CN217861250U - Six-axis cooperative robot - Google Patents
Six-axis cooperative robot Download PDFInfo
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- CN217861250U CN217861250U CN202221313488.XU CN202221313488U CN217861250U CN 217861250 U CN217861250 U CN 217861250U CN 202221313488 U CN202221313488 U CN 202221313488U CN 217861250 U CN217861250 U CN 217861250U
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Abstract
The utility model discloses a six axis collaborative robot, its technical essential is: the automatic clamping device comprises a base, wherein a robot main body is arranged on the base, a strip-shaped fixed plate is arranged at the output end of the robot main body, a movable plate is arranged on the strip-shaped fixed plate, a screw rod assembly is arranged on the movable plate, two sliders with opposite thread directions are in threaded connection with the screw rod assembly, an L-shaped plate is arranged on each slider, a first spring buffer member is arranged on each L-shaped plate, and a clamping plate is arranged on each first spring buffer member; the movable plate is conveniently fixed through the bar-shaped fixing plate installed on the robot main body, relative and same moving stroke between the two sliding blocks is adjusted through the screw rod assembly, the clamping plate is conveniently driven to move according to the size of an article, the article is clamped, the moving stroke is large, the first spring buffer part is favorable for reducing the rigidity of clamping of the clamping plate, and the article is prevented from being damaged.
Description
Technical Field
The utility model relates to the technical field of robot, specifically be a six axis collaborative robot.
Background
The six-axis cooperative robot is constructed by 6 joints such as a rotation (S axis), a lower arm (L axis), an upper arm (U axis), a wrist rotation (R axis), a wrist swing (B axis) and a wrist rotation (T axis), and the synthesis of the 6 joints realizes the 6-degree-of-freedom motion of the tail end, so that the six-axis cooperative robot has the advantages of high flexibility, ultra-large load, high positioning accuracy and the like.
In the commodity circulation transportation, need filter the goods through six collaborative robots, need be to the goods centre gripping in the use, and current six collaborative robots are when using, and the centre gripping stroke is shorter, is unfavorable for carrying out the centre gripping to bulky article, and inconvenient when the while carries out the centre gripping to the article that the surface is smooth, and work efficiency is lower.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a six axis collaborative robot to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a six-axis cooperative robot comprises a base, wherein a robot main body is mounted on the base, a strip-shaped fixed plate is mounted at the output end of the robot main body, a movable plate is mounted on the strip-shaped fixed plate, a screw rod assembly is mounted on the movable plate, two sliders with opposite thread directions are in threaded connection with the screw rod assembly, an L-shaped plate is mounted on each slider, a first spring buffer member is mounted on each L-shaped plate, and a clamping plate is mounted on each first spring buffer member;
first mounting panel is installed to the top of bar fixed plate, install the second spring bolster of two symmetries on the first mounting panel, install the second mounting panel on the second spring bolster, install vacuum chuck on the second mounting panel.
Preferably, the lead screw subassembly includes lead screw and servo motor, the lead screw passes through the bearing and rotates to be installed in the movable plate, and with two slider threaded connection, servo motor fixed mounting be in on the movable plate, and through the shaft coupling with the lead screw transmission is connected.
Preferably, a guide groove is formed in the moving plate, a guide block is mounted on the sliding block, and the guide block is slidably mounted in the guide groove.
Preferably, a guide seat is installed on the L-shaped plate, a guide rod is installed in the guide seat in a sliding mode, and one end of the guide rod is fixedly installed on the clamping plate.
Preferably, the first spring buffer part and the second spring buffer part have the same structure, the first spring buffer part comprises a spring and two fixing pieces, the two fixing pieces are fixedly installed on the clamping plate and the L-shaped plate respectively, and two ends of the spring are fixedly installed on the two fixing pieces respectively.
Preferably, one side of the vacuum chuck is connected with an external pipe joint.
Preferably, the clamping plate is fixedly provided with a rubber sheet, and the rubber sheet is provided with an anti-skidding groove.
