CN109927018A - A kind of movement chassis of movable six-joint robot - Google Patents
A kind of movement chassis of movable six-joint robot Download PDFInfo
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- CN109927018A CN109927018A CN201910352613.4A CN201910352613A CN109927018A CN 109927018 A CN109927018 A CN 109927018A CN 201910352613 A CN201910352613 A CN 201910352613A CN 109927018 A CN109927018 A CN 109927018A
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- fixedly connected
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- pedestal
- track
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Abstract
The invention discloses a kind of movement chassis of movable six-joint robot, including track, pedestal and locking mechanism, the surface of track is fixedly connected with rack gear, the two sides of rack gear offer the sliding rail of indent, the surface of track is equipped with the pedestal being flexibly connected, pedestal includes shell, idler wheel, hydraulic motor and driving gear, the inside of shell is fixedly connected with hydraulic motor and driving gear, driving gear is horizontally placed on the bottom of shell and is connected with hydraulic motor, the edge of shell two sides is equipped with the idler wheel of rotation connection, the side wall of shell is fixedly connected with locking mechanism, locking mechanism includes fixed frame, locking column, connect transverse slat, reset spring and camshaft.The present invention in pedestal by being equipped with hydraulic motor and driving gear, rack gear in matching track facilitates control pedestal to move along raceway surface, is fixedly connected with locking mechanism by the edge in pedestal, facilitate and pedestal and track are fixed, improves the flexibility of robot work.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specially a kind of movement chassis of movable six-joint robot.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
Currently, the industrial robot in market mostly in a manner of fixed installation based on, make robot on specified station
It works, since the bottom of robot reduces machine so the efficient working range of robot is limited for fixed structure
Device task efficiency, and the weight of robot is larger, it has not been convenient to the position of robot is adjusted, reducing robot makes
Flexibility.It is solved for this reason, it may be necessary to design the new technical solution of one kind and give.
Summary of the invention
The purpose of the present invention is to provide a kind of movement chassis of movable six-joint robot, by being equipped with liquid in pedestal
Pressure motor and driving gear, the rack gear in matching track, facilitate control pedestal to move along raceway surface, by the edge of pedestal
Place is fixedly connected with locking mechanism, facilitates and pedestal and track are fixed, and improves the flexibility of robot work.
To achieve the above object, the invention provides the following technical scheme: a kind of movement chassis of movable six-joint robot,
Including track, pedestal and locking mechanism, the surface of the track is fixedly connected with rack gear, and the two sides of the rack gear offer indent
Sliding rail, the surface of the track is equipped with the pedestal being flexibly connected, and the pedestal includes shell, idler wheel, hydraulic motor and driving
Gear, the inside of the shell are fixedly connected with hydraulic motor and driving gear, and the driving gear is horizontally placed on the bottom of shell
And be connected with hydraulic motor, the edge of the shell two sides is equipped with the idler wheel of rotation connection, and the idler wheel is embedded in sliding rail
Interior and roll and connect with sliding rail, the side wall of the shell is fixedly connected with locking mechanism, the locking mechanism include fixed frame,
The sidewall weld of locking column, connection transverse slat, reset spring and camshaft, the fixed frame and shell connects, the fixed frame
The connection transverse slat of cross direction profiles is equipped in frame, the surface of the connection transverse slat is fixedly connected with the locking column of genesis analysis, described
Locking column runs through the plug connection of fixed frame and track, and the both ends of the connection transverse slat are fixedly connected with reset spring, described
The upper surface for connecting transverse slat is equipped with the camshaft of rotation connection.
As an improvement of the above technical solution, the output end of the hydraulic motor is fixedly connected with transmission gear, the biography
Moving gear engages connection with driving gear.
As an improvement of the above technical solution, the bottom of the shell offers strip-shaped hole, the lower end of the driving gear
It protrudes from bar shaped hole surface and connection is engaged with rack.
As an improvement of the above technical solution, erecting bed is fixedly connected at the top of the shell, under the erecting bed
Surface is equipped with rounded equally distributed ribs, and the upper surface of the erecting bed offers mounting hole.
As an improvement of the above technical solution, the edge of the top of the rail offers the locking of linear homogeneous distribution
Hole, the lock hole and locking column plug connection.
As an improvement of the above technical solution, the connection transverse slat both ends are slidably connected with fixed frame, the reset bullet
Spring one end with connect that transverse slat is fixedly connected and the other end is fixedly connected with fixed frame.
As an improvement of the above technical solution, the right end of the camshaft runs through fixed frame, the right end of the camshaft
It is fixedly connected with swing handle.
Compared with prior art, beneficial effects of the present invention are as follows:
1, for the present invention by being equipped with hydraulic motor in pedestal and driving gear, the rack gear in matching track facilitates control
Pedestal is moved along raceway surface, convenient for adjust robot operating position, make robot station adjust it is more convenient, by
The edge of pedestal is fixedly connected with locking mechanism, facilitates and pedestal and track are fixed, and improves robot in fixed position
The stability of upper work.
2, the present invention is equipped with the ribs of circular distribution by the inner surface in erecting bed, causes after avoiding robot from installing
Erecting bed deformation, improves the structural stability of pedestal, by moving up and down using camshaft control connection transverse slat, control is facilitated to lock
Fixed column stretches, to control the connection type of pedestal and track.
Detailed description of the invention
Fig. 1 is the movement chassis end structure illustration of movable six-joint robot of the present invention；
Fig. 2 is erecting bed side structure schematic view of the present invention；
Fig. 3 is pedestal overlooking structure diagram of the present invention；
Fig. 4 is locking mechanism schematic cross-sectional view of the present invention.
In figure: track -1, pedestal -2, locking mechanism -3, rack gear -4, sliding rail -5, shell -6, idler wheel -7, hydraulic motor -8,
Gear -9, fixed frame -10 are driven, locking column -11 connects transverse slat -12, reset spring -13, camshaft -14, transmission gear -
15, strip-shaped hole -16, erecting bed -17, ribs -18, mounting hole -19, lock hole -20, swing handle -21.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
It please refers to Fig. 1-4 present invention and a kind of technical solution is provided: a kind of movement chassis of movable six-joint robot, including
Track 1, pedestal 2 and locking mechanism 3, the surface of the track 1 are fixedly connected with rack gear 4, and the two sides of the rack gear 4 offer interior
Recessed sliding rail 5, the surface of the track 1 are equipped with the pedestal 2 being flexibly connected, and the pedestal 2 includes shell 6, idler wheel 7, hydraulic horse
Up to 8 and driving gear 9, the inside of the shell 6 is fixedly connected with hydraulic motor 8 and driving gear 9, and the driving gear 9 is horizontal
It being placed in the bottom of shell 6 and is connected with hydraulic motor 8, the edge of 6 two sides of shell is equipped with the idler wheel 7 of rotation connection,
The idler wheel 7 is embedded in sliding rail 5 and rolls with sliding rail 5 and connects, and the side wall of the shell 6 is fixedly connected with locking mechanism 3, institute
Stating locking mechanism 3 includes fixed frame 10, locking column 11, connection transverse slat 12, reset spring 13 and camshaft 14, the fixed frame
Frame 10 is connect with the sidewall weld of shell 6, and the connection transverse slat 12 of cross direction profiles is equipped in the fixed frame 10, and the connection is horizontal
The surface of plate 12 is fixedly connected with the locking column 11 of genesis analysis, and the locking column 11 is inserted through fixed frame 10 and track 1
It connects in succession, the both ends of the connection transverse slat 12 are fixedly connected with reset spring 13, and the upper surface of the connection transverse slat 12, which is equipped with, to be turned
The camshaft 14 of dynamic connection, by being equipped with hydraulic motor 8 in pedestal 2 and driving gear 9, the rack gear 4 in matching track 1, side
Just control pedestal 2 is along 1 apparent motion of track, convenient for adjusting the operating position of robot, adjusts the station of robot more square
Just, by being fixedly connected with locking mechanism 3 in the edge of pedestal 2, facilitate and pedestal 2 and track 1 are fixed, improve machine
The stability that people works on fixed position.
It is further improved ground, as shown in figure 3, the output end of the hydraulic motor 8 is fixedly connected with transmission gear 15, it is described
Transmission gear 15 engages connection with driving gear 9, is connect hydraulic motor 8 with driving gear 9 using transmission gear 15, convenient for control
The position of 8 power output of hydraulic motor processed, it is convenient to engage connection with the rack gear 4 on 1 surface of track.
It is further improved ground, as shown in Figure 1, the bottom of the shell 6 offers strip-shaped hole 16, the driving gear 9
Lower end protrudes from 16 surface of strip-shaped hole and engages connection with rack gear 4, convenient by offering strip-shaped hole 16 in the bottom of shell 6
Make that gear 9 is driven to connect with rack gear 4, is moved on track 1 convenient for driving pedestal 2.
It is further improved ground, as shown in Figs. 1-2, the top of the shell 6 is fixedly connected with erecting bed 17, the erecting bed
17 lower surface is equipped with rounded equally distributed ribs 18, and the upper surface of the erecting bed 17 offers mounting hole 19, leads to
The inner surface in erecting bed 17 is crossed equipped with the ribs 18 of circular distribution, the structural strength of erecting bed 17 is improved, avoids installing
Erecting bed 17 is caused to deform after robot.
