CN105904449B - A kind of swingable six-joint robot of forearm - Google Patents
A kind of swingable six-joint robot of forearm Download PDFInfo
- Publication number
- CN105904449B CN105904449B CN201610368747.1A CN201610368747A CN105904449B CN 105904449 B CN105904449 B CN 105904449B CN 201610368747 A CN201610368747 A CN 201610368747A CN 105904449 B CN105904449 B CN 105904449B
- Authority
- CN
- China
- Prior art keywords
- axle
- guide groove
- thread bar
- forearm
- swing
- 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.)
- Active
Links
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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of swingable six-joint robot of forearm, robot forearm is provided with adjutage, and adjutage includes stake body, two telescoping mechanisms on stake body, the swing mechanism being hinged on a telescoping mechanism, the swing guiding mechanism being fixed on another telescoping mechanism for being fixedly connected with forearm.When two telescoping mechanisms of double rotational directions threaded rod driving are reversely retractable to extreme place on stake body, the swinging axle of swing mechanism is in the sector-like guide groove for swinging guiding mechanism, under the driving of power set, swinging axle can drive swing mechanism to swing, swing mechanism drives execution end mounted thereto to swing, to assign the function of small brachiocylloosis.
Description
Technical field：
The present invention relates to robotic technology field, in particular to a kind of swingable six-joint robot of forearm.
Background technology：
Application No. CN201210566463.5 application for a patent for invention discloses a kind of light-duty six axles all-purpose robot, axle
Seat is fixed on arm axle, and axle bed guard box is fixed with axle bed, and Three-axis drive motor, the 4th axle motor, the 5th axle drive
Dynamic motor and the 6th axle motor are placed in axle bed guard box；Forearm rod shell and forearm lengthening rod shell are separately fixed at small
The front and rear part of arm decelerator, the 6th axle sleeve is in the 5th axle, and the 5th axle sleeve is in the 4th axle, and sleeve is in forearm in the 4th axle
Rod shell, forearm decelerator and forearm are lengthened in rod shell, be respectively fixed with the 4th axle, the 5th axle and the 6th axle the 4th axle from
Moving gear, the 5th axle driven gear and the 6th axle driven gear.
The content of the invention：
Technical problem solved by the invention：Light-duty six axles all-purpose robot of the prior art, its forearm are only capable of driving
Rotated installed in the execution end of forearm end, it is difficult to meet the needs of practical operation.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of swingable six-joint robot of forearm,
Including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, small in large arm
Arm, waist rotation member rotate around base body, and large arm rotates around waist rotation member；
The forearm is provided with adjutage, and the adjutage includes being fixedly connected with the stake body of forearm, installed in stake body
On the first telescoping mechanism and the second telescoping mechanism, be hinged on the first telescoping mechanism swing mechanism, to be fixed on second flexible
Swing guiding mechanism in mechanism；
The stake body be provided with head and the tail connection left hand thread bar and right-handed thread bar, for drive left hand thread bar and
The power set of right-handed thread bar rotation；First telescoping mechanism is spirally connected with left hand thread bar, the second telescoping mechanism and dextrorotation
Threaded rod is spirally connected, and stake body is provided with the guide rod being oriented to the first telescoping mechanism and the second telescoping mechanism；The swing
The second power set that mechanism includes the first axle that be arranged in parallel and the second axle, coupled with first axle, the swing guiding mechanism
Including linear guide groove, the sector-like guide groove for being arranged on linear guide groove end and being connected with linear guide groove, set
In linear guide groove end and a pair of scalable guide rods being connected with linear guide groove；Second axle passes through connecting rod
Be hinged with the first telescoping mechanism, first axle and the second axle are slidably fitted in linear guide groove, first axle and the second axle away from
From fan-shaped radius value of the value equal to sector-like guide groove, second power set are used to drive first axle to put in sector-like guide groove
Dynamic, the second power set, which are slidably mounted on, to be swung on guiding mechanism.
