CN205290953U - Mobilizable six axis robot of bidirectional balance and tongs - Google Patents
Mobilizable six axis robot of bidirectional balance and tongs Download PDFInfo
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- CN205290953U CN205290953U CN201520804463.3U CN201520804463U CN205290953U CN 205290953 U CN205290953 U CN 205290953U CN 201520804463 U CN201520804463 U CN 201520804463U CN 205290953 U CN205290953 U CN 205290953U
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Abstract
The utility model provides a mobilizable six axis robot of bidirectional balance and tongs, it guarantees that robot can guarantee all the time at the operation in -process that the work piece that the tongs snatched is in the horizontality, has improved the stability that the work piece was taken, and need not to set up the special work piece horizontally power drive device that is used for driving like traditional machine people, consequently can the energy saving, and the tongs is portable, conveniently operates. The toughened glass storage apparatus comprises a pedestal, be provided with the rotatable primary shaft on the base, the input section of the primary shaft is connected with primary shaft servo motor, the output unit of the primary shaft is promptly for exposing the end, the articulated one end of connecting the secondary shaft of output unit of the primary shaft, the position that the base is close to to the one end of secondary shaft is provided with two -way balance, the triaxial one end of the articulated connection of the other end of secondary shaft, the middle part position of fourth axle is connected to the triaxial other end, the upper end of the third balancing pole of both sides is connected to the one end of fourth axle, the third balancing pole is on a parallel with the third axle and arranges.
Description
Technical field
This utility model relates to the technical field of workpiece handling, is specially a kind of bidirectional balanced and moveable six-joint robot of handgrip.
Background technology
In developed country, industrial robot automatic production line complete set of equipments has become main flow robot development prospect and the developing direction in future of automated arm. The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery have used industrial robot automatic production line in a large number, to ensure product quality, improve production efficiency, avoid substantial amounts of industrial accident simultaneously. The use of the industrial robot of global many national nearly half a century practice have shown that, the universal of industrial robot is to realize automated production, improves social production efficiency, promotes enterprise and the effective means of social productive forces development.
Large-scale stamping parts is carried, it is typically chosen six-joint robot to carry, at present, swinging mechanical hand on the market, being circular arc owing to it moves route, handgrip sucker is difficult to the rectilinear movement of level, in order to allow handgrip sucker maintenance level, generally require the auxiliary of actuating unit, so also can be correspondingly improved manufacturing cost. And the stability of single shaft is relatively low, mechanical hand easily produces to rock in moving process, has a strong impact on the control accuracy of mechanical hand, it is difficult to reach the accuracy requirement of people.
Summary of the invention
For the problems referred to above, this utility model provides a kind of bidirectional balanced and moveable six-joint robot of handgrip, it ensures that robot ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without arranging the special Power Drive Unit for driving workpiece level as conventional machines people, therefore, it is possible to the saving energy, and handgrip is removable, is conveniently operated.
A kind of bidirectional balanced and moveable six-joint robot of handgrip, it is characterized in that: it includes base, described base is provided with rotating first axle, the importation of described first axle is connected to the first axle servomotor, the output part of described first axle is exposed junction, the output part of described first axle is articulated and connected one end of the second axle, one end of described second axle is provided with two-way balance near the position of described base, the other end of described second axle is articulated and connected one end of the 3rd axle, the other end of described 3rd axle connects the medium position of the 4th axle, the upper end of the 3rd gimbal lever of the connection both sides, one end of described 4th axle, described 3rd gimbal lever is parallel to described 3rd axle and arranges, described 3rd gimbal lever lower end is respectively articulated with the upper end of respective side second gimbal lever, described second gimbal lever is parallel to described second axle and arranges, the front end prolongation of hinged described first axle in lower end of described second gimbal lever, the jointed shaft of described second axle and the 3rd axle, it is provided with gimbal lever's central shaft between the jointed shaft of second gimbal lever and the 3rd gimbal lever, described gimbal lever central shaft is parallel to the first axle, 4th axle,
Hinged parallelogram sturcutre is formed between two described second gimbal levers, corresponding jointed shafts, each described second gimbal lever and described gimbal lever central shaft, the second axle, the first axle front end prolongation between also form hinged parallelogram sturcutre, form hinged parallelogram sturcutre between two described 3rd gimbal levers, corresponding jointed shafts, each described 3rd gimbal lever and described gimbal lever central shaft, the 3rd axle, the 4th axle a part between also form hinged parallelogram sturcutre;
The other end of described 4th axle is fastenedly connected with the 5th axle, described 5th axle is provided with and can be parallel to the 5th axle hands arm that the 5th axle moves, 5th axle servomotor connects the mobile parts of described 5th axle arm, the outfan of described 5th axle arm is fastened with the 6th shaft assembly, described 6th shaft assembly includes Timing Belt, 6th axle servomotor, horizontal guide rail, the top of terminal handgrip is installed in the fixed position of Timing Belt, the top of described terminal handgrip is installed in described horizontal guide rail simultaneously, the outfan engagement of the 6th axle servomotor connects described Timing Belt, described Timing Belt drives the top of terminal handgrip to move left and right along horizontal guide rail, described horizontal guide rail is installed in the bearing position of described 5th axle arm by fixed support,
It is provided with the second axle power push-rod assembly between described first axle and the second axle, between described second axle and the 3rd axle, is provided with the 3rd axle power push-rod assembly.
