CN106142065A - A kind of perform the swingable light-duty six axle all-purpose robots of end - Google Patents
A kind of perform the swingable light-duty six axle all-purpose robots of end Download PDFInfo
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- CN106142065A CN106142065A CN201610570704.1A CN201610570704A CN106142065A CN 106142065 A CN106142065 A CN 106142065A CN 201610570704 A CN201610570704 A CN 201610570704A CN 106142065 A CN106142065 A CN 106142065A
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- Prior art keywords
- gear
- fixed
- pair
- seat
- axle
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0057—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a turret
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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
- B25J9/02—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
- B25J9/045—Polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses and a kind of perform the swingable light-duty six axle all-purpose robots of end, robot forearm is provided with adjutage, and described adjutage includes the fixing stake body connecting forearm, the first telescoping mechanism being arranged on stake body, the coasting mechanism being fixed on the first telescoping mechanism, the swing mechanism being arranged on coasting mechanism and the resetting means being arranged on swing mechanism；Described adjutage is fixedly arranged at the front end with rotating machine arm；Described rotating machine arm includes a pair sucker group, the drive mechanism driving a pair sucker group rotation；Described drive mechanism includes pedestal, rotary components, rotating driving device and latch components.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 mode；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, i.e. forearm has the function of bending；Rotating machinery two suckers on hand can revolve turnback exactly.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of perform the swingable light-duty six axle general-purpose machinerys of end
People.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of light-duty six axle all-purpose robots, axle
Seat is fixed on arm axle, and axle bed is fixed with axle bed guard box, and Three-axis drive motor, the 4th axis drive motor, the 5th axle drive
Dynamic motor and the 6th axis drive motor are placed in axle bed guard box；Forearm rod shell and forearm extension bar housing are separately fixed at little
Before and after arm decelerator, the 6th axle sleeve is in the 5th axle, and the 5th axle sleeve is in the 4th axle, and in the 4th axle, sleeve is at forearm
In rod shell, forearm decelerator and forearm extension bar housing, the 4th axle, the 5th axle and the 6th axle are respectively fixed with the 4th axle from
Moving gear, the 5th axle driven gear and the 6th axle driven gear.Light-duty six axle all-purpose robots of the prior art, its forearm is only
Can order about and be arranged on the execution end of forearm end and rotate, it is difficult to meet the demand of practical operation.
Content of the invention
The present invention is directed to above-mentioned technical problem, provide and a kind of perform the swingable light-duty six axle all-purpose robots of end.
For reaching above-mentioned purpose, a kind of of the present invention performs the swingable light-duty six axle all-purpose robots of end, including the end
Pedestal, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the 6th motor being fixed on large arm one end
Forearm on output shaft, waist rotation member rotates around base body, and large arm rotates around waist rotation member；
Described forearm is provided with adjutage, and described adjutage includes the stake body of fixing connection forearm, is arranged on stake body
On the first telescoping mechanism, the coasting mechanism being fixed on the first telescoping mechanism, the swing mechanism being arranged on coasting mechanism and
The resetting means being arranged on swing mechanism；
First telescoping mechanism includes top board, gripper shoe, base plate and four the first guide rods；First guide rod is each attached to gripper shoe
On upper surface；Top board is set on four the first guide rods；
Coasting mechanism includes a pair support seat and a pair resting arm；Support and offer slide slot on seat；Support seat vertically solid
It is scheduled on a pair first guide rod upper surfaces；A pair support seat is parallel just to setting；Resting arm is by square guide rod and connecting rod；Square lead
Bar is vertically fixed on the upper end of connecting rod；Resting arm upper end is plugged in by square guide rod in the slide slot supporting seat, lower end is solid
It is scheduled on top board；
Swing mechanism includes pendular body, the 7th gear and eighth gear；First motor is fixed on the resting arm upper end in left side
On face；The output shaft direction of the first motor is in opposite direction with the square guide rod of resting arm；It is fixed with on the output shaft of the first motor
7th gear；Pendular body includes connector, left swing seat and right swing seat；Left swing seat and right swing seat symmetry are fixed on connection
The bottom surface of head；Left swing seat and right swing seat are hinged on by jointed shaft on the side wall surface on top of a pair resting arm respectively；Left
It is articulated with eighth gear on the jointed shaft of swing seat；Eighth gear engages with the 7th gear；Eighth gear is just to left swing seat
Stopper slot is offered on one side；Described stopper slot is made up of the identical circular hole of some diameters and adjacent circular hole intersects；Institute
State stopper slot the round-meshed center of circle all identical with the distance at the center of eighth gear；
Resetting means includes cylinder and torsion spring；Cylinder supports seat is formed on the right flank of left swing seat；Cylinder supports seat
On be fixed with the cylinder that level is arranged to the left；It is fixed with locating detent on the piston rod of cylinder；A pair positioning is formed on locating detent
Pin；A pair alignment pin passes through in the stopper slot that left swing seat enters the second gear；It is arranged with torsion spring on the jointed shaft of right swing seat；
On the sidewall of the resting arm connecting rod that one end is fixed with on the sidewall of right swing seat, the other end is fixed on right side；
The rotating machine arm that described adjutage is fixedly arranged at the front end with；Described rotating machine arm includes a pair sucker group and drives one
The drive mechanism that sucker group is rotated.
