CN105965541B - The light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage - Google Patents
The light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage Download PDFInfo
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- CN105965541B CN105965541B CN201610570800.6A CN201610570800A CN105965541B CN 105965541 B CN105965541 B CN 105965541B CN 201610570800 A CN201610570800 A CN 201610570800A CN 105965541 B CN105965541 B CN 105965541B
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 29
- 210000000245 forearm Anatomy 0.000 claims abstract description 26
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 239000007787 solid Substances 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 241000222712 Kinetoplastida Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage, robot forearm is equipped with adjutage, and the adjutage includes the stake body for being fixedly connected with forearm, the first telescoping mechanism on stake body, the swing mechanism being hinged on the first telescoping mechanism, slides the second telescoping mechanism being arranged in swing mechanism slide slot and the resetting apparatus on swing mechanism；The adjutage is fixedly arranged at the front end with rotating machine arm；The rotating machine arm includes a pair of of sucker group, the driving mechanism of a pair of of sucker group rotation of driving；The driving mechanism includes pedestal, rotary components, rotating driving device and latch components.The first telescoping mechanism of the present invention can elongate or shorten the total length of adjutage and forearm and adjutage, to adapt to various operating modes；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, i.e. forearm has the function of bending.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to light-duty six axis for executing end is provided on a kind of adjutage
All-purpose robot.
Background technology
Application No. is the applications for a patent for invention of CN201210566463.5 to disclose a kind of light-duty six axis all-purpose robot, axis
Seat is fixed on arm axle, and axle bed guard box is fixed on axle bed, and third axis driving motor, the 4th axis driving motor, the 5th axis drive
Dynamic motor and the 6th axis driving 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 retarder, the 6th axis sleeve is in the 5th axis, and the 5th axis sleeve is in the 4th axis, and sleeve is in forearm in the 4th axis
Rod shell, forearm retarder and forearm lengthen in rod shell, be respectively fixed on the 4th axis, the 5th axis and the 6th axis the 4th axis from
Moving gear, the 5th axis driven gear and the 6th axis driven gear.Light-duty six axis all-purpose robot in the prior art, forearm is only
The execution end mounted on forearm end can be driven to rotate, it is difficult to meet the needs of practical operation.
Invention content
The present invention in view of the above technical problems, provides the light-duty six axis universal machine for being provided on a kind of adjutage and executing end
Device people.
In order to achieve the above objectives, the light-duty six axis general-purpose machinery for executing end is provided on a kind of adjutage of the invention
People, including base body, be articulated on base body waist rotation member, be articulated on waist rotation member large arm, be fixed on large arm one end
The 6th motor output shaft on forearm, waist rotation member around base body rotate, large arm around waist rotation member rotate；
The forearm is equipped with adjutage, and the adjutage includes the stake body for being fixedly connected with forearm, is mounted on stake body
On the first telescoping mechanism, be hinged on the first telescoping mechanism swing mechanism, slide and be arranged in swing mechanism slide slot
Second telescoping mechanism and the resetting apparatus on swing mechanism；
First telescoping mechanism includes top plate, support plate and bottom plate；Swing mechanism includes a pair of of support base and a pair of of swing arm；
Swing arm is provided with slide slot；A pair of of swing arm lower end is respectively hinged at a pair of of support by fixed articulated shaft on a swing arm
On seat；The articulated shaft of one of swing arm and the output shaft of third motor connect firmly；Swing mechanism is fixed by a pair of of support base
On the top plate of the first telescoping mechanism；Second telescoping mechanism includes the 7th rack, the 7th gear and pendular body；7th rack is fixed
The side of the slide slot of swing arm of one of which；Pendular body includes connector and a pair of of guide holder；A pair of of guide holder is symmetrical
It is fixed on the bottom surface of connector；Guide holder includes being mutually perpendicular to fixed connecting rod and rectangular guide rod；A pair of of guide holder leads to respectively
Rectangular guide rod is crossed to be plugged in the slide slot of swing arm；It is fixed with the 4th motor on the rectangular guide rod of one of them；4th motor
Output shaft on be fixed with the 7th gear；7th gear is engaged with the 7th rack；
Resetting apparatus includes reset components and third motor fixing device；Reset components include a pair of of reset support plate and one
To resetting spring；A pair resets on the top plate for the both sides that support plate is separately fixed at one of swing arm swaying direction；It resets
Spring is arranged between the side wall and reset support plate side wall of swing arm；Third motor fixing device includes cylinder supports plate, gas
Cylinder and fixed jaw；Cylinder supports plate is fixed on the top plate of third motor side；Cylinder is fixed on cylinder supports plate；The work of cylinder
Stopper rod is towards third motor；Fixed jaw is fixed on the piston rod of cylinder；A pair of of positioning pin is formed on fixed jaw；Third motor with
The side of support base contact surface forms motor cabinet；A pair of of first positioning hole is offered on motor cabinet；First positioning hole face
Support base offers second location hole on side；The first positioning hole of a pair of of positioning pin face motor cabinet of fixed jaw；It is described to prolong
The rotating machine arm that semi-girder is fixedly arranged at the front end with；The rotating machine arm includes that a pair of of sucker group and a pair of of sucker group of driving rotate
Driving mechanism.
As a preferred embodiment of the above technical solution, the first telescoping mechanism further includes central rotating body, the first threaded rod, Ruo Gan
One guide rod, the first worm screw, the 5th motor and a pair of of rotation support plate；A pair of rotation support plate is fixed on bottom plate vertically；First
Worm screw is articulated between a pair of of rotation support plate；In the rotation support plate that 5th motor one of is fixed therein；5th motor
Output shaft is connected firmly with the first worm screw；Central rotating body includes the first cylinder and the first worm gear；It is offered in the middle part of first cylinder up and down
Perforative threaded hole；First cylinder upper end external cylindrical surface is fixed on the supporting plate, on the external cylindrical surface of lower end by bearing hinge joint
First worm gear；Central rotating body is engaged by the first worm gear with the first worm screw；First threaded rod lower end is screwed onto central rotating body
Threaded hole in, upper end and roof center be spirally connected；Several first guide rods are fixed in upper end face of support plate；Top plate is set in several
On first guide rod.
As a preferred embodiment of the above technical solution, several first guide rods upper end forms circular limited block, limited block diameter
More than the diameter of the first guide rod.
As a preferred embodiment of the above technical solution, include first shell and second shell on the stake body；First shell and
Second shell is integrally fixed by several connecting poles；First telescoping mechanism is fixed on first shell by support plate and bottom plate
On inner wall；Second shell is set in outside swing mechanism and the first telescoping mechanism.
As a preferred embodiment of the above technical solution, pendular body center offers perforative circular hole, the diameter of circular hole up and down and is more than
The diameter of first threaded rod.
As a preferred embodiment of the above technical solution, the driving mechanism includes pedestal, rotating driving device, latch components and rotation
Turn component；Rotary components include a pair of of locating rod, rotary support and first gear；Rotary support upper end is fixed with a pair of of positioning
Bar, be fixedly arranged in the middle of first gear, lower end is articulated on pedestal；Latch components include unlocking part and limiting component；Solution lock section
Part includes the first cylinder ring, second gear and annulus guide plate；Second gear is fixed on the external cylindrical surface of the first cylinder ring；Annulus
Guide plate is fixed on the pedestal in the first cylinder ring；Annulus guide plate by different height unlocking board and limiting plate head and the tail connect and
At；The height of unlocking board is more than the height of limiting plate；Limiting component includes straight pin, connecting rod and gag lever post；Straight pin side
Middle part is vertically and fixedly provided with connecting rod；Connecting rod lower face is vertically and fixedly provided with gag lever post；The central shaft of gag lever post and cylinder pin center
Axis is horizontal；Connecting rod is square column；Rotary support lower face offers pilot hole, it is rectangular to be offered below first gear on side
Hole；The pilot hole of rotary support is connected to square hole；The straight pin of limiting component is plugged in the pilot hole of rotary support；Limit
The connecting rod level of component is plugged in the square hole of rotary support；Straight pin lower end forms square column；Positioned at rotation branch
The pedestal of seat lower section offers vertical perforative rotating hole；Pedestal lower face below rotary support forms guiding slot holder；
Guide groove identical with the square column dimension of straight pin is offered inside guiding slot holder；It is diagonal that the diameter of rotating hole is more than square column
The length of line；Gag lever post lower end is articulated with an idler wheel；Idler wheel is resisted against on the upper surface of annulus guide plate；The top of straight pin and rotation
Turn to be provided with a compression spring between the upper side wall of the pilot hole of bearing；
Rotating driving device includes the 4th gear and the 5th gear；The wheel teeth portion of 4th gear only has one section；4th gear
It can be engaged with first gear；5th gear is engaged with second gear.
As a preferred embodiment of the above technical solution, the rotating machine arm includes the linking arm being articulated on forearm, is fixed on
Shell on linking arm, the spill spin block outside shell, the driving mechanism are fixed on by pedestal in shell, the spill spin block
It fixes on the securing lever；The pair of sucker is fixed on spill spin block.