It is further improved ground, as shown in Figure 1, the edge at 1 top of the track offers the locking of linear homogeneous distribution
Hole 20, the lock hole 20 and 11 plug connection of locking column, by offering linear homogeneous distribution in the edge at 1 top of track
Lock hole 20, facilitate cooperation locking column 11 pedestal 2 is fixed.
It is further improved ground, as shown in figure 4,12 both ends of connection transverse slat are slidably connected with fixed frame 10, it is described multiple
Position 13 one end of spring with connect that transverse slat 12 is fixedly connected and the other end is fixedly connected with fixed frame 10, by connecting transverse slat 12
It is equipped with reset spring 13 between fixed frame 10, is popped up automatically convenient for making to connect transverse slat 12.
Specifically with improvement, as shown in figure 4, the right end of the camshaft 14 runs through fixed frame 10, the camshaft 14
Right end is fixedly connected with swing handle 21, by being fixedly connected with swing handle 21 in the right end of camshaft 14, facilitates operator
Member's quick rotation camshaft 14, so that it is flexible to control locking column 11.
Embodiment 1:
In the use of the present invention, track 1 is laid on station ground, pedestal 2 is installed on track 1, then by six
Axis robot is placed on the surface of erecting bed 17, and six-joint robot is fixed on to the surface of pedestal 2 using cage bolt, by six
Axis robot and pedestal 2 are connect with hydraulic station respectively, and the installation of six-joint robot can be completed.
Embodiment 2:
There are two types of working conditions at work by the present invention, and one is fixed working conditions, and staff is using in pedestal 2
Hydraulic motor 8 drives pedestal 2 to be moved to the position of work, then pulls down down swing handle 21, squeezes camshaft 14 and connects
Transverse slat 12 is connect, locking column 11 is inserted into the lock hole 20 on 1 surface of track, six-joint robot works in fixed position；
Another kind is active operating state, when needing to carry out the transfer of long range station to product, drives bottom by control hydraulic motor 8
Seat 2 constantly moves back and forth on track 1, transports to product, improves the flexibility of six-joint robot work.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of movement chassis of movable six-joint robot, including track (1), pedestal (2) and locking mechanism (3), feature
Be: the surface of the track (1) is fixedly connected with rack gear (4), and the two sides of the rack gear (4) offer the sliding rail (5) of indent,
The surface of the track (1) is equipped with the pedestal (2) being flexibly connected, and the pedestal (2) includes shell (6), idler wheel (7), hydraulic horse
Up to (8) and driving gear (9), the inside of the shell (6) is fixedly connected with hydraulic motor (8) and driving gear (9), the drive
Moving gear (9) is horizontally placed on the bottom of shell (6) and is connected with hydraulic motor (8), and the edge of shell (6) two sides is equipped with
The idler wheel (7) of rotation connection, the idler wheel (7) are embedded in sliding rail (5) and roll with sliding rail (5) and connect, the shell (6)
Side wall is fixedly connected with locking mechanism (3), and the locking mechanism (3) includes fixed frame (10), locking column (11), connection transverse slat
(12), reset spring (13) and camshaft (14), the fixed frame (10) connect with the sidewall weld of shell (6), described solid
Determine the connection transverse slat (12) that cross direction profiles are equipped in frame (10), the surface of connection transverse slat (12) is fixedly connected with longitudinal point
The locking column (11) of cloth, the locking column (11) run through the plug connection of fixed frame (10) and track (1), the connection transverse slat
(12) both ends are fixedly connected with reset spring (13), and the upper surface of connection transverse slat (12) is equipped with the camshaft of rotation connection
(14)。
2. a kind of movement chassis of movable six-joint robot according to claim 1, it is characterised in that: the hydraulic horse
Output end up to (8) is fixedly connected with transmission gear (15), and the transmission gear (15) engages connection with driving gear (9).
3. a kind of movement chassis of movable six-joint robot according to claim 1, it is characterised in that: the shell
(6) bottom offers strip-shaped hole (16), and the lower end of driving gear (9) protrudes from strip-shaped hole (16) surface and and rack gear
(4) engagement connection.
4. a kind of movement chassis of movable six-joint robot according to claim 3, it is characterised in that: the shell
(6) it is fixedly connected at the top of erecting bed (17), the lower surface of the erecting bed (17) is equipped with rounded equally distributed reinforcement
The upper surface of rib (18), the erecting bed (17) offers mounting hole (19).
5. a kind of movement chassis of movable six-joint robot according to claim 1, it is characterised in that: the track
(1) edge at the top of offers the lock hole (20) of linear homogeneous distribution, the lock hole (20) and locking column (11) grafting
Connection.
6. a kind of movement chassis of movable six-joint robot according to claim 1, it is characterised in that: the connection is horizontal
Plate (12) both ends are slidably connected with fixed frame (10), described reset spring (13) one end with connect transverse slat (12) be fixedly connected and
The other end is fixedly connected with fixed frame (10).
7. a kind of movement chassis of movable six-joint robot according to claim 1, it is characterised in that: the camshaft
(14) right end runs through fixed frame (10), and the right end of the camshaft (14) is fixedly connected with swing handle (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910352613.4A CN109927018A (en) | 2019-04-29 | 2019-04-29 | A kind of movement chassis of movable six-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910352613.4A CN109927018A (en) | 2019-04-29 | 2019-04-29 | A kind of movement chassis of movable six-joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109927018A true CN109927018A (en) | 2019-06-25 |
Family
ID=66991177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910352613.4A Pending CN109927018A (en) | 2019-04-29 | 2019-04-29 | A kind of movement chassis of movable six-joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109927018A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110528341A (en) * | 2019-08-13 | 2019-12-03 | 肇庆学院 | A kind of variable rail track |
| CN111113383A (en) * | 2020-01-03 | 2020-05-08 | 杜海芳 | Rotary bottom plate device of industrial manipulator |
| CN113814955A (en) * | 2020-06-18 | 2021-12-21 | 四川工程职业技术学院 | Base with locking function and industrial robot thereof |
| CN115958579A (en) * | 2023-03-15 | 2023-04-14 | 北京智能智造科技有限公司 | Multi-degree-of-freedom series robot mechanism |
| CN116872173A (en) * | 2023-09-07 | 2023-10-13 | 宁波华众模具制造有限公司 | Manipulator convenient to move |
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| CN103556760A (en) * | 2013-10-21 | 2014-02-05 | 沈阳建筑大学 | Connecting device of horizontal frame and vertical frame of curtain wall |
| CN204976629U (en) * | 2015-07-14 | 2016-01-20 | 北京瑞科恒业喷涂技术有限公司 | Train spraying machine people |
| CN106426131A (en) * | 2015-08-12 | 2017-02-22 | 襄阳冈多力智能科技有限公司 | Robot for taking out springs |
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| CN206509659U (en) * | 2016-12-29 | 2017-09-22 | 淮南三创机器人科技有限公司 | A kind of welding robot moving bracket system |
| CN207863180U (en) * | 2018-04-19 | 2018-09-14 | 湖北沛函建设有限公司 | A kind of timber buildings quick access device |
| CN208179077U (en) * | 2018-03-12 | 2018-12-04 | 中山科瑞自动化技术有限公司 | A kind of accurate handling equipment based on CNC machining center |
| CN208342827U (en) * | 2018-04-04 | 2019-01-08 | 天津鑫源森特自动化科技有限公司 | A kind of robot with walking track |
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2019
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| JPH11285991A (en) * | 1998-04-03 | 1999-10-19 | Line Works:Kk | Robot moving device |
| CN1827501A (en) * | 2005-03-01 | 2006-09-06 | 安东尼奥·皮阿扎 | Apparatus for picking up and conveying sheet-like products accommodated in a storage unit |
| CN203184502U (en) * | 2013-02-04 | 2013-09-11 | 北京睿鸿基机械设备有限责任公司 | Traveling mechanism of automatic robot bending system |
| CN103556760A (en) * | 2013-10-21 | 2014-02-05 | 沈阳建筑大学 | Connecting device of horizontal frame and vertical frame of curtain wall |
| CN204976629U (en) * | 2015-07-14 | 2016-01-20 | 北京瑞科恒业喷涂技术有限公司 | Train spraying machine people |
| CN106426131A (en) * | 2015-08-12 | 2017-02-22 | 襄阳冈多力智能科技有限公司 | Robot for taking out springs |
| CN206326287U (en) * | 2016-11-09 | 2017-07-14 | 西安建筑科技大学 | A kind of welding robot |
| CN206509659U (en) * | 2016-12-29 | 2017-09-22 | 淮南三创机器人科技有限公司 | A kind of welding robot moving bracket system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110528341A (en) * | 2019-08-13 | 2019-12-03 | 肇庆学院 | A kind of variable rail track |
| CN111113383A (en) * | 2020-01-03 | 2020-05-08 | 杜海芳 | Rotary bottom plate device of industrial manipulator |
| CN113814955A (en) * | 2020-06-18 | 2021-12-21 | 四川工程职业技术学院 | Base with locking function and industrial robot thereof |
| CN115958579A (en) * | 2023-03-15 | 2023-04-14 | 北京智能智造科技有限公司 | Multi-degree-of-freedom series robot mechanism |
| CN116872173A (en) * | 2023-09-07 | 2023-10-13 | 宁波华众模具制造有限公司 | Manipulator convenient to move |
| CN116872173B (en) * | 2023-09-07 | 2024-01-05 | 宁波华众模具制造有限公司 | Manipulator convenient to move |
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Application publication date: 20190625 |