CN205928614U - Mobilizable six spool light -duty all -purpose robot - Google Patents
Mobilizable six spool light -duty all -purpose robot Download PDFInfo
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- CN205928614U CN205928614U CN201620760712.8U CN201620760712U CN205928614U CN 205928614 U CN205928614 U CN 205928614U CN 201620760712 U CN201620760712 U CN 201620760712U CN 205928614 U CN205928614 U CN 205928614U
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- arm
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Abstract
The utility model discloses a mobilizable six spool light -duty all -purpose robot, changeing big arm on the waist changes the part of part, pin joint, installing the forearm on big arm including the base body, the waist of pin joint on the base body, the waist changes the part and rotates around the base body, and big arm changes the part around the waist and rotates, the base body closes the base lid in the base main part including hollow base main part, lid, wheel drive and roller device are installed to the base main part, be equipped with robot assembly on the forearm, robot assembly include arm, pin joint at the swing arm of arm front end, fix the manipulator on swing arm front end rotary disk, the utility model discloses a gyro wheel passes through wheel drive and can contract in base main part both sides, and whole robot accessible gyro wheel removes, can order about through the combination of gear drive and cam that the cleft hand moves simultaneously and motion amplitude is the same to all -round and the work piece promptly accurately of machinery cleft hand.
Description
Technical field
The utility model is related to robotics and in particular to one kind movably light-duty six axle all-purpose robots.
Background technology
The utility application of Application No. CN201210566463.5 discloses a kind of moveable six axle machines
People, including base body, waist rotation member, large arm, axle bed, forearm, waist rotation member rotates around base body, and large arm turns around waist rotation member
Dynamic.Light-duty six axle all-purpose robots of the prior art, base body is fixedly installed, and is not easy to the movement of robot it is difficult to meet
The demand of practical operation.
Utility model content
The utility model is directed to above-mentioned technical problem, provides one kind movably light-duty six axle all-purpose robots.
For reaching above-mentioned purpose, one kind of the present utility model movably light-duty six axle all-purpose robots, including base body,
The waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the forearm being arranged in large arm, waist rotation member around
Base body rotates, and large arm rotates around waist rotation member；Forearm is provided with mechanical arm assembly；
Base body that described base body includes hollow, the base lid being fixed in base body；Before and after base body
Both sides respectively offer a pair roller accommodating groove；The bottom of roller accommodating groove offers slotted hole；Rolling is installed inside base body
Wheel assembly；Described roll wheel assembly includes roller driving device and roller devices；One is opened up respectively on madial wall about base body
To guide groove；Guide groove is fixed with lead between upper and lower two side；
Roller driving device includes mobile guide block, a pair of guide rods, threaded rod, worm screw and the first motor；A pair of guide rods level
It is fixed between the left and right madial wall of base body；Threaded rod is articulated between the left and right madial wall of base body；Mobile guide block
Level offers a pair of pilot hole and the screwed hole that left and right is run through；Mobile guide block is set in a pair by a pair of pilot hole and leads
On bar；Threaded rod is screwed onto in mobile guide block；Mobile guide block bottom forms some semicolumn projections being placed equidistant；Threaded rod
Right-hand member is fixed with worm gear；Base body is located at and is fixed with a pair of worm screw gripper shoe on the Right Inboard wall above mobile guide block；A pair
It is articulated with worm screw between worm screw gripper shoe；One of worm screw gripper shoe is fixed with the first motor；First motor output shaft and snail
Bar connects firmly；
Roller devices include guide-rail plate and a pair of roller group；Roller group includes fixing axle and a pair roller；One pair roller pivot
It is connected on fixing axle two ends；It is fixed on before and after the fixing axle level of roller group between the front/rear end of guide-rail plate；Fixing axle passes through bottom
The slotted hole of seat main body；Roller is located in roller accommodating groove；A pair of guide lugs is formed respectively on end face about guide-rail plate；Guide rail