It is further characterized by
Described second axle power push-rod assembly includes the second axle slide block, second axle work push rod, second axle fixed block, second axle power module, the outer face of described first axle is provided with the second axle power module, described second axle slide block is installed in the rectilinear orbit of described second axle power module, described rectilinear orbit is parallel to described first axle and arranges, described second axle fixed block is installed in the outer face of described second axle, the two ends of described second axle work push rod are respectively articulated with the second axle slide block, second axle fixed block, the power source of the external described second axle power module in rear end of described second axle slide block,
Described second axle power module is installed in the outer ring surface of described first axle by the second axle powered support, the power source of described second axle power module is specially servomotor, and the second axle slide block is had driving by the power source of the second axle power module and the axis direction along the first axle does linear reciprocal movement;
Described 3rd axle power push-rod assembly includes the 3rd axle slide block, 3rd axle work push rod, 3rd axle fixed block, 3rd axle power module, described second axle is provided with concave cavity, described 3rd axle power module it is provided with in described concave cavity, described 3rd axle slide block is installed in the rectilinear orbit of described 3rd axle power module, described rectilinear orbit is parallel to described second axle and arranges, described 3rd axle fixed block is installed in the outer face of described 3rd axle, the two ends of described 3rd axle work push rod are respectively articulated with the 3rd axle slide block, 3rd axle fixed block, the power source of the external described 3rd axle power module in rear end of described 3rd axle slide block,
The power source of described 3rd axle power module is specially servomotor, and the 3rd axle slide block is had driving by the power source of the 3rd axle power module and the axis direction along the second axle does linear reciprocal movement;
Described second axle, it is provided with balanced connection structure between 3rd axle, described balanced connection structure includes static organ assembly, 3rd spindle balance connecting rod, the extension of described 3rd axle is provided with the 3rd spindle balance connecting rod, described static organ assembly specifically includes spring base, spring, fairlead, guide rod, one end of described spring base is articulated and connected the correspondence position hinged seat of described second axle, described fairlead is set in the other end of described spring base, one end of described guide rod is positioned at the internal cavity of spring base, the other end of described guide rod is articulated and connected after running through described fairlead described 3rd spindle balance connecting rod, one end of described guide rod is provided with boss structure, described spring housing is loaded on the described guide rod between described boss structure and described fairlead, balanced connection structure can effectively reduce the driving power of the 3rd axle power module, save the energy,
Described first axle servomotor is positioned at the intracavity of described base, the interior intracavity of described base is additionally provided with reduction box, the input of the outfan connection reducer of described first axle servomotor, the outfan of described decelerator connects the input of described reduction box by shaft coupling, and the outfan of described reduction box connects the importation of described first axle;
The top of described terminal handgrip is provided with mobile slide block, described support bracket fastened lower end is fastened with guide rail frame structure, it is provided with horizontal guide rail in described guide rail frame structure, the two ends of described guide rail movable frame shelf structure are respectively arranged with synchronizing wheel, described Timing Belt engages the described synchronizing wheel connecting two ends respectively, the outfan engagement of the 6th axle servomotor connects described Timing Belt, the part directly over described horizontal guide rail that is positioned at of described Timing Belt is fastenedly connected the upper end of described mobile slide block, described mobile slide block is flush-mounted in described horizontal guide rail, described mobile slide block connects terminal handgrip by connecting rod, Timing Belt motion is driven when the 6th axle servomotor rotates, owing to the part directly over described horizontal guide rail that is positioned at of Timing Belt is fastenedly connected the upper end of described mobile slide block, and then drive mobile slide block left and right horizontal to move, and then drive terminal handgrip left and right horizontal to move,
The other end of described 4th axle is fastenedly connected with the pedestal of described 5th axle, be provided with in described pedestal vertical to two-wire guide rail, the upper end of described pedestal is provided with described 5th axle servomotor, five axle slide blocks are flush-mounted in two-wire guide rail, the outfan of described 5th axle servomotor is connected to five axles and drives screw mandrel, described five axles drive the pilot hole that wire rod thread connects described five axle slide blocks, and described five axle slide blocks are fastenedly connected described 5th axle arm;
The rod end of described 5th axle arm is loaded on described contiguous block, connects in the installation cavity that briquetting combination is formed, and described connection briquetting is anchored on described contiguous block, described contiguous block and described five axle slide block combinations by screw and forms an entirety.
