CN205817908U - The light-duty six axle all-purpose robots performing end it are provided with on a kind of adjutage - Google Patents
The light-duty six axle all-purpose robots performing end it are provided with on a kind of adjutage Download PDFInfo
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- CN205817908U CN205817908U CN201620761731.2U CN201620761731U CN205817908U CN 205817908 U CN205817908 U CN 205817908U CN 201620761731 U CN201620761731 U CN 201620761731U CN 205817908 U CN205817908 U CN 205817908U
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Abstract
The utility model discloses and on a kind of adjutage, be provided with the light-duty six axle all-purpose robots performing end, robot forearm is provided with adjutage, and described adjutage includes fixing the connection stake body of forearm, the first telescoping mechanism being arranged on stake body, the swing mechanism being hinged on the first telescoping mechanism, slides the second telescoping mechanism being arranged in swing mechanism slide slot and the resetting means being arranged on swing mechanism；Described adjutage is fixedly arranged at the front end with rotating machine arm；Described rotating machine arm includes a pair sucker group, the drive mechanism driving a pair sucker group to rotate；Described drive mechanism includes pedestal, rotary components, rotating driving device and latch components.First telescoping mechanism of the present utility model can elongate or shorten the total length of adjutage and forearm and adjutage, to adapt to various operating mode；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, i.e. forearm has the function of bending.
Description
Technical field
This utility model relates to robotics, is specifically related on a kind of adjutage be provided with the light-duty of execution end
Six axle all-purpose robots.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of light-duty six axle all-purpose robots, axle
Seat is fixed on arm axle, and axle bed is fixed with axle bed guard box, and Three-axis drive motor, the 4th axis drive motor, the 5th axle drive
Galvanic electricity machine and the 6th axis drive motor are placed in axle bed guard box；Forearm rod shell and forearm extension bar housing are separately fixed at little
Before and after arm decelerator, the 6th axle sleeve is in the 5th axle, and the 5th axle sleeve is in the 4th axle, and in the 4th axle, sleeve is at forearm
In rod shell, forearm decelerator and forearm extension bar housing, the 4th axle, the 5th axle and the 6th axle are respectively fixed with the 4th axle from
Moving gear, the 5th axle driven gear and the 6th axle driven gear.Light-duty six axle all-purpose robots of the prior art, its forearm is only
Can order about and be arranged on the execution end of forearm end and rotate, it is difficult to meet the demand of practical operation.
Utility model content
This utility model is for above-mentioned technical problem, it is provided that light-duty six axles being provided with execution end on a kind of adjutage lead to
Use robot.
For reaching above-mentioned purpose, a kind of adjutage of the present utility model is provided with the light-duty six axle universal machines performing end
Device people, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, is fixed on large arm one
Forearm on 6th motor output shaft of end, waist rotation member rotates around base body, and large arm rotates around waist rotation member；
Described forearm is provided with adjutage, and described adjutage includes the stake body of fixing connection forearm, is arranged on stake body
On the first telescoping mechanism, the swing mechanism being hinged on the first telescoping mechanism, slide and be arranged in swing mechanism slide slot
Second telescoping mechanism and the resetting means being arranged on swing mechanism；
First telescoping mechanism includes top board, gripper shoe and base plate；Swing mechanism includes a pair support seat and a pair swing arm；
Swing arm is provided with slide slot；A pair swing arm lower end is respectively hinged at a pair support by fixing jointed shaft on a swing arm
On seat；The jointed shaft of one of them swing arm and the output shaft of the 3rd motor connect firmly；Swing mechanism is fixed by a pair support seat
On the top board of the first telescoping mechanism；Second telescoping mechanism includes the 7th tooth bar, the 7th gear and pendular body；7th tooth bar is fixed
The side of the slide slot of swing arm of one of which；Pendular body includes union joint and a pair guide holder；A pair guide holder is symmetrical
It is fixed on the bottom surface of union joint；Guide holder includes being mutually perpendicular to be fixed on connecting rod and square guide rod；A pair guide holder leads to respectively
Cross square guide rod to be plugged in the slide slot of swing arm；It is fixed with the 4th motor on the square guide rod of one of them；4th motor
Output shaft on be fixed with the 7th gear；7th gear and the engagement of the 7th tooth bar；
Resetting means includes reset components and the 3rd motor fixing device；Reset components includes a pair reset gripper shoe and
To back-moving spring；On the top board of the both sides that a pair reset gripper shoe is separately fixed at one of them swing arm swaying direction；Reset
Spring is arranged between the sidewall of swing arm and reset gripper shoe sidewall；3rd motor fixing device includes cylinder supports plate, gas
Cylinder and fixed claw；Cylinder supports plate is fixed on the top board of the 3rd motor side；Cylinder is fixed on cylinder supports plate；The work of cylinder
Stopper rod is towards the 3rd motor；Fixed claw is fixed on the piston rod of cylinder；A pair alignment pin is formed on fixed claw；3rd motor with
The side supporting seated connection contacting surface forms motor cabinet；Hole, a pair first location is offered on motor cabinet；First location hole just to
Support and offer the second hole, location on seat side；A pair alignment pin of fixed claw just positions hole to the first of motor cabinet；Described prolong
The rotating machine arm that semi-girder is fixedly arranged at the front end with；Described rotating machine arm includes a pair sucker group and drives a pair sucker group rotation
Drive mechanism.