Preferred as technique scheme, the first telescoping mechanism also includes central rotating body, the first threaded rod, the first snail
Bar, the 3rd motor and a pair rotate gripper shoe；Rotate gripper shoe a pair to be vertically fixed on base plate；First worm screw is articulated in a pair
Rotate between gripper shoe；In the rotation gripper shoe that 3rd motor one of is fixed therein；The output shaft of the 3rd motor and the first snail
Bar connects firmly；Central rotating body includes the first cylinder and the first worm gear；The screwed hole running through up and down is offered in the middle part of first cylinder；The
One cylinder upper end external cylindrical surface is by bearing hinge joint on the supporting plate, be fixed with the first worm gear on the external cylindrical surface of lower end；Center is revolved
Turn by the first worm gear and the first worm engaging；First threaded rod lower end is screwed onto in the screwed hole of central rotating body, upper end
It is spirally connected with top board center.
Preferred as technique scheme, four the first guide rod upper ends all form the limited block of circle, and limited block is straight
Footpath is more than the diameter of the first guide rod；The seat that supports of coasting mechanism is vertically fixed on the circular limited block of a pair first guide rods；
A pair support seat is parallel just to setting.
Preferred as technique scheme, described stake body includes the first housing and the second housing；First housing and
Second housing is integrally fixed by some connection posts；First telescoping mechanism is fixed on the first housing by gripper shoe and base plate
On inwall；Second housing is set in outside swing mechanism and the first telescoping mechanism.
Preferred as technique scheme, pendular body center offers the transitional pore running through up and down, the diameter of transitional pore
Diameter more than the first threaded rod.
Preferred as technique scheme, described drive mechanism includes pedestal, rotating driving device, latch components and rotation
Turn assembly；Rotary components includes a pair positioning bar, rotary support and the first gear；Rotary support upper end is fixed with a pair positioning
Bar, be fixedly arranged in the middle of the first gear, lower end is articulated on pedestal；Latch components includes unlocking feature and limiting component；Solve lock section
Part includes the first cylinder ring, the second gear and annulus guide plate；Second gear is fixed on the external cylindrical surface of the first cylinder ring；Annulus
Guide plate is fixed on the pedestal in the first cylinder ring；Annulus guide plate is by unlocking board and the limiting plate head and the tail connection of differing heights
Become；The height of unlocking board is more than the height of limiting plate；Limiting component includes straight pin, connecting rod and gag lever post；Straight pin side
Middle part is vertically and fixedly provided with connecting rod；Connecting rod lower surface is vertically and fixedly provided with gag lever post；The central shaft of gag lever post and straight pin center
Axle level；Connecting rod is square column；Rotary support lower surface offer pilot hole, offer below the first gear on side square
Hole；The pilot hole of rotary support connects with square opening；The straight pin of limiting component is plugged in the pilot hole of rotary support；Spacing
The connecting rod level of parts is plugged in the square opening of rotary support；Straight pin lower end forms square post；It is positioned at rotation
Pedestal below Zuo offers the rotating hole vertically running through；It is positioned at the pedestal lower surface below rotary support and form guiding slot holder；
The guide groove identical with the square column dimension of straight pin is offered inside guiding slot holder；The diameter of rotating hole is more than square post diagonal angle
The length of line；Gag lever post lower end is articulated with a roller；Roller is resisted against on the upper surface of annulus guide plate；The top of straight pin and rotation
It is provided with a stage clip between the upper side wall of the pilot hole turning bearing；
Rotating driving device includes the 4th gear and the 5th gear；The wheel teeth portion of the 4th gear only has one section；4th gear
Can engage with the first gear；5th gear and the engagement of the second gear.
Preferred as technique scheme, described rotating machine arm includes the linking arm being articulated on forearm, is fixed on
Housing on linking arm, the spill spin block being positioned at outside housing, described drive mechanism is fixed in housing by pedestal, described spill spin block
Fix on the securing lever；The pair of sucker is fixed on spill spin block.
Preferred as technique scheme, described rotating driving device also includes rotating drive shaft and the first motor；The
One motor is vertically fixed on pedestal；It is fixed with the 4th gear and the 5th gear from top to bottom successively on first motor output shaft.