Compared with the prior art, the beneficial effects of the utility model are that:
in the first six-axis cooperative robot, the movable plate is conveniently fixed through a strip-shaped fixed plate arranged on a robot main body, the relative and same moving stroke between the two sliding blocks is adjusted through the screw rod assembly, the clamping plate is conveniently driven to move according to the volume of an article, the article is clamped, the moving stroke is large, the first spring buffer part is favorable for reducing the clamping rigidity of the clamping plate, and the article is prevented from being damaged;
in second, this six axis collaborative robot, two second spring buffer through installation on the first mounting panel are favorable to improving the elasticity of second mounting panel, adsorb smooth article through vacuum chuck is convenient, and convenient screening improves work efficiency.
Drawings
Fig. 1 is one of the schematic structural diagrams of the present invention;
fig. 2 is a second schematic structural diagram of the present invention;
fig. 3 is a partially enlarged view of a portion a in fig. 2.
In the figure: 1. a base; 2. a robot main body; 3. a strip-shaped fixing plate; 4. moving the plate; 5. a screw assembly; 51. a screw rod; 52. a servo motor; 6. a slider; 7. an L-shaped plate; 8. a first spring buffer; 81. a spring; 82. a fixing sheet; 9. a clamping plate; 10. a first mounting plate; 11. a second spring buffer; 12. a vacuum chuck; 13. a guide groove; 14. a guide block; 15. a guide seat; 16. a guide bar; 17. an outer connector head; 18. a rubber sheet; 19. an anti-slip groove; 20. a second mounting plate.
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. 1-3, the present invention provides a technical solution: a six-axis cooperative robot comprises a base 1, a robot main body 2 is installed on the base 1, a bar-shaped fixing plate 3 is installed on the output end of the robot main body 2, a moving plate 4 is installed on the bar-shaped fixing plate 3, a screw rod assembly 5 is installed on the moving plate 4, two sliders 6 with opposite thread directions are in threaded connection with the screw rod assembly 5, an L-shaped plate 7 is installed on each slider 6, a first spring buffer 8 is installed on each L-shaped plate 7, a clamping plate 9 is installed on each first spring buffer 8, the moving plate 4 can be conveniently fixed through the bar-shaped fixing plate 3 installed on the robot main body 2, relative and same moving strokes between the two sliders 6 are adjusted through the screw rod assembly 5, the clamping plates 9 can be conveniently driven to move according to the volume of an article, the article can be clamped, and the moving stroke is large;
In this embodiment, preferably, the screw rod assembly 5 includes a screw rod 51 and a servo motor 52, the screw rod 51 is rotatably installed in the moving plate 4 through a bearing and is in threaded connection with the two sliders 6, the servo motor 52 is fixedly installed on the moving plate 4 and is in transmission connection with the screw rod 51 through a coupler, and the servo motor 52 drives the screw rod 51 to rotate through the coupler, so as to drive the sliders 6 to move on the moving plate 4, thereby adjusting the relative position of the clamping plate 9.
In this embodiment, preferably, the moving plate 4 is provided with a guide groove 13, the slider 6 is provided with a guide block 14, and the guide block 14 is slidably mounted in the guide groove 13 and slidably mounted in the guide groove 13 through the guide block 14, which is beneficial to improving the stability of the slider 6 moving on the moving plate 4.
In this embodiment, preferably, the guide seat 15 is installed on the L-shaped plate 7, the guide rod 16 is slidably installed in the guide seat 15, one end of the guide rod 16 is fixedly installed on the clamping plate 9, and the guide rod 16 is slidably installed in the guide seat 15, which is beneficial to improving the moving stability of the clamping plate 9.
In this embodiment, preferably, the first spring buffer 8 has the same structure as the second spring buffer 11, the first spring buffer 8 includes a spring 81 and two fixing pieces 82, the two fixing pieces 82 are respectively and fixedly mounted on the holding plate 9 and the L-shaped plate 7, two ends of the spring 81 are respectively and fixedly mounted on the two fixing pieces 82, and the spring 81 is conveniently abutted between the holding plate 9 and the L-shaped plate 7 by the two fixing pieces 82, so as to reduce the holding stiffness.
