CN205799512U - A kind of six axle all-purpose robots with reverse self-locking device - Google Patents
A kind of six axle all-purpose robots with reverse self-locking device Download PDFInfo
- Publication number
- CN205799512U CN205799512U CN201620762001.4U CN201620762001U CN205799512U CN 205799512 U CN205799512 U CN 205799512U CN 201620762001 U CN201620762001 U CN 201620762001U CN 205799512 U CN205799512 U CN 205799512U
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- Prior art keywords
- gripper shoe
- locking device
- fixed
- articulated
- self
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Abstract
The utility model discloses a kind of six axle all-purpose robots with reverse self-locking device, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, the axle bed being articulated in large arm, the forearm that is arranged on axle bed, waist rotation member rotates around base body；Described waist rotation member includes housing and large arm rotating driving device；Large arm rotating driving device includes rotary part, self-locking device clockwise and self-locking device counterclockwise；This utility model passes through cooperating of rotary part, self-locking device clockwise and self-locking device counterclockwise, it is ensured that the unidirectional that large arm rotates, it is to avoid counter-rotating occurs in large arm, it is ensured that the stability that large arm rotates.
Description
Technical field
This utility model relates to robotics, is specifically related to a kind of six axle all-purpose robots.
Background technology
The utility application of Application No. CN201210566463.5 discloses a kind of light-duty six axle general-purpose machinerys
People, including base body, waist rotation member, large arm, axle bed, forearm, waist rotation member rotates around base body, and large arm turns around waist rotation member
Dynamic.In above-mentioned light-duty six axle all-purpose robots, the input connecting large arm gear reduction unit is fixed in the rotating shaft of the second axis drive motor
Axle, the output shaft of large arm gear reduction unit is fixed in large arm；That is, large arm around waist rotation member rotate be by with the use of electricity
Machine and gear reduction unit complete.In light-duty six axle all-purpose robots, large arm around waist rotation member rotate by with the use of motor
Completing with gear reduction unit, owing to gear drive is without auto-lock function, therefore, large arm rotates around waist rotation member and there is unstability.
Utility model content
This utility model is for above-mentioned technical problem, it is provided that a kind of six axle general-purpose machinerys by having reverse self-locking device
People.
For reaching above-mentioned purpose, this utility model provides a kind of six axle all-purpose robots with reverse self-locking device,
The waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, the axle that is articulated in large arm
Seat, the forearm being arranged on axle bed；Described waist rotation member includes housing and large arm rotating driving device；Described large arm rotates and drives
Device is arranged in housing hollow；Large arm rotating driving device includes rotary part, self-locking device clockwise and self-locking counterclockwise
Device；Rotary part includes the first driving motor, the first gear, the first drive shaft, the second drive shaft and the second gear；A pair
Before and after one support seat, symmetry is fixed in housing hollow lower wall；First drive shaft level is longitudinally articulated in and supports seat a pair first
Between；First drives motor to be fixed on the first support seat；First output shaft driving motor and the fixing connection of the first drive shaft；
First gear is fixed on the first shaft center；Second drive shaft level be longitudinally articulated in before and after housing hollow sidewall it
Between；Second drive shaft is positioned at the surface of the first drive shaft；Second gear is fixed on the second shaft center；First gear and
Two gear engagements；Second drive shaft is positioned at that the front side of the second gear is fixed with ratchet counterclockwise, rear side is fixed with ratchet clockwise；
Self-locking device is positioned on the right side wall of the housing hollow corresponding to ratchet clockwise clockwise；Self-locking device counterclockwise
It is positioned on the left side wall of the housing hollow corresponding to ratchet counterclockwise.
Preferred as technique scheme, self-locking device clockwise include stopping clockwise ratchet, the first gripper shoe,
Two gripper shoes, the second driving motor, the first worm screw, the first worm gear and the first threaded rod；First gripper shoe and the second gripper shoe are led to
Cross some first support bars to be fixed as one；Some first guide rods it are vertically and fixedly provided with on housing hollow right side wall；First gripper shoe
It is set on some first guide rods；It is vertically and fixedly provided with a pair second on housing hollow right side wall and supports seat；First worm screw is articulated in
Support between seat for a pair second；Second drives motor to be fixed on the second support seat；Second output shaft and first driving motor
Worm screw is fixing to be connected；First threaded rod is vertically articulated on cavity right side wall；The top of the first threaded rod is by being arranged on first
Screwed hole and the first gripper shoe in gripper shoe are spirally connected；The bottom of the first threaded rod is fixed with the first worm gear；First worm gear and
One worm engaging；Stop ratchet clockwise to be articulated on the left side of the second gripper shoe.
Preferred as technique scheme, stops between ratchet right side and the left side of the second gripper shoe solid clockwise
Surely there is the first stage clip.
Preferred as technique scheme, self-locking device counterclockwise include stopping counterclockwise ratchet, the 3rd gripper shoe,
Four gripper shoes, the 3rd driving motor, the second worm screw, the second worm gear and the second threaded rod；3rd gripper shoe and the 4th gripper shoe are led to
Cross some second support bars to be fixed as one；Some second guide rods it are vertically and fixedly provided with on housing hollow left side wall；3rd gripper shoe
It is set on some second guide rods；It is vertically and fixedly provided with a pair the 3rd on housing hollow left side wall and supports seat；Second worm screw is articulated in
Support between seat for a pair the 3rd；3rd drives motor to be fixed on the 3rd support seat；3rd output shaft and second driving motor
Worm screw is fixing to be connected；Second threaded rod is vertically articulated on cavity left side wall；The top of the second threaded rod is by being arranged on the 3rd
Screwed hole and the 3rd gripper shoe in gripper shoe are spirally connected；The bottom of the second threaded rod is fixed with the second worm gear；Second worm gear and
Two worm engagings；Stop ratchet counterclockwise to be articulated on the left side of the 4th gripper shoe.
Preferred as technique scheme, stops between ratchet right side and the left side of the 4th gripper shoe solid counterclockwise
Surely there is the second stage clip.
The beneficial effects of the utility model are: by rotary part, self-locking device clockwise and self-locking device counterclockwise
Cooperate, it is ensured that large arm rotate unidirectional, it is to avoid there is counter-rotating in large arm, it is ensured that large arm rotate steady
Qualitative.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of waist rotation member 20 of the present utility model；
Fig. 3 is the structural representation faced of waist rotation member 20 of the present utility model；
Fig. 4 is the cross-sectional view of A-A in Fig. 3 of the present utility model；
Fig. 5 is the cross-sectional view of B-B in Fig. 3 of the present utility model；
Fig. 6 is the structural representation of self-locking device clockwise 223 of the present utility model；
Fig. 7 is the structural representation of rotary part 221 of the present utility model；
In figure, 10, base body；20, waist rotation member；21, housing；22, large arm rotating driving device；221, rotary part；
2211, first motor is driven；2212, the first gear；2213, the first drive shaft；22131, first seat is supported；2214, second drive
Moving axis；2215, the second gear；222, self-locking device counterclockwise；2221, ratchet counterclockwise；2222, ratchet is stopped counterclockwise；
22221, the second stage clip；2223, the 3rd gripper shoe；22231, the second support bar；22232, the second guide rod；2224, the 4th support
Plate；2225, the second threaded rod；22251, the second worm gear；2226, the 3rd motor is driven；22271, the 3rd seat is supported；223, up time
Pin self-locking device；2231, ratchet clockwise；2232, ratchet is stopped clockwise；22321, the first stage clip；2233, first support
Plate；22331, the first support bar；22332, the first guide rod；2234, the second gripper shoe；2235, the first threaded rod；22351, first
Worm gear；2236, second motor is driven；2237, the first worm screw；22371, second seat is supported.