The guide lugs of plate are set on the lead of base body guide groove；Guide-rail plate upper surface offers contraction groove group and declines groove
Group；Shrink groove group to be made up of some the first gap being placed equidistant；Decline groove group by some the second gap being placed equidistant
Composition；The the first gap size shrinking groove group is identical with mobile guide block semicolumn size of lug；Shrink groove group first is slitted
The rotating shaft of mouth is located on the upper surface of guide-rail plate；Decline the second gap size of groove group and mobile guide block semicolumn size of lug
Identical；The rotating shaft declining the second gap of groove group is located above the upper surface of guide-rail plate；Described mechanical arm assembly, including hand
Arm, the swing arm being articulated in arm front end, driving swing the first driver element of arm swing, are fixed on swing arm front end rotating disk
On manipulator and drive rotation disc spins the second driver element；The described center line swinging during arm swing and rotating disk
Rotation centerline is mutually perpendicular to；
Manipulator includes housing, cleft hand drive mechanism；Cleft hand drive mechanism includes motor, the first worm screw, the first snail
Wheel, central gear, some split gears, some cams and some cleft hands.Preferred as technique scheme, base body guide groove
Lead on be all arranged with stage clip；Stage clip one end is resisted against on the lower surface of guide lugs, the other end is resisted against the lower wall of guide groove
On face.Preferred as technique scheme, spacing and decline groove group between the adjacent semicolumn projection rotating shaft of mobile guide block
Adjacent second gap rotating shaft between spacing identical；Spacing and contraction groove between the adjacent semicolumn projection rotating shaft of mobile guide block
Between the adjacent first gap rotating shaft of group, spacing is identical.
Preferred as technique scheme, the second gap of the semicolumn number of slugs of mobile guide block and decline groove group
Quantity is identical；The semicolumn number of slugs of mobile guide block is identical with the first gap quantity shrinking groove group.
Preferred as technique scheme, the screwed hole of mobile guide block is located at mobile guide block center；A pair of pilot hole with
It is symmetrical arranged before and after centered on screwed hole.
Preferred as technique scheme, housing is the cuboid that inside offers cavity；Cleft hand drive mechanism is arranged
In the internal cavities of housing；Casing center forms horizontal parallel the first gripper shoe setting up and down and the second gripper shoe；Shell
Body upper side wall offers supported hole on several；It is fixed with upper support bar between the wall of upper supported hole side；First gripper shoe offers
Several lower supported holes；Lower supported hole is located at the lower section of upper supported hole；
A pair of gripper shoe is formed, between gripper shoe, level is articulated with worm screw in described housing hollow lower wall；Gripper shoe
On be fixed with motor；Driving motor output shaft is fixedly connected with the first worm screw；Described second gripper shoe center is vertical
It is articulated with the first drive shaft；The top that first drive shaft is located at the second gripper shoe is fixed with central gear；First drive shaft is located at
The bottom of the second gripper shoe is fixed with the first worm gear；First worm gear and the first worm engaging；First gripper shoe and the second gripper shoe
Between be articulated with some second drive shafts；Second drive shaft upper end passes through the first gripper shoe；Second drive shaft is located at the first support
It is fixedly arranged in the middle of split gear between plate and the second gripper shoe；Second drive shaft is fixed with convex positioned at the top of the second gripper shoe
Wheel；Split gear is engaged with central gear；
Cleft hand top passes through the upper side wall of housing, middle part to be articulated in upper support bar upper and lower part by upper by upper supported hole
Supported hole passes through the first gripper shoe；Lower support in the hole is provided with the first stage clip；First stage clip one end is resisted against lower supported hole side wall
The upper, other end is resisted against on the side wall of cleft hand bottom；Cleft hand bottom side wall is resisted against on cam.
Preferred as technique scheme, split gear, the second drive shaft, cam, cleft hand are arranged in pairs；Upper supported hole,
Lower supported hole, the quantity of upper support bar are identical with cleft hand quantity.
Preferred as technique scheme, the quantity of cleft hand is set to four.
Preferred as technique scheme, described first driver element includes the 4th motor, the connection being arranged on arm
Connect the first gear unit of the 4th motor and swing arm；Described first gear unit includes being articulated on arm and be coaxially disposed
Second gear and the 3rd gear, the 4th gear being articulated on arm and being coaxially disposed and the first synchronous pulley, it is articulated in arm
On the 3rd axle, the second synchronous pulley being fixedly mounted on the 3rd axle；It is provided with first on the output shaft of described 4th motor
Gear, first gear is engaged with second gear, and the 3rd gear is engaged with the 4th gear, and the first synchronous pulley passes through Timing Belt and the
Two synchronous pulley connections, the 3rd axle is fixedly connected with swing arm.
Preferred as technique scheme, the inside knuckle in cleft hand top.
The beneficial effects of the utility model are：Roller can be contracted in base body both sides by roller driving device,
Whole robot can be moved by roller；So that longitudinal cleft hand combination is combined with horizontal cleft hand can action simultaneously and motion amplitude phase
With so that mechanical claw hand is comprehensive and firmly grasps workpiece exactly.
Brief description
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of base body of the present utility model；
Fig. 3 is the structural representation of roll wheel assembly of the present utility model；
Fig. 4 is the structural representation of base body of the present utility model and its internal structure；
Fig. 5 is the cross-sectional view of base body of the present utility model and its internal structure；
Fig. 6 is arm structure schematic diagram of the present utility model；
Fig. 7 is the structural representation of manipulator of the present utility model；
Fig. 8 is the structural representation of manipulator transmission mechanism of the present utility model；
Fig. 9 is the structural representation of manipulator transmission mechanism of the present utility model；
Figure 10 is the structural representation faced of manipulator transmission mechanism of the present utility model；
Figure 11 is the structural representation of B-B in Figure 10 of the present utility model；
Figure 12 is the structural representation of C-C in Figure 10 of the present utility model；
Figure 13 is the structural representation of D-D in Figure 10 of the present utility model；
In figure, 10, base body；11st, base body；110th, roller accommodating groove；1101st, slotted hole；20th, waist rotation member；30、
Large arm；40th, forearm；
50th, arm；51st, the 3rd gear；52nd, the 4th gear；54th, the 6th gear；55th, the first synchronous pulley；56th, the 3rd
Axle；57th, the second synchronous pulley；58th, Timing Belt；59th, swing arm；591st, rotating disk；
60th, manipulator；600th, housing；601st, upper support bar；602nd, the first gripper shoe；603rd, the second gripper shoe；61st, first
Worm screw；610th, lower supported hole；611st, gripper shoe；62nd, the first worm gear；621st, the first drive shaft；63rd, central gear；64th, divide tooth
Wheel；641st, the second drive shaft；65th, cam；66th, cleft hand；6000th, upper supported hole；67th, motor；68th, the first stage clip；
70th, roll wheel assembly；71st, roller driving device；711st, mobile guide block；7111st, semicolumn projection；712nd, guide rod；
713rd, threaded rod；714th, worm screw；7141st, worm screw gripper shoe；715th, the first motor；716th, worm gear；72nd, roller devices；721st, lead
Rail plate；7211st, decline groove group；7212nd, shrink groove group；722nd, fixing axle；723rd, roller.
Specific embodiment
As shown in figure 1, one kind movably light-duty six axle all-purpose robots, including base body 10, it is articulated in base body 10
On waist rotation member 30, the large arm 20 being articulated on waist rotation member 30, the forearm 40 being arranged in large arm 20, waist rotation member 30 around
Base body 10 rotates, and large arm 20 rotates around waist rotation member 30；Forearm 40 is provided with mechanical arm assembly；
As shown in Fig. 1～Fig. 5, described base body 10 includes the base body 11 of hollow, is fixed in base body 11
Base lid 12；Before and after base body 11, both sides respectively offer a pair roller accommodating groove 110；The bottom of roller accommodating groove 110 is opened
It is provided with slotted hole 1101；Roll wheel assembly 70 is installed inside base body 11；Described roll wheel assembly 70 includes roller driving device
71 and roller devices 72；A pair of guide groove is opened up respectively on base body 11 about madial wall；Fixing between the upper and lower two side of guide groove
There is lead；
As shown in Fig. 3～Fig. 5, roller driving device 71 includes mobile guide block 711, a pair of guide rods 712, threaded rod 713, snail
Bar 714 and the first motor 715；A pair of guide rods 712 is horizontally fixed between the left and right madial wall of base body 11；Threaded rod 713
It is articulated between the left and right madial wall of base body 11；Mobile guide block 711 level offer a pair of the pilot hole running through left and right and
One screwed hole；Mobile guide block 711 is set in a pair of guide rods 712 by a pair of pilot hole；Threaded rod 713 is screwed onto movement and leads
In block 711；Mobile guide block 711 bottom forms some semicolumn projections 7111 being placed equidistant；Threaded rod 713 right-hand member is fixed with
Worm gear 716；Base body 11 is located at and is fixed with a pair of worm screw gripper shoe 7141 on the Right Inboard wall of mobile guide block 711 top；One
It is articulated with worm screw 714 between worm screw gripper shoe 7141；One of worm screw gripper shoe 7141 is fixed with the first motor 715；The
One motor 715 output shaft and worm screw 714 connect firmly；
As shown in Fig. 3～Fig. 5, roller devices 72 include guide-rail plate 721 and a pair of roller group；Roller group includes fixing axle
722 and a pair roller 723；One pair roller 723 is articulated in fixing axle 722 two ends；Fixing before and after fixing axle 722 level of roller group
Between the front/rear end of guide-rail plate 721；Fixing axle 722 passes through the slotted hole of base body 11；Roller is located at roller accommodating groove
In 110；A pair of guide lugs is formed respectively on guide-rail plate 721 about end face；The guide lugs of guide-rail plate 721 are set in base body
On the lead of 11 guide grooves；Guide-rail plate 721 upper surface offers contraction groove group 7212 and declines groove group 7211；Shrink groove
Group 7212 is made up of some the first gap being placed equidistant；Decline groove group 7211 by some the second gap groups being placed equidistant
Become；The the first gap size shrinking groove group 7212 is identical with mobile guide block 711 semicolumn size of lug；Shrink groove group 7212
The first gap rotating shaft be located at guide-rail plate 721 upper surface on；Decline the second gap size of groove group 7211 and movement is led
Block 711 semicolumn size of lug is identical；The rotating shaft declining the second gap of groove group 7211 is located at the upper surface of guide-rail plate 721
Top；
Described mechanical arm assembly, the swing arm 59 including arm 50, being articulated in arm 50 front end, driving swing arm 59 swing
The first driver element, the manipulator 60 being fixed in swing arm 50 front end rotating disk 591 and drive rotating disk 591 rotation the
Two driver elements；Center line when described swing arm 59 swings is mutually perpendicular to the rotation centerline of rotating disk 591；
Manipulator 60 includes housing 600, cleft hand drive mechanism；Cleft hand drive mechanism includes motor 67, the first worm screw
61st, the first worm gear 62, central gear 63, some split gears 64, some cams 65 and some cleft hands 66.
All it is arranged with stage clip on the lead of base body 11 guide groove；Stage clip one end is resisted against on the lower surface of guide lugs,
The other end is resisted against on the lower wall surface of guide groove.
As shown in figure 5, between adjacent semicolumn projection 7111 rotating shaft of mobile guide block 711 spacing with decline groove group 7211
Adjacent second gap rotating shaft between spacing identical；Between adjacent semicolumn projection 7111 rotating shaft of mobile guide block 711 spacing with
Shrink spacing between the adjacent first gap rotating shaft of groove group 7212 identical.