Preferred as technique scheme, the first telescoping mechanism also includes central rotating body, the first threaded rod, Ruo Gan
One guide rod, the first worm screw, the 5th motor and a pair rotate gripper shoe；Rotate gripper shoe a pair to be vertically fixed on base plate；First
Worm screw is articulated between a pair rotation gripper shoe；In the rotation gripper shoe that 5th motor one of is fixed therein；5th motor
Output shaft and the first worm screw connect firmly；Central rotating body includes the first cylinder and the first worm gear；Offer in the middle part of first cylinder up and down
The screwed hole run through；First cylinder upper end external cylindrical surface is by bearing hinge joint on the supporting plate, be fixed with on the external cylindrical surface of lower end
First worm gear；Central rotating body passes through the first worm gear and the first worm engaging；First threaded rod lower end is screwed onto central rotating body
Screwed hole in, upper end is spirally connected with top board center；Some first guide rods are fixed on gripper shoe upper surface；Top board is set in some
On first guide rod.
Preferred as technique scheme, some first guide rod upper ends form the limited block of circle, limited block diameter
Diameter more than the first guide rod.
Preferred as technique scheme, described stake body includes the first housing and the second housing；First housing and
Second housing is integrally fixed by some connection posts；First telescoping mechanism is fixed on the first housing by gripper shoe and base plate
On inwall；Second housing is set in outside swing mechanism and the first telescoping mechanism.
Preferred as technique scheme, pendular body center offers the circular hole run through up and down, and the diameter of circular hole is more than
The diameter of the first threaded rod.
Preferred as technique scheme, described drive mechanism includes pedestal, rotating driving device, latch components and rotation
Turn assembly；Rotary components includes a pair location bar, rotary support and the first gear；Rotary support upper end is fixed with a pair location
Bar, be fixedly arranged in the middle of the first gear, lower end is articulated on pedestal；Latch components includes unlocking feature and limiting component；Solve lock section
Part includes the first cylinder ring, the second gear and annulus guide plate；Second gear is fixed on the external cylindrical surface of the first cylinder ring；Annulus
Guide plate is fixed on the pedestal in the first cylinder ring；Annulus guide plate is by unlocking board and the limiting plate head and the tail connection of differing heights
Become；The height of unlocking board is more than the height of limiting plate；Limiting component includes straight pin, connecting rod and gag lever post；Straight pin side
Middle part is vertically and fixedly provided with connecting rod；Connecting rod lower surface is vertically and fixedly provided with gag lever post；The central shaft of gag lever post and straight pin center
Axle level；Connecting rod is square column；Rotary support lower surface offer offer below the first gear on pilot hole, side square
Hole；The pilot hole of rotary support connects with square opening；The straight pin of limiting component is plugged in the pilot hole of rotary support；Spacing
The connecting rod level of parts is plugged in the square opening of rotary support；Straight pin lower end forms square post；It is positioned at rotation
Pedestal below Zuo offers the rotating hole vertically run through；It is positioned at the pedestal lower surface below rotary support and forms guiding slot holder；
The guide groove identical with the square column dimension of straight pin is offered inside guiding slot holder；The diameter of rotating hole is more than square post diagonal angle
The length of line；Gag lever post lower end is articulated with a roller；Roller is resisted against on the upper surface of annulus guide plate；The top of straight pin and rotation
A stage clip it is provided with between the upper side wall of the pilot hole turning bearing；
Rotating driving device includes the 4th gear and the 5th gear；The wheel teeth portion of the 4th gear only has one section；4th gear
Can engage with the first gear；5th gear and the engagement of the second gear.
Preferred as technique scheme, described rotating machine arm includes the linking arm being articulated on forearm, is fixed on
Housing on linking arm, the spill spin block being positioned at outside housing, described drive mechanism is fixed in housing by pedestal, described rotation
Block is fixing on the securing lever；The pair of sucker is fixed on spill spin block.
Preferred as technique scheme, described rotating driving device also includes rotating driveshaft and the first motor；The
One motor is vertically fixed on pedestal；The 4th gear and the 5th gear it is fixed with the most successively on first motor output shaft.
Preferred as technique scheme, rounding off between unlocking board and the limiting plate of annulus guide plate.
The beneficial effects of the utility model are: the first telescoping mechanism can elongate or shorten adjutage and forearm and adjutage
Total length, to adapt to various operating mode；Swing mechanism can make the swing of certain amplitude, i.e. forearm tool relative to swing driving mechanism
There is the function of bending；Second telescoping mechanism can order about pendular body and carry out straight line fine setting；Rotating machinery two sucker energy on hand
Revolve turnback exactly.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of adjutage of the present utility model；
Fig. 3 is the structural representation of internal driving mechanism of the present utility model；
Fig. 4 is the structural representation of internal driving mechanism of the present utility model；
Fig. 5 is the structural representation of the first telescoping mechanism of the present utility model；
Fig. 6 is the side-looking structural representation of the first telescoping mechanism of the present utility model；
Fig. 7 is the cross-sectional view of A-A in Fig. 6 of the present utility model；
Fig. 8 is the partial enlargement structural representation of B in Fig. 4 of the present utility model；
Fig. 9 is the structural representation of rotating machine arm of the present utility model；
Figure 10 is the structural representation of drive mechanism of the present utility model；
Figure 11 is the structural representation of rotating driving device of the present utility model and latch components；
Figure 12 is the side-looking structural representation of drive mechanism of the present utility model；
Figure 13 is the cross-sectional view of C-C in Figure 12 of the present utility model；
Figure 14 is the structural representation of unlocking feature of the present utility model；
In figure, 10, base body；20, waist rotation member；30, large arm；31, the 6th motor；40, forearm；50, rotating machine arm；
51, linking arm；52, housing；53, spill spin block；60, drive mechanism；61, pedestal；62, rotating driving device；621, the 4th gear；
6211, wheel teeth portion；622, the 5th gear；623, the first motor；624, rotating driveshaft；63, latch components；631, lock section is solved
Part；6311, the first cylinder ring；6312, the second gear；6313, annulus guide plate；632, limiting component；6321, straight pin；6322、
Connecting rod；6323, gag lever post；6324, stage clip；6325, roller；64, rotary components；641, location bar；642, rotary support；
6421, square opening；643, the first gear；
70, adjutage；71, stake body；711, the first housing；712, the second housing；72, swing mechanism；721, seat is supported；
722, swing arm；7221, the 7th tooth bar；723, the 7th gear；724, the 3rd motor；7241, motor cabinet；725, pendular body；73、
First telescoping mechanism；731, gripper shoe；732, base plate；733, top board；734, central rotating body；735, the first threaded rod；736、
First guide rod；737, the first worm screw；738, the 5th motor；739, gripper shoe is rotated；74, resetting means；741, reset components；
7411, reset gripper shoe；7412, back-moving spring；742, the 3rd motor fixing device；7421, cylinder supports plate；7422, cylinder；
7423, fixed claw.