Detailed description of the invention
As shown in Fig. 1～Fig. 7, a kind of six axle all-purpose robots with reverse self-locking device, including base body 10, pivot joint
Waist rotation member 20 on base body 10, the large arm 30 being articulated on waist rotation member 20, the axle bed 40 being articulated in large arm 30, peace
The forearm 50 being contained on axle bed 40；Described waist rotation member 20 includes housing 21 and large arm rotating driving device 22；Described large arm is revolved
Rotary driving device 22 is arranged in housing 21 cavity；Large arm rotating driving device 22 includes rotary part 221, self-locking clockwise dress
Put 223 and self-locking device counterclockwise 222；Rotary part 221 includes first driving motor the 2211, first gear 2212, first drives
Moving axis the 2213, second drive shaft 2214 and the second gear 2215；Before and after supporting seat 22,131 a pair first, symmetry is fixed on housing 21
In cavity lower wall；First drive shaft 2213 level is longitudinally articulated in and supports between seat 22131 for a pair first；First drives motor
2211 are fixed on the first support seat 22131；First output shaft driving motor 2211 and the first fixing connection of drive shaft 2213；
First gear 2212 is fixed on the first drive shaft 2213 center；Second drive shaft 2214 level is longitudinally articulated at housing 21 cavity
Before and after between sidewall；Second drive shaft 2214 is positioned at the surface of the first drive shaft 2213；Second gear 2215 is fixed on
Two drive shaft 2214 centers；First gear 2212 engages with the second gear 2215；Second drive shaft 2214 is positioned at the second gear
The front side of 2215 is fixed with ratchet 2221 counterclockwise, rear side is fixed with ratchet 2231 clockwise；As shown in Fig. 2～Fig. 5, clockwise
Self-locking device 223 is positioned on the right side wall of housing 21 cavity corresponding to ratchet 2231 clockwise；Self-locking device 222 counterclockwise
On the left side wall of housing 21 cavity corresponding to ratchet 2221 counterclockwise.
As shown in Fig. 2～Fig. 6, preferred as technique scheme, self-locking device 223 clockwise includes stopping clockwise
Ratchet the 2232, first gripper shoe the 2233, second gripper shoe 2234, second drives motor the 2236, first worm screw the 2237, first worm gear
22351 and first threaded rod 2235；First gripper shoe 2233 and the second gripper shoe 2234 are solid by some first support bars 22331
It is set to one；Some first guide rods 22332 it are vertically and fixedly provided with on housing 21 cavity right side wall；If the first gripper shoe 2233 is set in
On dry first guide rod 22332；It is vertically and fixedly provided with a pair second on housing 21 cavity right side wall and supports seat 22371；First worm screw
2237 are articulated in a pair second supports between seat 22371；Second drives motor 2236 to be fixed on the second support seat 22371；The
Two output shafts driving motor 2236 and the first fixing connection of worm screw 2237；First threaded rod 2235 is vertically articulated on the right side of cavity
On wall；The top of the first threaded rod 2235 is by being arranged on the screwed hole in the first gripper shoe 2233 and the first gripper shoe 2233 spiral shell
Connect；The bottom of the first threaded rod 2235 is fixed with the first worm gear 22351；First worm gear 22351 engages with the first worm screw 2237；Suitable
Hour hands stop ratchet 2232 and are articulated on the left side of the second gripper shoe 2234.
As it is shown on figure 3, stop clockwise to be fixed with between ratchet 2232 right side and the left side of the second gripper shoe 2234
First stage clip 22321.
As shown in Fig. 2～Fig. 6, self-locking device 222 counterclockwise includes stopping ratchet the 2222, the 3rd gripper shoe counterclockwise
2223, the 4th gripper shoe the 2224, the 3rd drives motor the 2226, second worm screw, the second worm gear 22251 and the second threaded rod 2225；
3rd gripper shoe 2223 and the 4th gripper shoe 2224 are fixed as one by some second support bars 22231；Housing 21 cavity is left
Some second guide rods 22232 it are vertically and fixedly provided with on sidewall；3rd gripper shoe 2233 is set on some second guide rods 22232；Shell
It is vertically and fixedly provided with a pair the 3rd on body 21 cavity left side wall and supports seat 22271；Second worm screw is articulated in a pair the 3rd and supports seat
Between 22271；3rd drives motor 2226 to be fixed on the 3rd support seat 22271；3rd drive motor 2226 output shaft with
Second worm screw is fixing to be connected；Second threaded rod 2225 is vertically articulated on cavity left side wall；The top of the second threaded rod 2225 leads to
Cross the screwed hole being arranged in the 3rd gripper shoe 2223 and the 3rd gripper shoe 2223 is spirally connected；The bottom of the second threaded rod 2225 is fixed
There is the second worm gear 22251；Second worm gear 22251 and the second worm engaging；Stop ratchet 2222 counterclockwise and be articulated in the 4th support
On the left side of plate 2224.
As it is shown on figure 3, stop counterclockwise to be fixed with between ratchet 2222 right side and the left side of the 4th gripper shoe 2224
Second stage clip 22221.
Concrete operations are as follows: when large arm 30 turns clockwise, and first drives motor 2211 to be rotated through first counterclockwise
Gear 2212 and the second gear 2215 drive the second drive shaft 2214 to rotate, and thus drive large arm 30 to turn clockwise；Simultaneously
Second drives motor 2236 to drive the first threaded rod 2235 to rotate by the first worm screw 2237 and the first worm gear 22351, drives the
Two gripper shoes 2234 and the first gripper shoe 2233, to left movement, stop ratchet 2232 the most clockwise and to left movement and are resisted against up time
On pin ratchet 2231, so prevent from large arm 30 and turn clockwise inversely；
When large arm 30 rotates counterclockwise, first drives motor 2211 to turn clockwise by the first gear 2212 and second
Gear 2215 drives the second drive shaft 2214 to rotate, and thus drives large arm 30 to rotate counterclockwise；3rd drive motor simultaneously
2226 drive the second threaded rod 2225 to rotate by the second worm screw and the second worm gear 22251, drive the 4th gripper shoe 2224 and the
Three gripper shoes 2223 move right, and stop ratchet 2222 the most counterclockwise and move right and be resisted against on ratchet 2221 counterclockwise, this
Sample prevents from large arm 30 and rotates against pin reverse；
When large arm 30 turns clockwise, ratchet 2221 counterclockwise reclaims to the left；When large arm 30 rotates counterclockwise, up time
Pin ratchet 2231 reclaims to the right, does not affect the normal rotation of large arm 30.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, the most all will change, and this specification content should not be understood
For to restriction of the present utility model.
Claims (5)
1. there are six axle all-purpose robots of reverse self-locking device, including base body (10), be articulated on base body (10)
Waist rotation member (20), the large arm (30) being articulated on waist rotation member (20), the axle bed (40) being articulated in large arm (30), install
Forearm (50) on axle bed (40)；Described waist rotation member (20) includes housing (21) and large arm rotating driving device (22)；Institute
State large arm rotating driving device (22) to be arranged in housing (21) cavity；It is characterized in that: large arm rotating driving device (22) wraps
Include rotary part (221), self-locking device clockwise (223) and self-locking device counterclockwise (222)；Rotary part (221) includes
One drives motor (2211), the first gear (2212), the first drive shaft (2213), the second drive shaft (2214) and the second gear
(2215)；Before and after supporting seat (22131) a pair first, symmetry is fixed in housing (21) cavity lower wall；First drive shaft
(2213) level is longitudinally articulated in and supports between seat (22131) for a pair first；First drives motor (2211) to be fixed on first
In support seat (22131)；First output shaft driving motor (2211) and the fixing connection of the first drive shaft (2213)；First gear
(2212) the first drive shaft (2213) center it is fixed on；Second drive shaft (2214) level is longitudinally articulated at housing (21) cavity
Before and after between sidewall；Second drive shaft (2214) is positioned at the surface of the first drive shaft (2213)；Second gear (2215) is solid
It is scheduled on the second drive shaft (2214) center；First gear (2212) engages with the second gear (2215)；Second drive shaft (2214)
The front side being positioned at the second gear (2215) is fixed with ratchet counterclockwise (2221), rear side is fixed with ratchet clockwise (2231)；
Self-locking device (223) is positioned on the right side wall of housing (21) cavity corresponding to ratchet clockwise (2231) clockwise；Inverse
Hour hands self-locking device (222) is positioned on the left side wall of housing (21) cavity corresponding to ratchet counterclockwise (2221).
A kind of six axle all-purpose robots with reverse self-locking device the most according to claim 1, it is characterised in that: up time
Pin self-locking device (223) include stopping clockwise ratchet (2232), the first gripper shoe (2233), the second gripper shoe (2234),
Two drive motor (2236), the first worm screw (2237), the first worm gear (22351) and the first threaded rod (2235)；First gripper shoe
(2233) and the second gripper shoe (2234) is fixed as one by some first support bars (22331)；On the right side of housing (21) cavity
Some first guide rods (22332) it are vertically and fixedly provided with on wall；First gripper shoe (2233) is set in some first guide rods (22332)
On；It is vertically and fixedly provided with a pair second on housing (21) cavity right side wall and supports seat (22371)；First worm screw (2237) is articulated in one
Support between seat (22371) second；Second drives motor (2236) to be fixed on the second support seat (22371)；Second drives
The output shaft of motor (2236) and the fixing connection of the first worm screw (2237)；First threaded rod (2235) is vertically articulated on the right side of cavity
On wall；The top of the first threaded rod (2235) is by being arranged on the screwed hole in the first gripper shoe (2233) and the first gripper shoe
(2233) it is spirally connected；The bottom of the first threaded rod (2235) is fixed with the first worm gear (22351)；First worm gear (22351) and first
Worm screw (2237) engages；Stop ratchet (2232) clockwise to be articulated on the left side of the second gripper shoe (2234).
A kind of six axle all-purpose robots with reverse self-locking device the most according to claim 2, it is characterised in that: up time
Pin stops to be fixed with the first stage clip (22321) between ratchet (2232) right side and the left side of the second gripper shoe (2234).
A kind of six axle all-purpose robots with reverse self-locking device the most according to claim 1, it is characterised in that: the inverse time
Pin self-locking device (222) include stopping counterclockwise ratchet (2222), the 3rd gripper shoe (2223), the 4th gripper shoe (2224),
Three drive motor (2226), the second worm screw, the second worm gear (22251) and the second threaded rod (2225)；3rd gripper shoe (2223)
It is fixed as one by some second support bars (22231) with the 4th gripper shoe (2224)；Hang down on housing (21) cavity left side wall
Directly it is fixed with some second guide rods (22232)；3rd gripper shoe (2233) is set on some second guide rods (22232)；Housing
(21) it is vertically and fixedly provided with a pair the 3rd on cavity left side wall and supports seat (22271)；Second worm screw is articulated in a pair the 3rd and supports seat
(22271) between；3rd drives motor (2226) to be fixed in the 3rd support seat (22271)；3rd drives motor (2226)
Output shaft and the fixing connection of the second worm screw；Second threaded rod (2225) is vertically articulated on cavity left side wall；Second threaded rod
(2225) top is spirally connected by being arranged on the screwed hole in the 3rd gripper shoe (2223) and the 3rd gripper shoe (2223)；Second spiral shell
The bottom of rasp bar (2225) is fixed with the second worm gear (22251)；Second worm gear (22251) and the second worm engaging；In Ni Shizhen
Only ratchet (2222) is articulated on the left side of the 4th gripper shoe (2224).
A kind of six axle all-purpose robots with reverse self-locking device the most according to claim 4, it is characterised in that: the inverse time
Pin stops to be fixed with the second stage clip (22221) between ratchet (2222) right side and the left side of the 4th gripper shoe (2224).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762001.4U CN205799512U (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots with reverse self-locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620762001.4U CN205799512U (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots with reverse self-locking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799512U true CN205799512U (en) | 2016-12-14 |
Family
ID=57508048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620762001.4U Expired - Fee Related CN205799512U (en) | 2016-07-18 | 2016-07-18 | A kind of six axle all-purpose robots with reverse self-locking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799512U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041922A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Universal six-axis robot with reverse self-locking device |
| CN117863160A (en) * | 2024-03-13 | 2024-04-12 | 四川省公路规划勘察设计研究院有限公司 | Auxiliary supporting structure for tunnel lining detection |
-
2016
- 2016-07-18 CN CN201620762001.4U patent/CN205799512U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041922A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Universal six-axis robot with reverse self-locking device |
| CN117863160A (en) * | 2024-03-13 | 2024-04-12 | 四川省公路规划勘察设计研究院有限公司 | Auxiliary supporting structure for tunnel lining detection |
| CN117863160B (en) * | 2024-03-13 | 2024-05-31 | 四川省公路规划勘察设计研究院有限公司 | Auxiliary supporting structure for tunnel lining detection |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170607 Address after: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION 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 Patentee before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY Co.,Ltd. Effective date of registration: 20170607 Address after: 529040 Guangdong province Jiangmen jin'ou Road No. 38 Patentee after: JIANGMEN SEASANG HARDWARE INDUSTRY Co.,Ltd. Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 |