CN218052705U - Fifth shaft device of robot - Google Patents
Fifth shaft device of robot Download PDFInfo
- Publication number
- CN218052705U CN218052705U CN202222430585.3U CN202222430585U CN218052705U CN 218052705 U CN218052705 U CN 218052705U CN 202222430585 U CN202222430585 U CN 202222430585U CN 218052705 U CN218052705 U CN 218052705U
- Authority
- CN
- China
- Prior art keywords
- robot
- movable
- support
- bottom plate
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 210000001503 joint Anatomy 0.000 claims abstract description 30
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 19
- 238000012856 packing Methods 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 11
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
A fifth shaft device of a robot comprises a rotating mechanism, a clamp gripper and a fifth shaft device, wherein the fifth shaft device comprises a butt joint device and a servo motor, the butt joint device is connected with a flange plate at the tail end of the robot and the rotating mechanism, the rotating mechanism comprises a movable rotating shaft, a power shaft, a fixed support and a movable support, the movable rotating shaft is connected with the movable support, the power shaft is connected with the fixed support, the movable support and the fixed support are connected with a bottom plate, the bottom plate is connected with a sliding rail, the sliding rail is connected with a sliding block, and the sliding block is connected with the clamp gripper; the utility model discloses can be applied to conventional packing box pile up neatly, break through in the past the product supplied materials can only be a difficult problem of direction, the flexibility improves by a wide margin, solves the pile up neatly object transversely, vertically all can snatch the pile up neatly purpose.
Description
Technical Field
The utility model relates to the technical field of robots, especially a fifth device of robot.
Background
Industrial robot extensively is used for finished product pile up neatly of inserting the line, and conventional four-axis robot does not take the upset, and the pile up neatly flexibility ratio is low, and six-axis robot can overturn, nevertheless because structural characteristic, the problem that has the singular point leads to many routes and the restricted unable reachs of target location easily, adopts this design to realize multi-angle product pile up neatly simultaneously, has lower cost input than adopting six-axis robot.
SUMMERY OF THE UTILITY MODEL
In order to overcome the above disadvantages of the prior art, the present invention provides a fifth axis device of a robot.
The utility model provides a technical scheme that its technical problem adopted is: the utility model provides a fifth device of robot, includes slewing mechanism, anchor clamps tongs and fifth device, fifth device contains butt joint ware and servo motor, butt joint ware connection robot end ring flange, slewing mechanism contains activity pivot, power shaft, fixing support and movable support, movable support is connected in the activity pivot, power shaft connects fixing support, movable support, fixing support connect the bottom plate, the slide rail is connected to the bottom plate, the slide rail coupling slider, the anchor clamps tongs is connected to the slider.
As a further improvement of the utility model: the power shaft is connected with a limiting device.
As a further improvement of the utility model: the slide rail is connected with the limiting block.
As a further improvement of the utility model: the movable support is connected with the bottom plate.
As a further improvement of the utility model: the bottom plate is fixedly connected with the air cylinder through bolts, and the air cylinder is connected with the piston rod.
As a further improvement of the utility model: one end of the clamp gripper is fixedly connected with the piston rod through a bolt, and the other end of the clamp gripper is fixedly connected with the bottom plate through a supporting plate.
As a further improvement of the utility model: the butt joint device is connected with a flange plate at the tail end of the robot through a movable rotating shaft and a movable base through a bearing.
As a further improvement of the utility model: the servo motor is provided with an electrical connection port.
As a further improvement of the utility model: the cylinder is connected with the piston rod in a sealing mode.
As a further improvement of the utility model: and the flange plate at the tail end of the robot is connected with the butt joint device through bolts.
As a further improvement of the utility model: the bearing is provided with a bearing protection shell.
As a further improvement of the utility model: the clamp tongs are provided with round holes.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses the device is installed at four-axis robot terminally, the flexibility improves by a wide margin, it is horizontal to solve the pile up neatly object, vertically all can snatch the pile up neatly, the device top is equipped with the butt joint ware, can be according to the terminal flange trompil of robot, be used for with the robot butt joint fixed, be equipped with the slewing mechanism that movable support and pivot are constituteed between butt joint ware and the anchor clamps tongs, this mechanism can rotate in a flexible way when power drive, power drive can adopt servo motor or servo motor supporting speed reducer to drive, the current angle value of accessible servo encoder feedback. The detection of the position state can also be performed using pneumatic actuation, using magnetic induction or proximity switches.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic front view of the present invention;
fig. 3 is a left side view structure diagram of the present invention;
fig. 4 is a schematic structural view of the utility model at an angle of 0 °;
fig. 5 is a schematic view of the 90-degree angle structure of the present invention.
In the figure: 1. a rotating mechanism; 2. a clamp gripper; 3. a fifth axis device; 4. a butt joint device; 5. a servo motor; 6. a flange plate at the tail end of the robot; 7. a movable rotating shaft; 8. a movable support; 9. a base plate; 10. a slide rail; 11. a slider; 12. a limiting block; 13. a piston rod; 14. a support plate; 15. a cylinder; 16. a power shaft; 17. and fixing the support.
Detailed Description
To make the purpose, technical solution and advantages of the present invention clearer, the following will combine the embodiments of the present invention and the corresponding drawings to clearly and completely describe the technical solution of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and the above-described drawings, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention will now be further described with reference to the accompanying drawings, in which: the fifth-axis device of the robot as shown in fig. 1-5 comprises a rotating mechanism 1, a clamp gripper 2 and a fifth-axis device 3, wherein the fifth-axis device 3 comprises a butt joint device 4 and a servo motor 5, the butt joint device 4 is connected with a flange plate 6 at the tail end of a robot and the rotating mechanism 1, the rotating mechanism 1 comprises a movable rotating shaft 7, a power shaft 16, a fixed support 17 and a movable support 8, the movable rotating shaft 7 is connected with the movable support 8, the power shaft 16 is connected with the fixed support 17, the movable support 8 and the fixed support 17 are connected with a bottom plate, the bottom plate 9 is connected with a slide rail 10, the slide rail 10 is connected with a slide block 11, and the slide block 11 is connected with the clamp gripper 2.
In a preferred embodiment, the power shaft 16 is connected with a limiting device.
In a preferred embodiment, the slide rail 10 is connected to a stopper 12.
In a preferred embodiment, the cradle 8 is connected to a base plate 9.
In a preferred embodiment, the bottom plate 9 is fixedly connected with a cylinder 15 through a bolt, and the cylinder 15 is connected with the piston rod 13.
In a preferred embodiment, one end of the clamp gripper 2 is fixedly connected with the piston rod 13 through a bolt, and the other end of the clamp gripper 2 is fixedly connected with the bottom plate 9 through a support plate 14.
In a preferred embodiment, the docking unit 4 and the robot end flange 6 are connected with the movable base 8 through a movable rotating shaft 7 and a bearing.
In a preferred embodiment, the sliding rails 10 are provided in two sets.
As a preferred embodiment, the clamp grip 2 is provided with a circular hole.
In a preferred embodiment, the cylinder 15 is connected with the piston rod 13 by sealing.
In a preferred embodiment, the sliders 11 are provided in two sets.
In a preferred embodiment, the limiting means limits the turning of the gripper fingers 2 to an angle of minus 90 degrees to plus 90 degrees.
In a preferred embodiment, the servomotor 5 is provided with an electrical connection port.
The utility model discloses a theory of operation:
the utility model discloses design increase fifth shaft device 3 between terminal ring flange 6 of robot and anchor clamps tongs 2, realize through using independent control that anchor clamps tongs 2 can carry out 90 degrees of burden to the angle upset of plus 90 degrees, this upset power can use servo motor 5, cylinder 15 drives, overturn before snatching or when placing through anchor clamps tongs 2, thereby realize that the product of a plurality of directions all can carry out the pile up neatly, realize the flexibility and extend, artifical upset or increase tipping arrangement alone before avoiding the pile up neatly. The problem that the use of a six-axis robot is easily limited by singular points is solved.
The first embodiment is as follows:
the fifth-axis device of the robot as shown in fig. 1-5 comprises a rotating mechanism 1, a clamp gripper 2 and a fifth-axis device 3, wherein the fifth-axis device 3 comprises a butt joint device 4 and a servo motor 5, the butt joint device 4 is connected with a flange plate 6 at the tail end of a robot and the rotating mechanism 1, the rotating mechanism 1 comprises a movable rotating shaft 7, a power shaft 16, a fixed support 17 and a movable support 8, the movable rotating shaft 7 is connected with the movable support 8, the power shaft 16 is connected with the fixed support 17, the movable support 8 and the fixed support 17 are connected with a bottom plate, the bottom plate 9 is connected with a slide rail 10, the slide rail 10 is connected with a slide block 11, and the slide block 11 is connected with the clamp gripper 2.
The butt joint device comprises a power shaft 16, a limiting block 12, a sliding rail 10, a movable support 8, a bottom plate 9, a cylinder 15, a piston rod 13, a clamp gripper 2, a support plate 14, a butt joint device 4, a robot tail end flange plate 6, a movable base 8 and a piston rod 13, wherein the power shaft 16 is connected with the limiting block 12, the movable support 8 is connected with the bottom plate 9, the bottom plate 9 is fixedly connected with the cylinder 15 through bolts, the cylinder 15 is connected with the piston rod 13, one end of the clamp gripper 2 is fixedly connected with the piston rod 13 through bolts, the other end of the clamp gripper 2 is fixedly connected with the bottom plate 9 through the support plate 14, and the butt joint device 4 is connected with the robot tail end flange plate 6 through a movable rotating shaft 7 and the movable base 8 through bearings.
Materials sequentially pass through the conveyor belt, when the materials reach the tail portion of the conveyor belt, the tail portion of the conveyor belt is provided with a photoelectric sensor which is shielded to enable the conveyor belt to stop rotating, a flange plate 6 at the tail end of the robot drives a fifth shaft device 3 to reach the position above the materials, a rotating mechanism 1 consisting of a movable support 8 and a rotating shaft is arranged between a butt joint device 4 and a clamp gripper 2, the rotating mechanism 1 is driven to rotate through a servo motor 5, the rotating mechanism 1 determines the angle for clamping the materials, a power shaft 16 drives a fixed support 17 to rotate, the movable support 8 and a movable rotating shaft 7 are driven to rotate, the rotating angle is limited through a limiting device, a cylinder 15 drives the clamp gripper 2 to reciprocate, the material is clamped and moved to the stacking position by adjusting the size of the clamp gripper 2, and the clamp gripper 2 returns to the initial position after being loosened at the stacking position.
Example two:
in this embodiment, in order to obtain a large torque output, a speed reducer may be installed at the servo motor 5, or a gear ratio may be used between the power shaft 16 and the fixed support 17.
The fifth-axis device of the robot as shown in fig. 1-5 comprises a rotating mechanism 1, a clamp gripper 2 and a fifth-axis device 3, wherein the fifth-axis device 3 comprises a butt joint device 4 and a servo motor 5, the butt joint device 4 is connected with a flange plate 6 at the tail end of a robot and the rotating mechanism 1, the rotating mechanism 1 comprises a movable rotating shaft 7, a power shaft 16, a fixed support 17 and a movable support 8, the movable rotating shaft 7 is connected with the movable support 8, the power shaft 16 is connected with the fixed support 17, the movable support 8 and the fixed support 17 are connected with a bottom plate, the bottom plate 9 is connected with a slide rail 10, the slide rail 10 is connected with a slide block 11, and the slide block 11 is connected with the clamp gripper 2.
The butt joint device comprises a power shaft 16, a sliding rail 10, a limiting block 12, a movable support 8, a bottom plate 9, a cylinder 15, a piston rod 13, a clamp gripper 2, a support plate 14, a butt joint device 4, a robot tail end flange plate 6, a movable base 8 and a support plate 14, wherein the power shaft 16 is connected with the limiting block, the movable support 8 is connected with the bottom plate 9, the bottom plate 9 is fixedly connected with the cylinder 15 through a bolt, the cylinder 15 is connected with the piston rod 13, one end of the clamp gripper 2 is fixedly connected with the piston rod 13 through a bolt, the other end of the clamp gripper 2 is fixedly connected with the bottom plate 9 through the support plate, and the butt joint device 4 is connected with the robot tail end flange plate 6 through a movable rotating shaft 7 and the movable base 8 through a bearing.
Materials sequentially pass through the conveyor belt, when the materials reach the tail portion of the conveyor belt, the tail portion of the conveyor belt is provided with a photoelectric sensor which is shielded to stop rotation of the conveyor belt, a flange plate 6 at the tail end of the robot drives a fifth shaft device 3 to reach the position above the materials, a rotating mechanism 1 consisting of a movable support 8 and a rotating shaft is arranged between a butt-joint device 4 and a clamp gripper 2, a speed reducer is installed at a servo motor 5, or a gear is used between a power shaft 16 and a fixed support 17 to drive the rotating mechanism 1 to rotate, the rotating mechanism 1 determines the angle for clamping the materials, the power shaft 16 drives the fixed support 17 to rotate so as to drive the movable support 8 and the movable rotating shaft 7 to rotate, the rotating angle is limited through a limiting device, a cylinder 15 drives the clamp gripper 2 to reciprocate, the size of the clamp gripper 2 of the materials is adjusted to clamp the materials to move to the materials to a stacking position, and the clamp gripper 2 returns to an initial position after reaching the stacking position and loosening the clamp gripper 2.
Example three:
in the embodiment, the servo motor 5 is replaced by the servo cylinder, the servo cylinder is provided with the air inlet, the air outlet and the electromagnetic valve, and the electromagnetic valve controls the servo cylinder to drive the power shaft 16 and the fixed support 17 to rotate, so that the effects of saving energy and reducing noise are achieved.
The fifth-axis device of the robot as shown in fig. 1-5 comprises a rotating mechanism 1, a clamp gripper 2 and a fifth-axis device 3, wherein the fifth-axis device 3 comprises a butt joint device 4 and a servo cylinder, the butt joint device 4 is connected with a flange plate 6 at the tail end of a robot and the rotating mechanism 1, the rotating mechanism 1 comprises a movable rotating shaft 7, a power shaft 16, a fixed support 17 and a movable support 8, the movable rotating shaft 7 is connected with the movable support 8, the power shaft 16 is connected with the fixed support 17, the movable support 8 and the fixed support 17 are connected with a bottom plate, the bottom plate 9 is connected with a slide rail 10, the slide rail 10 is connected with a slide block 11, and the slide block 11 is connected with the clamp gripper 2.
The butt joint device comprises a power shaft 16, a sliding rail 10, a limiting block 12, a movable support 8, a bottom plate 9, a cylinder 15, a piston rod 13, a clamp gripper 2, a support plate 14, a butt joint device 4, a robot tail end flange plate 6, a movable base 8 and a support plate 14, wherein the power shaft 16 is connected with the limiting block, the movable support 8 is connected with the bottom plate 9, the bottom plate 9 is fixedly connected with the cylinder 15 through a bolt, the cylinder 15 is connected with the piston rod 13, one end of the clamp gripper 2 is fixedly connected with the piston rod 13 through a bolt, the other end of the clamp gripper 2 is fixedly connected with the bottom plate 9 through the support plate, and the butt joint device 4 is connected with the robot tail end flange plate 6 through a movable rotating shaft 7 and the movable base 8 through a bearing.
Materials sequentially pass through a conveyor belt, when the materials reach the tail portion of the conveyor belt, a photoelectric sensor is arranged at the tail portion of the conveyor belt and is shielded to stop the conveyor belt from rotating, a flange plate 6 at the tail end of a robot drives a fifth shaft device 3 to reach the position above the materials, a rotating mechanism 1 consisting of a movable support 8 and a rotating shaft is arranged between a butt-joint device 4 and a clamp gripper 2, the rotating mechanism 1 is driven to rotate through a servo cylinder, the servo cylinder is provided with an air inlet, an air outlet and an electromagnetic valve, the electromagnetic valve controls the servo cylinder to drive a power shaft 16 and a fixed support 17 to rotate, the rotating mechanism 1 determines the angle for clamping the materials, the power shaft 16 drives the fixed support 17 to rotate, the movable support 8 and a movable rotating shaft 7 are driven to rotate, the rotating angle is limited through a limiting device, the cylinder 15 drives the clamp gripper 2 to reciprocate, the size of the clamp gripper 2 is adjusted to clamp the materials to a stacking position, and the materials are clamped and moved to the stacking position after the clamp gripper 2 is loosened at the stacking position and then returned to the initial position.
The utility model discloses a main function:
the utility model discloses a power drive's power shaft 16 and fixing support 17 are connected, drive fixing support 17 and anchor clamps tongs 2 rotatory around activity pivot 7 when power drive power shaft 16, establish the bearing in the rotatory junction of reduction friction, and servo motor 5 locates the inboard and can avoid the collision to cut the piece and rub to the eye to realize that the product of a plurality of directions can all carry out the pile up neatly, realize that the flexibility extends.
In conclusion, after the ordinary skilled in the art reads the document of the present invention, the technical solution and technical idea of the present invention need not creative mental labor and makes other various corresponding conversion schemes, which all belong to the protection scope of the present invention.
Claims (7)
1. The utility model provides a fifth device of robot, its characterized in that includes slewing mechanism, anchor clamps tongs and fifth device, fifth device contains butt joint ware and servo motor, the butt joint ware connects terminal ring flange of robot, slewing mechanism contains movable rotating shaft, power shaft, fixing support and movable support, movable support is connected to the movable rotating shaft, power shaft connects fixing support, movable support connects the bottom plate, the slide rail is connected to the bottom plate, slide rail coupling slider, the anchor clamps tongs is connected to the slider.
2. A fifth axis of robotic apparatus as claimed in claim 1, wherein the power shaft is connected to a stop means.
3. The fifth axis device of a robot of claim 1, wherein the slide rail is connected to a stop block.
4. A fifth axis robotic device according to claim 1, wherein the travelling support is connected to a base plate.
5. A fifth axis device of a robot as claimed in claim 4, wherein the bottom plate is fixedly connected with a cylinder by a bolt, and the cylinder is connected with a piston rod.
6. The fifth axis device of a robot of claim 1, wherein one end of the clamp gripper is fixedly connected with the piston rod through a bolt, and the other end of the clamp gripper is fixedly connected with the bottom plate through a support plate.
7. The fifth axis device of a robot of claim 1, wherein the docking adapter and the flange at the end of the robot are connected with the movable base through a movable rotating shaft and a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222430585.3U CN218052705U (en) | 2022-09-14 | 2022-09-14 | Fifth shaft device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222430585.3U CN218052705U (en) | 2022-09-14 | 2022-09-14 | Fifth shaft device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218052705U true CN218052705U (en) | 2022-12-16 |
Family
ID=84409395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222430585.3U Active CN218052705U (en) | 2022-09-14 | 2022-09-14 | Fifth shaft device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218052705U (en) |
-
2022
- 2022-09-14 CN CN202222430585.3U patent/CN218052705U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10722942B2 (en) | Multi-arm hanging rail type casting cleaning robot | |
| CN105459095B (en) | Three-freedom-degree hybrid formula Omni-mobile transfer robot | |
| CN108032290A (en) | A kind of girder device with double servo synchronization movements | |
| CN101890608A (en) | Side open type carriage welding turnover work center | |
| CN210967676U (en) | Welding positioner and automatic welding system | |
| CN218052609U (en) | Stacking manipulator of stacker crane | |
| CN218052705U (en) | Fifth shaft device of robot | |
| CN110125584B (en) | Intelligent flexible welding system for vehicle roof framework and welding method thereof | |
| CN203091997U (en) | Double-layer telescopic welding robot system | |
| CN210557893U (en) | Stacking system for workpieces | |
| CN219212060U (en) | Portal frame type welding robot capable of being adjusted at multiple angles | |
| CN208787453U (en) | Fast forging hydraulic press set stirring manipulator | |
| CN212123299U (en) | Column type joint robot | |
| CN210365987U (en) | Stacking control system based on PLC | |
| CN212330086U (en) | Conveying manipulator for automobile body welding station | |
| CN212794937U (en) | Truss manipulator based on transport | |
| CN209746407U (en) | Heavy-load RGV conveying and carrying trolley control system | |
| CN212355541U (en) | A upset machine for material upset | |
| CN209125845U (en) | Novel mechanical arm device | |
| CN209425472U (en) | A kind of automobile component processing electromagnetism profiling mechanism hand | |
| CN220641715U (en) | Clamp for robot stacking | |
| CN216939069U (en) | Welding workstation | |
| CN212314877U (en) | Variable-pitch robot clamp equipment | |
| CN218698978U (en) | Workpiece carrying system capable of pneumatically determining track movement | |
| CN218255234U (en) | Manipulator with steering assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |