CN106003145B - A kind of six axis all-purpose robots with adjutage - Google Patents
A kind of six axis all-purpose robots with adjutage Download PDFInfo
- Publication number
- CN106003145B CN106003145B CN201610570618.0A CN201610570618A CN106003145B CN 106003145 B CN106003145 B CN 106003145B CN 201610570618 A CN201610570618 A CN 201610570618A CN 106003145 B CN106003145 B CN 106003145B
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- China
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- fixed
- pair
- telescoping mechanism
- adjutage
- motor
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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
- 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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of six axis all-purpose robots with adjutage, robot forearm is equipped with adjutage, and the adjutage includes being fixedly connected the stake body of forearm, the first telescoping mechanism on stake body, the swing mechanism being hinged on the first telescoping mechanism, slides the second telescoping mechanism being arranged in swing mechanism slide slot.The first telescoping mechanism of the present invention can elongate or shorten the total length of adjutage and forearm and adjutage, to adapt to various operating modes；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, that is, impart the curved function of forearm, to adapt to various operating modes；Second telescoping mechanism can drive pendular body to carry out straight line fine setting.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of six axis all-purpose robots with adjutage.
Background technology
The application for a patent for invention of Application No. 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 with axle bed, and Three-axis drive motor, the 4th axis driving motor, the 5th axis drive
Dynamic motor and the 6th axis driving motor is 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 with 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.Light-duty six axis all-purpose robot of the prior art, its forearm is only
It can drive and rotate installed in the execution end of forearm end, it is difficult to meet the needs of practical operation.
The content of the invention
The present invention is directed to above-mentioned technical problem, there is provided a kind of six axis general-purpose machinerys with scalable swingable adjutage
People.
To reach above-mentioned purpose, a kind of six axis all-purpose robots with adjutage 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 is rotated around waist rotation member；The forearm is equipped with adjutage, and the adjutage includes being fixedly connected with the branch of forearm
Frame body, the first telescoping mechanism on stake body, the swing mechanism being hinged on the first telescoping mechanism, slide and be arranged on pendulum
The second telescoping mechanism in motivation structure slide slot；
First telescoping mechanism includes top plate, support plate and bottom plate；Swing mechanism includes a pair of of support base and a pair of of swing arm；
Swing arm is provided with slide slot；A pair of of swing arm lower end is respectively hinged on a pair of of support base；It is fixed on one of support base
There is the first motor；The output shaft of first motor and the articulated shaft of the swing arm of one of them connect firmly；Swing mechanism is propped up by a pair
Support seat is fixed on the top plate of the first telescoping mechanism；Second telescoping mechanism includes the first rack, first gear and pendular body；First
The side of the slide slot for the swing arm that rack one of is fixed therein；Pendular body includes connector and a pair of of guide holder；A pair is led
The bottom surface of connector is symmetrically fixed on to seat；Guide holder includes being mutually perpendicular to fixed connecting rod and square guide rod；A pair is oriented to
Seat is plugged in the slide slot of swing arm by square guide rod respectively；The second motor is fixed with the square guide rod of one of them；
First gear is fixed with the output shaft of second motor；First gear is engaged with the first rack.
As the preferred of above-mentioned technical proposal, the first telescoping mechanism further includes central rotating body, the first threaded rod, Ruo Gan
One guide rod, the first worm screw, the 3rd motor and a pair of of rotation support plate；A pair of rotation support plate is fixed on bottom plate vertically；First
Worm screw is articulated between a pair of of rotation support plate；In the rotation support plate that 3rd motor one of is fixed therein；3rd motor
Output shaft is connected firmly with the first worm screw；Central rotating body includes the first cylinder and the first worm gear；Offered in the middle part of first cylinder up and down
Perforative threaded hole；First cylinder upper end external cylindrical surface is fixed with the supporting plate, on the external cylindrical surface of lower end by bearing hinge joint
First worm gear；Central rotating body passes through the first worm gear and the first worm engaging；First threaded rod lower end is screwed onto central rotating body
Threaded hole in, upper end and roof center be spirally connected；Some first guide rods are fixed on support plate upper surface；Top plate is set in some
On first guide rod.
As the preferred of above-mentioned technical proposal, some first guide rod upper ends form circular limited block, limited block diameter
More than the diameter of the first guide rod.
As the preferred of above-mentioned technical proposal, the first housing and the second housing are included on the stake body；First housing and
Second housing is integrally fixed by some connecting poles；First telescoping mechanism is fixed on the first housing by support plate and bottom plate
On inner wall；Second housing is set in outside swing mechanism and the second telescoping mechanism.
As the preferred of above-mentioned technical proposal, pendular body center offers perforative circular hole, the diameter of circular hole up and down and is more than
The diameter of first threaded rod.
The beneficial effects of the present invention are：First telescoping mechanism can elongate or shorten the total of adjutage and forearm and adjutage
Length, to adapt to various operating modes；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, that is, impart forearm
Curved function, to adapt to various operating modes；Second telescoping mechanism can drive pendular body to carry out straight line fine setting.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the structure diagram of the adjutage of the present invention；
Fig. 3 is the structure diagram of the internal driving mechanism of the present invention；
Fig. 4 is the structure diagram of the first telescoping mechanism of the present invention；
Fig. 5 is the side structure schematic view of the first telescoping mechanism of the present invention；
Fig. 6 is the cross-sectional view of A-A in Fig. 5 of the invention；
In figure, 10, base body；20th, waist rotation member；30th, large arm；40th, forearm；60th, adjutage；61st, stake body；611st,
One housing；612nd, the second housing；62nd, swing mechanism；621st, support base；622nd, swing arm；6221st, the first rack；623rd, first
Gear；624th, the first motor；625th, pendular body；63rd, the first telescoping mechanism；631st, support plate；632nd, bottom plate；633rd, top plate；
634th, central rotating body；635th, the first threaded rod；636th, the first guide rod；637th, the first worm screw；638th, the 3rd motor；639th, rotate
Support plate.
Embodiment
As shown in Fig. 1~Fig. 6, a kind of six axis all-purpose robots with adjutage, including base body 10, it is articulated in base
Waist rotation member 20 on body, the large arm 30 being articulated on waist rotation member, the forearm 40 in large arm, waist rotation member is around base
Body rotates, and large arm is rotated around waist rotation member；The forearm is equipped with adjutage 60, and the adjutage includes being fixedly connected with forearm
Stake body 61, the first telescoping mechanism 63 on stake body, the swing mechanism 62 being hinged on the first telescoping mechanism, slide
The second telescoping mechanism being arranged in 62 slide slot of swing mechanism；
As shown in figure 3, the first telescoping mechanism 63 includes top plate 633, support plate 631 and bottom plate 632；Swing mechanism 62 includes
A pair of of support base 621 and a pair of of swing arm 622；Swing arm 622 is provided with slide slot；A pair of of 622 lower end of swing arm is respectively articulated with
On a pair of of support base 621；The first motor 624 is fixed with one of support base 621；The output shaft of first motor 624 with
The articulated shaft of the swing arm 622 of one of them connects firmly；Swing mechanism 62 is fixed on the first telescoping mechanism by a pair of of support base 621
On 63 top plate 633；Second telescoping mechanism includes the first rack 6221, first gear 623 and pendular body 625；First rack
The side of the slide slot of 6221 swing arms 622 one of being fixed therein；Pendular body 625 includes connector and a pair of of guide holder；
A pair of of guide holder is symmetrically fixed on the bottom surface of connector；Guide holder includes being mutually perpendicular to fixed connecting rod and square guide rod；One
Guide holder is plugged in the slide slot of swing arm 622 by square guide rod respectively；It is fixed with the square guide rod of one of them
Second motor；First gear 623 is fixed with the output shaft of second motor；First gear 623 is engaged with the first rack 6221.
As shown in Fig. 3~Fig. 6, the first telescoping mechanism 63 further includes central rotating body 634, the first threaded rod 635, Ruo Gan
One guide rod 636, the first worm screw 637, the 3rd motor 638 and a pair of of rotation support plate 639；A pair of rotation support plate 639 is solid vertically
It is scheduled on bottom plate 632；First worm screw 637 is articulated between a pair of of rotation support plate 639；3rd motor 638 is fixed therein it
In one rotation support plate 639；The output shaft of 3rd motor 638 is connected firmly with the first worm screw 637；Central rotating body 634 includes the
One cylinder and the first worm gear；Perforative threaded hole up and down is offered in the middle part of first cylinder；First cylinder upper end external cylindrical surface passes through
Bearing hinge joint is fixed with the first worm gear on 631 upper and lower end external cylindrical surface of support plate；Central rotating body 634 passes through the first worm gear
Engaged with the first worm screw 637；First threaded rod, 635 lower end is screwed onto in the threaded hole of central rotating body 634, upper end and top plate
633 centers are spirally connected；Some first guide rods 636 are fixed on 631 upper surface of support plate；Top plate 633 is set in some first guide rods
On 636.As shown in figure 3, some first guide rod, 636 upper ends form circular limited block, limited block diameter is more than the first guide rod
636 diameter.
As shown in Fig. 2, include the first housing 611 and the second housing 612 on the stake body 61；First housing 611 and
Two housings 612 are integrally fixed by some connecting poles；First telescoping mechanism 63 is fixed on by support plate 631 and bottom plate 632
On the inner wall of first housing 611；Second housing 612 is set in outside 62 and second telescoping mechanism of swing mechanism.
As shown in figure 3,625 center of pendular body, which offers perforative circular hole, the diameter of circular hole up and down, is more than the first threaded rod
635 diameter.
Concrete operations are as follows：First telescoping mechanism 63：Start the 3rd motor 638, the 3rd motor 638 drives the first worm screw
637 rotations, the first worm screw 637 drive central rotating body 634 to rotate by the first worm gear, and central rotating body 634 drives the first spiral shell
Rasp bar 635 rotates, and top plate 633, can only be under the driving of the first threaded rod 635 upwards due to being limited by some first guide rods 636
It is mobile, thus drive pendular body to stretch upwards；Make pendular body retracted downward only the 3rd motor 638 need to be made inversely to revolve if desired
Turn；
Swing mechanism 62：Due to the presence of the square guide rod on pendular body 625；Drive the first motor 624, the first motor
624 can drive pendular body 625 to swing by swing arm 622；Second telescoping mechanism：After pendular body 625 swings certain angle, such as
Fruit needs to carry out trace regulation to pendular body 625, need to drive the second motor, and the second motor drives first gear 623 to rotate, and first
Gear 623 drives pendular body 625 along 6221 linear slide of the first rack.
Above 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, this specification content should not be construed as to this hair in specific embodiments and applications
Bright limitation.
Claims (3)
1. a kind of six axis all-purpose robots with adjutage, including base body (10), the waist rotation member that is articulated on base body
(20), the large arm (30) on waist rotation member, the forearm (40) in large arm are articulated in, waist rotation member is rotated around base body,
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, installed in branch
The first telescoping mechanism (63) on frame body, the swing mechanism (62) being hinged on the first telescoping mechanism, slide and be arranged on oscillating machine
The second telescoping mechanism in structure (62) slide slot；
First telescoping mechanism (63) includes top plate (633), support plate (631) and bottom plate (632)；Swing mechanism (62) includes a pair
Support base (621) and a pair of of swing arm (622)；Swing arm (622) is provided with slide slot；A pair of of swing arm (622) lower end difference
It is hinged on a pair of of support base (621)；The first motor (624) is fixed with one of support base (621)；First motor
(624) articulated shaft of output shaft and the swing arm (622) of one of them connects firmly；Swing mechanism (62) passes through a pair of of support base
(621) it is fixed on the top plate (633) of the first telescoping mechanism (63)；Second telescoping mechanism includes the first rack (6221), first
Gear (623) and pendular body (625)；The one of the slide slot for the swing arm (622) that first rack (6221) one of is fixed therein
Side；Pendular body (625) includes connector and a pair of of guide holder；A pair of of guide holder is symmetrically fixed on the bottom surface of connector；Guide holder
Including being mutually perpendicular to fixed connecting rod and square guide rod；A pair of of guide holder is plugged in swing arm by square guide rod respectively
(622) in slide slot；The second motor is fixed with the square guide rod of one of them；Is fixed with the output shaft of second motor
One gear (623)；First gear (623) is engaged with the first rack (6221)；
First telescoping mechanism (63) further include central rotating body (634), the first threaded rod (635), some first guide rods (636),
First worm screw (637), the 3rd motor (638) and a pair of of rotation support plate (639)；A pair of rotation support plate (639) is fixed vertically
On bottom plate (632)；First worm screw (637) is articulated between a pair of of rotation support plate (639)；3rd motor (638) is fixed on
In the rotation support plate (639) of one of them；The output shaft of 3rd motor (638) is connected firmly with the first worm screw (637)；Central rotation
Body (634) includes the first cylinder and the first worm gear；Perforative threaded hole up and down is offered in the middle part of first cylinder；First cylinder upper end
External cylindrical surface is fixed with the first worm gear by bearing hinge joint on support plate (631) upper and lower end external cylindrical surface；Central rotating body
(634) engaged by the first worm gear with the first worm screw (637)；First threaded rod (635) lower end is screwed onto central rotating body (634)
Threaded hole in, upper end and top plate (633) center be spirally connected；Some first guide rods (636) are fixed on support plate (631) upper surface
On；Top plate (633) is set on some first guide rods (636)；
Pendular body (625) center offers perforative circular hole up and down, and the diameter of circular hole is more than the diameter of the first threaded rod (635).
A kind of 2. six axis all-purpose robots with adjutage according to claim 1, it is characterised in that：Some first lead
Bar (636) upper end forms circular limited block, and limited block diameter is more than the diameter of the first guide rod (636).
A kind of 3. six axis all-purpose robots with adjutage according to claim 1, it is characterised in that：The stake body
(61) the first housing (611) and the second housing (612) are included on；First housing (611) and the second housing (612) are if pass through involvement
Column is connect to be integrally fixed；First telescoping mechanism (63) is fixed on the first housing (611) by support plate (631) and bottom plate (632)
Inner wall on；Second housing (612) is set in outside swing mechanism (62) and the second telescoping mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570618.0A CN106003145B (en) | 2016-07-18 | 2016-07-18 | A kind of six axis all-purpose robots with adjutage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570618.0A CN106003145B (en) | 2016-07-18 | 2016-07-18 | A kind of six axis all-purpose robots with adjutage |
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| Publication Number | Publication Date |
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| CN106003145A CN106003145A (en) | 2016-10-12 |
| CN106003145B true CN106003145B (en) | 2018-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610570618.0A Active CN106003145B (en) | 2016-07-18 | 2016-07-18 | A kind of six axis all-purpose robots with adjutage |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480606B (en) * | 2019-08-15 | 2020-11-24 | 台州风达机器人科技有限公司 | Robot support convenient to accomodate |
| CN115970955B (en) * | 2022-12-07 | 2023-10-03 | 江苏欧皇电动科技有限公司 | Carriage spraying device of electric vehicle production line |
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| US4648148A (en) * | 1984-07-19 | 1987-03-10 | Swf Auto-Electric Gmbh | Device for a reciprocating wiper system |
| CN2925780Y (en) * | 2006-06-21 | 2007-07-25 | 广东工业大学 | Multifunctional eating-aid device |
| CN102513259A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot mechanical arm driving device |
| CN202299348U (en) * | 2011-11-14 | 2012-07-04 | 蒋京德 | Plastering hopper device of building wall construction robot |
| CN102923204A (en) * | 2012-11-19 | 2013-02-13 | 北京理工大学 | Multi-degree-of-freedom two-wheeled robot with variable gravity center |
| CN104440901A (en) * | 2014-10-23 | 2015-03-25 | 重庆交通大学 | High-precision heavy-load assembly robot |
| CN205799584U (en) * | 2016-07-18 | 2016-12-14 | 佛山市联智新创科技有限公司 | A kind of six axle all-purpose robots with adjutage |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001017069A (en) * | 1999-07-05 | 2001-01-23 | Yutaka Miyamori | Arm-action mechanism of transfer machine for introducing noodle into aging box |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4648148A (en) * | 1984-07-19 | 1987-03-10 | Swf Auto-Electric Gmbh | Device for a reciprocating wiper system |
| CN2925780Y (en) * | 2006-06-21 | 2007-07-25 | 广东工业大学 | Multifunctional eating-aid device |
| CN202299348U (en) * | 2011-11-14 | 2012-07-04 | 蒋京德 | Plastering hopper device of building wall construction robot |
| CN102513259A (en) * | 2012-01-10 | 2012-06-27 | 江苏长虹汽车装备集团有限公司 | Spraying robot mechanical arm driving device |
| CN102923204A (en) * | 2012-11-19 | 2013-02-13 | 北京理工大学 | Multi-degree-of-freedom two-wheeled robot with variable gravity center |
| CN104440901A (en) * | 2014-10-23 | 2015-03-25 | 重庆交通大学 | High-precision heavy-load assembly robot |
| CN205799584U (en) * | 2016-07-18 | 2016-12-14 | 佛山市联智新创科技有限公司 | A kind of six axle all-purpose robots with adjutage |
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| CN106003145A (en) | 2016-10-12 |
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Effective date of registration: 20180410 Address after: The east town of Haian County in Jiangsu province 226600 Nantong City Development Road No. 169 Applicant after: NANTONG HUINING MECHANICAL AND ELECTRICAL TECHNOLOGY Co.,Ltd. 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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Effective date of registration: 20190403 Address after: 226600 169 Li Fa FA Road, Chengdong Town, Haian City, Nantong, Jiangsu. Patentee after: NANTONG COTEK ROBOTICS Co.,Ltd. Address before: 226600 169 Li Fa FA Road, Chengdong Town, Haian County, Nantong, Jiangsu Patentee before: NANTONG HUINING MECHANICAL AND ELECTRICAL TECHNOLOGY Co.,Ltd. |
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Address after: 226600 169 Li Fa FA Road, Chengdong Town, Haian City, Nantong, Jiangsu. Patentee after: Jiangsu Keti Robot Co.,Ltd. Address before: 226600 169 Li Fa FA Road, Chengdong Town, Haian City, Nantong, Jiangsu. Patentee before: NANTONG COTEK ROBOTICS Co.,Ltd. |