CN104942814B - A kind of multi-purpose robot - Google Patents
A kind of multi-purpose robot Download PDFInfo
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- CN104942814B CN104942814B CN201510378816.2A CN201510378816A CN104942814B CN 104942814 B CN104942814 B CN 104942814B CN 201510378816 A CN201510378816 A CN 201510378816A CN 104942814 B CN104942814 B CN 104942814B
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Abstract
A kind of multi-purpose robot；Including motion platform, Working mechanism, clamping plate, vertical electronic rotation module, horizontal motor rotary module and connecting plate, workpiece to be processed is fixed on the upper surface of described clamping plate, the upper end of the bottom surface of described clamping plate and described vertical electronic rotation module is fixed, the lower end of described vertical electronic rotation module is fixing with the output shaft of horizontal motor rotary module to be connected, described horizontal motor rotary module is fixed on the upper surface of described connecting plate, and the output shaft of described horizontal motor rotary module is parallel with the upper surface of described connecting plate；When manipulating object be centrage be spatial form or close-shaped shape tube time, described a kind of multi-purpose robot only need clear and definite pipe fitting position of center line before there is operation and without knowing pipe profiles exact position, realizing that degree of freedom is few, cost is low needed for pipe fitting complete cycle Working motion, be easy to use the advantages such as maintenance.
Description
Technical field
The present invention relates to Machining Technology field, particularly relate to a kind of multi-purpose robot.
Background technology
Along with the development of automated arm Yu robotics, various co-ordinate-type lathes, machining center and pass
Nodal pattern industrial robot is come out one after another, and has gradually formed co-ordinate-type and articulated type two class popular motion platform,
Connect different work head in this two type games platform end, various job task can be completed.
But, for pipe fitting manipulating object, this two classes popular motion platform has the disadvantage in that one,
Realize the complicated movement of complete cycle operation, need more than three degree of freedom to link；Its two, this two type games
Platform uses spatial data to drive operation head operation, so that be known a priori by the exact scale of pipe profiles
Very little；Its three, owing to operation head needs to reach accurate locus, it is desirable to this two type games platform every
Individual degree of freedom all has high precision, thus cost is high.
Summary of the invention
It is an object of the invention to propose a kind of multi-purpose robot, can not only to plate and curved surface operation,
All kinds of pipe fitting job task can also be perfectly suitable for, be spatial form or close-shaped including centrage
Complex pipes, when being applied to pipe fitting operation, has that cost is low, only needs clear and definite pipe fitting position of center line before operation
And without knowing pipe profiles exact position, realizing that degree of freedom is few needed for pipe fitting complete cycle Working motion, be easy to
The advantages such as working service.
For reaching this purpose, the present invention by the following technical solutions:
A kind of multi-purpose robot；Including motion platform, Working mechanism, clamping plate, vertical electronic rotation mould
Block, horizontal motor rotary module and connecting plate, workpiece to be processed is fixed on the upper surface of described clamping plate,
The upper end of the bottom surface of described clamping plate and described vertical electronic rotation module is fixed, described vertical electronic rotation mould
The lower end of block is fixing with the output shaft of horizontal motor rotary module to be connected, and described horizontal motor rotary module is fixed
In the upper surface of described connecting plate, and the output shaft of described horizontal motor rotary module and described connecting plate is upper
End face is parallel；
Described Working mechanism includes connecting portion, open channel, drive mechanism, telescoping mechanism, working arm and work
Make head；Described connecting portion is arranged on outside the middle part of described open channel with the link position of described open channel
Side, described connecting portion forms rotational freedom when being installed on machining center, and the pivot center of described connecting portion is put down
Row is in the centrage place plane of described open channel；Centered by described open channel, line bends and does not close
Track, described working arm can move along described open channel under the driving of described drive mechanism, described work
Head is scalable under described telescoping mechanism drives；
Described motion platform includes column, X-axis slideway, Y-axis slideway and Z axis slideway, and described Z axis slideway erects
Directly being arranged on described column, described open channel is fixed on the upper beam of described column by described connecting portion；
The bottom of described connecting plate sets Y-axis slide block, and described Y-axis slide block moves on described Y-axis slideway；Described Y
The bottom of axle slideway is provided with X-axis slide block, and described X-axis slide block moves on described X-axis slideway；Described X-axis
The sidewall of slideway is provided with Z axis slide block, and described Z axis slide block moves on described Z axis slideway.
Further, the centrage of described open channel be U-shaped, circular arc, V-arrangement, square, polygon,
Half elliptic or parabolic shape, described working arm remain perpendicular to when running on described open channel described in open
Mouth track.
Further, described open channel includes front side rail, track tooth bar and rear side rail, described driving
Mechanism includes front side slide block, rear side slide block, front side board, telescopic arm pedestal, drives gear and drive gear to move
Force mechanisms；
Described front side rail and rear side rail are fixedly installed in described track tooth bar, described front side slide block and rear side
Slide block moves along described front side rail and rear side rail respectively, and described front side board and telescopic arm pedestal are respectively mounted
In described front side slide block and rear side slide block, described driving gear is installed on described front side board by bearing and stretches
Engage between arm pedestal and with described track tooth bar, drive the driving gear transmission mechanism of gear to be arranged on
Described telescopic arm pedestal.
Further, the tooth of described track tooth bar is arranged on outside；Described front side rail and rear side rail peace
It is loaded on the same side of described track tooth bar, and inside and outside setting.