Detailed description of the invention
As it is shown in figure 1, be provided with the light-duty six axle all-purpose robots performing end on a kind of adjutage, including base body
10, the waist rotation member 20, the large arm 30 being articulated on waist rotation member 20 that are articulated on base body 10, it is fixed on large arm 30 one end
Forearm 40 on 6th motor 31 output shaft, waist rotation member 20 rotates around base body 10, and large arm 30 rotates around waist rotation member 20；
As shown in Figure 1 to 4, described forearm is provided with adjutage 70, and described adjutage includes propping up of fixing connection forearm
Support body 71, the first telescoping mechanism 73 being arranged on stake body, the swing mechanism 72 being hinged on the first telescoping mechanism, slide and set
Put the second telescoping mechanism in swing mechanism 72 slide slot and the resetting means 74 being arranged on swing mechanism 72；
As shown in Fig. 1～Fig. 8, the first telescoping mechanism 73 includes top board 733, gripper shoe 731 and base plate 732；Swing mechanism
72 include a pair support seat 721 and a pair swing arm 722；Swing arm 722 is provided with slide slot；A pair swing arm 722 lower end leads to
Cross the jointed shaft being fixed on swing arm 722 to be respectively hinged on a pair support seat 721；One of them swing arm 722 hinged
The output shaft of axle and the 3rd motor 724 connects firmly；Swing mechanism 72 is fixed on the first telescoping mechanism 73 by a pair support seat 721
On top board 733；Second telescoping mechanism includes the 7th tooth bar the 7221, the 7th gear 723 and pendular body 725；7th tooth bar 7221 is solid
The side of the slide slot of fixed swing arm 722 of one of which；Pendular body 725 includes union joint and a pair guide holder；Lead for a pair
The bottom surface of union joint it is fixed on to seat symmetry；Guide holder includes being mutually perpendicular to be fixed on connecting rod and square guide rod；A pair guiding
Seat is plugged in the slide slot of swing arm 722 by square guide rod respectively；The 4th electricity it is fixed with on the square guide rod of one of them
Machine；It is fixed with the 7th gear 723 on the output shaft of the 4th motor；7th gear 723 engages with the 7th tooth bar 7221；
As shown in Fig. 1～Fig. 8, resetting means 74 includes reset components 741 and the 3rd motor fixing device 742；Reset portion
Part 741 includes a pair reset gripper shoe 7411 and a pair back-moving spring 7412；A pair reset gripper shoe 7411 is separately fixed at it
In swing arm 722 swaying direction both sides top board 633 on；Back-moving spring 7412 be arranged on swing arm 722 sidewall and
Between reset gripper shoe 7411 sidewall；3rd motor fixing device 742 includes cylinder supports plate 7421, cylinder 7422 and fixed claw
7423；Cylinder supports plate 7421 is fixed on the top board 733 of the 3rd motor 724 side；Cylinder 7422 is fixed on cylinder supports plate
On 7421；The piston rod of cylinder 7422 is towards the 3rd motor 724；Fixed claw 7423 is fixed on the piston rod of cylinder 7422；Fixing
A pair alignment pin is formed on pawl 7423；3rd motor 724 and the side supporting seat 721 contact surface form motor cabinet 7241；
Hole, a pair first location is offered on motor cabinet 7241；First hole, location just to support seat 721 side on to offer second fixed
Hole, position；A pair alignment pin of fixed claw 7423 just positions hole to the first of motor cabinet 7241；
As shown in Fig. 1～Fig. 8, the rotating machine arm 50 that described adjutage 70 is fixedly arranged at the front end with；Described rotating machine arm 50
The drive mechanism 60 rotated including a pair sucker group and a pair sucker group of driving.
As shown in Fig. 1～Fig. 8, the first telescoping mechanism 73 also includes central rotating body the 734, first threaded rod 735, Ruo Gan
One guide rod the 736, first worm screw the 637, the 5th motor 738 and a pair rotation gripper shoe 739；Rotate gripper shoe 739 for a pair vertically solid
It is scheduled on base plate 732；First worm screw 737 is articulated between a pair rotation gripper shoe 739；5th motor 738 is fixed therein it
In the rotation gripper shoe 739 of；Output shaft and first worm screw 737 of the 5th motor 738 connect firmly；Central rotating body 734 includes
One cylinder and the first worm gear；The screwed hole run through up and down is offered in the middle part of first cylinder；First cylinder upper end external cylindrical surface passes through
Bearing hinge joint is fixed with the first worm gear on gripper shoe 731 upper and lower end external cylindrical surface；Central rotating body 734 is by the first worm gear
Engage with the first worm screw 737；First threaded rod 735 lower end is screwed onto in the screwed hole of central rotating body 734, upper end and top board
733 centers are spirally connected；Some first guide rods 736 are fixed on gripper shoe 631 upper surface；Top board 733 is set in some first guide rods
On 736.
As shown in Fig. 1～Fig. 8, some first guide rod 736 upper ends form the limited block of circle, and limited block diameter is more than the
The diameter of one guide rod 736.
As shown in Fig. 1～Fig. 8, described stake body 71 includes the first housing 711 and the second housing 712；First housing 711
It is integrally fixed by some connection posts with the second housing 712；First telescoping mechanism 73 is solid by gripper shoe 731 and base plate 732
It is scheduled on the inwall of the first housing 711；Second housing 712 is set in outside swing mechanism 72 and the first telescoping mechanism.
As shown in Fig. 1～Fig. 8, pendular body 725 center offers the circular hole run through up and down, and the diameter of circular hole is more than the first spiral shell
The diameter of rasp bar 735.
