CN105965471A - Six-axis universal robot with lifting rollers - Google Patents
Six-axis universal robot with lifting rollers Download PDFInfo
- Publication number
- CN105965471A CN105965471A CN201610570591.5A CN201610570591A CN105965471A CN 105965471 A CN105965471 A CN 105965471A CN 201610570591 A CN201610570591 A CN 201610570591A CN 105965471 A CN105965471 A CN 105965471A
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- Prior art keywords
- drive shaft
- pair
- base body
- roller
- gear
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a six-axis universal robot with lifting rollers. The six-axis universal robot comprises a base body, a waist rotating component pivoted to the base body, big arms pivoted to the waist rotating component, forearms installed on the big arms, the waist rotating component rotates around the base body, the base body comprises a hollow main base body, a base cover body covering the main base body, the main base body is provided with a roller driving device and a roller device; each forearm is provided with a mechanical hand assembly, and each mechanical hand assembly comprises an arm, a swinging arm pivoted to the front end of the arm and a mechanical hand fixed to a rotating disc at the front end of the swinging arm; the rollers can be retracted to the two sides of the main base body through the roller driving devices, and the whole robot can move through the rollers; longitudinal claw assemblies and transverse claw assemblies can move at the same time and are the same in motion amplitude, so that mechanical claws can accurately grasp workpieces firmly in an all-dimensional mode.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of six axles being provided with lifting roller
All-purpose robot.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses and sets bottom one
There is the six-joint robot of lifting roller, including base body, waist rotation member, large arm, axle bed, little
Arm, waist rotation member rotates around base body, and large arm rotates around waist rotation member.Of the prior art gently
Type six axle all-purpose robot, base body is fixedly installed, and is not easy to the movement of robot, it is difficult to full
The demand of foot practical operation.
Summary of the invention
The present invention is directed to above-mentioned technical problem, it is provided that a kind of six axle universal machines being provided with lifting roller
Device people.
For reaching above-mentioned purpose, a kind of six axle general-purpose machinerys being provided with lifting roller of the present invention
People, the waist rotation member including base body, being articulated on base body, is articulated on waist rotation member
Large arm, the forearm being arranged in large arm, waist rotation member rotates around base body, and large arm is around waist transfer part
Part rotates；Forearm is provided with mechanical arm assembly；
Base body that described base body includes hollow, the base cover being fixed in base body
Body；Before and after base body, both sides respectively offer a pair roller accommodating groove；The bottom of roller accommodating groove
Offer slotted hole；Base body is internally installed roll wheel assembly；Described roll wheel assembly includes rolling
Wheel drive unit and roller devices；A pair guide groove is offered on medial wall respectively in base body left and right；
Guide groove is fixed with lead between upper and lower two side；
Roller driving device includes mobile guide block, pair of guide rods, threaded rod, worm screw and the first electricity
Machine；Pair of guide rods is horizontally fixed between the medial wall, left and right of base body；Threaded rod is articulated in
Between the medial wall, left and right of base body；What mobile guide block level offered that left and right runs through leads for a pair
To hole and a screwed hole；Mobile guide block is set in pair of guide rods by a pair pilot hole；Spiral shell
Rasp bar is screwed onto in mobile guide block；Some semicolumns being placed equidistant are formed bottom mobile guide block
Projection；Threaded rod right-hand member is fixed with worm gear；Base body is positioned at the Right Inboard above mobile guide block
A pair worm screw gripper shoe it is fixed with on wall；It is articulated in worm screw between worm screw gripper shoe；One of them
Worm screw gripper shoe is fixed with the first motor；First motor output shaft connects firmly with worm screw；
Roller devices includes guide-rail plate and a pair roller group；Roller group includes fixing axle and a pair rolling
Wheel；One pair roller is articulated in fixing axle two ends；It is fixed on before and after the fixing axle level of roller group and leads
Before and after rail plate between end face；Fixing axle is through the slotted hole of base body；Roller is positioned at roller
In accommodating groove；A pair guide lugs is formed respectively on the end face of guide-rail plate left and right；The guiding of guide-rail plate
Ear muff is located on the lead of base body guide groove；Guide-rail plate upper surface offers contraction groove group
With decline groove group；Shrink groove group to be made up of some the first gap being placed equidistant；Decline recessed
Groove group is made up of some the second gap being placed equidistant；Shrink groove group the first gap size with
Mobile guide block semicolumn size of lug is identical；The rotating shaft of the first gap shrinking groove group is positioned to be led
On the upper surface of rail plate；Decline the second gap size of groove group and mobile guide block semicolumn projection
Equivalently-sized；The rotating shaft of the second gap declining groove group is positioned at above the upper surface of guide-rail plate；
Described mechanical arm assembly, the swing arm including arm, being articulated in arm front end, driving swing arm
The first driver element swung, the mechanical hand being fixed in the rotating disk of swing arm front end and driving rotation
Second driver element of turntable rotation；Centrage when described swing arm swings and the rotation of rotating disk
Turn centrage to be mutually perpendicular to.
Preferred as technique scheme, the lead of base body guide groove is all arranged with pressure
Spring；Stage clip one end is resisted against on the lower surface of guide lugs, the other end is resisted against the lower wall surface of guide groove
On.
Preferred as technique scheme, between the adjacent semicolumn projection rotating shaft of mobile guide block
Between spacing with the adjacent second gap rotating shaft declining groove group, spacing is identical；The phase of mobile guide block
Between adjacent semicolumn projection rotating shaft between spacing with the adjacent first gap rotating shaft shrinking groove group
Spacing is identical.
Preferred as technique scheme, the semicolumn number of slugs of mobile guide block is recessed with decline
Second gap quantity of groove group is identical；The semicolumn number of slugs of mobile guide block and contraction groove group
The first gap quantity identical.
Preferred as technique scheme, the screwed hole of mobile guide block is positioned in mobile guide block
The heart；A pair pilot hole is front and back symmetrical arranged centered by screwed hole.
Preferred as technique scheme, mechanical hand includes housing, drives motor, longitudinal pawl
Hand drive mechanism and horizontal cleft hand drive structure；Housing is that inside offers the rectangular of square groove
Body；Shell top wall face offers some supported holes；It is fixed with support bar between supported hole sidewall；
Longitudinal cleft hand drive mechanism includes the longitudinal crank rocker of the first drive shaft, the second drive shaft and a pair
Mechanism；Laterally cleft hand drive structure include the first drive shaft, the second drive shaft, the 3rd drive shaft,
4th drive shaft and a pair horizontal crank and rocker mechanism；Motor level is driven to be fixed on housing to the left
Left side；Drive motor output shaft and the fixing connection of the first drive shaft；
First drive shaft, the second drive shaft horizontal cross be arranged in parallel；First drive shaft, second
Drive shaft is articulated between the sidewall of housing left and right；First shaft center is fixed with the first gear；
Second shaft center is fixed with eighth gear；The July 1st, gear engaged with eighth gear；A pair
Longitudinal crank and rocker mechanism is separately mounted in the first drive shaft, the second drive shaft；
The first worm screw and the second worm screw it is respectively fixed with in first drive shaft, the second drive shaft；The
Three drive shafts, the 4th horizontal vertical equity of drive shaft are arranged；3rd drive shaft, the 4th drive shaft
It is articulated between housing front-rear side walls；3rd shaft center is fixed with the first worm gear；4 wheel driven
Moving axis center is fixed with the second worm gear；First worm screw engages with the first worm gear；Second worm screw and the
Two worm gear engagements；A pair horizontal crank and rocker mechanism is separately mounted to the 3rd drive shaft, 4 wheel driven
On moving axis.
Preferred as technique scheme, longitudinal crank and rocker mechanism include a pair the most bent
Handle, a pair longitudinal rod, vertical supporting bar and longitudinal cleft hand；Longitudinal crank one end is fixed on the
In one drive shaft or the second drive shaft, the other end be hinged with longitudinal rod；A pair longitudinal rod
The other end is fixed with vertical supporting bar；Longitudinal cleft hand one end is hinged on vertical supporting bar, middle part
Be hinged on support bar, the other end passes shell top wall face.
Preferred as technique scheme, horizontal crank and rocker mechanism include a pair the most bent
Handle, a pair transverse link, transverse support bar and horizontal cleft hand；Laterally crank one end is fixed on the
In three drive shafts or the 4th drive shaft, the other end be hinged with transverse link；A pair transverse link
The other end is fixed with transverse support bar；Horizontal cleft hand one end is hinged in transverse support bar, middle part
Be hinged on support bar, the other end passes shell top wall face.
