CN106002960A - Universal robot provided with swing extension arm - Google Patents
Universal robot provided with swing extension arm Download PDFInfo
- Publication number
- CN106002960A CN106002960A CN201610571878.XA CN201610571878A CN106002960A CN 106002960 A CN106002960 A CN 106002960A CN 201610571878 A CN201610571878 A CN 201610571878A CN 106002960 A CN106002960 A CN 106002960A
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- CN
- China
- Prior art keywords
- swing
- pair
- fixed
- gear
- gripper shoe
- 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.)
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a universal robot provided with a swing extension arm. The extension arm is arranged on a small arm of a robot and comprises a support body fixedly connected with the small arm, a first telescopic mechanism installed on the support body, a swing mechanism hinged to the first telescopic mechanism, and a second telescopic mechanism arranged in a sliding groove of the swing mechanism in a sliding manner. According to the universal robot provided with the swing extension arm, the length of the extension arm and the overall length of the small arm and the extension arm can be increased or decreased by the first telescopic mechanism in a stretching or shortening manner so that the universal robot provided with the swing extension arm can adapt to various work conditions; and the swing mechanism can swing to a certain amplitude relative to a swing driving mechanism, and that is to say, the small arm is endowed with the bending function so that the universal robot provided with the swing extension arm can adapt to various work conditions.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of being provided with and swing the logical of adjutage
Use robot.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of light-duty six
Axle all-purpose robot, axle bed is fixed on arm axle, and axle bed is fixed with axle bed guard box, and the 3rd
Axis drive motor, the 4th axis drive motor, the 5th axis drive motor and the 6th axis drive motor are put
In axle bed guard box；Forearm rod shell and forearm extension bar housing are separately fixed at forearm and slow down
Before and after device, the 6th axle sleeve in the 5th axle, the 5th axle sleeve in the 4th axle, the 4th
In axle, sleeve is in forearm rod shell, forearm decelerator and forearm extension bar housing, the 4th axle,
The 4th axle driven gear, the 5th axle driven gear and it is respectively fixed with on 5th axle and the 6th axle
Six axle driven gears.Light-duty six axle all-purpose robots of the prior art, its forearm is only capable of ordering about
The execution end being arranged on forearm end rotates, it is difficult to meet the demand of practical operation.
Summary of the invention
The present invention is directed to above-mentioned technical problem, it is provided that a kind of have scalable swingable adjutage
All-purpose robot.
For reaching above-mentioned purpose, a kind of of the present invention is provided with the all-purpose robot swinging adjutage,
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；
Described forearm is provided with adjutage, and described adjutage includes fixing the connection stake body of forearm, peace
The first telescoping mechanism being contained on stake body, the coasting mechanism being fixed on the first telescoping mechanism,
The swing mechanism being arranged on coasting mechanism；
First telescoping mechanism includes top board, gripper shoe, base plate and four the first guide rods；First leads
Bar is each attached on gripper shoe upper surface；Top board is set on four the first guide rods；
Coasting mechanism includes a pair support seat and a pair resting arm；Support to offer on seat and slide
Groove；Support seat and be vertically fixed on a pair first guide rod upper surfaces；A pair support seat is parallel just to setting
Put；Resting arm is by square guide rod and connecting rod；Square guide rod is vertically fixed on the upper end of connecting rod；
Resting arm upper end is plugged in by square guide rod in the slide slot supporting seat, lower end is fixed on top board
On；
Swing mechanism includes swinging head the first gear and the second gear；Fix on resting arm upper surface
There is the first motor；The output shaft direction of the first motor is in opposite direction with the square guide rod of resting arm；
The first gear it is fixed with on the output shaft of the first motor；Pendular body includes union joint and a pair swing
Seat；A pair swing seat symmetry is fixed on the bottom surface of union joint；A pair swing seat is respectively by hinged
On the side wall surface on the top that axle is hinged on a pair resting arm；The second gear is formed on jointed shaft；
Second gear and the engagement of the first gear.
Preferred as technique scheme, the first telescoping mechanism also include central rotating body,
One threaded rod, the first worm screw, the 3rd motor and a pair rotate gripper shoe；Rotate gripper shoe a pair
Vertically it is fixed on base plate；First worm screw is articulated between a pair rotation gripper shoe；3rd motor
In the rotation gripper shoe one of being fixed therein；The output shaft of the 3rd motor and the first worm screw are solid
Connection；Central rotating body includes the first cylinder and the first worm gear；Offer in the middle part of first cylinder up and down
The screwed hole run through；First cylinder upper end external cylindrical surface by bearing hinge joint on the supporting plate, under
It is fixed with the first worm gear on end external cylindrical surface；Central rotating body passes through the first worm gear and the first worm screw
Engagement；First threaded rod lower end is screwed onto in the screwed hole of central rotating body, in upper end and top board
The heart is spirally connected.