Further, described telescoping mechanism includes side rails, lower side rails, upper side slide, lower sideslip
Block, work head pedestal, nut, screw mandrel and screw mandrel actuating unit；Described upper side rails and downside guide rails assembling
In described telescopic arm pedestal, described upper side slide and lower sliding block are respectively along described upper side rails and lower side rails
Sliding, described work head pedestal is fixedly installed in described upper side slide and lower sliding block simultaneously, and described nut is solid
Dingan County is loaded on described work head pedestal and coordinates with described wire rod thread, and described screw mandrel actuating unit is installed on institute
Stating telescopic arm pedestal and drive described screw mandrel to rotate, described work head is installed on described work head pedestal.
Further, described upper side rails and lower side rails are positioned at the side of described telescopic arm pedestal, described
Track tooth bar, front side rail and rear side rail are positioned at the opposite side of described telescopic arm pedestal.
Further, described open channel includes shell, inner track and outer side track, described drive mechanism
Including some outside driven wheel, some inner sides driven pulley, inside block, outside slide block, belt, belt pulley
With working arm pedestal；
Described inner track, outer side track, inner side driven pulley and outside driven wheel are fixedly mounted on described shell,
And in order from inside to outside, described inside block and outside slide block are respectively at described inner track and outer siding track
Road slides, and described working arm pedestal is fixedly installed in described inside block and outside slide block, described belt simultaneously
Being enclosed within whole described inner sides driven pulley, outside driven wheel and belt pulley, described belt pulley drives described belt fortune
Dynamic, working arm base motion described in described belt drive；
Or: described open channel includes that shell, inner track and outer side track, described drive mechanism include
Some outside driven sprocket wheels, some inner sides driven sprocket, inside block, outside slide block, chain, sprocket wheel and
Working arm pedestal；
Described inner track, outer side track, inner side driven sprocket and outside driven sprocket wheel are fixedly mounted on described
Shell, and in order from inside to outside, described inside block and outside slide block respectively in described inner track and
Outer side track slides, and described working arm pedestal is fixedly installed in described inside block and outside slide block, institute simultaneously
Stating chain and be enclosed within whole described inner sides driven sprocket, outside driven sprocket wheel and sprocket wheel, described sprocket wheel drives described
Chain movement, working arm base motion described in described chain-driving.
Further, described telescoping mechanism include siding track, lower side rail, upper side slide, lower sliding block,
Work head pedestal, contiguous block, telescopic belt, telescopic belt actuating unit and telescopic belt wheel；Described upside
Track and lower side rail are installed on described telescopic arm pedestal, and described upper side slide and lower sliding block slide on respectively
Described upper siding track and lower side rail, described work head pedestal is installed on described upper side slide and lower sideslip simultaneously
Block, described work head pedestal is connected by described contiguous block and described telescopic belt are fixing, described telescopic belt
It is enclosed within described telescopic belt wheel, and under the drive of described telescopic belt actuating unit, drives described work head base
Seat；
Or: described telescoping mechanism includes siding track, lower side rail, upper side slide, lower sliding block, work
Make head pedestal, contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel；Described upper siding track
Being installed on described telescopic arm pedestal with lower side rail, described upper side slide and lower sliding block slide on described respectively
Upper siding track and lower side rail, described work head pedestal is installed on described upper side slide and lower sliding block simultaneously,
Described work head pedestal is connected by described contiguous block and described flexible sprocket wheel are fixing, and described stretching chain is enclosed within
Described flexible sprocket wheel, and under the drive of described stretching chain actuating unit, drive described work head pedestal.
Further, described telescoping mechanism includes siding track, lower side rail, upper side slide, lower sideslip
Block, work head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure；Described upper siding track and
Lower side rail is installed on described telescopic arm pedestal, and described upper side slide and lower sliding block slide on described respectively
Siding track and lower side rail, described work head pedestal is installed on described upper side slide and lower sliding block, institute simultaneously
State flexible gear and expansion teeth wheel power machine structure is installed on described telescopic arm pedestal, the fixing peace of described flexible tooth bar
Being loaded on described work head pedestal, described flexible gear engages with described flexible tooth bar；
Or: described telescoping mechanism includes siding track, lower side rail, upper side slide, lower sliding block, work
Make head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure；Described upper siding track and lower siding track
Road is installed on described telescopic arm pedestal, and described upper side slide and lower sliding block slide on described upper siding track respectively
And lower side rail, described work head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible
Gear and expansion teeth wheel power machine structure are installed on described work head pedestal, and described flexible tooth bar is fixedly installed in institute
Stating telescopic arm pedestal, described flexible gear engages with described flexible tooth bar.
Further, described open channel includes that mobile rack and shifting sledge, described drive mechanism include moving
Movable slider, telescopic arm pedestal, carrier wheel and carrier wheel actuating unit；Described telescoping mechanism includes one
Flexible slide rail, flexible slide block, work head pedestal, telescopic screw rod and telescopic screw rod actuating unit；
Described mobile slide block and the fixing connection of telescopic arm pedestal, described mobile slide block slides at described shifting sledge,
Described carrier wheel engages with described mobile rack, and drives under the driving of described carrier wheel actuating unit
Described mobile slide block and telescopic arm pedestal move along described shifting sledge；
Described flexible slide rail is installed on described telescopic arm pedestal, and described flexible slide block slides on described flexible slide rail,
Described telescopic screw rod is installed on described telescopic arm pedestal and is engaged in the nut that described work head pedestal is arranged, institute
Stating telescopic screw rod drives described work head pedestal to move under the driving of described telescopic screw rod actuating unit.
Beneficial effects of the present invention: be connected to the machining center with more than one degree of freedom by connecting portion,
Working arm completes pipe fitting local complete cycle operation along the stretching motion with working arm self that moves of open channel, logical
Cross working arm to stretch out and outside open channel opening, complete plate or curved surface operation.By the head that more changes jobs；Work head
Can stretch under the drive of telescoping mechanism, the distance between machined surface and the work head of irregular workpiece is sent out
During changing, telescoping mechanism arrives the distance adapting to work pieces process, the range of work by telescopic adjustment work head
More extensively flexibly；Described multi-purpose robot's body can be used for grinding, polish, weld, spray, hole,
The operations such as riveting, manipulating object can be various pipe fitting, plate or curved surface；When manipulating object is that centrage is
When spatial form or close-shaped shape tube, described a kind of multi-purpose robot only needs clearly before having operation
Pipe fitting position of center line and without know pipe profiles exact position, realize needed for pipe fitting complete cycle Working motion
Degree of freedom is few, cost is low, be easy to use the advantages such as maintenance.
In the technical program, described connecting portion is arranged on described notched rail with the link position of described open channel
The bottom at the middle part in road, described connecting portion forms rotational freedom when being installed on machining center, and this is rotatably mounted
The axis of degree is generally aligned in the same plane with the centrage of described open channel；The position that connecting portion is arranged is in notched rail
The middle part in road, during rotation, stability is high, it is ensured that machining accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of the present of invention；
Fig. 2 is the mounting structure figure of first embodiment of split shed track of the present invention and drive mechanism；
Fig. 3 is the mounting structure figure of first embodiment of telescoping mechanism in the present invention；
Fig. 4 is the mounting structure figure of second embodiment of split shed track of the present invention and drive mechanism；
Fig. 5 is the mounting structure figure of second embodiment of telescoping mechanism in the present invention；
Fig. 6 is the mounting structure figure of the 3rd embodiment of telescoping mechanism in the present invention；
Fig. 7 is the mounting structure figure of the 3rd embodiment of split shed track of the present invention and drive mechanism.
Wherein: connecting portion 1, open channel 2, front side rail 201, track tooth bar 202, rear side rail 203,
Shell 211, inner track 212, outer side track 213, mobile rack 221, shifting sledge 222；
Front side slide block 301, rear side slide block 302, front side board 303, telescopic arm pedestal 304, drive gear 305,
Driving gear transmission mechanism 306, outside driven wheel 311, inner side driven pulley 312, inside block 313, outward
Side slide 314, belt 315, belt pulley 316, mobile slide block 321, carrier wheel 322, carrier wheel moves
Force mechanisms 323；
Upper side rails 401, lower side rails 402, upper side slide 403, lower sliding block 404, work head pedestal
405, nut 406, screw mandrel 407, screw mandrel actuating unit 408, upper siding track 411, lower side rail 412,
Upper side slide 413, lower sliding block 414, contiguous block 416, telescopic belt 417, telescopic belt actuating unit
418, telescopic belt wheel 419, flexible tooth bar 426, flexible gear 427, expansion teeth wheel power machine structure 428,
Flexible slide rail 431, flexible slide block 432, telescopic screw rod 433, telescopic screw rod actuating unit 434；
Working arm 5, work 6, workpiece 7, connecting plate 8, column 9, horizontal motor rotary module 10, X
Axle slideway 11, Y-axis slideway 12, Z axis slideway 13, clamping plate 14, vertical electronic rotation module 15.
Detailed description of the invention
Further illustrate technical scheme below in conjunction with the accompanying drawings and by detailed description of the invention.
As it is shown in figure 1, a kind of multi-purpose robot；Including motion platform, Working mechanism, clamping plate 14,
Vertically electronic rotation module 15, horizontal motor rotary module 10 and connecting plate 8, workpiece 7 to be processed is fixed
In the upper surface of described clamping plate 14, the bottom surface of described clamping plate 14 and described vertical electronic rotation module 15
Upper end fix, the lower end of described vertical electronic rotation module 15 and the output of horizontal motor rotary module 10
Axle is fixing to be connected, and described horizontal motor rotary module 10 is fixed on the upper surface of described connecting plate 8, and described
The output shaft of horizontal motor rotary module 10 is parallel with the upper surface of described connecting plate 8；Horizontal motor rotating mould
The output shaft rotation of block 10, drives vertical electronic rotation module 15 to swing, then drives vertical electronic rotation
The workpiece 7 of module 15 upper end is made adaptability operation and is processed with cooperating head 6；
In the technical program, described vertical electronic rotation module 15 rotation axis and described horizontal motor rotating mould
The axis that block 10 rotates is vertical relation, and described horizontal motor rotary module 10 rotation axis is parallel to described
Connecting plate, described horizontal motor rotary module 10 is fixedly mounted on described connecting plate 8；Described vertical electronic rotation
Revolving die block 15 is made up of upper and lower two parts, and its upper and lower two parts can relative rotary motion；Described horizontal motor
Rotary module 10 is made up of front and back's two parts, and before and after it, two parts can relative rotary motion；
Described Working mechanism includes connecting portion 1, open channel 2, drive mechanism, telescoping mechanism, working arm 5
With work 6；Described connecting portion 1 is arranged on described open channel 2 with the link position of described open channel 2
The outside at middle part, described connecting portion 1 forms rotational freedom, described connecting portion 1 when being installed on machining center
Pivot center be parallel to the centrage place plane of described open channel 2；Centered by described open channel 2
Line bending and the track do not closed, described working arm 5 can be along described opening under the driving of described drive mechanism
Track 2 moves, and described work 6 is scalable under described telescoping mechanism drives；
Described motion platform includes column 9, X-axis slideway 11, Y-axis slideway 12 and Z axis slideway 13, described
Z axis slideway 13 is vertically arranged in described column 9, and described open channel 2 is fixed on by described connecting portion 1
The upper beam of described column；The bottom of described connecting plate sets Y-axis slide block, and described Y-axis slide block is at described Y
Move on axle slideway 12；The bottom of described Y-axis slideway 12 is provided with X-axis slide block, and described X-axis slide block is in institute
State and move on X-axis slideway 11；The sidewall of described X-axis slideway 11 is provided with Z axis slide block, described Z axis slide block
Described Z axis slideway 13 moves.
In the present invention, Working mechanism can move along X, Y, Z axis direction under the regulation of motion platform, convenient
Flexibly, adapt to process without the workpiece 7 under operating mode；And the output shaft rotation of horizontal motor rotary module 10,
Drive vertical electronic rotation module 15 to swing, then drive the workpiece 7 of vertical electronic rotation module 15 upper end
Make adaptability operation to process with cooperating head 6, improve machining accuracy and efficiency.
Be connected to the machining center with more than one degree of freedom by connecting portion 1, working arm 5 is along notched rail
The stretching motion of the motion in road 2 and working arm 5 self completes pipe fitting local complete cycle operation, by working arm 5
Stretch out and outside open channel 2 opening, complete plate or curved surface operation.By more changing jobs 6；Work 6 can be
Stretching under the drive of telescoping mechanism, the distance between machined surface and the work 6 of irregular workpiece occurs
During change, telescoping mechanism arrives the distance adapting to work pieces process, the range of work by telescopic adjustment work 6
More extensively flexibly；Described multi-purpose robot's body can be used for grinding, polish, weld, spray, hole,
The operations such as riveting, manipulating object can be various pipe fitting, plate or curved surface；When manipulating object is that centrage is
When spatial form or close-shaped shape tube, described a kind of multi-purpose robot only needs clearly before having operation
Pipe fitting position of center line and without know pipe profiles exact position, realize needed for pipe fitting complete cycle Working motion
Degree of freedom is few, cost is low, be easy to use the advantages such as maintenance.
In the technical program, the link position of described connecting portion 1 and described open channel 2 be arranged on described in open
The bottom at the middle part of mouth track 2, described connecting portion 1 forms rotational freedom when being installed on machining center, should
The axis of rotational freedom is generally aligned in the same plane with the centrage of described open channel 2；Connecting portion 1 is arranged
Position is at the middle part of open channel 2, and during rotation, stability is high, it is ensured that machining accuracy.
Preferably, the centrage of described open channel 2 be U-shaped, circular arc, V-arrangement, square, polygon,
Half elliptic or parabolic shape, described working arm 5 remains perpendicular to institute when running on described open channel 2
State open channel 2.
Open channel 2 is the shape and structure that energy back work 6 completes complete cycle Working motion, U-shaped or circular arc
Shape or V-arrangement are all in the protection domain of the technical program, and working arm 5 hangs down when running on described open channel 2
Straight in described open channel 2, difform open channel 2 can be used for the processing of difformity workpiece, device
Applied range.
As in figure 2 it is shown, described open channel 2 includes front side rail 201, track tooth bar 202 and rear side rail,
Described drive mechanism include front side slide block 301, rear side slide block 302, front side board 303, telescopic arm pedestal 304,
Drive gear 305 and drive gear transmission mechanism 306；
Described front side rail 201 and rear side rail are fixedly installed in described track tooth bar 202, described front side slide block
301 and rear side slide block 302 move along described front side rail 201 and rear side rail respectively, described front side board 303
It is respectively arranged in described front side slide block 301 and rear side slide block 302, described driving gear with telescopic arm pedestal 304
305 be installed between described front side board 303 and telescopic arm pedestal 304 by bearing and with described track tooth bar
202 engagements, regulation drives the driving gear transmission mechanism 306 of gear 305 motion to be arranged on described telescopic arm base
Seat 304.
In the present embodiment, drive mechanism drives gear 305 to rotate, thus drives telescopic arm pedestal 304
Orbiting motion according to front and back two side rails constraint.Gear transmission mechanism 306 is driven to drive described driving gear
305 rotate, and drive gear 305 to move along the track tooth bar 202 in open channel, simultaneously with front side board
Front side slide block 301 on 303 moves and the rear side slide block on telescopic arm pedestal 304 in front side rail 201
302 move in rear side rail, and working arm 5 fixing on telescopic arm pedestal 304 is with work 6 pairs of workpiece
Carry out operation processing.