Preferred as technique scheme, described first driver element includes being arranged on arm
On the 4th motor, couple the first gear unit of the 4th motor and swing arm；Described first passes
Moving cell includes the 4th gear being articulated on arm and being coaxially disposed and the 5th gear, is articulated in
On arm and the 6th gear that is coaxially disposed and the first synchronous pulley, be articulated on arm the 3rd
Axle, the second synchronous pulley being fixedly mounted on the 3rd axle；On the output shaft of described 4th motor
Being provided with the 3rd gear, the 3rd gear and the engagement of the 4th gear, the 5th gear and the 6th gear are nibbled
Closing, the first synchronous pulley is coupled by Timing Belt and the second synchronous pulley, the 3rd axle and swing arm
Fixing connection.
The beneficial effects of the present invention is: roller can be contracted in base by roller driving device
Main body both sides, whole robot can be moved by roller；Make longitudinal cleft hand combination and horizontal cleft hand
Combination can simultaneously action and motion amplitude identical, in order to mechanical claw hand is comprehensive and grabs exactly
Clamping of workpieces.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the base body of the present invention；
Fig. 3 is the structural representation of the roll wheel assembly of the present invention；
Fig. 4 is base body and the structural representation of internal structure thereof of the present invention；
Fig. 5 is base body and the cross-sectional view of internal structure thereof of the present invention；
Fig. 6 is the arm structure schematic diagram of the present invention；
Fig. 7 is the structural representation of the mechanical hand of the present invention；
Fig. 8 is the structural representation of the manipulator transmission mechanism of the present invention；
Fig. 9 is the structural representation of longitudinal cleft hand drive mechanism of the present invention；
Figure 10 is the structural representation of the horizontal cleft hand driving structure of the present invention；
In figure, 10, base body；11, base body；110, roller accommodating groove；1101、
Slotted hole；20, waist rotation member；30, large arm；40, forearm；
50, arm；51, the 3rd gear；52, the 4th gear；54, the 6th gear；55、
First synchronous pulley；56, the 3rd axle；57, the second synchronous pulley；58, Timing Belt；59、
Swing arm；591, rotating disk；
60, mechanical hand；600, housing；601, support bar；61, motor is driven；62, vertical
To cleft hand drive mechanism；621, the first drive shaft；6211, the 7th gear；6212, first
Worm screw；622, the second drive shaft；6221, eighth gear；6222, the second worm screw；623、
Longitudinal crank；624, longitudinal rod；625, vertical supporting bar；626, longitudinal cleft hand；63、
Laterally cleft hand drives structure；631, the 3rd drive shaft；6311, the first worm gear；632, the 4th
Drive shaft；6321, the second worm gear；633, horizontal crank；634, transverse link；635、
Transverse support bar；636, horizontal cleft hand；
70, roll wheel assembly；71, roller driving device；711, guide block is moved；7111, half
Cylinder projection；712, guide rod；713, threaded rod；714, worm screw；7141, worm screw supports
Plate；715, the first motor；716, worm gear；72, roller devices；721, guide-rail plate；7211、
Decline groove group；7212, groove group is shunk；722, fixing axle；723, roller.
Detailed description of the invention
As it is shown in figure 1, a kind of six axle all-purpose robots being provided with lifting roller, including base body
10, the waist rotation member 30 that is articulated on base body 10, be articulated on waist rotation member 30 big
Arm 20, the forearm 40 being arranged in large arm 20, waist rotation member 30 rotates around base body 10,
Large arm 20 rotates around waist rotation member 30；Forearm 40 is provided with mechanical arm assembly；
As shown in Fig. 1～Fig. 5, described base body 10 includes the base body 11 of hollow, fixes
Base lid 12 in base body 11；Before and after base body 11, both sides respectively offer one
Pair roller accommodating groove 110；The bottom of roller accommodating groove 110 offers slotted hole 1101；Base
Main body 11 is internally installed roll wheel assembly 70；Described roll wheel assembly 70 includes that roller drives dress
Put 71 and roller devices 72；Base body about 11 offers a pair guide groove on medial wall respectively；
Guide groove is fixed with lead between upper and lower two side；
As shown in Fig. 3～Fig. 5, roller driving device 71 includes mobile guide block 711, leads for a pair
Bar 712, threaded rod 713, worm screw 714 and the first motor 715；Pair of guide rods 712 level
It is fixed between the medial wall, left and right of base body 11；Threaded rod 713 is articulated in base body
Between the medial wall, left and right of 11；What mobile guide block 711 level offered that left and right runs through leads for a pair
To hole and a screwed hole；Mobile guide block 711 is set in pair of guide rods by a pair pilot hole
On 712；Threaded rod 713 is screwed onto in mobile guide block 711；Molding bottom mobile guide block 711
There are some semicolumn projections 7111 being placed equidistant；Threaded rod 713 right-hand member is fixed with worm gear 716；
Base body 11 is positioned on the Right Inboard wall above mobile guide block 711 and is fixed with a pair worm screw and props up
Fagging 7141；Worm screw 714 it is articulated between worm screw gripper shoe 7141；One of them worm screw props up
Fagging 7141 is fixed with the first motor 715；First motor 715 output shaft is solid with worm screw 714
Connection；
As shown in Fig. 3～Fig. 5, roller devices 72 includes guide-rail plate 721 and a pair roller group；
Roller group includes fixing axle 722 and a pair roller 723；One pair roller 723 is articulated in fixing axle
722 two ends；Hold before and after being fixed on guide-rail plate 721 before and after fixing axle 722 level of roller group
Between face；Fixing axle 722 is through the slotted hole of base body 11；Roller is positioned at roller storage
In groove 110；A pair guide lugs is formed respectively on guide-rail plate about 721 end face；Guide-rail plate
The guide lugs of 721 is set on the lead of base body 11 guide groove；Guide-rail plate 721 upper end
Face offers contraction groove group 7212 and declines groove group 7211；Shrink groove group 7212 by
Some the first gap compositions being placed equidistant；Decline groove group 7211 and have some being placed equidistant
Second gap composition；Shrink the first gap size of groove group 7212 and mobile guide block 711 half
Cylinder size of lug is identical；The rotating shaft of the first gap shrinking groove group 7212 is positioned at guide-rail plate
On the upper surface of 721；Decline the second gap size of groove group 7211 and mobile guide block 711
Semicolumn size of lug is identical；The rotating shaft of the second gap declining groove group 7211 is positioned at guide rail
Above the upper surface of plate 721；
Described mechanical arm assembly, the swing arm 59 including arm 50, being articulated in arm 50 front end,
Drive the first driver element of swing arm 59 swing, be fixed on swing arm 50 front end rotating disk
Mechanical hand 60 on 591 and the second driver element of driving rotating disk 591 rotation；Described pendulum
Centrage when swing arm 59 swings is mutually perpendicular to the rotation centerline of rotating disk 591.
Stage clip all it is arranged with on the lead of base body 11 guide groove；Stage clip one end is resisted against guide lugs
Lower surface on, the other end is resisted against on the lower wall surface of guide groove.
As it is shown in figure 5, between adjacent semicolumn projection 7111 rotating shaft of mobile guide block 711
Away from identical with spacing between the adjacent second gap rotating shaft declining groove group 7211；Mobile guide block
Between adjacent semicolumn projection 7111 rotating shaft of 711, spacing is adjacent with shrink groove group 7212
Between first gap rotating shaft, spacing is identical.
As it is shown in figure 5, semicolumn projection 7111 quantity of mobile guide block 711 and decline groove
Second gap quantity of group 7211 is identical；Semicolumn projection 7111 quantity of mobile guide block 711
Identical with the first gap quantity shrinking groove group 7212.
As shown in Figure 3, Figure 4, the screwed hole moving guide block 711 is positioned in mobile guide block 711
The heart；A pair pilot hole is front and back symmetrical arranged centered by screwed hole.
As shown in Fig. 6～Figure 10, mechanical hand 60 includes housing 600, driving motor 61, indulges
Structure 63 is driven to cleft hand drive mechanism 62 and horizontal cleft hand；Housing 600 offers for inside
The cuboid of square groove；Housing 600 upper wall surface offers some supported holes；Supported hole sidewall it
Between be fixed with support bar 601；Longitudinal cleft hand drive mechanism 62 include the first drive shaft 621, the
Two drive shafts 622 and a pair longitudinal crank and rocker mechanism；Laterally cleft hand drives structure 63 to include
First drive shaft the 621, second drive shaft the 621, the 3rd drive shaft the 631, the 4th drive shaft 632
With a pair horizontal crank and rocker mechanism；Motor 61 level is driven to be fixed on housing 600 to the left
Left side；Drive motor 61 output shaft and the first fixing connection of drive shaft 621；
As shown in Fig. 6～Figure 10, first drive shaft the 621, second drive shaft 622 horizontal cross
It is arranged in parallel；First drive shaft the 621, second drive shaft 6222 is articulated in housing about 600
Between sidewall；First drive shaft 621 center is fixed with the first gear 6211；Second drive shaft
622 centers are fixed with eighth gear 6221；The July 1st, gear 6211 was nibbled with eighth gear 6221
Close；A pair longitudinal crank and rocker mechanism is separately mounted to first drive shaft the 621, second drive shaft
On 622；
As shown in Fig. 6～Figure 10, solid respectively in first drive shaft the 621, second drive shaft 622
Surely there is the first worm screw 6212 and the second worm screw 6222；3rd drive shaft the 6231, the 4th drive shaft
632 horizontal vertical equities are arranged；3rd drive shaft the 631, the 4th drive shaft 632 is articulated in shell
Between body 600 front-rear side walls；3rd drive shaft 631 center is fixed with the first worm gear 6311；
4th drive shaft 632 center is fixed with the second worm gear 6321；First worm screw 62212 and first
Worm gear 6311 engages；Second worm screw 62222 engages with the second worm gear 62321；A pair horizontal
Crank and rocker mechanism is separately mounted in the 3rd drive shaft the 631, the 4th drive shaft 632.
As it is shown in figure 9, longitudinal crank and rocker mechanism includes a pair longitudinal crank 623, indulges for a pair
To connecting rod 624, vertical supporting bar 625 and longitudinal cleft hand 626；Longitudinal crank 623 one end is solid
Be scheduled in the first drive shaft 621 or the second drive shaft 622, the other end is hinged with longitudinal rod
624；A pair longitudinal rod 624 other end is fixed with vertical supporting bar 625；Longitudinal cleft hand 626
One end is hinged on vertical supporting bar 625, middle part is hinged on support bar 601, the other end is worn
Cross housing 600 upper wall surface.
As shown in Figure 10, horizontal crank and rocker mechanism include a pair horizontal crank 633, a pair
Transverse link 634, transverse support bar 635 and horizontal cleft hand 636；Laterally crank 623 one end
Be fixed in the 3rd drive shaft 631 or the 4th drive shaft 632, the other end is hinged with and laterally connects
Bar 634；A pair transverse link 634 other end is fixed with transverse support bar 635；Laterally cleft hand
636 one end are hinged in transverse support bar 635, middle part is hinged on support bar 601, another
End is through housing 600 upper wall surface.
As shown in Figure 6, described first driver element includes the 4th electricity being arranged on arm 50
Machine, connection the 4th motor and the first gear unit of swing arm 59；Described first gear unit
Including the 4th gear 52 being articulated on arm 50 and being coaxially disposed and the 5th gear, it is articulated in
On arm 50 and be coaxially disposed the 6th gear 54 and the first synchronous pulley 55, be articulated in hands
The 3rd axle 56 on arm 50, the second synchronous pulley 57 being fixedly mounted on the 3rd axle 56；
On the output shaft of described 4th motor, the 3rd gear 51 is installed, the 3rd gear 51 and the 4th tooth
Wheel 52 engages, and the 5th gear and the 6th gear 54 engage, and the first synchronous pulley 55 is by same
Step band 58 couples with the second synchronous pulley 57, and the 3rd axle 56 is fixing with swing arm 591 to be connected.
Concrete operations are as follows: the original state of base body 10: the semicolumn of mobile guide block 711
Projection 7111 contacts with shrinking groove group 7212, and now roller 723 is positioned at base body 11
Roller accommodating groove 110 in.
If desired for mobile robot, only need to start the first motor 715, the first motor 715 drives
Worm screw 714 rotates, and worm screw 714 drives threaded rod 713 to rotate by worm gear 716, threaded rod
713 drive mobile guide block 711 to slide along guide rod 712 level, the semicircle of mobile guide block 711
Post projection 7111 moves to guide-rail plate 721 upper surface from contraction groove group 7212 and moves again to
In fall groove group 7211, such guide-rail plate 721 moves downward, and drives roller group descending and ground
Face contacts and is held up by base body 10, and whole robot can be moved by roller 723.
Mechanical hand 60 operates as follows: drive motor 61 to drive the first drive shaft 621；First drives
Moving axis 621 drives the second drive shaft 622 turns by the 7th gear 6211, eighth gear 6221
Dynamic；Such first drive shaft 621 and the second drive shaft 622 are just by a pair longitudinal crank rocker
Mechanism drives a pair longitudinal cleft hand 626 relative motion；Meanwhile, the first drive shaft 621 is led to
Crossing the first worm screw 6212 and the first worm gear 6311 drives the 3rd drive shaft 631 to rotate, second drives
Moving axis 622 drives the 4th drive shaft 632 turns by the second worm screw 6222 and the second worm gear 6321
Dynamic, the 3rd drive shaft 631 and the 4th drive shaft 632 are just by a pair horizontal crank and rocker mechanism
Drive a pair horizontal cleft hand 636 relative motion；So longitudinal cleft hand 626 and horizontal cleft hand 636
Motion and amplitude are identical simultaneously；
In the first driver element, the second driver element, longitudinal cleft hand drive mechanism 62 and laterally
Cleft hand drives structure 623 to cooperate down, and mechanical hand 60 can be firmly grasped comprehensive and exactly
Workpiece.
Above content is only the better embodiment of the present invention, for the ordinary skill people of this area
Member, according to the thought of the present invention, the most all can change it
Place, this specification content should not be construed as limitation of the present invention.
Claims (9)
1. it is provided with six axle all-purpose robots of lifting roller, including base body (10), pivot
The waist rotation member (30) that is connected on base body (10), it is articulated on waist rotation member (30)
Large arm (20), the forearm (40) being arranged in large arm (20), waist rotation member (30) is the end of around
Pedestal (10) rotates, and large arm (20) rotates around waist rotation member (30)；On forearm (40)
It is provided with mechanical arm assembly；
It is characterized in that: described base body (10) includes the base body (11) of hollow, consolidates
The base lid (12) being scheduled in base body (11)；Both sides before and after base body (11)
Respectively offer a pair roller accommodating groove (110)；The bottom of roller accommodating groove (110) offers
Slotted hole (1101)；Base body (11) is internally installed roll wheel assembly (70)；Described rolling
Wheel assembly (70) includes roller driving device (71) and roller devices (72)；Base body
(11) a pair guide groove is offered respectively on medial wall, left and right；Guide groove is fixed with between upper and lower two side
Lead；
Roller driving device (71) includes mobile guide block (711), pair of guide rods (712), spiral shell
Rasp bar (713), worm screw (714) and the first motor (715)；Pair of guide rods (712) level
It is fixed between the medial wall, left and right of base body (11)；Threaded rod (713) is articulated in the end
Between the medial wall, left and right of seat main body (11)；Mobile guide block (711) level offers left and right
A pair pilot hole run through and a screwed hole；Mobile guide block (711) is by a pair pilot hole
It is set in pair of guide rods (712)；Threaded rod (713) is screwed onto mobile guide block (711)
In；Mobile guide block (711) bottom forms some semicolumn projections (7111) being placed equidistant；
Threaded rod (713) right-hand member is fixed with worm gear (716)；Base body (11) is positioned at mobile leading
It is fixed with a pair worm screw gripper shoe (7141) on the Right Inboard wall of block (711) top；Worm screw props up
Worm screw (714) it is articulated between fagging (7141)；One of them worm screw gripper shoe (7141)
It is fixed with the first motor (715)；First motor (715) output shaft connects firmly with worm screw (714)；
Roller devices (72) includes guide-rail plate (721) and a pair roller group；Roller group includes fixing
Axle (722) and a pair roller (723)；One pair roller (723) is articulated in fixing axle (722)
Two ends；Before and after being fixed on guide-rail plate (721) before and after fixing axle (722) level of roller group
Between end face；Fixing axle (722) is through the slotted hole of base body (11)；Roller is positioned at
In roller accommodating groove (110)；Form respectively a pair on the end face of guide-rail plate (721) left and right and lead
To ear；The guide lugs of guide-rail plate (721) is set in the lead of base body (11) guide groove
On；Guide-rail plate (721) upper surface offers contraction groove group (7212) and declines groove group
(7211)；Shrink groove group (7212) to be made up of some the first gap being placed equidistant；Under
Fall groove group (7211) is made up of some the second gap being placed equidistant；Shrink groove group (7212)
The first gap size identical with mobile guide block (711) semicolumn size of lug；Shrink groove
The rotating shaft of the first gap of group (7212) is positioned on the upper surface of guide-rail plate (721)；Decline
Second gap size of groove group (7211) and mobile guide block (711) semicolumn size of lug
Identical；The rotating shaft of the second gap declining groove group (7211) is positioned at guide-rail plate (721)
Above upper surface；
Described mechanical arm assembly, including arm (50), the pendulum that is articulated in arm (50) front end
Swing arm (59), drive swing arm (59) swing the first driver element, be fixed on swing arm
(50) mechanical hand (60) in front end rotating disk (591) and driving rotating disk (591) rotation
The second driver element turned；Centrage when described swing arm (59) swings and rotating disk (591)
Rotation centerline be mutually perpendicular to.