In this embodiment, preferably, an external connector 17 is connected to one side of the vacuum chuck 12, and the vacuum chuck 12 is conveniently connected to a vacuum pumping device through the external connector 17.
In this embodiment, preferably, the rubber sheet 18 is fixedly mounted on the clamping plate 9, the rubber sheet 18 is provided with an anti-slip groove 19, the rubber sheet 18 is favorable for reducing the abrasion on the surface of an object, and the anti-slip effect of the rubber sheet 18 is improved by the anti-slip groove 19.
The working principle is as follows: this six axis collaborative robot, carry out position control through robot main part 2 according to the position of article, relative and the same movement stroke between two sliders 6 is adjusted through the lead screw subassembly 5 of installation on the movable plate 4, drive grip block 9 and remove, adjust according to the article volume, carry out the centre gripping again, when carrying out the centre gripping to smooth article, conveniently adsorb smooth article through vacuum chuck 12, two second spring bolster 11 through installing on the first mounting panel 10 are favorable to improving the elasticity of second mounting panel 20, reduce the rigidity that vacuum chuck 12 produced the article surface.
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 (7)
1. A six-axis cooperative robot comprising a base (1), characterized in that: the robot comprises a base (1), a robot main body (2) is mounted on the base (1), a bar-shaped fixed plate (3) is mounted at the output end of the robot main body (2), a movable plate (4) is mounted on the bar-shaped fixed plate (3), a lead screw assembly (5) is mounted on the movable plate (4), two sliders (6) with opposite thread directions are in threaded connection with the lead screw assembly (5), an L-shaped plate (7) is mounted on each slider (6), a first spring buffer piece (8) is mounted on each L-shaped plate (7), and a clamping plate (9) is mounted on each first spring buffer piece (8);
first mounting panel (10) are installed to the top of bar fixed plate (3), install second spring buffer (11) of two symmetries on first mounting panel (10), install second mounting panel (20) on second spring buffer (11), install vacuum chuck (12) on second mounting panel (20).
2. A six-axis cooperative robot as defined in claim 1, wherein: lead screw subassembly (5) include lead screw (51) and servo motor (52), lead screw (51) are installed through the bearing rotation in movable plate (4), and with two slider (6) threaded connection, servo motor (52) fixed mounting be in on movable plate (4), and through the shaft coupling with lead screw (51) transmission is connected.
3. A six-axis cooperative robot as set forth in claim 1, wherein: a guide groove (13) is formed in the moving plate (4), a guide block (14) is mounted on the sliding block (6), and the guide block (14) is slidably mounted in the guide groove (13).
4. A six-axis cooperative robot as set forth in claim 1, wherein: install guide holder (15) on L template (7), slidable mounting has guide bar (16) in guide holder (15), the one end fixed mounting of guide bar (16) is in on grip block (9).
5. A six-axis cooperative robot as defined in claim 1, wherein: first spring cushion spare (8) with the structure of second spring cushion spare (11) is the same, first spring cushion spare (8) include spring (81) and two stationary blades (82), two stationary blade (82) fixed mounting respectively the grip block (9) with on L template (7), the both ends of spring (81) fixed mounting respectively are two on stationary blade (82).
6. A six-axis cooperative robot as set forth in claim 1, wherein: one side of the vacuum chuck (12) is connected with an external pipe connector (17).
7. A six-axis cooperative robot as set forth in claim 1, wherein: the clamping plate (9) is fixedly provided with a rubber sheet (18), and the rubber sheet (18) is provided with an anti-skid groove (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221313488.XU CN217861250U (en) | 2022-05-30 | 2022-05-30 | Six-axis cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221313488.XU CN217861250U (en) | 2022-05-30 | 2022-05-30 | Six-axis cooperative robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217861250U true CN217861250U (en) | 2022-11-22 |
Family
ID=84092484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221313488.XU Active CN217861250U (en) | 2022-05-30 | 2022-05-30 | Six-axis cooperative robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217861250U (en) |
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2022
- 2022-05-30 CN CN202221313488.XU patent/CN217861250U/en active Active
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