By above-mentioned technical proposal, a kind of operation principle of the swingable six-joint robot of forearm of the present invention is as follows：
First, left hand thread bar and the right-handed thread bar head and the tail being linked together are fixed together, left hand thread bar and the right side
Rotation threaded rod is coaxially disposed, and left hand thread bar and right-handed thread bar rotate simultaneously, and left hand thread bar is driven on the first telescoping mechanism
Rise, right-handed thread bar drives the second telescoping mechanism to decline, and the first telescoping mechanism drives swing mechanism to rise, the second telescoping mechanism band
Movable pendulum action-oriented mechanism declines, and first axle and the second axle slide in linear guide groove first, and afterwards, first axle can at a pair
Slided between flexible guide rod, until first axle is against in the side wall of sector-like guide groove, now, the second axle is still oriented in linear
In groove；Afterwards, a pair of scalable guide rods, which are retracted, is swung in guiding mechanism, and first axle can be swung in sector-like guide groove；Afterwards,
Second power set driving first axle is swung in sector-like guide groove, robot on swing mechanism perform end also with
Swing.
Second, when oscillating function of the robot without using adjutage, the second power set interrupt to be conveyed to first axle
Power；Afterwards, under the driving of the left hand thread bar and right-handed thread bar that are linked together, the first telescoping mechanism decline and the
Two telescoping mechanisms rise, and the second axle is slided to reset in linear guide groove, and first axle is in sector-like guide groove to reset
Direction is moved, and because first axle is swung in sector-like guide groove, therefore, first axle deviates linear guide groove, still, the
A pair of angled side that one axle can be close to sector-like guide groove is returned to the connectivity part of sector-like guide groove and linear guide groove, then enters
Enter linear guide groove；When first axle and the second axle enter linear guide groove, swing mechanism is limited.
Pass through above-mentioned technical proposal, the present invention have the following technical effect that：First, left hand thread bar and right-handed thread bar
With making swing mechanism rapid relative to the lifting action for swinging guiding mechanism, to improve operating efficiency；The second, the first telescopic machine
The length of adjutage can be elongated or shortened to the counter motion of structure and the second telescoping mechanism, and then elongate or shorten forearm and adjutage
Total length, to adapt to various operating modes；3rd, swing mechanism can make the swing of certain amplitude relative to swing guiding mechanism, i.e.,
The function of small brachiocylloosis is imparted, to adapt to various operating modes.
The stake body, which includes base, support plate, to be illustrated to one kind of adjutage as the present invention；The base is fixedly connected
Forearm, the guide rod are fixed on base, and the support plate is fixed on the top of guide rod；First telescoping mechanism includes the
One flexible chassis, a pair of first leads, the first telescopic block；Described first flexible chassis is screwed onto in left hand thread bar, and first
Flexible chassis opens up the first guiding slot port, and first guiding slot port is slidably matched with guide rod；The pair of first lead
It is arranged on the first flexible chassis, a pair of first pilot holes is opened up on the support plate, a pair of first leads are with man-to-man side
Formula coordinate in a pair of first pilot holes, first telescopic block be arranged on the first lead top, the one of the connecting rod
End is fixedly connected with the first telescopic block, and the other end of connecting rod is hinged with the second axle；Second telescoping mechanism is stretched including second
Contracting chassis, the second lead, flexible disk；Described second flexible chassis is screwed onto in right-handed thread bar, and the second flexible chassis opens up
Second guiding slot port, second guiding slot port are slidably matched with guide rod；Second lead is arranged on the second flexible bottom
On disk, the second flexible chassis is positioned at the lower section on the first flexible chassis；Described first flexible chassis opens up the second pilot hole, the branch
The 3rd pilot hole is opened up on plate, second lead is upward through the second pilot hole and the 3rd pilot hole；The flexible disk peace
Mounted in the top of the second lead, the swing guiding mechanism is fixed on flexible disk.
As described above, the left hand thread bar being linked together and right-handed thread bar while rotate, left hand thread bar driving
First flexible chassis lifting, the flexible chassis lifting of right-handed thread bar driving second, the lifting on the first flexible chassis are oriented to first
Carried out under the guiding of notch and guide rod, the lifting on the second flexible chassis is entered under the guiding of the second guiding slot port and guide rod
OK.