A kind of six axle all-purpose robots being provided with lifting roller the most according to claim 1,
It is characterized in that: on the lead of base body (11) guide groove, be all arranged with stage clip；Stage clip one
End is resisted against on the lower surface of guide lugs, the other end is resisted against on the lower wall surface of guide groove.
A kind of six axle all-purpose robots being provided with lifting roller the most according to claim 1,
It is characterized in that: between adjacent semicolumn projection (7111) rotating shaft of mobile guide block (711)
Between spacing with the adjacent second gap rotating shaft declining groove group (7211), spacing is identical；Mobile
Spacing and contraction groove group between adjacent semicolumn projection (7111) rotating shaft of guide block (711)
(7212) between adjacent first gap rotating shaft, spacing is identical.
A kind of six axle all-purpose robots being provided with lifting roller the most according to claim 1,
It is characterized in that: semicolumn projection (7111) quantity of mobile guide block (711) is recessed with decline
Second gap quantity of groove group (7211) is identical；The semicolumn projection of mobile guide block (711)
(7111) quantity is identical with the first gap quantity shrinking groove group (7212).
A kind of six axle all-purpose robots being provided with lifting roller the most according to claim 1,
It is characterized in that: the screwed hole of mobile guide block (711) is positioned at mobile guide block (711) center；
A pair pilot hole is front and back symmetrical arranged centered by screwed hole.
A kind of six axle all-purpose robots being provided with lifting roller the most according to claim 1,
It is characterized in that: mechanical hand (60) includes housing (600), drives motor (61), longitudinal direction
Cleft hand drive mechanism (62) and horizontal cleft hand drive structure (63)；Housing (600) is internal
Offer the cuboid of square groove；Housing (600) upper wall surface offers some supported holes；?
It is fixed with support bar (601) between the sidewall of support hole；Longitudinal cleft hand drive mechanism (62) includes the
The longitudinal crank and rocker mechanism of one drive shaft (621), the second drive shaft (622) and a pair；Horizontal
To cleft hand drive structure (63) include the first drive shaft (621), the second drive shaft (621),
3rd drive shaft (631), the 4th drive shaft (632) and a pair horizontal crank and rocker mechanism；
Motor (61) level is driven to be fixed on the left side of housing (600) to the left；Drive motor (61)
Output shaft and the fixing connection of the first drive shaft (621)；
First drive shaft (621), the second drive shaft (622) horizontal cross be arranged in parallel；The
One drive shaft (621), the second drive shaft (6222) are articulated in housing (600) left and right sidewall
Between；First drive shaft (621) center is fixed with the first gear (6211)；Second drive shaft
(622) center is fixed with eighth gear (6221)；The gear July 1st (6211) and octadentate
Wheel (6221) engagement；A pair longitudinal crank and rocker mechanism be separately mounted to the first drive shaft (621),
In second drive shaft (622)；
First drive shaft (621), the second drive shaft are respectively fixed with the first worm screw on (622)
(6212) and the second worm screw (6222)；3rd drive shaft (6231), the 4th drive shaft (632)
Horizontal vertical equity is arranged；3rd drive shaft (631), the 4th drive shaft (632) are articulated in
Between housing (600) front-rear side walls；3rd drive shaft (631) center is fixed with the first worm gear
(6311)；4th drive shaft (632) center is fixed with the second worm gear (6321)；First snail
Bar (62212) engages with the first worm gear (6311)；Second worm screw (62222) and the second snail
Wheel (62321) engagement；A pair horizontal crank and rocker mechanism is separately mounted to the 3rd drive shaft
(631), in the 4th drive shaft (632).
A kind of six axle all-purpose robots being provided with lifting roller the most according to claim 6,
It is characterized in that: longitudinal crank and rocker mechanism includes a pair longitudinal crank (623), a pair longitudinal direction
Connecting rod (624), vertical supporting bar (625) and longitudinal cleft hand (626)；Longitudinal crank (623)
One end is fixed on the first drive shaft (621) or the second drive shaft (622) is upper, other end hinge
It is connected to longitudinal rod (624)；A pair longitudinal rod (624) other end is fixed with longitudinal bracing
Bar (625)；Longitudinal cleft hand (626) one end is hinged on vertical supporting bar (625), middle part
Be hinged on support bar (601), the other end passes housing (600) upper wall surface.
A kind of six axle all-purpose robots being provided with lifting roller the most according to claim 6,
It is characterized in that: laterally crank and rocker mechanism include a pair horizontal crank (633), a pair horizontal
Connecting rod (634), transverse support bar (635) and horizontal cleft hand (636)；Laterally crank (623)
One end is fixed on the 3rd drive shaft (631) or the 4th drive shaft (632) is upper, other end hinge
It is connected to transverse link (634)；A pair transverse link (634) other end is fixed with cross-brace
Bar (635)；Horizontal cleft hand (636) one end is hinged in transverse support bar (635), middle part
Be hinged on support bar (601), the other end passes housing (600) upper wall surface.
A kind of six axle all-purpose robots being provided with lifting roller the most according to claim 6,
It is characterized in that: described first driver element the 4th electricity that includes being arranged on arm (50)
Machine, connection the 4th motor and the first gear unit of swing arm (59)；Described first transmission list
Unit include being articulated in arm (50) is upper and the 4th gear (52) that is coaxially disposed and the 5th gear,
Be articulated in that arm (50) is upper and the 6th gear (54) that is coaxially disposed and the first synchronous pulley (55),
The 3rd axle (56) that is articulated on arm (50), it is fixedly mounted on the 3rd axle (56)
Second synchronous pulley (57)；On the output shaft of described 4th motor, the 3rd gear (51) is installed,
3rd gear (51) engages with the 4th gear (52), the 5th gear and the 6th gear (54)
Engagement, the first synchronous pulley (55) is by Timing Belt (58) and the second synchronous pulley (57)
Coupling, the 3rd axle (56) is fixing with swing arm (591) to be connected.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570591.5A CN105965471B (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots for being provided with lifting roller |
| CN201810180171.5A CN108381508A (en) | 2016-07-18 | 2016-07-18 | A kind of six axis all-purpose robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570591.5A CN105965471B (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots for being provided with lifting roller |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810180171.5A Division CN108381508A (en) | 2016-07-18 | 2016-07-18 | A kind of six axis all-purpose robots |
Publications (2)
| Publication Number | Publication Date |
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| CN105965471A true CN105965471A (en) | 2016-09-28 |
| CN105965471B CN105965471B (en) | 2018-02-02 |
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| CN201610570591.5A Active CN105965471B (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots for being provided with lifting roller |
| CN201810180171.5A Pending CN108381508A (en) | 2016-07-18 | 2016-07-18 | A kind of six axis all-purpose robots |
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| Application Number | Title | Priority Date | Filing Date |
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| CN107954212A (en) * | 2017-12-22 | 2018-04-24 | 当涂县金龙机械有限公司 | A kind of sucker grabbing device |
| CN108381558A (en) * | 2018-02-11 | 2018-08-10 | 南京晓庄学院 | A kind of colleges and universities' public affair hall Self-Service machine people |
| CN108670437A (en) * | 2018-05-01 | 2018-10-19 | 东莞市天合机电开发有限公司 | A kind of stand alone type auxiliary manipulator used for medical procedures |
| CN109571424A (en) * | 2017-09-28 | 2019-04-05 | 发那科株式会社 | Robot |
| CN110491195A (en) * | 2019-08-27 | 2019-11-22 | 李茗洲 | A kind of mathematics education model and application method |
| CN111993432A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot for stacking |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108381508A (en) | 2018-08-10 |
| CN105965471B (en) | 2018-02-02 |
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Inventor after: Liu Qing Inventor after: Liu Xinwei Inventor after: Fan Yuxuan Inventor after: Xia Biqi Inventor before: Fu Shuzhen |
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Effective date of registration: 20180108 Address after: 518106 Guangdong province Shenzhen City Guangming New Area Gongming Street lower village community third industrial zone 19 A area Applicant after: Shenzhen Shuang Yue Industrial Development Co., Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Applicant before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
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