CN213005323U - Six-axis robot for taking medicine - Google Patents
Six-axis robot for taking medicine Download PDFInfo
- Publication number
- CN213005323U CN213005323U CN202021099489.XU CN202021099489U CN213005323U CN 213005323 U CN213005323 U CN 213005323U CN 202021099489 U CN202021099489 U CN 202021099489U CN 213005323 U CN213005323 U CN 213005323U
- Authority
- CN
- China
- Prior art keywords
- connecting piece
- driving mechanism
- cylinder
- rotary driving
- ball screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a six-axis robot for getting it filled, including upper arm, wrist body and operating head, the back end of wrist body is rotatablely arranged at the front end of upper arm, the operating head is rotatablely arranged at the front end of wrist body, the six-axis robot also includes a rotary platform, a first connecting piece, a first rotary driving mechanism, a lifting mechanism, a second connecting piece, a second rotary driving mechanism and a third connecting piece, the rotary platform is horizontally arranged, the first rotary driving mechanism is arranged at the upper end of the rotary platform, one end of the first connecting piece is connected with the first rotary driving mechanism in a transmission way, the lifting mechanism is arranged above the first rotary driving mechanism, and the other end of the first connecting piece is detachably connected, the second connecting piece is in transmission connection with the lifting mechanism, the third connecting piece is arranged above the second connecting piece, and the upper arm is arranged above the second rotary driving mechanism. The utility model provides a six robots for getting it filled.
Description
Technical Field
The utility model relates to a robot field. More specifically, the utility model relates to a six robots for getting it filled.
Background
Six-axis robots generally include six degrees of freedom, which are respectively rotation (s axis), lower arm (L axis), upper arm (U axis), wrist rotation (R axis), wrist swing (B axis), and wrist rotation (T axis), and each degree of freedom is generally driven by a servo motor. According to the distribution of the degrees of freedom, the six-axis robot generally comprises a base, a lower arm, an upper arm, a wrist arm and an operating head, wherein the operating head can be connected with various clamps according to actual needs, and the robot can realize the functions of carrying, drilling, welding, spraying and the like by matching with the clamps. The existing six-axis robot adopts servo motors to control each degree of freedom, although the control is convenient, the precision is high, the cost is relatively high, the bearing capacity is extremely limited, and in order to obtain larger bearing capacity, a high-power servo motor needs to be provided, so that the size and the weight of the robot are large, the cost is greatly increased, and the robot is not convenient to install and use. For this reason, there is a need for improvement of the existing six-axis robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a six robots for getting it filled.
The utility model provides an above-mentioned technical problem's technical scheme as follows: a six axis robot for getting it filled, includes upper arm, the wrist body and operating head, the rotatable setting of the rear end of the wrist body is in the front end of upper arm, the rotatable setting of operating head is in the front end of the wrist body, six axis robot still includes electronic holder, rotary platform, first connecting piece, first rotary driving mechanism, elevating system, second connecting piece, second rotary driving mechanism and third connecting piece, electronic holder sets up on the operating head, the rotary platform level sets up, first rotary driving mechanism sets up in the rotary platform upper end, the one end of first connecting piece with first rotary driving mechanism transmission is connected, first rotary driving mechanism drives the first connecting piece fore-and-aft rotation, elevating system sets up above first rotary driving mechanism to be connected with the other end detachable of first connecting piece, the second connecting piece with the elevating system transmission is connected, elevating system drives the second connecting piece removes in order to be close to or keep away from first connecting piece, the third connecting piece sets up second connecting piece top, its one end with the second connecting piece is kept away from first rotary driving mechanism's one end detachable connects, second rotary driving mechanism sets up the other end of third connecting piece, the upper arm sets up the second rotary driving mechanism top, second rotary driving mechanism with the rear end transmission of upper arm is connected, the drive of second rotary driving mechanism the upper arm reaches wrist body and operating head antedisplacement.