The right-handed thread bar, which is located at the lower section of left hand thread bar, dextrorotation, to be illustrated to one kind of adjutage as the present invention
The bottom of threaded rod is articulated on base, and the top of left hand thread bar is articulated on support plate, and the power set include being arranged on
The worm gear of right-handed thread bar bottom, the worm screw engaged with worm gear, the first servomotor coupled with worm screw, worm screw are articulated in base
On, the first servomotor is arranged on base.As described above, the rotation of left hand thread bar and right-handed thread bar is by the first servo
Motor-driven worm and gear driving, because worm and gear has good auto-lock function, therefore, oscillating machine of the present invention
Structure can stably rest on the optional position in space in swing process.
The swing mechanism, which includes pendular body, the first axle and second, to be illustrated to one kind of adjutage as the present invention
Axle is fixed on pendular body, and pendular body is provided with the mounting flange that connection robot performs end；The swing guiding mechanism bag
The guide plate being fixed on flexible disk is included, the linear guide groove and sector-like guide groove are opened on guide plate, and described second
Power set are slidably mounted on guide plate.
Based on the above-mentioned explanation to adjutage, in adjutage, second power set include being slidably mounted on guide plate
The upper and U-shaped sliding block across linear guide groove, the second servomotor being fixed on U-shaped sliding block, one end and the second servo electricity
Second connecting rod of machine output axis connection, the oscillating rod installed in the second connecting rod other end, oscillating rod is fixed with first axle to be connected
Connect, the axial line of the second servo motor output shaft overlaps with the axial line of the second axle.As described above, driven in the first telescoping mechanism
Dynamic swing mechanism rises during the driving swing guiding mechanism decline of the second telescoping mechanism, and first axle and the second axle are with pendulum
While motivation structure rises, U-shaped sliding block is also as swing mechanism rises；Specifically, guide plate is provided with line slideway, and U-shaped is slided
Block opens up the chute being slidably matched with line slideway.
Based on the above-mentioned explanation to adjutage, in adjutage, the pair of scalable guide rod, which slides, is plugged in guide plate
In, rack is located in the side wall of scalable guide rod, rack is engaged with little gear, and little gear couples with the 3rd servomotor, the
Three servomotors are fixed on guide plate；Under the driving of the 3rd servomotor, a pair of scalable guide rods can stretch into sector and lead
Into groove, the passage between a pair of scalable guide rods forms a complete linear guide channel with linear guide groove.Press
Described above, every scalable guide rod is equipped with rack in a pair of scalable guide rods, and the rotation of little gear can drive rack
Extended or retracted guide plate, the extended or retracted guide plate of the scalable guide rod of rack drives；Specifically, scalable guide rod is stretched
Go out the end that guide plate stretches out linear guide groove, into sector-like guide groove, enter sector-like guide groove for first axle straight line
It is oriented to；When first axle need to be swung in sector-like guide groove, a pair of scalable guide rod retraction guide plates, in this way, first
Axle can be swung in sector-like guide groove.
One kind of adjutage is illustrated as the present invention, the first housing, the first housing and bottom are enclosed with the stake body
Seat is fixedly connected with support plate；The second housing is enclosed with the flexible disk, the second housing is fixedly connected with flexible disk, and described first
Telescoping mechanism and the second telescoping mechanism are located in second shell body.
Brief description of the drawings：
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation of the swingable six-joint robot of forearm of the present invention；
Fig. 2 is the structural representation of adjutage 60 in Fig. 1；
Fig. 3 is that adjutage 60 conceals the structural representation after the first housing 66 and the second housing 67 in Fig. 2；
Fig. 4 is Fig. 3 medium-height trestles body 61, the first telescoping mechanism 62, the combining structure schematic diagram of the second telescoping mechanism 63；
Fig. 5 is the combining structure schematic diagram of swing mechanism 64 and swing guiding mechanism 65 in Fig. 3；
Fig. 6 is the structural representation that guiding mechanism 65 is swung in Fig. 5；
Fig. 7 is the structural representation of swing mechanism 64 in Fig. 5；
Fig. 8 rises to sector-like guide groove 652 in swing guiding mechanism 65 for the first axle 641 in swing mechanism 64 in Fig. 5 and pushed up
Operating diagram during portion position；
Fig. 9 is that the first axle 641 in Fig. 5 in swing mechanism 64 is put in the sector-like guide groove 652 for swinging guiding mechanism 65
Operating diagram when dynamic.