As a preferred embodiment of the above technical solution, the rotating driving device further includes rotation drive shaft and first motor；The
One motor is fixed on pedestal vertically；It is fixed with the 4th gear and the 5th gear on first motor output shaft successively from top to bottom.
As a preferred embodiment of the above technical solution, rounding off between the unlocking board and limiting plate of annulus guide plate.
The beneficial effects of the present invention are：First telescoping mechanism can elongate or shorten the total of adjutage and forearm and adjutage
Length, to adapt to various operating modes；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, i.e. forearm has curved
Bent function；Second telescoping mechanism can drive pendular body to carry out straight line fine tuning；Two suckers of rotating machinery on hand can be accurate
Ground rotates 180 degree.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of the adjutage of the present invention；
Fig. 3 is the structural schematic diagram of the internal driving mechanism of the present invention；
Fig. 4 is the structural schematic diagram of the internal driving mechanism of the present invention；
Fig. 5 is the structural schematic diagram of the first telescoping mechanism of the present invention；
Fig. 6 is the side structure schematic view of the first telescoping mechanism of the present invention；
Fig. 7 be the present invention Fig. 6 in A-A cross-sectional view；
Fig. 8 be the present invention Fig. 4 in B partial enlargement structural representation；
Fig. 9 is the structural schematic diagram of the rotating machine arm of the present invention；
Figure 10 is the structural schematic diagram of the driving mechanism of the present invention；
Figure 11 is the structural schematic diagram of the rotating driving device and latch components of the present invention；
Figure 12 is the side structure schematic view of the driving mechanism of the present invention；
Figure 13 be the present invention Figure 12 in C-C cross-sectional view；
Figure 14 is the structural schematic diagram of the unlocking part of the present invention；
In figure, 10, base body；20, waist rotation member；30, large arm；31, the 6th motor；40, forearm；50, rotating machine arm；
51, linking arm；52, shell；53, spill spin block；60, driving mechanism；61, pedestal；62, rotating driving device；621, the 4th gear；
6211, teeth portion is taken turns；622, the 5th gear；623, first motor；624, drive shaft is rotated；63, latch components；631, solution lock section
Part；6311, the first cylinder ring；6312, second gear；6313, annulus guide plate；632, limiting component；6321, straight pin；6322、
Connecting rod；6323, gag lever post；6324, compression spring；6325, idler wheel；64, rotary components；641, locating rod；642, rotary support；
6421, square hole；643, first gear；
70, adjutage；71, stake body；711, first shell；712, second shell；72, swing mechanism；721, support base；
722, swing arm；7221, the 7th rack；723, the 7th gear；724, third motor；7241, motor cabinet；725, pendular body；73、
First telescoping mechanism；731, support plate；732, bottom plate；733, top plate；734, central rotating body；735, the first threaded rod；736、
First guide rod；737, the first worm screw；738, the 5th motor；739, support plate is rotated；74, resetting apparatus；741, reset components；
7411, support plate is resetted；7412, resetting spring；742, third motor fixing device；7421, cylinder supports plate；7422, cylinder；
7423, fixed jaw.
Specific implementation mode
As shown in Figure 1, being provided with the light-duty six axis all-purpose robot for executing end, including base body on a kind of adjutage
10, the waist rotation member 20 that is articulated on base body 10, is fixed on 30 one end of large arm at the large arm 30 being articulated on waist rotation member 20
Forearm 40 on 6th motor, 31 output shaft, waist rotation member 20 are rotated around base body 10, and large arm 30 is rotated around waist rotation member 20；
As shown in Figure 1 to 4, the forearm is equipped with adjutage 70, and the adjutage includes the branch for being fixedly connected with forearm
Frame body 71, the swing mechanism 72 being hinged on the first telescoping mechanism, is slided and is set the first telescoping mechanism 73 on stake body
Set the second telescoping mechanism in 72 slide slot of swing mechanism and the resetting apparatus 74 on swing mechanism 72；
As shown in Fig. 1~Fig. 8, the first telescoping mechanism 73 includes top plate 733, support plate 731 and bottom plate 732；Swing mechanism
72 include a pair of of support base 721 and a pair of of swing arm 722；Swing arm 722 is provided with slide slot；722 lower end of a pair of of swing arm is logical
