CN105965489A - Light six-axis universal robot with two lower arms - Google Patents
Light six-axis universal robot with two lower arms Download PDFInfo
- Publication number
- CN105965489A CN105965489A CN201610570525.8A CN201610570525A CN105965489A CN 105965489 A CN105965489 A CN 105965489A CN 201610570525 A CN201610570525 A CN 201610570525A CN 105965489 A CN105965489 A CN 105965489A
- Authority
- CN
- China
- Prior art keywords
- forearm
- postbrachium
- fixed
- arm
- light
- 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.)
- Granted
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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a light six-axis universal robot with two lower arms. The light six-axis universal robot comprises a base body, a waist rotating part connected to the base body in a pivot mode, an upper arm connected to the waist rotating part in a pivot mode and the two lower arms installed on the upper arm; the waist rotating part rotates around the base body, and the upper arm rotates around the waist rotating part; the two lower arms comprise the first lower arm and the second lower arm which are installed on a sliding device through a splitting mechanism, and the sliding device is installed on the upper arm. The light six-axis universal robot has the advantages that the upper arm can drive a pair of the lower arms to rotate through the sliding device, the lower arms not only can be driven by a pair of splitting supports to do relative rotation, but also can be driven by the sliding device to do linear moving to adapt to various machining conditions, and therefore the operation efficiency of the robot is improved.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of light-duty six axle general-purpose machinerys
People.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses one and is provided with one
Light-duty six axle all-purpose robots to forearm, including base body, waist rotation member, large arm, axle bed,
Forearm, waist rotation member rotates around base body, and large arm rotates around waist rotation member.Of the prior art
Light-duty six axle all-purpose robots, it has a forearm, makes whole machine task efficiency difficult
To get a promotion.
Summary of the invention
The present invention is directed to above-mentioned technical problem, it is provided that the light-duty six axle general-purpose machinerys of a kind of double small arm
People.
For reaching above-mentioned purpose, the light-duty six axle all-purpose robots of a kind of double small arm of the present invention,
The waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member,
The forearm being arranged in large arm, waist rotation member rotates around base body, and large arm rotates around waist rotation member；
Large arm upper end is fixed with the first driving motor；It is fixed with on first motor output shaft driving motor
Skid；Described forearm includes the first forearm and the second forearm, the first forearm and the second forearm
By split, mechanism is arranged in large arm；Split mechanism include drive shaft, a pair cylinder ring,
One forearm driving means；Described first forearm includes the first forearm and the first postbrachium；Described second
Forearm includes the second forearm and the second postbrachium；First postbrachium is inverted " Qian "；Second postbrachium
In inverted " Qian "；The upper surface of the first postbrachium is fixed on the rear end of the first forearm；After second
The upper surface of arm is fixed on the rear end of the second forearm；A pair cylinder ring one end is fixed on the second postbrachium
On the lateral surface of two support wall in order of lower end, the other end be articulated in two supports of the first postbrachium lower end
On wall；Drive shaft one end is through the first postbrachium side supporting walls and is fixed under the second postbrachium
Hold on two supporting walls, the other end is arranged on skid；First forearm driving means is arranged on
Between cylinder ring and the first postbrachium.
Preferred as technique scheme, the first forearm driving means includes the second driving electricity
Machine, the first gear and the second gear；Second drives motor to be horizontally fixed on the side of the first postbrachium
On the medial surface of supporting walls；First gear is fixed on the output shaft of the second driving motor；Second
Gear is fixed on the outer circumference face of cylinder ring；Second gear and the engagement of the first gear.