Symbol description in figure：
10th, base body；
20th, waist rotation member；
30th, large arm；
40th, forearm；
60th, adjutage；
61st, stake body；611st, left hand thread bar；612nd, right-handed thread bar；613rd, guide rod；614th, base；615th, support plate；
616th, worm gear；617th, worm screw；618th, the first servomotor；
62nd, the first telescoping mechanism；622nd, the first flexible chassis；623rd, the first lead；624th, the first telescopic block；626th,
One guiding slot port；
63rd, the second telescoping mechanism；632nd, the second flexible chassis；633rd, the second lead；634th, stretch disk；636th, second lead
To notch；
64th, swing mechanism；640th, pendular body；641st, first axle；642nd, the second axle；643rd, connecting rod；644th, mounting flange；
646th, U-shaped sliding block；647th, the second servomotor；648th, oscillating rod；
65th, guiding mechanism is swung；650th, guide plate；651st, linear guide groove；652nd, sector-like guide groove；653rd, it is scalable
Guide rod；654th, rack；655th, little gear；656th, the 3rd servomotor；
66th, the first housing；
67th, the second housing.
Embodiment：
Such as Fig. 1, a kind of swingable six-joint robot of forearm, including base body 10, the waist transfer part that is articulated on base body
Part 20, the large arm 30 being articulated on waist rotation member, the forearm 40 in large arm, waist rotation member rotate around base body, large arm
Rotated around waist rotation member；The forearm is provided with adjutage 60.
Such as Fig. 3, the adjutage 60 includes being fixedly connected the stake body 61 of forearm, first on stake body flexible
The telescoping mechanism 63 of mechanism 62 and second, the swing mechanism 64 being hinged on the first telescoping mechanism, it is fixed on the second telescoping mechanism
Swing guiding mechanism 65.
In adjutage 60, with reference to Fig. 3, Fig. 4, the stake body is provided with left hand thread bar 611 and the dextrorotation of head and the tail connection
Threaded rod 612, the power set for driving left hand thread bar and right-handed thread bar to rotate；First telescoping mechanism with it is left-handed
Threaded rod is spirally connected, and the second telescoping mechanism is spirally connected with right-handed thread bar, and stake body is provided with flexible to the first telescoping mechanism and second
The guide rod 613 that mechanism is oriented to.The swing mechanism includes the axle 642 of first axle 641 and second and first be arrangeding in parallel
Second power set of axle connection, the swing guiding mechanism include linear guide groove 651, are arranged on linear guide groove end
Portion and connected with linear guide groove sector-like guide groove 652, be arranged on linear guide groove end and with linear guide groove
A pair of scalable guide rods 653 of linking.Second axle is hinged by connecting rod 643 and the first telescoping mechanism, first axle and
Second axle is slidably fitted in linear guide groove, and the distance value of first axle and the second axle is equal to the fan-shaped radius of sector-like guide groove
Value, second power set are used to drive first axle to swing in sector-like guide groove, and the second power set are slidably mounted on pendulum
In action-oriented mechanism.
In adjutage 60, with reference to Fig. 3, Fig. 4, the stake body 61 includes base 614, support plate 615；The base, which is fixed, to be connected
Forearm 40 is connect, the guide rod 613 is fixed on base, and the support plate is fixed on the top of guide rod；First telescopic machine
Structure 62 includes the first flexible chassis 622, a pair of first leads 623, the first telescopic block 624；Described first flexible chassis is spirally connected
In left hand thread bar 611, the first flexible chassis opens up the first guiding slot port 626, and first guiding slot port is slided with guide rod
It is dynamic to coordinate；The pair of first lead is arranged on the first flexible chassis, opens up a pair of first pilot holes on the support plate, and one
First lead is coordinated in a manner of man-to-man in a pair of first pilot holes, first telescopic block is arranged on first and is oriented to
The top of post, one end of the connecting rod 643 are fixedly connected with the first telescopic block, and the other end of connecting rod is cut with scissors with the second axle 642
Connect；Second telescoping mechanism 63 includes the second flexible chassis 632, the second lead 633, flexible disk 634；Described second is flexible
Chassis is screwed onto in right-handed thread bar 612, and the second flexible chassis opens up the second guiding slot port 636, second guiding slot port with
Guide rod is slidably matched；Second lead is arranged on the second flexible chassis, and the second flexible chassis is positioned at the first flexible bottom
The lower section of disk；Described first flexible chassis opens up the second pilot hole, and the 3rd pilot hole is opened up on the support plate, and described second is oriented to
Post is upward through the second pilot hole and the 3rd pilot hole；The flexible disk is arranged on the top of the second lead, the swing guide
It is fixed on to mechanism 65 on flexible disk.
