guide post are offered in the second chassis of stretching
It is slidably matched；Described second lead is arranged on second and stretches on chassis, and the second chassis of stretching is positioned at first and stretches chassis
Lower section；The second pilot hole is offered on described first chassis of stretching, and described support plate offers the 3rd pilot hole, and described second
Lead is upward through the second pilot hole and the 3rd pilot hole；Described flexible dish is arranged on the top of the second lead, institute
State swing driving mechanism 65 to be fixed on flexible dish.
In adjutage 60, such as Fig. 4, described right-handed thread bar 612 is positioned at the lower section of left hand thread bar 611, dextrorotation spiral shell
The bottom of rasp bar is articulated on base 614, and the top of left hand thread bar is articulated on support plate 615, described power set
What the worm screw 617 engaged with worm gear including the worm gear 616 being arranged on bottom right-handed thread bar coupled with worm screw first watches
Taking motor 618, worm screw is articulated on base, and the first servomotor is arranged on base.
In adjutage 60, in conjunction with Fig. 5, Fig. 6, described swing mechanism 64 includes pendular body 640, described first axle 641
Being fixed on pendular body with the second axle 642, pendular body is provided with the mounting flange 644 connecting robot execution end.Institute
State the guide plate 650 that swing driving mechanism 65 includes being fixed on flexible dish 634, described linear gathering sill 651 He
Circular arc shaped guide slots 652 is opened on guide plate, and the pair of elastic device and the second power set are arranged on guide plate
On.
In adjutage 60, in conjunction with Fig. 5, Fig. 6, the pair of elastic device includes the first elastic device and the second elasticity
Device, the first elastic device and the second elastic device all include the support pedestal 653 being fixed on guide plate, one end and prop up
The spacing plate 655 that the coil tension spring 654 that support pedestal connects is connected with the coil tension spring other end, the first elastic device
The spacing plate of spacing plate and the second elastic device is oppositely arranged.
In adjutage 60, in conjunction with Fig. 5, Fig. 6, described second power set include being fixed on guide plate 650 and horizontal stroke
Across the U-shaped pedestal 656 of linear gathering sill 651, the second servomotor 657 being fixed on U-shaped pedestal, one end with
The second connecting rod that second servo motor output shaft connects, it is arranged on the first cylinder 658 of the second connecting rod other end, the
The piston rod of one cylinder is parallel with the first axle 641, the end face of the first axle is offered and can coordinate with the first cylinder piston rod
First hole.
In conjunction with Fig. 2, Fig. 3, described stake body 61 is enclosed with the first housing 66, the first housing and base 614 and props up
Plate 615 is fixing to be connected；Being enclosed with the second housing 67 on described flexible dish 634, the second housing is fixing with flexible dish to be connected,
Described first telescoping mechanism 62 and the second telescoping mechanism 63 are positioned at the second housing.
In practical operation, the workflow of adjutage of the present invention is as follows:
First, the left hand thread bar 611 being linked together and right-handed thread bar 612 head and the tail are fixed together, left-handed spiral shell
Rasp bar and right-handed thread bar are coaxially disposed, and left hand thread bar and right-handed thread bar rotate simultaneously, and left hand thread bar 611 drives
Dynamic first telescoping mechanism 62 rises, and right-handed thread bar 612 drives the second telescoping mechanism 63 to decline, the first telescoping mechanism
Driving swing mechanism 64 to rise, the second telescoping mechanism drives swing driving mechanism 65 to decline；First axle 641 and second
First axle 642 slides in linear gathering sill 651, and afterwards, the first axle 641 snaps in a pair elastic device goes forward side by side
Entering in circular arc shaped guide slots 652, the second axle is stayed in linear gathering sill.
The second, the second power set drive the first axle 641 with the axial line of the second axle 642 for rotation centerline at circular arc
Swinging in shape gathering sill 652, so, swing mechanism 64 can make the swing of certain amplitude, is arranged on swing mechanism
Robot performs end and swings the most therewith, with reference to Fig. 7, Fig. 8.
3rd, when robot is without using the oscillating function of adjutage 60, the second power set interrupt to the first axle 641
The power of conveying, under the elastic force effect of a pair elastic device, the first axle is reset to linear gathering sill 651 and circular arc
The connectivity part of shape gathering sill 652, afterwards, at the left hand thread bar 611 being linked together and right-handed thread bar 612
Under driving, the first telescoping mechanism 62 declines and the second telescoping mechanism 63 rises, and the first axle 641 and the second axle 642 exist
Sliding in linear gathering sill 651 and make downward movement relative to linear gathering sill, so far, swing mechanism 64 is limited
Position.
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 adjutage, including base body (10), is articulated on base body
Waist rotation member (20), the large arm (30) being articulated on waist rotation member, the forearm (40) that is arranged in large arm, waist turns
Parts rotate around base body, and large arm rotates around waist rotation member；It is characterized in that:
Described forearm is provided with adjutage (60), and described adjutage includes the stake body (61) of fixing connection forearm, peace
The first telescoping mechanism (62) and the second telescoping mechanism (63) that are contained on stake body, it is hinged on the first telescoping mechanism
Swing mechanism (64), the swing driving mechanism (65) being fixed on the second telescoping mechanism；
Described stake body is provided with left hand thread bar (611) and the right-handed thread bar (612) of head and the tail connection, is used for driving
The power set that left hand thread bar and right-handed thread bar rotate；Described first telescoping mechanism is spirally connected with left hand thread bar, the
Two telescoping mechanisms are spirally connected with right-handed thread bar, and stake body is provided with leads the first telescoping mechanism and the second telescoping mechanism
To guide post (613)；
Described swing mechanism includes the first axle (641) and the second axle (642), the described swing driving mechanism be arrangeding in parallel
Including linear gathering sill (651), it is arranged on linear gathering sill end and the circular arc connected with linear gathering sill
Gathering sill (652), it is arranged on circular arc shaped guide slots side and a pair elastic device being symmetrical set, is arranged on circle
Second power set of arc guide groove side；
Described second axle is hinged with the first telescoping mechanism by connecting rod (643), and the second axle is slidably fitted in linear and leads
In groove, the first axle is slidably fitted in circular arc shaped guide slots, and the first axle is clamped in linear by a pair elastic device leads
To groove and the connectivity part of circular arc shaped guide slots, the distance value of the first axle and the second axle is equal to the circular arc half of circular arc shaped guide slots
Footpath is worth, and described second power set slide in circular arc shaped guide slots for driving the first axle.
A kind of light-duty six axle all-purpose robots being provided with adjutage, it is characterised in that: prolong
In semi-girder (60), described stake body (61) includes base (614), support plate (615)；Described base is fixing to be connected
Forearm (40), described guide post (613) is fixed on base, and described support plate is fixed on the top of guide post；
Described first telescoping mechanism (62) include first stretch chassis (622), a pair first leads (623),
One telescopic block (624)；Described first chassis of stretching is screwed onto on left hand thread bar (611), and the first chassis of stretching is offered
First guiding slot port (626), described first guiding slot port is slidably matched with guide post；The pair of first lead sets
Putting and stretch on chassis first, described support plate is offered a pair first pilot holes, a pair first leads are with man-to-man
Mode coordinates in a pair first pilot holes, and described first telescopic block is arranged on the top of the first lead, described connection
One end of bar (643) is fixing with the first telescopic block to be connected, and the other end and second axle (642) of connecting rod are hinged；
Described second telescoping mechanism (63) includes that second stretches chassis (632), the second lead (633), flexible dish
(634)；Described second chassis of stretching is screwed onto on right-handed thread bar (612), and the second guiding is offered on the second chassis of stretching
Notch (636), described second guiding slot port is slidably matched with guide post；Described second lead is arranged on second and stretches
On chassis, the second chassis of stretching is positioned at the first lower section stretching chassis；The second pilot hole is offered on described first chassis of stretching,
Offering the 3rd pilot hole on described support plate, described second lead is upward through the second pilot hole and the 3rd pilot hole；Institute
Stating flexible dish and be arranged on the top of the second lead, described swing driving mechanism (65) is fixed on flexible dish.
A kind of light-duty six axle all-purpose robots being provided with adjutage, it is characterised in that: prolong
In semi-girder (60), described right-handed thread bar (612) is positioned at the lower section of left hand thread bar (611), right-handed thread bar
Bottom be articulated on base (614), the top of left hand thread bar is articulated on support plate (615), described power fill
Put and include being arranged on the worm screw (617) that the worm gear (616) bottom right-handed thread bar engages with worm gear and couple with worm screw
The first servomotor (618), worm screw is articulated on base, and the first servomotor is arranged on base.
A kind of light-duty six axle all-purpose robots being provided with adjutage, its feature exists
In: in adjutage (60), described swing mechanism (64) includes pendular body (640), described first axle (641) and
Second axle (642) is fixed on pendular body, and pendular body is provided with the mounting flange (644) connecting robot execution end；
Described swing driving mechanism (65) includes the guide plate (650) being fixed on flexible dish (634), described straight line
Shape gathering sill (651) and circular arc shaped guide slots (652) are opened on guide plate, the pair of elastic device and second
Power set are arranged on guide plate.
A kind of light-duty six axle all-purpose robots being provided with adjutage, it is characterised in that: prolong
In semi-girder (60), the pair of elastic device includes the first elastic device and the second elastic device, the first elastic device
The support pedestal (653), one end and the stretching that support pedestal is connected that are fixed on guide plate is all included with the second elastic device
The spacing plate (655) that contracting spring (654) is connected with the coil tension spring other end, the spacing plate of the first elastic device
It is oppositely arranged with the spacing plate of the second elastic device.
A kind of light-duty six axle all-purpose robots being provided with adjutage, it is characterised in that: prolong
In semi-girder (60), described second power set include being fixed on guide plate (650) and across linear gathering sill (651)
U-shaped pedestal (656), the second servomotor (657) being fixed on U-shaped pedestal, one end and the second servomotor
The second connecting rod that output shaft connects, it is arranged on first cylinder (658) of the second connecting rod other end, the first cylinder
Piston rod is parallel with the first axle (641), and the end face of the first axle is offered the first hole that can coordinate with the first cylinder piston rod.
A kind of light-duty six axle all-purpose robots being provided with adjutage, it is characterised in that: institute
Stating and be enclosed with the first housing (66) on stake body (61), the first housing is fixed with base (614) and support plate (615)
Connect；Being enclosed with the second housing (67) on described flexible dish (634), the second housing is fixing with flexible dish to be connected, institute
State the first telescoping mechanism (62) and the second telescoping mechanism (63) is positioned at the second housing.
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| CN108555963A (en) * | 2018-04-26 | 2018-09-21 | 阜阳盛东智能制造技术研发有限公司 | A kind of foldable robotic arm |
| CN111717660A (en) * | 2020-07-14 | 2020-09-29 | 济南瑞开电气有限公司 | Automatic feeding and discharging machine for plates |
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Effective date of registration: 20190325 Address after: 213000 Jintong International Industrial Park 15A, No. 8 Xihu Road, Wujin High-tech Development Zone, Changzhou City, Jiangsu Province Patentee after: Jiangsu Boren Culture 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. |
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