CN108381508A - A kind of six axis all-purpose robots - Google Patents
A kind of six axis all-purpose robots Download PDFInfo
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- CN108381508A CN108381508A CN201810180171.5A CN201810180171A CN108381508A CN 108381508 A CN108381508 A CN 108381508A CN 201810180171 A CN201810180171 A CN 201810180171A CN 108381508 A CN108381508 A CN 108381508A
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- Prior art keywords
- drive shaft
- base body
- gear
- pair
- fixed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of six axis all-purpose robots, including base body, be articulated on base body waist rotation member, be articulated on waist rotation member large arm, the forearm in large arm, waist rotation member rotates around base body, and large arm is rotated around waist rotation member；Base body includes that hollow base body, lid close the pedestal lid in base body；Base body is equipped with roller driving device and roller devices；Forearm is equipped with mechanical arm assembly, and mechanical arm assembly includes arm, the manipulator that is articulated in the swing arm of arm front end, is fixed in the rotating disk of swing arm front end；The idler wheel of the present invention can be contracted in base body both sides by roller driving device, and entire robot can be moved by idler wheel；Making the combination of longitudinal cleft hand, and lateral cleft hand combination can act simultaneously and motion amplitude is identical, so that mechanical claw hand is comprehensive and accurately promptly workpiece.
Description
The application is application No. is 2016105705915, and the applying date is on 07 18th, 2016, and invention and created name is
A kind of divisional application of the patent of " six axis all-purpose robots being equipped with lifting idler wheel ".
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of six axis all-purpose robots being equipped with lifting idler wheel.
Background technology
Application No. is six that the application for a patent for invention of CN201210566463.5 discloses that a kind of bottom is equipped with lifting idler wheel
Axis robot, including base body, waist rotation member, large arm, axle bed, forearm, waist rotation member are rotated around base body, and large arm is around waist transfer part
Part rotates.Light-duty six axis all-purpose robot in the prior art, base body fixed setting, is not easy to the movement of robot, it is difficult to
Meets the needs of practical operation.
Invention content
The present invention in view of the above technical problems, provides a kind of six axis all-purpose robots being equipped with lifting idler wheel.
In order to achieve the above objectives, a kind of six axis all-purpose robots being equipped with lifting idler wheel of the invention, including base body, pivot
The waist rotation member that is connected on base body, the large arm being articulated on waist rotation member, the forearm in large arm, waist rotation member is the bottom of around
Pedestal rotates, and large arm is rotated around waist rotation member；Forearm is equipped with mechanical arm assembly；
The base body includes hollow base body, the pedestal lid being fixed in base body；Before and after base body
Both sides respectively offer a pair of of idler wheel accommodating groove；The bottom of idler wheel accommodating groove offers slotted hole；Rolling is installed inside base body
Wheel assembly；The roll wheel assembly includes roller driving device and roller devices；One is opened up respectively on base body or so madial wall
To guide groove；Above and below guide groove guide post is fixed between two side；
Roller driving device includes mobile guide block, a pair of guide rods, threaded rod, worm screw and first motor；A pair of guide rods is horizontal
It is fixed between the left and right madial wall of base body；Threaded rod is articulated between the left and right madial wall of base body；Mobile guide block
Level offers perforative a pair of of the pilot hole in left and right and a threaded hole；Mobile guide block is set in a pair by a pair of of pilot hole and leads
On bar；Threaded rod is screwed onto in mobile guide block；Mobile guide block bottom forms several semicolumn convex blocks being placed equidistant with；Threaded rod
Right end is fixed with worm gear；Base body, which is located in the right inner side wall above mobile guide block, is fixed with a pair of of worm screw support plate；Worm screw
Worm screw is articulated between support plate；One of worm screw support plate is fixed with first motor；First motor output shaft is solid with worm screw
Connection；
Roller devices include guide-rail plate and a pair of of roller group；Roller group includes fixing axle and a pair of of idler wheel；A pair of of idler wheel pivot
It is connected on fixed both ends of the shaft；It is fixed between the front/rear end of guide-rail plate before and after the fixing axle level of roller group；Fixing axle passes through bottom
The slotted hole of seat main body；Idler wheel is located in idler wheel accommodating groove；A pair of of guide lugs have been separately formed on guide-rail plate or so end face；Guide rail
The guide lugs of plate are set in the guide post of base body guide groove；Guide-rail plate upper surface, which offers, shrinks groove group and decline groove
Group；Groove group is shunk to be made of several the first gap being placed equidistant with；Declining groove group has several the second gap being placed equidistant with
Composition；The the first gap size for shrinking groove group is identical as mobile guide block semicolumn size of lug；Shrink groove group first is slitted
The shaft of mouth is located on the upper surface of guide-rail plate；Decline the second gap size of groove group and mobile guide block semicolumn size of lug
It is identical；The shaft for declining the second gap of groove group is located above the upper surface of guide-rail plate；The mechanical arm assembly, including hand
Arm, the swing arm for being articulated in arm front end, driving swing the first driving unit of arm swing, are fixed on swing arm front end rotating disk
On manipulator and driving rotation disc spins the second driving unit；The rotation of center line and rotating disk when the swing arm swing
Turn center line to be mutually perpendicular to.
As a preferred embodiment of the above technical solution, it is arranged with compression spring in the guide post of base body guide groove；Compression spring one end is supported
It leans against on the lower face of guide lugs, the other end is resisted against on the lower wall surface of guide groove.
As a preferred embodiment of the above technical solution, spacing and decline groove between the adjacent semicolumn convex block shaft of mobile guide block
Spacing is identical between the adjacent second gap shaft of group；Spacing and contraction are recessed between the adjacent semicolumn convex block shaft of mobile guide block
Spacing is identical between the adjacent first gap shaft of slot group.
As a preferred embodiment of the above technical solution, the semicolumn number of slugs of mobile guide block and the second gap for declining groove group
Quantity is identical；The semicolumn number of slugs of mobile guide block is identical as the first gap quantity of groove group is shunk.
As a preferred embodiment of the above technical solution, the threaded hole of mobile guide block is located at mobile guide block center；A pair of of pilot hole with
It is front and back centered on threaded hole to be symmetrical arranged.
As a preferred embodiment of the above technical solution, manipulator includes shell, driving motor, longitudinal cleft hand driving mechanism and transverse direction
Cleft hand driving structure；Shell is the cuboid that inside offers square groove；Shell top wall face offers several supported holes；Supported hole
Supporting rod is fixed between side wall；Longitudinal cleft hand driving mechanism includes the first drive shaft, the second drive shaft and a pair of longitudinal crank
Rocker device；Lateral cleft hand driving structure includes the first drive shaft, the second drive shaft, third drive shaft, the 4th drive shaft and one
To lateral crank and rocker mechanism；Driving motor level is fixed on the left side of shell to the left；Driving motor output shaft is driven with first
Moving axis is fixedly connected；
First drive shaft, the second drive shaft horizontal cross are arranged in parallel；First drive shaft, the second drive shaft are articulated in shell
Between left and right sidewall；First shaft center is fixed with first gear；Second shaft center is fixed with eighth gear；The July 1st
Gear is engaged with eighth gear；A pair of of longitudinal direction crank and rocker mechanism is separately mounted to the first drive shaft, in the second drive shaft；
It is respectively fixed with the first worm screw and the second worm screw in first drive shaft, the second drive shaft；Third drive shaft, 4 wheel driven
The horizontal vertical equity setting of moving axis；Third drive shaft, the 4th drive shaft are articulated between shell front-rear side walls；In third drive shaft
The heart is fixed with the first worm gear；4th shaft center is fixed with the second worm gear；First worm screw engages with the first worm gear；Second worm screw
It is engaged with the second worm gear；A pair of of transverse direction crank and rocker mechanism is separately mounted to third drive shaft, in the 4th drive shaft.
As a preferred embodiment of the above technical solution, longitudinal crank and rocker mechanism include a pair of longitudinal crank, a pair of of longitudinal rod,
Vertical supporting bar and longitudinal cleft hand；Longitudinal crank one end is fixed in the first drive shaft or the second drive shaft, the other end is hinged
There is longitudinal rod；A pair of of longitudinal rod other end is fixed with vertical supporting bar；Longitudinal cleft hand one end is hinged on vertical supporting bar,
Middle part is hinged on supporting rod, the other end passes through shell top wall face.
As a preferred embodiment of the above technical solution, lateral crank and rocker mechanism include a pair of lateral crank, a pair of of transverse link,
Transverse support bar and lateral cleft hand；Lateral crank one end is fixed in third drive shaft or the 4th drive shaft, the other end is hinged
There is transverse link；A pair of of transverse link other end is fixed with transverse support bar；Lateral cleft hand one end is hinged in transverse support bar,
Middle part is hinged on supporting rod, the other end passes through shell top wall face.
As a preferred embodiment of the above technical solution, first driving unit includes the 4th motor being mounted on arm, connection
Connect the first gear unit of the 4th motor and swing arm；First gear unit includes being articulated on arm and being coaxially disposed
4th gear and the 5th gear are articulated on arm and the 6th gear being coaxially disposed and the first synchronous pulley, are articulated in arm
On third axis, the second synchronous pulley for being fixedly mounted on third axis；Third is installed on the output shaft of 4th motor
Gear, third gear are engaged with the 4th gear, and the 5th gear is engaged with the 6th gear, and the first synchronous pulley passes through synchronous belt and
Two synchronous pulleys couple, and third axis is fixedly connected with swing arm.
The beneficial effects of the present invention are：Idler wheel can be contracted in base body both sides by roller driving device, entirely
Robot can be moved by idler wheel；So that the combination of longitudinal cleft hand and lateral cleft hand is combined can act and motion amplitude is identical simultaneously,
So that mechanical claw hand is comprehensive and accurately firmly grasps workpiece.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of the base body of the present invention；
Fig. 3 is the structural schematic diagram of the roll wheel assembly of the present invention；
Fig. 4 is the base body of the present invention and its structural schematic diagram of internal structure；
Fig. 5 is the base body of the present invention and its cross-sectional view of internal structure；
Fig. 6 is the arm structure schematic diagram of the present invention；
Fig. 7 is the structural schematic diagram of the manipulator of the present invention；
Fig. 8 is the structural schematic diagram of the manipulator transmission mechanism of the present invention；
Fig. 9 is the structural schematic diagram of longitudinal cleft hand driving mechanism of the present invention；
Figure 10 is the structural schematic diagram of the lateral cleft hand driving structure of the present invention；
In figure, 10, base body；11, base body；110, idler wheel accommodating groove；1101, slotted hole；20, waist rotation member；30、
Large arm；40, forearm；50, arm；51, third gear；52, the 4th gear；54, the 6th gear；55, the first synchronous pulley；56、
Third axis；57, the second synchronous pulley；58, synchronous belt；59, swing arm；591, rotating disk；60, manipulator；600, shell；601、
Supporting rod；61, driving motor；62, longitudinal cleft hand driving mechanism；621, the first drive shaft；6211, the 7th gear；6212, first
Worm screw；622, the second drive shaft；6221, eighth gear；6222, the second worm screw；623, longitudinal crank；624, longitudinal rod；
625, vertical supporting bar；626, longitudinal cleft hand；63, lateral cleft hand driving structure；631, third drive shaft；6311, the first worm gear；
632, the 4th drive shaft；6321, the second worm gear；633, lateral crank；634, transverse link；635, transverse support bar；636, horizontal
To cleft hand；70, roll wheel assembly；71, roller driving device；711, mobile guide block；7111, semicolumn convex block；712, guide rod；713、
Threaded rod；714, worm screw；7141, worm screw support plate；715, first motor；716, worm gear；72, roller devices；721, guide-rail plate；
7211, decline groove group；7212, groove group is shunk；722, fixing axle；723, idler wheel.
Specific implementation mode
Six axis all-purpose robots of lifting idler wheel are equipped with as shown in Figure 1, a kind of, including base body 10, are articulated in base body
Waist rotation member 20 on 10, the large arm 30 being articulated on waist rotation member 20, the forearm 40 in large arm 30, waist rotation member 20
It is rotated around base body 10, large arm 30 is rotated around waist rotation member 20；Forearm 40 is equipped with mechanical arm assembly；
As shown in fig. 1~fig. 5, the base body 10 includes hollow base body 11, is fixed in base body 11
Pedestal lid 12；11 front and rear sides of base body respectively offer a pair of of idler wheel accommodating groove 110；It opens the bottom of idler wheel accommodating groove 110
Equipped with slotted hole 1101；Roll wheel assembly 70 is installed inside base body 11；The roll wheel assembly 70 includes roller driving device
71 and roller devices 72；A pair of of guide groove is opened up respectively on 11 or so madial wall of base body；It is fixed between two side above and below guide groove
There is guide post；
As shown in Fig. 3~Fig. 5, roller driving device 71 includes mobile guide block 711, a pair of guide rods 712, threaded rod 713, snail
Bar 714 and first motor 715；A pair of guide rods 712 is horizontally fixed between the left and right madial wall of base body 11；Threaded rod 713
It is articulated between the left and right madial wall of base body 11；Mobile 711 level of guide block offer perforative a pair of of the pilot hole in left and right and
One threaded hole；Mobile guide block 711 is set in by a pair of of pilot hole in a pair of guide rods 712；Threaded rod 713 is screwed onto movement and leads
In block 711；711 bottom of mobile guide block forms several semicolumn convex blocks 7111 being placed equidistant with；713 right end of threaded rod is fixed with
Worm gear 716；Base body 11, which is located in the right inner side wall of 711 top of mobile guide block, is fixed with a pair of of worm screw support plate 7141；Snail
Worm screw 714 is articulated between bar support plate 7141；One of worm screw support plate 7141 is fixed with first motor 715；First electricity
715 output shaft of machine is connected firmly with worm screw 714；
As shown in Fig. 3~Fig. 5, roller devices 72 include guide-rail plate 721 and a pair of of roller group；Roller group includes fixing axle
722 and a pair of of idler wheel 723；A pair of of idler wheel 723 is articulated in 722 both ends of fixing axle；It is fixed before and after 722 level of fixing axle of roller group
Between the front/rear end of guide-rail plate 721；Fixing axle 722 passes through the slotted hole of base body 11；Idler wheel is located at idler wheel accommodating groove
In 110；Guide-rail plate has been separately formed a pair of of guide lugs on 721 or so end faces；The guide lugs of guide-rail plate 721 are set in base body
In the guide post of 11 guide grooves；721 upper surface of guide-rail plate, which offers, shrinks groove group 7212 and decline groove group 7211；Shrink groove
Group 7212 is made of several the first gap being placed equidistant with；Declining groove group 7211 has several the second gap groups being placed equidistant with
At；The the first gap size for shrinking groove group 7212 is identical as mobile 711 semicolumn size of lug of guide block；Shrink groove group 7212
The shaft of the first gap be located on the upper surface of guide-rail plate 721；The the second gap size and movement for declining groove group 7211 are led
711 semicolumn size of lug of block is identical；The shaft for declining the second gap of groove group 7211 is located on the upper surface of guide-rail plate 721
Side；
The mechanical arm assembly, including arm 50, the swing arm 59 for being articulated in 50 front end of arm, driving swing arm 59 are swung
The first driving unit, the manipulator 60 that is fixed in 59 front end rotating disk 591 of swing arm and driving rotating disk 591 rotate the
Two driving units；Center line and the rotation centerline of rotating disk 591 when the swing arm 59 is swung are mutually perpendicular to.Base body
It is arranged with compression spring in the guide post of 11 guide grooves；Compression spring one end is resisted against on the lower face of guide lugs, the other end is resisted against guide groove
Lower wall surface on.
As shown in figure 5, spacing and decline groove group 7211 between adjacent 7111 shaft of semicolumn convex block of mobile guide block 711
Adjacent second gap shaft between spacing it is identical；Between adjacent 7111 shaft of semicolumn convex block of mobile guide block 711 spacing with
Spacing is identical between shrinking the adjacent first gap shaft of groove group 7212.
As shown in figure 5,7111 quantity of semicolumn convex block of mobile guide block 711 and the second gap number for declining groove group 7211
It measures identical；7111 quantity of semicolumn convex block of mobile guide block 711 is identical as the first gap quantity of groove group 7212 is shunk.
As shown in Figure 3, Figure 4, the threaded hole of mobile guide block 711 is located at 711 center of mobile guide block；A pair of of pilot hole is with screw thread
It is front and back centered on hole to be symmetrical arranged.
As shown in Fig. 6~Figure 10, manipulator 60 includes shell 600, driving motor 61, longitudinal cleft hand driving mechanism 62 and cross
To cleft hand driving structure 63；Shell 600 is the cuboid that inside offers square groove；600 upper wall surface of shell offers several
Support hole；Supporting rod 601 is fixed between supported hole side wall；Longitudinal cleft hand driving mechanism 62 is driven including the first drive shaft 621, second
Moving axis 622 and a pair of longitudinal crank and rocker mechanism；Lateral cleft hand driving structure 63 includes the first drive shaft 621, the second drive shaft
622, third drive shaft 631, the 4th drive shaft 632 and a pair of lateral crank and rocker mechanism；Driving motor 61 is horizontal to be fixed to the left
In the left side of shell 600；61 output shaft of driving motor is fixedly connected with the first drive shaft 621；
As shown in Fig. 6~Figure 10, the first drive shaft 621,622 horizontal cross of the second drive shaft are arranged in parallel；First driving
Axis 621, the second drive shaft 622 are articulated between 600 left and right sidewall of shell；First drive shaft, 621 center is fixed with first gear
6211；Second drive shaft, 622 center is fixed with eighth gear 6221；July 1st gear 6211 is engaged with eighth gear 6221；One
First drive shaft 621 is separately mounted to, in the second drive shaft 622 to longitudinal crank and rocker mechanism；
As shown in Fig. 6~Figure 10,6212 and of the first worm screw is respectively fixed in the first drive shaft 621, the second drive shaft 622
Second worm screw 6222；Third drive shaft 6231, the 632 horizontal vertical equity setting of the 4th drive shaft；Third drive shaft the 631, the 4th
Drive shaft 632 is articulated between 600 front-rear side walls of shell；631 center of third drive shaft is fixed with the first worm gear 6311；4 wheel driven
632 center of moving axis is fixed with the second worm gear 6321；First worm screw 62212 engages with the first worm gear 6311；Second worm screw 62222 with
Second worm gear 62321 engages；A pair of of transverse direction crank and rocker mechanism is separately mounted to third drive shaft 631, the 4th drive shaft 632
On.
As shown in figure 9, longitudinal crank and rocker mechanism includes a pair of longitudinal crank 623, a pair of of longitudinal rod 624, Zong Xiangzhi
Strut 625 and longitudinal cleft hand 626；623 one end of longitudinal crank is fixed in the first drive shaft 621 or the second drive shaft 622, is another
One end is hinged with longitudinal rod 624；624 other end of a pair of of longitudinal rod is fixed with vertical supporting bar 625；Longitudinal cleft hand 626 1
End is hinged on vertical supporting bar 625, middle part is hinged on supporting rod 601, the other end passes through 600 upper wall surface of shell.
As shown in Figure 10, lateral crank and rocker mechanism includes a pair of lateral crank 633, a pair of of transverse link 634, laterally branch
Strut 635 and lateral cleft hand 636；623 one end of lateral crank is fixed in third drive shaft 631 or the 4th drive shaft 632, is another
One end is hinged with transverse link 634；634 other end of a pair of of transverse link is fixed with transverse support bar 635；Lateral cleft hand 636 1
End is hinged in transverse support bar 635, middle part is hinged on supporting rod 601, the other end passes through 600 upper wall surface of shell.
As shown in fig. 6, first driving unit include be mounted on arm 50 on the 4th motor, connection the 4th motor with
First gear unit of swing arm 59；First gear unit includes the 4th gear for being articulated on arm 50 and being coaxially disposed
52 and the 5th gear, the 6th gear 54 that is articulated on arm 50 and is coaxially disposed and the first synchronous pulley 55, it is articulated in arm
Third axis 56 on 50, the second synchronous pulley 57 being fixedly mounted on third axis 56；Pacify on the output shaft of 4th motor
Equipped with third gear 51, third gear 51 is engaged with the 4th gear 52, and the 5th gear is engaged with the 6th gear 54, the first synchronous belt
Wheel 55 is coupled by synchronous belt 58 with the second synchronous pulley 57, and third axis 56 is fixedly connected with swing arm 59.
Concrete operations are as follows：The original state of base body 10：The semicolumn convex block 7111 of mobile guide block 711 and contraction groove
7212 contact of group, idler wheel 723 is located in the idler wheel accommodating groove 110 of base body 11 at this time.
Mobile robot is such as needed, first motor 715 need to be only started, first motor 715 drives worm screw 714 to rotate, worm screw
714 drive threaded rod 713 to rotate by worm gear 716, and threaded rod 713 drives mobile guide block 711 to be slided along guide rod 712 is horizontal,
The semicolumn convex block 7111 of mobile guide block 711 is moved to 721 upper surface of guide-rail plate from contraction groove group 7212 and moves again to decline
In groove group 7211, such guide-rail plate 721 moves downward, and roller group downlink is driven to be contacted with ground and hold up base body 10,
Entire robot can be moved by idler wheel 723.
Manipulator 60 operates as follows：Driving motor 61 drives the first drive shaft 621；First drive shaft 621 passes through the 7th tooth
Wheel 6211, eighth gear 6221 drive the rotation of the second drive shaft 622；621 and second drive shaft 622 of such first drive shaft is just logical
It crosses a pair of longitudinal crank and rocker mechanism and drives 626 relative motion of a pair of longitudinal cleft hand；At the same time, the first drive shaft 621 passes through
First worm screw 6212 and the first worm gear 6311 drive third drive shaft 631 to rotate, and the second drive shaft 622 passes through the second worm screw 6222
The rotation of the 4th drive shaft 632 is driven with the second worm gear 6321, third drive shaft 631 and the 4th drive shaft 632 are just by a pair of horizontal
636 relative motion of a pair of lateral cleft hand is driven to crank and rocker mechanism；636 same luck of cleft hand 626 longitudinal in this way and lateral cleft hand
Dynamic and amplitude is identical；
In the first driving unit, the second driving unit, longitudinal cleft hand driving mechanism 62 and lateral 623 phase of cleft hand driving structure
Mutually under cooperation, manipulator 60 can be comprehensive and accurately firmly grasps workpiece.
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 (10)
1. a kind of six axis all-purpose robots, including base body (10)；
It is characterized in that：The base body (10) includes hollow base body (11), and base body (11) front and rear sides are respectively opened
Equipped with a pair of of idler wheel accommodating groove (110)；The bottom of idler wheel accommodating groove (110) offers slotted hole (1101)；Base body (11)
Inside is equipped with roll wheel assembly (70)；The roll wheel assembly (70) includes roller driving device (71) and roller devices (72)；Bottom
A pair of of guide groove is opened up respectively on the madial wall of seat main body (11) left and right；Above and below guide groove guide post is fixed between two side；
Roller driving device (71) includes mobile guide block (711), guide rod (712), threaded rod (713), worm screw (714) and the first electricity
Machine (715)；Guide rod (712) is horizontally fixed between the left and right madial wall of base body (11)；Threaded rod (713) is articulated in pedestal
Between the left and right madial wall of main body (11)；Mobile guide block (711) is set in by a pair of of pilot hole on guide rod (712)；Threaded rod
(713) it is screwed onto in mobile guide block (711)；Mobile guide block (711) bottom forms several semicolumn convex blocks being placed equidistant with
(7111)；One end of threaded rod (713) is fixed with worm gear (716)；Base body (11) is located at interior above mobile guide block (711)
Worm screw support plate (7141) is fixed on side wall；Worm screw support plate (7141) is articulated on worm screw (714)；First motor (715)
Output shaft is connected firmly with worm screw (714)；Roller devices (72) include guide-rail plate (721) and a pair of of roller group；Roller group includes fixing
Axis (722) and a pair of of idler wheel (723)；A pair of of idler wheel (723) is articulated in fixing axle (722) both ends；Fixing axle (722) passes through pedestal
The slotted hole (1101) of main body (11)；Idler wheel is located in idler wheel accommodating groove (110)；On guide-rail plate (721) left and right end face respectively at
Type has a pair of of guide lugs；The guide lugs of guide-rail plate (721) are set in the guide post of base body (11) guide groove；Guide-rail plate
(721) upper surface, which offers, shrinks groove group (7212) and decline groove group (7211)；It includes several to shrink groove group (7212)
The first gap being placed equidistant with；It includes several the second gap being placed equidistant with to decline groove group (7211)；First gap size and
Second gap size is identical as mobile guide block (711) semicolumn size of lug；
Between adjacent semicolumn convex block (7111) shaft of mobile guide block (711) spacing with decline adjacent the of groove group (7211)
Spacing all same between the adjacent first gap shaft of spacing and contraction groove group (7212) between two gap shafts.
2. a kind of six axis all-purpose robot according to claim 1, it is characterised in that：The semicolumn of mobile guide block (711)
Convex block (7111) quantity is identical as the second gap quantity for declining groove group (7211)；The semicolumn convex block of mobile guide block (711)
(7111) quantity is identical as the first gap quantity for shrinking groove group (7212).
3. a kind of six axis all-purpose robot according to claim 1, it is characterised in that：The threaded hole of mobile guide block (711)
Positioned at mobile guide block (711) center；A pair of of pilot hole is front and back centered on threaded hole to be symmetrical arranged.
4. a kind of six axis all-purpose robot according to claim 1, be articulated in waist rotation member (20) on base body (10),
The forearm (40) for being articulated in the large arm (30) on waist rotation member (20), being mounted in large arm (30), waist rotation member (20) is around pedestal
Body (10) rotates, and large arm (30) is rotated around waist rotation member (20)；Forearm (40) is equipped with mechanical arm assembly, it is characterised in that：Institute
Mechanical arm assembly is stated, including arm (50), the swing arm (59) for being articulated in arm (50) front end, driving swing arm (59) are swung
First driving unit, the manipulator (60) being fixed in swing arm (59) front end rotating disk (591) and driving rotating disk (591) are revolved
The second driving unit turned；Center line and the rotation centerline of rotating disk (591) when the swing arm (59) swings mutually hang down
Directly.
5. a kind of six axis all-purpose robot according to claim 4, it is characterised in that：Manipulator (60) includes shell
(600), driving motor (61), longitudinal cleft hand driving mechanism (62) and lateral cleft hand driving structure (63)；Shell (600) upper wall surface
Offer several supported holes；Supporting rod (601) is fixed between supported hole side wall；Longitudinal cleft hand driving mechanism (62) includes first
Drive shaft (621), the second drive shaft (622) and a pair of longitudinal crank and rocker mechanism；Lateral cleft hand driving structure (63) includes the
One drive shaft (621), the second drive shaft (622), third drive shaft (631), the 4th drive shaft (632) and a pair of lateral crank shake
Linkage；Driving motor (61) level is fixed on the left side of shell (600) to the left；
First drive shaft (621), the second drive shaft (622) horizontal cross are arranged in parallel；First drive shaft (621), the second driving
Axis (622) is articulated between shell (600) left and right sidewall；First drive shaft (621) center is fixed with first gear (6211)；The
Two drive shafts (622) center is fixed with eighth gear (6221)；7th gear (6211) is engaged with eighth gear (6221)；It is a pair of
Longitudinal crank and rocker mechanism is separately mounted to the first drive shaft (621), in the second drive shaft (622)；
It is respectively fixed with the first worm screw (6212) and the second worm screw in first drive shaft (621), the second drive shaft (622)
(6222)；The horizontal vertical equity setting of third drive shaft (6231), the 4th drive shaft (632)；Third drive shaft (631), the 4th
Drive shaft (632) is articulated between shell (600) front-rear side walls；Third drive shaft (631) center is fixed with the first worm gear
(6311)；4th drive shaft (632) center is fixed with the second worm gear (6321)；First worm screw (62212) and the first worm gear
(6311) it engages；Second worm screw (6222) engages with the second worm gear (62321)；A pair of of transverse direction crank and rocker mechanism is separately mounted to
In third drive shaft (631), the 4th drive shaft (632).
6. a kind of six axis all-purpose robot according to claim 5, it is characterised in that：Longitudinal crank and rocker mechanism includes one
To longitudinal crank (623), a pair of of longitudinal rod (624), vertical supporting bar (625) and longitudinal cleft hand (626)；Longitudinal crank
(623) one end is fixed in the first drive shaft (621) or the second drive shaft (622), the other end is hinged with longitudinal rod
(624)；A pair of of longitudinal rod (624) other end is fixed with vertical supporting bar (625)；Longitudinal cleft hand (626) one end is hinged on vertical
To on supporting rod (625), middle part is hinged on supporting rod (601), the other end passes through shell (600) upper wall surface.
7. a kind of six axis all-purpose robot according to claim 5, it is characterised in that：Lateral crank and rocker mechanism includes one
To lateral crank (633), a pair of of transverse link (634), transverse support bar (635) and lateral cleft hand (636)；Lateral crank
(623) one end is fixed in third drive shaft (631) or the 4th drive shaft (632), the other end is hinged with transverse link
(634)；A pair of of transverse link (634) other end is fixed with transverse support bar (635)；Lateral cleft hand (636) one end is hinged on cross
To on supporting rod (635), middle part is hinged on supporting rod (601), the other end passes through shell (600) upper wall surface.
8. a kind of six axis all-purpose robot according to claim 5, it is characterised in that：First driving unit includes peace
First gear unit of the 4th motor, connection the 4th motor and swing arm (59) on arm (50)；First transmission
Unit include be articulated on arm (50) and the 4th gear (52) of coaxial arrangement and the 5th gear, be articulated on arm (50) and
The 6th gear (54) and the first synchronous pulley (55) of coaxial arrangement, the third axis (56) being articulated on arm (50), fixed peace
The second synchronous pulley (57) on third axis (56)；Third gear (51) is installed on the output shaft of 4th motor,
Third gear (51) is engaged with the 4th gear (52), and the 5th gear is engaged with the 6th gear (54), and the first synchronous pulley (55) is logical
It crosses synchronous belt (58) with the second synchronous pulley (57) to couple, third axis (56) is fixedly connected with swing arm (59).
9. a kind of six axis all-purpose robot according to claim 1, it is characterised in that：The guiding of base body (11) guide groove
Compression spring is arranged on column；Compression spring one end is resisted against on the lower face of guide lugs, the other end is resisted against on the lower wall surface of guide groove.
10. a kind of six axis all-purpose robot according to claim 1, it is characterised in that：The base body (10) further includes
The pedestal lid (12) being fixed in base body (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810180171.5A CN108381508A (en) | 2016-07-18 | 2016-07-18 | A kind of six axis all-purpose robots |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810180171.5A CN108381508A (en) | 2016-07-18 | 2016-07-18 | A kind of six axis all-purpose robots |
| CN201610570591.5A CN105965471B (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots for being provided with lifting roller |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570591.5A Division CN105965471B (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots for being provided with lifting roller |
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| Publication Number | Publication Date |
|---|---|
| CN108381508A true CN108381508A (en) | 2018-08-10 |
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| CN201610570591.5A Active CN105965471B (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots for being provided with lifting roller |
| CN201810180171.5A Pending CN108381508A (en) | 2016-07-18 | 2016-07-18 | A kind of six axis all-purpose robots |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610570591.5A Active CN105965471B (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots for being provided with lifting roller |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6677689B2 (en) * | 2017-09-28 | 2020-04-08 | ファナック株式会社 | robot |
| CN107954212A (en) * | 2017-12-22 | 2018-04-24 | 当涂县金龙机械有限公司 | A kind of sucker grabbing device |
| CN108381558A (en) * | 2018-02-11 | 2018-08-10 | 南京晓庄学院 | A kind of colleges and universities' public affair hall Self-Service machine people |
| CN108670437A (en) * | 2018-05-01 | 2018-10-19 | 东莞市天合机电开发有限公司 | A kind of stand alone type auxiliary manipulator used for medical procedures |
| CN110491195A (en) * | 2019-08-27 | 2019-11-22 | 李茗洲 | A kind of mathematics education model and application method |
| CN110403696B (en) * | 2019-08-30 | 2024-08-30 | 山东威高手术机器人有限公司 | Instrument mechanical arm with balance structure |
| CN111993432A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot for stacking |
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|---|---|---|---|---|
| CN202668545U (en) * | 2012-06-04 | 2013-01-16 | 盐城市昱博自动化设备有限公司 | Novel vacuum carrying manipulator |
| CN104959970A (en) * | 2015-06-30 | 2015-10-07 | 郝胜元 | Movable suction cup manipulator capable of omni-directionally rotating |
| CN205310235U (en) * | 2015-11-26 | 2016-06-15 | 方家祥 | Intelligence transfer robot convenient to operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203269069U (en) * | 2013-04-18 | 2013-11-06 | 西安理工大学 | Mechanical arm used for transferring container filled with liquid |
| CN103223669B (en) * | 2013-05-14 | 2015-09-30 | 中国科学院自动化研究所 | A kind of light-weighted mechanical arm mechanism |
| CN104175316B (en) * | 2013-05-28 | 2016-06-08 | 上银科技股份有限公司 | Mechanical arm |
| CN203600237U (en) * | 2013-11-08 | 2014-05-21 | 重庆风过旗扬科技发展有限公司 | Simple gear-driven mechanical arm |
| CN103978475B (en) * | 2014-05-05 | 2015-10-21 | 重庆优楷科技有限公司 | Industrial intelligent robot body |
| CN205799478U (en) * | 2016-07-18 | 2016-12-14 | 佛山市联智新创科技有限公司 | A kind of six axle all-purpose robots being provided with lifting roller |
-
2016
- 2016-07-18 CN CN201610570591.5A patent/CN105965471B/en active Active
- 2016-07-18 CN CN201810180171.5A patent/CN108381508A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202668545U (en) * | 2012-06-04 | 2013-01-16 | 盐城市昱博自动化设备有限公司 | Novel vacuum carrying manipulator |
| CN104959970A (en) * | 2015-06-30 | 2015-10-07 | 郝胜元 | Movable suction cup manipulator capable of omni-directionally rotating |
| CN205310235U (en) * | 2015-11-26 | 2016-06-15 | 方家祥 | Intelligence transfer robot convenient to operation |
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| Publication number | Publication date |
|---|---|
| CN105965471A (en) | 2016-09-28 |
| CN105965471B (en) | 2018-02-02 |
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Application publication date: 20180810 |