CN214520168U - Six-axis robot for unstacking ammonium bicarbonate - Google Patents
Six-axis robot for unstacking ammonium bicarbonate Download PDFInfo
- Publication number
- CN214520168U CN214520168U CN202023262235.8U CN202023262235U CN214520168U CN 214520168 U CN214520168 U CN 214520168U CN 202023262235 U CN202023262235 U CN 202023262235U CN 214520168 U CN214520168 U CN 214520168U
- Authority
- CN
- China
- Prior art keywords
- servo motor
- mechanical arm
- controller
- base
- ammonium bicarbonate
- 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 unstacking ammonium bicarbonate, which comprises a guide rail, a first driving component and a second driving component; guide rail: the six-axis robot for unstacking the ammonium bicarbonate has the advantages that the moving stroke range of the robot is increased, the overall load capacity of the robot is improved, collision damage is avoided, the practicability is improved, and the six-axis robot is convenient to popularize and apply.
Description
Technical Field
The utility model relates to an industrial robot technical field specifically is a six robots that is used for ammonium bicarbonate to break a jam.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, can realize various industrial processing and manufacturing functions by depending on self power energy and control capability, is widely applied to various industrial fields such as electronics, logistics, chemical industry and the like, wherein, the six-axis robot can realize the movement without dead angles in the stroke range due to the large angle change range, and is widely applied to occasions such as welding, carrying, cutting and the like, however, the traditional six-axis robot usually realizes the reversing of the tail end by the axial rotation of the second mechanical arm, the structure has stronger practicability in the field with higher application frequency of the inclination angle of the execution end such as welding and the like, greatly improves the convenience of operation, but is somewhat redundant in the field without axial rotation of the execution end such as stacking, carrying and the like, in addition, the traditional six-axis robot starts to detect a sensor after the mechanical arm and an external object are in hard collision, further performs shutdown protection, protects after the hard collision, easily causes damage to precision components such as a speed reducer of a servo motor, and the like, can also cause damage to peripheral equipment or personal injury, has poor protection performance, and needs to be stacked and unstacked in the production process of ammonium bicarbonate, and the traditional six-axis robot is carried out manually, has high working strength and low efficiency, and has pungent smell generated by volatilization of the ammonium bicarbonate which is harmful to human bodies, therefore, the trend of stacking and unstacking by using a robot is, and for this reason, a six-axis robot for unstacking ammonium bicarbonate is provided to solve the problems.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome current defect, provide a six robots for ammonium bicarbonate breaks a jam, increased the stroke scope that the robot removed, improved the holistic load capacity of robot, avoid the collision to receive the damage, improved practicality, convenient to popularize and apply can effectively solve the problem in the background art.
In order to achieve the above object, the utility model provides a following technical scheme: a six-axis robot for unstacking ammonium bicarbonate comprises a guide rail, a first driving assembly and a second driving assembly;
guide rail: the upper end of the sliding seat is connected with a sliding seat in a sliding mode, the upper surface of the sliding seat is provided with a base, the upper surface of the base is connected with a rotary table in a rotating mode, the inner upper surface of the base is provided with a fifth servo motor, an output shaft of the fifth servo motor is connected with the inner wall of a through hole formed in a top plate of the base in a rotating mode, the output shaft of the fifth servo motor is fixedly connected with the inner portion of the rotary table, the upper surface of the rotary table is provided with symmetrically distributed side plates, the outer side face of the side plate in front of the rotary table is provided with a first servo motor, the outer arc face of the output shaft of the first servo motor is respectively connected with the inner walls of round holes in the top ends of the two side plates in a rotating mode, the middle of the outer arc face of the output shaft of the first servo motor is fixedly connected with a first mechanical arm, the inner portion of the top end of the first mechanical arm is rotatably connected with a second mechanical arm through a rotating shaft, the inner portion of the left end of the second mechanical arm is rotatably connected with a fourth servo motor through a connecting shaft, and the outer side faces of the first mechanical arm and the second mechanical arm are provided with protective airbags;
a first drive assembly: the lower end of the rear side of the turntable is arranged;
a second drive assembly: the rear side of the left end of the second mechanical arm is provided;
wherein: still include the controller, the wire that the controller left end set up extends to the inside of base, external power supply is connected to the controller electricity, first servo motor, fourth servo motor and fifth servo motor's input is connected to the output difference electricity of controller, the stroke range that the robot removed has been increased, and can support the second arm, driving motor's load has been reduced, the holistic load capacity of robot has been improved, can prevent that the robot from excessively colliding with external equipment, avoid receiving the damage, the practicality has been improved, and the facilitate promotion is used.
