Universal manipulator assembly of light-weight six-axis robot

Abstract

The invention discloses a universal manipulator assembly of a light-weight six-axis robot. The universal manipulator assembly comprises a small arm, a swing arm pivoted to the small arm and a mechanical gripper mounted on the swing arm. The mechanical gripper comprises two pairs of claws hinged to a gripper rack and a claw driving mechanism mounted on the gripper rack and used for driving the claws to act. The claw driving mechanism comprises a first locking body provided with first studs, a second locking body provided with second studs, and a support body provided with a big gear, medium gears and small gears, and the big gear, the medium gears and the small gears are engaged. The small gears and the medium gears are in threaded connection with the first studs and the second studs correspondingly. The first pair of claws and the second pair of claws are connected with the first locking body and the second locking body correspondingly. The big gear rotates to drive the two locking bodies to ascend and descend through the first studs and the second studs and then drives the two pairs of claws to do retraction action and opening action so as to grip and release workpieces. The two pairs of claws can act simultaneously and are identical in action amplitude, so that the mechanical gripper accurately grips the workpieces.

Description

Technical field: [0001] The invention relates to the technical field of robots, in particular to a manipulator assembly of a light-duty six-axis universal robot. Background technique: [0002] The invention patent application with the application number CN201210566463.5 discloses a light-duty six-axis universal robot. The drive motor for the fifth axis and the drive motor for the sixth axis are placed in the shaft seat protection box; the housing of the arm rod and the housing of the arm extension rod are respectively fixed at the front and rear of the arm reducer, and the sleeve of the sixth axis is in the fifth shaft, the fifth shaft is inserted into the fourth shaft, the fourth shaft is inserted into the housing of the forearm rod, the reducer of the small arm and the housing of the extension rod of the small arm, the fourth shaft, the fifth shaft and the sixth shaft A fourth shaft driven gear, a fifth shaft driven gear and a sixth shaft driven gear are respectively fixe...

AI Technical Summary

Problems solved by technology

The manipulator in the prior art includes a mechanical gripper for grabbing workpieces. It is difficult for the driving device in the gripper to drive the range of movement of multiple grippers to be consistent. In this way, it is difficult for the gripper to grasp the workpiece in all directions, which may cause the workpiece fall out of the gripper

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