CN107639623A - A kind of seven-axis linkage walking industrial robot device and control - Google Patents
A kind of seven-axis linkage walking industrial robot device and control Download PDFInfo
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- CN107639623A CN107639623A CN201710946638.8A CN201710946638A CN107639623A CN 107639623 A CN107639623 A CN 107639623A CN 201710946638 A CN201710946638 A CN 201710946638A CN 107639623 A CN107639623 A CN 107639623A
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- 238000005461 lubrication Methods 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The invention provides a kind of seven-axis linkage walking industrial robot device, it includes：Slide rail portion；Mechanical arm, it is installed on mechanical arm installing plate, mechanical arm installing plate is slidably connected in slide rail portion, and the end of mechanical arm has connecting plate, and multiple connecting poles are provided with connecting plate, V-arrangement connecting rod is provided with connecting pole；Clamp portion, including mounting bracket, mounting bracket has landing slab, multiple first clamp portions and multiple second clamp portions are placed with landing slab, the first clamp portion has the first plate body, the first connecting portion being connected with mechanical arm is provided with the top of the first plate body, the first connecting hole of corresponding connecting pole is provided with first connecting portion, second clamp portion has the second plate body, and the second connecting portion being connected with mechanical arm is provided with the top of the second plate body, and the second connecting hole of corresponding connecting pole is provided with second connecting portion.The present invention can effectively improve the speed of mechanical arm replacing fixture compared to prior art, improve operating efficiency.
Description
Technical field
The present invention relates to a kind of industrial robot device, and in particular to a kind of seven-axis linkage walking industrial robot device and
Control.
Background technology
Seven-axis linkage walking industrial robot is all a kind of for current commercial Application or industrial teaching demonstration
Common automation equipment.Current seven-axis linkage walks industrial robot mainly by manipulator, sliding track mechanism and clamp mechanism
Deng being formed.
In seven-axis linkage walking industrial robot used at present, it is generally required in advance by hand by fixture and machinery
The end of arm is connected, it is necessary to when changing fixture, it is also desirable to changed by hand, it is cumbersome in operation, and so as to influence very much work
Make efficiency.
The content of the invention
In consideration of it, the invention provides a kind of seven-axis linkage walking industrial machine that can realize mechanical arm quick-replaceable fixture
Device people and control device and control.
The invention provides a kind of seven-axis linkage walking industrial robot device, it includes：
Slide rail portion；
Mechanical arm, mechanical arm are installed on mechanical arm installing plate, and mechanical arm installing plate is slidably connected in slide rail portion, machinery
Arm installing plate connects motor section, and the end of mechanical arm has connecting plate, multiple connecting poles are provided with connecting plate, are set on connecting pole
It is equipped with V-arrangement connecting rod；
Clamp portion, clamp portion include mounting bracket, and mounting bracket is fixedly installed on mechanical arm installing plate, and mounting bracket has platform
Plate, multiple first through hole and the second through hole are offered on landing slab, multiple first clamp portions are placed with multiple first through hole,
Multiple second clamp portions are placed with two through holes, the first clamp portion has the first plate body, is provided with the top of the first plate body and machine
The first connecting portion of tool arm connection, the bottom of the first plate body are provided with two first clamping jaw portions being oppositely arranged, in first connecting portion
The first groove is offered, the first connecting hole of corresponding connecting pole is provided with the first groove, the second clamp portion has the second plate body,
The second connecting portion being connected with mechanical arm is installed, the bottom of the second plate body is provided with one second clamping jaw at the top of the second plate body
Portion, the second groove is offered in second connecting portion, the second connecting hole of corresponding connecting pole is provided with the second groove.
Further, the opposite sides in above-mentioned slide rail portion is provided with multiple base portions, and base portion has bottom plate, pacified on bottom plate
Equipped with U-board, cylinder is connected with bottom plate, cylinder passes through U-board.
Further, the opposite end of above-mentioned U-board has clapboard.
Further, above-mentioned first clamping jaw portion includes two first clamping jaws being oppositely arranged, and the second clamping jaw portion includes relative set
Two second clamping jaws put.
Further, the bottom of above-mentioned second plate body is connected with cylinder, and the bottom of cylinder is connected with connecting plate, the second clamping jaw
Portion is installed on the bottom of connecting plate.
Further, the cross section of the medial surface of above-mentioned first clamping jaw is V-shaped, and is offered on the medial surface of the first clamping jaw
First groove；The cross section of the medial surface of second clamping jaw is V-shaped, and offers second groove on the medial surface of the second clamping jaw.
Further, lubrication portion is installed on above-mentioned mechanical arm installing plate, through hole, through hole are offered on mechanical arm installing plate
Hole along installing plate is above provided with, perpendicular to mechanical arm installing plate, installing plate is fixedly installed on mechanical arm installing plate installing plate,
Housing is installed with installing plate, there is chamber in housing, chamber connects oil feeding reservoirs by the first body, and the bottom of chamber is also
More the second parallel bodys are connected with, the second body extends through through hole and to the direction in slide rail portion, set on the inwall of chamber
It is equipped with the first backing plate and the second backing plate, the end of the first body and the second body passes through the second backing plate.
Further, above-mentioned central control unit control machinery arm is turned in clamp portion, and central control unit control connects
Connect post and V-arrangement connecting rod rotates, connecting pole and V-arrangement connecting rod are stretched into the first connecting hole and the second connecting hole so that first connects
Socket part and second connecting portion are changed into oblique state by horizontality, are then changed into horizontality by oblique state again, now
First connecting portion and second connecting portion are connected on mechanical arm, then central control unit control machinery arm in slide rail portion back and forth
Slide.
A kind of seven-axis linkage walking industrial robot device provided by the present invention, is mainly provided with slide rail portion, mechanical arm
And clamp portion, wherein, mechanical arm is installed on mechanical arm installing plate, and mechanical arm installing plate is slidably connected in slide rail portion, machinery
Arm installing plate connects motor section, and the end of mechanical arm has connecting plate, multiple connecting poles are provided with connecting plate, are set on connecting pole
V-arrangement connecting rod is equipped with, clamp portion includes mounting bracket, and mounting bracket is fixedly installed on mechanical arm installing plate, and mounting bracket has platform
Plate, multiple first through hole and the second through hole are offered on landing slab, multiple first clamp portions are placed with multiple first through hole,
Multiple second clamp portions are placed with two through holes, the first clamp portion has the first plate body, is provided with the top of the first plate body and machine
The first connecting portion of tool arm connection, the bottom of the first plate body are provided with two first clamping jaw portions being oppositely arranged, in first connecting portion
The first groove is offered, the first connecting hole of corresponding connecting pole is provided with the first groove, the second clamp portion has the second plate body,
The second connecting portion being connected with mechanical arm is installed, the bottom of the second plate body is provided with one second clamping jaw at the top of the second plate body
Portion, the second groove is offered in second connecting portion, the second connecting hole of corresponding connecting pole is provided with the second groove；By above-mentioned
Improved structure, utilize the effect of first connecting portion and second connecting portion in connecting plate, V-arrangement connecting rod and clamp portion, Ke Yishi
The quick connection of existing mechanical arm and fixture, so as to which the speed of mechanical arm replacing fixture can be effectively improved compared to prior art
Degree, improve operating efficiency.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is a kind of structural representation of seven-axis linkage walking industrial robot device provided in an embodiment of the present invention；
Fig. 2 is that a kind of structure of the clamp portion of seven-axis linkage walking industrial robot device provided in an embodiment of the present invention is shown
It is intended to；
Fig. 3 is a kind of the first folder of the clamp portion of seven-axis linkage walking industrial robot device provided in an embodiment of the present invention
The structural representation in tool portion；
Fig. 4 is a kind of the second folder of the clamp portion of seven-axis linkage walking industrial robot device provided in an embodiment of the present invention
The structural representation in tool portion；
Fig. 5 is that a kind of structure in the lubrication portion of seven-axis linkage walking industrial robot device provided in an embodiment of the present invention is shown
It is intended to.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Referring to Fig. 1 to Fig. 5, a kind of seven-axis linkage walking industrial robot dress provided in an embodiment of the present invention is shown in figure
Put, it includes：Slide rail portion 1；Mechanical arm 2, mechanical arm 2 are installed on mechanical arm installing plate 21, and mechanical arm installing plate 21, which slides, to be connected
It is connected in slide rail portion 1, mechanical arm installing plate 21 connects motor section 22, and the end of mechanical arm 2 has a connecting plate 23, on connecting plate 23
Multiple connecting poles 24 are provided with, V-arrangement connecting rod 25 is provided with connecting pole 24；Clamp portion 3, clamp portion 3 include mounting bracket 31,
Mounting bracket 31 is fixedly installed on mechanical arm installing plate 21, and mounting bracket 31 has landing slab 311, is offered on landing slab 311 more
The individual through hole 313 of first through hole 312 and second, multiple first clamp portions 32, the second through hole are placed with multiple first through hole 312
Multiple second clamp portions 33 are placed with 313, the first clamp portion 32 has the first plate body 321, the top installation of the first plate body 321
There is the first connecting portion 322 being connected with mechanical arm 2, the bottom of the first plate body 321 is provided with two first clamping jaw portions being oppositely arranged
323, the first groove 324 is offered in first connecting portion 322, and first that corresponding connecting pole 24 is provided with the first groove 324 connects
Hole 325 is connect, the second clamp portion 33 has the second plate body 331, and the top of the second plate body 331 is provided be connected with mechanical arm 2
Two connecting portions 332, the bottom of the second plate body 331 are provided with one second clamping jaw portion 333, second are offered in second connecting portion 332
Groove 334, the second connecting hole 335 of corresponding connecting pole 24 is provided with the second groove 334.
A kind of seven-axis linkage walking industrial robot device that the present embodiment is provided, is mainly provided with slide rail portion, machinery
Arm and clamp portion, wherein, mechanical arm is installed on mechanical arm installing plate, and mechanical arm installing plate is slidably connected in slide rail portion, machine
Tool arm installing plate connects motor section, and the end of mechanical arm has connecting plate, is provided with multiple connecting poles on connecting plate, on connecting pole
V-arrangement connecting rod is provided with, clamp portion includes mounting bracket, and mounting bracket is fixedly installed on mechanical arm installing plate, and mounting bracket has flat
Platen, multiple first through hole and the second through hole are offered on landing slab, multiple first clamp portions are placed with multiple first through hole,
Multiple second clamp portions are placed with second through hole, the first clamp portion has the first plate body, be provided with the top of the first plate body with
The first connecting portion of mechanical arm connection, the bottom of the first plate body is provided with two first clamping jaw portions being oppositely arranged, first connecting portion
On offer the first groove, the first connecting hole of corresponding connecting pole is provided with the first groove, the second clamp portion has the second plate
Body, the second connecting portion being connected with mechanical arm is provided with the top of the second plate body, and the bottom of the second plate body is provided with one second folder
Claw, the second groove is offered in second connecting portion, the second connecting hole of corresponding connecting pole is provided with the second groove；By upper
Improved structure is stated, can be with using the effect of first connecting portion and second connecting portion in connecting plate, V shapes connecting rod and clamp portion
The quick connection of mechanical arm and fixture is realized, so as to which the speed of mechanical arm replacing fixture can be effectively improved compared to prior art
Degree, improve operating efficiency.
Referring to Fig. 1 to Fig. 4, the opposite sides in slide rail portion 1 is provided with multiple base portions 11, and base portion 11 has bottom plate 12,
U-board 13 is installed on bottom plate 12, cylinder 14 is connected with bottom plate 12, cylinder 14 passes through U-board 13；Relative the two of U-board 13
End has clapboard 131.By above-mentioned improved structure, it can make it that supporting construction is more firm.
With continued reference to Fig. 1 to Fig. 4, the first clamping jaw portion 323 includes two first clamping jaws 326 being oppositely arranged, the second clamping jaw portion
333 two second clamping jaws 336 including being oppositely arranged；The bottom of second plate body 331 is connected with cylinder 337, and the bottom of cylinder 337 connects
Connecting plate 338 is connected to, the second clamping jaw portion 333 is installed on the bottom of connecting plate 338.By above-mentioned improved structure, can cause
Clamping jaw structure is more firm.
With continued reference to Fig. 1 to Fig. 4, the cross section of the medial surface of the first clamping jaw 326 is V-shaped, and the inner side of the first clamping jaw 326
First groove 327 is offered on face；The cross section of the medial surface of second clamping jaw 336 is in V shapes, and the medial surface of the second clamping jaw 336
On offer second groove 337.By above-mentioned improved technical scheme, clamping jaw can be allowd more firmly to catch thing
Material.
With continued reference to Fig. 1 to Fig. 4, lubrication portion 4 is installed on mechanical arm installing plate 21, opened up on mechanical arm installing plate 21
There is through hole 41, along installing plate 42 is above provided with, installing plate 42 is solid perpendicular to mechanical arm installing plate 21, installing plate 42 in the hole of through hole 41
Dingan County has chamber 44, chamber 44 loaded on housing 43 on mechanical arm installing plate 21, is installed with installing plate 42 in housing 43
Oil feeding reservoirs 451 is connected by the first body 45, the bottom of chamber 44 is also associated with more the second parallel bodys 46, the second pipe
Body 46 extends through through hole 41 and to the direction in slide rail portion 1, and the first backing plate 441 and the second pad are provided with the inwall of chamber 44
The end of plate 442, the first body 45 and the second body 46 passes through the second backing plate 442., can be with by above-mentioned improved technical scheme
Realize the self-lubricating effect of slide rail.
Referring to Fig. 1 to Fig. 5, central control unit control machinery arm 2 is turned in clamp portion 3, central control unit control
Connecting pole 24 and V-arrangement connecting rod 25 rotate, and connecting pole 24 and V-arrangement connecting rod 25 stretch into the first connecting hole 325 and the second connecting hole
In 335 so that first connecting portion 322 and second connecting portion 332 are changed into oblique state by horizontality, then again by oblique
State is changed into horizontality, and now first connecting portion 322 and second connecting portion 332 are connected on mechanical arm 2, then center control
Unit control machinery arm 2 processed slidably reciprocates in slide rail portion 1.Pass through first connecting portion 322 and the state of second connecting portion 332
Continuous switching, fixture can be caused to form the quick guiding to mechanical arm along the inclined-plane of its both sides in V-arrangement connecting rod, from
And fixture is more firmly attached on mechanical arm.Central control unit can also be by installing RFID on fixture
The mode of chip identifies required fixture.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (8)
- The industrial robot device 1. a kind of seven-axis linkage is walked, it is characterised in that including：Slide rail portion (1)；Mechanical arm (2), the mechanical arm (2) are installed on mechanical arm installing plate (21), and the mechanical arm installing plate (21) is slided It is connected on the slide rail portion (1), mechanical arm installing plate (21) the connection motor section (22), the end of the mechanical arm (2) With connecting plate (23), multiple connecting poles (24) are provided with the connecting plate (23), V-arrangement is provided with the connecting pole (24) Connecting rod (25)；Clamp portion (3), the clamp portion (3) include mounting bracket (31), and the mounting bracket (31) is fixedly installed in mechanical arm installation On plate (21), the mounting bracket (31) has landing slab (311), and multiple first through hole are offered on the landing slab (311) (312) and the second through hole (313), it is placed with multiple first clamp portions (32) in the multiple first through hole (312), described second Multiple second clamp portions (33) are placed with through hole (313), first clamp portion (32) has the first plate body (321), described The first connecting portion (322) being connected with mechanical arm (2) is installed at the top of the first plate body (321), first plate body (321) Bottom is provided with two first clamping jaw portions (323) being oppositely arranged, and the first groove is offered on the first connecting portion (322) (324) the first connecting hole (325) of the corresponding connecting pole (24), second folder, are provided with first groove (324) Tool portion (33) has the second plate body (331), and second be connected with mechanical arm (2) is provided with the top of second plate body (331) Connecting portion (332), the bottom of second plate body (331) are provided with one second clamping jaw portion (333), the second connecting portion (332) the second groove (334) is offered on, the second of the corresponding connecting pole (24) is provided with second groove (334) Connecting hole (335).
- A kind of 2. seven-axis linkage walking industrial robot device according to claim 1, it is characterised in that the slide rail portion (1) opposite sides is provided with multiple base portions (11), and the base portion (11) has bottom plate (12), pacified on the bottom plate (12) Equipped with U-board (13), cylinder (14) is connected with the bottom plate (12), the cylinder (14) passes through the U-board (13).
- A kind of 3. seven-axis linkage walking industrial robot device according to claim 2, it is characterised in that the U-board (13) opposite end has clapboard (131).
- A kind of 4. seven-axis linkage walking industrial robot device according to claim 1, it is characterised in that first folder Claw (323) includes two first clamping jaws (326) that are oppositely arranged, the second clamping jaw portion (333) include being oppositely arranged two the Two clamping jaws (336).
- A kind of 5. seven-axis linkage walking industrial robot device according to claim 1, it is characterised in that second plate The bottom of body (331) is connected with cylinder (337), and the bottom of the cylinder (337) is connected with connecting plate (338), second folder Claw (333) is installed on the bottom of the connecting plate (338).
- A kind of 6. seven-axis linkage walking industrial robot device according to claim 5, it is characterised in that first folder The cross section of the medial surface of pawl (326) is V-shaped, and offers first groove on the medial surface of first clamping jaw (326) (327)；The cross section of the medial surface of second clamping jaw (336) is V-shaped, and is opened on the medial surface of second clamping jaw (336) Provided with second groove (337).
- A kind of 7. seven-axis linkage walking industrial robot device according to claim 1, it is characterised in that the mechanical arm Lubrication portion (4) is installed on installing plate (21), through hole (41), the through hole (41) are offered on the mechanical arm installing plate (21) Hole along installing plate (42) is above provided with, the installing plate (42) is perpendicular to the mechanical arm installing plate (21), the installing plate (42) it is fixedly installed on the mechanical arm installing plate (21), housing (43) is installed with the installing plate (42), it is described There is chamber (44), the chamber (44) connects oil feeding reservoirs (451), the chamber by the first body (45) in housing (43) (44) bottom is also associated with more parallel the second bodys (46), second body (46) through the through hole (41) and to The direction of the slide rail portion (1) extends, and the first backing plate (441) and the second backing plate are provided with the inwall of the chamber (44) (442), the end of first body (45) and second body (46) passes through second backing plate (442).
- 8. the control for industrial robot device of being walked according to a kind of any described seven-axis linkages of claim 1-7, its feature exist In central control unit controls the mechanical arm (2) to turn in clamp portion (3), and central control unit controls the connecting pole (24) rotated with the V-arrangement connecting rod (25), the connecting pole (24) and the V-arrangement connecting rod (25) stretch into first connection In hole (325) and second connecting hole (335) so that the first connecting portion (322) and the second connecting portion (332) by Horizontality is changed into oblique state, is then changed into horizontality by oblique state again, now the first connecting portion (322) It is connected to the second connecting portion (332) on the mechanical arm (2), then the central control unit controls the mechanical arm (2) slidably reciprocated on slide rail portion (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710946638.8A CN107639623A (en) | 2017-10-12 | 2017-10-12 | A kind of seven-axis linkage walking industrial robot device and control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710946638.8A CN107639623A (en) | 2017-10-12 | 2017-10-12 | A kind of seven-axis linkage walking industrial robot device and control |
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| Publication Number | Publication Date |
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| CN107639623A true CN107639623A (en) | 2018-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710946638.8A Pending CN107639623A (en) | 2017-10-12 | 2017-10-12 | A kind of seven-axis linkage walking industrial robot device and control |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108608403A (en) * | 2018-03-22 | 2018-10-02 | 上海君屹工业自动化股份有限公司 | A kind of robot slide rest device |
| CN108656075A (en) * | 2018-05-20 | 2018-10-16 | 佛山市高芯科技服务有限公司 | A kind of machining device robot |
| CN109048972A (en) * | 2018-08-30 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of robot arm transmission connecting mechanism |
| CN110193564A (en) * | 2019-05-29 | 2019-09-03 | 广东翠峰机器人科技股份有限公司 | A kind of device that the bending of robot seven-axis linkage follows and working method |
| CN110666770A (en) * | 2019-08-15 | 2020-01-10 | 金华尤创自动化科技有限公司 | Automatic gluing robot and detection equipment for rubber materials |
| CN111571288A (en) * | 2020-05-26 | 2020-08-25 | 湖南广播电视大学（湖南网络工程职业学院） | Industrial robot with replaceable fixture |
| CN115194823A (en) * | 2022-06-29 | 2022-10-18 | 武汉益模科技股份有限公司 | Industrial robot following device and method for improving working efficiency of robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108608403A (en) * | 2018-03-22 | 2018-10-02 | 上海君屹工业自动化股份有限公司 | A kind of robot slide rest device |
| CN108656075A (en) * | 2018-05-20 | 2018-10-16 | 佛山市高芯科技服务有限公司 | A kind of machining device robot |
| CN109048972A (en) * | 2018-08-30 | 2018-12-21 | 广东宏穗晶科技服务有限公司 | A kind of robot arm transmission connecting mechanism |
| CN110193564A (en) * | 2019-05-29 | 2019-09-03 | 广东翠峰机器人科技股份有限公司 | A kind of device that the bending of robot seven-axis linkage follows and working method |
| CN110666770A (en) * | 2019-08-15 | 2020-01-10 | 金华尤创自动化科技有限公司 | Automatic gluing robot and detection equipment for rubber materials |
| CN111571288A (en) * | 2020-05-26 | 2020-08-25 | 湖南广播电视大学（湖南网络工程职业学院） | Industrial robot with replaceable fixture |
| CN115194823A (en) * | 2022-06-29 | 2022-10-18 | 武汉益模科技股份有限公司 | Industrial robot following device and method for improving working efficiency of robot |
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Application publication date: 20180130 |
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| RJ01 | Rejection of invention patent application after publication |