CN105881526B - A kind of light-duty six axis all-purpose robot equipped with adjutage - Google Patents
A kind of light-duty six axis all-purpose robot equipped with adjutage Download PDFInfo
- Publication number
- CN105881526B CN105881526B CN201610370535.7A CN201610370535A CN105881526B CN 105881526 B CN105881526 B CN 105881526B CN 201610370535 A CN201610370535 A CN 201610370535A CN 105881526 B CN105881526 B CN 105881526B
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- adjutage
- axis
- thread bar
- axle
- swing
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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 axis all-purpose robots equipped with adjutage, robot forearm is equipped with adjutage, and the adjutage includes being fixedly connected with the stake body of forearm, the first telescoping mechanism on stake body and the second telescoping mechanism, the swing mechanism being hinged on the first telescoping mechanism, the swing driving mechanism being fixed on the second telescoping mechanism.When left hand thread bar and right-handed thread bar two telescoping mechanisms of driving on stake body are reversely retractable to extreme place, under the driving of power plant, swing mechanism can carry out the swing of certain amplitude using swing driving mechanism as support.By the present invention, the total length of adjutage and forearm and adjutage can be elongated or be shortened to the counter motion of two telescoping mechanisms, to adapt to various operating modes；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, that is, impart the function of small brachiocylloosis, to adapt to various operating modes.
Description
Technical field：
The present invention relates to robotic technology field, in particular to a kind of light-duty six axis universal machine equipped with adjutage
Device people.
Background technology：
Application for a patent for invention application No. is CN201210566463.5 discloses a kind of light-duty six axis all-purpose robot, axis
Seat is fixed on arm axle, and axle bed guard box is fixed on axle bed, and third axis driving motor, the 4th axis driving motor, the 5th axis drive
Dynamic motor and the 6th axis driving motor are placed in axle bed guard box；Forearm rod shell and forearm lengthening rod shell are separately fixed at small
The front and rear part of arm retarder, the 6th axis sleeve is in the 5th axis, and the 5th axis sleeve is in the 4th axis, and sleeve is in forearm in the 4th axis
Rod shell, forearm retarder and forearm are lengthened in rod shell, be respectively fixed on the 4th axis, the 5th axis and the 6th axis the 4th axis from
Moving gear, the 5th axis driven gear and the 6th axis driven gear.
Invention content：
Technical problem solved by the invention：Light-duty six axis all-purpose robot of the prior art, forearm are only capable of driving
It rotates mounted on the execution end of forearm end, it is difficult to meet the needs of practical operation.
In order to solve the above technical problems, the present invention provides following technical solution：A kind of light-duty six axis equipped with adjutage leads to
With robot, including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, mounted on big
Forearm on arm, waist rotation member are rotated around base body, and large arm is rotated around waist rotation member；
The forearm is equipped with adjutage, and the adjutage includes being fixedly connected with the stake body of forearm, mounted on stake body
On the first telescoping mechanism and the second telescoping mechanism, be hinged on the first telescoping mechanism swing mechanism, to be fixed on second flexible
Swing driving mechanism in mechanism；The stake body be equipped with head and the tail connection left hand thread bar and right-handed thread bar, for driving
Dynamic left hand thread bar and the power plant of right-handed thread bar rotation；First telescoping mechanism is spirally connected with left hand thread bar, and second
Telescoping mechanism is spirally connected with right-handed thread bar, and stake body is equipped with and is led to what the first telescoping mechanism and the second telescoping mechanism were oriented to
To bar；The swing mechanism includes the first axle being arranged in parallel and the second axis, and the swing driving mechanism is oriented to including linear
Slot, is arranged on arc-shaped guiding at the circular arc shaped guide slots for being arranged on linear guide groove end and being connected with linear guide groove
Slot side and a pair of of the elastic device being symmetrical set, the second power plant for being arranged on circular arc shaped guide slots side；It is described
Second axis is hinged by connecting rod and the first telescoping mechanism, and the second axis is slidably fitted in linear guide groove, and first axle is slided
In circular arc shaped guide slots, first axle is clamped in the company of linear guide groove and circular arc shaped guide slots by a pair of of elastic device for cooperation
The distance value of logical place, first axle and the second axis is equal to the arc radius value of circular arc shaped guide slots, and second power plant is used for
Driving first axle is slided in circular arc shaped guide slots.
By above-mentioned technical proposal, a kind of work of light-duty six axis all-purpose robot equipped with adjutage of the present invention is former
Reason is as follows：Left hand thread bar and the right-handed thread bar head and the tail being linked together are fixed together, left hand thread bar and right-handed thread
Bar is coaxially disposed, and left hand thread bar and right-handed thread bar rotate simultaneously, and left hand thread bar drives the first telescoping mechanism to rise, dextrorotation
Threaded rod drives the second telescoping mechanism to decline, and the first telescoping mechanism drives swing mechanism to rise, and the second telescoping mechanism, which drives, to be swung
Driving mechanism declines, and first axle and the second axis slide in linear guide groove first, and later, first axle is caught in a pair of of elasticity dress
It puts and enters in circular arc shaped guide slots, the second axis is stayed in linear guide groove；Later, the second power plant driving first axle
It is swung in circular arc shaped guide slots using the axial line of the second axis as rotation centerline, in this way, swing mechanism can make certain amplitude
It swings, the robot on swing mechanism performs end and also swings therewith；When robot is without using the swing of adjutage
During function, the second power plant interrupts the power conveyed to first axle, and under the elastic force effect of a pair of of elastic device, first axle is multiple
Position is to linear guide groove and the connectivity part of circular arc shaped guide slots, later, in the left hand thread bar and dextrorotation spiral shell being linked together
Under the driving of rasp bar, the first telescoping mechanism declines and the second telescoping mechanism rises, and first axle and the second axis are in linear guide groove
Interior to slide and make downward movement relative to linear guide groove, so far, swing mechanism is limited.
Through the above technical solutions, the present invention has the following technical effect that：First, left hand thread bar and right-handed thread bar
With making swing mechanism rapid relative to the lifting action of swing driving mechanism, to improve working efficiency；The second, the first telescopic machine
The length of adjutage can be elongated or be shortened to the counter motion of structure and the second telescoping mechanism, and then elongate or shorten forearm and adjutage
Total length, to adapt to various operating modes；Third, swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, i.e.,
The function of small brachiocylloosis is imparted, to adapt to various operating modes.
As the present invention to a kind of explanation of adjutage, the stake body includes pedestal, support plate；The pedestal is fixedly connected
Forearm, the guide rod are fixed on pedestal, and the support plate is fixed on the top of guide rod；First telescoping mechanism includes the
One flexible chassis, a pair of first lead, the first telescopic block；The first flexible chassis is screwed onto in left hand thread bar, and first
Flexible chassis opens up the first guiding slot port, and first guiding slot port is slidably matched with guide rod；The pair of first lead
It is arranged on the first flexible chassis, a pair of first pilot hole is opened up on the support plate, a pair of first lead is with one-to-one side
In a pair of first pilot hole, first telescopic block is mounted on the top of the first lead for formula cooperation, and the one of the connecting rod
End is fixedly connected with the first telescopic block, and the other end of connecting rod is hinged with the second axis；Second telescoping mechanism is stretched including second
Contracting chassis, the second lead, flexible disk；The second flexible chassis is screwed onto in right-handed thread bar, and the second flexible chassis opens up
Second guiding slot port, second guiding slot port are slidably matched with guide rod；Second lead is arranged on the second flexible bottom
On disk, the second flexible chassis is located at the lower section on the first flexible chassis；The first flexible chassis opens up the second pilot hole, the branch
Third pilot hole is opened up on plate, second lead is upward through the second pilot hole and third pilot hole；The flexible disk peace
Mounted in the top of the second lead, the swing driving mechanism is fixed on flexible disk.
As described above, the left hand thread bar being linked together rotates simultaneously with right-handed thread bar, left hand thread bar driving
First flexible chassis lifting, the second flexible chassis lifting of right-handed thread bar driving, the lifting on the first flexible chassis are oriented to first
Carried out under the guiding of notch and guide rod, the lifting on the second flexible chassis under the guiding of the second guiding slot port and guide rod into
Row.
As the present invention to a kind of explanation of adjutage, the right-handed thread bar is located at the lower section of left hand thread bar, dextrorotation
The bottom end of threaded rod is articulated on pedestal, and the top of left hand thread bar is articulated on support plate, and the power plant includes being mounted on
The worm gear of right-handed thread bar bottom, the worm screw engaged with worm gear, the first servo motor coupled with worm screw, worm screw are articulated in pedestal
On, the first servo motor is mounted on pedestal.As described above, the rotation of left hand thread bar and right-handed thread bar is by the first servo
Motor-driven worm and gear driving, since worm and gear has good auto-lock function, oscillating machine of the present invention
Structure can steadily rest on any position in space in swing process.
As the present invention to a kind of explanation of adjutage, the swing mechanism includes pendular body, the first axle and second
Axis is fixed on pendular body, and pendular body is equipped with the mounting flange that connection robot performs end；The swing driving mechanism packet
The guide plate being fixed on flexible disk is included, the linear guide groove and circular arc shaped guide slots are opened on guide plate, and described one
Elastic device and the second power plant are mounted on guide plate.
Based on the above-mentioned explanation to adjutage, in adjutage, the pair of elastic device includes the first elastic device and the
Two elastic devices, the first elastic device and the second elastic device include the support pedestal, one end and the branch that are fixed on guide plate
The adjustable spring of support pedestal connection, the limiting plate that is connect with the adjustable spring other end, the limiting plate of the first elastic device and
The limiting plate of second elastic device is oppositely arranged.As described above, the arc-shaped shape in the end of limiting plate, in first axle by straight line
During shape guide groove enters circular arc shaped guide slots, first axle has been caught in the first elastic device limiting plate and the second bullet simultaneously
Property device limiting plate between, first axle is in circular arc shaped guide slots during left swing, and the first elastic device limiting plate is in adjustable spring
Under the action of offset with first axle and there is the trend for resetting first axle, first axle is in circular arc shaped guide slots during right pendulum, the
Two elastic device limiting plates offset under the action of adjustable spring with first axle and have make first axle reset trend.Once the
Two power plants interrupt to first axle and convey power, and first axle is multiple i.e. under the action of the first elastic device or the second elastic device
Position, so that first axle and the second axis are slided in linear guide groove simultaneously.
Based on the above-mentioned explanation to adjutage, in adjutage, second power plant include being fixed on guide plate and
U-shaped seat body across linear guide groove, the second servo motor, one end and the second servo motor being fixed on U-shaped seat body are defeated
The second connecting rod for going out axis connection, the first cylinder mounted on the second connecting rod other end, the piston rod of the first cylinder and first
Axis is parallel, and the first hole that can coordinate with the first cylinder piston rod is opened up on the end face of first axle.As described above, when first axle into
When entering in circular arc shaped guide slots, first axle is stopped by the side wall of circular arc shaped guide slots, and first axle and the second axis stop, wherein, the
The axial line of two axis is overlapped with the axial line of the second servo motor output shaft, and the rotation of the second servo motor output shaft drives second
Connecting rod is swung, and the second connecting rod drives the first cylinder to swing, the piston rod of the first cylinder be inserted into the first hole of first axle with
First axle is driven to swing；When robot is swung without swing mechanism, the piston rod of the first cylinder resets, and is detached from and first axle
Contact, under the action of a pair of of elastic device, first axle resets.
As the present invention to a kind of explanation of adjutage, first shell, first shell and bottom are enclosed on the stake body
Seat is fixedly connected with support plate；Second shell is enclosed on the flexible disk, second shell is fixedly connected with flexible disk, and described first
Telescoping mechanism and the second telescoping mechanism are located in second shell.
Description of the drawings：
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structure diagram of the light-duty six axis all-purpose robot equipped with adjutage of the present invention；
Fig. 2 is the structure diagram of adjutage 60 in Fig. 1；
Fig. 3 is that adjutage 60 conceals the structure diagram after first shell 66 and second shell 67 in Fig. 2；
Fig. 4 is the combining structure schematic diagram of stake body 61, the first telescoping mechanism 62, the second telescoping mechanism 63 in Fig. 3；
Fig. 5 is the combining structure schematic diagram of swing mechanism 64 and swing driving mechanism 65 in Fig. 3；
Fig. 6 is from showing obtained by the composite structure of another view swing mechanism 64 and swing driving mechanism 65 in Fig. 5
It is intended to；
Fig. 7 is that the swing mechanism 64 in Fig. 2 in adjutage 60 swings the structure diagram after certain angle；
Fig. 8 is that adjutage 60 conceals the structure diagram after first shell 66 and second shell 67 in Fig. 7.