As shown in Fig. 9～Figure 14, described drive mechanism 60 includes pedestal 61, rotating driving device 62, latch components 63 and
Rotary components 64；Rotary components 64 includes a pair location bar 641, rotary support 642 and the first gear 643；On rotary support 642
End be fixed with a pair location bar 641, be fixedly arranged in the middle of the first gear 643, lower end is articulated on pedestal 61；Latch components 63 includes
Unlocking feature 631 and limiting component 632；Unlocking feature 631 includes the first cylinder ring the 6311, second gear 6312 and annulus guide plate
6313；Second gear 6312 is fixed on the external cylindrical surface of the first cylinder ring 6311；Annulus guide plate 6313 is fixed on the first cylinder
On pedestal 61 in ring 6311；Annulus guide plate 6313 is formed by connecting by unlocking board and the limiting plate head and the tail of differing heights；Unlocking board
Height more than the height of limiting plate；Limiting component 632 includes straight pin 6321, connecting rod 6322 and gag lever post 6323；Cylinder
Pin 6321 is vertically and fixedly provided with connecting rod 6322 in the middle part of side；Connecting rod 6322 lower surface is vertically and fixedly provided with gag lever post 6323；Spacing
The central shaft of bar 6323 and straight pin 6321 central shaft level；Connecting rod 6322 is square column；Rotary support 642 lower surface is opened
It is provided with on pilot hole, side and offers square opening 6421 below the first gear 643；The pilot hole of rotary support 642 and square opening
6421 connections；The straight pin 6321 of limiting component 632 is plugged in the pilot hole of rotary support 642；The connection of limiting component 632
Bar 6322 level is plugged in the square opening of rotary support 642；Straight pin 6321 lower end forms square post；It is positioned at rotation
Pedestal 61 below seat 642 offers the rotating hole vertically run through；It is positioned at the pedestal 61 lower surface molding below rotary support 642
There is guiding slot holder 611；Guiding slot holder 611 is internal offers the guide groove identical with the square column dimension of straight pin 6321；Rotating hole
Diameter is more than the square cornerwise length of post；Gag lever post 6323 lower end is articulated with a roller 6325；Roller 6325 is resisted against circle
On the upper surface of ring guide plate 6313；It is provided with between the upper side wall of the top of straight pin 6321 and the pilot hole of rotary support 642
One stage clip 6324；
As shown in Fig. 9～Figure 14, rotating driving device 62 includes the 4th gear 621 and the 5th gear 622；4th gear
The wheel teeth portion 6211 of 621 only one section；4th gear 621 can engage with the first gear 643；5th gear 622 and the second gear
6312 engagements.
As shown in Fig. 9～Figure 14, described rotating machine arm 50 includes linking arm 51, the company of being fixed on being articulated on forearm 40
The spill spin block 53 connect the housing 52 on arm 51, being positioned at outside housing 52, described drive mechanism 60 is fixed on housing 52 by pedestal 61
In, described spill spin block 53 is fixed on the bar 641 of location；The pair of sucker is fixed on spill spin block 53.
As shown in Fig. 9～Figure 14, described rotating driving device 62 also includes rotating driveshaft 624 and the first motor 623；The
One motor 623 is vertically fixed on pedestal 61；The 4th gear 621 it is fixed with the most successively on first motor 623 output shaft
With the 5th gear 622.
As shown in Fig. 9～Figure 14, rounding off between unlocking board and the limiting plate of annulus guide plate 6313.Concrete operations are such as
Under:
First telescoping mechanism 73: starting the 5th motor 738, the 5th motor 738 drives the first worm screw 737 to rotate, the first snail
Bar 737 drives central rotating body 734 to rotate by the first worm gear, and central rotating body 734 drives the first threaded rod 735 to rotate, top
Plate 733, owing to being limited by some first guide rods 736, can only move up, thus band movable pendulum under the driving of the first threaded rod 735
Kinetoplast stretches upwards；If needing to make pendular body retracted downward only need to make the 5th motor 738 counter-rotating；
Swing mechanism 72: start cylinder 7422, fixed claw 7423 travels forward and is inserted into the first location of motor cabinet 7241
In second hole, location of hole and support seat 721, such 3rd motor 724 is secured to support on seat 721；Due to pendular body 725
On the existence of square guide rod, drive the 3rd motor 724, the 3rd motor 724 can drive pendular body 725 by swing arm 722
Swing；
Second telescoping mechanism: after pendular body 725 swings certain angle, if needing pendular body 725 is carried out trace regulation,
The 4th motor, the 4th driven by motor the 7th gear 723 need to be driven to rotate, and the 7th gear 723 drives pendular body 725 along the 7th tooth bar
7221 linear slide；
Resetting means 74: start cylinder 7422, fixed claw 7423 rearward movement departs from the first hole, location of motor cabinet 7241
Positioning hole with support seat 721 second, such 3rd motor 724 separates with supporting seat 721；Owing to two to reset gripper shoe 7411
With the both sides laying respectively at pendular body 725 of back-moving spring 7412, institute is so that pendular body 725 can reset, then around supporting seat 721
Restarting cylinder 7422, fixed claw 7423 again travels forward and is inserted into the first hole, location of motor cabinet 7241 and supports seat 721
The second hole, location in, such 3rd motor 724 is secured to support on seat 721 and make pendular body 725 reset.
Latch components 63 concrete operations are as follows: initial state: stage clip 6324 orders about straight pin 6321 and moves downward, now by
Square post in straight pin 6321 lower end is positioned at guiding slot holder 611, so straight pin 6321 limits limiting component 632；Limit
Position parts 632 limit rotary components 64, and spill spin block 53 and sucker are all limited then；The now roller 6325 of gag lever post 6323
Contact with the limiting plate of annulus guide plate 6313；
Then the first motor 623 drives the 5th gear 622 to rotate；5th gear 622 is driven by the second gear 6312 and solves
Lock assembly 631 rotates, and the roller 6325 of gag lever post 6323 arrives unlocking board, gag lever post 6323 from the limiting plate of annulus guide plate 6313
Driving straight pin 6321 also to move upward, the square post of straight pin 6321 lower end departs from guiding slot holder 611, rotation group the most simultaneously
Part 64 is released, and the most now the wheel teeth portion 6211 of the 4th gear 621 engages with the first gear 643；4th gear 621 drives rotation
Turn assembly 64 to rotate；Then spill spin block 53 and sucker all revolve turnback；Now roller 6325 is from the unlocking board of annulus guide plate 631
Arriving limiting plate, straight pin 6321 moves downward, and stage clip 6324 makes the square post of straight pin 6321 lower end be inserted into lead again
Groove seat 611；Rotary components 64 is again limited under the effect of limiting component 632.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, the most all will change, and this specification content should not be understood
For to restriction of the present utility model.
Claims (9)
1. it is provided with the light-duty six axle all-purpose robots performing end on adjutage, including base body (10), is articulated in the end
Waist rotation member (20), the large arm (30) being articulated on waist rotation member (20) on pedestal (10), it is fixed on large arm (30) one end
Forearm (40) on 6th motor (31) output shaft, waist rotation member (20) rotates around base body (10), and large arm (30) is around waist transfer part
Part (20) rotates；It is characterized in that:
Described forearm is provided with adjutage (70), and described adjutage includes the stake body (71) of fixing connection forearm, is arranged on and props up
The first telescoping mechanism (73), the swing mechanism (72) being hinged on the first telescoping mechanism on support body, slide and be arranged on oscillating machine
The second telescoping mechanism in structure (72) slide slot and the resetting means (74) being arranged on swing mechanism (72)；
First telescoping mechanism (73) includes top board (733), gripper shoe (731) and base plate (732)；Swing mechanism (72) includes a pair
Support seat (721) and a pair swing arm (722)；Swing arm (722) is provided with slide slot；A pair swing arm (722) lower end is passed through
The jointed shaft being fixed on swing arm (722) is respectively hinged on a pair support seat (721)；One of them swing arm (722)
The output shaft of jointed shaft and the 3rd motor (724) connects firmly；Swing mechanism (72) is fixed on first by a pair support seat (721) and stretches
On the top board (733) of contracting mechanism (73)；Second telescoping mechanism includes the 7th tooth bar (7221), the 7th gear (723) and pendular body
(725)；The side of the slide slot of the swing arm (722) that the 7th tooth bar (7221) one of is fixed therein；Pendular body (725) includes
Union joint and a pair guide holder；A pair guide holder symmetry is fixed on the bottom surface of union joint；Guide holder includes being mutually perpendicular to be fixed on
Connecting rod and square guide rod；A pair guide holder is plugged in by square guide rod in the slide slot of swing arm (722) respectively；Wherein it
It is fixed with the 4th motor on the square guide rod of；The 7th gear (723) it is fixed with on the output shaft of the 4th motor；7th gear
(723) engage with the 7th tooth bar (7221)；
Resetting means (74) includes reset components (741) and the 3rd motor fixing device (742)；Reset components (741) includes one
To reset gripper shoe (7411) and a pair back-moving spring (7412)；A pair reset gripper shoe (7411) is separately fixed at one of them
On the top board (633) of the both sides of swing arm (722) swaying direction；Back-moving spring (7412) is arranged on the sidewall of swing arm (722)
And between reset gripper shoe (7411) sidewall；3rd motor fixing device (742) includes cylinder supports plate (7421), cylinder
And fixed claw (7423) (7422)；Cylinder supports plate (7421) is fixed on the top board (733) of the 3rd motor (724) side；Cylinder
(7422) it is fixed on cylinder supports plate (7421)；The piston rod of cylinder (7422) is towards the 3rd motor (724)；Fixed claw
(7423) piston rod of cylinder (7422) it is fixed on；Fixed claw forms a pair alignment pin on (7423)；3rd motor (724) with
The side supporting seat (721) contact surface forms motor cabinet (7241)；Hole, a pair first location is offered on motor cabinet (7241)；
First location hole just to support seat (721) side on offer the second hole, location；A pair alignment pin of fixed claw (7423) is just
The first hole, location to motor cabinet (7241)；
The rotating machine arm (50) that described adjutage (70) is fixedly arranged at the front end with；Described rotating machine arm (50) includes a pair sucker group
With the drive mechanism (60) driving a pair sucker group rotation.