In adjutage 60, such as Fig. 4, the right-handed thread bar 612 is located 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, the power set include be arranged on
The worm gear 616 of right-handed thread bar bottom, the worm screw 617 engaged with worm gear, the first servomotor 618 coupled with worm screw, worm screw
It is articulated on base, the first servomotor is arranged on base.
In adjutage 60, with reference to Fig. 5 to Fig. 7, the swing mechanism 64 includes pendular body 640, the first axle 641 and
Two axles 642 are fixed on pendular body, and pendular body is provided with the mounting flange 644 that connection robot performs end；The swing guide
The guide plate 650 for including being fixed on flexible disk 634 to mechanism 65, the linear guide groove 651 and sector-like guide groove 652 are opened
It is located on guide plate, second power set are slidably mounted on guide plate.
In adjutage 60, with reference to Fig. 5, Fig. 7, second power set include being slidably mounted on guide plate 650 and horizontal stroke
The U-shaped sliding block 646 of across linear guide groove 651, the second servomotor 647 being fixed on U-shaped sliding block, one end and the second servo
The second connecting rod, the oscillating rod 648 installed in the second connecting rod other end, oscillating rod and the first axle of motor output shaft connection
641 are fixedly connected, and the axial line of the second servo motor output shaft overlaps with the axial line of the second axle.
In adjutage 60, with reference to Fig. 5, Fig. 6, the pair of scalable guide rod 653, which slides, to be plugged in guide plate 650,
Rack 654 is located in the side wall of scalable guide rod, rack is engaged with little gear 655, little gear and the 3rd servomotor 656
Connect, the 3rd servomotor is fixed on guide plate；Under the driving of the 3rd servomotor, a pair of scalable guide rods can stretch into fan
In shape guide groove 652, the passage between a pair of scalable guide rods forms a complete linear with linear guide groove 651 and led
To passage.
With reference to Fig. 2 to Fig. 4, the first housing 66, the first housing and base 614 and support plate are enclosed with the stake body 61
615 are fixedly connected；The second housing 67 is enclosed with the flexible disk 634, the second housing is fixedly connected with flexible disk, and described first
The telescoping mechanism 63 of telescoping mechanism 62 and second is located in second shell body.
In practical operation, the workflow of adjutage of the present invention is as follows：
First, the left hand thread bar 611 and the head and the tail of right-handed thread bar 612 being linked together are fixed together, left hand thread
Bar and right-handed thread bar are coaxially disposed, and left hand thread bar and right-handed thread bar rotate simultaneously, and the driving of left hand thread bar 611 first is stretched
Contracting mechanism 62 rises, and right-handed thread bar 612 drives the second telescoping mechanism 63 to decline, and the first telescoping mechanism is driven on swing mechanism 64
Rise, the second telescoping mechanism drives swing guiding mechanism 65 to decline；The axle 642 of first axle 641 and second is first in linear guide groove
Slided in 651, afterwards, first axle is slided between a pair of scalable guide rods 653, until first axle 641 is against fan-shaped guiding
In the side wall of groove 652, now, the second axle 642 is still in linear guide groove 651；Afterwards, a pair of scalable guide rods 653 contract
In backswing action-oriented mechanism 65, first axle 641 can be swung in sector-like guide groove 652, with reference to figure 8, Fig. 9；Afterwards, the second power
Device drives first axle 641 to swing in the sector-like guide groove 652, the robot on swing mechanism 64 perform end also with
Swing.
