CN112192559A

CN112192559A - Industrial intelligent six-axis robot

Info

Publication number: CN112192559A
Application number: CN202010936418.9A
Authority: CN
Inventors: 陈春莉
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-08
Filing date: 2020-09-08
Publication date: 2021-01-08

Abstract

The invention discloses an industrial intelligent six-axis robot which comprises a first transverse plate, a sliding plate and a shell, wherein the sliding plate is connected with a sliding groove of the first transverse plate in a sliding and clamping mode, the shell is fixedly connected to the upper surface of the sliding plate, and a moving device is installed on the left side of the upper surface of the first transverse plate. This six intelligent robots of industry, drive fixed disc through driving motor, roller cooperation on the disc removes the frame and turns into reciprocating motion's linear motion with circular motion, the push rod is fixed continuous with the outer wall of casing under the drive that removes the frame, thereby it circulates reciprocating motion to drive the casing, the round trip displacement and the reseing of manipulator have been realized, through the T shape carousel, the runner, mutually support between second extension board second trapezoidal plate and the second motor isotructure, the output shaft that can pass through the second motor drives the T shape carousel and rotates, the pivot that the T shape rotated the drive arm rotates, thereby reach the direction that makes the arm and carry out the pivoted purpose.

Description

Industrial intelligent six-axis robot

Technical Field

The invention relates to the technical field of industrial robots, in particular to an industrial intelligent six-axis robot.

Background

China is a large industrial country, along with the rapid development of economy, the industrial production level is also gradually improved, the mechanical production is gradually moved from manual production, the most remarkable is the application of industrial robots, the industrial robots are divided into a plurality of types, wherein the industrial six-axis robot is more flexible compared with a common industrial robot, and can realize multi-angle adjustment and rotation, so that the robot is widely applied, most of the robots in the prior art are fixed and cannot move, and the reciprocating stroke of returning to an original point cannot be realized for the movement in the horizontal direction, so that the stroke of the robot is limited, and a rotating device in the prior art is too single in structure, and the stability is too low, so that the robot capable of quickly realizing the movement and the return in the horizontal direction needs to be provided, so that the efficiency of daily production is improved.

Disclosure of Invention

The invention aims to provide an industrial intelligent six-axis robot to solve the problem that the travel of the robot is limited because most of the robots in the prior art are fixed and cannot move as proposed in the background art.

In order to achieve the purpose, the invention provides the following technical scheme:

an industrial intelligent six-axis robot comprising:

the end surface of the first transverse plate is provided with a sliding chute;

the sliding plate is slidably clamped at the sliding groove formed in the first transverse plate;

the shell is fixedly connected to the upper surface of the sliding plate;

a robot arm fixed to the housing;

the industrial intelligent six-axis robot further comprises: a moving device installed at one side of an upper surface of the first cross plate; the moving device comprises a wheel shaft, a driving motor, a disc, a moving frame and a push rod; the driving motor is fixed on the upper end face of the first transverse plate, the output end of the driving motor is connected with a wheel shaft, a fixed disc is rotated on the wheel shaft, a roller is rotatably mounted on the disc face of the disc, and a movable frame is movably sleeved outside the roller; the outer part of the movable frame is connected with a push rod, and the other end of the push rod is fixedly connected with the outer wall of the shell; the roller is positioned in the movable frame and is in sliding fit with the movable frame; when the disc rotates, the roller rotates in the movable frame, and the movable frame drives the push rod to do linear motion.

Preferably, a first support plate is sleeved on the outer wall of the push rod, a through hole is formed in the upper portion of the first support plate, and the push rod penetrates through the through hole and slides in a sleeved and matched mode with the inner wall of the through hole of the first support plate; the lower end of the first support plate is fixedly connected with the first transverse plate.

Preferably, a limiting plate is fixed on the push rod and is located between the first supporting plate and the moving frame.

Preferably, a rotating device is installed inside the shell;

the rotating device comprises a T-shaped turntable, a rotating wheel, a second support plate, a second trapezoidal plate and a second motor;

the lower surface of arm is fixed continuous with the top of casing, the pivot department rigid coupling of arm has T shape carousel, the top outer wall of T shape carousel rotates continuously through the inside of pivot with the casing, a plurality of runners are installed to the circular spout department of T shape carousel, the outer wall of runner and the circular spout department inner wall clearance fit of T shape carousel, the lower surface rigid coupling of carousel has the second extension board, the outside of second extension board links to each other with the casing is fixed, the inboard rigid coupling of second extension board has second trapezoidal plate, the lower surface of second trapezoidal plate links to each other with the casing is fixed, the inside rigid coupling in the middle of second trapezoidal plate has the second motor, the output shaft of second motor links to each other with the T shape carousel is fixed.

Preferably, the first support plate and the first transverse plate are perpendicular to each other.

Preferably, the sliding block and the convex plate form a sliding structure.

Preferably, the midpoint of the output shaft of the second motor is on the same horizontal line with the midpoint of the T-shaped rotating disk.

Preferably, an elastic device is arranged on the right side of the upper surface of the first transverse plate;

the elastic device comprises a third support plate, a cross rod, a stop block, a spring, a square block, a first connecting rod and a second connecting rod;

the lower surface of the third support plate is fixedly connected with the first transverse plate, a transverse rod is installed at a through hole of the third support plate, the outer wall of the transverse rod is in clearance fit with the inner wall of the through hole of the third support plate, the left side of the transverse rod is fixedly connected with the shell, a plurality of square blocks and stop blocks are fixedly connected to the outer wall of the left side of the transverse rod, a spring is installed on the outer wall of the right side of the transverse rod, the left side and the right side of the spring are fixedly connected with the stop blocks and the third support plate respectively, the square blocks are rotatably connected with first connecting rods through rotating shafts, the right side of the first connecting rods is rotatably connected with second connecting rods through rotating shafts, and the right side of the.

Preferably, the upper and lower second connecting rods are symmetrically distributed by taking the cross rod as a midpoint.

Preferably, the third support plate and the first support plate are parallel to each other.

Compared with the prior art, the invention has the beneficial effects that:

this six intelligent robots of industry drives fixed disc through driving motor, and the roller cooperation on the disc removes the frame and turns into reciprocating motion's linear motion with circular motion, and the push rod is fixed continuous with the outer wall of casing under the drive that removes the frame to drive the casing and carry out circulation reciprocating motion, realized the round trip displacement and the reseing of arm.

This six intelligent robots of industry through mutually supporting between third extension board, horizontal pole, casing, first connecting rod and the second connecting rod isotructure, can carry on spacingly to the horizontal pole through first connecting rod and second connecting rod to further make the more stable that the casing removed through the horizontal pole.

This six intelligent robots of industry through mutually supporting between structures such as dog, spring, square piece, third extension board and first diaphragm, can stretch the spring through baffle and third extension board to elasticity performance through the spring makes the casing reset.

This six intelligent robots of industry, through mutually supporting between T shape carousel, runner, second extension board second trapezoidal plate and the second motor isotructure, can drive T shape carousel through the output shaft of second motor and rotate, and the T shape rotates the pivot that drives the arm and rotates to reach the direction that makes the arm and carry out pivoted purpose.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the second motor, the second trapezoidal plate and the T-shaped turntable of FIG. 1;

FIG. 3 is a schematic view of the third plate, spring and cross bar of FIG. 1;

fig. 4 is a schematic structural view of the stopper, the first link, and the square block of fig. 1.

In the figure: 1. the device comprises a first transverse plate, a second transverse plate, a third transverse plate, a fourth transverse plate, a fifth transverse plate, a sixth transverse plate, a fifth transverse plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution:

example 1

An industrial intelligent six-axis robot comprises a first transverse plate 1, a mechanical arm 401, a sliding plate 2 and a shell 6, wherein the mechanical arm 401 is fixed on the shell 6; a sliding groove is formed in the middle of the first transverse plate 1, a sliding plate 2 is slidably clamped at the sliding groove of the first transverse plate 1, the sliding plate 2 can move at the sliding groove of the first transverse plate 1, and a shell 6 is fixedly connected to the upper surface of the sliding plate 2; a moving device 3 is arranged on the left side of the upper surface of the first transverse plate 1; the moving device 3 comprises a wheel shaft 30, a driving motor 32, a disc 33, a moving frame 34 and a push rod 35; the driving motor 32 is fixed on the upper end surface of the first transverse plate 1, the output end of the driving motor 32 is connected with the wheel shaft 30, the wheel shaft 30 rotates to fix the disc 33, the disc surface of the disc 33 is rotatably provided with a roller 31, and the outer part of the roller 31 is movably sleeved with the movable frame 34; the outside of the moving frame 34 is connected with a push rod 35, and the other end of the push rod 35 is fixedly connected with the outer wall of the shell 6; wherein, the roller 31 is located in the moving frame 34 and is slidably engaged with the moving frame 34; when the disc 33 rotates, the roller 31 rotates in the moving frame 34, and the moving frame 34 drives the push rod 35 to do linear motion; a first support plate 37 is sleeved on the outer wall of the push rod 35, a through hole is formed in the upper portion of the first support plate 37, and the push rod 35 penetrates through the through hole and slides in a sleeved and matched mode with the inner wall of the through hole of the first support plate 37; the lower end of the first supporting plate 37 is fixedly connected with the first transverse plate 1; a limit plate 36 is fixed on the push rod 35, and the limit plate 36 is positioned between the first support plate 37 and the moving frame 34.

Drive fixed disc 33 through driving motor 32, the roller 31 on disc 33 cooperates and moves frame 34 and turns into reciprocating circular's linear motion with circular motion, and push rod 35 is fixed continuous with the outer wall of casing 6 under the drive that moves frame 34 to drive casing 6 and circulate reciprocating motion, realized that the round trip of arm 401 shifts and resets.

Example 2

As an optional situation, referring to fig. 1 and 2, in an industrial intelligent six-axis robot, a rotating device 4 is installed inside a housing 6, the rotating device 4 includes a mechanical arm 401, a T-shaped rotating disc 402, a rotating wheel 403, a second trapezoidal plate 405 of a second support plate 404 and a second motor 406, a lower surface of the mechanical arm 401 is fixedly connected with an upper side of the housing 6, the rotating shaft of the mechanical arm 401 is fixedly connected with the T-shaped rotating disc 402, an upper outer wall of the T-shaped rotating disc 402 is rotatably connected with the inside of the housing 6 through the rotating shaft, the T-shaped rotating disc 402 can rotate at the housing 6 through a bearing, a circular sliding groove is processed on the lower surface of the T-shaped rotating

disc

402, 2 rotating wheels 403 are installed on the circular sliding groove of the T-shaped rotating disc 402, an outer wall of the rotating wheel 403 is in clearance fit with an inner wall of the circular sliding groove of the T-shaped rotating disc 402, the T-shaped rotating, the outer side of the second support plate 404 is fixedly connected with the housing 6, the inner side of the second support plate 404 is fixedly connected with a second trapezoidal plate 405, the lower surface of the second trapezoidal plate 405 is fixedly connected with the housing 6, a second motor 406 is fixedly connected inside the middle of the second trapezoidal plate 405, the model of the second motor 406 is SMG80-M02430, the output shaft of the second motor 406 is fixedly connected with the T-shaped turntable 402, and the middle point of the output shaft of the second motor 406 and the middle point of the T-shaped turntable 402 are on the same horizontal line.

The scheme in this embodiment can be selectively combined with the scheme in other embodiments.

Example 3

As an optional situation, referring to fig. 1, 3 and 4, an industrial intelligent six-axis robot is provided, an elastic device 5 is installed on the right side of the upper surface of a first horizontal plate 1, the elastic device 5 includes a third support plate 501, a cross bar 502, a stop block 503, a spring 504, a square block 505, a first connecting rod 506 and a second connecting rod 507, the lower surface of the third support plate 501 is fixedly connected with the first horizontal plate 1, a through hole is processed in the middle of the third support plate 501, the cross bar 502 is installed at the through hole of the third support plate 501, the outer wall of the cross bar 502 is in clearance fit with the inner wall of the through hole of the third support plate 501, the cross bar 502 can move at the through hole of the third support plate 501, the left side of the cross bar 502 is fixedly connected with a housing 6, the left side outer wall of the left side of the cross bar 502 is fixedly connected with 2 square blocks 505 and the stop block 503, the right side outer wall of the cross bar, when the stop 503 moves to the left, the spring 504 is in a stretched state, the square block 505 is rotatably connected with a first connecting rod 506 through a rotating shaft, the right side of the first connecting rod 506 is rotatably connected with a second connecting rod 507 through a rotating shaft, the first connecting rod 506 can rotate at the square block 505 and the second connecting rod 507 through a rotating shaft, the right side of the second connecting rod 507 is rotatably connected with the third support plate 501 through a rotating shaft, the upper and lower second connecting rods 507 are symmetrically distributed by taking the cross rod 502 as a midpoint, and the third support plate 501 is parallel to the first support plate 306.

Example 4

When an operator needs to use the industrial intelligent six-axis robot, the operator firstly switches on an external power supply of the second motor 406, the second motor 406 is started, the output shaft of the second motor 406 drives the T-shaped turntable 402 to rotate, the T-shaped turntable 402 drives the rotating shaft of the mechanical arm 401 to rotate, so that the aim of adjusting the direction of the mechanical arm 401 is fulfilled, the external power supply of the driving motor 32 is switched on, the output shaft of the driving motor 32 drives the wheel shaft 30 to rotate, the wheel shaft 30 drives the disc 33 to do circular motion, the rollers 31 on the disc 33 slide and move in the moving frame 34 in a matching manner, the moving frame 34 moves to drive the push rod 35 to do reciprocating linear motion, the push rod 35 is connected to the shell 6 to drive the shell 6 to move, the shell 6 drives the cross rod 502 to move, the cross rod 502 drives the first connecting rod 506 to move, the first connecting rod 506 drives the second connecting rod 507 to rotate, meanwhile, the cross rod 502 drives the stop block 503 to move, the stop block 503 drives the spring 504 to stretch, when the first motor 302 is controlled to rotate reversely, the shell 6 can be reset through the elastic performance of the spring 504, and therefore the purpose of adjusting the position of the device is achieved.

In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An industrial intelligent six-axis robot comprising:

the end surface of the first transverse plate (1) is provided with a sliding chute;

the sliding plate (2) is slidably clamped at the sliding groove formed in the first transverse plate (1);

a housing (6) fixedly connected to the upper surface of the slide plate (2);

a robot arm (401) fixed to the housing (6);

the method is characterized in that: the industrial intelligent six-axis robot further comprises: a moving device (3) which is installed on one side of the upper surface of the first transverse plate (1); the moving device (3) comprises a wheel shaft (30), a driving motor (32), a disc (33), a moving frame (34) and a push rod (35); the driving motor (32) is fixed on the upper end face of the first transverse plate (1), the output end of the driving motor (32) is connected with the wheel shaft (30), the fixed disc (33) is rotated on the wheel shaft (30), the roller (31) is rotatably installed on the disc face of the disc (33), and the moving frame (34) is movably sleeved outside the roller (31); the outside of the movable frame (34) is connected with a push rod (35), and the other end of the push rod (35) is fixedly connected with the outer wall of the shell (6); wherein, the roller (31) is positioned in the moving frame (34) and is matched with the moving frame (34) in a sliding way; when the disc (33) rotates, the roller (31) rotates in the moving frame (34), and the moving frame (34) drives the push rod (35) to do linear motion.

2. The industrial intelligent six-axis robot of claim 1, wherein: a first support plate (37) is sleeved on the outer wall of the push rod (35), a through hole is formed in the upper portion of the first support plate (37), and the push rod (35) penetrates through the through hole and slides in a sleeved and matched mode with the inner wall of the through hole of the first support plate (37); the lower end of the first support plate (37) is fixedly connected with the first transverse plate (1).

3. The industrial intelligent six-axis robot of claim 1, wherein: a limit plate (36) is fixed on the push rod (35), and the limit plate (36) is positioned between the first support plate (37) and the moving frame (34).

4. The industrial intelligent six-axis robot of claim 1, wherein: a rotating device (4) is arranged in the shell (6);

the rotating device (4) comprises a T-shaped rotating disc (402), a rotating wheel (403), a second support plate (404), a second trapezoidal plate (405) and a second motor (406);

the T-shaped turntable (402) is fixedly connected with the rotating shaft of the mechanical arm (401), the outer wall of the upper part of the T-shaped turntable (402) is rotatably connected with the inner part of the shell (6) through the rotating shaft, a plurality of rotating wheels (403) are arranged at the circular sliding groove of the T-shaped rotating disc (402), the outer wall of each rotating wheel (403) is in clearance fit with the inner wall of the circular sliding groove of the T-shaped rotating disc (402), a second support plate (404) is fixedly connected to the lower surface of the turntable (403), the outer side of the second support plate (404) is fixedly connected with the shell (6), a second trapezoidal plate (405) is fixedly connected to the inner side of the second support plate (404), the lower surface of the second trapezoidal plate (405) is fixedly connected with the shell (6), a second motor (406) is fixedly connected inside the middle of the second trapezoidal plate (405), and the output shaft of the second motor (406) is fixedly connected with the T-shaped rotating disc (402).

5. The industrial intelligent six-axis robot of claim 4, wherein: the middle point of the output shaft of the second motor (406) is on the same horizontal line with the middle point of the T-shaped rotating disc (402).

6. The industrial intelligent six-axis robot of claim 1, wherein: the first support plate (306) is perpendicular to the first transverse plate (1).

7. The industrial intelligent six-axis robot of claim 1, wherein: the sliding block (304) and the convex plate (303) form a sliding structure.

8. The industrial intelligent six-axis robot of claim 1, wherein: an elastic device (5) is arranged on the right side of the upper surface of the first transverse plate (1);

the elastic device (5) comprises a third support plate (501), a cross rod (502), a stop block (503), a spring (504), a square block (505), a first connecting rod (506) and a second connecting rod (507);

the lower surface of the third support plate (501) is fixedly connected with the first transverse plate (1), a cross rod (502) is arranged at the through hole of the third support plate (501), the outer wall of the cross rod (502) is in clearance fit with the inner wall of the through hole of the third support plate (501), the left side of the cross bar (502) is fixedly connected with the shell (6), the outer wall of the left side of the cross bar (502) is fixedly connected with a plurality of square blocks (505) and stop blocks (503), a spring (504) is arranged on the outer wall of the right side of the cross rod (502), the left side and the right side of the spring (504) are respectively fixedly connected with a stop block (503) and a third support plate (501), the square block (505) is rotationally connected with a first connecting rod (506) through a rotating shaft, the right side of the first connecting rod (506) is rotationally connected with a second connecting rod (507) through a rotating shaft, the right side of the second connecting rod (507) is rotatably connected with the third support plate (501) through a rotating shaft.

9. The industrial intelligent six-axis robot of claim 8, wherein: the upper and lower second connecting rods (507) are symmetrically distributed by taking the transverse rod (502) as a midpoint.

10. The industrial intelligent six-axis robot of claim 8, wherein: the third support plate (501) and the first support plate (306) are parallel to each other.