CN104084945B - Articulated robot - Google Patents
Articulated robot Download PDFInfo
- Publication number
- CN104084945B CN104084945B CN201410338281.1A CN201410338281A CN104084945B CN 104084945 B CN104084945 B CN 104084945B CN 201410338281 A CN201410338281 A CN 201410338281A CN 104084945 B CN104084945 B CN 104084945B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- lifting shaft
- shaft
- drive
- rotation platform
- 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
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 238000003032 molecular docking Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 4
- 230000005693 optoelectronics Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
A kind of articulated robot, base is equipped with rotation platform, and the lower end of lower mechanical arm is hinged on the upper end of rotation platform, the upper end of lower mechanical arm and the lower end of middle mechanical arm hinged, the upper end of middle mechanical arm and one end of upper mechanical arm hinged, on this mechanical arm the other end install lifting shaft; At rotation platform built with rotation platform drive unit, the hypozygal between the lower end and rotation platform of lower mechanical arm and between the upper end of lower mechanical arm and middle mechanical arm lower end in joint one adjusting device is installed respectively; Upper joint between the upper end of middle mechanical arm and one end of upper mechanical arm is equipped with upper joint drive unit; Upper mechanical arm is equipped with lifting shaft device of rotation driving and lifting shaft lifting drive; Described each drive unit controls by control system.Advantage of the present invention is: have structure simple, easy to operate, enterprise drops into the advantages such as little in advance.
Description
Technical field
The present invention relates to a kind of articulated robot, there is the multi-direction motor function such as far and near up and down, the operation under various repeated labor and high-risk dirty and messy environment can be widely used in: as electric welder, Spray Painter, polishing work, ceramic spray glazer, to dust work, buffer, assembler etc., replace hand labor.
Background technology
Along with the fast development of China's manufacturing industry, recruitment cost is more and more higher, makes the advantage of China in manufacturing industry more and more less, and the phenomenon of follow-up general people has appearred in a lot of post and pollution, dangerous work post.In order to enterprise upgrading makes the transition, improve manufacturing level, promote that manufacturing secondary soars, it is extremely urgent that enterprise carries out upgrading to industry and equipment, minority enterprise has walked before industry, but these enterprises also run into certain difficulty when industrial upgrading, such as infusion of financial resources large (taking 3 or four years ability cost-recoverings), the maintenance aspect of training operating personnel and relevant device is also very large expenditure, and what bring therefrom is also the problems such as the shortcoming of some high-new equipment operator aspects and maintenance cost be high.
Summary of the invention
The object of the invention is to provide a kind of articulated robot, with the structure of simplified apparatus, reduces the maintenance cost of equipment and the requirement to operating personnel, thus reduces production cost.
Technical scheme of the present invention is: a kind of articulated robot, it is characterized in that, comprise base, rotation platform, lower mechanical arm, middle mechanical arm, upper mechanical arm and lifting shaft, base is equipped with rotation platform, the lower end of lower mechanical arm is hinged on the upper end of rotation platform, the upper end of lower mechanical arm and the lower end of middle mechanical arm hinged, the upper end of middle mechanical arm and one end of upper mechanical arm hinged, on this mechanical arm the other end install lifting shaft;
At rotation platform built with rotation platform drive unit, hypozygal between the lower end and rotation platform of lower mechanical arm and between the upper end of lower mechanical arm and middle mechanical arm lower end in joint one adjusting device is installed respectively, for regulating the angle in corresponding joint; Upper joint between the upper end of middle mechanical arm and one end of upper mechanical arm is equipped with upper joint drive unit; Upper mechanical arm is equipped with lifting shaft device of rotation driving and lifting shaft lifting drive; Described each drive unit controls by control system, and encoder is housed.
Described adjusting device is worm-and-wheel gear, and worm gear is fixedly mounted on the jointed shaft of corresponding joint, and the output shaft of worm screw and drive motors is in transmission connection or manual adjustment worm screw; Described rotation platform is arranged on the main back shaft of base by loading bearing; Consisting of of described rotation platform drive unit: by rotation platform drive motors and deceleration system through electromagnetic clutch, is rotated around base fixed gear by rotation platform driven wheel, thus the rotation of band moving platform.
One end of described upper mechanical arm is arranged on the upper end of middle mechanical arm through bearing by robot axis; Described upper joint drive unit consists of: upper mechanical arm drive motors and deceleration device rotate fixed gear by mechanical arm swing pinion around mechanical arm through electromagnetic clutch and rotate, and in drive, mechanical arm rotates.
Described lifting shaft is the axial notch being provided with one or more on columniform polished rod; Lifting shaft is also provided with equidistant ring slot; This lifting shaft is arranged on the top of described upper mechanical arm by lifting shaft tumbler.
Described lifting shaft tumbler comprises axle sleeve, bearing, adjustment projection, adjustment bolt and back-up ring, axial and corresponding with the axial notch of described lifting shaft adjustment projection groove is provided with at the inner peripheral surface of axle sleeve, radial screw is provided with, mounting and adjusting bolt in this radial screw in the bottom surface of adjustment projection groove; At each adjustment projection groove built with an adjustment projection, the outer rim of axle sleeve is rotationally connected by the top end shaft bearing of bearing and upper mechanical arm, and bearing back-up ring is fixed; Described lifting shaft is contained in this axle sleeve, adjusting tightness is carried out by adjustment bolt by adjustment projection, to ensure that lifting shaft can slide up and down and can gap minimally in axle sleeve, exterior bearing can ensure lifting shaft slide up and down while not only but also lifting shaft can be driven to rotate by described lifting shaft device of rotation driving.
At described axle sleeve built with axial plain bearing.
Described lifting shaft tumbler comprises axle sleeve, bearing, adjustment bearing, U-shaped support, adjustment bolt and back-up ring, at least two adjustment bearings are provided with vertically in axle sleeve, adjustment bearing is rotatably supported in U-shaped support, and the bottom that U-shaped supports is connected with the adjustment screws in the radial screw being located at axle sleeve; The outer rim of axle sleeve is rotationally connected by the top end shaft bearing of bearing and upper mechanical arm, and bearing back-up ring is fixed; Described lifting shaft is contained in this axle sleeve.
Consisting of of described lifting shaft device of rotation driving: drive synchronous pulley through electromagnetic clutch and lifting shaft rotation drive machine by the lifting shaft rotary drive motor be arranged on upper mechanical arm and deceleration device, axle sleeve described in driving through Timing Belt rotates, thus drives lifting shaft synchronous axial system; Described lifting shaft rotation drive machine comprises synchronous belt drive mechanism, chain-drive mechanism or gear drive.
Consisting of of described lifting shaft lifting drive: install and the intermeshing lifting shaft lifter wheel of ring slot on this lifting shaft in described lifting shaft side, this lifting shaft lifter wheel is arranged on one end of a lifting shaft lift drive shaft, and the output shaft that the other end of this lifting shaft lift drive shaft and gear drive are elevated drive motors through electromagnetic clutch and lifting shaft is in transmission connection; In one end of this lifting shaft lift drive shaft, balance torsional device is housed;
Described balance torsional device comprises housing, central shaft and torsion spring, circular housing axis rotation mounting center axle, one end of the torsion spring of spiral shape is connected with central shaft, the other end of torsion spring is connected with housing, the outer end of central shaft is directly connected with one end of described lifting shaft lift drive shaft or is indirectly connected by transmission mechanism, and housing and described upper mechanical arm are fixed; Balance torsional device can offset the downward gravitation because lifting shaft own wt brings, even if also can keep a kind of state of balance under making lifting shaft be in vertical case, and can not make lifting shaft natural slide downward under the situation not having driving force.
Optoelectronic induction anticollision sensor or scram button are equipped with in the both sides of mechanical arm and upper mechanical arm in described, prevent personnel in the revolution operation area of this mechanical arm by the danger of colliding; The root of mechanical arm disconnects docking in described, is provided with the ring flange for regulating axial angle at joint, and multiple connecting hole that is uniformly distributed along the circumference, be interconnected with bolt.
Advantage of the present invention is: have structure simple, easy to operate, enterprise drops into the advantages such as little in advance, compare external easily with regard to tens just in case the robot of platforms and need the programming personnel etc. of relevant professional knowledge to have unrivaled cost increase advantage and personnel easily recruit, the clear superiority of plant maintenance simple later stage use cost aspect.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is the front view of base in Fig. 1;
Fig. 3 is the top view of Fig. 2;
Fig. 4 is the structural representation of rotation platform drive unit of the present invention;
Fig. 5 is the top view (slightly deflecting, schematic diagram) of Fig. 4;
Fig. 6 is the front view of lower mechanical arm in Fig. 1;
Fig. 7 is the left view of Fig. 6;
Fig. 8 is the front view of middle mechanical arm in Fig. 1;
Fig. 9 is the left view of Fig. 8;
Figure 10 is the structural representation of upper mechanical arm and lifting shaft device of rotation driving and lifting shaft lifting drive in Fig. 1;
Figure 11 is the top view (eliminating upper joint drive unit and lifting shaft device of rotation driving) of Figure 10;
Figure 12 is the structural representation of another embodiment of lifting shaft lifting drive of the present invention;
Figure 13 is the axial sectional view schematic diagram of lifting shaft tumbler first embodiment of the present invention;
Figure 14 is the top view of Figure 13;
Figure 15 is the front view (being provided with the side of axial notch) of lifting shaft of the present invention;
Figure 16 is the enlarged drawing at P place in Figure 15;
Figure 17 is the left view of Figure 15;
Figure 18 is the embodiment that balance torsional device of the present invention is arranged on the lifting shaft lift drive shaft other end;
Figure 19 is the axial sectional view of torsion balancer of the present invention;
Figure 20 is the A-A sectional view of Figure 19;
Figure 21 is the axial sectional view schematic diagram of lifting shaft tumbler second embodiment of the present invention;
Figure 22 is the upward view of Figure 21;
Figure 23 is the axial sectional view schematic diagram of lifting shaft tumbler the 3rd embodiment of the present invention;
Figure 24 is the top view (broken section) of Figure 23;
Figure 25 is the top view (broken section) of lifting shaft tumbler the 4th embodiment of the present invention.
Detailed description of the invention
See Fig. 1 ~ Figure 25, a kind of novel articulated robot of the present invention, it is characterized in that, comprise base 1, rotation platform 3, lower mechanical arm 14, middle mechanical arm 15, upper mechanical arm 17 and lifting shaft 30, base 1 is equipped with rotation platform 3, the lower end of lower mechanical arm 14 is hinged on (composition hypozygal) on the hinged seat 34 of rotation platform 3 upper end, the upper end of lower mechanical arm 14 and the lower end of middle mechanical arm 15 are by jointed shaft 13 hinged (in composition joint), the upper end of middle mechanical arm 15 and one end (hereinafter referred to as bottom) of upper mechanical arm 17 are by rotating shaft 19 hinged (composition upper joint), on this, the other end (hereinafter referred to as top) of mechanical arm 17 installs lifting shaft 30.
At rotation platform 3 built with rotation platform drive unit, one adjusting device is installed respectively, for the angle regulating corresponding joint to deflect in described hypozygal, middle joint; At upper joint, upper joint drive unit is housed; Upper mechanical arm is equipped with lifting shaft device of rotation driving and lifting shaft lifting drive.
Optoelectronic induction anticollision sensor or scram button 34 are equipped with in the both sides of mechanical arm 15 and upper mechanical arm 17 in described, prevent personnel in the revolution operation area of this mechanical arm by the danger of colliding.
See Fig. 2-Fig. 7, described adjusting device is worm-and-wheel gear, and each worm gear 12 is fixedly mounted on the jointed shaft 13 of hypozygal and upper joint, and worm screw 11 is driven by drive motors (not shown), also can by manual adjustment.
Described rotation platform 3 is arranged on the main back shaft 2 of base 1 by upper and lower several loading bearing 5.Consisting of of described rotation platform drive unit: to be rotated around base fixed gear 4 by rotation platform driven wheel 7 through electromagnetic clutch 8 by rotation platform drive motors 10 and deceleration system 9 thus be with the rotation of moving platform 3.
See Fig. 1 and Figure 10, the bottom of described upper mechanical arm 17 is arranged on the upper end of middle mechanical arm 15 through bearing 20 by rotating shaft 19.Described upper joint drive unit consists of: upper mechanical arm drive motors and deceleration device 32 rotate fixed gear 18 by mechanical arm swing pinion 21 around mechanical arm through electromagnetic clutch 8 and rotate, and in drive, mechanical arm 17 rotates.
See Figure 15-Figure 17, described lifting shaft 30 for be provided with at least one axial notch 39 on columniform polished rod; Lifting shaft 30 is also provided with equidistant ring slot 38(identical with the effect of tooth bar).Described lifting shaft 30 is arranged on the top of described upper mechanical arm 17 by lifting shaft tumbler 29.
See Figure 13 and Figure 14, the structure of an embodiment of described lifting shaft tumbler 29 comprises axle sleeve 291, bearing 292, adjustment projection 295, adjustment bolt 294 and back-up ring 293, the inner peripheral surface of axle sleeve 291 be provided with axial and with described lifting shaft 30 adjustment projection groove corresponding to axial notch 39, radial screw is provided with, mounting and adjusting bolt 294 in this radial screw in the bottom surface of adjustment projection groove.At each adjustment projection groove built with an adjustment projection 295, the outer rim of axle sleeve 291 is rotationally connected, with back-up ring 293 rigid bearing 292 by the top of bearing 292 with upper mechanical arm 17.Described lifting shaft 30 is contained in this axle sleeve 291, carrys out adjusting tightness by adjustment projection 295 by adjustment bolt 294, to ensure that lifting shaft 30 can slide up and down and can gap minimally in axle sleeve 291.Exterior bearing 292 can ensure lifting shaft 30 slide up and down while not only but also lifting shaft 30 can be driven to rotate by described lifting shaft device of rotation driving.
Also can in second embodiment of above-mentioned axle sleeve 291 built with axial plain bearing 296(lifting shaft tumbler 29, see Figure 21 and Figure 22).
See Figure 23 and Figure 24, the structure of the 3rd embodiment of lifting shaft tumbler 29 is: comprise axle sleeve 291, bearing 292, adjustment bearing 297, U-shaped support 298, adjustment bolt 294 and back-up ring 293, at least two adjustment bearings 297 are provided with vertically in axle sleeve 291, adjustment bearing 297 is rotatably supported in U-shaped and supports in 298, and the bottom of U-shaped support 298 is rotationally connected with the adjustment bolt 294 be located in the radial screw of axle sleeve 291; The outer rim of axle sleeve 291 is rotationally connected by the top end shaft bearing of bearing 292 with upper mechanical arm 17, and bearing 292 back-up ring 293 is fixed on axle sleeve 291.Described lifting shaft 30 is contained in this axle sleeve 291, drive U-shaped to support 298 by regulating adjustment bolt 294 to move radially with adjustment bearing 297, reach the object in gap regulated between adjustment bearing 297 and lifting shaft 30, to ensure that lifting shaft 30 can slide up and down and can gap minimally in axle sleeve 291.
See Figure 25, the 4th embodiment of lifting shaft tumbler 29 is substantially identical with the 3rd embodiment, and difference removes above-mentioned U-shaped to support 298, but regulate adjustment bolt 294 directly to drive the two ends adjusting bearing 297 axle with two.
See Figure 10, consisting of of described lifting shaft device of rotation driving: drive synchronous pulley 33 through electromagnetic clutch 8 and a pair pitch wheel 35 by the lifting shaft rotary drive motor be arranged on upper mechanical arm 17 and deceleration device 27, drive the axle sleeve 291 of lifting shaft tumbler 29 to rotate through Timing Belt 28, thus drive lifting shaft 30 synchronous axial system.
Described lifting shaft device of rotation driving generally adopts lifting shaft rotational drive motor and lifting shaft rotation drive machine (comprising synchronous belt drive mechanism, chain-drive mechanism or gear drive), axle sleeve described in lifting shaft rotational drive motor is driven by lifting shaft rotation drive machine rotates, and all can realize driving lifting shaft synchronous axial system.
See Figure 10 and Figure 11, consisting of of described lifting shaft lifting drive: install and the intermeshing lifting shaft lifter wheel 26 of ring slot on this lifting shaft 30 in described lifting shaft 30 side, this lifting shaft lifter wheel 26 is arranged on one end of a lifting shaft lift drive shaft 25, and the output shaft (through electromagnetic clutch 8) that his gear drive of the other end of this lifting shaft lift drive shaft 25 and lifting shaft are elevated drive motors 23 is in transmission connection; In one end of this lifting shaft lift drive shaft 25, balance torsional device 24 is housed.
See Figure 12, the lifting shaft lift drive shaft 25 that described lifting shaft lifting drive also can adopt other type of drive to replace in above-described embodiment, as realized with soft transmission mechanisms 37 such as Timing Belt, various belt, chain, cable wires, marking 38 in figure is power set.
See Figure 19 and Figure 20, described balance torsional device 24 comprises housing 241, central shaft 242 and torsion spring 243, the axis rotation mounting center axle 242 of circular housing 241, one end of the torsion spring (reed) 243 of spiral shape is connected with central shaft 242, and the other end of torsion spring 243 is connected with the inner side of housing 241 by fixed leg 244.The outer end of central shaft 242 is directly connected with one end of described lifting shaft lift drive shaft 25 or is indirectly connected by transmission mechanism, and housing 241 is fixed with described upper mechanical arm 17.Balance torsional device 24 can offset the downward gravitation because lifting shaft 30 own wt brings, even if also can keep a kind of state of balance under making lifting shaft 30 be in vertical case, and can not make lifting shaft 30 natural slide downward under the situation not having driving force.Balance torsional device 24 can be arranged on the left end (as shown in Fig. 1 and Figure 10) of lifting shaft lift drive shaft 25, also can be arranged on the right-hand member (as shown in figure 18) of lifting shaft lift drive shaft 25.
Below structural principle of the present invention is further illustrated:
1, base 1: mainly play the support of whole robot and the fixation with ground or other platform.
2, rotation platform 3: be arranged on the main back shaft 2 of base by loading bearing, to be rotated around base fixed gear 4 by rotation platform driven wheel 7 through electromagnetic clutch 8 by rotation platform drive motors 10 and deceleration system 9 thus is with the rotation of moving platform (this is that an axle rotates) as Fig. 4, Fig. 5.
3, lower mechanical arm 14 is hinged on above rotation platform 3, can adjust the angle of lower mechanical arm 14 and the size (as Fig. 1, Fig. 4, Fig. 5) of the radius of clean-up by the rotation of worm gear 12 and worm screw 11.
4, middle mechanical arm 15 is arranged on above lower mechanical arm 14, is also that worm-and-wheel gear is housed, the angle of mechanical arm 15 in can regulating equally.The root of mechanical arm 15 disconnects docking in described, is docked, along the multiple connecting hole of ring flange 16 circumference uniform distribution, be interconnected with bolt at joint by ring flange 16.In needing to regulate during mechanical arm 15 axial angle, can the relative angle of two ring flanges 16 of manual rotation's docking, then mutually fastening with bolt.The angle of mechanical arm 15 in can rotating according to the difference of production occasion, to meet different Production requirements (as Fig. 8).
5, upper mechanical arm 17 is rotatably installed in the top of middle mechanical arm 15 through bearing 20 by rotating shaft 19, rotate fixed gear 18 by mechanical arm swing pinion 21 around mechanical arm through electromagnetic clutch 8 by upper mechanical arm drive motors and deceleration device 32 to rotate, in drive, mechanical arm 17 rotates (as Fig. 1 and Figure 10).
6, lifting shaft 30 can be rotated by lifting shaft whirligig 29 and be arranged on upper mechanical arm 17 axially slidably, by lifting shaft be elevated drive motors 23 through electromagnetic clutch 8 to be elevated by lifting shaft driven wheel 22 drive the side at lifting shaft that lifting shaft lift drive shaft 25 and this lifter wheel 26 of lifting shaft lifter wheel 26(can be monolateral arrange also can be symmetrical the both sides at lifting shaft arranges) rotation drive the rising of lifting shaft 30 and descending motion (lifting shaft lifter wheel 26 rotates ring slot 38 on drive lifting shaft 30 and realizes the lifting of lifting shaft 30).
7, after each decelerating through motor system outputting power, an electromagnetic clutch 8 is all housed, object is in order to during to each working trajectory input programming, needs the movement of rotating machine mechanical arm and lifting shaft, then by being contained in encoder 6 on each turned position track program input control device.Because motor is after reductor, the resistance of its output can be larger, difficulty very heavyly thus can be become when pusher mechanical arm and lifting shaft lifting rotation, motor and deceleration device is so just needed to be disconnected when programming to working trajectory, so after adding electromagnetic clutch 8, the resistance that just motor and speed reducer can be brought has been given separately with the transmission power source of mechanical arm and lifting shaft part, thus reaches ease rotation mechanical arm and lifting shaft to the programming operation of track of finishing the work.
During work, operator's hand catches lifting shaft 30, the end points of dragging motor and working end, the workpiece that aligning will work, such as welding time position while welding or spraying time need spraying position, carry out reading in programming, because the cradle head of several axle is all equipped with encoder 6, like this when promotion lifting shaft 30 and mechanical arm track track, namely encoder 6 has been recorded to parameters inside memory program automatically, operationally only need the quantity setting starting point and repetition that robot just can be allowed automatically the workpiece that will weld or spray have been walked one time accurately by track before.Because can rotate flexibly between several joint, so just can be reached the various dimensions job requirements of far and near height by the revolution between several axle, the function of staff can be imitated to complete relevant operation.
Claims (13)
1. an articulated robot, it is characterized in that, comprise base, rotation platform, lower mechanical arm, middle mechanical arm, upper mechanical arm and lifting shaft, base is equipped with rotation platform, the lower end of lower mechanical arm is hinged on the upper end of rotation platform, the upper end of lower mechanical arm and the lower end of middle mechanical arm hinged, the upper end of middle mechanical arm and one end of upper mechanical arm hinged, on this mechanical arm the other end install lifting shaft;
At rotation platform built with rotation platform drive unit, hypozygal between the lower end and rotation platform of lower mechanical arm and between the upper end of lower mechanical arm and middle mechanical arm lower end in joint one adjusting device is installed respectively, for regulating the angle in corresponding joint; Upper joint between the upper end of middle mechanical arm and one end of upper mechanical arm is equipped with upper joint drive unit; Upper mechanical arm is equipped with lifting shaft device of rotation driving and lifting shaft lifting drive; Described each drive unit controls by control system, and encoder is housed;
Described lifting shaft is the axial notch being provided with one or more on columniform polished rod; Lifting shaft is also provided with equidistant ring slot; This lifting shaft is arranged on the top of described upper mechanical arm by lifting shaft tumbler;
Described lifting shaft tumbler comprises axle sleeve, bearing, adjustment projection, adjustment bolt and back-up ring, axial and corresponding with the axial notch of described lifting shaft adjustment projection groove is provided with at the inner peripheral surface of axle sleeve, radial screw is provided with, mounting and adjusting bolt in this radial screw in the bottom surface of adjustment projection groove; At each adjustment projection groove built with an adjustment projection, the outer rim of axle sleeve is rotationally connected by the top end shaft bearing of bearing and upper mechanical arm, and bearing back-up ring is fixed; Described lifting shaft is contained in this axle sleeve, adjusting tightness is carried out by adjustment bolt by adjustment projection, to ensure that lifting shaft can slide up and down and can gap minimally in axle sleeve, exterior bearing can ensure lifting shaft slide up and down while not only but also lifting shaft can be driven to rotate by described lifting shaft device of rotation driving.
2. articulated robot according to claim 1, is characterized in that, at described axle sleeve built with axial plain bearing.
3. articulated robot according to claim 1, is characterized in that, described adjusting device is worm-and-wheel gear, and worm gear is fixedly mounted on the jointed shaft of corresponding joint, and the output shaft of worm screw and drive motors is in transmission connection or manual adjustment worm screw; Described rotation platform is arranged on the main back shaft of base by loading bearing; Consisting of of described rotation platform drive unit: by rotation platform drive motors and deceleration system through electromagnetic clutch, is rotated around base fixed gear by rotation platform driven wheel, thus the rotation of band moving platform.
4. articulated robot according to claim 1, is characterized in that, one end of described upper mechanical arm is arranged on the upper end of middle mechanical arm through bearing by robot axis; Described upper joint drive unit consists of: upper mechanical arm drive motors and deceleration device rotate fixed gear by mechanical arm swing pinion around mechanical arm through electromagnetic clutch and rotate, and in drive, mechanical arm rotates.
5. articulated robot according to claim 1, it is characterized in that, consisting of of described lifting shaft device of rotation driving: drive synchronous pulley through electromagnetic clutch and lifting shaft rotation drive machine by the lifting shaft rotary drive motor be arranged on upper mechanical arm and deceleration device, axle sleeve described in driving through Timing Belt rotates, thus drives lifting shaft synchronous axial system; Described lifting shaft rotation drive machine comprises synchronous belt drive mechanism, chain-drive mechanism or gear drive.
6. articulated robot according to claim 1, it is characterized in that, consisting of of described lifting shaft lifting drive: install and the intermeshing lifting shaft lifter wheel of ring slot on this lifting shaft in described lifting shaft side, this lifting shaft lifter wheel is arranged on one end of a lifting shaft lift drive shaft, and the output shaft that the other end of this lifting shaft lift drive shaft and gear drive are elevated drive motors through electromagnetic clutch and lifting shaft is in transmission connection; In one end of this lifting shaft lift drive shaft, balance torsional device is housed;
Described balance torsional device comprises housing, central shaft and torsion spring, circular housing axis rotation mounting center axle, one end of the torsion spring of spiral shape is connected with central shaft, the other end of torsion spring is connected with housing, the outer end of central shaft is directly connected with one end of described lifting shaft lift drive shaft or is indirectly connected by transmission mechanism, and housing and described upper mechanical arm are fixed; Balance torsional device can offset the downward gravitation because lifting shaft own wt brings, even if also can keep a kind of state of balance under making lifting shaft be in vertical case, and can not make lifting shaft natural slide downward under the situation not having driving force.
7. articulated robot according to claim 1, is characterized in that, optoelectronic induction anticollision sensor or scram button are equipped with in the both sides of mechanical arm and upper mechanical arm in described, prevent personnel in the revolution operation area of this mechanical arm by the danger of colliding; The root of mechanical arm disconnects docking in described, is provided with the ring flange for regulating axial angle at joint, and multiple connecting hole that is uniformly distributed along the circumference, be interconnected with bolt.
8. an articulated robot, it is characterized in that, comprise base, rotation platform, lower mechanical arm, middle mechanical arm, upper mechanical arm and lifting shaft, base is equipped with rotation platform, the lower end of lower mechanical arm is hinged on the upper end of rotation platform, the upper end of lower mechanical arm and the lower end of middle mechanical arm hinged, the upper end of middle mechanical arm and one end of upper mechanical arm hinged, on this mechanical arm the other end install lifting shaft;
At rotation platform built with rotation platform drive unit, hypozygal between the lower end and rotation platform of lower mechanical arm and between the upper end of lower mechanical arm and middle mechanical arm lower end in joint one adjusting device is installed respectively, for regulating the angle in corresponding joint; Upper joint between the upper end of middle mechanical arm and one end of upper mechanical arm is equipped with upper joint drive unit; Upper mechanical arm is equipped with lifting shaft device of rotation driving and lifting shaft lifting drive; Described each drive unit controls by control system, and encoder is housed;
Described lifting shaft is the axial notch being provided with one or more on columniform polished rod; Lifting shaft is also provided with equidistant ring slot; This lifting shaft is arranged on the top of described upper mechanical arm by lifting shaft tumbler;
Described lifting shaft tumbler comprises axle sleeve, bearing, adjustment bearing, U-shaped support, adjustment bolt and back-up ring, at least two adjustment bearings are provided with vertically in axle sleeve, adjustment bearing is rotatably supported in U-shaped support, and the bottom that U-shaped supports is connected with the adjustment screws in the radial screw being located at axle sleeve; The outer rim of axle sleeve is rotationally connected by the top end shaft bearing of bearing and upper mechanical arm, and bearing back-up ring is fixed; Described lifting shaft is contained in this axle sleeve.
9. articulated robot according to claim 8, is characterized in that, described adjusting device is worm-and-wheel gear, and worm gear is fixedly mounted on the jointed shaft of corresponding joint, and the output shaft of worm screw and drive motors is in transmission connection or manual adjustment worm screw; Described rotation platform is arranged on the main back shaft of base by loading bearing; Consisting of of described rotation platform drive unit: by rotation platform drive motors and deceleration system through electromagnetic clutch, is rotated around base fixed gear by rotation platform driven wheel, thus the rotation of band moving platform.
10. articulated robot according to claim 8, is characterized in that, one end of described upper mechanical arm is arranged on the upper end of middle mechanical arm through bearing by robot axis; Described upper joint drive unit consists of: upper mechanical arm drive motors and deceleration device rotate fixed gear by mechanical arm swing pinion around mechanical arm through electromagnetic clutch and rotate, and in drive, mechanical arm rotates.
11. articulated robots according to claim 8, it is characterized in that, consisting of of described lifting shaft device of rotation driving: drive synchronous pulley through electromagnetic clutch and lifting shaft rotation drive machine by the lifting shaft rotary drive motor be arranged on upper mechanical arm and deceleration device, axle sleeve described in driving through Timing Belt rotates, thus drives lifting shaft synchronous axial system; Described lifting shaft rotation drive machine comprises synchronous belt drive mechanism, chain-drive mechanism or gear drive.
12. articulated robots according to claim 8, it is characterized in that, consisting of of described lifting shaft lifting drive: install and the intermeshing lifting shaft lifter wheel of ring slot on this lifting shaft in described lifting shaft side, this lifting shaft lifter wheel is arranged on one end of a lifting shaft lift drive shaft, and the output shaft that the other end of this lifting shaft lift drive shaft and gear drive are elevated drive motors through electromagnetic clutch and lifting shaft is in transmission connection; In one end of this lifting shaft lift drive shaft, balance torsional device is housed;
Described balance torsional device comprises housing, central shaft and torsion spring, circular housing axis rotation mounting center axle, one end of the torsion spring of spiral shape is connected with central shaft, the other end of torsion spring is connected with housing, the outer end of central shaft is directly connected with one end of described lifting shaft lift drive shaft or is indirectly connected by transmission mechanism, and housing and described upper mechanical arm are fixed; Balance torsional device can offset the downward gravitation because lifting shaft own wt brings, even if also can keep a kind of state of balance under making lifting shaft be in vertical case, and can not make lifting shaft natural slide downward under the situation not having driving force.
13. articulated robots according to claim 8, is characterized in that, optoelectronic induction anticollision sensor or scram button are equipped with in the both sides of mechanical arm and upper mechanical arm in described, prevent personnel in the revolution operation area of this mechanical arm by the danger of colliding; The root of mechanical arm disconnects docking in described, is provided with the ring flange for regulating axial angle at joint, and multiple connecting hole that is uniformly distributed along the circumference, be interconnected with bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410338281.1A CN104084945B (en) | 2014-07-16 | 2014-07-16 | Articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410338281.1A CN104084945B (en) | 2014-07-16 | 2014-07-16 | Articulated robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104084945A CN104084945A (en) | 2014-10-08 |
| CN104084945B true CN104084945B (en) | 2015-12-02 |
Family
ID=51632761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410338281.1A Active CN104084945B (en) | 2014-07-16 | 2014-07-16 | Articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104084945B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526692B (en) * | 2014-12-30 | 2017-01-11 | 周银成 | Full-automatic numerical control mechanical arm |
| CN105291087A (en) * | 2015-11-30 | 2016-02-03 | 国网重庆市电力公司电力科学研究院 | Hot-line working robot |
| CN105583819B (en) * | 2016-03-15 | 2017-06-30 | 三峡大学 | A kind of robot palletizer for possessing crawl function |
| CN107127750A (en) * | 2017-06-13 | 2017-09-05 | 上海应用技术大学 | It is a kind of can trouble free service under combustible environment hydraulic driving mechanical device |
| CN109877011B (en) * | 2019-02-25 | 2021-12-31 | 淄博齐鲁包装制品有限公司 | Spin coating process for bottom cover of steel drum |
| CN111347281A (en) * | 2020-04-13 | 2020-06-30 | 江苏梵爵科技有限公司 | Heavy workpiece carrying and overturning robot workstation |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102811843A (en) * | 2010-09-03 | 2012-12-05 | Abb研究有限公司 | An Industrial Robot, A Component System For A Such And A Method For Assembling A Such |
| JP5810608B2 (en) * | 2011-04-28 | 2015-11-11 | セイコーエプソン株式会社 | Arm cover and SCARA robot |
| DE102012208430A1 (en) * | 2012-05-21 | 2013-11-21 | Kuka Roboter Gmbh | Industrial robot with an annular drag stop |
| CN103273484B (en) * | 2013-05-13 | 2015-08-12 | 沈阳工业大学 | A kind of metal surface enhanced robot of plasma arc |
| CN103568002B (en) * | 2013-06-25 | 2015-09-09 | 雷跃峰 | Six axle free degree manipulators |
| CN203495947U (en) * | 2013-09-23 | 2014-03-26 | 成都泛华航空仪表电器有限公司 | Horizontal multi-joint robot not driven by belt |
-
2014
- 2014-07-16 CN CN201410338281.1A patent/CN104084945B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104084945A (en) | 2014-10-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104084945B (en) | Articulated robot | |
| CN206815786U (en) | A kind of construction site climbing device | |
| CN203697006U (en) | Intelligent five-shaft manipulator | |
| CN104742116B (en) | A kind of novel robot with five degrees of freedom mechanism | |
| CN203792330U (en) | Self-adaption mechanical arm | |
| CN109955049A (en) | A kind of vertical posture adjusting system can be used for large-scale assembly | |
| CN204036469U (en) | Novel multi-joint mechanical arm | |
| CN103737587A (en) | Intelligent five-shaft manipulator | |
| CN104972472B (en) | Mechanical arm structure for full-automatic motor rotor balance correcting device | |
| CN106315202A (en) | Automatic tableware sorting device | |
| CN103921269A (en) | Self-adaption mechanical arm | |
| CN105983959A (en) | Multi-joint manipulator | |
| CN107035629A (en) | A kind of wind power plant for being easy to safeguard | |
| CN108999091B (en) | Working method of driving feeding device convenient for operation on surface of pier | |
| CN103406527A (en) | Device for building steel ladle working lining | |
| CN205614670U (en) | High -precision locate mode industrial robot | |
| CN104526692B (en) | Full-automatic numerical control mechanical arm | |
| CN105328694A (en) | Efficient cam mechanical hand | |
| CN107984597B (en) | It is a kind of process wall block movement roll vibration device | |
| CN208557483U (en) | A kind of robot base with mechanical arm | |
| CN204772557U (en) | A manipulator structure for full automatic balance corrective of electric motor rotor | |
| CN216470959U (en) | Rotation type hacking machine | |
| CN109056560A (en) | A kind of driving feeding device facilitating the operation of bridge pier surface | |
| CN109015237A (en) | A kind of components burnishing device of the machine-building with rotational structure | |
| CN113120103A (en) | Robot walking device and implementation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160505 Address after: Binjiang District River Street Hangzhou City, Zhejiang province Jiang Er Lu 310052 No. 400 Building 2 room 713 7 Patentee after: Zhejiang one robot technology Co., Ltd. Address before: 317200, Taizhou, Zhejiang province Tiantai County Chicheng street, Fung Garden Road, commercial and residential building, room 205 Patentee before: Wang Dianchao |