Preferred as technique scheme, four the first guide rod upper ends all form the limit of circle
Position block, limited block diameter is more than the diameter of the first guide rod；The support seat of coasting mechanism is vertically fixed
On the circular limited block of a pair first guide rods；A pair support seat is parallel just to setting.
Preferred as technique scheme, described stake body includes the first housing and the second shell
Body；First housing and the second housing are integrally fixed by some connection posts；First telescoping mechanism
It is fixed on the inwall of the first housing by gripper shoe and base plate；Second housing is set in oscillating machine
Outside structure and the second telescoping mechanism.
Preferred as technique scheme, pendular body center offers the circular hole run through up and down,
The diameter of circular hole is more than the diameter of the first threaded rod.
The beneficial effects of the present invention is: the first telescoping mechanism can elongate or shorten adjutage and little
Arm and the total length of adjutage, to adapt to various operating mode；Swing mechanism can be relative to wobble drive
Mechanism makees the swing of certain amplitude, i.e. imparts the function of little brachiocylloosis, to adapt to various operating mode.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the adjutage of the present invention；
Fig. 3 is the structural representation of the internal driving mechanism of the present invention；
Fig. 4 is the structural representation of first telescoping mechanism of the present invention；
Fig. 5 is the side-looking structural representation of first telescoping mechanism of the present invention；
Fig. 6 be the present invention Fig. 5 in the cross-sectional view of A-A；
Fig. 7 is coasting mechanism and the cross-sectional view of swing mechanism of the present invention；
In figure, 10, base body；20, waist rotation member；30, large arm；40, forearm；60、
Adjutage；61, stake body；611, the first housing；612, the second housing；62, machine is slided
Structure；621, seat is supported；622, wall is slided；623, the first gear；624, the second gear；
625, pendular body；63, the first telescoping mechanism；631, gripper shoe；632, base plate；633、
Top board；634, central rotating body；635, the first threaded rod；636, the first guide rod；637、
First worm screw；638, the 3rd motor；639, gripper shoe is rotated.
Detailed description of the invention
It is provided with the all-purpose robot swinging adjutage, including base body as it is shown in figure 1, a kind of
10, the waist rotation member 20 being articulated on base body, the large arm 30 being articulated on waist rotation member,
The forearm 40 being arranged in large arm, waist rotation member rotates around base body, and large arm is around waist rotation member
Rotate；
As it is shown on figure 3, described forearm is provided with adjutage 60, described adjutage includes fixing
Connect the stake body 61 of forearm, the first telescoping mechanism 63 being arranged on stake body, be fixed on
Coasting mechanism 62 on first telescoping mechanism, the swing mechanism being arranged on coasting mechanism 62；
As it is shown on figure 3, the first telescoping mechanism 63 includes top board 633, gripper shoe 631, base plate 632
With four the first guide rods 636；First guide rod 636 is each attached on gripper shoe 631 upper surface；
Top board 633 is set on four the first guide rods 636；
As shown in Fig. 3, Fig. 7, coasting mechanism 62 includes a pair support seat 621 and a pair cunning
Row arm 622；Support and offer slide slot on seat 621；Support seat 621 to be vertically fixed on a pair
First guide rod 636 upper surface；A pair support seat 621 is parallel just to setting；Resting arm 622 by
Square guide rod and connecting rod；Square guide rod is vertically fixed on the upper end of connecting rod；Resting arm 622
Upper end is plugged in by square guide rod in the slide slot supporting seat 621, lower end is fixed on top board
On 633；
As shown in Fig. 3, Fig. 7, swing mechanism includes swinging head 625 first gear 623 and
Two gears 624；Resting arm 622 is fixed with the first motor on upper surface；The output of the first motor
Direction of principal axis is in opposite direction with the square guide rod of resting arm 622；Fix on the output shaft of the first motor
There is the first gear 623；Pendular body 625 includes union joint and a pair swing seat；A pair swing seat
Symmetry is fixed on the bottom surface of union joint；A pair swing seat is hinged on a pair cunning by jointed shaft respectively
On the side wall surface on the top of row arm 622；The second gear 624 is formed on jointed shaft；Second tooth
Wheel 624 engages with the first gear 623.