Furthermore, first drive assembly includes second servo motor and rack, second servo motor fixed connection is in the right flank of base, and the output shaft of second servo motor passes the posterior lateral plate of base and is equipped with the gear at the preceding side end head, the rack sets up in the upper surface middle part of guide rail, and the gear is connected with the rack meshing, and the output of controller is connected to the input electricity of second servo motor, increases the stroke, enlarges the transport scope.
Furthermore, the second driving assembly comprises a third servo motor and a turbine, the third servo motor is arranged on the bottom surface of the cavity at the left end of the second mechanical arm, a worm is arranged at the left end of an output shaft of the third servo motor, the turbine is arranged on the outer arc surface of the connecting shaft at the left end of the second mechanical arm, and the worm is meshed with the worm and connected with the worm, so that the occupied space is reduced.
Furthermore, the inside lower extreme of first arm rotates through the pivot and is connected with servo electric jar, and the top of servo electric jar rotates through the pivot with the inside of second arm to be connected, and the input electricity of servo electric jar connects the output of controller, supports the second arm, promotes the load capacity.
Furthermore, protective airbag's inside all is equipped with pressure sensor, and the equal electric connection controller's of pressure sensor's output input improves barrier propterty, avoids leading to equipment harm because the collision, extension equipment life.
Compared with the prior art, the beneficial effects of the utility model are that: this a six axis robot for ammonium bicarbonate breaks a jam has following benefit:
the clamping jaw is fixedly arranged on a mounting disc at the lower end of an output shaft of a fourth servo motor, a second servo motor is started through a controller, the output shaft of the second servo motor drives a gear to rotate, the gear is meshed with a rack to be connected, the rack applies reverse acting force to the gear, so that the second servo motor drives a sliding seat to move through a base, the front position and the rear position of a mechanical arm are adjusted, the stroke range is increased, the output shaft of a first servo motor drives a first mechanical arm to rotate, a servo electric cylinder drives the middle of the second mechanical arm to move, the second mechanical arm rotates along a rotating shaft at the upper end of the first mechanical arm, the size of an included angle between the first mechanical arm and the second mechanical arm is adjusted, the servo electric cylinder can effectively support the second mechanical arm, the load capacity of the second mechanical arm is improved, a third servo motor is started through the controller, and the output shaft of the third servo motor drives a worm to rotate, the worm is meshed with the turbine, the turbine drives the connecting shaft inside the turbine to rotate when rotating, so as to drive the fourth servo motor to rotate, an included angle between the fourth servo motor and the left end of the second mechanical arm is adjusted, the ammonium bicarbonate is conveyed, when the protective air bag collides with an external object, the protective air bag is extruded, the volume inside the protective air bag is reduced, the gas pressure inside the protective air bag is increased, when the pressure sensor detects that the gas pressure is increased, a signal is transmitted to the controller, and the controller respectively controls the first servo motor, the servo electric cylinder, the second servo motor, the third servo motor, the fourth servo motor and the fifth servo motor to stop running, so as to play a role in protecting, prevent the robot and peripheral equipment from being damaged, and improve the protection performance, therefore, the six-axis robot for unstacking of ammonium bicarbonate increases the travel range of the robot, and can support the second arm, reduce driving motor's load, improve the holistic load capacity of robot, can prevent that the robot from excessively colliding with external equipment, avoid receiving the damage, improve practicality, convenient to popularize and apply.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is the schematic view of the sectional plane structure of the present invention.