When drive mechanism is driven, inevitably produce certain mechanical vibration, so tooth will be driven
Wheel 305 be installed between described front side board 303 and telescopic arm pedestal 304 by bearing and with described track tooth
Bar 202 engages, and is born the weight driving gear 305 together with telescopic arm pedestal 304 by front side board 303,
The stability driving gear 305 to arrange is high；Front side slide block 301 He during working motion, on front side board 303
Rear side slide block 302 on telescopic arm pedestal 304 (is located in figure in front side rail 201 and rear side rail respectively
The position that on rear side of cooperation, slide block 302 slides, the most directly draws) upper motion, two tracks and two
The cooperation of slide block, the stability of operation is high.
As it is shown on figure 3, the tooth of described track tooth bar 202 is arranged on outside；Described front side rail 201 and after
Side rails 203 is installed on the same side of described track tooth bar 202, and inside and outside setting.
The tooth of track tooth bar 202 is arranged on outside, it is possible to reduce take open channel 2 inner space,
During working motion, flexibility ratio is higher；In the present embodiment, described front side rail 201 and rear side rail 203 are pacified
Being loaded on the same side of described track tooth bar 202, two guide rails add man-hour, process in the side of open channel 2
Article one, after, it is not necessary to by the processing of Article 2 guide rail just can be carried out after open channel 2 turn-over, improve processing
Efficiency.
In the present embodiment, described telescoping mechanism include side rails 401, lower side rails 402, upper side slide 403,
Lower sliding block 404, work head pedestal 405, nut 406, screw mandrel 407 and screw mandrel actuating unit 408；Institute
State side rails 401 and lower side rails 402 is installed on described telescopic arm pedestal 304, described upper side slide 403
Slide along described upper side rails 401 and lower side rails 402 respectively with lower sliding block 404, described work head base
Seat 405 is fixedly installed in described upper side slide 403 and lower sliding block 404, the described fixing peace of nut 406 simultaneously
Be loaded on described work head pedestal 405 and with described screw mandrel 407 threaded engagement, described screw mandrel actuating unit 408
Being installed on described telescopic arm pedestal 304 and drive described screw mandrel 407 to rotate, described work 6 is installed on institute
State work head pedestal 405.
In the present embodiment, screw mandrel actuating unit 408 provides power drive screw mandrel 407 to rotate, screw mandrel 407 with
Upper side slide 403 after nut 406 relatively rotates, on the work head pedestal 405 of fixing nut 406
For linear motion respectively along upper side rails 401, lower side rails 402 with lower sliding block 404, then it is fixed on work
Make the work 6 of head pedestal 405 simultaneously by with make away from or near the linear motion of workpiece.
Described upper side rails 401 and lower side rails 402 are positioned at the side of described telescopic arm pedestal 304, described
Track tooth bar 202, front side rail 201 and rear side rail 201 are positioned at the opposite side of described telescopic arm pedestal 304.
Upper side rails 401, lower side rails 402 and track tooth bar 202, front side rail 201, rear side rail 201
It is respectively provided with the both sides of telescopic arm pedestal 304, balances the weight that each portion installs admirably, improve device
The stability run.
As shown in Figure 4, described open channel includes shell 211, inner track 212 and outer side track 213,
Described drive mechanism include some outside driven wheel 311, some inner sides driven pulley 312, inside block 313,
Outside slide block 314, belt 315, belt pulley 316 and working arm pedestal 304；
Described inner track 212, outer side track 213, inner side driven pulley 312 and outside driven wheel 311 are fixed
It is arranged on described shell 211, and in order from inside to outside, described inside block 313 and outside slide block 314
Sliding in described inner track 212 and outer side track 213 respectively, described working arm pedestal 304 is fixed simultaneously
Being installed on described inside block 313 and outside slide block 314, it is driven that described belt 315 is enclosed within whole described inner side
Wheel 312, outside driven wheel 311 and belt pulley 316, described belt pulley 316 drives described belt 315 to move,
Described belt 315 drives described working arm pedestal 304 to move.
Wherein, several outside driven wheel 311 and several inside driven pulley 312 be arranged on shell 211,
Belt 315 is driven operating, working arm pedestal 304 to be connected with belt 315 by belt pulley 316, belt 315
Operating drive working arm pedestal 304 by inside block 313 and outside slide block 314 along inner track 212
Orbiting motion with outer side track 213 constraint.In the present embodiment, the kind of drive of open channel 2 is belt
Transmission, similarly, it is possible to use chain drive: bel-drivenn precision is high, it is adaptable to the biography of light small workpiece
Dynamic；The bearing capacity of chain drive is big, it is adaptable to the transmission of large-scale workpiece.
As shown in Figures 5 and 6, described telescoping mechanism includes siding track 411, lower side rail 412, upside
Slide block 413, lower sliding block, work head pedestal 405, contiguous block 416, telescopic belt 417, telescopic belt
Actuating unit 418 and telescopic belt wheel 419；Described upper siding track 411 and lower side rail 412 are installed on described
Telescopic arm pedestal 304, described upper side slide 413 and lower sliding block slide on described upper siding track 411 He respectively
Lower side rail 412, described work head pedestal 405 is installed on described upper side slide 413 and lower sliding block simultaneously
414, described work head pedestal 405 is connected by described contiguous block 416 is fixing with described telescopic belt 417,
Described telescopic belt 417 is enclosed within described telescopic belt wheel 419, and at described telescopic belt actuating unit 418
Drive the described work head pedestal 405 of lower driving.