After adopting structure of the present utility model, robot six axle, five power, first axle is by the first axle driven by servomotor, complete swinging of the second axle, second axle swings and balances deadweight and the movement inertia being balanced more than the second axle by two-way balance, to reduce the first axle and the second axle driving power source power; Second axle seesaws and is completed by the second axle power push-rod assembly; Seesawing of 3rd axle is completed by the 3rd axle power push-rod assembly, and the 4th axle is unpowered, by the parallelogram principle that the second axle parallel bar and the 3rd axle parallel bar collectively constitute, makes the 4th axle be parallel to the first axle all the time; 5th axle moves up and down under the driving of the 5th axle servomotor, makes terminal handgrip adjust up and down under low power motor drives; 6th shaft assembly makes terminal handgrip move left and right under the driving of the 6th axle servomotor, implements by the expansion of grip movement locus under minimum output power; It ensures that robot ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without arranging the special Power Drive Unit for driving workpiece level as conventional machines people, therefore, it is possible to the saving energy, and handgrip may move, conveniently it is operated.
Accompanying drawing explanation
Fig. 1 is the front view structural representation of use state one of the present utility model;
Fig. 2 is the front view structural representation (being diagrammatically only by out six axle construction) of use state two of the present utility model;
Fig. 3 is side view structural representation of the present utility model;
Fig. 4 is the structural representation of the balanced connection structure between the second axle of the present utility model, the 3rd axle;
Fig. 5 is the spring-compressed status architecture schematic diagram of Fig. 4;
Fig. 6 is the side view structural representation that terminal handgrip of the present utility model assembles;
Fig. 7 is the top view structural representation of Fig. 6;
Fig. 8 is the mounting structure schematic diagram of the 5th axle;
Fig. 9 is the right view structural representation of Fig. 8;
In figure, the reference name corresponding to each sequence number is as follows:
Base 1, first axle 2, first axle servomotor 3, second axle 4, two-way balance 5, 3rd axle 6, 4th axle 7, 3rd gimbal lever 8, second gimbal lever 9, front end prolongation 10, gimbal lever's central shaft 11, 5th axle 12, 5th axle arm 13, 5th axle servomotor 14, Timing Belt 15, 6th axle servomotor 16, horizontal guide rail 17, terminal handgrip 18, fixed support 19, second axle slide block 20, second axle work push rod 21, second axle fixed block 22, second axle power module 23, second axle powered support 24, 3rd axle slide block 25, 3rd axle work push rod 26, 3rd axle fixed block 27, 3rd axle power module 28, 3rd spindle balance connecting rod 29, extension 30, spring base 31, spring 32, fairlead 33, guide rod 34, boss structure 35, reduction box 36, decelerator 37, shaft coupling 38, mobile slide block 39, guide rail frame structure 40, synchronizing wheel 41, connecting rod 42, hinged seat 43, two-wire guide rail 44, five axle slide blocks 45, five axles drive screw mandrel 46, contiguous block 47, connect briquetting 48.
Detailed description of the invention
A kind of bidirectional balanced and moveable six-joint robot of handgrip, see Fig. 1��Fig. 9: it includes base 1, base 1 is provided with rotating first axle 2, the importation of the first axle 2 is connected to the first axle servomotor 3, the output part of the first axle 2 is exposed junction, the output part of the first axle 2 is articulated and connected one end of the second axle 4, one end of second axle 4 is provided with two-way balance 5 near the position of base 1, the other end of the second axle 4 is articulated and connected one end of the 3rd axle 6, the other end of the 3rd axle 6 connects the medium position of the 4th axle 7, the upper end of the 3rd gimbal lever 8 of the connection both sides, one end of the 4th axle 7, 3rd gimbal lever 8 is parallel to the 3rd axle 6 and arranges, 3rd gimbal lever 8 lower end is respectively articulated with the upper end of respective side second gimbal lever 9, second gimbal lever 9 is parallel to the second axle 4 and arranges, the front end prolongation 10 of hinged first axle 2 in lower end of second gimbal lever 9, the jointed shaft of the second axle 4 and the 3rd axle 6, it is provided with gimbal lever's central shaft 11 between second gimbal lever 9 and the jointed shaft of the 3rd gimbal lever 8, gimbal lever's central shaft 11 is parallel to the first axle 2, 4th axle 7,
Hinged parallelogram sturcutre is formed between two second gimbal levers 9, corresponding jointed shafts, also hinged parallelogram sturcutre is formed between the front end prolongation 10 of each second gimbal lever 9 and gimbal lever's central shaft the 11, second axle the 4, first axle, form hinged parallelogram sturcutre between two the 3rd gimbal levers 8, corresponding jointed shafts, between a part for each 3rd gimbal lever 8 and gimbal lever's central shaft the 11, the 3rd axle the 6, the 4th axle 7, also form hinged parallelogram sturcutre;
The other end of the 4th axle 7 is fastenedly connected with the 5th axle 12, 5th axle 12 is provided with and can be parallel to the 5th axle arm 13 that the 5th axle moves, 5th axle servomotor 14 connects the mobile parts of the 5th axle arm 13, the outfan of the 5th axle arm 13 is fastened with the 6th shaft assembly, 6th shaft assembly includes Timing Belt 15, 6th axle servomotor 16, horizontal guide rail 17, the top of terminal handgrip 18 is installed in the fixed position of Timing Belt 15, the top of terminal handgrip 18 is installed in horizontal guide rail 17 simultaneously, the outfan engagement of the 6th axle servomotor 16 connects Timing Belt 15, Timing Belt 15 drives the top of terminal handgrip 18 to move left and right along horizontal guide rail 17, horizontal guide rail 17 is installed in the bearing position of the 5th axle arm 13 by fixed support 19,
It is provided with the second axle power push-rod assembly between first axle 2 and the second axle 4, between the second axle and the 3rd axle, is provided with the 3rd axle power push-rod assembly.
Second axle power push-rod assembly includes second axle slide block the 20, second axle work push rod the 21, second axle fixed block the 22, second axle power module 23, the outer face of the first axle 2 is provided with the second axle power module 23, second axle slide block 20 is installed in the rectilinear orbit of the second axle power module 23, rectilinear orbit is parallel to the first axle 2 and arranges, second axle fixed block 22 is installed in the outer face of the second axle 4, the two ends of the second axle work push rod 21 are respectively articulated with second axle slide block the 20, second axle fixed block 22, the power source of the external second axle power module 23 in rear end of the second axle slide block 20;
Second axle power module 23 is installed in the outer ring surface of the first axle 2 by the second axle powered support 24, the power source of the second axle power module 23 is specially servomotor, and the second axle slide block 20 is had driving by the power source of the second axle power module 23 and the axis direction along the first axle 2 does linear reciprocal movement;
3rd axle power push-rod assembly includes the 3rd axle slide block 25, 3rd axle work push rod 26, 3rd axle fixed block 27, 3rd axle power module 28, second axle 4 is provided with concave cavity, the 3rd axle power module 28 it is provided with in concave cavity, 3rd axle slide block 25 is installed in the rectilinear orbit of the 3rd axle power module 28, rectilinear orbit is parallel to the second axle 4 and arranges, 3rd axle fixed block 27 is installed in the outer face of the 3rd axle 6, the two ends of the 3rd axle work push rod 26 are respectively articulated with the 3rd axle slide block 25, 3rd axle fixed block 27, the power source of the external 3rd axle power module 28 in rear end of the 3rd axle slide block 25,
The power source of the 3rd axle power module 28 is specially servomotor, and the 3rd axle slide block 25 is had driving by the power source of the 3rd axle power module 28 and the axis direction along the second axle 4 does linear reciprocal movement;
Second axle 4, it is provided with balanced connection structure between 3rd axle 6, balanced connection structure includes static organ assembly, 3rd spindle balance connecting rod 29, the extension 30 of the 3rd axle 6 is provided with the 3rd spindle balance connecting rod 29, static organ assembly specifically includes spring base 31, spring 32, fairlead 33, guide rod 34, one end of spring base 31 is articulated and connected the correspondence position hinged seat 43 of the second axle 4, fairlead 33 is set in the other end of spring base 31, one end of guide rod 34 is positioned at the internal cavity of spring base 31, the other end of guide rod 34 is articulated and connected after running through fairlead 33 the 3rd spindle balance connecting rod 29, one end of guide rod 34 is provided with boss structure 35, spring 32 is set in the guide rod 34 between boss structure 35 and fairlead 33, under the force of a spring, balanced connection structure can effectively reduce the driving power of the 3rd axle power module 28, save the energy,
First axle servomotor 3 is positioned at the intracavity of base 1, the interior intracavity of base 1 is additionally provided with reduction box 36, the input of the outfan connection reducer 37 of the first axle servomotor 3, the outfan of decelerator 37 connects the input of reduction box 36 by shaft coupling 38, and the outfan of reduction box 36 connects the importation of the first axle 2;
The top of terminal handgrip 18 is provided with mobile slide block 39, the lower end of fixed support 19 is fastened with guide rail frame structure 40, horizontal guide rail 17 it is provided with in guide rail frame structure 40, the two ends of guide rail movable frame shelf structure 38 are respectively arranged with synchronizing wheel 41, Timing Belt 15 engages the synchronizing wheel 41 connecting two ends respectively, the outfan engagement of the 6th axle servomotor 16 connects Timing Belt 15, the part directly over horizontal guide rail 17 that is positioned at of Timing Belt 15 is fastenedly connected the upper end of mobile slide block 39, mobile slide block 39 is flush-mounted in horizontal guide rail 17, mobile slide block 39 connects terminal handgrip 18 by connecting rod 42, drive Timing Belt 15 to move when the 6th axle servomotor 16 rotates, owing to the part directly over horizontal guide rail 17 that is positioned at of Timing Belt 15 is fastenedly connected the upper end of mobile slide block 39, and then drive mobile slide block 39 left and right horizontal to move, and then drive terminal handgrip 18 left and right horizontal to move,
The other end of the 4th axle 7 is fastenedly connected with the pedestal of the 5th axle 12, be provided with in pedestal vertical to two-wire guide rail 44, the upper end of pedestal is provided with the 5th axle servomotor 14, five axle slide blocks 45 are flush-mounted in two-wire guide rail 44, the outfan of the 5th axle servomotor 14 is connected to five axles and drives screw mandrel 46, five axles drive the pilot hole of the threaded five axle slide blocks 45 of screw mandrel 46, and five axle slide blocks 45 are fastenedly connected the 5th axle arm 13;
The rod end of the 5th axle arm 13 is loaded on contiguous block 47, connects in the installation cavity that briquetting 48 combination is formed, and connection briquetting 48 is anchored on contiguous block 47, contiguous block 47 and the combination of five axle slide blocks 45 by screw and forms an entirety.
In figure, arrow is each axle moving direction or path.
Its operation principle is as follows: robot six axle, five power, first axle 2 is driven by the first axle servomotor 3, complete swinging of the second axle 4, second axle 4 balance that swings is balanced deadweight and the movement inertia of the second axle more than 4 by two-way balance 5, drives power source power reducing the first axle 2 and the second axle 4; Second axle 4 seesaws and is completed by the second axle power push-rod assembly; Seesawing of 3rd axle 6 is completed by the 3rd axle power push-rod assembly, and the 3rd axle and above gravity and movement inertia balance are completed by the 3rd axle locating rod assembly and the 3rd spindle balance connecting rod 29, to reduce the driving power of the 3rd axle power module; 4th axle 7 is unpowered, by the parallelogram principle that the second axle parallel bar and the 3rd axle parallel bar collectively constitute, makes the 4th axle 7 be parallel to the first axle 2 all the time; 5th axle 12 moves up and down under the driving of the 5th axle servomotor 14, makes terminal handgrip 18 adjust up and down under low power motor drives; 6th shaft assembly makes terminal handgrip 18 move left and right under the driving of the 6th axle servomotor 16, implements by the expansion of grip movement locus under minimum output power; It ensures that robot ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without arranging the special Power Drive Unit for driving workpiece level as conventional machines people, therefore, it is possible to the saving energy, and handgrip may move, conveniently it is operated.
Above specific embodiment of the utility model is described in detail, but content has been only the preferred embodiment that this utility model is created, it is impossible to be considered for limiting the practical range that this utility model is created. All equalizations made according to this utility model creation application range change and improvement etc., all should still belong within patent covering scope of the present utility model.
Claims (10)
1. the bidirectional balanced and moveable six-joint robot of handgrip, it is characterized in that: it includes base, described base is provided with rotating first axle, the importation of described first axle is connected to the first axle servomotor, the output part of described first axle is exposed junction, the output part of described first axle is articulated and connected one end of the second axle, one end of described second axle is provided with two-way balance near the position of described base, the other end of described second axle is articulated and connected one end of the 3rd axle, the other end of described 3rd axle connects the medium position of the 4th axle, the upper end of the 3rd gimbal lever of the connection both sides, one end of described 4th axle, described 3rd gimbal lever is parallel to described 3rd axle and arranges, described 3rd gimbal lever lower end is respectively articulated with the upper end of respective side second gimbal lever, described second gimbal lever is parallel to described second axle and arranges, the front end prolongation of hinged described first axle in lower end of described second gimbal lever, the jointed shaft of described second axle and the 3rd axle, it is provided with gimbal lever's central shaft between the jointed shaft of second gimbal lever and the 3rd gimbal lever, described gimbal lever central shaft is parallel to the first axle, 4th axle,
Hinged parallelogram sturcutre is formed between two described second gimbal levers, corresponding jointed shafts, each described second gimbal lever and described gimbal lever central shaft, the second axle, the first axle front end prolongation between also form hinged parallelogram sturcutre, form hinged parallelogram sturcutre between two described 3rd gimbal levers, corresponding jointed shafts, each described 3rd gimbal lever and described gimbal lever central shaft, the 3rd axle, the 4th axle a part between also form hinged parallelogram sturcutre;
The other end of described 4th axle is fastenedly connected with the 5th axle, described 5th axle is provided with and can be parallel to the 5th axle hands arm that the 5th axle moves, 5th axle servomotor connects the mobile parts of described 5th axle arm, the outfan of described 5th axle arm is fastened with the 6th shaft assembly, described 6th shaft assembly includes Timing Belt, 6th axle servomotor, horizontal guide rail, the top of terminal handgrip is installed in the fixed position of Timing Belt, the top of described terminal handgrip is installed in described horizontal guide rail simultaneously, the outfan engagement of the 6th axle servomotor connects described Timing Belt, described Timing Belt drives the top of terminal handgrip to move left and right along horizontal guide rail, described horizontal guide rail is installed in the bearing position of described 5th axle arm by fixed support,
It is provided with the second axle power push-rod assembly between described first axle and the second axle, between described second axle and the 3rd axle, is provided with the 3rd axle power push-rod assembly.
2. a kind of bidirectional balanced and moveable six-joint robot of handgrip as claimed in claim 1, it is characterized in that: described second axle power push-rod assembly includes the second axle slide block, second axle work push rod, second axle fixed block, second axle power module, the outer face of described first axle is provided with the second axle power module, described second axle slide block is installed in the rectilinear orbit of described second axle power module, described rectilinear orbit is parallel to described first axle and arranges, described second axle fixed block is installed in the outer face of described second axle, the two ends of described second axle work push rod are respectively articulated with the second axle slide block, second axle fixed block, the power source of the external described second axle power module in rear end of described second axle slide block.
3. a kind of bidirectional balanced and moveable six-joint robot of handgrip as claimed in claim 2, it is characterized in that: described second axle power module is installed in the outer ring surface of described first axle by the second axle powered support, the power source of described second axle power module is specially servomotor, and the second axle slide block is had driving by the power source of the second axle power module and the axis direction along the first axle does linear reciprocal movement.
4. a kind of bidirectional balanced and moveable six-joint robot of handgrip as claimed in claim 1, it is characterized in that: described 3rd axle power push-rod assembly includes the 3rd axle slide block, 3rd axle work push rod, 3rd axle fixed block, 3rd axle power module, described second axle is provided with concave cavity, described 3rd axle power module it is provided with in described concave cavity, described 3rd axle slide block is installed in the rectilinear orbit of described 3rd axle power module, described rectilinear orbit is parallel to described second axle and arranges, described 3rd axle fixed block is installed in the outer face of described 3rd axle, the two ends of described 3rd axle work push rod are respectively articulated with the 3rd axle slide block, 3rd axle fixed block, the power source of the external described 3rd axle power module in rear end of described 3rd axle slide block.
5. a kind of bidirectional balanced and moveable six-joint robot of handgrip as claimed in claim 4, it is characterized in that: the power source of described 3rd axle power module is specially servomotor, the 3rd axle slide block is had driving by the power source of the 3rd axle power module and the axis direction along the second axle does linear reciprocal movement.
6. a kind of bidirectional balanced and moveable six-joint robot of handgrip as claimed in claim 1, it is characterized in that: described second axle, it is provided with balanced connection structure between 3rd axle, described balanced connection structure includes static organ assembly, 3rd spindle balance connecting rod, the extension of described 3rd axle is provided with the 3rd spindle balance connecting rod, described static organ assembly specifically includes spring base, spring, fairlead, guide rod, one end of described spring base is articulated and connected the correspondence position hinged seat of described second axle, described fairlead is set in the other end of described spring base, one end of described guide rod is positioned at the internal cavity of spring base, the other end of described guide rod is articulated and connected after running through described fairlead described 3rd spindle balance connecting rod, one end of described guide rod is provided with boss structure, described spring housing is loaded on the described guide rod between described boss structure and described fairlead.
7. a kind of bidirectional balanced and moveable six-joint robot of handgrip as claimed in claim 4, it is characterized in that: described first axle servomotor is positioned at the intracavity of described base, the interior intracavity of described base is additionally provided with reduction box, the input of the outfan connection reducer of described first axle servomotor, the outfan of described decelerator connects the input of described reduction box by shaft coupling, and the outfan of described reduction box connects the importation of described first axle.
8. a kind of bidirectional balanced and moveable six-joint robot of handgrip as claimed in claim 1, it is characterized in that: the top of described terminal handgrip is provided with mobile slide block, described support bracket fastened lower end is fastened with guide rail frame structure, it is provided with horizontal guide rail in described guide rail frame structure, the two ends of described guide rail movable frame shelf structure are respectively arranged with synchronizing wheel, described Timing Belt engages the described synchronizing wheel connecting two ends respectively, the outfan engagement of the 6th axle servomotor connects described Timing Belt, the part directly over described horizontal guide rail that is positioned at of described Timing Belt is fastenedly connected the upper end of described mobile slide block, described mobile slide block is flush-mounted in described horizontal guide rail, described mobile slide block connects terminal handgrip by connecting rod.
9. a kind of bidirectional balanced and moveable six-joint robot of handgrip as claimed in claim 1, it is characterized in that: the other end of described 4th axle is fastenedly connected with the pedestal of described 5th axle, be provided with in described pedestal vertical to two-wire guide rail, the upper end of described pedestal is provided with described 5th axle servomotor, five axle slide blocks are flush-mounted in two-wire guide rail, the outfan of described 5th axle servomotor is connected to five axles and drives screw mandrel, described five axles drive the pilot hole that wire rod thread connects described five axle slide blocks, and described five axle slide blocks are fastenedly connected described 5th axle arm.
10. a kind of bidirectional balanced and moveable six-joint robot of handgrip as claimed in claim 9, it is characterized in that: the rod end of described 5th axle arm is loaded on contiguous block, connects in the installation cavity that briquetting combination is formed, described connection briquetting is anchored on described contiguous block, described contiguous block and described five axle slide block combinations by screw and forms an entirety.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520804463.3U CN205290953U (en) | 2015-10-16 | 2015-10-16 | Mobilizable six axis robot of bidirectional balance and tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520804463.3U CN205290953U (en) | 2015-10-16 | 2015-10-16 | Mobilizable six axis robot of bidirectional balance and tongs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290953U true CN205290953U (en) | 2016-06-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105171733A (en) * | 2015-10-16 | 2015-12-23 | 苏州神运机器人有限公司 | Bidirectional balance six-shaft robot with movable gripper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171733A (en) * | 2015-10-16 | 2015-12-23 | 苏州神运机器人有限公司 | Bidirectional balance six-shaft robot with movable gripper |
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