Being provided with the light-duty six axle all-purpose robots performing end on a kind of adjutage the most according to claim 1, it is special
Levy and be: the first telescoping mechanism (73) also includes central rotating body (734), the first threaded rod (735), some first guide rods
(736), the first worm screw (637), the 5th motor (738) and a pair rotate gripper shoe (739)；Rotate gripper shoe (739) a pair to erect
Directly it is fixed on base plate (732)；First worm screw (737) is articulated between a pair rotation gripper shoe (739)；5th motor (738)
In the rotation gripper shoe (739) one of being fixed therein；Output shaft and first worm screw (737) of the 5th motor (738) connect firmly；
Central rotating body (734) includes the first cylinder and the first worm gear；The screwed hole run through up and down is offered in the middle part of first cylinder；First
Cylinder upper end external cylindrical surface is fixed with the first worm gear by bearing hinge joint on gripper shoe (731) upper and lower end external cylindrical surface；Center
Rotary body (734) is engaged by the first worm gear and the first worm screw (737)；First threaded rod (735) lower end is screwed onto central rotation
In the screwed hole of body (734), upper end is spirally connected with top board (733) center；Some first guide rods (736) are fixed on gripper shoe (731)
On upper surface；Top board (733) is set on some first guide rods (736).
Being provided with the light-duty six axle all-purpose robots performing end on a kind of adjutage the most according to claim 2, it is special
Levying and be: some first guide rod (736) upper ends form the limited block of circle, limited block diameter is more than the first guide rod (736)
Diameter.
Being provided with the light-duty six axle all-purpose robots performing end on a kind of adjutage the most according to claim 1, it is special
Levy and be: on described stake body (71), include the first housing (711) and the second housing (712)；First housing (711) and the second shell
Body (712) is integrally fixed by some connection posts；First telescoping mechanism (73) is solid by gripper shoe (731) and base plate (732)
It is scheduled on the inwall of the first housing (711)；Second housing (712) is set in outside swing mechanism (72) and the first telescoping mechanism.
Being provided with the light-duty six axle all-purpose robots performing end on a kind of adjutage the most according to claim 1, it is special
Levying and be: pendular body (725) center offers the circular hole run through up and down, the diameter of circular hole is straight more than the first threaded rod (735)
Footpath.
Being provided with the light-duty six axle all-purpose robots performing end on a kind of adjutage the most according to claim 1, it is special
Levy and be: described drive mechanism (60) includes pedestal (61), rotating driving device (62), latch components (63) and rotary components
(64)；Rotary components (64) includes a pair location bar (641), rotary support (642) and the first gear (643)；Rotary support
(642) upper end be fixed with a pair location bar (641), be fixedly arranged in the middle of the first gear (643), lower end is articulated on pedestal (61)；
Latch components (63) includes unlocking feature (631) and limiting component (632)；Unlocking feature (631) includes the first cylinder ring
(6311), the second gear (6312) and annulus guide plate (6313)；Second gear (6312) is fixed on the first cylinder ring (6311)
On external cylindrical surface；Annulus guide plate (6313) is fixed on the pedestal (61) in the first cylinder ring (6311)；Annulus guide plate (6313)
Unlocking board and limiting plate head and the tail by differing heights are formed by connecting；The height of unlocking board is more than the height of limiting plate；Limiting component
(632) straight pin (6321), connecting rod (6322) and gag lever post (6323) are included；Vertically fix in the middle part of straight pin (6321) side
There is connecting rod (6322)；Connecting rod (6322) lower surface is vertically and fixedly provided with gag lever post (6323)；The central shaft of gag lever post (6323)
With straight pin (6321) central shaft level；Connecting rod (6322) is square column；Rotary support (642) lower surface offers guiding
On hole, side, the first gear (643) lower section offers square opening (6421)；The pilot hole of rotary support (642) and square opening
(6421) connection；The straight pin (6321) of limiting component (632) is plugged in the pilot hole of rotary support (642)；Limiting component
(632) connecting rod (6322) level is plugged in the square opening of rotary support (642)；Straight pin (6321) lower end just forms
Square column；The pedestal (61) being positioned at rotary support (642) lower section offers the rotating hole vertically run through；It is positioned at rotary support
(642) pedestal (61) lower surface of lower section forms guiding slot holder (611)；Guiding slot holder (611) is internal to be offered and straight pin
(6321) guide groove that square column dimension is identical；The diameter of rotating hole is more than the square cornerwise length of post；Gag lever post
(6323) lower end is articulated with a roller (6325)；Roller (6325) is resisted against on the upper surface of annulus guide plate (6313)；Straight pin
(6321) it is provided with a stage clip (6324) between top and the upper side wall of the pilot hole of rotary support (642)；
Rotating driving device (62) includes the 4th gear (621) and the 5th gear (622)；The wheel teeth portion of the 4th gear (621)
(6211) only one section；4th gear (621) can engage with the first gear (643)；5th gear (622) and the second gear
(6312) engagement.
Being provided with the light-duty six axle all-purpose robots performing end on a kind of adjutage the most according to claim 6, it is special
Levy and be: described rotating machine arm (50) includes the linking arm (51) being articulated on forearm (40), is fixed on linking arm (51)
Housing (52), be positioned at housing (52) spill spin block (53) outward, described drive mechanism (60) is fixed on housing by pedestal (61)
(52), in, described spill spin block (53) is fixed on location bar (641)；The pair of sucker is fixed on spill spin block (53).
Being provided with the light-duty six axle all-purpose robots performing end on a kind of adjutage the most according to claim 6, it is special
Levy and be: described rotating driving device (62) also includes rotating driveshaft (624) and the first motor (623)；First motor (623)
Vertically it is fixed on pedestal (61)；The 4th gear (621) and it is fixed with the most successively on first motor (623) output shaft
Five gears (622).
Being provided with the light-duty six axle all-purpose robots performing end on a kind of adjutage the most according to claim 6, it is special
Levy and be: rounding off between unlocking board and the limiting plate of annulus guide plate (6313).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620761731.2U CN205817908U (en) | 2016-07-18 | 2016-07-18 | The light-duty six axle all-purpose robots performing end it are provided with on a kind of adjutage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620761731.2U CN205817908U (en) | 2016-07-18 | 2016-07-18 | The light-duty six axle all-purpose robots performing end it are provided with on a kind of adjutage |
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| Publication Number | Publication Date |
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| CN205817908U true CN205817908U (en) | 2016-12-21 |
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|---|---|---|---|
| CN201620761731.2U Expired - Fee Related CN205817908U (en) | 2016-07-18 | 2016-07-18 | The light-duty six axle all-purpose robots performing end it are provided with on a kind of adjutage |
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| Country | Link |
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| CN (1) | CN205817908U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965541A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Light six-axis universal robot with extending arm provided with execution terminal |
| CN109773766A (en) * | 2019-03-07 | 2019-05-21 | 安徽绿之态新材料有限公司 | A kind of six axis robot |
| CN109833568A (en) * | 2017-11-27 | 2019-06-04 | 苏州雷泰医疗科技有限公司 | Image Plate transmission device, control device, control method and accelerator therapy equipment |
-
2016
- 2016-07-18 CN CN201620761731.2U patent/CN205817908U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965541A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Light six-axis universal robot with extending arm provided with execution terminal |
| CN105965541B (en) * | 2016-07-18 | 2018-08-03 | 余佩佩 | The light-duty six axis all-purpose robot for executing end is provided on a kind of adjutage |
| CN109833568A (en) * | 2017-11-27 | 2019-06-04 | 苏州雷泰医疗科技有限公司 | Image Plate transmission device, control device, control method and accelerator therapy equipment |
| CN109773766A (en) * | 2019-03-07 | 2019-05-21 | 安徽绿之态新材料有限公司 | A kind of six axis robot |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170607 Address after: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Patentee before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY Co.,Ltd. Effective date of registration: 20170607 Address after: 529040 Guangdong province Jiangmen jin'ou Road No. 38 Patentee after: JIANGMEN SEASANG HARDWARE INDUSTRY Co.,Ltd. Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161221 |