Preferably, in the six-axis robot for taking medicine, the lifting mechanism comprises a cylinder, a ball screw and a motor, the cylinder is hollow and has two closed ends, one end of the cylinder is detachably connected with the other end of the first connecting piece, the motor is arranged in the cylinder and is connected with the inner wall of the cylinder at the side far away from the first rotary driving mechanism, the ball screw is coaxially arranged in the cylinder, one end of the ball screw is rotatably connected with the inner wall of the cylinder at the side near the first rotary driving mechanism, the other end of the ball screw is in transmission connection with an output shaft of the motor, a strip-shaped through hole is formed in the front side of the cylinder along the length direction of the cylinder, the second connecting piece is perpendicular to the cylinder, one end of the second connecting piece extends into the strip-shaped through hole and is connected with a nut of the ball screw, the motor drives the ball screw, the ball screw drives the nut and the second connecting piece to move along the length direction of the cylinder.
Preferably, in the six-axis robot for getting it filled, a disc is coaxially arranged in the cylinder, the diameter of the disc is equal to the inner diameter of the cylinder, a through hole matched with the nut of the ball screw is formed in the middle of the disc, the nut of the ball screw is arranged in the through hole and connected with the disc, a connecting rod perpendicular to the cylinder is slidably arranged in the strip-shaped through hole, and two ends of the connecting rod are respectively connected with the periphery of the disc and the second connecting piece.
Preferably, the six-axis robot for getting it filled in, be equipped with a plurality of bar recesses along its length direction on the inner wall of drum, be equipped with on the periphery of disc with the bar arch of bar recess one-to-one, the equal slidable setting of bar arch is in the correspondence the bar recess, and can follow the length direction of bar recess slides.
Preferably, in the six-axis robot for getting it filled, the lower end of the third connecting piece is detachably connected with the other end of the first connecting piece, and either the third connecting piece or the lifting mechanism is connected with the first connecting piece.
The utility model discloses a six robots for getting it filled reduce the cost, and improved bearing capacity by a wide margin, simultaneously through elevating system, highly adjust the upper arm.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic structural diagram of a six-axis robot for taking medicine according to the present invention;
fig. 2 is a schematic structural diagram of the lifting mechanism of the present invention;
FIG. 3 is a schematic view of the connection between the disc and the cylinder according to the present invention
Fig. 4 is another schematic structural diagram of a six-axis robot for taking medicine according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.
It should be noted that, in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
FIG. 1 is a six-axis robot for taking medicine provided by an embodiment of the present invention, which comprises an upper arm 1, a wrist body 2 and an operating head 3, wherein the rear end of the wrist body 2 is rotatably disposed at the front end of the upper arm 1, the operating head 3 is rotatably disposed at the front end of the wrist body 2, the six-axis robot further comprises an electric holder 11, a rotating platform 4, a first connecting member 5, a first rotary driving mechanism 6, a lifting mechanism 7, a second connecting member 8, a second rotary driving mechanism 9 and a third connecting member 10, the electric holder 11 is disposed on the operating head 3, the rotating platform 4 is horizontally disposed, the first rotary driving mechanism 6 is disposed at the upper end of the rotating platform 4, one end of the first connecting member 5 is in transmission connection with the first rotary driving mechanism 6, the first rotary driving mechanism 6 drives the first connecting member 5 to rotate back and forth, the lifting mechanism 7 is arranged above the first rotary driving mechanism 6 and is detachably connected with the other end of the first connecting piece 5, the second connecting piece 8 is in transmission connection with the lifting mechanism 7, the lifting mechanism 7 drives the second connecting piece 8 to move to be close to or far away from the first connecting piece 5, the third connecting piece 10 is arranged above the second connecting piece 8, one end of which is detachably connected with one end of the second connecting piece 8 far away from the first rotary driving mechanism 6, the second rotary driving mechanism 9 is arranged at the other end of the third connecting piece 10, the upper arm 1 is arranged above the second rotary driving mechanism 9, the second rotary driving mechanism 9 is in transmission connection with the rear end of the upper arm 1, and the second rotary driving mechanism 9 drives the upper arm 1, the wrist body 2 and the operating head 3 to rotate back and forth.