In the figure: the device comprises a guide rail 1, a sliding seat 2, a base 3, a rotary table 4, a side plate 41, a first servo motor 5, a first mechanical arm 6, a servo electric cylinder 61, a first driving assembly 7, a second servo motor 71, a gear 72, a rack 73, a second driving assembly 8, a third servo motor 81, a worm 82, a worm wheel 83, a protective air bag 9, a pressure sensor 91, a second mechanical arm 10, a fourth servo motor 11, a cavity 12, a controller 13 and a fifth servo motor 14.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: a six-axis robot for unstacking ammonium bicarbonate comprises a guide rail 1, a first driving assembly 7 and a second driving assembly 8;
guide rail 1: the upper end of the sliding seat is connected with a sliding seat 2 in a sliding manner, the upper surface of the sliding seat 2 is provided with a base 3, the upper surface of the base 3 is connected with a rotating disc 4 in a rotating manner, the inner upper surface of the base 3 is provided with a fifth servo motor 14, the output shaft of the fifth servo motor 14 is connected with the inner wall of a through hole arranged on the top plate of the base 3 in a rotating manner, the output shaft of the fifth servo motor 14 is fixedly connected with the inner part of the rotating disc 4, the upper surface of the rotating disc 4 is provided with symmetrically distributed side plates 41, the outer side surface of the front side plate 41 is provided with a first servo motor 5, the outer cambered surface of the output shaft of the first servo motor 5 is respectively connected with the inner wall of a round hole at the top end of the two side plates 41 in a rotating manner, the middle part of the outer cambered surface of the output shaft of the first servo motor 5 is fixedly connected with a first mechanical arm 6, the inner part of the top end of the first mechanical arm 6 is connected with a second mechanical arm 10 in a rotating manner through a rotating shaft, and the lower end of the first mechanical arm 6 is connected with a servo electric cylinder 61 through a rotating shaft, the top end of the servo electric cylinder 61 is rotatably connected with the inside of the second mechanical arm 10 through a rotating shaft, the input end of the servo electric cylinder 61 is electrically connected with the output end of the controller 13, the second mechanical arm 10 is supported, the load capacity is improved, the inside of the left end of the second mechanical arm 10 is rotatably connected with the fourth servo motor 11 through a connecting shaft, the outer side surfaces of the first mechanical arm 6 and the second mechanical arm 10 are respectively provided with a protective air bag 9, the inside of the protective air bag 9 is provided with a pressure sensor 91, the output end of the pressure sensor 91 is electrically connected with the input end of the controller 13, when the protective air bag 9 collides with an external object, the protective air bag 9 is extruded, the volume inside the protective air bag 9 is reduced, the gas pressure inside the protective air bag 9 is increased, when the pressure sensor 91 detects that the gas pressure is increased, a signal is transmitted to the controller 13, and the controller 13 respectively controls the first servo motor 5, The servo electric cylinder 61, the second servo motor 71, the third servo motor 81, the fourth servo motor 11 and the fifth servo motor 14 stop running, so that a protection effect is achieved, the robot and peripheral equipment are prevented from being damaged, the protection performance is improved, and the service life of the equipment is prolonged;
first drive assembly 7: the first driving assembly 7 comprises a second servo motor 71 and a rack 73, the second servo motor 71 is fixedly connected to the right side face of the base 3, an output shaft of the second servo motor 71 penetrates through a rear side plate of the base 3, a gear 72 is arranged at the front end of the rear side end of the base 3, the rack 73 is arranged in the middle of the upper surface of the guide rail 1, the gear 72 is meshed with the rack 73, an input end of the second servo motor 71 is electrically connected with an output end of the controller 13, the second servo motor 71 is started through the controller 13, the output shaft of the second servo motor 71 drives the gear 72 to rotate, the gear 72 is meshed with the rack 73, and the rack 73 applies reverse acting force to the gear 72, so that the second servo motor 71 drives the sliding seat 2 to move through the base 3, the front and rear positions of mechanical arms are adjusted, and the stroke range is increased;
second drive assembly 8: the second driving assembly 8 comprises a third servo motor 81 and a worm wheel 83, the third servo motor 81 is arranged on the bottom surface of a cavity at the left end of the second mechanical arm 10, a worm 82 is arranged at the left end of an output shaft of the third servo motor 81, the worm wheel 83 is arranged on the outer arc surface of a connecting shaft at the left end of the second mechanical arm 10, the worm 82 is meshed with the worm 82, the third servo motor 81 is started through the controller 13, the output shaft of the third servo motor 81 drives the worm 82 to rotate, the worm 82 is meshed with the worm wheel 83, the worm wheel 83 drives the connecting shaft inside the worm wheel to rotate when rotating, so that the fourth servo motor 11 is driven to rotate, the included angle between the fourth servo motor 11 and the left end of the second mechanical arm 10 is adjusted, and the occupied space is reduced;
wherein: still include controller 13, the wire that controller 13 left end set up extends to the inside of base 3, and external power source is connected to controller 13 electricity, and the input of first servo motor 5, fourth servo motor 11 and fifth servo motor 14 is connected to the output of controller 13 electricity respectively.
When in use: the clamping jaws are fixedly arranged on a mounting disc at the lower end of an output shaft of a fourth servo motor 11, a second servo motor 71 is started through a controller 13, the output shaft of the second servo motor 71 drives a gear 72 to rotate, the gear 72 is meshed with a rack 73, the rack 73 applies reverse acting force to the gear 72, so that the second servo motor 71 drives a sliding seat 2 to move through a base 3, the front and back positions of the mechanical arm are adjusted, the stroke range is increased, the output shaft of a first servo motor 5 drives a first mechanical arm 6 to rotate, a servo electric cylinder 61 drives the middle part of a second mechanical arm 10 to move, the second mechanical arm 10 rotates along a rotating shaft at the upper end of the first mechanical arm 6, the size of an included angle between the first mechanical arm 6 and the second mechanical arm 10 is adjusted, the servo electric cylinder 61 can effectively support the second mechanical arm 10, the load capacity of the second mechanical arm 10 is improved, a third servo motor 81 is started through the controller 13, an output shaft of the third servo motor 81 drives the worm 82 to rotate, the worm 82 is meshed with the worm wheel 83, the worm wheel 83 drives a connecting shaft inside the worm wheel 83 to rotate when rotating, so as to drive the fourth servo motor 11 to rotate, an included angle between the fourth servo motor 11 and the left end of the second mechanical arm 10 is adjusted, so as to carry ammonium bicarbonate, when the protective air bag 9 collides with an external object, the protective air bag 9 is extruded, the volume inside the protective air bag 9 is reduced, the gas pressure inside the protective air bag 9 is increased, when the pressure sensor 91 detects that the gas pressure is increased, a signal is transmitted to the controller 13, the controller 13 respectively controls the first servo motor 5, the servo electric cylinder 61, the second servo motor 71, the third servo motor 81, the fourth servo motor 11 and the fifth servo motor 14 to stop operating, so as to play a role in protection and prevent the robot and peripheral equipment from being damaged, the protective performance is improved.
It should be noted that the first servo motor 5, the servo electric cylinder 61, the second servo motor 71, the third servo motor 81, the fourth servo motor 11, the fifth servo motor 14 and the pressure sensor 91 disclosed in this embodiment can be freely configured according to practical application scenarios, the servo electric cylinder 61 is proposed to be an M-series servo electric cylinder manufactured by tianjin ipadtech limited, the pressure sensor 91 can be a CCY11 micro differential pressure transmitter manufactured by beijing starry shift sensor limited, and the controller 13 controls the first servo motor 5, the servo electric cylinder 61, the second servo motor 71, the third servo motor 81, the fourth servo motor 11, the fifth servo motor 14 and the pressure sensor 91 to work by a method commonly used in the prior art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a six axis robot for ammonium bicarbonate breaks a jam which characterized in that: comprises a guide rail (1), a first driving component (7) and a second driving component (8);
guide rail (1): the upper end of the sliding seat is connected with a sliding seat (2) in a sliding manner, the upper surface of the sliding seat (2) is provided with a base (3), the upper surface of the base (3) is rotatably connected with a rotary disc (4), the inner upper surface of the base (3) is provided with a fifth servo motor (14), the output shaft of the fifth servo motor (14) is rotatably connected with the inner wall of a through hole formed in a top plate of the base (3), the output shaft of the fifth servo motor (14) is fixedly connected with the inner part of the rotary disc (4), the upper surface of the rotary disc (4) is provided with symmetrically distributed side plates (41), the outer side surface of the front side plate (41) is provided with a first servo motor (5), the outer arc surface of the output shaft of the first servo motor (5) is respectively rotatably connected with the inner walls of top circular holes of the two side plates (41), the middle part of the outer arc surface of the output shaft of the first servo motor (5) is fixedly connected with a first mechanical arm (6), the inner part of the top end of the first mechanical arm (6) is rotatably connected with a second mechanical arm (10) through a rotating shaft, a fourth servo motor (11) is rotatably connected inside the left end of the second mechanical arm (10) through a connecting shaft, and protective air bags (9) are arranged on the outer side surfaces of the first mechanical arm (6) and the second mechanical arm (10);
first drive assembly (7): is arranged at the lower end of the rear side of the turntable (4);
second drive assembly (8): is arranged at the rear side of the left end of the second mechanical arm (10);
wherein: still include controller (13), the wire that controller (13) left end set up extends to the inside of base (3), and external power source is connected in controller (13) electricity, and the input of first servo motor (5), fourth servo motor (11) and fifth servo motor (14) is connected respectively to the output of controller (13).
2. A six-axis robot for unstacking ammonium bicarbonate according to claim 1, characterized in that: first drive assembly (7) include second servo motor (71) and rack (73), second servo motor (71) fixed connection is in the right flank of base (3), and the output shaft of second servo motor (71) passes the posterior lateral plate of base (3) and is equipped with gear (72) at preceding side end head, rack (73) set up in the upper surface middle part of guide rail (1), and gear (72) are connected with rack (73) meshing, and the output of controller (13) is connected to the input electricity of second servo motor (71).
3. A six-axis robot for unstacking ammonium bicarbonate according to claim 1, characterized in that: the second driving assembly (8) comprises a third servo motor (81) and a worm wheel (83), the third servo motor (81) is arranged on the bottom surface of a cavity at the left end of the second mechanical arm (10), a worm (82) is arranged at the left end of an output shaft of the third servo motor (81), the worm wheel (83) is arranged on the outer arc surface of a connecting shaft at the left end of the second mechanical arm (10), and the worm (82) is meshed with the worm (82).
4. A six-axis robot for unstacking ammonium bicarbonate according to claim 1, characterized in that: the lower end of the interior of the first mechanical arm (6) is rotatably connected with a servo electric cylinder (61) through a rotating shaft, the top end of the servo electric cylinder (61) is rotatably connected with the interior of the second mechanical arm (10) through the rotating shaft, and the input end of the servo electric cylinder (61) is electrically connected with the output end of the controller (13).
5. A six-axis robot for unstacking ammonium bicarbonate according to claim 1, characterized in that: the inside of air bag (9) all is equipped with pressure sensor (91), and the equal electric connection of output of pressure sensor (91) controller (13)'s input.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023262235.8U CN214520168U (en) | 2020-12-29 | 2020-12-29 | Six-axis robot for unstacking ammonium bicarbonate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023262235.8U CN214520168U (en) | 2020-12-29 | 2020-12-29 | Six-axis robot for unstacking ammonium bicarbonate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214520168U true CN214520168U (en) | 2021-10-29 |
Family
ID=78298219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023262235.8U Active CN214520168U (en) | 2020-12-29 | 2020-12-29 | Six-axis robot for unstacking ammonium bicarbonate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214520168U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114346555A (en) * | 2022-03-11 | 2022-04-15 | 新乡职业技术学院 | Rotating base for welding robot |
| CN117699386A (en) * | 2024-02-06 | 2024-03-15 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
-
2020
- 2020-12-29 CN CN202023262235.8U patent/CN214520168U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114346555A (en) * | 2022-03-11 | 2022-04-15 | 新乡职业技术学院 | Rotating base for welding robot |
| CN117699386A (en) * | 2024-02-06 | 2024-03-15 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
| CN117699386B (en) * | 2024-02-06 | 2024-04-26 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN214520168U (en) | Six-axis robot for unstacking ammonium bicarbonate | |
| CN201922441U (en) | Mechanical capable of being turned laterally of tail-end actuator for transporting platy workpieces | |
| WO2019114207A1 (en) | Novel multi-functional direct drive horizontally articulated mechanical arm | |
| CN102528793A (en) | End effector overturnable mechanism for carrying plate-shaped workpiece | |
| CN213320147U (en) | Linear high-speed carrying manipulator | |
| CN201586973U (en) | Punch feeding and blanking robot | |
| CN210173093U (en) | Feeding and discharging mechanical arm for plates of CNC (computer numerical control) engraving machine | |
| CN217571532U (en) | Welding fixture with self-locking function and six degrees of freedom capable of being pneumatically adjusted | |
| CN116101712B (en) | Turnover type transport vehicle for workpiece to be processed of machine tool and transport method thereof | |
| CN214641480U (en) | Welding positioner for mechanical central suspension robot | |
| CN213470345U (en) | Special machine tool for processing long-strip parts | |
| CN214561042U (en) | Automobile industrial robot | |
| CN207072124U (en) | The multiple degrees of freedom Z axis drive device of bonding machine | |
| CN210754819U (en) | Double-head mechanism of can seamer | |
| CN210010516U (en) | Double-station strip manipulator discharging machining center | |
| CN220563796U (en) | Multi-material fork stacking manipulator | |
| CN210648983U (en) | Spot welding machine for producing automobile door body decorative plate | |
| CN221109870U (en) | Hub clamping assembly and hub riser cutting machine | |
| CN217866976U (en) | Sucker gripper mechanism for servo stacking device | |
| CN217097777U (en) | Stamping manipulator | |
| CN2668322Y (en) | Vertical-horizontal turning device for large-sized motor seat | |
| CN215158903U (en) | Transport rotary device and processing equipment | |
| CN204964175U (en) | Discharge equipment of circulation ball steering gear | |
| CN217776975U (en) | Double-arm six-axis robot | |
| CN105014507A (en) | Novel 3P3R robot for grinding |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |