CN108972522A - Multi-functional five axis robot - Google Patents
Multi-functional five axis robot Download PDFInfo
- Publication number
- CN108972522A CN108972522A CN201810730866.6A CN201810730866A CN108972522A CN 108972522 A CN108972522 A CN 108972522A CN 201810730866 A CN201810730866 A CN 201810730866A CN 108972522 A CN108972522 A CN 108972522A
- Authority
- CN
- China
- Prior art keywords
- driving motor
- shaft
- support plate
- pulley
- driving
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Abstract
The present invention provides a kind of multi-functional five axis robot, including pedestal, support plate, guide protrusions, elevating mechanism, cover board, first driving motor, first driving pulley, the first driven pulley, rotary shaft, mechanical arm, guide groove, telescoping mechanism, the second driving motor, second driving pulley, second driven pulley, torsion shaft, grabbing device and third driving motor, the upper end two sides of the pedestal are symmetrically connected with support plate, the middle inside of the support plate is equipped with guide protrusions, which is half circular axle shape, and contour with support plate.Guide protrusions of the invention and arc groove setting make guide protrusions sliding of the sliding panel on the inside of support plate, ensure that the stability of elevating mechanism, thus it is more reliable and more stable when making robot work, it avoids trembleing.
Description
Technical field
The invention belongs to technical field of mechanical automation more particularly to a kind of multi-functional five axis robots for improving structure.
Background technique
With the development of economy, social progress, recruitment phenomenon in short supply is increasingly severe, the work post of especially some danger
And post, it is increasingly difficult to find suitable worker at the production line.And the progress of science and technology is but also the enterprise of different industry can introduce work
Industry manipulator substitutes worker, but the higher manipulator of domestic market occupation rate is from external high-end six joint mostly
(six axis) and five joints (five axis) manipulator, precision is good but cost is high, needs the personnel with high academic degrees of profession by professional training
Energy operation and maintenance, application cost and later maintenance cost are high, and the technological transformation innovation capital investment for enterprise is one very big
Burden.Especially medium-sized and small enterprises, facing no work can recruit, is available without work, but carries out technological transformation and put into manipulator insufficient funds
Situation.In addition, multi-joint manipulator in the market is vertical, narrow for some transverse directions operating space such as punching machine, liquid
Press, lathe etc. are simultaneously not suitable for, and are easy to produce space interference.And the manipulator of some horizontal directions is mostly four axis, there are work
Dead angle is more in range, acts simple question, is unable to meet production demand.
Therefore, multi-functional five axis robot for inventing a kind of improvement structure is very necessary.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of multi-functional five axis robots for improving structure, to solve
Existing manipulator occupied space, maintenance cost height and the narrow problem of working range.
A kind of multi-functional five axis robot, including pedestal, support plate, guide protrusions, elevating mechanism, cover board, the first driving
Motor, the first driving pulley, the first driven pulley, rotary shaft, mechanical arm, guide groove, telescoping mechanism, the second driving motor, the
Two driving pulleys, the second driven pulley, torsion shaft, grabbing device and third driving motor, the upper end two sides pair of the pedestal
Title is connected with support plate, and the middle inside of the support plate is equipped with guide protrusions, which is half circular axle shape, and and support plate
It is contour；The elevating mechanism includes sliding panel and cylindrical drum, and the sliding panel and cylindrical drum are vertically connected, described
Sliding panel is fastened in guide protrusions, and the cylindrical drum runs through the through-hole for being located at cover board side, and the cover board is solid by connector
Fixed to set up on the supporting plate, the other side of the cover board is equipped with electric machine support, is equipped with the first driving motor on the bracket, this first
The main shaft of driving motor vertically downward, and is fixedly connected with the first driving pulley, which passes through conveyer belt and the
One driven pulley is connected, which is fixedly connected in the upper end shaft of screw rod, which is worn by upper end shaft
Cover board is crossed, and is rotatablely connected with cover board, the lower end shaft of the screw rod is connect with base rotation；The rotary shaft by bearing with
Cylindrical drum rotation connection, the upper end of the rotary shaft are fixedly connected with mechanical arm by connector, the middle part level side of the mechanical arm
To guide groove is offered, telescoping mechanism is slidably connected in the guide groove, the upper end of the telescoping mechanism is close to the side of rotary shaft
Second driving motor is installed, the second driving pulley is connected on the main shaft of second driving motor, second driving pulley is logical
It crosses conveyer belt and the second driven pulley is sequentially connected, which is fixed on a side end face of torsion shaft, the overturning
Axis is rotatablely connected by bearing and telescoping mechanism, which is connected with grabbing device by connecting shaft, the connection
Axis runs through torsion shaft by pivoted housing, and upper end is connected with third driving motor.
The two sides of the sliding panel are symmetrically arranged with arc groove, which matches with guide protrusions, and arc
The inner wall of groove is equipped with oil groove, makes guide protrusions sliding of the sliding panel on the inside of support plate, ensure that the stabilization of elevating mechanism
Property, thus it is more reliable and more stable when making robot work, it avoids trembleing.
Threaded hole is opened in the middle part of the sliding panel, the threaded hole and the stud are rotatablely connected, the stud
Upper end shaft is driven by a drive motor to rotate, and by the rotation of stud, rises or falls the sliding panel being threadedly coupled, realizes machine
The change of tool hand upper and lower position.
The bottom end of the rotary shaft is connected with third driven pulley, which passes through conveyer belt and third master
Movable belt pulley connection, the third driving pulley are connected with the driving motor for being mounted on sliding panel bottom, which can drive rotation
Shaft is rotated to any direction, expands the working range of manipulator.
The telescoping mechanism includes overturning sleeve, sliding rail, L-type connecting plate and cylinder assembly, the overturning sleeve with
Sliding rail is linked together；Hingedly on the slide rail, the other end is hinged on the head of cylinder assembly to the L-type one end of the connection board, and gas
The bottom of cylinder component is hinged on the side on the bottom end of mechanical arm close to rotary shaft, by the work of cylinder assembly, by telescopic machine
Structure is released or is retracted along mechanical arm, keeps the course of work reliable and stable, and efficiency is higher.
Buffer spring is equipped on the inside of the grabbing device, and top is equipped with electromagnetic absorption device, and workpiece is effectively prevent to grab
Scratch is formed during taking, and can be adsorbed using the production magnetic that is powered when grabbing ironware, is prevented workpiece from inadvertently falling off, is formed
Dual fail-safe.
Compared with prior art, the invention has the following beneficial effects:
1. guide protrusions of the invention and arc groove setting make guide protrusions sliding of the sliding panel on the inside of support plate,
It ensure that the stability of elevating mechanism, thus it is more reliable and more stable when making robot work, it avoids trembleing.
2. the setting of telescoping mechanism of the invention, by the work of cylinder assembly, telescoping mechanism is released along mechanical arm or
It retracts, keeps the course of work reliable and stable, and efficiency is higher.
3. the setting of grabbing device of the invention effectively prevent forming scratch during workpiece grabbing, and in crawl iron
It can be adsorbed using the production magnetic that is powered when part, prevent workpiece from inadvertently falling off, form dual fail-safe.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is elevating mechanism structural schematic diagram of the invention.
Fig. 3 is telescoping mechanism structural representation of the invention.
In figure:
1- pedestal, 2- support plate, 3- guide protrusions, 4- elevating mechanism, 41- sliding panel, 411- arc groove, 412- screw thread
Hole, 42- cylindrical drum, 421- third driving pulley, 422- third driven pulley, 5- cover board, the first driving motor of 6-, 7- first are main
Movable belt pulley, the first driven pulley of 8-, 9- rotary shaft, 10- mechanical arm, 11- guide groove, 12- telescoping mechanism, 121- overturn sleeve,
122- sliding rail, 123-L type connecting plate, 124- cylinder assembly, the second driving motor of 13-, the second driving pulley of 14-, 15- second from
Movable belt pulley, 16- torsion shaft, 17- grabbing device, 18- third driving motor.