Second, when oscillating function of the robot without using adjutage 60, the second power set are interrupted to first axle 641
The power of conveying；Afterwards, under the driving of the left hand thread bar 611 and right-handed thread bar 612 that are linked together, the first telescopic machine
Structure 62 declines and the second telescoping mechanism 63 rises, and the second axle 642 is slided to reset in linear guide groove 651, first axle 641
Moved in sector-like guide groove 652 to the direction of reset, because first axle 641 is swung in sector-like guide groove 652, because
This, first axle 641 deviates linear guide groove 651, and still, first axle 641 can be close to a pair of angled of sector-like guide groove 652
While being returned to the connectivity part of sector-like guide groove 652 and linear guide groove 651, linear guide groove 651 is entered back into；Work as first axle
641 and second axle 642 when entering linear guide groove 651, swing mechanism 64 is limited.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, there will be changes, this specification content should not be construed as to this hair in specific embodiments and applications
Bright limitation.
Claims (6)
1. a kind of swingable six-joint robot of forearm, including base body (10), be articulated on base body waist rotation member (20),
Be articulated in the large arm (30) on waist rotation member, the forearm (40) in large arm, waist rotation member rotates around base body, large arm around
Waist rotation member rotates；It is characterized in that：
The forearm is provided with adjutage (60), and the adjutage includes being fixedly connected with the stake body (61) of forearm, installed in branch
The first telescoping mechanism (62) and the second telescoping mechanism (63), the swing mechanism being hinged on the first telescoping mechanism on support body
(64) the swing guiding mechanism (65), being fixed on the second telescoping mechanism；
The stake body is provided with the left hand thread bar (611) of connection from beginning to end and right-handed thread bar (612), for driving left-handed spiral shell
Rasp bar and the power set of right-handed thread bar rotation；First telescoping mechanism is spirally connected with left hand thread bar, the second telescoping mechanism
It is spirally connected with right-handed thread bar, stake body is provided with the guide rod being oriented to the first telescoping mechanism and the second telescoping mechanism
(613)；
The second power that the swing mechanism includes the first axle (641) that be arranged in parallel and the second axle (642), coupled with first axle
Device, the swing guiding mechanism include linear guide groove (651), are arranged on linear guide groove end and are led with linear
The sector-like guide groove (652) that is connected to groove, be arranged on linear guide groove end and be connected with linear guide groove a pair can
Flexible guide rod (653)；
Second axle is hinged by connecting rod (643) with the first telescoping mechanism, and first axle and the second axle are slidably fitted in straight line
In shape guide groove, the distance value of first axle and the second axle is equal to the fan-shaped radius value of sector-like guide groove, second power set
For driving first axle to be swung in sector-like guide groove, the second power set, which are slidably mounted on, to be swung on guiding mechanism.
A kind of 2. swingable six-joint robot of forearm as claimed in claim 1, it is characterised in that：In adjutage (60), institute
Stating stake body (61) includes base (614), support plate (615)；The base is fixedly connected with forearm (40), the guide rod (613)
It is fixed on base, the support plate is fixed on the top of guide rod；
First telescoping mechanism (62) includes the first flexible chassis (622), a pair first leads (623), the first telescopic blocks
(624)；Described first flexible chassis is screwed onto in left hand thread bar (611), and the first flexible chassis opens up the first guiding slot port
(626), first guiding slot port is slidably matched with guide rod；The pair of first lead is arranged on the first flexible chassis
On, a pair of first pilot holes are opened up on the support plate, a pair of first leads are coordinated in a manner of man-to-man leads at a pair first
Into hole, first telescopic block, the connecting rod are installed on each first lead in a pair of first leads
(643) one end is fixedly connected with the first telescopic block, and the other end of connecting rod and the second axle (642) are be hinged；
Second telescoping mechanism (63) includes second flexible chassis (632), the second lead (633), flexible disk (634)；Institute
State the second flexible chassis to be screwed onto in right-handed thread bar (612), the second flexible chassis opens up the second guiding slot port (636), described
Second guiding slot port is slidably matched with guide rod；Second lead is arranged on the second flexible chassis, the second flexible chassis
Positioned at the lower section on the first flexible chassis；Described first flexible chassis opens up the second pilot hole, and the 3rd guiding is opened up on the support plate
Hole, second lead are upward through the second pilot hole and the 3rd pilot hole；The flexible disk is arranged on the second lead
Top, the swing guiding mechanism (65) are fixed on flexible disk.