As shown in figure 5, semicolumn projection 7111 quantity of mobile guide block 711 and the second gap number declining groove group 7211
Amount is identical；Semicolumn projection 7111 quantity of mobile guide block 711 is identical with the first gap quantity shrinking groove group 7212.
As shown in Figure 3, Figure 4, the screwed hole of mobile guide block 711 is located at mobile guide block 711 center；A pair of pilot hole is with screw thread
It is symmetrical arranged before and after centered on hole.
As shown in Fig. 7～Figure 13, housing 600 is the cuboid that inside offers cavity；Cleft hand drive mechanism is arranged on shell
In the internal cavities of body 600；Housing 600 center forms horizontal parallel the first gripper shoe 602 setting up and down and the second support
Plate 603；Housing 600 upper side wall offers supported hole 6000 on several；It is fixed with support between upper supported hole 6000 side wall
Bar 601；First gripper shoe 602 offers several lower supported holes 610；Lower supported hole 610 is located at the lower section of upper supported hole 6000；
As shown in Fig. 7～Figure 13, described housing 600 cavity lower wall forms a pair of gripper shoe 611, gripper shoe 611
Between level be articulated with the first worm screw 61；Motor 67 is fixed with gripper shoe 611；Motor 67 output shaft and the first snail
Bar 61 is fixedly connected；Described second gripper shoe 603 center is vertically articulated with the first drive shaft 621；First drive shaft 621
It is fixed with central gear 63 in the top of the second gripper shoe 603；The bottom that first drive shaft 621 is located at the second gripper shoe 603 is solid
Surely there is the first worm gear 62；First worm gear 62 is engaged with the first worm screw 61；Pivot between first gripper shoe 602 and the second gripper shoe 603
It is connected to some second drive shafts 641；Second drive shaft 641 upper end passes through the first gripper shoe 602；Second drive shaft 641 is located at the
It is fixedly arranged in the middle of split gear 64 between one gripper shoe 602 and the second gripper shoe 603；Second drive shaft 641 is located at the second support
The top of plate 603 is fixed with cam 65；Split gear 64 is engaged with central gear 63；
As shown in Fig. 7～Figure 13, cleft hand 66 top passes through the upper side wall of housing 600, middle part pivot by upper supported hole 6000
It is connected on upper support bar 601 upper and lower part and the first gripper shoe 602 is passed through by upper supported hole 6000；It is provided with lower supported hole 610
One stage clip 68；First stage clip 68 one end is resisted against on lower supported hole 610 side wall, the other end is resisted against the side wall of cleft hand 66 bottom
On；Cleft hand 66 bottom side wall is resisted against on cam 65.
As shown in Fig. 7～Figure 10, split gear 64, the second drive shaft 641, cam 65, cleft hand 66 are arranged in pairs；Upper supported hole
6000th, lower supported hole 610, the quantity of upper support bar 601 are identical with cleft hand 66 quantity.
As shown in Fig. 7～Figure 10, the quantity of cleft hand 66 is set to four.
As shown in fig. 6, described first driver element include being arranged on arm 50 the 4th motor, connection the 4th motor with
First gear unit of swing arm 59；Described first gear unit includes the second gear being articulated on arm 50 and being coaxially disposed
52 and the 3rd gear, the 4th gear 54 being articulated on arm 50 and being coaxially disposed and the first synchronous pulley 55, be articulated in arm
The 3rd axle 56 on 50, the second synchronous pulley 57 being fixedly mounted on the 3rd axle 56；Pacify on the output shaft of described 4th motor
Equipped with first gear 51, first gear 51 is engaged with second gear 52, and the 3rd gear is engaged with the 4th gear 54, the first Timing Belt
Wheel 55 is coupled with the second synchronous pulley 57 by Timing Belt 58, and the 3rd axle 56 is fixedly connected with swing arm 59.
As shown in Fig. 7～Figure 10, the inside knuckle in cleft hand 66 top.
Concrete operations are as follows：The original state of base body 10：The semicolumn projection 7111 of mobile guide block 711 and contraction groove
Group 7212 contact, now roller 723 is in the roller accommodating groove 110 of base body 11.
If desired for mobile robot, only need to start the first motor 715, the first motor 715 drives worm screw 714 to rotate, worm screw
714 drive threaded rod 713 to rotate by worm gear 716, and threaded rod 713 drives mobile guide block 711 to slide along guide rod 712 level,
The semicolumn projection 7111 of mobile guide block 711 moves to guide-rail plate 721 upper surface from contraction groove group 7212 and moves again to decline
In groove group 7211, such guide-rail plate 721 moves downward, and drives descending the contact with ground of roller group to hold up base body 10,
Whole robot can be mobile by roller 723.
Manipulator 60 operates as follows：Motor 67 drives the first worm gear 62 to rotate by the first worm screw 61, the first worm gear
62 drive central gear 63 by the first drive shaft 621, and central gear 63 drives four split gears 64 to rotate, four split gears
64 carry moving cam 65 to rotate by respective second drive shaft 641 respectively, drive cleft hand 66 bottom outwards, cleft hand 66 top is around upper
Support bar 601 inward, such four cleft hands 66 just move simultaneously and amplitude is identical；
Under the first driver element, the cooperating of the second driver element, gear transmission structure and cleft hand 66, manipulator 60
Workpiece can be firmly grasped comprehensive and exactly.
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, all will change in specific embodiments and applications, and this specification content should not be understood
It is to restriction of the present utility model.
Claims (10)
1. one kind movably light-duty six axle all-purpose robots, including base body (10), the waist that is articulated on base body (10) turns
Part (30), the large arm (20) being articulated on waist rotation member (30), the forearm (40) being arranged in large arm (20), waist rotation member
(30) rotate around base body (10), large arm (20) rotates around waist rotation member (30)；Forearm (40) is provided with mechanical arm assembly；
It is characterized in that：Described base body (10) includes the base body (11) of hollow, the bottom being fixed in base body (11)
Flap body (12)；Before and after base body (11), both sides respectively offer a pair roller accommodating groove (110)；Roller accommodating groove (110)
Bottom offers slotted hole (1101)；Inside base body (11), roll wheel assembly (70) is installed；Described roll wheel assembly (70) bag
Include roller driving device (71) and roller devices (72)；A pair of guide groove is opened up respectively on the madial wall of base body (11) left and right；Lead
Groove is fixed with lead between upper and lower two side；
Roller driving device (71) includes mobile guide block (711), a pair of guide rods (712), threaded rod (713), worm screw (714) and the
One motor (715)；A pair of guide rods (712) is horizontally fixed between the left and right madial wall of base body (11)；Threaded rod (713) pivot
It is connected between the left and right madial wall of base body (11)；Mobile guide block (711) level offers a pair of pilot hole that left and right is run through
With a screwed hole；Mobile guide block (711) is set in a pair of guide rods (712) by a pair of pilot hole；Threaded rod (713) is spirally connected
In mobile guide block (711)；Mobile guide block (711) bottom forms some semicolumn projections (7111) being placed equidistant；Screw thread
Bar (713) right-hand member is fixed with worm gear (716)；Base body (11) is located at fixing on the Right Inboard wall above mobile guide block (711)
There is a pair of worm screw gripper shoe (7141)；It is articulated with worm screw (714) between a pair of worm screw gripper shoe (7141)；One of worm screw
Gripper shoe (7141) is fixed with the first motor (715)；First motor (715) output shaft is connected firmly with worm screw (714)；Roller devices
(72) guide-rail plate (721) and a pair of roller group are included；Roller group includes fixing axle (722) and a pair roller (723)；One pair roller
(723) it is articulated in fixing axle (722) two ends；Before and after being fixed on guide-rail plate (721) before and after fixing axle (722) level of roller group
Between end face；Fixing axle (722) passes through the slotted hole of base body (11)；Roller is located in roller accommodating groove (110)；Guide-rail plate
(721) form a pair of guide lugs respectively on the end face of left and right；The guide lugs of guide-rail plate (721) are set in base body (11) guide groove
Lead on；Guide-rail plate (721) upper surface offers contraction groove group (7212) and declines groove group (7211)；Shrink groove
Group (7212) is made up of some the first gap being placed equidistant；Decline groove group (7211) by some the second gap being placed equidistant
Composition；The the first gap size shrinking groove group (7212) is identical with mobile guide block (711) semicolumn size of lug；Shrink groove
The rotating shaft of the first gap of group (7212) is located on the upper surface of guide-rail plate (721)；Decline the second gap of groove group (7211)
Size is identical with mobile guide block (711) semicolumn size of lug；The rotating shaft of the second gap of decline groove group (7211) is located at and leads
Above the upper surface of rail plate (721)；
Described mechanical arm assembly, the swing arm (59) including arm (50), being articulated in arm (50) front end, driving swing arm (59)
The first driver element swinging, the manipulator (60) being fixed on swing arm (50) front end rotating disk (591) and driving rotating disk
(591) the second driver element rotating；Center line when described swing arm (59) swings and the rotation centerline of rotating disk (591)
It is mutually perpendicular to；
Manipulator (60) includes housing (600), cleft hand drive mechanism；Cleft hand drive mechanism includes motor (67), the first snail
Bar (61), the first worm gear (62), central gear (63), some split gears (64), some cams (65) and some cleft hands (66).
2. one kind according to claim 1 movably light-duty six axle all-purpose robots it is characterised in that：Base body
(11) all it is arranged with stage clip on the lead of guide groove；Stage clip one end is resisted against on the lower surface of guide lugs, the other end is resisted against and leads
On the lower wall surface of groove.
3. one kind according to claim 1 movably light-duty six axle all-purpose robots it is characterised in that：Mobile guide block
(711) between adjacent semicolumn projection (7111) rotating shaft spacing and decline groove group (7211) adjacent second gap rotating shaft it
Between spacing identical；Spacing and contraction groove group (7212) between adjacent semicolumn projection (7111) rotating shaft of mobile guide block (711)
Adjacent first gap rotating shaft between spacing identical.
4. one kind according to claim 1 movably light-duty six axle all-purpose robots it is characterised in that：Mobile guide block
(711) semicolumn projection (7111) quantity is identical with the second gap quantity declining groove group (7211)；Mobile guide block (711)
Semicolumn projection (7111) quantity with shrink groove group (7212) the first gap quantity identical.
5. one kind according to claim 1 movably light-duty six axle all-purpose robots it is characterised in that：Mobile guide block
(711) screwed hole is located at mobile guide block (711) center；A pair of pilot hole is symmetrical arranged centered on screwed hole in front and back.
6. one kind according to claim 1 movably light-duty six axle all-purpose robots it is characterised in that：Housing (600)
Offer the cuboid of cavity for inside；Cleft hand drive mechanism is arranged in the internal cavities of housing (600)；In housing (600)
The heart forms horizontal parallel the first gripper shoe (602) setting up and down and the second gripper shoe (603)；Housing (600) upper side wall is opened
It is provided with supported hole on several (6000)；It is fixed with upper support bar (601) between the wall of upper supported hole (6000) side；First support
Plate (602) offers several lower supported holes (610)；Lower supported hole (610) is located at the lower section of upper supported hole (6000)；
A pair of gripper shoe (611) is formed, between gripper shoe (611), level is articulated with described housing (600) cavity lower wall
First worm screw (61)；Motor (67) is fixed with gripper shoe (611)；Motor (67) output shaft and the first worm screw (61)
It is fixedly connected；Described second gripper shoe (603) center is vertically articulated with the first drive shaft (621)；First drive shaft (621)
It is fixed with central gear (63) positioned at the top of the second gripper shoe (603)；First drive shaft (621) is located at the second gripper shoe
(603) bottom is fixed with the first worm gear (62)；First worm gear (62) is engaged with the first worm screw (61)；First gripper shoe (602)
With second be articulated with some second drive shafts (641) between gripper shoe (603)；Second drive shaft (641) upper end passes through first
Fagging (602)；Second drive shaft (641) is located at being fixedly arranged in the middle of between the first gripper shoe (602) and the second gripper shoe (603)
Split gear (64)；The top that second drive shaft (641) is located at the second gripper shoe (603) is fixed with cam (65)；Split gear (64)
Engage with central gear (63)；
Cleft hand (66) top passes through the upper side wall of housing (600), middle part to be articulated in upper support bar by upper supported hole (6000)
(601) upper and lower part passes through the first gripper shoe (602) by upper supported hole (6000)；It is provided with the first pressure in lower supported hole (610)
Spring (68)；First stage clip (68) one end is resisted against on the wall of lower supported hole (610) side, the other end is resisted against the side of cleft hand (66) bottom
On wall；Cleft hand (66) bottom side wall is resisted against on cam (65).