In the above technical solution, the connection relation among the upper arm 1, the wrist body 2, the operating head 3 and the three is the prior art, for example, the utility model with the publication number of CN207326992U discloses a six-axis robot, which comprises a rotary seat, a lower arm, an upper arm, a rotary arm, a wrist arm, and an operating head, wherein the braking manner among the upper arm, the rotary arm, and the operating head is the same as the braking manner among the upper arm 1, the wrist body 2, and the operating head 3 in the present embodiment, the power elements of the upper arm 1, the wrist body 2, and the operating head 3 are also the electric clamper 11 arranged on the operating head 3 that can be easily realized by the prior art, the electric clamper 11 can be realized by the prior art, and the medicine is clamped by the electric clamper 11, similarly, the rotary platform 4, the first rotary driving mechanism 6, and the second rotary driving mechanism 9 are the prior art, and the rotary joint of the general six-axis robot, the functions of the first rotary driving mechanism 6 and the second rotary driving mechanism 9 in the present embodiment can be realized, for example, a commercially available six-axis robot with a model number of Linkhou and a specific model number of LR4-R820, the 2-axis, 3-axis and 4-axis rotation modes of the robot are all the same as the driving modes of the second rotary driving mechanism 9 in the present application, and the second rotary driving mechanism 9 can be easily realized by the prior art; the third connecting part 10 does not need any power element, and only realizes the connection between the second rotary driving mechanism 9 and the second connecting part 8 or the first connecting part 5, and does not need any power element per se during the working process of the six-axis robot; in the scheme, the rotary platform 4 drives the first rotary driving mechanism 6 to horizontally rotate for 360 degrees, then the first rotary driving mechanism 6 drives the first connecting piece 5 to rotate back and forth, and the lifting mechanism 7 is detachably arranged on the first connecting piece 5, so that the lifting mechanism 7 can rotate back and forth along with the first connecting piece 5 under the driving of the first rotary driving mechanism 6, the second connecting piece 8 is in transmission connection with the lifting mechanism 7, the lifting mechanism 7 drives the second connecting piece 8 to move to be close to or far away from the first connecting piece 5, and the heights of the second connecting piece 8, the second rotary driving mechanism 9 on the second connecting piece, the upper arm 1, the wrist body 2 and the operating head 3 can be adjusted; the detachable connection between the second connecting piece 8 and the third connecting piece 10 is prior art, and can be either clamping connection or threaded connection.
As shown in fig. 2, in the six-axis robot for taking medicine, the lifting mechanism 7 includes a cylinder 71, a ball screw 72 and a motor 73, the cylinder 71 is hollow and has two closed ends, one end of the cylinder is detachably connected to the other end of the first connecting member 5, the motor 73 is disposed inside the cylinder 71 and is connected to the inner wall of the cylinder 71 on the side away from the first rotary driving mechanism 6, the ball screw 72 is coaxially disposed inside the cylinder 71, one end of the ball screw 72 is rotatably connected to the inner wall of the cylinder 71 on the side close to the first rotary driving mechanism 6, the other end of the ball screw is in transmission connection with the output shaft of the motor 73, the front side of the cylinder 71 is provided with a strip-shaped through hole 74 along the length direction thereof, the second connecting member 8 is disposed perpendicular to the cylinder 71, and one end of the second connecting member extends into the strip-shaped through hole 74 and is connected to the nut of the ball screw 72, the motor 73 drives the ball screw 72, and the ball screw 72 drives the nut and the second connecting member 8 to move along the length direction of the cylinder 71.
In another technical scheme, a motor 73 and a ball screw 72 are arranged in the first cylinder 71, the ball screw 72 is driven to rotate by the motor 73, a nut of the ball screw 72 can move along the length direction of the ball screw, the second connecting piece 8 is connected with the nut, transmission connection between the second connecting piece 8 and the lifting mechanism 7 is realized, namely, the position of the second connecting piece 8 can be moved by the rotation of the ball screw 72; the detachable connection between the cylinder 71 and the first connecting piece 5 is prior art and can be either a snap connection or a threaded connection.
In the six-axis robot for taking medicine, a disc 75 is coaxially arranged in the cylinder 71, the diameter of the disc 75 is equal to the inner diameter of the cylinder 71, a through hole matched with the nut of the ball screw 72 is formed in the middle of the disc 75, the nut of the ball screw 72 is arranged in the through hole and connected with the disc 75, a connecting rod 76 perpendicular to the cylinder 71 is slidably arranged in the strip-shaped through hole 74, and two ends of the connecting rod 76 are respectively connected with the periphery of the disc 75 and the second connecting piece 8.
As shown in fig. 3, in the six-axis robot for taking medicine, a plurality of strip-shaped grooves are formed in the inner wall of the cylinder 71 along the length direction of the cylinder, strip-shaped protrusions 77 corresponding to the strip-shaped grooves one to one are formed in the periphery of the disc 75, and the strip-shaped protrusions 77 are slidably disposed in the corresponding strip-shaped grooves and can slide along the length direction of the strip-shaped grooves.
In another solution, the provision of the strip-shaped protrusion 77 on the disc 75 and the corresponding strip-shaped groove on the inner wall of the cylinder 71 may enable the disc 75 to move more stably within the cylinder 71 along its axis.
In the six-axis robot for taking medicine, the lower end of the third connecting piece 10 is detachably connected with the other end of the first connecting piece 5, and one of the third connecting piece 10 and the lifting mechanism 7 is connected with the first connecting piece 5.
In another technical solution, the lower end of the third connecting member 10 can be detachably connected to the other end of the first connecting member 5, so that when the lifting mechanism 7 is not needed, as shown in fig. 4, the third connecting member 10 is detached from the second connecting member 8, and the lower end of the third connecting member 10 can be connected to one end of the first connecting member 5, and the detachable connection between the first connecting member 5 and the third connecting member 10 is the prior art, and can be realized by clamping connection or threaded connection.
While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields suitable for the invention, and further modifications may be readily made by those skilled in the art, and the invention is therefore not limited to the specific details and embodiments shown and described herein, without departing from the general concept defined by the claims and their equivalents.
Claims (5)
1. A six axis robot for getting it filled, includes upper arm (1), the wrist body (2) and operating head (3), the rotatable setting of the rear end of the wrist body (2) is in the front end of upper arm (1), the rotatable setting of operating head (3) is in the front end of the wrist body (2), characterized in that, six axis robot still includes electronic holder (11), rotary platform (4), first connecting piece (5), first rotary driving mechanism (6), elevating system (7), second connecting piece (8), second rotary driving mechanism (9) and third connecting piece (10), electronic holder (11) sets up on operating head (3), rotary platform (4) level sets up, first rotary driving mechanism (6) set up in rotary platform (4) upper end, the one end of first connecting piece (5) with first rotary driving mechanism (6) transmission is connected, the first rotary driving mechanism (6) drives the first connecting piece (5) to rotate back and forth, the lifting mechanism (7) is arranged above the first rotary driving mechanism (6) and detachably connected with the other end of the first connecting piece (5), the second connecting piece (8) is in transmission connection with the lifting mechanism (7), the lifting mechanism (7) drives the second connecting piece (8) to move so as to be close to or far away from the first connecting piece (5), the third connecting piece (10) is arranged above the second connecting piece (8), one end of the third connecting piece is detachably connected with one end, far away from the first rotary driving mechanism (6), of the second connecting piece (8), the second rotary driving mechanism (9) is arranged at the other end of the third connecting piece (10), the upper arm (1) is arranged above the second rotary driving mechanism (9), the second rotary driving mechanism (9) is in transmission connection with the rear end of the upper arm (1), and the second rotary driving mechanism (9) drives the upper arm (1), the wrist body (2) and the operating head (3) to rotate back and forth.
2. The six-axis robot for medicine taking according to claim 1, wherein the lifting mechanism (7) comprises a cylinder (71), a ball screw (72) and a motor (73), the cylinder (71) is hollow and closed at two ends, one end of the cylinder is detachably connected with the other end of the first connecting piece (5), the motor (73) is arranged inside the cylinder (71) and is connected with the inner wall of the cylinder (71) at the side far from the first rotary driving mechanism (6), the ball screw (72) is coaxially arranged inside the cylinder (71), one end of the ball screw is rotatably connected with the inner wall of the cylinder (71) at the side near to the first rotary driving mechanism (6), the other end of the ball screw is in transmission connection with the output shaft of the motor (73), the front side of the cylinder (71) is provided with a strip-shaped through hole (74) along the length direction thereof, the second connecting piece (8) is perpendicular to the cylinder (71), one end of the second connecting piece extends into the strip-shaped through hole (74) and is connected with a nut of the ball screw (72), the motor (73) drives the ball screw (72), and the ball screw (72) drives the nut and the second connecting piece (8) to move along the length direction of the cylinder (71).
3. The six-axis robot for medicine taking according to claim 2, wherein a disc (75) is coaxially arranged in the cylinder (71), the diameter of the disc (75) is equal to the inner diameter of the cylinder (71), a through hole matched with the nut of the ball screw (72) is formed in the middle of the disc (75), the nut of the ball screw (72) is arranged in the through hole and connected with the disc (75), a connecting rod (76) perpendicular to the cylinder (71) is slidably arranged in the strip-shaped through hole (74), and two ends of the connecting rod (76) are respectively connected with the periphery of the disc (75) and the second connecting piece (8).
4. The six-axis robot for taking medicine according to claim 3, wherein a plurality of strip-shaped grooves are formed on the inner wall of the cylinder (71) along the length direction thereof, strip-shaped protrusions (77) corresponding to the strip-shaped grooves one to one are formed on the outer periphery of the disc (75), and the strip-shaped protrusions (77) are slidably disposed in the corresponding strip-shaped grooves and can slide along the length direction of the strip-shaped grooves.
5. The six-axis robot for taking medicine according to any of the claims 1 to 4, wherein the lower end of the third connecting member (10) is detachably connected to the other end of the first connecting member (5), and the third connecting member (10) and the lifting mechanism (7) are alternatively connected to the first connecting member (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021099489.XU CN213005323U (en) | 2020-06-15 | 2020-06-15 | Six-axis robot for taking medicine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021099489.XU CN213005323U (en) | 2020-06-15 | 2020-06-15 | Six-axis robot for taking medicine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213005323U true CN213005323U (en) | 2021-04-20 |
Family
ID=75494590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021099489.XU Active CN213005323U (en) | 2020-06-15 | 2020-06-15 | Six-axis robot for taking medicine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213005323U (en) |
-
2020
- 2020-06-15 CN CN202021099489.XU patent/CN213005323U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211243626U (en) | Fixed-point puncture device and robot using same | |
| CN111375946A (en) | Industrial welding robot | |
| CN110623714A (en) | Fixed-point puncture device and robot using same | |
| CN213005323U (en) | Six-axis robot for taking medicine | |
| CN208575836U (en) | A kind of multiple degrees of freedom automatic wall-building machine people | |
| CN110293361A (en) | A kind of intelligent robot welding Special tooling clamp | |
| CN215093683U (en) | Multifunctional clamp for machine manufacturing | |
| CN211940996U (en) | Special torsional resistance rotary mechanism of arm | |
| CN213859271U (en) | Pneumatic general feeding and discharging mechanical arm | |
| CN214561042U (en) | Automobile industrial robot | |
| CN211332579U (en) | Grinding mechanism based on series-parallel connection | |
| CN204913894U (en) | Three degree of freedom robots | |
| CN210452705U (en) | Universal four-axis horizontal joint robot | |
| JP3320840B2 (en) | Head structure of SCARA type robot | |
| CN214641300U (en) | Three-coordinate double-station welding machine | |
| CN110695960A (en) | Mechanical grabbing device for industrial robot | |
| CN221271198U (en) | Mechanical clamping arm | |
| CN110103213A (en) | A kind of four shaft industrial robots | |
| CN217859633U (en) | Welding tool for welding notch protective sleeve | |
| CN214816946U (en) | Mechanical arm for machining | |
| CN112757271A (en) | Plane joint four-axis arm | |
| CN214081512U (en) | Multi-angle rotating and switching manipulator | |
| CN215881622U (en) | Industrial robot capable of clamping various workpieces | |
| CN221561407U (en) | Building block robot ply-yarn drill convenient to equipment | |
| CN221455987U (en) | Steering mechanism for industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |