CN105881515B - A kind of light-duty six axles all-purpose robot provided with both arms - Google Patents
A kind of light-duty six axles all-purpose robot provided with both arms Download PDFInfo
- Publication number
- CN105881515B CN105881515B CN201610368606.XA CN201610368606A CN105881515B CN 105881515 B CN105881515 B CN 105881515B CN 201610368606 A CN201610368606 A CN 201610368606A CN 105881515 B CN105881515 B CN 105881515B
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- card
- split type
- type supporting
- supporting stand
- fixed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of light-duty six axles all-purpose robot provided with both arms, including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the forearm in large arm, waist rotation member is rotated around base body, and large arm is rotated around waist rotation member；The quantity of the forearm is two, and respectively the first forearm and the second forearm, two forearms are arranged in large arm by split mechanism.In practical operation, two forearms can both be rotated by the relatively large arm of split mechanism, and two forearms can also make relative rotation under the driving of split mechanism, to adapt to various processing operating modes, the operating efficiency of hoisting machine people.
Description
Technical field：
The present invention relates to robotic technology field, in particular to a kind of light-duty six axles general-purpose machinery provided with both arms
People.
Background technology：
Application No. CN201210566463.5 application for a patent for invention discloses a kind of light-duty six axles all-purpose robot, bag
Base body, waist rotation member, large arm, axle bed, forearm are included, waist rotation member is rotated around base body, and large arm is rotated around waist rotation member.
The content of the invention：
Technical problem solved by the invention：Light-duty six axles all-purpose robot of the prior art, it has a forearm,
Whole machine task efficiency is set to be difficult to get a promotion.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of light-duty six axle provided with both arms is general
Robot, including base body, be articulated on base body waist rotation member, be articulated on waist rotation member large arm, installed in large arm
On forearm, waist rotation member around base body rotate, large arm around waist rotation member rotate；The quantity of the forearm is two, is respectively
First forearm and the second forearm, two forearms are arranged in large arm by split mechanism；The split mechanism includes the first split
Support, the spool being articulated on the first Split type supporting stand, the ratchet for being fixed on spool two ends, the second split branch being articulated on spool
The expansion link of frame, the first Split type supporting stand of connection and the second Split type supporting stand；First Split type supporting stand is provided with and is caught in hook tooth
The first elastic card, drive the first elastic card to depart from the first driving means that are contacted with ratchet, second Split type supporting stand
Provided with the second elastic card being caught in hook tooth, the second elastic card is driven to depart from the second driving dress contacted with ratchet
Put；The ratchet includes being fixed on the first ratchet of spool left end and is fixed on the second ratchet of spool right-hand member, the first ratchet with
Second coaxial ratchet and oppositely arranged；The 3rd motor is fixed with the large arm, the output shaft of the 3rd motor couples with spool；Institute
The first forearm is stated on the first Split type supporting stand, the second forearm is arranged on the second Split type supporting stand.
By above-mentioned technical proposal, a kind of operation principle of the light-duty six axles all-purpose robot provided with both arms of the present invention is such as
Under：
First, under the driving of the 3rd motor, split mechanism and two forearms thereon can rotate relative to large arm.
Second, when the angle between two forearms need to change, first driving means drive the first elastic card depart from
Ratchet is contacted, or, the second drive device is driven the second elastic card to depart from and contacted with ratchet, afterwards, and the flexible of expansion link can
The first Split type supporting stand and the second Split type supporting stand is driven to relatively rotate, the angle between the first Split type supporting stand and the second Split type supporting stand
Change, and then, the angle between two forearms obtains required change；Afterwards, the first elastic card or the second elastic card are multiple
In position, the tooth for being caught in the first ratchet and the second ratchet, because the first ratchet and the second ratchet are oppositely arranged, therefore, the first ratchet
Tooth and the second ratchet tooth it is in opposite direction, in this way, be caught in simultaneously in the tooth of the first ratchet and the second ratchet first elasticity
Card or the second elastic card can limit the first Split type supporting stand or the second Split type supporting stand is rotated.
By above-mentioned technical proposal, two forearms can both rotate relative to large arm, and two forearms can also make relative rotation,
To adapt to various processing operating modes, the operating efficiency of hoisting machine people.
One kind of split mechanism is illustrated as the present invention, first elastic card stretches including the first card, first
Spring, the first fixed seat；The first chute is opened up on first Split type supporting stand, first card is slidably fitted in the first chute
In, described first adjustable spring one end is set on the first card, and the other end of the first adjustable spring is against in the first fixed seat,
First fixed seat is fixed on the first Split type supporting stand；The first driving means include first be fixed on the first Split type supporting stand
Cylinder, the first drive block on the first cylinder piston rod, under the driving of the first cylinder, the first drive block driving first
Card is slided along the first chute, and the first card drives the first adjustable spring to shrink along sliding for the first chute.Wherein, described first
Card is provided with guide part, and first adjustable spring is set on guide part, and first fixed seat opens up pilot hole, guide part
Activity is plugged in pilot hole.
One kind of split mechanism is illustrated as the present invention, stating the second elastic card includes the second card, the second flexible bullet
Spring, the second fixed seat；The second chute is opened up on second Split type supporting stand, second card is slidably fitted in the second chute
In, described second adjustable spring one end is set on the second card, and the other end of the second adjustable spring is against in the second fixed seat,
Second fixed seat is fixed on the second Split type supporting stand；Second drive device includes second be fixed on the second Split type supporting stand
Cylinder, the second drive block on the second cylinder piston rod, under the driving of the second cylinder, the second drive block driving second
Card is slided along the second chute, and the second card drives the second adjustable spring to shrink along sliding for the second chute.Wherein, described second
Card is provided with guide part, and second adjustable spring is set on guide part, and second fixed seat opens up pilot hole, guide part
Activity is plugged in pilot hole.
One kind of split mechanism is illustrated as the present invention, first Split type supporting stand is articulated with one end of spool provided with the
The bayonet socket that can coordinate with the second elastic card is opened up on one arcuate projection, first arcuate projection.As described above, exist
Second drive device drive the second elastic card depart from contacted with ratchet on the premise of, the second split branch is driven in the stretching, extension of expansion link
Frame rotates relative to the first Split type supporting stand, and the first arcuate projection acts on the second elastic card, and the second elastic card is in the first arc
Slided on shape protuberance, the angle between the first Split type supporting stand and the second Split type supporting stand becomes big until reaching 180 degree, this
When, the second elastic card is caught in the bayonet socket of the first arcuate projection, the angle between the first Split type supporting stand and the second Split type supporting stand
It is positioned at 180 degree, i.e. the angle between two forearms is positioned at 180 degree.
One kind of split mechanism is illustrated as the present invention, the expansion link includes the be fixed on the first Split type supporting stand
Threaded rod that one pole, the second pole being fixed on the second Split type supporting stand, one end and the first pole are hinged, one end with second
Sleeve that bar is hinged, the first gear for being articulated in the sleeve other end, the second gear engaged with first gear, output shaft and second
4th motor of gear connection；The centre of the first gear opens up screwed hole, threaded rod and screw hole, threaded rod
Other end activity is plugged in sleeve, and the 4th motor is fixed on sleeve.As described above, the work of the expansion link is former
Reason is as follows：The driving second gear rotation of 4th motor, second gear driving first gear rotation, first gear driving threaded rod phase
Action is extended into or out to sleeve, in this way, the total length change of threaded rod and sleeve, to drive the first Split type supporting stand and second
Split type supporting stand makees relative rotation.
Brief description of the drawings：
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation of the light-duty six axles all-purpose robot provided with both arms of the present invention；
Fig. 2 is Tu1Zhong splits mechanism 200 and the combining structure schematic diagram of forearm 50；
Fig. 3 is the schematic diagram from left front from obtained by the combining structure of split mechanism 200 and forearm 50 in Fig. 2.
Symbol description in figure：
10th, base body；
20th, large arm；
200th, split mechanism；21st, the 3rd motor；24th, the first Split type supporting stand；240th, the first chute；241st, the first elastic card
Piece；242nd, first driving means；243rd, the first card；244th, the first adjustable spring；245th, the first fixed seat；25th, spool；261、
First ratchet；262nd, the second ratchet；27th, the second Split type supporting stand；270th, the second chute；271st, the second elastic card；272nd, second
Drive device；273rd, the second card；274th, the second adjustable spring；275th, the second fixed seat；28th, expansion link；281st, threaded rod；
282nd, sleeve；283rd, first gear；284th, second gear；285th, the 4th motor；
30th, waist rotation member；
50th, forearm.
Embodiment：
Such as Fig. 1, a kind of light-duty six axles all-purpose robot provided with both arms, including base body 10, be articulated on base body
Waist rotation member 30, the large arm 20 being articulated on waist rotation member, the forearm 50 in large arm, waist rotation member turn around base body
Dynamic, large arm is rotated around waist rotation member.The quantity of the forearm is two, respectively the first forearm and the second forearm, two forearms
It is arranged on by split mechanism 200 in large arm.
With reference to Fig. 2, Fig. 3, the split mechanism includes the first Split type supporting stand 24, the spool being articulated on the first Split type supporting stand
25th, the second Split type supporting stand 27 for be fixed on the ratchet at spool two ends, being articulated on spool, the first Split type supporting stand of connection and second point
The expansion link 28 of body support frame；First Split type supporting stand is provided with the first elastic card 241 being caught in hook tooth, drives first
Elastic card departs from the first driving means 242 contacted with ratchet, and second Split type supporting stand is provided with and is caught in hook tooth
Second elastic card 271, the second drive device 272 for driving the disengaging of the second elastic card to be contacted with ratchet；The ratchet includes
The first ratchet 261 for being fixed on spool left end and the second ratchet 262 for being fixed on spool right-hand member, the first ratchet and the second ratchet are same
Axle and oppositely arranged.The 3rd motor 21 is fixed with such as Fig. 1, the large arm, the output shaft of the 3rd motor couples with spool；It is described
First forearm is arranged on the first Split type supporting stand, and the second forearm is arranged on the second Split type supporting stand.
In above-mentioned split mechanism 200, first elastic card 241 include the first card 243, the first adjustable spring 244,
First fixed seat 245；The first chute 240 is opened up on first Split type supporting stand 24, first card is slidably fitted in first
In chute, described first adjustable spring one end is set on the first card, and the other end of the first adjustable spring is against the first fixation
On seat, the first fixed seat is fixed on the first Split type supporting stand.The first driving means 242 include being fixed on the first Split type supporting stand
On the first cylinder, the first drive block on the first cylinder piston rod, under the driving of the first cylinder, the first drive block
The first card is driven to be slided along the first chute, the first card drives the first adjustable spring to shrink along sliding for the first chute.Wherein,
First card 243 is provided with guide part, and first adjustable spring 244 is set on guide part, first fixed seat 245
Pilot hole is opened up, guide part activity is plugged in pilot hole.
In above-mentioned split mechanism 200, second elastic card 271 include the second card 273, the second adjustable spring 274,
Second fixed seat 275；The second chute 270 is opened up on second Split type supporting stand 27, second card is slidably fitted in second
In chute, described second adjustable spring one end is set on the second card, and the other end of the second adjustable spring is against the second fixation
On seat, the second fixed seat is fixed on the second Split type supporting stand.Second drive device 272 includes being fixed on the second Split type supporting stand
On the second cylinder, the second drive block on the second cylinder piston rod, under the driving of the second cylinder, the second drive block
The second card is driven to be slided along the second chute, the second card drives the second adjustable spring to shrink along sliding for the second chute.Wherein,
Second card 273 is provided with guide part, and second adjustable spring 274 is set on guide part, second fixed seat 275
Pilot hole is opened up, guide part activity is plugged in pilot hole.
In above-mentioned split mechanism 200, one end that first Split type supporting stand 24 is articulated with spool 25 is prominent provided with the first arc
Go out on portion, first arcuate projection bayonet socket that opens up and can coordinate with the second elastic card 271.
In above-mentioned split mechanism 200, the expansion link 28 includes being fixed on the first pole on the first Split type supporting stand 24, solid
Threaded rod 281 that the second pole for being scheduled on the second Split type supporting stand, one end are hinged with the first pole, one end are hinged with the second pole
Sleeve 282, the first gear 283 for being articulated in the sleeve other end, the second gear 284 engaged with first gear, output shaft with
4th motor 285 of second gear connection；The centre of the first gear opens up screwed hole, threaded rod and screw hole,
The other end activity of threaded rod is plugged in sleeve, and the 4th motor is fixed on sleeve.
In practical operation, a kind of workflow of the light-duty six axles all-purpose robot provided with both arms of the present invention is as follows：
First, under the driving of the 3rd motor 21, split mechanism 200 and two forearms 50 thereon can revolve with respect to large arm 20
Turn.
Second, when the angle between two forearms 50 need to change, first driving means 242 drive the first elastic card
241 disengagings are contacted with ratchet, or, the second drive device 272 is driven the second elastic card 271 to depart from and contacted with ratchet, afterwards,
The flexible of expansion link 28 can drive the first Split type supporting stand 24 and the second Split type supporting stand 27 to relatively rotate, the first Split type supporting stand and the
Variable angle between diad support, and then, the angle between two forearms 50 obtains required change；Afterwards, the first elasticity
The elastic card 271 of card 241 or second resets, in the tooth for being caught in the first ratchet 261 and the second ratchet 262, due to the first spine
Wheel and the second ratchet it is oppositely arranged, therefore, the tooth of the tooth of the first ratchet and the second ratchet it is in opposite direction, in this way, be caught in simultaneously
The first elastic card 241 or the second elastic card 271 in the tooth of first ratchet 261 and the second ratchet 262 can limit first
The Split type supporting stand 27 of Split type supporting stand 24 or second is rotated, and then positions the first forearm and the second forearm.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, will change in specific embodiments and applications, this specification content should not be construed as to this hair
Bright limitation.
Claims (7)
1. a kind of light-duty six axles all-purpose robot provided with both arms, including base body (10), the waist transfer part that is articulated on base body
Part (30), the large arm (20) being articulated on waist rotation member, the forearm (50) in large arm, waist rotation member turn around base body
Dynamic, large arm is rotated around waist rotation member；It is characterized in that：
The quantity of the forearm is two, and respectively the first forearm and the second forearm, two forearms are pacified by split mechanism (200)
In large arm；
The split mechanism includes the first Split type supporting stand (24), the spool (25) being articulated on the first Split type supporting stand, is fixed on volume
The ratchet at axle two ends, the second Split type supporting stand (27) for being articulated on spool, the first Split type supporting stand of connection and the second Split type supporting stand
Expansion link (28)；First Split type supporting stand is provided with the first elastic card (241) being caught in hook tooth, drives the first elasticity
Card departs from the first driving means (242) that are contacted with ratchet, and second Split type supporting stand is provided with the be caught in hook tooth
Two elastic cards (271), the second drive device (272) for driving the disengaging of the second elastic card to be contacted with ratchet；The ratchet bag
Include the first ratchet (261) for being fixed on spool left end and the second ratchet (262) for being fixed on spool right-hand member, the first ratchet and second
Coaxial ratchet and oppositely arranged；
The 3rd motor (21) is fixed with the large arm, the output shaft of the 3rd motor couples with spool；First forearm is installed
On the first Split type supporting stand, the second forearm is arranged on the second Split type supporting stand.
2. a kind of light-duty six axles all-purpose robot provided with both arms as claimed in claim 1, it is characterised in that：First bullet
Property card (241) include the first card (243), the first adjustable spring (244), the first fixed seat (245)；The first split branch
The first chute (240) is opened up on frame (24), first card is slidably fitted in the first chute, first adjustable spring one
End is set on the first card, and the other end of the first adjustable spring is against in the first fixed seat, and the first fixed seat is fixed on first
On Split type supporting stand；
The first driving means (242) include being fixed on the first cylinder on the first Split type supporting stand, lived installed in the first cylinder
The first drive block on stopper rod, under the driving of the first cylinder, the first drive block drives the first card to be slided along the first chute, the
One card drives the first adjustable spring to shrink along sliding for the first chute.
3. a kind of light-duty six axles all-purpose robot provided with both arms as claimed in claim 2, it is characterised in that：First card
Piece (243) is provided with guide part, and first adjustable spring (244) is set on guide part, and first fixed seat (245) opens up
Pilot hole, guide part activity is plugged in pilot hole.
4. a kind of light-duty six axles all-purpose robot provided with both arms as claimed in claim 1, it is characterised in that：Second bullet
Property card (271) include the second card (273), the second adjustable spring (274), the second fixed seat (275)；The second split branch
The second chute (270) is opened up on frame (27), second card is slidably fitted in the second chute, second adjustable spring one
End is set on the second card, and the other end of the second adjustable spring is against in the second fixed seat, and the second fixed seat is fixed on second
On Split type supporting stand；
Second drive device (272) includes being fixed on the second cylinder on the second Split type supporting stand, lived installed in the second cylinder
The second drive block on stopper rod, under the driving of the second cylinder, the second drive block drives the second card to be slided along the second chute, the
Two cards drive the second adjustable spring to shrink along sliding for the second chute.
5. a kind of light-duty six axles all-purpose robot provided with both arms as claimed in claim 4, it is characterised in that：Second card
Piece (273) is provided with guide part, and second adjustable spring (274) is set on guide part, and second fixed seat (275) opens up
Pilot hole, guide part activity is plugged in pilot hole.
6. a kind of light-duty six axles all-purpose robot provided with both arms as claimed in claim 1, it is characterised in that：Described first point
One end that body support frame (24) is articulated with spool (25) is provided with the first arcuate projection, and opening up on first arcuate projection can be with
The bayonet socket that second elastic card (271) coordinates.
7. a kind of light-duty six axles all-purpose robot provided with both arms as claimed in claim 1, it is characterised in that：The expansion link
(28) including the first pole being fixed on the first Split type supporting stand (24), the second pole being fixed on the second Split type supporting stand, one
Sleeve (282) that threaded rod (281) that end is hinged with the first pole, one end are hinged with the second pole, it is articulated in the sleeve other end
First gear (283), the 4th motor that couples with second gear of the second gear (284) engaged with first gear, output shaft
(285)；The centre of the first gear opens up screwed hole, threaded rod and screw hole, and the other end activity of threaded rod is inserted
It is located in sleeve, the 4th motor is fixed on sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368606.XA CN105881515B (en) | 2016-05-28 | 2016-05-28 | A kind of light-duty six axles all-purpose robot provided with both arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368606.XA CN105881515B (en) | 2016-05-28 | 2016-05-28 | A kind of light-duty six axles all-purpose robot provided with both arms |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105881515A CN105881515A (en) | 2016-08-24 |
| CN105881515B true CN105881515B (en) | 2017-09-08 |
Family
ID=56710292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610368606.XA Active CN105881515B (en) | 2016-05-28 | 2016-05-28 | A kind of light-duty six axles all-purpose robot provided with both arms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881515B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1397410A (en) * | 2002-07-11 | 2003-02-19 | 上海交通大学 | Multifunctional dual-arm robot for education |
| CN2764719Y (en) * | 2004-10-16 | 2006-03-15 | 无锡力马化工机械有限公司 | Double arm clamping type bag feeding manipulator |
| CN201224101Y (en) * | 2008-06-13 | 2009-04-22 | 宁波问鼎机器人有限公司 | Manipulator for taking out forming machine products |
| CN102001089A (en) * | 2010-10-08 | 2011-04-06 | 四川大学 | Iron tower climbing articulated robot |
| CN102380871A (en) * | 2011-11-14 | 2012-03-21 | 瞿鹏飞 | Double-arm manipulator for industrial production |
| CN104149081A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular handheld double-operating-end master robot |
| KR20140148211A (en) * | 2013-06-21 | 2014-12-31 | 한국기계연구원 | method of controlling posture for dual-arm robot |
-
2016
- 2016-05-28 CN CN201610368606.XA patent/CN105881515B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1397410A (en) * | 2002-07-11 | 2003-02-19 | 上海交通大学 | Multifunctional dual-arm robot for education |
| CN2764719Y (en) * | 2004-10-16 | 2006-03-15 | 无锡力马化工机械有限公司 | Double arm clamping type bag feeding manipulator |
| CN201224101Y (en) * | 2008-06-13 | 2009-04-22 | 宁波问鼎机器人有限公司 | Manipulator for taking out forming machine products |
| CN102001089A (en) * | 2010-10-08 | 2011-04-06 | 四川大学 | Iron tower climbing articulated robot |
| CN102380871A (en) * | 2011-11-14 | 2012-03-21 | 瞿鹏飞 | Double-arm manipulator for industrial production |
| KR20140148211A (en) * | 2013-06-21 | 2014-12-31 | 한국기계연구원 | method of controlling posture for dual-arm robot |
| CN104149081A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular handheld double-operating-end master robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105881515A (en) | 2016-08-24 |
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Effective date of registration: 20190515 Address after: 215400 No. 3 Xinxing Road, South Suburb of Chengxiang Town, Taicang City, Suzhou City, Jiangsu Province Patentee after: Taicang Wang Ji Automation Technology Co., Ltd. Address before: 523000 productivity building 406, high tech Industrial Development Zone, Songshan Lake, Dongguan, Guangdong Patentee before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
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