Preferred as technique scheme, carriage includes the 3rd driving motor, slides the end
Seat, 4 wheel driven galvanic electricity machine, the first guide block, the first threaded rod and head rod；Described slide
Base is the cuboid that inner transverse offers the guide groove in " convex " font lain on one's side；4 wheel driven
The bottom of galvanic electricity machine is fixed on the first guide block；4 wheel driven galvanic electricity machine and the first guide block integral level to
A left side is plugged in the guide groove sliding base；Screwed hole is offered on first guide block；First threaded rod
Two ends are articulated between the left and right sidewall sliding base；It is screwed onto first in the middle part of first threaded rod to lead
On block；Slide and on base left side, be fixed with the 3rd driving motor；3rd output driving motor
Axle and the fixing connection of the first threaded rod；Head rod is fixed in the rear end face sliding base
The heart；Head rod and first drives the fixing connection of motor output shaft of motor；4 wheel driven galvanic electricity
The output shaft of machine is fixing with drive shaft to be connected.
Preferred as technique scheme, drive shaft one end is circle through the position of the first postbrachium
At the band of column, drive shaft diameter is less than the internal diameter of cylinder ring.
Preferred as technique scheme, the first forearm front end offers the first installing hole；The
Two forearm front ends offer the second installing hole.
The beneficial effects of the present invention is: large arm can drive a pair forearm to revolve by skid
Turning, two forearms can make relative rotation under the driving of a pair Split type supporting stand, it is possible to is sliding
Linear slide is made, to adapt to various processing operating mode, the operation of hoisting machine people under the driving of device
Efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the forearm of the present invention；
Fig. 3 be the forearm of the present invention face structural representation；
Fig. 4 is the left side TV structure schematic diagram of the forearm of the present invention；
Fig. 5 is the backsight structural representation of the forearm of the present invention；
Fig. 6 be the present invention Fig. 3 in the cross-sectional view of A-A；
In figure, 10, base body；20, large arm；21, first motor is driven；211, motor
Output shaft；22, the first forearm；221, the first forearm；222, the first postbrachium；223,
Two drive motor；2231, the first gear；23, the second forearm；231, the second forearm；232、
Second postbrachium；233, drive shaft；234, cylinder ring；2341, the second gear；24, slide
Device；241,4 wheel driven galvanic electricity machine；242, base is slided；243, the first guide block；244、
First threaded rod；245, head rod；246, the 3rd motor is driven；30, waist rotation member.
Detailed description of the invention
As shown in Fig. 1～Fig. 5, the light-duty six axle all-purpose robots of a kind of double small arm, the end of including
Pedestal 10, the waist rotation member 30 being articulated on base body 10, it is articulated on waist rotation member 30
Large arm 20, the forearm that is arranged in large arm 20, waist rotation member 30 rotates around base body 10,
Large arm 20 rotates around waist rotation member 30；Large arm 20 upper end is fixed with the first driving motor 21；
It is fixed with skid 24 on first motor output shaft 211 driving motor 21；Described forearm
Including the first forearm 22 and the second forearm 23, the first forearm 22 and the second forearm 23 are by dividing
Body mechanism is arranged in large arm 20；Split mechanism include drive shaft 233, a pair cylinder ring 234,
First forearm driving means；Described first forearm 22 includes the first forearm 221 and the first postbrachium
222；Described second forearm 23 includes the second forearm 231 and the second postbrachium 232；First postbrachium
222 in inverted " Qian "；Second postbrachium 232 is in inverted " Qian "；First postbrachium 222
Upper surface is fixed on the rear end of the first forearm 221；The upper surface of the second postbrachium 232 is fixed on
The rear end of two forearms 231；A pair cylinder ring 234 one end is fixed on the second postbrachium 232 lower end
On the lateral surface of two support wall in order, the other end be articulated in two supporting walls of the first postbrachium 222 lower end
On；After drive shaft 233 one end passes the first postbrachium 222 side supporting walls and is fixed on second
On lower end two supporting walls of arm 232, the other end is arranged on skid 24；First forearm
Driving means is arranged between cylinder ring 234 and the first postbrachium 222.
As shown in Fig. 4, Fig. 6, the first forearm driving means include the second driving motor 223,
First gear 2231 and the second gear 2241；Second drives motor 223 to be horizontally fixed on first
On the medial surface of the side supporting walls of postbrachium 222；First gear 2231 is fixed on the second driving
On the output shaft of motor 223；Second gear 2241 is fixed on the outer circumference of cylinder ring 234
On face；Second gear 2241 engages with the first gear 2231.
As shown in Fig. 2, Fig. 3, Fig. 6, carriage 24 include the 3rd driving motor 246,
Slide base 242,4 wheel driven galvanic electricity machine the 241, first guide block the 243, first threaded rod 244
With head rod 245；The described base 242 of sliding offers in lying on one's side for inner transverse
The cuboid of the guide groove of " convex " font；The bottom of 4 wheel driven galvanic electricity machine 241 is fixed on first and leads
Block 243；4 wheel driven galvanic electricity machine 241 and the first guide block 243 integral level are plugged in the left and slide
In the guide groove of base 242；Screwed hole is offered on first guide block 243；First threaded rod 244
Two ends are articulated between the left and right sidewall sliding base 242；It is spirally connected in the middle part of first threaded rod 244
On the first guide block 243；Slide and on base 242 left side, be fixed with the 3rd driving motor 246；
3rd output shaft driving motor 246 and the first fixing connection of threaded rod 244；Head rod
245 are fixed on the rear end face center sliding base 242；Head rod 245 and first drives
The motor output shaft 211 of motor 21 is fixing to be connected；The output shaft of 4 wheel driven galvanic electricity machine 241 with
Drive shaft 233 is fixing to be connected.
As shown in Fig. 2, Fig. 6, drive shaft 233 one end through the position of the first postbrachium 222 is
At cylinder ring 234, drive shaft 233 diameter is less than the internal diameter of cylinder ring 234.
As shown in Fig. 2, Fig. 6, the first forearm 221 front end offers the first installing hole；Second
Forearm 231 front end offers the second installing hole.
Concrete operations are as follows: when forearm needs whole slide, start the 3rd driving motor 246
The first threaded rod 244 is driven to rotate；First threaded rod 244 drives the by the first guide block 243
4 wheel driven galvanic electricity machine 241 slides in sliding base 242 guide groove, and forearm thus can be driven whole
Body slides；
When needing forearm unitary rotation, only need to start the first driving motor 21, first drives motor
21 slide base 242 by head rod 245 drive rotates, and thus can drive little
Arm integral-rotation.
When the first forearm 22 and the second forearm 23 do relative motion, 4 wheel driven galvanic electricity machine 241
Driving drive shaft 233 to rotate, drive shaft 233 drives the second forearm 23 to rotate, the second forearm
After 23 arrive relevant position, 4 wheel driven galvanic electricity machine 241 stops action, restarts the second driving
Motor 223 makes the first forearm 22 around cylinder by the first gear 2231 and the second gear 2241
Ring 234 (the i.e. second forearm 23) rotates.
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 (5)
1. light-duty six axle all-purpose robots for double small arm, including base body (10), pivot joint
Waist rotation member (30) on base body (10), be articulated on waist rotation member (30) big
Arm (20), the forearm being arranged in large arm (20), waist rotation member (30) is around base body (10)
Rotating, large arm (20) rotates around waist rotation member (30)；Large arm (20) upper end is fixed with
One drives motor (21)；First drives the motor output shaft (211) of motor (21) above to fix
There is skid (24)；
It is characterized in that: described forearm includes the first forearm (22) and the second forearm (23),
First forearm (22) and the second forearm (23) are arranged in large arm (20) by split mechanism；
Split mechanism includes drive shaft (233), a pair cylinder ring (234), the first forearm driving means；
Described first forearm (22) includes the first forearm (221) and the first postbrachium (222)；Described
Second forearm (23) includes the second forearm (231) and the second postbrachium (232)；First postbrachium
(222) in inverted " Qian "；Second postbrachium (232) is in inverted " Qian "；First postbrachium
(222) upper surface is fixed on the rear end of the first forearm (221)；Second postbrachium (232)
Upper surface be fixed on the rear end of the second forearm (231)；A pair cylinder ring (234) one end is solid
On the lateral surface of two support wall in order being scheduled on the second postbrachium (232) lower end, the other end is articulated in
On two supporting walls of the first postbrachium (222) lower end；After drive shaft (233) one end passes first
Arm (222) side supporting walls and be fixed on lower end two supporting walls of the second postbrachium (232),
The other end is arranged on skid (24)；First forearm driving means is arranged on cylinder ring
(234) between and the first postbrachium (222).