The articulated shaft being fixed on swing arm 722 is crossed to be respectively hinged on a pair of of support base 721；One of swing arm 722 is hinged
The output shaft of axis and third motor 724 connects firmly；Swing mechanism 72 is fixed on the first telescoping mechanism 73 by a pair of of support base 721
On top plate 733；Second telescoping mechanism includes the 7th rack 7221, the 7th gear 723 and pendular body 725；7th rack 7221 is solid
The side of the slide slot of fixed swing arm 722 of one of which；Pendular body 725 includes connector and a pair of of guide holder；A pair is led
The bottom surface of connector is symmetrically fixed on to seat；Guide holder includes being mutually perpendicular to fixed connecting rod and rectangular guide rod；A pair is oriented to
Seat is plugged in the slide slot of swing arm 722 respectively by rectangular guide rod；The 4th electricity is fixed on the rectangular guide rod of one of them
Machine；It is fixed with the 7th gear 723 on the output shaft of 4th motor；7th gear 723 is engaged with the 7th rack 7221；
As shown in Fig. 1~Fig. 8, resetting apparatus 74 includes reset components 741 and third motor fixing device 742；Reset portion
Part 741 includes a pair of of reset support plate 7411 and a pair of of resetting spring 7412；A pair resets support plate 7411 and is separately fixed at it
In 722 swaying direction of swing arm both sides top plate 633 on；Resetting spring 7412 be arranged swing arm 722 side wall and
Between reset 7411 side wall of support plate；Third motor fixing device 742 includes cylinder supports plate 7421, cylinder 7422 and fixed jaw
7423；Cylinder supports plate 7421 is fixed on the top plate 733 of 724 side of third motor；Cylinder 7422 is fixed on cylinder supports plate
On 7421；The piston rod of cylinder 7422 is towards third motor 724；Fixed jaw 7423 is fixed on the piston rod of cylinder 7422；It is fixed
A pair of of positioning pin is formed on pawl 7423；Third motor 724 and the side of 721 contact surface of support base form motor cabinet 7241；
A pair of of first positioning hole is offered on motor cabinet 7241；It is fixed that second is offered on 721 side of support base of first positioning hole face
Position hole；The first positioning hole of a pair of of positioning pin face motor cabinet 7241 of fixed jaw 7423；
As shown in Fig. 1~Fig. 8, rotating machine arm 50 that the adjutage 70 is fixedly arranged at the front end with；The rotating machine arm 50
Driving mechanism 60 including a pair of of sucker group and a pair of of sucker group rotation of driving.
As shown in Fig. 1~Fig. 8, the first telescoping mechanism 73 further includes central rotating body 734, the first threaded rod 735, Ruo Gan
One guide rod 736, the first worm screw 637, the 5th motor 738 and a pair of of rotation support plate 739；A pair of rotation support plate 739 is solid vertically
It is scheduled on bottom plate 732；First worm screw 737 is articulated between a pair of of rotation support plate 739；5th motor 738 is fixed therein it
In one rotation support plate 739；The output shaft of 5th motor 738 is connected firmly with the first worm screw 737；Central rotating body 734 includes the
One cylinder and the first worm gear；Perforative threaded hole up and down is offered in the middle part of first cylinder；First cylinder upper end external cylindrical surface passes through
Bearing hinge joint is fixed with the first worm gear on 731 upper and lower end external cylindrical surface of support plate；Central rotating body 734 passes through the first worm gear
It is engaged with the first worm screw 737；First threaded rod, 735 lower end is screwed onto in the threaded hole of central rotating body 734, upper end and top plate
733 centers are spirally connected；Several first guide rods 736 are fixed on 731 upper surface of support plate；Top plate 733 is set in several first guide rods
On 736.
As shown in Fig. 1~Fig. 8, several first guide rod, 736 upper ends form circular limited block, and limited block diameter is more than the
The diameter of one guide rod 736.
Include first shell 711 and second shell 712 as shown in Fig. 1~Fig. 8, on the stake body 71；First shell 711
It is integrally fixed by several connecting poles with second shell 712；First telescoping mechanism 73 is solid by support plate 731 and bottom plate 732
It is scheduled on the inner wall of first shell 711；Second shell 712 is set in outside swing mechanism 72 and the first telescoping mechanism.
As shown in Fig. 1~Fig. 8,725 center of pendular body offers perforative circular hole up and down, and the diameter of circular hole is more than the first spiral shell
The diameter of rasp bar 735.
