CN107717952A - A kind of universal five axis robots device - Google Patents
A kind of universal five axis robots device Download PDFInfo
- Publication number
- CN107717952A CN107717952A CN201711085160.0A CN201711085160A CN107717952A CN 107717952 A CN107717952 A CN 107717952A CN 201711085160 A CN201711085160 A CN 201711085160A CN 107717952 A CN107717952 A CN 107717952A
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- material grasping
- block
- manipulator
- frame
- guide rail
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- 239000000463 material Substances 0.000 claims abstract description 169
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 241000237858 Gastropoda Species 0.000 claims 1
- 238000002347 injection Methods 0.000 abstract description 3
- 239000007924 injection Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of universal five axis robots device, including frame, also include the first portal frame, second portal frame, first material grasping manipulator, second material grasping manipulator and the longitudinal driving mechanism for driving the first material grasping manipulator and the second material grasping manipulator to move longitudinally, first material grasping machinery is provided with the first left material grasping block and the first right material grasping block on hand, second material grasping machinery is provided with the second left material grasping block and the second right material grasping block on hand, also include being used for the first transversal driving mechanism for driving the first left material grasping block and the first right material grasping block relatively or moving opposite to each other, also include being used for the second transversal driving mechanism for driving the second left material grasping block and the second right material grasping block relative motion or moving opposite to each other.The present invention can adapt to the two-chamber or multi-cavity injection forming machine of different size, have the advantages of simple structure, stable.
Description
Technical field
The present invention relates to a kind of universal five axis robots device.
Background technology
Traditional two-chamber or the axis robot of multi-cavity injection forming machine five generally comprises five axis robot main bodys, located at five axle machines
Flexible arm body in tool hand main body, and two simultaneously torsions of the flexible arm body both sides in office in five axis robot main bodys
Arm；The flexible arm body is connected by guided way with the five axis robots main body, and the flexible arm body includes two together
The extension single-arm of step；But the structure of the telescopic arm of such manipulator is excessively inflexible, two extension single-arm can not be according to two-chamber
Or the various models of multi-cavity injection forming machine, the position of die cavity and spacing, and the position of other mechanical arms being engaged enters
Row adjustment, it is poor often to occur bad adaptability, matching in actual production process, picks and places that product operation is not accurate enough, and efficiency is low,
Many obstructions are brought to actual production.
In consideration of it, inventor furthers investigate to above mentioned problem, there is this case generation then.
The content of the invention
Different types of machines, simple structure, stable universal five are can adapt to it is an object of the invention to provide a kind of
Axis robot device.
In order to achieve the above object, technical scheme as present invention use：
A kind of universal five axis robots device, including frame, using the width of frame as longitudinal direction, the length side of frame
To for transverse direction, in addition to can be arranged on along frame in frame with laterally adjusting the first portal frame, can laterally adjust ground along frame
The second portal frame for being arranged in frame, the first material grasping manipulator that can be arranged on vertically moving in frame along frame, can
The second material grasping manipulator being arranged on vertically moving in frame along frame and for driving the first material grasping manipulator and the
The longitudinal driving mechanism that two material grasping manipulators move longitudinally, the first material grasping machinery are provided with the first left material grasping block and first right side on hand
Material grasping block, the first left material grasping block and the first right material grasping block set up separately in the both sides of the first material grasping manipulator, and the second material grasping machinery is on hand
Provided with the second left material grasping block and the second right material grasping block, the second left material grasping block and the second right material grasping block set up separately in the second material grasping manipulator
Both sides, in addition to first for driving the first left material grasping block and the first right material grasping block relative or moving opposite to each other is laterally driven
Mechanism, in addition to the second laterally drive for driving the second left material grasping block and the second right material grasping block relative motion or moving opposite to each other
Motivation structure.