As shown in Fig. 4～Fig. 6, the first telescoping mechanism 63 also include central rotating body 634,
One threaded rod the 635, first worm screw the 637, the 3rd motor 638 and a pair rotation gripper shoe 639；
Rotate gripper shoe 639 a pair to be vertically fixed on base plate 632；First worm screw 637 is articulated in one
To rotating between gripper shoe 639；The rotation gripper shoe that 3rd motor 638 one of is fixed therein
On 639；Output shaft and first worm screw 637 of the 3rd motor 638 connect firmly；Central rotating body 634
Including the first cylinder and the first worm gear；The screwed hole run through up and down is offered in the middle part of first cylinder；
First cylinder upper end external cylindrical surface passes through bearing hinge joint at gripper shoe 631 upper and lower end external cylindrical surface
On be fixed with the first worm gear；Central rotating body 634 is nibbled by the first worm gear and the first worm screw 637
Close；First threaded rod 635 lower end is screwed onto in the screwed hole of central rotating body 634, upper end with
Top board 633 center is spirally connected.
As shown in Figure 4, four the first guide rod 636 upper ends all form the limited block of circle, limit
Position block diameter is more than the diameter of the first guide rod 636；The support seat 621 of coasting mechanism 62 is vertical
It is fixed on the circular limited block of a pair first guide rods 636；A pair support seat 621 is parallel just
To setting.
As in figure 2 it is shown, include the first housing 611 and the second housing 612 on described stake body 61；
First housing 611 and the second housing 612 are integrally fixed by some connection posts；First stretches
Mechanism 63 is fixed on the inwall of the first housing 611 by gripper shoe 631 and base plate 632；
Second housing 612 is set in outside swing mechanism 62 and the second telescoping mechanism.
As shown in Fig. 3, Fig. 7, pendular body 625 center offers the circular hole run through up and down, circle
The diameter in hole is more than the diameter of the first threaded rod 635.
Concrete operations are as follows: the first telescoping mechanism 63: start the 3rd motor 638, the 3rd motor
638 drive the first worm screw 637 to rotate, and the first worm screw 637 drives center to revolve by the first worm gear
Turning 634 rotations, central rotating body 634 drives the first threaded rod 635 to rotate, top board 633
Owing to being limited by four the first guide rods 636, can only under the driving of the first threaded rod 635 upwards
Mobile, the 3rd motor 638 counter-rotating need to be made if needing to make top board 633 only move downward；
Coasting mechanism 62: slide wall 622 and move up and down with top board 633, owing to supporting on seat 621
There is slide slot, slide wall 622 and move up and down along slide slot under the driving of top board 633；
Swing mechanism: pendular body 625 needs to swing certain angle, only need to start the first motor, and first
Motor drives the second gear 624 to rotate by the first gear 623, the second gear 624 band movable pendulum
Kinetoplast rotates around jointed shaft.
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. it is provided with the all-purpose robot swinging adjutage, including base body (10), pivot joint
Waist rotation member (20) on base body, the large arm (30) being articulated on waist rotation member, installation
Forearm (40) in large arm, waist rotation member rotates around base body, and large arm turns around waist rotation member
Dynamic；It is characterized in that:
Described forearm is provided with adjutage (60), and described adjutage includes fixing connection forearm
Stake body (61), the first telescoping mechanism (63) being arranged on stake body, it is fixed on first and stretches
Coasting mechanism (62) in contracting mechanism, the swing mechanism being arranged on coasting mechanism (62)；
First telescoping mechanism (63) includes top board (633), gripper shoe (631), base plate (632)
With four the first guide rods (636)；First guide rod (636) is each attached in gripper shoe (631)
On end face；Top board (633) is set on four the first guide rods (636)；
Coasting mechanism (62) includes a pair support seat (621) and a pair resting arm (622)；
Support and offer slide slot on seat (621)；Support seat (621) and be vertically fixed on a pair first
Guide rod (636) upper surface；A pair support seat (621) is parallel just to setting；Resting arm (622)
By square guide rod and connecting rod；Square guide rod is vertically fixed on the upper end of connecting rod；Resting arm
(622) slide slot that upper end is plugged in support seat (621) by square guide rod is interior, lower end is solid
It is scheduled on top board (633)；
Swing mechanism includes swinging head (625) first gear (623) and the second gear (624)；
It is fixed with the first motor on resting arm (622) upper surface；The output shaft direction of the first motor with
The square guide rod of resting arm (622) is in opposite direction；It is fixed with on the output shaft of the first motor
One gear (623)；Pendular body (625) includes union joint and a pair swing seat；A pair swing
The symmetrical bottom surface being fixed on union joint of seat；A pair swing seat is hinged on a pair by jointed shaft respectively
On the side wall surface on the top of resting arm (622)；The second gear (624) is formed on jointed shaft；
Second gear (624) engages with the first gear (623).
A kind of all-purpose robot being provided with swing adjutage the most according to claim 1,
It is characterized in that: the first telescoping mechanism (63) also includes central rotating body (634), the first spiral shell
Rasp bar (635), the first worm screw (637), the 3rd motor (638) and a pair rotate gripper shoe
(639)；Rotate gripper shoe (639) a pair to be vertically fixed on base plate (632)；First snail
Bar (637) is articulated between a pair rotation gripper shoe (639)；3rd motor (638) is solid
On fixed rotation gripper shoe (639) of one of which；The output shaft of the 3rd motor (638) with
First worm screw (637) connects firmly；Central rotating body (634) includes the first cylinder and the first worm gear；
The screwed hole run through 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 gripper shoe (631) upper and lower end external cylindrical surface；In
Heart rotary body (634) is engaged by the first worm gear and the first worm screw (637)；First threaded rod
(635) during lower end is screwed onto the screwed hole of central rotating body (634), upper end and top board (633)
Center is spirally connected.
A kind of forearm the most according to claim 1 is provided with the general-purpose machinery swinging adjutage
People, it is characterised in that: four the first guide rod (636) upper ends all form the limited block of circle,
Limited block diameter is more than the diameter of the first guide rod (636)；The support seat of coasting mechanism (62)
(621) vertically it is fixed on the circular limited block of a pair first guide rods (636)；A pair
Support seat (621) is parallel just to setting.
A kind of all-purpose robot being provided with swing adjutage the most according to claim 1,
It is characterized in that: on described stake body (61), include the first housing (611) and the second housing
(612)；First housing (611) and the second housing (612) are fixed into by some connection posts
Integrally；First telescoping mechanism (63) is fixed on by gripper shoe (631) and base plate (632)
On the inwall of the first housing (611)；Second housing (612) is set in swing mechanism (62)
Outside with the second telescoping mechanism.
A kind of all-purpose robot being provided with swing adjutage the most according to claim 1,
It is characterized in that: pendular body (625) center offers the circular hole run through up and down, circular hole straight
Footpath is more than the diameter of the first threaded rod (635).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610571878.XA CN106002960B (en) | 2016-07-18 | 2016-07-18 | It is a kind of to be equipped with the all-purpose robot for swinging adjutage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610571878.XA CN106002960B (en) | 2016-07-18 | 2016-07-18 | It is a kind of to be equipped with the all-purpose robot for swinging adjutage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106002960A true CN106002960A (en) | 2016-10-12 |
| CN106002960B CN106002960B (en) | 2018-06-15 |
Family
ID=57115877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610571878.XA Active CN106002960B (en) | 2016-07-18 | 2016-07-18 | It is a kind of to be equipped with the all-purpose robot for swinging adjutage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106002960B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313015A (en) * | 2016-11-04 | 2017-01-11 | 成都英博格科技有限公司 | Transmission and robot |
| CN112247958A (en) * | 2020-08-28 | 2021-01-22 | 南京蹑波物联网科技有限公司 | Industrial robot calibration mechanism and calibration method |
Citations (5)
| 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 |
| CN102513259A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot mechanical arm driving device |
| CN102923204A (en) * | 2012-11-19 | 2013-02-13 | 北京理工大学 | Multi-degree-of-freedom two-wheeled robot with variable gravity center |
| CN104440901A (en) * | 2014-10-23 | 2015-03-25 | 重庆交通大学 | High-precision heavy-load assembly robot |
| CN205928619U (en) * | 2016-07-18 | 2017-02-08 | 佛山市联智新创科技有限公司 | All -purpose robot with swing extension arm |
-
2016
- 2016-07-18 CN CN201610571878.XA patent/CN106002960B/en active Active
Patent Citations (5)
| 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 |
| CN102513259A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot mechanical arm driving device |
| CN102923204A (en) * | 2012-11-19 | 2013-02-13 | 北京理工大学 | Multi-degree-of-freedom two-wheeled robot with variable gravity center |
| CN104440901A (en) * | 2014-10-23 | 2015-03-25 | 重庆交通大学 | High-precision heavy-load assembly robot |
| CN205928619U (en) * | 2016-07-18 | 2017-02-08 | 佛山市联智新创科技有限公司 | All -purpose robot with swing extension arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313015A (en) * | 2016-11-04 | 2017-01-11 | 成都英博格科技有限公司 | Transmission and robot |
| CN112247958A (en) * | 2020-08-28 | 2021-01-22 | 南京蹑波物联网科技有限公司 | Industrial robot calibration mechanism and calibration method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106002960B (en) | 2018-06-15 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180413 Address after: Five Wenling city Taizhou road Zeguo town of happiness of 317500 cities in Zhejiang province No. 1 Applicant after: Taizhou Feng Da Robot Technology 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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