Symbol description in figure：
10th, base body；
20th, waist rotation member；
30th, large arm；
40th, forearm；
60th, adjutage；
61st, stake body；611st, left hand thread bar；612nd, right-handed thread bar；613rd, guide rod；614th, pedestal；615th, support plate；
616th, worm gear；617th, worm screw；618th, the first servo motor；
62nd, the first telescoping mechanism；622nd, the first flexible chassis；623rd, the first lead；624th, the first telescopic block；626th,
One guiding slot port；
63rd, the second telescoping mechanism；632nd, the second flexible chassis；633rd, the second lead；634th, stretch disk；636th, it second leads
To notch；
64th, swing mechanism；640th, pendular body；641st, first axle；642nd, the second axis；643rd, connecting rod；644th, mounting flange；
65th, swing driving mechanism；650th, guide plate；651st, linear guide groove；652nd, circular arc shaped guide slots；653rd, it supports
Pedestal；654th, adjustable spring；655th, plate is limited；656th, U-shaped seat body；657th, the second servo motor；658th, the first cylinder；
66th, first shell；
67th, second shell.
Specific embodiment：
Such as Fig. 1, a kind of light-duty six axis all-purpose robot equipped with adjutage including base body 10, is articulated on base body
Waist rotation member 20, be articulated on waist rotation member large arm 30, the forearm 40 in large arm, waist rotation member around base body turn
Dynamic, large arm is rotated around waist rotation member.The forearm is equipped with adjutage 60.
Such as Fig. 3, the adjutage 60 is including being fixedly connected with the stake body 61 of forearm, first on stake body stretches
62 and second telescoping mechanism 63 of mechanism, is fixed on the second telescoping mechanism the swing mechanism 64 being hinged on the first telescoping mechanism
Swing driving mechanism 65.
With reference to Fig. 4, Fig. 5, the stake body is equipped with the left hand thread bar 611 of head and the tail connection and right-handed thread bar 612, use
In driving left hand thread bar and the power plant of right-handed thread bar rotation；First telescoping mechanism is spirally connected with left hand thread bar,
Second telescoping mechanism is spirally connected with right-handed thread bar, and stake body is equipped with and the first telescoping mechanism and the second telescoping mechanism are oriented to
Guide rod 613.
With reference to Fig. 4, Fig. 6, the swing mechanism includes 641 and second axis 642 of first axle being arranged in parallel, and described swing is driven
Motivation structure includes linear guide groove 651, is arranged on linear guide groove end and is connected with linear guide groove arc-shaped
Guide groove 652, is arranged on arc-shaped guiding at a pair of of the elastic device for being arranged on circular arc shaped guide slots side and being symmetrical set
Second power plant of slot side.Second axis is hinged by connecting rod 643 and the first telescoping mechanism, and the second axis is slidably matched
In linear guide groove, first axle is slidably fitted in circular arc shaped guide slots, and first axle is clamped in directly by a pair of of elastic device
The distance value of the connectivity part of linear guide groove and circular arc shaped guide slots, first axle and the second axis is equal to the circular arc of circular arc shaped guide slots
Radius value, second power plant are used to that first axle to be driven to slide in circular arc shaped guide slots.
In adjutage 60, such as Fig. 4, the stake body 61 includes pedestal 614, support plate 615；The pedestal is fixedly connected with forearm
40, the guide rod 613 is fixed on pedestal, and the support plate is fixed on the top of guide rod.First telescoping mechanism 62 wraps
Include the first flexible chassis 622, a pair of first lead 623, the first telescopic block 624；The first flexible chassis is screwed onto left-handed
On threaded rod 611, the first flexible chassis opens up the first guiding slot port 626, and first guiding slot port is slidably matched with guide rod；
The pair of first lead is arranged on the first flexible chassis, and a pair of first pilot hole, a pair first are opened up on the support plate
Lead coordinates in a manner of one-to-one in a pair of first pilot hole, and first telescopic block is mounted on the top of the first lead
Portion, one end of the connecting rod 643 are fixedly connected with the first telescopic block, and the other end of connecting rod and the second axis 642 are hinged.It is described
Second telescoping mechanism 63 includes the second flexible chassis 632, the second lead 633, flexible disk 634；The second flexible chassis spiral shell
It is connected in right-handed thread bar 612, the second flexible chassis opens up the second guiding slot port 636, second guiding slot port and guide rod
It is slidably matched；Second lead is arranged on the second flexible chassis, and the second flexible chassis is located under the first flexible chassis
Side；The first flexible chassis opens up the second pilot hole, and third pilot hole is opened up on the support plate, and second lead is upward
Across the second pilot hole and third pilot hole；The flexible disk is mounted on the top of the second lead, the swing driving mechanism
65 are fixed on flexible disk.
In adjutage 60, such as Fig. 4, the right-handed thread bar 612 is located at the lower section of left hand thread bar 611, right-handed thread bar
Bottom end be articulated on pedestal 614, the top of left hand thread bar is articulated on support plate 615, the power plant include be mounted on
The worm gear 616 of right-handed thread bar bottom, the worm screw 617 engaged with worm gear, the first servo motor 618 coupled with worm screw, worm screw
It is articulated on pedestal, the first servo motor is mounted on pedestal.
In adjutage 60, with reference to Fig. 5, Fig. 6, the swing mechanism 64 includes pendular body 640, the first axle 641 and the
Two axis 642 are fixed on pendular body, and pendular body is equipped with the mounting flange 644 that connection robot performs end.Described swing is driven
Motivation structure 65 includes the guide plate 650 being fixed on flexible disk 634, the linear guide groove 651 and circular arc shaped guide slots 652
It is opened on guide plate, the pair of elastic device and the second power plant are mounted on guide plate.
In adjutage 60, with reference to Fig. 5, Fig. 6, the pair of elastic device includes the first elastic device and the second elasticity dress
It puts, the first elastic device and the second elastic device include the support pedestal 653 being fixed on guide plate, one end and support pedestal
The adjustable spring 654 of connection, the limiting plate 655 being connect with the adjustable spring other end, the limiting plate of the first elastic device with
The limiting plate of second elastic device is oppositely arranged.
In adjutage 60, with reference to Fig. 5, Fig. 6, second power plant includes being fixed on guide plate 650 and across straight
The U-shaped seat body 656 of linear guide groove 651, the second servo motor 657 being fixed on U-shaped seat body, one end and the second servo motor
Export the second connecting rod of axis connection, the first cylinder 658 mounted on the second connecting rod other end, the piston rod of the first cylinder with
First axle 641 is parallel, and the first hole that can coordinate with the first cylinder piston rod is opened up on the end face of first axle.
With reference to Fig. 2, Fig. 3, first shell 66, first shell and pedestal 614 and support plate 615 are enclosed on the stake body 61
It is fixedly connected；Second shell 67 is enclosed on the flexible disk 634, second shell is fixedly connected with flexible disk, and described first stretches
62 and second telescoping mechanism 63 of contracting mechanism is located in second shell.
In practical operation, the workflow of adjutage of the present invention is as follows：
First, the left hand thread bar 611 and 612 head and the tail of right-handed thread bar being linked together are fixed together, left hand thread
Bar and right-handed thread bar coaxial arrangement, left hand thread bar and right-handed thread bar rotate simultaneously, and the driving of left hand thread bar 611 first is stretched
Contracting mechanism 62 rises, and right-handed thread bar 612 drives the second telescoping mechanism 63 to decline, and the first telescoping mechanism is driven on swing mechanism 64
It rises, the second telescoping mechanism drives swing driving mechanism 65 to decline；641 and second axis 642 of first axle is first in linear guide groove
It is slided in 651, later, first axle 641 is caught in a pair of of elastic device and enters in circular arc shaped guide slots 652, and the second axis stays in
In linear guide groove.
It using the axial line of the second axis 642 is rotation centerline arc-shaped that the second, the second power plant, which drives first axle 641,
It is swung in guide groove 652, in this way, swing mechanism 64 can make the swing of certain amplitude, the robot on swing mechanism is held
Row end is also swung therewith, with reference to figure 7, Fig. 8.