As a kind of preferred embodiment of the present invention, the frame is provided with the first erecting bed transversely set and the second peace
Platform is filled, the first erecting bed is provided with the first guide rail, and the second erecting bed is provided with the second guide rail, the first guide rail and the second guide rail parallel
Set, the first portal frame is slideably erected on the first guide rail and the second guide rail, and the second portal frame is slideably erected at the
On one guide rail and the second guide rail, in addition to the first positioning screw being connected on the first portal frame and it is connected on the second portal frame
The second positioning screw, the end of the first positioning screw supported on the first erecting bed or the second erecting bed, the second positioning spiral shell
Support on the first erecting bed or the second erecting bed the end of nail.
As a kind of preferred embodiment of the present invention, the lower end of first portal frame corresponds to first guide rail and described the
Two guide rails are respectively provided with the first sliding block, and each first sliding block is respectively slidably disposed in first guide rail and second guide rail
On, the lower end of second portal frame corresponds to first guide rail and second guide rail is respectively provided with the second sliding block, and each second slides
Block is respectively slidably disposed on first guide rail and second guide rail, and the lower end of first sliding block, which is provided with, to be used for pair
The first guide groove that first sliding block is oriented to, the lower end of second sliding block, which is provided with, to be used to carry out second sliding block
The second guide groove being oriented to.
As the present invention a kind of preferred embodiment, include the first locating piece being fixedly connected on first sliding block with
The second locating piece being fixedly connected on second sliding block, the both sides of the first locating piece are respectively equipped with the first positioning tab, institute
The first positioning screw is stated as two, is disposed in respectively on the first positioning tab, the both sides of the second locating piece are respectively equipped with second and determined
Position lug, second adjusting screw are two, are disposed in respectively on the second positioning tab, first positioning screw and described
Second positioning screw is vertically set.
As a kind of preferred embodiment of the present invention, first transversal driving mechanism includes being arranged on first materials-taking machine
Motor, the turbine being arranged on the output shaft of motor and the worm screw coordinated with turbine of tool on hand, the output of worm screw and motor
Axle is vertically arranged, and worm screw is axially displaceably arranged on the first material grasping machinery on hand, the first left material grasping block and described
First right material grasping block is connected on worm screw.
As a kind of preferred embodiment of the present invention, the worm screw includes the first worm screw and the second worm screw, and first left side is grabbed
Material block is connected on the first worm screw, and the second left material grasping block is connected on the second worm screw, and the first material grasping machinery is set on hand
There are the first guide pin bushing and the second guide pin bushing, first worm screw is movably located in the first guide pin bushing, and second worm screw may move
Ground is located in the second guide pin bushing, in addition to the first stop collar and the second stop collar, and the first stop collar is provided with the first gag lever post, the
One end of one gag lever post is provided with the first limited block, and the other end is connected with the described first left material grasping block, and the second stop collar is provided with the
Two gag lever posts, one end of the second gag lever post are provided with the second limited block, and the other end is connected with the first right material grasping block, first material grasping
Manipulator has the first left installing arm, the first right installing arm and the connection for being arranged on the first left installing arm and the first right installing arm
Bar, the motor are arranged between the first left installing arm and the first right installing arm.
As a kind of preferred embodiment of the present invention, the longitudinal driving mechanism includes motor, is rotatably arranged in
Driving wheel in the frame, the driven pulley being rotatably arranged in the frame and it is set on driving wheel and driven pulley
Belt, sliding support is provided with the frame, be equipped with sliding support can along the installing plate of sliding support longitudinal sliding motion,
The first material grasping manipulator and the second material grasping manipulator are fixedly mounted on a mounting board, and installing plate is connected on belt.
As a kind of preferred embodiment of the present invention, first portal frame is provided with can be moved along short transverse first and slided
Plate, first splicing manipulator are arranged on the first slide plate, in addition to moved for driving the first slide plate along short transverse
First sled drive mechanism, second portal frame are provided with the second slide plate that can be moved along short transverse, second splicing
Manipulator is arranged on the second slide plate, in addition to the second slide plate driving machine for driving the second slide plate to be moved along short transverse
Structure.
As a kind of preferred embodiment of the present invention, first slide plate is provided with the first jointed shaft, set on the first jointed shaft
There is the first centering block, one end of the first centering block is connected with first splicing manipulator, and the other end of the first centering block is connected with first
Cylinder, the cylinder body of the first cylinder are fixed on first slide plate, and second slide plate is provided with the second jointed shaft, and second is be hinged
Axle is provided with the second centering block, and one end of the second centering block is connected with second splicing manipulator, the other end connection of the second centering block
There is the second cylinder, the cylinder body of the second cylinder is fixed on second slide plate.
As a kind of preferred embodiment of the present invention, it is provided with and the first material grasping manipulator corresponding first on the first portal frame
Splicing manipulator, the second splicing manipulator corresponding with the second material grasping manipulator is provided with the second portal frame, described first is left
Material grasping block, the first right material grasping block, the second left material grasping block and the second right material grasping block, first splicing manipulator
And it is equipped with component suction nozzle in second splicing manipulator.
After technical scheme, the first left material grasping block and the first right material grasping block set up separately in the first material grasping manipulator
Both sides, the second left material grasping block and the second right material grasping block set up separately in the both sides of the second material grasping manipulator, laterally driven by first
Mechanism and the second transversal driving mechanism can adjust the spacing between the first right material grasping block and the second left material grasping block, can adjust
Spacing between one left material grasping block and the second right material grasping block, the first right material grasping block and the second left material grasping block coordinate carry out material grasping or
First left material grasping block and the second right material grasping block, which coordinate, carries out material grasping, in this way, the present invention can adapt to the two-chamber or more of different size
Chamber injection moulding machine, there is the advantages of simple structure, stable.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the enlarged drawing at A in Fig. 1；
Fig. 3 is the structural representation of another angle of the present invention；
Fig. 4 is the enlarged drawing at B in Fig. 3；
Fig. 5 is the enlarged drawing at C in Fig. 1；
Fig. 6 is cross section structure diagram at the first worm screw in the present invention and the second worm screw；
Fig. 7 is cross section structure diagram at the first gag lever post in the present invention and the second gag lever post；
In figure：
10- frame 11- sliding supports
12- installing plate 13- motors
14- driving wheel 15- driven pulleys
16- belts the first erecting beds of 17-
171- the first guide rail the second erecting beds of 18-
20- the first portal frame the first splicing manipulators of 21-
211- the first sled drive mechanism the first slide plates of 212-
213- the first cylinder the first centering blocks of 214-
215- the first jointed shaft the first sliding blocks of 22-
23- the first locating piece the first positioning tabs of 231-
24- the first positioning screw the second portal frames of 30-
31- the second splicing manipulator 40- the first material grasping manipulators
The right material grasping blocks of the left material grasping block 42- first of 41- first
The first left installing arms of 43- component suction nozzles 44-
The right installing arm 46- connecting rods of 45- first
The second left material grasping blocks of 50- the second material grasping manipulators 51-
The right material grasping block 60- turbines of 52- second
61- the first worm screw the second worm screws of 62-
63- the first guide pin bushing the second guide pin bushings of 64-
65- the first gag lever post the first limited blocks of 651-
66- the second gag lever post the second limited blocks of 661-
67- the first stop collar the second stop collars of 68-
69- motors the first bar-shaped troughs of 70-
The bar-shaped troughs of 80- second
Embodiment
In order to which technical scheme is explained further, it is described in detail below in conjunction with the accompanying drawings.
Referring to figs. 1 to Fig. 7, a kind of universal five axis robots device, including frame 10, using the width of frame 10 as
Longitudinal direction, the length direction of frame 10 is horizontal, in addition to the first dragon that can be arranged on laterally adjusting along frame 10 in frame 10
Door frame 20, the second portal frame 30 that can be arranged on along frame 10 in frame 10 with laterally adjusting, can vertically moving along frame 10
The first material grasping manipulator 40 that ground is arranged in frame 10, can be along frame 10 be arranged on vertically moving in frame 10 second
Material grasping manipulator 50 and the longitudinal direction for driving the first material grasping manipulator 40 and the second material grasping manipulator 50 to move longitudinally are driven
Motivation structure, the first portal frame 20 and the second portal frame 30 are vertically set.
In the present invention, the first material grasping manipulator 40 is provided with the first left 41 and first right material grasping block 42 of material grasping block, and first is left
41 and first right material grasping block 42 of material grasping block sets up separately in the both sides of the first material grasping manipulator 40, and the second material grasping manipulator 50 is provided with the
Two left 51 and second right material grasping blocks 52 of material grasping block, the second left 51 and second right material grasping block 52 of material grasping block set up separately in the second material grasping machinery
The both sides of hand 50, present invention additionally comprises for driving the first left 41 and first right material grasping block 42 of material grasping block relative or moving opposite to each other
The first transversal driving mechanism, in addition to for driving the second left 51 and second right relative motion of material grasping block 52 of material grasping block or phase
Unlucky the second dynamic transversal driving mechanism, the first transversal driving mechanism and the second transversal driving mechanism structure are identical.Preferably, exist
First portal frame 20 be provided with 40 corresponding first splicing manipulator 21 of the first material grasping manipulator, set on the second portal frame 30
Have with 50 corresponding second splicing manipulator 31 of the second material grasping manipulator, pass through the first splicing manipulator 21 and the second splicing machinery
Hand 31 accepts the material on the first material grasping manipulator 40 and the second material grasping manipulator 50 respectively.The five axis robot devices of the present invention
Mess-tin mould can be coordinated, stretch into the mess-tin after crawl shaping in mess-tin mould.
As a kind of preferred embodiment of the present invention, the frame 10 is provided with the first erecting bed 17 for transversely setting and the
Two erecting beds 18, the first erecting bed 17 are provided with the first guide rail 171, and the second erecting bed 18 (is hidden provided with the second guide rail in figure
Gear, is not shown), the first guide rail 171 and the second guide rail parallel are set, and the first portal frame 20 is slideably erected at the first guide rail
171 and second on guide rail, and the second portal frame 30 is slideably erected on the first guide rail 171 and the second guide rail, and the present invention also wraps
The first positioning screw 24 being connected on the first portal frame 20 and the second positioning screw being connected on the second portal frame 30 are included, the
The end of one positioning screw 24 is supported on the first erecting bed 17 or the second erecting bed 18, and the end of the second positioning screw is supported
On the first erecting bed 17 or the second erecting bed 18.
As a kind of preferred embodiment of the present invention, the lower end of first portal frame 20 corresponds to the He of the first guide rail 171
Second guide rail is respectively provided with the first sliding block 22, and each first sliding block 22 is respectively slidably disposed in the He of the first guide rail 171
On second guide rail, the lower end of second portal frame 30 corresponds to first guide rail 171 and second guide rail is respectively provided with
Second sliding block, each second sliding block are respectively slidably disposed on first guide rail 171 and second guide rail, and described first
The lower end of sliding block 22 is provided with the first guide groove for being used for being oriented to first sliding block 22, and the lower end of second sliding block is set
There is the second guide groove for being oriented to second sliding block.Preferably, the first guide groove and the second guide groove, such as can
Think dovetail groove so that the first sliding block 22 and the second sliding block are only capable of carrying out transverse shifting along the first guide rail 171 and the second guide rail, and
Longitudinal direction and short transverse will not then move, so as to ensure the stability of the first portal frame 20 and the second portal frame 30.
As a kind of preferred embodiment of the present invention, in addition to the first locating piece being fixedly connected on first sliding block 22
23 and the second locating piece (being blocked in figure, be not shown) for being fixedly connected on second sliding block, the two of the first locating piece 23
Side is respectively equipped with the first positioning tab 231, and the first positioning tab 213 is horizontally disposed, and first positioning screw 24 is
Two, it is disposed in respectively on the first positioning tab 231, the both sides of the second locating piece are respectively equipped with the second positioning tab, and described
Two adjusting screws are two, are disposed in respectively on the second positioning tab, first positioning screw 24 and the second positioning spiral shell
Nail is vertically set.The present invention is in locking, it is only necessary to holds out against the first positioning screw 24 and the second positioning screw the
The positioning of the first portal frame 20 and the second portal frame 30 is realized on one erecting bed 17 and the second erecting bed 18.In the present invention, the
One portal frame 20 is identical with the structure of the second portal frame 30, can be in the correspondence of the first portal frame 20 by taking the first portal frame 20 as an example
The position of first guide rail 171 sets the first locating piece 23, can also be set in the position of corresponding second guide rail of the first portal frame 20
First locating piece 23, the first locating piece 23 can also be respectively provided with two at this.The first guide rail 171 is consolidated by screw in the present invention
It is scheduled on the first erecting bed 17, the second guide rail is fixed by screws on the second erecting bed 18.
In the present invention, the first material grasping manipulator 40 is identical with the structure of the second material grasping manipulator 40, and first is laterally driven
The structure of mechanism is identical with the structure of the second transversal driving mechanism, by taking the first transversal driving mechanism as an example, the first laterally driven machine
Motor 69 that structure includes being arranged on the first material grasping manipulator 40, the turbine 60 that is arranged on the output shaft of motor 69 and
The worm screw coordinated with turbine 60, the output shaft of motor 69 are horizontally disposed with, and worm screw and the output shaft of motor 69 are vertically arranged, and worm screw can
It is axially movably arranged on the first material grasping manipulator 40, the first left material grasping block 41 and the first right material grasping block 42
It is connected on worm screw.
As a kind of preferred embodiment of the present invention, the worm screw includes the first worm screw 61 and the second worm screw 62, and described first
Left material grasping block 41 is connected on the first worm screw 61, and the second left material grasping block 51 is connected on the second worm screw 62, and described first grabs
Material manipulator 40 is provided with the first guide pin bushing 63 and the second guide pin bushing 64, and first worm screw 61 is movably located in the first guide pin bushing 63
In, second worm screw 62 is movably located in the second guide pin bushing 64, in addition to the first stop collar 67 and the second stop collar 68,
First stop collar 67 is provided with the first gag lever post 65, and one end of the first gag lever post 65 is provided with the first limited block 651, the other end and institute
State the first left material grasping block 41 to connect, the external diameter of the first limited block 651 is more than the aperture of the first stop collar 67, on the second stop collar 64
Provided with the second gag lever post 66, one end of the second gag lever post 66 is provided with the second limited block 661, and the other end connects with the first right material grasping block 42
Connect, the external diameter of the second limited block 661 is more than the aperture of the second stop collar 68.When in use, the rotating forward or anti-of motor 69 is passed through
Turn, drive the first worm screw 61 and the second worm screw 62 to move axially repeatedly by turbine 60, realize the material grasping in shaping chamber, first
The limited block 651 of gag lever post 65 and first can then limit the stroke of the first worm screw 61, the second gag lever post 65 and the second limited block 651
The stroke of the second worm screw 62 can then be limited.
In the present invention, the first material grasping manipulator 40 has the first left installing arm 44, the first right installing arm 45 and set
The more connecting rods 46 in the first left 44 and first right installing arm 45 of installing arm are put, the motor 69 is arranged on the first left installing arm
44 and first between right installing arm 45, and the structure of the second material grasping manipulator 50 is identical with the structure of the first material grasping manipulator 40, adopts
With this structure, the weight of the first material grasping manipulator 40 and the second material grasping manipulator 50 can be mitigated and can preferably be radiated,
And facilitate the installation of motor 69.The the first material grasping manipulator 40 and the second material grasping manipulator 50 of the present invention fills as five axis robots
The telescopic arm put.
As the present invention a kind of preferred embodiment, the longitudinal driving mechanism include motor 13, rotatably arranged with
Driving wheel 14 in the frame 10, the driven pulley 15 being rotatably arranged in the frame 10 and it is set in driving wheel
14 with driven pulley 15 on belt 16, sliding support 11 is provided with the frame 10, being equipped with sliding support 11 can be along cunning
The installing plate 12 of the dynamic longitudinal sliding motion of support 11, the first material grasping manipulator 40 and the second material grasping manipulator 50 are fixedly mounted
On installing plate 12, installing plate 12 is connected on belt 16.Belt 16 is driven to move by motor 13, so as to drive installation
Block 12 is vertically moving, and realizes the stretching motion of the first material grasping manipulator 40 and the second material grasping manipulator 50.
As a kind of preferred embodiment of the present invention, first portal frame 20 is provided with can be moved along short transverse first
Slide plate 212, first splicing manipulator 21 are arranged on the first slide plate 212, in addition to for driving the first slide plate 212 along height
The first sled drive mechanism 211 of direction movement is spent, second portal frame 30 is provided with can be moved along short transverse second
Slide plate, second splicing manipulator 31 are arranged on the second slide plate, in addition to for driving the second slide plate to be moved along short transverse
The second dynamic sled drive mechanism.
As a kind of preferred embodiment of the present invention, first slide plate 212 is provided with the first jointed shaft 215, and first is be hinged
Axle 215 is horizontally disposed, and the first jointed shaft 215 is provided with the first centering block 214, one end of the first centering block 214 and described the
One splicing manipulator 21 connects, and the other end of the first centering block 214 is connected with the first cylinder 213, and the first cylinder 213 is vertically
Setting, the cylinder body of the first cylinder 213 is fixed on first slide plate 212, and second slide plate is provided with the second jointed shaft, the
Two jointed shafts are provided with the second centering block, and one end of the second centering block is connected with second splicing manipulator 31, the second centering block it is another
One end is connected with the second cylinder, and the cylinder body of the second cylinder is fixed on second slide plate.First is driven by the first cylinder 213
Centering block 214 is swung around the first jointed shaft 215 in certain angle, so as to drive the swing of the first splicing manipulator 21, first
Splicing manipulator 21 swings certain angle (being rocked to heeling condition from vertical direction) and carries out discharging afterwards, using this structure,
Drive the first splicing manipulator 21 and the second splicing manipulator 31 to move up and down by the first slide plate 212 and the second slide plate, be used for
Accept from the material in the first material grasping manipulator 40 and the second material grasping manipulator 50, the is driven by the first cylinder and the second cylinder
One splicing manipulator 21 and the second splicing manipulator 31, which are swung, carries out discharging, so that the stacking of material is better achieved.
As a kind of preferred embodiment of the present invention, the first left material grasping block 41, the first right material grasping block 42, described the
Two left material grasping blocks 51 and the second right material grasping block 52, first splicing manipulator 21 and second splicing manipulator 31
On be equipped with component suction nozzle 43, the crawl and release of material are realized by component suction nozzle 43.
As a further improvement on the present invention, the both ends on installing plate 12 transversely are respectively equipped with the He of the first bar-shaped trough 70
Second bar-shaped trough 80, the first bar-shaped trough 70 and the second bar-shaped trough 80 open up along the transverse direction of mounting blocks 12, the first material grasping manipulator
40 are locked in a manner of adjustable in first bar-shaped trough 70, such as can be locked by bolt, and the second bar-shaped trough 80 is with can
The mode of adjustment is locked in the second bar-shaped trough 80, such as can be locked by screw, the first bar-shaped trough 70 and the second bar-shaped trough
80 be multiple, and the first bar-shaped trough 70 and the second bar-shaped trough 80 are through to lower surface from the upper surface of installing plate 12.Using this
Structure, the spacing between the first material grasping manipulator 40 and the second material grasping manipulator 50 can be adjusted, so that the present invention can
It is applicable further types of forming machine.
The product form of the present invention is not limited to this case diagram and embodiment, and anyone carries out the appropriate of similar thinking to it
Change or modification, it all should be regarded as not departing from the patent category of the present invention.