The light-duty six axle all-purpose robots of a kind of double small arm the most according to claim 1,
It is characterized in that: the first forearm driving means includes the second driving motor (223), the first gear
(2231) and the second gear (2241)；Second drives motor (223) to be horizontally fixed on first
On the medial surface of the side supporting walls of postbrachium (222)；First gear (2231) is fixed on
On two output shafts driving motor (223)；Second gear (2241) is fixed on cylinder ring (234)
Outer circumference face on；Second gear (2241) engages with the first gear (2231).
The light-duty six axle all-purpose robots of a kind of double small arm the most according to claim 1,
It is characterized in that: carriage (24) include the 3rd driving motor (246), slide base (242),
4 wheel driven galvanic electricity machine (241), the first guide block (243), the first threaded rod (244) and first
Connecting rod (245)；The described base (242) that slides is that inner transverse offers in " convex " lain on one's side
The cuboid of the guide groove of font；The bottom of 4 wheel driven galvanic electricity machine (241) is fixed on the first guide block
(243)；4 wheel driven galvanic electricity machine (241) and the first guide block (243) integral level plug to the left
In the guide groove sliding base (242)；First guide block offers screwed hole on (243)；The
One threaded rod (244) two ends are articulated between the left and right sidewall sliding base (242)；First
Threaded rod (244) middle part is screwed onto on the first guide block (243)；Slide base (242) left
The 3rd driving motor (246) it is fixed with on end face；3rd output shaft driving motor (246)
Fix with the first threaded rod (244) and be connected；Head rod (245) is fixed on and slides base
(242) rear end face center；Head rod (245) drives motor (21) with first
Motor output shaft (211) is fixing to be connected；The output shaft of 4 wheel driven galvanic electricity machine (241) and driving
Axle (233) is fixing to be connected.
The light-duty six axle all-purpose robots of a kind of double small arm the most according to claim 1,
It is characterized in that: drive shaft (233) one end is cylinder through the position of the first postbrachium (222)
Ring (234) place, drive shaft (233) diameter is less than the internal diameter of cylinder ring (234).
The light-duty six axle all-purpose robots of a kind of double small arm the most according to claim 1,
It is characterized in that: the first forearm (221) front end offers the first installing hole；Second forearm (231)
Front end offers the second installing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570525.8A CN105965489B (en) | 2016-07-18 | 2016-07-18 | A kind of light-duty six axles all-purpose robot of double small arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570525.8A CN105965489B (en) | 2016-07-18 | 2016-07-18 | A kind of light-duty six axles all-purpose robot of double small arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105965489A true CN105965489A (en) | 2016-09-28 |
| CN105965489B CN105965489B (en) | 2018-03-16 |
Family
ID=56952634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570525.8A Active CN105965489B (en) | 2016-07-18 | 2016-07-18 | A kind of light-duty six axles all-purpose robot of double small arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105965489B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2016
- 2016-07-18 CN CN201610570525.8A patent/CN105965489B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105965489B (en) | 2018-03-16 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180131 Address after: Jiaojiang District Hongjiadu streets Gangtou Xu village in Taizhou City, Zhejiang province 318000 No. 1-1 Applicant after: Xu Juhong 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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| GR01 | Patent grant | ||
| GR01 | Patent grant |