CN204893956U - Six module machine people - Google Patents

Six module machine people Download PDF

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Publication number
CN204893956U
CN204893956U CN201520630976.7U CN201520630976U CN204893956U CN 204893956 U CN204893956 U CN 204893956U CN 201520630976 U CN201520630976 U CN 201520630976U CN 204893956 U CN204893956 U CN 204893956U
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CN
China
Prior art keywords
robot arm
station
horizontal
control cabinet
hydraulic cylinder
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.)
Expired - Fee Related
Application number
CN201520630976.7U
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Chinese (zh)
Inventor
陈龙文
王维民
胡春园
毛雪冬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TIANJIN ZHONGHUAN CHUANGXIN TECHNOLOGY Co Ltd
Original Assignee
TIANJIN ZHONGHUAN CHUANGXIN TECHNOLOGY Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by TIANJIN ZHONGHUAN CHUANGXIN TECHNOLOGY Co Ltd filed Critical TIANJIN ZHONGHUAN CHUANGXIN TECHNOLOGY Co Ltd
Priority to CN201520630976.7U priority Critical patent/CN204893956U/en
Application granted granted Critical
Publication of CN204893956U publication Critical patent/CN204893956U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a six module machine people, including robot arm, robot arm be located station top station upper portion be provided with the frame the inboard symmetry in frame upper end be provided with the removal track the removal track on be provided with the horizontal migration platform remove the track both sides and be provided with photoelectric switch station one side is provided with control box, be provided with vertical migration mechanism on the horizontal migration platform, vertical migration mechanism is perpendicular pneumatic cylinder, the telescopic link of perpendicular pneumatic cylinder is connected with robot arm the horizontal migration platform on be provided with displacement sensor, station one side be provided with horizontal driving motor, horizontal driving motor through lead the strap move the horizontal migration platform along remove pathway movement. The utility model discloses an adopt horizontal migration platform and perpendicular pneumatic cylinder cooperation, can realize the regulation to robot arm's position, conveniently improve the performance accuracy.

Description

A kind of six axle module robots
Technical field
The utility model relates to a kind of six axle module robots.
Background technology
Six-joint robot is widely used in automatic field, uses extensively in the equipment such as welding, packaging.Existing six-joint robot is normally arranged on each station respectively, and when production line is longer, need the robot of installation more, its cost is higher; Meanwhile, when station is determined, if the position of robot adjusts, its performance accuracy can be affected.
Utility model content
The purpose of this utility model is to provide a kind of six axle module robots, prior art Problems existing can be improved, by adopting horizontal shifting platform and vertical hydraulic cylinder to coordinate, the adjustment of the position to robot arm can be realized, conveniently improve performance accuracy.
The utility model is achieved through the following technical solutions:
A kind of six axle module robots, comprise robot arm, described robot arm is positioned at above station, described station top is provided with frame, moving track is symmetrically arranged with inside described frame upper end, described moving track is provided with horizontal shifting platform, described moving track both sides are provided with optoelectronic switch, described station side is provided with control cabinet;
Described horizontal shifting platform is provided with vertical movement mechanism, and described vertical movement mechanism is vertical hydraulic cylinder, and the expansion link of described vertical hydraulic cylinder is connected with robot arm, and described horizontal shifting platform is provided with displacement transducer;
Described station side is provided with horizontal drive motor, and described horizontal drive motor drives horizontal shifting platform to move along described moving track by dragline;
Be provided with I/O port in described control cabinet, described optoelectronic switch, displacement transducer, vertical hydraulic cylinder, horizontal drive motor control cabinet respectively by I/O port and are connected with being arranged on.
Further, for realizing the utility model better, PLC is provided with in described control cabinet, described PLC is connected with described optoelectronic switch, displacement transducer respectively by digital quantity input block, described vertical hydraulic cylinder is connected with described PLC respectively by digital output unit with horizontal drive motor, and described PLC is connected with the I/O port of described robot arm by circuit.
Further, for realizing the utility model better, described frame is provided with transparent isolating door.
Further, for realizing the utility model better, described isolating door one end is hinged in described frame.
Further, for realizing the utility model better, be provided with pressure sensor at described isolating door away from its hinged one end, described pressure sensor is connected with described control cabinet by circuit.
A multistation position control method for six axle module robots, comprises the following steps:
S1: record initial station information: station pitch information is sent to and controls cabinet as initial station information, robot arm is placed in above the first station;
S2: optoelectronic switch is arranged in the frame at each station place, start horizontal drive driven by motor horizontal shifting platform to move horizontally along moving track, adopt optoelectronic switch measuring robots arm whether to reach station position, and by displacement transducer measuring robots arm displacement information, the initial station information stored in itself and step S1 is compared;
S3: when robot arm reaches above next station in step s 2, starts vertical hydraulic cylinder adjustment robot arm height, and drives it to run by PLC to robot arm transmission activation bit.
The utility model compared with prior art, has following beneficial effect:
(1) the utility model is by being arranged on below vertical hydraulic cylinder by robot arm, can telescoping vertical hydraulic cylinder as required, thus adjustment robot arm height, the convenient further adjustment to its performance accuracy;
(2) the utility model matches by adopting moving track and horizontal shifting platform, can realize multistation operation, realize a robot arm to the operation of multistation equipment to be processed, effectively reduce equipment cost;
(3) the utility model realizes the position of measuring robots arm by arranging optoelectronic switch and displacement transducer, facilitates precisely controlling displacement scope, improves performance accuracy.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present utility model, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the utility model overall structure schematic diagram;
Fig. 2 is the utility model embodiment 2 control circuit schematic diagram.
Wherein: 101. robot arms, 102. stations, 103. frames, 104. moving tracks, 105. horizontal shifting platforms, 106. vertical hydraulic cylinders, 107. horizontal drive motors.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
As shown in Figure 1, a kind of six axle module robots, comprise robot arm 101, described robot arm 101 is positioned at above station 102, described station 102 top is provided with frame 103, inside described frame 103 upper end, is symmetrically arranged with moving track 104, described moving track 104 is provided with horizontal shifting platform 105, described moving track 104 both sides are provided with optoelectronic switch, described station 102 side is provided with control cabinet;
Described horizontal shifting platform 105 is provided with vertical movement mechanism, described vertical movement mechanism is vertical hydraulic cylinder 106, the expansion link of described vertical hydraulic cylinder 106 is connected with robot arm 101, and described horizontal shifting platform 105 is provided with displacement transducer;
Described station 102 side is provided with horizontal drive motor 107, and described horizontal drive motor 107 drives horizontal shifting platform 105 to move along described moving track 104 by dragline;
Be provided with I/O port in described control cabinet, described optoelectronic switch, displacement transducer, vertical hydraulic cylinder 106, horizontal drive motor 107 control cabinet respectively by I/O port and are connected with being arranged on.
When the first station machines, having control cabinet to send activation bit to horizontal drive motor 107 makes it drive horizontal shifting platform 105 to move along moving track 104, when displacement transducer detects that its moving range reaches setting range, stop it running, by the position of measuring robots arm while of optoelectronic switch, and information is sent to control cabinet, when reaching the second station, control cabinet and send activation bit to robot arm, make it bring into operation.When needing the height adjusting robot arm, its motion can be promoted by vertical hydraulic cylinder 106, realizing the adjustment of its height.
Embodiment 1:
Preferably, in the present embodiment, PLC is provided with in described control cabinet, described PLC is connected with described optoelectronic switch, displacement transducer respectively by digital quantity input block, described vertical hydraulic cylinder 106 is connected with described PLC respectively by digital output unit with horizontal drive motor 107, and described PLC is connected by the I/O port of circuit with described robot arm 101.
In order to improve security performance, in the present embodiment, described frame 103 is provided with transparent isolating door 107.
Further preferably, described isolating door 107 one end is hinged in described frame 103.
Preferably, in the present embodiment, be provided with pressure sensor at described isolating door 107 away from its hinged one end, described pressure sensor is connected with described control cabinet by circuit.
When pressure sensor detects that isolating door 107 is under pressure, equipment normally runs, when the pressure that isolating door 107 is subject to reduces to be even 0, control cabinet and send activation bit to robot arm 101, horizontal drive motor 107, vertical hydraulic cylinder 106, make it force out of service, avoid occurring potential safety hazard.
Embodiment 2:
As shown in Figure 2, the present embodiment discloses a kind of multistation position control method of six axle module robots on the basis of embodiment 1, comprises the following steps:
S1: record initial station information: station pitch information is sent to and controls cabinet as initial station information, robot arm 101 is placed in above the first station;
S2: optoelectronic switch is arranged in the frame 103 at each station place, starting horizontal drive motor 107 drives horizontal shifting platform 105 to move horizontally along moving track 104, adopt optoelectronic switch measuring robots arm 101 whether to reach station position, and by displacement transducer measuring robots arm 101 displacement information, the initial station information stored in itself and step S1 is compared;
S3: when robot arm 101 reaches above next station in step s 2, starts vertical hydraulic cylinder 106 and adjusts robot arm 101 height, and sends activation bit by PLC to robot arm 101 and drive it to run.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.

Claims (5)

1. an axle module robot, comprise robot arm (101), described robot arm (101) is positioned at station (102) top, it is characterized in that: described station (102) top is provided with frame (103), moving track (104) is symmetrically arranged with inside described frame (103) upper end, described moving track (104) is provided with horizontal shifting platform (105), described moving track (104) both sides are provided with optoelectronic switch, described station (102) side is provided with control cabinet;
Described horizontal shifting platform (105) is provided with vertical movement mechanism, described vertical movement mechanism is vertical hydraulic cylinder (106), the expansion link of described vertical hydraulic cylinder (106) is connected with robot arm (101), and described horizontal shifting platform (105) is provided with displacement transducer;
Described station (102) side is provided with horizontal drive motor (107), and described horizontal drive motor (107) drives horizontal shifting platform (105) mobile along described moving track (104) by dragline;
Be provided with I/O port in described control cabinet, described optoelectronic switch, displacement transducer, vertical hydraulic cylinder (106), horizontal drive motor (107) control cabinet respectively by I/O port and are connected with being arranged on.
2. a kind of six axle module robots according to claim 1, it is characterized in that: in described control cabinet, be provided with PLC, described PLC is connected with described optoelectronic switch, displacement transducer respectively by digital quantity input block, described vertical hydraulic cylinder (106) is connected with described PLC respectively by digital output unit with horizontal drive motor (107), and described PLC is connected by the I/O port of circuit with described robot arm (101).
3. a kind of six axle module robots according to claim 1 and 2, is characterized in that: in described frame (103), be provided with transparent isolating door (107).
4. a kind of six axle module robots according to claim 3, is characterized in that: described isolating door (107) one end is hinged in described frame (103).
5. a kind of six axle module robots according to claim 3, is characterized in that: be provided with pressure sensor at described isolating door (107) away from its hinged one end, described pressure sensor is connected with described control cabinet by circuit.
CN201520630976.7U 2015-08-19 2015-08-19 Six module machine people Expired - Fee Related CN204893956U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520630976.7U CN204893956U (en) 2015-08-19 2015-08-19 Six module machine people

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520630976.7U CN204893956U (en) 2015-08-19 2015-08-19 Six module machine people

Publications (1)

Publication Number Publication Date
CN204893956U true CN204893956U (en) 2015-12-23

Family

ID=54916167

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520630976.7U Expired - Fee Related CN204893956U (en) 2015-08-19 2015-08-19 Six module machine people

Country Status (1)

Country Link
CN (1) CN204893956U (en)

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151223

Termination date: 20160819

CF01 Termination of patent right due to non-payment of annual fee