A kind of 3. swingable six-joint robot of forearm as claimed in claim 2, it is characterised in that：In adjutage (60), institute
The lower section that right-handed thread bar (612) is located at left hand thread bar (611) is stated, the bottom of right-handed thread bar is articulated on base (614),
The top of left hand thread bar is articulated on support plate (615), and the power set include the worm gear installed in right-handed thread bar bottom
(616) worm screw (617), engaged with worm gear, the first servomotor (618) coupled with worm screw, worm screw is articulated on base, the
One servomotor is arranged on base.
A kind of 4. swingable six-joint robot of forearm as claimed in claim 1, it is characterised in that：In adjutage (60), institute
Stating swing mechanism (64) includes pendular body (640), and the first axle (641) and the second axle (642) are fixed on pendular body, swings
Body is provided with the mounting flange (644) that connection robot performs end；
The guide plate (650) for swinging guiding mechanism (65) and including being fixed on flexible disk (634), the linear guide groove
(651) it is opened in sector-like guide groove (652) on guide plate, second power set are slidably mounted on guide plate.
A kind of 5. swingable six-joint robot of forearm as claimed in claim 4, it is characterised in that：In adjutage (60), institute
Stating the second power set includes being slidably mounted on guide plate (650) and across the U-shaped sliding block of linear guide groove (651)
(646) what the second servomotor (647) for, being fixed on U-shaped sliding block, one end were connected with the second servo motor output shaft second connects
Extension bar, the oscillating rod (648) installed in the second connecting rod other end, oscillating rod are fixedly connected with first axle (641), the second servo
The axial line of motor output shaft overlaps with the axial line of the second axle.
A kind of 6. swingable six-joint robot of forearm as claimed in claim 4, it is characterised in that：In adjutage (60), institute
State a pair of scalable guide rods (653) slips to be plugged in guide plate (650), rack is located in the side wall of scalable guide rod
(654), rack is engaged with little gear (655), and little gear couples with the 3rd servomotor (656), and the 3rd servomotor is fixed on
On guide plate；Under the driving of the 3rd servomotor, a pair of scalable guide rods can be stretched into sector-like guide groove (652), a pair
Passage between scalable guide rod forms a complete linear guide channel with linear guide groove (651).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368747.1A CN105904449B (en) | 2016-05-28 | 2016-05-28 | A kind of swingable six-joint robot of forearm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368747.1A CN105904449B (en) | 2016-05-28 | 2016-05-28 | A kind of swingable six-joint robot of forearm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105904449A CN105904449A (en) | 2016-08-31 |
| CN105904449B true CN105904449B (en) | 2018-02-13 |
Family
ID=56742505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610368747.1A Active CN105904449B (en) | 2016-05-28 | 2016-05-28 | A kind of swingable six-joint robot of forearm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105904449B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110158357B (en) * | 2019-04-26 | 2021-10-01 | 华邦古楼新材料有限公司 | Double-sided coating device for producing high-performance thermal sublimation base paper and paper preparation process thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4211123A (en) * | 1978-03-13 | 1980-07-08 | Mack Corporation | Motion conversion mechanism |
| US5232332A (en) * | 1989-05-03 | 1993-08-03 | Focke & Co., (Gmbh & Co.) | Conveying device for the removal of objects from a base |
| CN1649700A (en) * | 2002-03-01 | 2005-08-03 | 庄臣及庄臣视力保护公司 | Split collar for mechanical arm connection |
| CN101537996A (en) * | 2008-03-18 | 2009-09-23 | 上海力进铝质工程有限公司 | Rotary type vacuum loading hoisting machine |
| CN101543995A (en) * | 2009-05-10 | 2009-09-30 | 广东巨轮模具股份有限公司 | Tyre mounting manipulator of tyre vulcanizer |