Third, when oscillating function of the robot without using adjutage 60, the second power plant is interrupted to first axle 641
The power of conveying, under the elastic force effect of a pair of of elastic device, first axle is reset to linear guide groove 651 and arc-shaped guiding
The connectivity part of slot 652, later, under the driving of left hand thread bar 611 and right-handed thread bar 612 being linked together, first stretches
Contracting mechanism 62 declines and the second telescoping mechanism 63 rises, and 641 and second axis 642 of first axle slides in linear guide groove 651
And make downward movement relative to linear guide groove, so far, swing mechanism 64 is limited.
More than content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes, the content of the present specification should not be construed as to this hair in specific embodiments and applications
Bright limitation.
Claims (6)
1. a kind of light-duty six axis all-purpose robot equipped with adjutage turns including base body (10), the waist being articulated on base body
Component (20), the large arm (30) being articulated on waist rotation member, the forearm (40) 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 forearm is equipped with adjutage (60), and the adjutage includes being fixedly connected with the stake body (61) of forearm, mounted on branch
The first telescoping mechanism (62) and the second telescoping mechanism (63), the swing mechanism being hinged on the first telescoping mechanism on frame body
(64), the swing driving mechanism (65) being fixed on the second telescoping mechanism；
The stake body be equipped with head and the tail connection left hand thread bar (611) and right-handed thread bar (612), for driving left-handed spiral shell
Rasp bar and the power plant of right-handed thread bar rotation；First telescoping mechanism is spirally connected with left hand thread bar, the second telescoping mechanism
It is spirally connected with right-handed thread bar, stake body is equipped with the guide rod being oriented to the first telescoping mechanism and the second telescoping mechanism
(613)；
The swing mechanism includes the first axle (641) being arranged in parallel and the second axis (642), and the swing driving mechanism includes straight
Linear guide groove (651) is arranged on linear guide groove end and the circular arc shaped guide slots connected with linear guide groove
(652), a pair of of elastic device for being arranged on circular arc shaped guide slots side and being symmetrical set is arranged on by circular arc shaped guide slots
Second power plant of side；
Second axis is hinged by connecting rod (643) with the first telescoping mechanism, and the second axis is slidably fitted in linear guide groove
Interior, first axle is slidably fitted in linear guide groove and circular arc shaped guide slots, and first axle is clamped in directly by a pair of of elastic device
The distance value of the connectivity part of linear guide groove and circular arc shaped guide slots, first axle and the second axis is equal to the circular arc of circular arc shaped guide slots
Radius value, second power plant are used to that first axle to be driven to slide in circular arc shaped guide slots.
2. a kind of light-duty six axis all-purpose robot equipped with adjutage as described in claim 1, it is characterised in that：Adjutage
(60) in, the stake body (61) includes pedestal (614), support plate (615)；The pedestal is fixedly connected with forearm (40), described to lead
It is fixed on pedestal to bar (613), the support plate is fixed on the top of guide rod；
First telescoping mechanism (62) includes the first flexible chassis (622), a pair of first lead (623), the first telescopic block
(624)；The first flexible chassis is screwed onto in left hand thread bar (611), and the first flexible chassis opens up the first guiding slot port
(626), first guiding slot port is slidably matched with guide rod；The pair of first lead is arranged on the first flexible chassis
On, a pair of first pilot hole is opened up on the support plate, a pair of first lead coordinates in a manner of one-to-one leads in a pair first
Into hole, the first telescopic block is installed at the top of every one first lead in a pair of first lead, the connecting rod (643)
One end is fixedly connected with the first telescopic block, and the other end of connecting rod and the second axis (642) are hinged；
Second telescoping mechanism (63) includes the second flexible chassis (632), the second lead (633), flexible disk (634)；Institute
It states the second flexible chassis to be screwed onto in right-handed thread bar (612), the second flexible chassis opens up the second guiding slot port (636), described
Second guiding slot port is slidably matched with guide rod；Second lead is arranged on the second flexible chassis, the second flexible chassis
Positioned at the lower section on the first flexible chassis；The first flexible chassis opens up the second pilot hole, and third guiding is opened up on the support plate
Hole, second lead are upward through the second pilot hole and third pilot hole；The flexible disk is mounted on the second lead
Top, the swing driving mechanism (65) are fixed on flexible disk.
3. a kind of light-duty six axis all-purpose robot equipped with adjutage as claimed in claim 2, it is characterised in that：Adjutage
(60) in, for the right-handed thread bar (612) positioned at the lower section of left hand thread bar (611), the bottom end of right-handed thread bar is articulated in bottom
On seat (614), the top of left hand thread bar is articulated on support plate (615), and the power plant includes being mounted on right-handed thread bar
The worm gear (616) of bottom, the worm screw (617) engaged with worm gear, the first servo motor (618) coupled with worm screw, worm screw pivot joint
On pedestal, the first servo motor is mounted on pedestal.
4. a kind of light-duty six axis all-purpose robot equipped with adjutage as claimed in claim 2, feature exist
In：In adjutage (60), the swing mechanism (64) includes pendular body (640), the first axle (641) and the second axis
(642) it is fixed on pendular body, pendular body is equipped with the mounting flange (644) that connection robot performs end；
The swing driving mechanism (65) includes the guide plate (650) being fixed on flexible disk (634), the linear guide groove
(651) it is opened on guide plate with circular arc shaped guide slots (652), the pair of elastic device and the second power plant are mounted on and lead
On plate.
5. a kind of light-duty six axis all-purpose robot equipped with adjutage as claimed in claim 4, it is characterised in that：Adjutage
(60) in, the pair of elastic device includes the first elastic device and the second elastic device, the first elastic device and the second elasticity
Device include be fixed on guide plate support pedestal (653), one end with support pedestal connect adjustable spring (654), and
The limiting plate (655) of adjustable spring other end connection, the limiting plate of the first elastic device and the limiting of the second elastic device
Plate is oppositely arranged.
6. a kind of light-duty six axis all-purpose robot equipped with adjutage as claimed in claim 4, it is characterised in that：Adjutage
(60) in, second power plant includes being fixed on guide plate (650) and across the U-shaped seat of linear guide groove (651)
Body (656), the second servo motor (657) being fixed on U-shaped seat body, one end connect with the second servo motor output shaft second
Connecting rod, the first cylinder (658) mounted on the second connecting rod other end, the piston rod and first axle (641) of the first cylinder are flat
It goes, the first hole coordinated with the first cylinder piston rod is opened up on the end face of first axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN107030465B (en) * | 2017-06-24 | 2018-12-28 | 惠州市烁达德高光电科技有限公司 | A kind of grid-like shield automation assembly and disassembly robot of LED lamp tube |
| CN108555963A (en) * | 2018-04-26 | 2018-09-21 | 阜阳盛东智能制造技术研发有限公司 | A kind of foldable robotic arm |
| CN111717660B (en) * | 2020-07-14 | 2021-12-03 | 济南瑞开电气有限公司 | Automatic feeding and discharging machine for plates |
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| JP3355902B2 (en) * | 1995-11-08 | 2002-12-09 | 株式会社デンソー | Movable range limiting device for articulated robots |
| DE102008054312A1 (en) * | 2008-11-03 | 2010-05-06 | Kuka Roboter Gmbh | Method and device for reliable detection of a kinematic variable of a manipulator |
| CN202113985U (en) * | 2011-06-27 | 2012-01-18 | 丁伟 | Adjusting device for zinc spraying gun of zinc spraying machine |
| CN102689311A (en) * | 2012-05-31 | 2012-09-26 | 江苏长虹汽车装备集团有限公司 | Robot arm stretching and swinging driving mechanism assembly |
| CN103009383B (en) * | 2012-12-11 | 2015-04-22 | 江苏大学 | Telescopic PRRRPR type manipulator for picking robots |
| CN103029123B (en) * | 2012-12-22 | 2015-04-01 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN104802154B (en) * | 2015-03-23 | 2016-08-24 | 杭州娃哈哈集团有限公司 | A kind of four-degree-of-freedom high-speed parallel manipulator |
| CN204729131U (en) * | 2015-05-28 | 2015-10-28 | 朱宏洁 | A kind of mine well head suspention swing-bar mechanism |
| CN204952160U (en) * | 2015-09-28 | 2016-01-13 | 冯义文 | Golf bag with gyro wheel and vaulting pole |
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Effective date of registration: 20190325 Address after: 213000 Jintong International Industrial Park 15A, No. 8 Xihu Road, Wujin High-tech Development Zone, Changzhou City, Jiangsu Province Patentee after: Jiangsu Boren Culture 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. |