Work head pedestal 405 is connected by contiguous block 416 is fixing with telescopic belt 417, telescopic belt move
Force mechanisms 418 drives telescopic belt wheel 419 rotation to drive telescopic belt 417 to operate, thus drives working arm
Pedestal 304 is by upper side slide 413 and lower sliding block 414 along upper siding track 411 and lower side rail 412 about
The orbiting motion of bundle.In the present embodiment, the flexible kind of drive of working arm 5 is belt transmission, similarly,
Chain drive can also be used: bel-drivenn precision is high, it is adaptable to the transmission of light small workpiece；Chain drive
Bearing capacity is big, it is adaptable to the transmission of large-scale workpiece.
As shown in Figure 6, described telescoping mechanism include siding track 411, lower side rail 412, upper side slide 413,
Lower sliding block 414, work head pedestal 405, flexible tooth bar 426, flexible gear 427 and flexible gear transmission
Mechanism 428；Described upper siding track 411 and lower side rail 412 are installed on described telescopic arm pedestal 304, described
Upper side slide 413 and lower sliding block 414 slide on described upper siding track 411 and lower side rail 412, institute respectively
State work head pedestal 405 and be installed on described upper side slide 413 and lower sliding block 414, described flexible gear simultaneously
427 and expansion teeth wheel power machine structure 428 be installed on described telescopic arm pedestal 304, described flexible tooth bar 426 is solid
Dingan County is loaded on described work head pedestal 405, and described flexible gear 427 engages with described flexible tooth bar 426.
It is rack pinion that working arm 5 realizes the flexible kind of drive.Wherein, work head pedestal 405 with
Flexible tooth bar 426 is fixing to be connected, and flexible gear 427 is arranged on work head pedestal 405, by flexible gear
The rotation of 427 drives flexible tooth bar 426 to move, thus drives work head pedestal 405 by upper side slide 413
The orbiting motion retrained along upper siding track 411 and lower side rail 412 with lower sliding block 414.In the present embodiment,
Flexible tooth bar 426 is arranged on work head pedestal 405, and flexible gear 427 is arranged on telescopic arm pedestal 304,
According to concrete open operating mode, both installation sites can be exchanged with each other, and the structure before and after exchange all falls within this
In the protection domain of technical scheme.
As it is shown in fig. 7, described open channel 2 includes mobile rack 221 and shifting sledge 222, described driving
Mechanism includes mobile slide block 321, telescopic arm pedestal 304, carrier wheel 322 and carrier wheel actuating unit 323；
Described telescoping mechanism includes 431, flexible slide block 432 of a flexible slide rail, work head pedestal 405, stretches
Contracting screw mandrel 433 and telescopic screw rod actuating unit 434；
Described mobile slide block 321 and the fixing connection of telescopic arm pedestal 304, described mobile slide block 321 is described
Shifting sledge 222 slides, and described carrier wheel 322 engages with described mobile rack 221, and in described shifting
Drive described mobile slide block 321 and telescopic arm pedestal 304 along described under the driving of moving gear actuating unit 323
Shifting sledge 222 moves；
Described flexible slide rail 431 is installed on described telescopic arm pedestal 304, and described flexible slide block 432 slides on institute
Stating flexible slide rail 431, described telescopic screw rod 433 is installed on described telescopic arm pedestal 304 and is engaged in described work
Making the nut that head pedestal 405 is arranged, described telescopic screw rod 433 is at described telescopic screw rod actuating unit 434
The described work head pedestal 405 of lower drive is driven to move.
Open channel 2 and work head pedestal 405 drive rail can use single track, turning round with guide rail vertical direction
When square is less, use this mode can be cost-effective, reduce structure and taken up space.
The know-why of the present invention is described above in association with specific embodiment.These describe and are intended merely to explain this
The principle of invention, and limiting the scope of the invention can not be construed to by any way.Based on herein
Explaining, those skilled in the art need not pay performing creative labour can associate other tool of the present invention
Body embodiment, within these modes fall within protection scope of the present invention.
Claims (10)
1. a multi-purpose robot, it is characterised in that: include motion platform, Working mechanism, clamping plate,
Vertically electronic rotation module, horizontal motor rotary module and connecting plate, workpiece to be processed is fixed on described dress
The upper surface of clamping plate, the upper end of the bottom surface of described clamping plate and described vertical electronic rotation module is fixed, described
Vertically the lower end of electronic rotation module is fixing with the output shaft of horizontal motor rotary module is connected, described level electricity
Machine rotary module is fixed on the upper surface of described connecting plate, and the output shaft of described horizontal motor rotary module with
The upper surface of described connecting plate is parallel；
Described Working mechanism includes connecting portion, open channel, drive mechanism, telescoping mechanism, working arm and work
Make head；Described connecting portion is arranged on outside the middle part of described open channel with the link position of described open channel
Side, described connecting portion forms rotational freedom when being installed on machining center, and the pivot center of described connecting portion is put down
Row is in the centrage place plane of described open channel；Centered by described open channel, line bends and does not close
Track, described working arm can move along described open channel under the driving of described drive mechanism, described work
Head is scalable under described telescoping mechanism drives；
Described motion platform includes column, X-axis slideway, Y-axis slideway and Z axis slideway, and described Z axis slideway erects
Directly being arranged on described column, described open channel is fixed on the upper beam of described column by described connecting portion；
The bottom of described connecting plate sets Y-axis slide block, and described Y-axis slide block moves on described Y-axis slideway；Described Y
The bottom of axle slideway is provided with X-axis slide block, and described X-axis slide block moves on described X-axis slideway；Described X-axis
The sidewall of slideway is provided with Z axis slide block, and described Z axis slide block moves on described Z axis slideway.
A kind of multi-purpose robot the most according to claim 1, it is characterised in that: described open channel
Centrage be U-shaped, circular arc, V-arrangement, square, polygon, half elliptic or parabolic shape, institute
State when working arm runs on described open channel and remain perpendicular to described open channel.
A kind of multi-purpose robot the most according to claim 1, it is characterised in that: described open channel
Including front side rail, track tooth bar and rear side rail, described drive mechanism include front side slide block, rear side slide block,
Front side board, telescopic arm pedestal, driving gear and driving gear transmission mechanism；
Described front side rail and rear side rail are fixedly installed in described track tooth bar, described front side slide block and rear side
Slide block moves along described front side rail and rear side rail respectively, and described front side board and telescopic arm pedestal are respectively mounted
In described front side slide block and rear side slide block, described driving gear is installed on described front side board by bearing and stretches
Engage between arm pedestal and with described track tooth bar, drive the driving gear transmission mechanism of gear to be arranged on
Described telescopic arm pedestal.
A kind of multi-purpose robot the most according to claim 3, it is characterised in that: described track tooth bar
Tooth be arranged on outside；Described front side rail and rear side rail are installed on the same side of described track tooth bar, and
Inside and outside setting.
A kind of multi-purpose robot the most according to claim 4, it is characterised in that: described telescoping mechanism
Including upper side rails, lower side rails, upper side slide, lower sliding block, work head pedestal, nut, screw mandrel and
Screw mandrel actuating unit；Described upper side rails and downside guide rails assembling are in described telescopic arm pedestal, described upper sideslip
Block and lower sliding block are respectively along described upper side rails and downside slide, and described work head pedestal is fixed simultaneously
Be installed on described upper side slide and lower sliding block, described nut be fixedly installed in described work head pedestal and with institute
Stating wire rod thread to coordinate, described screw mandrel actuating unit is installed on described telescopic arm pedestal and drives described screw mandrel to turn
Dynamic, described work head is installed on described work head pedestal.
A kind of multi-purpose robot the most according to claim 5, it is characterised in that: described upper side rails
With the side that lower side rails is positioned at described telescopic arm pedestal, described track tooth bar, front side rail and rear side rail
It is positioned at the opposite side of described telescopic arm pedestal.
A kind of multi-purpose robot the most according to claim 1, it is characterised in that: described open channel
Including shell, inner track and outer side track, described drive mechanism include some outside driven wheel, some in
Side driven pulley, inside block, outside slide block, belt, belt pulley and working arm pedestal；
Described inner track, outer side track, inner side driven pulley and outside driven wheel are fixedly mounted on described shell,
And in order from inside to outside, described inside block and outside slide block are respectively at described inner track and outer siding track
Road slides, and described working arm pedestal is fixedly installed in described inside block and outside slide block, described belt simultaneously
Being enclosed within whole described inner sides driven pulley, outside driven wheel and belt pulley, described belt pulley drives described belt fortune
Dynamic, working arm base motion described in described belt drive；
Or: described open channel includes that shell, inner track and outer side track, described drive mechanism include
Some outside driven sprocket wheels, some inner sides driven sprocket, inside block, outside slide block, chain, sprocket wheel and
Working arm pedestal；
Described inner track, outer side track, inner side driven sprocket and outside driven sprocket wheel are fixedly mounted on described
Shell, and in order from inside to outside, described inside block and outside slide block respectively in described inner track and
Outer side track slides, and described working arm pedestal is fixedly installed in described inside block and outside slide block, institute simultaneously
Stating chain and be enclosed within whole described inner sides driven sprocket, outside driven sprocket wheel and sprocket wheel, described sprocket wheel drives described
Chain movement, working arm base motion described in described chain-driving.
A kind of multi-purpose robot the most according to claim 3, it is characterised in that: described telescoping mechanism
Including upper siding track, lower side rail, upper side slide, lower sliding block, work head pedestal, contiguous block, stretch
Belt, telescopic belt actuating unit and telescopic belt wheel；Described upper siding track and lower side rail are installed on described
Telescopic arm pedestal, described upper side slide and lower sliding block slide on described upper siding track and lower side rail respectively,
Described work head pedestal is installed on described upper side slide and lower sliding block simultaneously, and described work head pedestal passes through institute
Stating that contiguous block and described telescopic belt are fixing to be connected, described telescopic belt is enclosed within described telescopic belt and takes turns, and
Described work head pedestal is driven under the drive of described telescopic belt actuating unit；
Or: described telescoping mechanism includes siding track, lower side rail, upper side slide, lower sliding block, work
Make head pedestal, contiguous block, stretching chain, stretching chain actuating unit and flexible sprocket wheel；Described upper siding track
Being installed on described telescopic arm pedestal with lower side rail, described upper side slide and lower sliding block slide on described respectively
Upper siding track and lower side rail, described work head pedestal is installed on described upper side slide and lower sliding block simultaneously,
Described work head pedestal is connected by described contiguous block and described flexible sprocket wheel are fixing, and described stretching chain is enclosed within
Described flexible sprocket wheel, and under the drive of described stretching chain actuating unit, drive described work head pedestal.
A kind of multi-purpose robot the most according to claim 3, it is characterised in that: described telescoping mechanism
Including upper siding track, lower side rail, upper side slide, lower sliding block, work head pedestal, flexible tooth bar, stretch
Contracting gear and expansion teeth wheel power machine structure；Described upper siding track and lower side rail are installed on described telescopic arm pedestal,
Described upper side slide and lower sliding block slide on described upper siding track and lower side rail, described work head base respectively
Seat is installed on described upper side slide and lower sliding block, described flexible gear and expansion teeth wheel power machine structure peace simultaneously
Being loaded on described telescopic arm pedestal, described flexible tooth bar is fixedly installed in described work head pedestal, described expansion teeth
Wheel engages with described flexible tooth bar；
Or: described telescoping mechanism includes siding track, lower side rail, upper side slide, lower sliding block, work
Make head pedestal, flexible tooth bar, flexible gear and expansion teeth wheel power machine structure；Described upper siding track and lower siding track
Road is installed on described telescopic arm pedestal, and described upper side slide and lower sliding block slide on described upper siding track respectively
And lower side rail, described work head pedestal is installed on described upper side slide and lower sliding block simultaneously, described flexible
Gear and expansion teeth wheel power machine structure are installed on described work head pedestal, and described flexible tooth bar is fixedly installed in institute
Stating telescopic arm pedestal, described flexible gear engages with described flexible tooth bar.
A kind of multi-purpose robot the most according to claim 1, it is characterised in that: described notched rail
Road includes that mobile rack and shifting sledge, described drive mechanism include mobile slide block, telescopic arm pedestal, movement
Gear and carrier wheel actuating unit；Described telescoping mechanism include a flexible slide rail, flexible slide block,
Work head pedestal, telescopic screw rod and telescopic screw rod actuating unit；
Described mobile slide block and the fixing connection of telescopic arm pedestal, described mobile slide block slides at described shifting sledge,
Described carrier wheel engages with described mobile rack, and drives under the driving of described carrier wheel actuating unit
Described mobile slide block and telescopic arm pedestal move along described shifting sledge；
Described flexible slide rail is installed on described telescopic arm pedestal, and described flexible slide block slides on described flexible slide rail,
Described telescopic screw rod is installed on described telescopic arm pedestal and is engaged in the nut that described work head pedestal is arranged, institute
Stating telescopic screw rod drives described work head pedestal to move under the driving of described telescopic screw rod actuating unit.
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| CN201510378816.2A CN104942814B (en) | 2015-06-30 | 2015-06-30 | A kind of multi-purpose robot |
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| CN201510378816.2A CN104942814B (en) | 2015-06-30 | 2015-06-30 | A kind of multi-purpose robot |
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| CN104942814B true CN104942814B (en) | 2016-09-14 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106236558B (en) * | 2016-08-30 | 2018-07-10 | 上海电机学院 | A kind of back massage robot |
| EP3296025A1 (en) * | 2016-09-16 | 2018-03-21 | Cefla Societa' Cooperativa | Apparatus and method for painting three-dimensional objects |
| CN109987286B (en) * | 2017-12-29 | 2021-05-11 | 深圳星河智能科技有限公司 | Beverage carrier rail car |
| CN109454489A (en) * | 2018-11-21 | 2019-03-12 | 金鑫乐 | A kind of four axis rotary carrier platforms |
| CN111830312A (en) * | 2020-06-03 | 2020-10-27 | 南方电网科学研究院有限责任公司 | Electricity testing operation equipment for distribution line |
| CN113085085B (en) * | 2021-03-04 | 2022-07-19 | 金华万得福日用品股份有限公司 | Periodic track simple driving device of feeding mechanical arm of injection molding machine |
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| US5895311A (en) * | 1996-06-06 | 1999-04-20 | Fuji Xerox Co., Ltd. | Abrasive device that maintains normal line of contact with curved abrasive surface and method of using same |
| EP1262265A1 (en) * | 2001-05-21 | 2002-12-04 | FOTEC Forschungs- und Technologiezentrum für Industrie- und Energietechnik GmbH | NC controlled vertical milling machine |
| CN1579716A (en) * | 2003-08-14 | 2005-02-16 | 艾森曼机械制造两合公司（无限责任股东：艾森曼-基金会） | Device for the treatment of the surface of workpieces, in particular vehicle bodies |
| CN204700890U (en) * | 2015-06-30 | 2015-10-14 | 佛山市新恒萃材料科技有限公司 | A kind of multi-purpose robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2506223B2 (en) * | 1990-06-28 | 1996-06-12 | トリニティ工業株式会社 | Automatic painting equipment |
| JP2000167756A (en) * | 1998-12-04 | 2000-06-20 | Olympus Optical Co Ltd | Curved surface machining device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5895311A (en) * | 1996-06-06 | 1999-04-20 | Fuji Xerox Co., Ltd. | Abrasive device that maintains normal line of contact with curved abrasive surface and method of using same |
| EP1262265A1 (en) * | 2001-05-21 | 2002-12-04 | FOTEC Forschungs- und Technologiezentrum für Industrie- und Energietechnik GmbH | NC controlled vertical milling machine |
| CN1579716A (en) * | 2003-08-14 | 2005-02-16 | 艾森曼机械制造两合公司（无限责任股东：艾森曼-基金会） | Device for the treatment of the surface of workpieces, in particular vehicle bodies |
| CN204700890U (en) * | 2015-06-30 | 2015-10-14 | 佛山市新恒萃材料科技有限公司 | A kind of multi-purpose robot |
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| CN104942814A (en) | 2015-09-30 |
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