Preferred as technique scheme, rounding off between the unlocking board of annulus guide plate and limiting plate.
The beneficial effects of the present invention is: the first telescoping mechanism can elongate or shorten the total of adjutage and forearm and adjutage
Length, to adapt to various operating mode；Swing mechanism can make the swing of certain amplitude relative to swing driving mechanism, i.e. forearm has curved
Bent function；Rotating machinery two suckers on hand can revolve turnback exactly.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the adjutage of the present invention；
Fig. 3 is the structural representation of the internal driving mechanism of the present invention；
Fig. 4 is the structural representation of first telescoping mechanism of the present invention；
Fig. 5 is the side-looking structural representation of first telescoping mechanism of the present invention；
Fig. 6 be the present invention Fig. 5 in the cross-sectional view of A-A；
Fig. 7 is the cross-sectional view of the coasting mechanism of the present invention and swing mechanism；
Fig. 8 is the structural representation with eighth gear for the cylinder of the resetting means of the present invention；
Fig. 9 is the structural representation of the rotating machine arm of the present invention；
Figure 10 is the structural representation of the drive mechanism of the present invention；
Figure 11 is the structural representation of the rotating driving device of the present invention and latch components；
Figure 12 is the side-looking structural representation of the drive mechanism of the present invention；
Figure 13 be the present invention Figure 12 in the cross-sectional view of C-C；
Figure 14 is the structural representation of the unlocking feature of the present invention；
In figure, the 10th, base body；20th, waist rotation member；30th, large arm；31st, the 6th motor；40th, forearm；50th, rotating machine arm；
51st, linking arm；52nd, housing；53rd, spill spin block；60th, drive mechanism；61st, pedestal；62nd, rotating driving device；621st, the 4th gear；
6211st, teeth portion is taken turns；622nd, the 5th gear；623rd, the first motor；624th, drive shaft is rotated；63rd, latch components；631st, lock section is solved
Part；6311st, the first cylinder ring；6312nd, the second gear；6313rd, annulus guide plate；632nd, limiting component；6321st, straight pin；6322、
Connecting rod；6323rd, gag lever post；6324th, stage clip；6325th, roller；64th, rotary components；641st, bar is positioned；642nd, rotary support；
6421st, square opening；643rd, the first gear；
70th, adjutage；71st, stake body；711st, the first housing；712nd, the second housing；72nd, coasting mechanism；721st, seat is supported；
722nd, wall is slided；723rd, the 7th gear；724th, eighth gear；7241st, stopper slot；725th, pendular body；726th, cylinder；7261st, gas
Cylinder supports seat；7262nd, locating detent；73rd, the first telescoping mechanism；731st, gripper shoe；732nd, base plate；733rd, top board；734th, center rotation
Turn；735th, the first threaded rod；736th, the first guide rod；737th, the first worm screw；738th, the 3rd motor；739th, gripper shoe is rotated.
Detailed description of the invention
As it is shown in figure 1, a kind of perform the swingable light-duty six axle all-purpose robots of end, including the 10th, base body is articulated in
The 20th, waist rotation member on base body 10 is articulated in large arm on waist rotation member 20 and the 30th, is fixed on the 6th motor of large arm 30 one end
Forearm 40 on 31 output shafts, waist rotation member 20 rotates around base body 10, and large arm 30 rotates around waist rotation member 20；
As it is shown on figure 3, described forearm 40 is provided with adjutage 70, described adjutage 70 includes propping up of fixing connection forearm 40
The 72nd, the coasting mechanism that the 73rd, the first telescoping mechanism that the 71st, support body is arranged on stake body 71 is fixed on the first telescoping mechanism 73 pacifies
The swing mechanism being contained on coasting mechanism 72 and the resetting means being arranged on swing mechanism；
As shown in Fig. 3～Fig. 6, the first telescoping mechanism 73 includes top board the 733rd, gripper shoe the 731st, base plate 732 and four first
Guide rod 736；First guide rod 736 is each attached on gripper shoe 731 upper surface；Top board 733 is set on four the first guide rods 736；
As shown in Fig. 3, Fig. 7, coasting mechanism 72 includes a pair support seat 721 and a pair resting arm 722；Support on seat 721
Offer slide slot；Support seat 721 and be vertically fixed on a pair first guide rod 736 upper surfaces；A pair support seat 721 is parallel just to setting
Put；Resting arm 722 is by square guide rod and connecting rod；Square guide rod is vertically fixed on the upper end of connecting rod；Resting arm 722 upper end leads to
Cross that square guide rod is plugged in the slide slot supporting seat 721, lower end is fixed on top board 733；
As shown in Fig. 3, Fig. 7, Fig. 8, swing mechanism includes pendular body the 725th, the 7th gear 723 and eighth gear 724；First
Motor is fixed on resting arm 722 upper surface in left side；The output shaft direction of the first motor and the square guide rod side of resting arm 722
To on the contrary；It is fixed with the 7th gear 723 on the output shaft of the first motor；Pendular body 725 includes connector, left swing seat and right pendulum
Dynamic seat；Left swing seat and right swing seat symmetry are fixed on the bottom surface of connector；Left swing seat and right swing seat are passed through hinged respectively
On the side wall surface on the top that axle is hinged on a pair resting arm 722；It is articulated with eighth gear 724 on the jointed shaft of left swing seat；The
Octadentate wheel 724 engages with the 7th gear 723；Eighth gear 724 offers stopper slot 7241 on the one side just to left swing seat；
Described stopper slot 7241 is made up of the identical circular hole of some diameters and adjacent circular hole intersects；Owning of described stopper slot 7241
The center of circle of circular hole is all identical with the distance at the center of eighth gear 724；
As shown in Fig. 3, Fig. 7, Fig. 8, resetting means includes cylinder 726 and torsion spring 727；It is molded on the right flank of left swing seat
There is cylinder supports seat 7261；The cylinder 726 that the level that is fixed with on cylinder supports seat 7261 is arranged to the left；The piston rod of cylinder 726
On be fixed with locating detent 7262；A pair alignment pin is formed on locating detent 7262；A pair alignment pin passes through left swing seat and enters the
In the stopper slot 7241 of two gears 724；It is arranged with torsion spring 727 on the jointed shaft of right swing seat；Torsion spring 727 one end is fixed with right pendulum
On the sidewall of dynamic seat, on the sidewall of other end resting arm 722 connecting rod that is fixed on right side；
As shown in Fig. 1, Fig. 9, rotating machine arm 50 that described adjutage 70 is fixedly arranged at the front end with；Described rotating machine arm 50 wraps
Include a pair sucker group and drive the drive mechanism 60 of a pair sucker group rotation.
As shown in Fig. 4～Fig. 6, the first telescoping mechanism 73 also includes central rotating body the 734th, the first threaded rod the 735th, the first snail
Bar the 737th, the 3rd motor 738 and a pair rotation gripper shoe 739；Rotate gripper shoe 739 a pair to be vertically fixed on base plate 732；The
One worm screw 737 is articulated between a pair rotation gripper shoe 739；The rotation gripper shoe 739 that 3rd motor 738 one of is fixed therein
On；The output shaft of the 3rd motor 738 and the first worm screw 737 connect firmly；Central rotating body 734 includes the first cylinder and the first worm gear；
The screwed hole running through up and down is offered in the middle part of first cylinder；First cylinder upper end external cylindrical surface passes through bearing hinge joint in gripper shoe
It is fixed with the first worm gear on 731 upper and lower end external cylindrical surfaces；Central rotating body 734 is nibbled by the first worm gear and the first worm screw 737
Close；First threaded rod 735 lower end is screwed onto in the screwed hole of central rotating body 734, upper end is spirally connected with top board 733 center.
As shown in Figure 3, Figure 4, four the first guide rod 736 upper ends all form circular limited block, and limited block diameter is more than
The diameter of the first guide rod 736；The support seat 721 of coasting mechanism 72 is vertically fixed on the spacing of the circle of a pair first guide rods 736
On block；A pair support seat 721 is parallel just to setting.
As shown in Figure 1 and Figure 2, described stake body 71 includes the first housing 711 and the second housing 712；First housing 711
It is integrally fixed by some connection posts with the second housing 712；First telescoping mechanism 73 passes through gripper shoe 731 and base plate 732 is solid
It is scheduled on the inwall of the first housing 711；Second housing 712 is set in outside swing mechanism 72 and the first telescoping mechanism.
As shown in Fig. 3, Fig. 7；Pendular body 725 center offers the transitional pore running through up and down, and the diameter of transitional pore is more than the
The diameter of one threaded rod 735.
As shown in Fig. 9～Figure 14, described drive mechanism 60 includes pedestal the 61st, rotating driving device the 62nd, latch components 63 and
Rotary components 64；Rotary components 64 includes a pair positioning bar the 641st, rotary support 642 and the first gear 643；On rotary support 642
End is fixed with a pair positioning bar and the 641st, is fixedly arranged in the middle of the first gear the 643rd, lower end and is articulated on pedestal 61；Latch components 63 includes
Unlocking feature 631 and limiting component 632；Unlocking feature 631 includes the first cylinder ring the 6311st, the second gear 6312 and annulus guide plate
6313；Second gear 6312 is fixed on the external cylindrical surface of the first cylinder ring 6311；Annulus guide plate 6313 is fixed on the first cylinder
On pedestal 61 in ring 6311；Annulus guide plate 6313 is formed by connecting by unlocking board and the limiting plate head and the tail of differing heights；Unlocking board
Height more than the height of limiting plate；Limiting component 632 includes straight pin the 6321st, connecting rod 6322 and gag lever post 6323；Cylinder
Pin 6321 is vertically and fixedly provided with connecting rod 6322 in the middle part of side；Connecting rod 6322 lower surface is vertically and fixedly provided with gag lever post 6323；Spacing
The central shaft of bar 6323 and straight pin 6321 central shaft level；Connecting rod 6322 is square column；Rotary support 642 lower surface is offered
There is pilot hole, offer square opening 6421 below the first gear 643 on side；The pilot hole of rotary support 642 and square opening
6421 connections；The straight pin 6321 of limiting component 632 is plugged in the pilot hole of rotary support 642；The connection of limiting component 632
Bar 6322 level is plugged in the square opening of rotary support 642；Straight pin 6321 lower end forms square post；It is positioned at rotation
Pedestal 61 below seat 642 offers the rotating hole vertically running through；It is positioned at the pedestal 61 lower surface shaping below rotary support 642
There is guiding slot holder 611；Guiding slot holder 611 is internal offers the guide groove identical with the square column dimension of straight pin 6321；Rotating hole
Diameter is more than the square cornerwise length of post；Gag lever post 6323 lower end is articulated with a roller 6325；Roller 6325 is resisted against circle
On the upper surface of ring guide plate 6313；It is provided with between the upper side wall of the pilot hole of the top of straight pin 6321 and rotary support 642
One stage clip 6324；Rotating driving device 62 includes the 4th gear 621 and the 5th gear 622；The wheel teeth portion 6211 of the 4th gear 621
Only one section；4th gear 621 can engage with the first gear 643；5th gear 622 engages with the second gear 6312.
As shown in Figure 9, Figure 10, described rotating machine arm 50 includes linking arm the 51st, the company of being fixed on being articulated on forearm 40
Connecing the spill spin block 53 that the 52nd, the housing on arm 51 is positioned at outside housing 52, described drive mechanism 60 is fixed on housing 52 by pedestal 61
In, described spill spin block 53 is fixed on positioning bar 641；The pair of sucker is fixed on spill spin block 53.
As shown in figure 13, described rotating driving device 62 also includes rotating drive shaft 624 and the first motor 623；First electricity
Machine 623 is vertically fixed on pedestal 61；It is fixed with the 4th gear 621 and from top to bottom successively on first motor 623 output shaft
Five gears 622.
As shown in figure 14, rounding off between the unlocking board of annulus guide plate 6313 and limiting plate.
Concrete operations are as follows: the first telescoping mechanism 73: starting the 3rd motor 738, the 3rd motor 738 drives the first worm screw
737 rotate, and the first worm screw 737 drives central rotating body 734 to rotate by the first worm gear, and central rotating body 734 drives the first spiral shell
Rasp bar 735 rotates, and top board 733, can only under the driving of the first threaded rod 735 upwards owing to being limited by four the first guide rods 736
Mobile, if needing to make top board 733 move downward only need to make the 3rd motor 738 counter-rotating；Coasting mechanism 72: slide wall 722
Move up and down with top board 733, there is slide slot owing to supporting on seat 721, slide wall 722 under the driving of top board 733 along cunning
Row groove moves up and down；Swing mechanism: pendular body 725 needs to swing certain angle, first has to start cylinder 726, and cylinder 726 drives
Locating detent 7261, to left movement, makes a pair alignment pin of locating detent 7261 be inserted in the stopper slot 7241 of eighth gear 724, this
When locating detent 7261 just eighth gear 724 and pendular body 725 are integrally fixed；Then starting the first motor, the first motor leads to
Crossing the 7th gear 723 drives eighth gear 724 to rotate, and eighth gear 724 drives pendular body to rotate around jointed shaft；
Resetting means: first having to start cylinder 726, cylinder 726 drives locating detent 7261 to move right, makes locating detent 7261
A pair alignment pin depart from the stopper slot 7241 of eighth gear 724, now eighth gear 724 and pendular body 725 separate；Then exist
Reset under the effect of the torsion spring 727 in the right swing seat of pendular body 725.
Latch components 63 concrete operations are as follows: initial state: stage clip 6324 orders about straight pin 6321 and moves downward, now by
Square post in straight pin 6321 lower end is positioned at guiding slot holder 611, so straight pin 6321 limits limiting component 632；Limit
Position parts 632 limit rotary components 64, and spill spin block 53 and sucker are all limited then；The now roller 6325 of gag lever post 6323
Contact with the limiting plate of annulus guide plate 6313；
Then the first motor 623 drives the 5th gear 622 to rotate；5th gear 622 is driven by the second gear 6312 and solves
Lock assembly 631 rotates, and the roller 6325 of gag lever post 6323 reaches unlocking board, gag lever post 6323 from the limiting plate of annulus guide plate 6313
Upwards driving straight pin 6321 also upwards to move, the square post of straight pin 6321 lower end departs from guiding slot holder 611, rotation group simultaneously
Part 64 is released, and now the wheel teeth portion 6211 of the 4th gear 621 engages with the first gear 643 simultaneously；4th gear 621 drives rotation
Turn assembly 64 to rotate；Then spill spin block 53 and sucker all revolve turnback；Now roller 6325 is from the unlocking board of annulus guide plate 631
Reaching limiting plate, straight pin 6321 moves downward, and stage clip 6324 makes the square post of straight pin 6321 lower end be inserted into lead again
Groove seat 611；Rotary components 64 is again limited under the effect of limiting component 632.
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, all will change in specific embodiments and applications, this specification content should not be construed as to this
Bright restriction.
Claims (9)
1. perform the swingable light-duty six axle all-purpose robots of end, including base body (10), be articulated in base body (10)
On waist rotation member (20), the large arm (30) being articulated on waist rotation member (20), the 6th motor being fixed on large arm (30) one end
(31) forearm on output shaft (40), waist rotation member (20) rotates around base body (10), and large arm (30) turns around waist rotation member (20)
Dynamic；It is characterized in that:
Described forearm (40) is provided with adjutage (70), and described adjutage (70) includes the fixing stake body connecting forearm (40)
(71) the first telescoping mechanism (73), being arranged on stake body (71), the coasting mechanism being fixed on the first telescoping mechanism (73)
(72) swing mechanism, being arranged on coasting mechanism (72) and the resetting means being arranged on swing mechanism；
First telescoping mechanism (73) includes top board (733), gripper shoe (731), base plate (732) and four the first guide rods (736)；The
One guide rod (736) is each attached on gripper shoe (731) upper surface；Top board (733) is set on four the first guide rods (736)；
Coasting mechanism (72) includes a pair support seat (721) and a pair resting arm (722)；Support to offer on seat (721) and slide
Groove；Support seat (721) and be vertically fixed on a pair first guide rod (736) upper surfaces；A pair support seat (721) is parallel just to setting；
Resting arm (722) is by square guide rod and connecting rod；Square guide rod is vertically fixed on the upper end of connecting rod；Resting arm (722) upper end
Be plugged in by square guide rod in the slide slot supporting seat (721), lower end is fixed on top board (733)；
Swing mechanism includes pendular body (725), the 7th gear (723) and eighth gear (724)；First motor is fixed on left side
On resting arm (722) upper surface；The output shaft direction of the first motor is in opposite direction with the square guide rod of resting arm (722)；First
It is fixed with the 7th gear (723) on the output shaft of motor；Pendular body (725) includes connector, left swing seat and right swing seat；Left
Swing seat and right swing seat symmetry are fixed on the bottom surface of connector；Left swing seat and right swing seat are hinged on by jointed shaft respectively
On the side wall surface on the top of a pair resting arm (722)；It is articulated with eighth gear (724) on the jointed shaft of left swing seat；Octadentate
Wheel (724) engages with the 7th gear (723)；Eighth gear (724) offers stopper slot on the one side just to left swing seat
(7241)；Described stopper slot (7241) is made up of the identical circular hole of some diameters and adjacent circular hole intersects；Described stopper slot
(7241) the round-meshed center of circle all identical with the distance at the center of eighth gear (724)；
Resetting means includes cylinder (726) and torsion spring (727)；Cylinder supports seat is formed on the right flank of left swing seat
(7261)；The cylinder (726) that the level that is fixed with on cylinder supports seat (7261) is arranged to the left；On the piston rod of cylinder (726) admittedly
Surely there is locating detent (7262)；Locating detent forms a pair alignment pin on (7262)；A pair alignment pin passes through left swing seat and enters the
In the stopper slot (7241) of two gears (724)；It is arranged with torsion spring (727) on the jointed shaft of right swing seat；Torsion spring (727) one end is solid
Surely have on the sidewall of right swing seat, the other end be fixed on right side resting arm (722) connecting rod sidewall on；
The rotating machine arm (50) that described adjutage (70) is fixedly arranged at the front end with；Described rotating machine arm (50) includes a pair sucker group
With the drive mechanism (60) driving a pair sucker group rotation.
2. according to claim 1 a kind of perform the swingable light-duty six axle all-purpose robots of end, it is characterised in that:
One telescoping mechanism (73) also includes central rotating body (734), the first threaded rod (735), the first worm screw (737), the 3rd motor
(738) and a pair rotation gripper shoe (739)；Rotate gripper shoe (739) a pair and be vertically fixed on base plate 732) on；First worm screw
(737) it is articulated between a pair rotation gripper shoe (739)；The rotation gripper shoe that 3rd motor (738) one of is fixed therein
(739) on；The output shaft of the 3rd motor (738) and the first worm screw (737) connect firmly；Central rotating body (734) includes the first cylinder
With the first worm gear；The screwed hole running through up and down is offered in the middle part of first cylinder；First cylinder upper end external cylindrical surface passes through bearing pivot
It is connected on and be fixed with the first worm gear on gripper shoe (731) upper and lower end external cylindrical surface；Central rotating body (734) by the first worm gear with
First worm screw (737) engages；First threaded rod (735) lower end is screwed onto in the screwed hole of central rotating body (734), upper end and top
Plate (733) center is spirally connected.
3. according to claim 1 a kind of perform the swingable light-duty six axle all-purpose robots of end, it is characterised in that: four
Individual first guide rod (736) upper end all forms the limited block of circle, and limited block diameter is more than the diameter of the first guide rod (736)；Sliding
The support seat (721) of row mechanism (72) is vertically fixed on the circular limited block of a pair first guide rods (736)；A pair support seat
(721) parallel just to setting.
4. according to claim 1 a kind of perform the swingable light-duty six axle all-purpose robots of end, it is characterised in that: institute
State and on stake body (71), include the first housing (711) and the second housing (712)；First housing (711) and the second housing (712) lead to
Cross some connection posts to be integrally fixed；First telescoping mechanism (73) passes through gripper shoe (731) and base plate (732) is fixed on the first shell
On the inwall of body (711)；Second housing (712) is set in outside swing mechanism (72) and the first telescoping mechanism.
5. according to claim 1 a kind of perform the swingable light-duty six axle all-purpose robots of end, it is characterised in that: pendulum
Kinetoplast (725) center offers the transitional pore running through up and down, and the diameter of transitional pore is more than the diameter of the first threaded rod (735).
6. according to claim 1 a kind of perform the swingable light-duty six axle all-purpose robots of end, it is characterised in that: institute
State drive mechanism (60) and include pedestal (61), rotating driving device (62), latch components (63) and rotary components (64)；Rotation group
Part (64) includes a pair positioning bar (641), rotary support (642) and the first gear (643)；Rotary support (642) upper end is fixed
Have a pair positioning bar (641), be fixedly arranged in the middle of the first gear (643), lower end is articulated on pedestal (61)；Latch components (63) is wrapped
Include unlocking feature (631) and limiting component (632)；Unlocking feature (631) includes the first cylinder ring (6311), the second gear
And annulus guide plate (6313) (6312)；Second gear (6312) is fixed on the external cylindrical surface of the first cylinder ring (6311)；Annulus
Guide plate (6313) is fixed on the pedestal (61) in the first cylinder ring (6311)；Annulus guide plate (6313) is by the unblock of differing heights
Plate and limiting plate head and the tail are formed by connecting；The height of unlocking board is more than the height of limiting plate；Limiting component (632) includes straight pin
(6321), connecting rod (6322) and gag lever post (6323)；It is vertically and fixedly provided with connecting rod (6322) in the middle part of straight pin (6321) side；
Connecting rod (6322) lower surface is vertically and fixedly provided with gag lever post (6323)；In the central shaft of gag lever post (6323) and straight pin (6321)
Mandrel level；Connecting rod (6322) is square column；Rotary support (642) lower surface offers pilot hole, the first gear on side
(643) lower section offers square opening (6421)；The pilot hole of rotary support (642) connects with square opening (6421)；Limiting component
(632) straight pin (6321) is plugged in the pilot hole of rotary support (642)；The connecting rod (6322) of limiting component (632)
Level is plugged in the square opening of rotary support (642)；Straight pin (6321) lower end forms square post；It is positioned at rotary support
(642) pedestal (61) of lower section offers the rotating hole vertically running through；It is positioned at pedestal (61) lower end of rotary support (642) lower section
Face forms guiding slot holder (611)；Guiding slot holder (611) is internal offers identical the leading of square column dimension with straight pin (6321)
Groove；The diameter of rotating hole is more than the square cornerwise length of post；Gag lever post (6323) lower end is articulated with a roller (6325)；Rolling
Wheel (6325) is resisted against on the upper surface of annulus guide plate (6313)；The top of straight pin (6321) is led with rotary support (642)
It is provided with a stage clip (6324) between the upper side wall in hole；
Rotating driving device (62) includes the 4th gear (621) and the 5th gear (622)；The wheel teeth portion of the 4th gear (621)
(6211) only one section；4th gear (621) can engage with the first gear (643)；5th gear (622) and the second gear
(6312) engage.
7. according to claim 6 a kind of perform the swingable light-duty six axle all-purpose robots of end, it is characterised in that: institute
State rotating machine arm (50) and include the linking arm (51) being articulated on forearm (40), the housing being fixed on linking arm (51)
(52), being positioned at housing (52) spill spin block (53) outward, described drive mechanism (60) is fixed in housing (52) by pedestal (61),
Described spill spin block (53) is fixed in positioning bar (641)；The pair of sucker is fixed on spill spin block (53).
8. according to claim 6 a kind of perform the swingable light-duty six axle all-purpose robots of end, it is characterised in that: institute
State rotating driving device (62) also to include rotating drive shaft (624) and the first motor (623)；First motor (623) is vertically fixed
On pedestal (61)；It is fixed with the 4th gear (621) and the 5th gear from top to bottom successively on first motor (623) output shaft
(622)。
9. according to claim 6 a kind of perform the swingable light-duty six axle all-purpose robots of end, it is characterised in that: circle
Rounding off between the unlocking board of ring guide plate (6313) and limiting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570704.1A CN106142065B (en) | 2016-07-18 | 2016-07-18 | It is a kind of to execute the swingable light-duty six axis all-purpose robot in end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570704.1A CN106142065B (en) | 2016-07-18 | 2016-07-18 | It is a kind of to execute the swingable light-duty six axis all-purpose robot in end |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106142065A true CN106142065A (en) | 2016-11-23 |
| CN106142065B CN106142065B (en) | 2018-08-28 |
Family
ID=58059231
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610570704.1A Expired - Fee Related CN106142065B (en) | 2016-07-18 | 2016-07-18 | It is a kind of to execute the swingable light-duty six axis all-purpose robot in end |
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| Country | Link |
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| CN (1) | CN106142065B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773766A (en) * | 2019-03-07 | 2019-05-21 | 安徽绿之态新材料有限公司 | A kind of six axis robot |
| CN110371041A (en) * | 2019-07-19 | 2019-10-25 | 西安航空学院 | Distance measuring inductor for preventing unmanned automobile from being damaged |
| CN113401375A (en) * | 2021-06-17 | 2021-09-17 | 哈尔滨工业大学 | Self-adaptive space manipulator suitable for capturing various non-cooperative satellites |
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| US4570951A (en) * | 1982-07-19 | 1986-02-18 | Valentine Al L | Quick change adapter |
| JP2009248201A (en) * | 2008-04-01 | 2009-10-29 | Mutual Corp | Picking and placing device |
| CN203141173U (en) * | 2012-12-28 | 2013-08-21 | 大连瓦特重机床有限公司 | Claw clamp of automatic cutter changing manipulator |
| CN204792004U (en) * | 2015-07-03 | 2015-11-18 | 中科华核电技术研究院有限公司 | Long -range pick -and -place instrument of area locking function |
| CN105082157A (en) * | 2015-08-31 | 2015-11-25 | 广西大学 | Self-locking clamping manipulator |
| CN205915335U (en) * | 2016-07-18 | 2017-02-01 | 佛山市联智新创科技有限公司 | But carry out six spool light -duty all -purpose robot of end wobbling |
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- 2016-07-18 CN CN201610570704.1A patent/CN106142065B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4570951A (en) * | 1982-07-19 | 1986-02-18 | Valentine Al L | Quick change adapter |
| JP2009248201A (en) * | 2008-04-01 | 2009-10-29 | Mutual Corp | Picking and placing device |
| CN203141173U (en) * | 2012-12-28 | 2013-08-21 | 大连瓦特重机床有限公司 | Claw clamp of automatic cutter changing manipulator |
| CN204792004U (en) * | 2015-07-03 | 2015-11-18 | 中科华核电技术研究院有限公司 | Long -range pick -and -place instrument of area locking function |
| CN105082157A (en) * | 2015-08-31 | 2015-11-25 | 广西大学 | Self-locking clamping manipulator |
| CN205915335U (en) * | 2016-07-18 | 2017-02-01 | 佛山市联智新创科技有限公司 | But carry out six spool light -duty all -purpose robot of end wobbling |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773766A (en) * | 2019-03-07 | 2019-05-21 | 安徽绿之态新材料有限公司 | A kind of six axis robot |
| CN110371041A (en) * | 2019-07-19 | 2019-10-25 | 西安航空学院 | Distance measuring inductor for preventing unmanned automobile from being damaged |
| CN110371041B (en) * | 2019-07-19 | 2020-09-18 | 西安航空学院 | Distance measuring inductor for preventing unmanned automobile from being damaged |
| CN113401375A (en) * | 2021-06-17 | 2021-09-17 | 哈尔滨工业大学 | Self-adaptive space manipulator suitable for capturing various non-cooperative satellites |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106142065B (en) | 2018-08-28 |
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