7. one kind according to claim 6 movably light-duty six axle all-purpose robots it is characterised in that：Split gear
(64), the second drive shaft (641), cam (65), cleft hand (66) are arranged in pairs；Upper supported hole (6000), lower supported hole (610),
The quantity of upper support bar (601) is identical with cleft hand (66) quantity.
8. one kind according to claim 6 movably light-duty six axle all-purpose robots it is characterised in that：Cleft hand (66)
Quantity is set to four.
9. one kind according to claim 6 movably light-duty six axle all-purpose robots it is characterised in that：Described first drive
Moving cell includes the 4th motor being arranged on arm (50), the first gear unit coupling the 4th motor and swing arm (59)；
Described first gear unit includes the second gear (52) being articulated on arm (50) and being coaxially disposed and the 3rd gear, is articulated in
The 4th gear (54) and the first synchronous pulley (55), the 3rd axle being articulated on arm (50) that arm (50) is gone up and is coaxially disposed
(56), it is fixedly mounted on the second synchronous pulley (57) on the 3rd axle (56)；It is provided with the output shaft of described 4th motor
One gear (51), first gear (51) is engaged with second gear (52), and the 3rd gear is engaged with the 4th gear (54), and first is synchronous
Belt wheel (55) is coupled with the second synchronous pulley (57) by Timing Belt (58), and the 3rd axle (56) is fixedly connected with swing arm (59).
10. one kind according to claim 6 movably light-duty six axle all-purpose robots it is characterised in that：Cleft hand (66)
The inside knuckle in top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620760712.8U CN205928614U (en) | 2016-07-18 | 2016-07-18 | Mobilizable six spool light -duty all -purpose robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620760712.8U CN205928614U (en) | 2016-07-18 | 2016-07-18 | Mobilizable six spool light -duty all -purpose robot |
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| Publication Number | Publication Date |
|---|---|
| CN205928614U true CN205928614U (en) | 2017-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620760712.8U Expired - Fee Related CN205928614U (en) | 2016-07-18 | 2016-07-18 | Mobilizable six spool light -duty all -purpose robot |
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| Country | Link |
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| CN (1) | CN205928614U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965472A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Movable light six-shaft universal robot |
-
2016
- 2016-07-18 CN CN201620760712.8U patent/CN205928614U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965472A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Movable light six-shaft universal robot |
| CN105965472B (en) * | 2016-07-18 | 2018-05-11 | 南通慧宁机电科技有限公司 | A kind of moveable light-duty six axis all-purpose robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhao Yingmei Inventor before: Fu Shuzhen |
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| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170619 Address after: 215105, Jiangsu, Suzhou province Wuzhong District lake town crossing Village East Wood Road No. 8039 Patentee after: Suzhou nicede automation equipment 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. |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20180718 |
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| CF01 | Termination of patent right due to non-payment of annual fee |