Claims (10)
1. a kind of universal five axis robots device, including frame, using the width of frame as longitudinal direction, the length direction of frame
For transverse direction, it is characterised in that：Also include that the first portal frame in frame can be arranged on along frame with laterally adjusting, can be horizontal along frame
To adjustment be arranged in frame the second portal frame, can be along frame the first materials-taking machine being arranged on vertically moving in frame
Tool hand, the second material grasping manipulator that can be arranged on vertically moving in frame along frame and for drive the first material grasping machinery
The longitudinal driving mechanism that hand and the second material grasping manipulator move longitudinally, the first material grasping machinery on hand be provided with the first left material grasping block and
First right material grasping block, the first left material grasping block and the first right material grasping block set up separately in the both sides of the first material grasping manipulator, the second materials-taking machine
Tool is provided with the second left material grasping block and the second right material grasping block on hand, and the second left material grasping block and the second right material grasping block set up separately in the second material grasping
The both sides of manipulator, in addition to the first horizontal stroke for driving the first left material grasping block and the first right material grasping block relatively or moving opposite to each other
To drive mechanism, in addition to second for driving the second left material grasping block and the second right material grasping block relative motion or moving opposite to each other
Transversal driving mechanism.
A kind of 2. universal five axis robots device as claimed in claim 1, it is characterised in that：The frame is provided with along horizontal stroke
To the first erecting bed and the second erecting bed of setting, the first erecting bed is provided with the first guide rail, and the second erecting bed is provided with second
Guide rail, the first guide rail and the second guide rail parallel are set, and the first portal frame is slideably erected on the first guide rail and the second guide rail,
Second portal frame is slideably erected on the first guide rail and the second guide rail, in addition to first be connected on the first portal frame is fixed
Position screw and the second positioning screw for being connected on the second portal frame, the end of the first positioning screw support in the first erecting bed or
On the erecting bed of person second, the end of the second positioning screw is supported on the first erecting bed or the second erecting bed.
A kind of 3. universal five axis robots device as claimed in claim 2, it is characterised in that：Under first portal frame
Corresponding first guide rail in end and second guide rail are respectively provided with the first sliding block, and each first sliding block is respectively slidably disposed in institute
State on the first guide rail and second guide rail, the lower end of second portal frame corresponds to first guide rail and second guide rail
The second sliding block is respectively provided with, each second sliding block is respectively slidably disposed on first guide rail and second guide rail, described
The lower end of first sliding block is provided with the first guide groove for being used for being oriented to first sliding block, and the lower end of second sliding block is set
There is the second guide groove for being oriented to second sliding block.
A kind of 4. universal five axis robots device as claimed in claim 3, it is characterised in that：Also include being fixedly connected on institute
The second locating piece stated the first locating piece on the first sliding block and be fixedly connected on second sliding block, the two of the first locating piece
Side is respectively equipped with the first positioning tab, and first positioning screw is two, is disposed in respectively on the first positioning tab, and second is fixed
The both sides of position block are respectively equipped with the second positioning tab, and second adjusting screw is two, is disposed in the second positioning tab respectively
On, first positioning screw and second positioning screw are vertically set.
A kind of 5. universal five axis robots device as claimed in claim 1, it is characterised in that：The first laterally driven machine
Structure includes being arranged on the first material grasping machinery motor on hand, the turbine being arranged on the output shaft of motor and matched somebody with somebody with turbine
The output shaft of the worm screw of conjunction, worm screw and motor is vertically arranged, and worm screw is axially displaceably arranged on the first material grasping manipulator
On, the first left material grasping block and the first right material grasping block are connected on worm screw.
A kind of 6. universal five axis robots device as claimed in claim 5, it is characterised in that：The worm screw includes the first snail
Bar and the second worm screw, the first left material grasping block are connected on the first worm screw, and the second left material grasping block is connected to the second worm screw
On, the first material grasping machinery is provided with the first guide pin bushing and the second guide pin bushing on hand, and first worm screw is movably located in first
In guide pin bushing, second worm screw is movably located in the second guide pin bushing, in addition to the first stop collar and the second stop collar, and first
Stop collar is provided with the first gag lever post, and one end of the first gag lever post is provided with the first limited block, the other end and the described first left material grasping
Block connects, and the second stop collar is provided with the second gag lever post, and one end of the second gag lever post is provided with the second limited block, the other end and first
Right material grasping block connection, the first material grasping manipulator have the first left installing arm, the first right installing arm and are arranged on first left side
The connecting rod of installing arm and the first right installing arm, the motor are arranged between the first left installing arm and the first right installing arm.
A kind of 7. universal five axis robots device as claimed in claim 1, it is characterised in that：The longitudinal driving mechanism bag
Include motor, the driving wheel being rotatably arranged in the frame, the driven pulley being rotatably arranged in the frame
And driving wheel and the belt on driven pulley are set in, sliding support is provided with the frame, being equipped with sliding support can
Along the installing plate of sliding support longitudinal sliding motion, the first material grasping manipulator and the second material grasping manipulator are fixedly mounted on peace
In loading board, installing plate is connected on belt.
A kind of 8. universal five axis robots device as claimed in claim 1, it is characterised in that：Set on first portal frame
There is the first slide plate that can be moved along short transverse, first splicing manipulator is arranged on the first slide plate, in addition to for driving
The first sled drive mechanism that dynamic first slide plate moves along short transverse, second portal frame are provided with and can moved along short transverse
The second dynamic slide plate, second splicing manipulator are arranged on the second slide plate, in addition to for driving the second slide plate along height
Second sled drive mechanism of direction movement.
A kind of 9. universal five axis robots device as claimed in claim 8, it is characterised in that：First slide plate is provided with
First jointed shaft, the first jointed shaft are provided with the first centering block, and one end of the first centering block is connected with first splicing manipulator, the
The other end of one centering block is connected with the first cylinder, and the cylinder body of the first cylinder is fixed on first slide plate, second slide plate
The second jointed shaft is provided with, the second jointed shaft is provided with the second centering block, one end of the second centering block and second splicing manipulator
Connection, the other end of the second centering block are connected with the second cylinder, and the cylinder body of the second cylinder is fixed on second slide plate.
A kind of 10. universal five axis robots device as claimed in claim 1, it is characterised in that：Set on the first portal frame
There is the first splicing manipulator corresponding with the first material grasping manipulator, be provided with the second portal frame corresponding with the second material grasping manipulator
The second splicing manipulator, the first left material grasping block, the first right material grasping block, the second left material grasping block and described second
Component suction nozzle is equipped with right material grasping block, first splicing manipulator and second splicing manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711085160.0A CN107717952B (en) | 2017-11-07 | 2017-11-07 | General five mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711085160.0A CN107717952B (en) | 2017-11-07 | 2017-11-07 | General five mechanical arm device |
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| Publication Number | Publication Date |
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| CN107717952A true CN107717952A (en) | 2018-02-23 |
| CN107717952B CN107717952B (en) | 2024-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711085160.0A Active CN107717952B (en) | 2017-11-07 | 2017-11-07 | General five mechanical arm device |
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| Country | Link |
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| CN (1) | CN107717952B (en) |
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| CN109455342A (en) * | 2018-09-03 | 2019-03-12 | 常州市第三人民医院 | A kind of automatic mounted box equipment of suction pipette head |
| CN109998686A (en) * | 2019-04-25 | 2019-07-12 | 苏州点合医疗科技有限公司 | Double gantry operating robots of bone surface coordinate mapping acquisition for joint replacement |
| CN110025380A (en) * | 2019-04-11 | 2019-07-19 | 苏州点合医疗科技有限公司 | One kind can the double gantry type mechanical arm operating robots of unmarshaling |
| CN110253604A (en) * | 2019-05-15 | 2019-09-20 | 深圳市圆梦精密技术研究院 | Magazine transfer device |
| WO2020207123A1 (en) * | 2019-04-11 | 2020-10-15 | 苏州点合医疗科技有限公司 | Detachable/collapsable double-gantry mechanical arm surgical robot |
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| CN109998686A (en) * | 2019-04-25 | 2019-07-12 | 苏州点合医疗科技有限公司 | Double gantry operating robots of bone surface coordinate mapping acquisition for joint replacement |
| CN109998686B (en) * | 2019-04-25 | 2024-01-30 | 苏州点合医疗科技有限公司 | Double-gantry surgical robot for bone surface coordinate mapping acquisition for joint replacement |
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| CN110253604B (en) * | 2019-05-15 | 2023-10-20 | 深圳市圆梦精密技术研究院 | Material box transferring device |
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| CN107717952B (en) | 2024-06-18 |
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