| CN102528798A (en) * | 2012-01-17 | 2012-07-04 | 邹建炀 | Novel parallel transporting mechanical arm |
| CN104033715A (en) * | 2014-06-27 | 2014-09-10 | 嘉善天慧光电科技有限公司 | Mechanical arm structure of portable self-adaptive image three-dimensional reconstruction instrument |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
-
2016
- 2016-05-28 CN CN201610368747.1A patent/CN105904449B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4211123A (en) * | 1978-03-13 | 1980-07-08 | Mack Corporation | Motion conversion mechanism |
| US5232332A (en) * | 1989-05-03 | 1993-08-03 | Focke & Co., (Gmbh & Co.) | Conveying device for the removal of objects from a base |
| CN1649700A (en) * | 2002-03-01 | 2005-08-03 | 庄臣及庄臣视力保护公司 | Split collar for mechanical arm connection |
| CN101537996A (en) * | 2008-03-18 | 2009-09-23 | 上海力进铝质工程有限公司 | Rotary type vacuum loading hoisting machine |
| CN101543995A (en) * | 2009-05-10 | 2009-09-30 | 广东巨轮模具股份有限公司 | Tyre mounting manipulator of tyre vulcanizer |
| CN102528798A (en) * | 2012-01-17 | 2012-07-04 | 邹建炀 | Novel parallel transporting mechanical arm |
| CN104033715A (en) * | 2014-06-27 | 2014-09-10 | 嘉善天慧光电科技有限公司 | Mechanical arm structure of portable self-adaptive image three-dimensional reconstruction instrument |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105904449A (en) | 2016-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105881524B (en) | A kind of forearm is provided with the robot that the fixed anglec of rotation performs end | |
| CN102283765B (en) | Rectangular coordinate and joint type combined traditional Chinese massage robot | |
| CN105945991B (en) | It is a kind of to perform the swingable robot in end | |
| CN105881526B (en) | A kind of light-duty six axis all-purpose robot equipped with adjutage | |
| CN105881529B (en) | A kind of mechanical arm assembly of industrial robot | |
| CN108748082A (en) | The chassis mobile mechanism of robot | |
| CN104626591B (en) | A kind of single column turning arm 3D printer | |
| CN105945901A (en) | Clamping jaw type multi-freedom-degree robot manipulator mechanism | |
| CN103862467B (en) | Four shaft mechanical arms | |
| CN205588298U (en) | Gripper -like multi freedom robot manipulator mechanism | |
| CN109348855A (en) | The novel fruit picking of light portable | |
| CN105904449B (en) | A kind of swingable six-joint robot of forearm | |
| CN105922237B (en) | A kind of six-joint robot that can move freely | |
| CN105945990B (en) | A kind of forearm is equipped with the robot of swing adjutage | |
| CN106182065B (en) | Finger is changed hands in hard and soft series-parallel connection list driving three | |
| CN106002976B (en) | A kind of swingable telescopic six-joint robot of forearm | |
| CN208392027U (en) | The chassis mobile mechanism of robot | |
| CN215942995U (en) | Maintenance device is maintained to articulated robotic arm | |
| CN105773592A (en) | Rotatable single-arm robot for medical aid | |
| CN205799584U (en) | A kind of six axle all-purpose robots with adjutage | |
| CN205915335U (en) | But carry out six spool light -duty all -purpose robot of end wobbling | |
| CN106003145B (en) | A kind of six axis all-purpose robots with adjutage | |
| CN208544802U (en) | A kind of novel adjustment rack | |
| CN207432198U (en) | Fork truck forging conveying robot | |
| CN205928639U (en) | All -purpose robot of extension arm with can swing and to stretch |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Shengsen Inventor after: Yin Jinming Inventor after: Ye Wuwei Inventor after: Wang Fei Inventor after: Mao Wei Inventor before: Wang Wenqing |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180115 Address after: 518000, A3-1001 building, A3 10, Li Lang Software Park, 31 South Lan street, Longgang District, Guangdong, Shenzhen Applicant after: Kent Intelligent Technology (Shenzhen) Limited by Share Ltd Address before: 523000 Guangdong province Dongguan City Songshan Lake high tech Industrial Zone Building 406 industrial development productivity Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |