A six-axis collaborative robot

Abstract

The utility model relates to a kind of six-axis collaborative robot, including two left and right interval settings three-axis driving device and two clamping devices, and three-axis driving device drives two clamping devices to move up and down, move left and right and move forward and backward;Three-axis driving device includes forward and backward moving mechanism, left and right moving mechanism and up and down moving mechanism, and existing left and right moving mechanism generally adopts the mode of cylinder, oil cylinder or motor screw to drive, such as the scheme adopts four first fixed pulley, four first movable pulley, encircles belt and the power source that drives any first fixed pulley to rotate can, compared to the transmission mode structure of existing, it is more simple and cheaper in price, and power source can be externally provided at edge.

Description

Technical Field

[0001] This utility model belongs to the field of material transfer machinery technology, specifically relating to a six-axis collaborative robot. Background Technology

[0002] Currently, material transfer robots are generally multi-axis robots, which typically have at least three drive components: X-axis, Y-axis, and Z-axis. Through the cooperation of these three drive components, the gripper can move along three axes. However, existing drive components are basically driven independently, and there is no connection between the multiple drive components. Because of this lack of connection between the multiple drive components, the overall equipment is expensive and bulky after design. In view of this, this solution was developed. Utility Model Content

[0003] In view of the shortcomings of the prior art, the technical problem to be solved by this utility model is to provide a six-axis collaborative robot that can coordinate its forward and backward movement mechanism and its left and right movement mechanism during operation.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a six-axis collaborative robot, including two three-axis drive devices arranged left and right apart and two clamping devices, wherein the three-axis drive devices drive the two clamping devices to move up and down, left and right and forward and backward. The three-axis drive device includes a forward and backward movement mechanism, a left and right movement mechanism, and a up and down movement mechanism. The forward and backward moving mechanism includes two fixed plates, two first guide rails, and a forward and backward moving plate. The two first guide rails are arranged on both sides between the two fixed plates. The two sides of the forward and backward moving plate have first track grooves, which are adapted to the two first guide rails. The left-right moving mechanism includes a left-right moving plate. The upper surfaces of both sides of the fixed plate are provided with first fixed pulleys. The upper surfaces of the front-rear moving plate are each provided with two first movable pulleys spaced apart. A circular belt is provided on the first fixed pulleys and the first movable pulleys. The circular belt sequentially passes around the first fixed pulley on one side, the two first movable pulleys, the first fixed pulley, the first fixed pulley on the other side, the two first movable pulleys on the other side, and the first fixed pulley on the other side, and then returns to the first fixed pulley on the same side to form a closed loop. One side of the left-right moving plate is connected to the circular belt between it and the second fixed pulley on the same side. The up-down moving mechanism is located on one side of the left-right moving plate.

[0005] Furthermore, a first connecting plate extending downward is formed on one side of the front and rear movable plates, and a pressure plate is connected to the surface of the first connecting plate. The surrounding belt is clamped between the pressure plate and the first connecting plate.

[0006] Furthermore, the other side of the front and rear movable plates extends to the inward side of the belt, and a downwardly extending second connecting plate is formed on the other side of the front and rear movable plates; The up-and-down moving mechanism includes a third guide rail, an up-and-down moving seat, a drive body, and a transmission belt. The third guide rail is vertically arranged on the outward side of the second connecting plate. The inward side of the up-and-down moving seat has a third track groove. The drive body is arranged on the upper surface of the front and rear moving seats. The output end of the drive body is provided with a drive wheel. The up-and-down moving seat has a notch that runs vertically through and through the inward side wall. The lower end of the second connecting plate is provided with a driven wheel. The drive wheel and the driven wheel are fitted with a transmission belt. One side of the transmission belt is connected to the up-and-down moving seat.

[0007] Furthermore, a third connecting plate is provided on the upper and lower movable seat. The third connecting plate is located on one side of the transmission belt. A clamping plate is provided on the surface of the third connecting plate. The transmission belt is located between the clamping plate and the third connecting plate.

[0008] Furthermore, the clamping device is connected to the lower end of the vertical moving mechanism; The clamping device includes a base, a left clamping plate, a right clamping plate, and a dual-head drive telescopic body; the dual-head drive telescopic body is disposed on the upper surface of the base, and the left clamping plate and the right clamping plate are respectively located on both sides of the dual-head drive telescopic body and are respectively connected to two telescopic ends.

[0009] Furthermore, the left clamping plate and the right clamping plate are in two sets, and the base has a through hole running vertically through the middle, with two dual-headed drive telescopic bodies arranged on both sides of the through hole.

[0010] Furthermore, a protruding post is provided in the middle of the upper surface of the left clamping plate and the right clamping plate, and a collar is provided on the output end of the dual-head drive telescopic body, with the protruding post hinged to the inner hole of the collar.

[0011] Furthermore, the left clamping plate and the right clamping plate have the same structure and are arranged opposite each other. The left clamping plate includes a strip plate, and a plurality of clamping blocks are formed on the inward side of the strip plate. The clamping blocks form clamping openings that extend vertically through the plate.

[0012] Furthermore, the left clamping plate and the right clamping plate have the same structure and are arranged opposite each other. The left clamping plate includes a strip plate with a protrusion formed at the upper end of the strip plate and a guide hole formed on the protrusion plate. The base has a mounting plate with a mounting hole and a guide rod is provided at the mounting hole. The guide rod extends into the guide holes of the left clamping plate and the right clamping plate on both sides.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The six-axis collaborative robot of this utility model consists of two three-axis drive unit assemblies. The forward / backward and left / right movement mechanisms of these three-axis drive unit assemblies are linked. The forward / backward movement mechanism comprises two fixed plates, two first guide rails, and a forward / backward moving plate. First fixed pulleys and first movable pulleys are formed on the fixed plates and the forward / backward moving plate. A surrounding belt is arranged around multiple first fixed pulleys and first movable pulleys. The left / right moving plate in the left / right movement mechanism is driven by the surrounding belt. When the forward / backward moving plate moves forward / backward along the first guide rails, the length of the surrounding belt between the first fixed pulleys and first movable pulleys on the same side will be adjusted accordingly. With adaptive adjustment, when the left and right moving plates need to be moved, any of the first fixed pulleys can be driven to rotate, thus moving the plates left and right. This setting allows the power source of the left and right moving mechanism to be external, eliminating the need to place it on the front and rear moving plates of the front and rear moving mechanism, saving space. Furthermore, existing left and right moving mechanisms generally use cylinders, hydraulic cylinders, or motor screws for driving. With this solution, only four first fixed pulleys, four first movable pulleys, a surrounding belt, and a power source to drive any of the first fixed pulleys to rotate are needed. Compared to existing transmission methods, the structure is simpler and cheaper.

[0014] 2. Because this solution simplifies the transmission method of the left and right movement mechanism and externalizes the power source, the robot of this solution can be equipped with two three-axis drive devices. Compared with the existing three-axis robots with left and right combinations, the robot with two three-axis drive devices in this solution has a smaller space ratio. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of a six-axis collaborative robot after installation according to this utility model; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a three-dimensional structural diagram showing the positions of the pressure plate and the second connecting plate in this utility model. Figure 4 This is a three-dimensional structural diagram of the present invention from another perspective; Figure 5 This is a three-dimensional structural diagram of the vertical moving mechanism in this utility model; Figure 6 This is a three-dimensional structural diagram showing the positions of the clamping plate and the third connecting plate in this utility model; Figure 7 This is a three-dimensional structural diagram of the clamping device of this utility model.

[0016] In the diagram, the markings are: 1. Three-axis drive device; 11. Forward and backward moving mechanism; 111. Fixed plate; 112. First guide rail; 113. Forward and backward moving plate; 114. First slider; 12. Left and right moving mechanism; 121. Left and right moving plate; 122. First fixed pulley; 123. First movable pulley; 124. Belt; 125. First connecting plate; 126. Pressure plate; 127. Second connecting plate; 128. Second slider; 129. Second guide rail; 13. Up and down moving mechanism; 131. Third guide rail; 132. 1. Upward and downward moving seat; 133. Drive body; 134. Transmission belt; 135. Drive wheel; 136. Driven wheel; 137. Third connecting plate; 1371. Clamping plate; 138. Upper limit sensor; 139. Third slider; 2. Clamping device; 21. Base; 211. Mounting bracket; 212. Mounting plate; 213. Guide rod; 22. Left clamping plate; 221. Protruding column; 222. Plate body; 223. Clamping block; 224. Protruding plate; 23. Right clamping plate; 24. Double-headed drive telescopic body; 241. Collar. Detailed Implementation

[0017] To make the above-mentioned features and advantages of this utility model more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings for detailed explanation.

[0018] like Figures 1-7 As shown, this embodiment provides a six-axis collaborative robot, including two three-axis drive devices 1 arranged at left and right intervals and two clamping devices 2.

[0019] Two three-axis drive units 1 are connected by a connecting frame. The three-axis drive unit 1 includes a forward and backward movement mechanism 11, a left and right movement mechanism 12, and a up and down movement mechanism 13.

[0020] The forward and backward moving mechanism 11 includes two fixed plates 111, two first guide rails 112, a forward and backward moving plate 113, and a forward and backward driving body 133. The two first guide rails 112 are arranged on both sides between the two fixed plates 111. The forward and backward moving plate 113 has a first track groove on both sides. Specifically, the forward and backward moving plate 113 is provided with a first slider 114 on both sides. The lower surface of the first slider 114 is provided with a first track groove. The first track groove is adapted to the two first guide rails 112. The forward and backward driving body 133 is used to drive the forward and backward moving plate 113 to move. The forward and backward driving body 133 can be a cylinder, a hydraulic cylinder, or an electric cylinder.

[0021] The driving method of the forward and backward moving mechanism 11 is as follows: the forward and backward moving plate 113 is pushed forward or backward by the forward and backward driving body 133, thereby realizing the forward and backward movement of the clamping device 2.

[0022] The left and right moving mechanism 12 includes a left and right moving plate 121 and a power source. The upper surface of the front and rear moving plate 113 is provided with two spaced second guide rails 129. The lower surface of the left and right moving plate 121 is provided with a second track groove. Specifically, two second sliders 128 are provided on both sides of the lower surface of the left and right moving plate 121. The second track groove is located on the lower surface of the second slider 128 and the second track groove is adapted to the second guide rail 129.

[0023] Two first movable pulleys 123 are formed on both sides of the upper surface of the front and rear movable plate 113, which are spaced apart. Specifically, two outwardly extending plates 222 are formed on both sides of the upper surface of the front and rear movable plate 113. The first movable pulleys 123 are mounted on the plates 222. The function of the outer plates 222 is to allow the second guide rail 129 to pass. The upper surfaces of both sides of the fixed plate 111 are provided with first fixed pulleys 122. The first fixed pulleys 122 and the first movable pulleys 123 are provided with a wrapping belt 124. The wrapping belt 124 passes around the first fixed pulley 122, the two first movable pulleys 123, the first fixed pulley 122 on the same side, the first fixed pulley 122 on the other side, the two first movable pulleys 123 on the other side, and the first fixed pulley 122 on the other side, and then returns to the first fixed pulley 122 on the same side to form a closed loop. One side of the left-right moving plate 121 is connected to the second fixed pulley on the same side by a surrounding belt 124. Specifically, a first connecting plate 125 extending downward is formed on one side of the front-rear moving plate 113. A pressure plate 126 is connected to the surface of the first connecting plate 125. The surrounding belt 124 is clamped between the pressure plate 126 and the first connecting plate 125. Specifically, the surface of the clamping plate 1371 has a first clamping groove, through which the surrounding projectile passes. The pressure plate 126 and the first connecting plate 125 are connected by screws. Preferably, to ensure that the pressure plate 126 and the first connecting plate 125 firmly clamp the surrounding belt 124, the side of the surrounding belt 124 facing the pressure plate 126 has a first external tooth, and the bottom surface of the first clamping groove has a second external tooth. The first and second external teeth mesh with each other. A power source is used to drive any of the first fixed pulleys 122, thereby realizing the rotation of the surrounding belt 124, and ultimately realizing the left-right movement of the left-right moving plate 121. In this scheme, the power source is a servo motor.

[0024] The driving method of the left and right moving mechanism 12 is as follows: the first fixed pulley 122 is driven to rotate forward or backward by the power source (servo motor), which drives the movement of the surrounding belt 124. Under the action of the pressure plate 126 and the first connecting plate 125 clamping the surrounding belt 124, the left and right moving plate 121 will move with the movement of the surrounding belt 124.

[0025] The other side of the front and rear moving plate 113 extends to the inward side of the belt 124. The other side of the front and rear moving plate 113 forms a downward extending second connecting plate 127. The up and down moving mechanism 13 is installed on the second connecting plate 127. The up and down moving mechanism 13 includes a third guide rail 131, an up and down moving seat 132, a drive body 133 and a transmission belt 134. The two third guide rails 131 are vertically arranged on the outward side of the second connecting plate 127 and are spaced apart on the left and right. The inward side of the up and down moving seat 132 forms a third track groove. The up and down moving seat 132 forms a notch that runs through the inside and through the inward side wall. Specifically, the up and down moving seat 132 includes two vertical plates and a U-shaped plate. The U-shaped plate is connected to the upper end between the two vertical plates and the opening faces inward. The inward side of the U-shaped plate is provided with a third slider 139. The third track groove is located on the bottom surface of the third slider 139. The third track groove and the third guide rail 131 are adapted to each other.

[0026] A drive unit 133 is disposed on the upper surface of the front and rear movable seats. In this embodiment, the drive unit 133 is a servo motor. A drive wheel 135 is disposed at the output end of the drive unit 133. A driven wheel 136 is disposed at the lower end of the second connecting plate 127. A transmission belt 134 is sleeved on the drive wheel 135 and the driven wheel 136. Either side of the transmission belt 134 is connected to the upper and lower movable seats 132. Specifically, a third connecting plate 137 is disposed on the upper and lower movable seats 132. The third connecting plate 137 is connected to the U-shaped plate and extends above the U-shaped plate. The third connecting plate 137 is located on one side of the transmission belt 134. The third connecting plate 137 has a clamping plate 1371 on its surface. The transmission belt 134 is located between the clamping plate 1371 and the third connecting plate 137. A second clamping groove is formed on the clamping plate 1371. The transmission belt passes through the second clamping groove. The clamping plate 1371 and the third connecting plate 137 are connected by screws. Preferably, in order to ensure that the clamping plate 1371 and the third connecting plate 137 firmly clamp the transmission belt 134, the side of the transmission belt 134 facing the clamping plate 1371 has a third external tooth, and the bottom surface of the second clamping groove has a fourth external tooth. The third external tooth and the fourth external tooth mesh with each other.

[0027] Preferably, an upper limit sensor 138 is provided on the second connecting plate 127. The upper limit sensor 138 is located above the upper and lower moving seat 132. The upper limit sensor 138 is used to detect whether the clamping plate 1371 is close to determine whether the maximum upward movement has been reached. The upper limit sensor 138 can be a proximity sensor or a contact sensor. When the upper limit sensor 138 detects the movement, the drive body 133 stops rotating.

[0028] The driving method of the up-down moving mechanism 13 is as follows: the drive body 133 rotates, driving the transmission belt 134 to move. Under the action of the clamping plate 1371 and the third connecting clamping transmission belt 134, the up-down moving seat 132 will move up and down with the movement of the transmission belt 134. When the clamping plate 1371 is sensed by the upper limit sensor 138, it means that the upward movement distance has reached the maximum value.

[0029] The clamping device 2 is installed on the lower surface of the vertically movable seat 132. The clamping device 2 includes a base 21, two left clamping plates 22, two right clamping plates 23, and two double-headed drive telescopic bodies 24. The double-headed drive telescopic bodies 24 can be pneumatic cylinders, hydraulic cylinders, or electric cylinders. The base 21 has a through hole running vertically from the middle. The two double-headed drive telescopic bodies 24 are located on both sides of the through hole. The left clamping plates 22 and right clamping plates 23 are located on both sides of the double-headed drive telescopic bodies 24 and are respectively connected to the two telescopic ends.

[0030] Preferably, a mounting bracket 211 is provided in the middle of the base 21, and the mounting clip is connected to the lower surface of the upper and lower movable seat 132.

[0031] The left clamping plate 22 and the right clamping plate 23 have protruding posts 221 in the middle of their upper surfaces. The output end of the dual-head drive telescopic body 24 has a collar 241. The protruding posts 221 are hinged to the inner hole of the collar 241. Specifically, the output end of the dual-head drive telescopic body 24 has an adapter plate, and the collar 241 is connected to the outward side of the adapter plate. The left clamping plate 22 and the right clamping plate 23 have the same structure and are arranged opposite each other. The left clamping plate 22 includes a strip plate, and four clamping blocks 223 are formed on the inward side of the strip plate. The clamping blocks 223 form clamping openings that extend vertically through the plate. The clamping openings are arc-shaped. A protruding plate 224 is formed at the upper end of the strip plate, and a guide hole is formed on the protruding plate 224. The base 21 has mounting plates 212 at both ends of two sides, and mounting plates 212 have mounting holes. A guide rod 213 is provided at the mounting hole. The guide rod 213 extends into the guide holes of the left clamping plate 22 and the right clamping plate 23 on both sides, respectively. The guide rod 213 is used to guide the opposing movement of the left clamping plate 22 and the right clamping plate 23.

[0032] The clamping device 2 is driven as follows: the output ends of the double-headed telescopic body 24 retract together, thereby driving the left clamping plate 22 and the right clamping plate 23 to move closer together to achieve clamping; the output ends of the double-headed telescopic body 24 push out together, thereby driving the left clamping plate 22 and the right clamping plate 23 to move closer together to achieve material release.

[0033] The foregoing has shown and described the basic principles and main features of this invention, as well as its advantages. Those skilled in the art should understand that this invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this invention. Various changes and modifications can be made to this invention without departing from its spirit and scope. All such changes and modifications fall within the scope of this invention as defined by the appended claims and their equivalents.

Claims

1. A six-axis collaborative robot, characterized in that: It includes two three-axis drive devices arranged spaced apart to the left and right and two clamping devices. The three-axis drive devices drive the two clamping devices to move up and down, left and right, and forward and backward. The three-axis drive device includes a forward and backward movement mechanism, a left and right movement mechanism, and a up and down movement mechanism. The forward and backward moving mechanism includes two fixed plates, two first guide rails, and a forward and backward moving plate. The two first guide rails are arranged on both sides between the two fixed plates. The two sides of the forward and backward moving plate have first track grooves, which are adapted to the two first guide rails. The left-right moving mechanism includes a left-right moving plate. The upper surfaces of both sides of the fixed plate are provided with first fixed pulleys. The upper surfaces of the front-rear moving plate are each provided with two first movable pulleys spaced apart. A circular belt is provided on the first fixed pulleys and the first movable pulleys. The circular belt sequentially passes around the first fixed pulley on one side, the two first movable pulleys, the first fixed pulley, the first fixed pulley on the other side, the two first movable pulleys on the other side, and the first fixed pulley on the other side, and then returns to the first fixed pulley on the same side to form a closed loop. One side of the left-right moving plate is connected to the circular belt between it and the second fixed pulley on the same side. The up-down moving mechanism is located on one side of the left-right moving plate.

2. A six-axis collaborative robot according to claim 1, characterized in that: The upper surface of the front and rear movable plates is provided with a second guide rail, and the lower surface of the left and right movable plates is provided with a second track groove, the second track groove and the second guide rail being adapted to each other.

3. A six-axis collaborative robot according to claim 1, characterized in that: A first connecting plate extending downward is formed on one side of the front and rear movable plates. A pressure plate is connected to the surface of the first connecting plate, and the surrounding belt is clamped between the pressure plate and the first connecting plate.

4. A six-axis collaborative robot according to claim 1, characterized in that: The other side of the front and rear movable plates extends to the inward side of the belt, and a second connecting plate extending downward is formed on the other side of the front and rear movable plates; The up-and-down moving mechanism includes a third guide rail, an up-and-down moving seat, a drive body, and a transmission belt. The third guide rail is vertically arranged on the outward side of the second connecting plate. The inward side of the up-and-down moving seat has a third track groove. The drive body is arranged on the upper surface of the front and rear moving seats. The output end of the drive body is provided with a drive wheel. The up-and-down moving seat has a notch that runs vertically through and through the inward side wall. The lower end of the second connecting plate is provided with a driven wheel. The drive wheel and the driven wheel are fitted with a transmission belt. One side of the transmission belt is connected to the up-and-down moving seat.

5. A six-axis collaborative robot according to claim 4, characterized in that: A third connecting plate is provided on the upper and lower movable seat. The third connecting plate is located on one side of the transmission belt. A clamping plate is provided on the surface of the third connecting plate. The transmission belt is located between the clamping plate and the third connecting plate.

6. A six-axis collaborative robot according to claim 1, characterized in that: The clamping device is connected to the lower end of the up-and-down moving mechanism; The clamping device includes a base, a left clamping plate, a right clamping plate, and a dual-head drive telescopic body; the dual-head drive telescopic body is disposed on the upper surface of the base, and the left clamping plate and the right clamping plate are respectively located on both sides of the dual-head drive telescopic body and are respectively connected to two telescopic ends.

7. A six-axis collaborative robot according to claim 6, characterized in that: The left and right clamping plates are in two sets. The base has a through hole running vertically through the middle. The two dual-headed drive telescopic bodies are arranged on both sides of the through hole.

8. A six-axis collaborative robot according to claim 6 or 7, characterized in that: The upper surface of the left and right clamping plates is provided with a protruding post in the middle, and the output end of the dual-head drive telescopic body is provided with a collar, and the protruding post is hinged to the inner hole of the collar.

9. A six-axis collaborative robot according to claim 6 or 7, characterized in that: The left clamping plate and the right clamping plate have the same structure and are arranged opposite each other. The left clamping plate includes a strip plate, and multiple clamping blocks are formed on the inward side of the strip plate. The clamping blocks form clamping openings that extend through the top and bottom.

10. A six-axis collaborative robot according to claim 6 or 7, characterized in that: The left clamping plate and the right clamping plate have the same structure and are arranged opposite each other. The left clamping plate includes a strip plate with a protrusion formed at the upper end of the strip plate and a guide hole formed on the protrusion plate. The base has a mounting plate with a mounting hole and a guide rod is provided at the mounting hole. The guide rod extends into the guide holes of the left clamping plate and the right clamping plate on both sides.

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