Specific embodiment
The present invention is described further below in conjunction with attached drawing:
Embodiment:
As shown in attached drawing 1 to attached drawing 3
The present invention provides a kind of multi-functional five axis robot for improving structure, including pedestal 1, support plate 2, guide protrusions 3,
Elevating mechanism 4, cover board 5, the first driving motor 6, the first driving pulley 7, the first driven pulley 8, rotary shaft 9, mechanical arm 10 are led
To slot 11, telescoping mechanism 12, the second driving motor 13, the second driving pulley 14, the second driven pulley 15, torsion shaft 16, crawl
The upper end two sides of device 17 and third driving motor 18, the pedestal 1 are symmetrically connected with support plate 2, the inside of the support plate 2
Middle part is equipped with guide protrusions 3, which is half circular axle shape, and contour with support plate 2；The elevating mechanism 4 includes sliding
Movable plate 41 and cylindrical drum 42, the sliding panel 41 and cylindrical drum 42 are vertically connected, and the sliding panel 41, which is fastened on, leads
To in protrusion 3, the cylindrical drum 42 runs through the through-hole 51 for being located at 5 side of cover board, which is erected at by connector fixation
In support plate 2, the other side of the cover board 5 is equipped with electric machine support, is equipped with the first driving motor 6 on the bracket, first driving
The main shaft of motor 6 vertically downward, and is fixedly connected with the first driving pulley 7, which passes through conveyer belt and first
Driven pulley 8 is connected, which is fixedly connected in the upper end shaft of screw rod, which is worn by upper end shaft
Cover board 5 is crossed, and is rotatablely connected with cover board 5, the lower end shaft and pedestal 1 of the screw rod are rotatablely connected；The rotary shaft 9 passes through axis
It holds to rotate with cylindrical drum 42 and connect, the upper end of the rotary shaft 9 is fixedly connected with mechanical arm 10 by connector, the mechanical arm 10
Middle part horizontal direction offers guide groove 11, slidably connects telescoping mechanism 12 in the guide groove 11, the telescoping mechanism 12 it is upper
It holds the side close to rotary shaft 9 that second driving motor 13 is installed, it is main that second is connected on the main shaft of second driving motor 13
Movable belt pulley 14, second driving pulley 14 are sequentially connected by conveyer belt and the second driven pulley 15, second driven pulley 15
It is fixed on a side end face of torsion shaft 16, which is rotatablely connected by bearing and telescoping mechanism 12, the torsion shaft 16
Outboard end is connected with grabbing device 17 by connecting shaft, which runs through torsion shaft 16 by pivoted housing, and upper end is connected with
Third driving motor 18.
The two sides of the sliding panel 41 are symmetrically arranged with arc groove 411, the arc groove 411 and 3 kissing of guide protrusions
It closes, and the inner wall of arc groove 411 is equipped with oil groove, slides sliding panel 41 along the guide protrusions 3 of 2 inside of support plate, guarantee
The stability of elevating mechanism 4, thus it is more reliable and more stable when making robot work, it avoids trembleing.
Threaded hole 412 has been opened at the middle part of the sliding panel 41, and the threaded hole 412 and the stud are rotatablely connected,
The upper end shaft of the stud is driven by a drive motor to rotate, by the rotation of stud, make the sliding panel 41 being threadedly coupled rise or
The change of manipulator upper and lower position is realized in decline.
The bottom end of the rotary shaft 9 is connected with third driven pulley 422, which passes through conveyer belt
It is connect with third driving pulley 421, which is connected with the driving motor for being mounted on 41 bottom of sliding panel, should
Driving motor can drive rotary shaft 9 to rotate to any direction, expand the working range of manipulator.
The telescoping mechanism 12 includes overturning sleeve 121, sliding rail 122, L-type connecting plate 123 and cylinder assembly 124, institute
The overturning sleeve 121 stated is linked together with sliding rail 122；Described 123 one end of L-type connecting plate is hinged on sliding rail 122, the other end
It is hinged on the head of cylinder assembly 124, and the bottom of cylinder assembly 124 is hinged on the bottom end of mechanical arm 10 close to rotary shaft 9
Side telescoping mechanism 12 is released or is retracted along mechanical arm 10, the course of work is stablized by the work of cylinder assembly 124
Reliably, and efficiency is higher.
Buffer spring is equipped on the inside of the grabbing device 17, and top is equipped with electromagnetic absorption device, effectively prevent workpiece
Scratch is formed during crawl, and can be adsorbed using the production magnetic that is powered when grabbing ironware, prevents workpiece from inadvertently falling off, shape
At dual fail-safe.
Working principle
In the present invention, manipulator is fixed on by working region by pedestal 1, the work of the first driving motor 6 makes connected the
One driving pulley 7 drives the rotation of the first driven pulley 8, to drive connected stud rotation, sliding panel 41 is risen or is fallen,
Driving motor makes third driving pulley 421 that third driven pulley 422 be driven to rotate, thus rotate rotary shaft 9 around cylindrical drum 42,
By the work of cylinder assembly 124, telescoping mechanism 12 is released or retracted along mechanical arm 10, the work of the second driving motor 13 makes
The second connected driving pulley 14 drives the work of the second driven pulley 15, thus rotate torsion shaft 16 around overturning sleeve 121, the
The work of three driving motors 18, can be such that grabbing device 17 rotates by connecting shaft.This improves the manipulator of structure, and working principle is clear
Clear, framework is simple, it is easy to accomplish, it is convenient for marketing and application.
Using technical solutions according to the invention or those skilled in the art under the inspiration of technical solution of the present invention,
Similar technical solution is designed, and reaches above-mentioned technical effect, is to fall into protection scope of the present invention.
Claims (6)
1. a kind of multi-functional five axis robot, it is characterised in that: including pedestal (1), support plate (2), guide protrusions (3), lifting
Mechanism (4), cover board (5), the first driving motor (6), the first driving pulley (7), the first driven pulley (8), rotary shaft (9), machine
Tool arm (10), guide groove (11), telescoping mechanism (12), the second driving motor (13), the second driving pulley (14), the second driven belt
It takes turns (15), torsion shaft (16), grabbing device (17) and third driving motor (18), the upper end two sides of the pedestal (1) are symmetrical
Support plate (2) are connected with, the middle inside of the support plate (2) is equipped with guide protrusions (3), which is half circular axle shape,
And it is contour with support plate (2)；The elevating mechanism (4) includes sliding panel (41) and cylindrical drum (42), the sliding panel
(41) it is vertically connected with cylindrical drum (42), the sliding panel (41) is fastened on guide protrusions (3), the cylindrical drum
(42) through the through-hole (51) for being located at cover board (5) side, which is erected on support plate (2) by connector fixation, should
The other side of cover board (5) is equipped with electric machine support, is equipped with the first driving motor (6) on the bracket, first driving motor (6)
Main shaft vertically downward, and is fixedly connected with the first driving pulley (7), first driving pulley (7) by conveyer belt and first from
Movable belt pulley (8) is connected, which is fixedly connected in the upper end shaft of screw rod, which passes through upper end shaft
It is rotatablely connected across cover board (5), and with cover board (5), the lower end shaft of the screw rod and pedestal (1) are rotatablely connected；The rotation
Axis (9) is connected by bearing and cylindrical drum (42) rotation, and the upper end of the rotary shaft (9) is fixedly connected with mechanical arm by connector
(10), the middle part horizontal direction of the mechanical arm (10) offers guide groove (11), slidably connects in the guide groove (11) flexible
The upper end of mechanism (12), the telescoping mechanism (12) is equipped with the second driving motor (13) close to the side of rotary shaft (9), this second
The second driving pulley (14) are connected on the main shaft of driving motor (13), which passes through conveyer belt and second
Driven pulley (15) transmission connection, second driven pulley (15) are fixed on a side end face of torsion shaft (16), the torsion shaft
(16) it is rotatablely connected by bearing and telescoping mechanism (12), which is connected with crawl dress by connecting shaft
(17) are set, which runs through torsion shaft (16) by pivoted housing, and upper end is connected with third driving motor (18).
2. multi-functional five axis robot as described in claim 1, it is characterised in that: the two sides of the sliding panel (41) are symmetrical
Equipped with arc groove (411), which matches with guide protrusions (3), and on the inner wall of arc groove (411)
Equipped with oil groove.
3. multi-functional five axis robot as claimed in claim 1 or 2, it is characterised in that: the middle part of the sliding panel (41)
Threaded hole (412) are opened, the threaded hole (412) and stud are rotatablely connected.
4. multi-functional five axis robot as described in claim 1, it is characterised in that: the bottom end of the rotary shaft (9) connects
There are third driven pulley (422), which is connect by conveyer belt with third driving pulley (421), this
Three driving pulleys (421) are connected with the driving motor for being mounted on sliding panel (41) bottom.
5. multi-functional five axis robot as described in claim 1, it is characterised in that: the telescoping mechanism (12) includes overturning
Sleeve (121), sliding rail (122), L-type connecting plate (123) and cylinder assembly (124), the overturning sleeve (121) and sliding rail
(122) it is linked together；Described L-type connecting plate (123) one end is hinged on sliding rail (122), and the other end is hinged on cylinder assembly
(124) head, and the bottom of cylinder assembly (124) is hinged on the side on the bottom end of mechanical arm (10) close to rotary shaft (9).
6. multi-functional five axis robot as described in claim 1, it is characterised in that: be equipped on the inside of the grabbing device (17)
Buffer spring, and top is equipped with electromagnetic absorption device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810730866.6A CN108972522A (en) | 2018-07-05 | 2018-07-05 | Multi-functional five axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810730866.6A CN108972522A (en) | 2018-07-05 | 2018-07-05 | Multi-functional five axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108972522A true CN108972522A (en) | 2018-12-11 |
Family
ID=64537124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810730866.6A Pending CN108972522A (en) | 2018-07-05 | 2018-07-05 | Multi-functional five axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108972522A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719531A (en) * | 2018-12-28 | 2019-05-07 | 宁波朗涌工贸有限公司 | The automobile fitting part process equipment of universal rocker arrangement is installed |
| CN110125969A (en) * | 2019-06-20 | 2019-08-16 | 江苏雷益机械科技有限公司 | Rotary machine blanking device on hand |
| CN110270991A (en) * | 2019-06-10 | 2019-09-24 | 潍坊海丰自动化科技有限公司 | A kind of six axis mechanisms |
| CN110282319A (en) * | 2019-06-10 | 2019-09-27 | 潍坊海丰自动化科技有限公司 | Intelligent AGV logistics resource |
| CN110405781A (en) * | 2019-07-15 | 2019-11-05 | 东南大学 | It is a kind of for the mechanical arm of playing chess of man-machine chess, its control system and method |
| CN111168444A (en) * | 2020-03-17 | 2020-05-19 | 常州机电职业技术学院 | Rapid pressing mechanism for mechanical manufacturing equipment |
| CN112008704A (en) * | 2019-05-31 | 2020-12-01 | 昆山怡德鑫精密机械有限公司 | Product transmission mechanical arm |
| CN113245219A (en) * | 2021-05-24 | 2021-08-13 | 深圳市富优驰科技有限公司 | MIM vision guide robot |
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| US20150375390A1 (en) * | 2014-03-06 | 2015-12-31 | Encore Automation | Robotic system for applying surface finishes to large objects |
| CN204278001U (en) * | 2014-10-25 | 2015-04-22 | 东莞市三润田自动化设备有限公司 | Five axis robot |
| CN106141783A (en) * | 2015-03-23 | 2016-11-23 | 东莞市承恩自动化设备有限公司 | A kind of Novel multi-shaft industrial robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719531A (en) * | 2018-12-28 | 2019-05-07 | 宁波朗涌工贸有限公司 | The automobile fitting part process equipment of universal rocker arrangement is installed |
| CN112008704A (en) * | 2019-05-31 | 2020-12-01 | 昆山怡德鑫精密机械有限公司 | Product transmission mechanical arm |
| CN110270991A (en) * | 2019-06-10 | 2019-09-24 | 潍坊海丰自动化科技有限公司 | A kind of six axis mechanisms |
| CN110282319A (en) * | 2019-06-10 | 2019-09-27 | 潍坊海丰自动化科技有限公司 | Intelligent AGV logistics resource |
| CN110125969A (en) * | 2019-06-20 | 2019-08-16 | 江苏雷益机械科技有限公司 | Rotary machine blanking device on hand |
| CN110405781A (en) * | 2019-07-15 | 2019-11-05 | 东南大学 | It is a kind of for the mechanical arm of playing chess of man-machine chess, its control system and method |
| CN111168444A (en) * | 2020-03-17 | 2020-05-19 | 常州机电职业技术学院 | Rapid pressing mechanism for mechanical manufacturing equipment |
| CN111168444B (en) * | 2020-03-17 | 2021-08-31 | 常州机电职业技术学院 | Rapid pressing mechanism for mechanical manufacturing equipment |
| CN113245219A (en) * | 2021-05-24 | 2021-08-13 | 深圳市富优驰科技有限公司 | MIM vision guide robot |
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Application publication date: 20181211 |
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| RJ01 | Rejection of invention patent application after publication |