As shown in Fig. 9~Figure 14, the driving mechanism 60 includes pedestal 61, rotating driving device 62,63 and of latch components
Rotary components 64；Rotary components 64 include a pair of of locating rod 641, rotary support 642 and first gear 643；On rotary support 642
End be fixed with a pair of of locating rod 641, be fixedly arranged in the middle of first gear 643, lower end is articulated on pedestal 61；Latch components 63 include
Unlocking part 631 and limiting component 632；Unlocking part 631 includes the first cylinder ring 6311, second gear 6312 and annulus guide plate
6313；Second gear 6312 is fixed on the external cylindrical surface of the first cylinder ring 6311；Annulus guide plate 6313 is fixed on the first cylinder
On pedestal 61 in ring 6311；Annulus guide plate 6313 is formed by connecting by unlocking board and the limiting plate head and the tail of different height；Unlocking board
Height be more than limiting plate height；Limiting component 632 includes straight pin 6321, connecting rod 6322 and gag lever post 6323；Cylinder
It is vertically and fixedly provided with connecting rod 6322 in the middle part of 6321 side of pin；6322 lower face of connecting rod is vertically and fixedly provided with gag lever post 6323；Limit
The central shaft of bar 6323 is horizontal with 6321 central shaft of straight pin；Connecting rod 6322 is square column；642 lower face of rotary support opens up
Have that pilot hole, 643 lower section of first gear offers square hole 6421 on side；The pilot hole and square hole of rotary support 642
6421 connections；The straight pin 6321 of limiting component 632 is plugged in the pilot hole of rotary support 642；The connection of limiting component 632
6322 level of bar is plugged in the square hole of rotary support 642；6321 lower end of straight pin forms square column；Positioned at rotation branch
The pedestal 61 of 642 lower section of seat offers vertical perforative rotating hole；61 lower face of pedestal positioned at 642 lower section of rotary support is molded
There is guiding slot holder 611；Guide groove identical with the square column dimension of straight pin 6321 is offered inside guiding slot holder 611；Rotating hole
Diameter is more than the cornerwise length of square column；6323 lower end of gag lever post is articulated with an idler wheel 6325；Idler wheel 6325 is resisted against circle
On the upper surface of ring guide plate 6313；It is provided between the top of straight pin 6321 and the upper side wall of the pilot hole of rotary support 642
One compression spring 6324；
As shown in Fig. 9~Figure 14, rotating driving device 62 includes the 4th gear 621 and the 5th gear 622；4th gear
621 wheel teeth portion 6211 only has one section；4th gear 621 can be engaged with first gear 643；5th gear 622 and second gear
6312 engagements.
As shown in Fig. 9~Figure 14, the rotating machine arm 50 includes the linking arm 51 being articulated on forearm 40, the company of being fixed on
The shell 52 on arm 51, the spill spin block 53 outside shell 52 are connect, the driving mechanism 60 is fixed on shell 52 by pedestal 61
Interior, the spill spin block 53 is fixed in locating rod 641；The pair of sucker is fixed on spill spin block 53.
As shown in Fig. 9~Figure 14, the rotating driving device 62 further includes rotation drive shaft 624 and first motor 623；The
One motor 623 is fixed on vertically on pedestal 61；It is fixed with the 4th gear 621 successively from top to bottom on 623 output shaft of first motor
With the 5th gear 622.
As shown in Fig. 9~Figure 14, rounding off between the unlocking board and limiting plate of annulus guide plate 6313.
Concrete operations are as follows：
First telescoping mechanism 73：Start the 5th motor 738, the 5th motor 738 drives the rotation of the first worm screw 737, the first snail
Bar 737 drives central rotating body 734 to rotate by the first worm gear, and central rotating body 734 drives the rotation of the first threaded rod 735, top
Plate 733 can only be moved up due to being limited by several first guide rods 736 under the driving of the first threaded rod 735, thus band movable pendulum
Kinetoplast stretches upwards；Make pendular body retracted downward that need to only make 738 counter-rotating of the 5th motor if necessary；
Swing mechanism 72：Start cylinder 7422, fixed jaw 7423, which travels forward, is inserted into the first positioning of motor cabinet 7241
In the second location hole of hole and support base 721, such third motor 724 is secured on support base 721；Due to pendular body 725
On rectangular guide rod presence, driving third motor 724, third motor 724 can drive pendular body 725 by swing arm 722
It swings；
Second telescoping mechanism：After pendular body 725 swings certain angle, if necessary to carry out trace regulation to pendular body 725,
It need to drive the 4th motor, the 4th motor that the rotation of the 7th gear 723, the 7th gear 723 is driven to drive pendular body 725 along the 7th rack
7221 linear slides；
Resetting apparatus 74：Start cylinder 7422, fixed jaw 7423 moves the first positioning hole for being detached from motor cabinet 7241 backward
With the second location hole of support base 721, such third motor 724 is detached with support base 721；Due to two pairs of reset support plates 7411
The both sides of pendular body 725 are located at resetting spring 7412, so making pendular body 725 that can be resetted around support base 721, then
Restart cylinder 7422, fixed jaw 7423 travels forward again is inserted into the first positioning hole and support base 721 of motor cabinet 7241
Second location hole in, such third motor 724 be secured on support base 721 and make pendular body 725 reset.
63 concrete operations of latch components are as follows：Initial state：Compression spring 6324 drives straight pin 6321 to move downward, at this time by
Square column in 6321 lower end of straight pin is located in guiding slot holder 611, so straight pin 6321 limits limiting component 632；Limit
Position component 632 limits rotary components 64, and then spill spin block 53 and sucker are all limited；The idler wheel 6325 of gag lever post 6323 at this time
It is contacted with the limiting plate of annulus guide plate 6313；
Then first motor 623 drives the rotation of the 5th gear 622；5th gear 622 is driven by second gear 6312 and is solved
Lock assembly 631 rotates, and the idler wheel 6325 of gag lever post 6323 reaches unlocking board, gag lever post 6323 from the limiting plate of annulus guide plate 6313
Straight pin 6321 is driven also to move upwards simultaneously upwards, the square column of 6321 lower end of straight pin is detached from guiding slot holder 611, rotation group
Part 64 is released, while the wheel teeth portion 6211 of the 4th gear 621 is engaged with first gear 643 at this time；4th gear 621 drives rotation
Turn the rotation of component 64；Then spill spin block 53 and sucker all rotate 180 degree；Unlocking board of the idler wheel 6325 from annulus guide plate 631 at this time
Limiting plate is reached, straight pin 6321 moves downward, and compression spring 6324 is again inserted into the square column of 6321 lower end of straight pin to lead
Groove seat 611；Rotary components 64 are limited under the action of limiting component 632 again.
The above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hair
Bright limitation.
Claims (7)
1. being provided with the light-duty six axis all-purpose robot for executing end on a kind of adjutage, including base body (10), it is articulated in bottom
Waist rotation member (20) on pedestal (10), is fixed on large arm (30) one end at the large arm (30) being articulated on waist rotation member (20)
Forearm (40) on 6th motor (31) output shaft, waist rotation member (20) are rotated around base body (10), and large arm (30) is around waist transfer part
Part (20) rotates；It is characterized in that：
The forearm is equipped with adjutage (70), and the adjutage includes the stake body (71) for being fixedly connected with forearm, is mounted on branch
The first telescoping mechanism (73) on frame body, the swing mechanism (72) being hinged on the first telescoping mechanism slide and are arranged in oscillating machine
The second telescoping mechanism in structure (72) slide slot and the resetting apparatus (74) on swing mechanism (72)；
First telescoping mechanism (73) includes top plate (733), support plate (731) and bottom plate (732)；Swing mechanism (72) includes a pair
Support base (721) and a pair of of swing arm (722)；Swing arm (722) is provided with slide slot；A pair of of swing arm (722) lower end passes through
The articulated shaft being fixed on swing arm (722) is respectively hinged on a pair of of support base (721)；One of swing arm (722)
Articulated shaft and the output shaft of third motor (724) connect firmly；Swing mechanism (72) is fixed on first by a pair of of support base (721) and stretches
On the top plate (733) of contracting mechanism (73)；Second telescoping mechanism includes the 7th rack (7221), the 7th gear (723) and pendular body
(725)；The side of the slide slot for the swing arm (722) that 7th rack (7221) one of is fixed therein；Pendular body (725) includes
Connector and a pair of of guide holder；A pair of of guide holder is symmetrically fixed on the bottom surface of connector；Guide holder is fixed including being mutually perpendicular to
Connecting rod and rectangular guide rod；A pair of of guide holder is plugged in the slide slot of swing arm (722) respectively by rectangular guide rod；Wherein it
It is fixed with the 4th motor on one rectangular guide rod；The 7th gear (723) is fixed on the output shaft of 4th motor；7th gear
(723) it is engaged with the 7th rack (7221)；
Resetting apparatus (74) includes reset components (741) and third motor fixing device (742)；Reset components (741) include one
To resetting support plate (7411) and a pair of of resetting spring (7412)；A pair resets support plate (7411) and is separately fixed at one of them
On the top plate (633) of the both sides of swing arm (722) swaying direction；The side wall in swing arm (722) is arranged in resetting spring (7412)
Between reset support plate (7411) side wall；Third motor fixing device (742) includes cylinder supports plate (7421), cylinder
(7422) and fixed jaw (7423)；Cylinder supports plate (7421) is fixed on the top plate (733) of third motor (724) side；Cylinder
(7422) it is fixed on cylinder supports plate (7421)；The piston rod of cylinder (7422) is towards third motor (724)；Fixed jaw
(7423) it is fixed on the piston rod of cylinder (7422)；Fixed jaw forms a pair of of positioning pin on (7423)；Third motor (724) with
The side of support base (721) contact surface forms motor cabinet (7241)；Motor cabinet offers a pair of of first positioning hole on (7241)；
Second location hole is offered on support base (721) side of first positioning hole face；A pair of of positioning pin of fixed jaw (7423) is just
To the first positioning hole of motor cabinet (7241)；
The rotating machine arm (50) that the adjutage (70) is fixedly arranged at the front end with；The rotating machine arm (50) includes a pair of of sucker group
With the driving mechanism (60) of a pair of of sucker group rotation of driving；
First telescoping mechanism (73) further include central rotating body (734), the first threaded rod (735), several first guide rods (736),
First worm screw (637), the 5th motor (738) and a pair of of rotation support plate (739)；A pair of rotation support plate (739) is fixed vertically
On bottom plate (732)；First worm screw (737) is articulated between a pair of of rotation support plate (739)；5th motor (738) is fixed on
In the rotation support plate (739) of one of them；The output shaft of 5th motor (738) is connected firmly with the first worm screw (737)；Center rotates
Body (734) includes the first cylinder and the first worm gear；Perforative threaded hole up and down is offered in the middle part of first cylinder；First cylinder upper end
External cylindrical surface is fixed with the first worm gear by bearing hinge joint on support plate (731) upper and lower end external cylindrical surface；Central rotating body
(734) it is engaged with the first worm screw (737) by the first worm gear；First threaded rod (735) lower end is screwed onto central rotating body (734)
Threaded hole in, upper end and top plate (733) center be spirally connected；Several first guide rods (736) are fixed on support plate (731) upper surface
On；Top plate (733) is set on several first guide rods (736)；
Include first shell (711) and second shell (712) on the stake body (71)；First shell (711) and second shell
(712) it is integrally fixed by several connecting poles；First telescoping mechanism (73) is fixed by support plate (731) and bottom plate (732)
On the inner wall of first shell (711)；Second shell (712) is set in outside swing mechanism (72) and the first telescoping mechanism.
2. the light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage according to claim 1, it is special
Sign is：Several first guide rod (736) upper ends form circular limited block, and limited block diameter is more than the first guide rod (736)
Diameter.
3. the light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage according to claim 1, it is special
Sign is：Pendular body (725) center offers perforative circular hole up and down, and the diameter of circular hole is more than the straight of the first threaded rod (735)
Diameter.
4. the light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage according to claim 1, it is special
Sign is：The driving mechanism (60) includes pedestal (61), rotating driving device (62), latch components (63) and rotary components
(64)；Rotary components (64) include a pair of of locating rod (641), rotary support (642) and first gear (643)；Rotary support
(642) upper end be fixed with a pair of of locating rod (641), be fixedly arranged in the middle of first gear (643), lower end is articulated on pedestal (61)；
Latch components (63) include unlocking part (631) and limiting component (632)；Unlocking part (631) includes the first cylinder ring
(6311), second gear (6312) and annulus guide plate (6313)；Second gear (6312) is fixed on the first cylinder ring (6311)
On external cylindrical surface；Annulus guide plate (6313) is fixed on the pedestal (61) in the first cylinder ring (6311)；Annulus guide plate (6313)
It is formed by connecting by unlocking board and the limiting plate head and the tail of different height；The height of unlocking board is more than the height of limiting plate；Limiting component
(632) include straight pin (6321), connecting rod (6322) and gag lever post (6323)；It is vertical fixed in the middle part of straight pin (6321) side
There is connecting rod (6322)；Connecting rod (6322) lower face is vertically and fixedly provided with gag lever post (6323)；The central shaft of gag lever post (6323)
With straight pin (6321) central shaft level；Connecting rod (6322) is square column；Rotary support (642) lower face offers guiding
On hole, side square hole (6421) is offered below first gear (643)；The pilot hole and square hole of rotary support (642)
(6421) it is connected to；The straight pin (6321) of limiting component (632) is plugged in the pilot hole of rotary support (642)；Limiting component
(632) connecting rod (6322) level is plugged in the square hole of rotary support (642)；Straight pin (6321) lower end forms just
Square column；Pedestal (61) below rotary support (642) offers vertical perforative rotating hole；Positioned at rotary support
(642) pedestal (61) lower face below forms guiding slot holder (611)；Guiding slot holder (611) inside offers and straight pin
(6321) the identical guide groove of square column dimension；The diameter of rotating hole is more than the cornerwise length of square column；Gag lever post
(6323) lower end is articulated with an idler wheel (6325)；Idler wheel (6325) is resisted against on the upper surface of annulus guide plate (6313)；Straight pin
(6321) compression spring (6324) is provided between the upper side wall of the pilot hole on top and rotary support (642)；
Rotating driving device (62) includes the 4th gear (621) and the 5th gear (622)；The wheel teeth portion of 4th gear (621)
(6211) there was only one section；4th gear (621) can be engaged with first gear (643)；5th gear (622) and second gear
(6312) it engages.
5. the light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage according to claim 4, it is special
Sign is：The rotating machine arm (50) includes the linking arm (51) being articulated on forearm (40), is fixed on linking arm (51)
Shell (52), be located at the spill spin block (53) of shell (52) outside, the driving mechanism (60) is fixed on shell by pedestal (61)
(52) in, the spill spin block (53) is fixed in locating rod (641)；The pair of sucker is fixed on spill spin block (53).
6. the light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage according to claim 4, it is special
Sign is：The rotating driving device (62) further includes rotation drive shaft (624) and first motor (623)；First motor (623)
It is fixed on pedestal (61) vertically；It is fixed with the 4th gear (621) and on first motor (623) output shaft successively from top to bottom
Five gears (622).
7. the light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage according to claim 4, it is special
Sign is：Rounding off between the unlocking board and limiting plate of annulus guide plate (6313).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570800.6A CN105965541B (en) | 2016-07-18 | 2016-07-18 | The light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570800.6A CN105965541B (en) | 2016-07-18 | 2016-07-18 | The light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage |
Publications (2)
| Publication Number | Publication Date |
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| CN105965541A CN105965541A (en) | 2016-09-28 |
| CN105965541B true CN105965541B (en) | 2018-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570800.6A Active CN105965541B (en) | 2016-07-18 | 2016-07-18 | The light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage |
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| CN (1) | CN105965541B (en) |
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| DE3432945A1 (en) * | 1984-09-07 | 1986-03-20 | Otte, Erhard, 4980 Bünde | Apparatus for the transport in steps of materials in tape or strip form |
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| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN205817908U (en) * | 2016-07-18 | 2016-12-21 | 佛山市联智新创科技有限公司 | The light-duty six axle all-purpose robots performing end it are provided with on a kind of adjutage |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001017069A (en) * | 1999-07-05 | 2001-01-23 | Yutaka Miyamori | Arm-action mechanism of transfer machine for introducing noodle into aging box |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3432945A1 (en) * | 1984-09-07 | 1986-03-20 | Otte, Erhard, 4980 Bünde | Apparatus for the transport in steps of materials in tape or strip form |
| CN101391354A (en) * | 2008-11-06 | 2009-03-25 | 哈尔滨工程大学 | Suspended type pipe-jointing welding robot |
| CN103068447A (en) * | 2011-06-30 | 2013-04-24 | 中国科学院自动化研究所 | Crus adjustment system for rehabilitation robot |
| CN102383585A (en) * | 2011-11-14 | 2012-03-21 | 蒋京德 | Building wall construction robot |
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| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN205817908U (en) * | 2016-07-18 | 2016-12-21 | 佛山市联智新创科技有限公司 | The light-duty six axle all-purpose robots performing end it are provided with on a kind of adjutage |
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|---|---|
| CN105965541A (en) | 2016-09-28 |
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Effective date of registration: 20180517 Address after: 318050 No. 62, torch 2, Luoyang street, Luqiao District, Taizhou, Zhejiang. Applicant after: Yu Peipei Address before: 528200 Foshan, Guangdong, Foshan, Guicheng, Nanxia District, Xia Xi Dong ban Wai Industrial Zone Foshan New Technology Co., Ltd. Applicant before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
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Effective date of registration: 20180727 Address after: 150069 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection. Patentee after: Harbin strengthen the joint venture capital enterprise (limited partnership) Address before: 318050 No. 62, torch 2, Luoyang street, Luqiao District, Taizhou, Zhejiang. Patentee before: Yu Peipei |
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Effective date of registration: 20190103 Address after: 225500 No. 2889 South Ring Road, Sanshui street, Jiangyan District, Taizhou, Jiangsu. Patentee after: Hakda robotics group (Jiangsu) Huazi Intelligent Equipment Co., Ltd. Address before: 150069 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection. Patentee before: Harbin strengthen the joint venture capital enterprise (limited partnership) |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 225500 No. 2889 South Ring Road, Sanshui street, Jiangyan District, Taizhou, Jiangsu. Patentee after: Huacui Intelligent Equipment Co.,Ltd. Address before: 225500 No. 2889 South Ring Road, Sanshui street, Jiangyan District, Taizhou, Jiangsu. Patentee before: HIT ROBOT GROUP (JIANGSU) HUACUI INTELLIGENT EQUIPMENT Co.,Ltd. |