CN105965489B - A kind of light-duty six axles all-purpose robot of double small arm - Google Patents

A kind of light-duty six axles all-purpose robot of double small arm Download PDF

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Publication number
CN105965489B
CN105965489B CN201610570525.8A CN201610570525A CN105965489B CN 105965489 B CN105965489 B CN 105965489B CN 201610570525 A CN201610570525 A CN 201610570525A CN 105965489 B CN105965489 B CN 105965489B
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China
Prior art keywords
forearm
motor
postbrachium
fixed
large arm
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CN201610570525.8A
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Chinese (zh)
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CN105965489A (en
Inventor
付淑珍
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Xu Juhong
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • 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
    • B25J18/04—Arms extensible rotatable
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J9/123—Linear actuators
    • 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
    • B25J9/126—Rotary actuators

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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 of double small arm, 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 rotates around base body, and large arm rotates around waist rotation member；The quantity of the forearm is two, and respectively the first forearm and the second forearm, two forearms are arranged on skid by split mechanism；Skid is arranged in large arm；The advantage of the invention is that：Large arm can drive a pair of forearms to rotate by skid, and two forearms can make relative rotation under the driving of a pair of Split type supporting stands, also can make linear slide under the driving of skid, to adapt to various processing operating modes, the operating efficiency of hoisting machine people.

Description

A kind of light-duty six axles all-purpose robot of double small arm
Technical field
The present invention relates to robotic technology field, and in particular to a kind of light-duty six axles all-purpose robot.
Background technology
Application No. CN201210566463.5 application for a patent for invention, which discloses, a kind of is provided with light-duty the six of a pair of forearms Axle all-purpose robot, including base body, waist rotation member, large arm, axle bed, forearm, waist rotation member rotate around base body, and large arm is around waist Rotation member rotates.Light-duty six axles all-purpose robot of the prior art, it has a forearm, imitates the work of whole robot Rate is difficult to get a promotion.
The content of the invention
The present invention is directed to above-mentioned technical problem, there is provided a kind of light-duty six axles all-purpose robot of double small arm.
To reach above-mentioned purpose, a kind of light-duty six axles all-purpose robot of double small arm of the invention, including base body, pivot joint Waist rotation member on base body, the large arm being articulated on waist rotation member, the forearm in large arm, waist rotation member is around base Body rotates, and large arm rotates around waist rotation member；Large arm upper end is fixed with the first motor；The motor output shaft of first motor On be fixed with skid；The forearm includes the first forearm and the second forearm, and the first forearm and the second forearm pass through split air conditioner Structure is arranged in large arm；Split mechanism includes drive shaft, a pair of cylinder rings, the first forearm drive device；The first forearm bag Include the first forearm and the first postbrachium；Second forearm includes the second forearm and the second postbrachium；First postbrachium is in inverted " Qian "； Second postbrachium is in inverted " Qian "；The upper surface of first postbrachium is fixed on the rear end of the first forearm；The upper surface of second postbrachium is consolidated It is scheduled on the rear end of the second forearm；One of them of a pair of cylinder rings is fixed on the lateral surface of two support wall in order of the second postbrachium lower end Above, another is articulated on two supporting walls of the first postbrachium lower end；Drive shaft one end through the first postbrachium side supporting walls and It is fixed on the supporting walls of lower end two of the second postbrachium, the other end is arranged on skid；First forearm drive device is arranged on Between cylinder ring and the first postbrachium.
As the preferred of above-mentioned technical proposal, the first forearm drive device includes the second motor, first gear and the Two gears；Second motor is horizontally fixed on the medial surface of side supporting walls of the first postbrachium；First gear is fixed on On the output shaft of two motors；Second gear is fixed on the outer circumference face of cylinder ring；Second gear is nibbled with first gear Close.
As the preferred of above-mentioned technical proposal, carriage includes the 3rd motor, slides base, the 4th driving electricity Machine, the first guide block, the first threaded rod and head rod；The base that slides is offered in " convex " word lain on one's side for inner transverse The cuboid of the guide groove of type；The bottom of 4th motor is fixed on the first guide block；4th motor and the first guide block are overall Level is plugged in the guide groove for sliding base to the left；Screwed hole is offered on first guide block；First threaded rod both ends are articulated in cunning Between the left and right sidewall of row base；It is screwed onto in the middle part of first threaded rod on the first guide block；Slide and is fixed with base left side Three motors；The output shaft of 3rd motor is fixedly connected with the first threaded rod；Head rod, which is fixed on, slides base Rear end face center；Head rod is fixedly connected with the motor output shaft of the first motor；The output of 4th motor Axle is fixedly connected with drive shaft.
As the preferred of above-mentioned technical proposal, it is drive shaft at cylinder ring that drive shaft one end, which passes through the position of the first postbrachium, Diameter is less than the internal diameter of cylinder ring.
As the preferred of above-mentioned technical proposal, the first forearm front end offers the first mounting hole；Second forearm front end opens up There is the second mounting hole.
The beneficial effects of the present invention are：Large arm can drive a pair of forearms to rotate by skid, and two forearms can Make relative rotation under the driving of a pair of Split type supporting stands, also can make linear slide under the driving of skid, it is each to adapt to Kind processing operating mode, the operating efficiency of hoisting machine people.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the forearm of the present invention；
Fig. 3 is the positive structure diagram of the forearm of the present invention；
Fig. 4 is the left side structure schematic view of the forearm of the present invention；
Fig. 5 is the backsight structural representation of the forearm of the present invention；
Fig. 6 is the cross-sectional view of A-A in Fig. 3 of the invention；
In figure, 10, base body；20th, large arm；21st, the first motor；211st, motor output shaft；22nd, the first forearm； 221st, the first forearm；222nd, the first postbrachium；223rd, the second motor；2231st, first gear；23rd, the second forearm；231st, second Forearm；232nd, the second postbrachium；233rd, drive shaft；234th, cylinder ring；2341st, second gear；24th, carriage；241st, 4 wheel driven Dynamic motor；242nd, base is slided；243rd, the first guide block；244th, the first threaded rod；245th, head rod；246th, the 3rd driving electricity Machine；30th, waist rotation member.
Embodiment
As shown in Fig. 1~Fig. 5, a kind of light-duty six axles all-purpose robot of double small arm, including base body 10, it is articulated in base Waist rotation member 30 on body 10, the large arm 20 being articulated on waist rotation member 30, the forearm in large arm 20, waist rotation member 30 Rotated around base body 10, large arm 20 rotates around waist rotation member 30；The upper end of large arm 20 is fixed with the first motor 21；First driving Skid 24 is fixed with the motor output shaft 211 of motor 21；The forearm includes the first forearm 22 and the second forearm 23, the One forearm 22 and the second forearm 23 are arranged in large arm 20 by split mechanism；Split mechanism includes drive shaft 233, a pair of cylinders Ring 234, the first forearm drive device；First forearm 22 includes the first forearm 221 and the first postbrachium 222；Described second is small Arm 23 includes the second forearm 231 and the second postbrachium 232；First postbrachium 222 is in inverted " Qian "；Second postbrachium 232 is in inverted " Qian "；The upper surface of first postbrachium 222 is fixed on the rear end of the first forearm 221；The upper surface of second postbrachium 232 is fixed on second The rear end of forearm 231；One of them of a pair of cylinder rings 234 is fixed on the outside of two support wall in order of the lower end of the second postbrachium 232 On face, another is articulated on two supporting walls of the lower end of the first postbrachium 222；The one end of drive shaft 233 passes through the side of the first postbrachium 222 Supporting walls and be fixed on the supporting walls of lower end two of the second postbrachium 232, the other end be arranged on skid 24 on；First forearm Drive device is arranged between the postbrachium 222 of cylinder ring 234 and first.
As shown in Fig. 4, Fig. 6, the first forearm drive device includes the second motor 223, first gear 2231 and second Gear 2341；Second motor 223 is horizontally fixed on the medial surface of the side supporting walls of the first postbrachium 222；First gear 2231 are fixed on the output shaft of the second motor 223；Second gear 2341 is fixed on the outer circumference face of cylinder ring 234 On；Second gear 2341 engages with first gear 2231.
As shown in Fig. 2, Fig. 3, Fig. 6, carriage 24 includes the 3rd motor 246, slides the driving of base the 242, the 4th Motor 241, the first guide block 243, the first threaded rod 244 and head rod 245；The base 242 that slides is opened for inner transverse Cuboid provided with the guide groove in " convex " font lain on one's side；The bottom of 4th motor 241 is fixed on the first guide block 243；The Four motors 241 and the integral level of the first guide block 243 are plugged in the guide groove for sliding base 242 to the left；On first guide block 243 Offer screwed hole；The both ends of first threaded rod 244 are articulated between the left and right sidewall for sliding base 242；In first threaded rod 244 Portion is screwed onto on the first guide block 243；Slide and be fixed with the 3rd motor 246 on the left side of base 242；3rd motor 246 output shaft is fixedly connected with the first threaded rod 244；Head rod 245 is fixed in the rear end face for sliding base 242 The heart；Head rod 245 is fixedly connected with the motor output shaft 211 of the first motor 21；The output of 4th motor 241 Axle is fixedly connected with drive shaft 233.
As shown in Fig. 2, Fig. 6, it is drive shaft at cylinder ring 234 that the one end of drive shaft 233, which passes through the position of the first postbrachium 222, 233 diameters are less than the internal diameter of cylinder ring 234.
As shown in Fig. 2, Fig. 6, the front end of the first forearm 221 offers the first mounting hole；The front end of second forearm 231 offers Two mounting holes.
Concrete operations are as follows：When forearm needs whole slide, start the 3rd motor 246 and drive the first threaded rod 244 rotations；First threaded rod 244 drives the 4th motor 241 sliding cunning in the guide groove of base 242 by the first guide block 243 It is dynamic, can thus it drive forearm integrally to slide；
When needing forearm unitary rotation, only it need to start the first motor 21, the first motor 21 passes through head rod 245 drives are slided base 242 and rotated, and can thus drive forearm integral-rotation.
When the first forearm 22 and the second forearm 23 do relative motion, the 4th motor 241 drives 233 turns of drive shaft Dynamic, drive shaft 233 drives the second forearm 23 to rotate, and after the second forearm 23 reaches relevant position, the 4th motor 241 stops dynamic Make, restart the second motor 223 makes the first forearm 22 around cylinder ring 234 by first gear 2231 and second gear 2341 (i.e. the second forearm 23) rotates.
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, there will be changes, this specification content should not be construed as to this hair in specific embodiments and applications Bright limitation.

Claims (3)

1. a kind of light-duty six axles all-purpose robot of double small arm, including base body (10), the waist that is articulated on base body (10) turn Part (30), the large arm (20) being articulated on waist rotation member (30), the forearm in large arm (20), waist rotation member (30) around Base body (10) rotates, and large arm (20) rotates around waist rotation member (30)；Large arm (20) upper end is fixed with the first motor (21)； Skid (24) is fixed with the motor output shaft (211) of first motor (21)；
It is characterized in that：The forearm includes the first forearm (22) and the second forearm (23), the first forearm (22) and the second forearm (23) it is arranged on by split mechanism in large arm (20)；Split mechanism includes drive shaft (233), a pair of cylinder rings (234), first Forearm drive device；First forearm (22) includes the first forearm (221) and the first postbrachium (222)；Second forearm (23) the second forearm (231) and the second postbrachium (232) are included；First postbrachium (222) is in inverted " Qian "；Second postbrachium (232) In inverted " Qian "；The upper surface of first postbrachium (222) is fixed on the rear end of the first forearm (221)；Second postbrachium (232) it is upper End face is fixed on the rear end of the second forearm (231)；One of them of a pair of cylinder rings (234) is fixed under the second postbrachium (232) On the lateral surface of two support wall in order at end, another is articulated on two supporting walls of the first postbrachium (222) lower end；Drive shaft (233) one end through the first postbrachium (222) side supporting walls and be fixed on the supporting walls of lower end two of the second postbrachium (232), The other end is arranged on skid (24)；First forearm drive device be arranged on cylinder ring (234) and the first postbrachium (222) it Between；
First forearm drive device includes the second motor (223), first gear (2231) and second gear (2341)；Second Motor (223) is horizontally fixed on the medial surface of the side supporting walls of the first postbrachium (222)；First gear (2231) is fixed On the output shaft of the second motor (223)；Second gear (2341) is fixed on the outer circumference face of cylinder ring (234)； Second gear (2341) engages with first gear (2231)；
Carriage (24) includes the 3rd motor (246), slides base (242), the 4th motor (241), first leads Block (243), the first threaded rod (244) and head rod (245)；The base (242) that slides offers for inner transverse and is in The cuboid of the guide groove of " convex " font lain on one's side；The bottom of 4th motor (241) is fixed on the first guide block (243)；4th Motor (241) and the first guide block (243) integral level are plugged in the guide groove for sliding base (242) to the left；First guide block (243) screwed hole is offered on；First threaded rod (244) both ends are articulated between the left and right sidewall for sliding base (242)；First It is screwed onto in the middle part of threaded rod (244) on the first guide block (243)；Slide and be fixed with the 3rd motor on base (242) left side (246)；The output shaft of 3rd motor (246) is fixedly connected with the first threaded rod (244)；Head rod (245) is fixed Sliding the rear end face center of base (242)；The motor output shaft of head rod (245) and the first motor (21) (211) it is fixedly connected；The output shaft of 4th motor (241) is fixedly connected with drive shaft (233).
A kind of 2. light-duty six axles all-purpose robot of double small arm according to claim 1, it is characterised in that：Drive shaft (233) one end is cylinder ring (234) place through the position of the first postbrachium (222), and drive shaft (233) diameter is less than cylinder ring (234) internal diameter.
A kind of 3. light-duty six axles all-purpose robot of double small arm according to claim 1, it is characterised in that：First forearm (221) front end offers the first mounting hole；Second forearm (231) front end offers the second mounting hole.
CN201610570525.8A 2016-07-18 2016-07-18 A kind of light-duty six axles all-purpose robot of double small arm Active CN105965489B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610570525.8A CN105965489B (en) 2016-07-18 2016-07-18 A kind of light-duty six axles all-purpose robot of double small arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610570525.8A CN105965489B (en) 2016-07-18 2016-07-18 A kind of light-duty six axles all-purpose robot of double small arm

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CN105965489A CN105965489A (en) 2016-09-28
CN105965489B true CN105965489B (en) 2018-03-16

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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Effective date of registration: 20180131

Address after: Jiaojiang District Hongjiadu streets Gangtou Xu village in Taizhou City, Zhejiang province 318000 No. 1-1

Applicant after: Xu Juhong

Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd

Applicant before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD.

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