CN104842366A - Universal multi-joint all-purpose robot - Google Patents
Universal multi-joint all-purpose robot Download PDFInfo
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- CN104842366A CN104842366A CN201510234105.8A CN201510234105A CN104842366A CN 104842366 A CN104842366 A CN 104842366A CN 201510234105 A CN201510234105 A CN 201510234105A CN 104842366 A CN104842366 A CN 104842366A
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Abstract
The invention discloses a universal multi-joint all-purpose robot. The universal multi-joint all-purpose robot comprise a flange, a first universal joint, a second universal joint, a straight arm part, a third universal joint, a bent arm part, a fourth universal joint, a fifth universal joint and a sixth universal joint; the first universal joint is vertically arranged on the flange; the second universal joint is vertically arranged on the side surface of the first universal joint; the straight arm part is vertically arranged on the outer surface of the second universal joint; the third universal joint is arranged at the top end of the straight arm part and perpendicular to the straight arm part; the end face of the circular-arc end of the bent arm part is connected with one end face of the third universal joint, while the straight arm end of the bent arm part is vertically connected with the fourth universal joint; the fourth universal joint is vertically connected with the fifth universal joint by use of the end face of the fourth universal joint; the fifth universal joint is vertically connected with the sixth universal joint by use of the end face of the fifth universal joint; a tool end is arranged at one end of the fifth universal joint; a moment motor is arranged in each of the universal joints and the straight arm part, and each moment motor is capable of rotating around the own axis. The universal multi-joint all-purpose robot is wide in applicability, high in flexibility, small in volume, light in weight, low in cost, low in noise and convenient for production and mounting.
Description
Technical field
The present invention relates to robotics, particularly relate to that a kind of volume is little, quality is light, cost is low, produce universal multi-joint all-purpose robot easy for installation.
Background technology
Robot (Robot) is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.If people also slightly feel strange to industrial robot before 2 years, so present " robot epoch " have become the word that what's frequently heard can be repeated in detail.
Along with the decline of labouring population and the rising of elderly population, the cheap labor condition of China's Mainland is about to disappear, and the advantage of China's Mainland world's factory will not again in the past when the time comes; But, this is also for industrial robot market's development in the whole world provides good hotbed.
China is as traditional manufacture big country, just global first Industrial Robot Market is become from 2013, average annual sale rate of growth reaches 25%, and installation is also the whole world first, especially in industries such as automobile making, electronic assemblies, warehouse logistics and production of construction materials, will be more prosperous without obstacle for industrial machine Man's Demands.Industry prediction soon China will become the industrial robot place of production the biggest in the world.
Germany is as global the strongest precision optical machinery producing country, and initiated the intelligence manufacture revolution of industry 4.0, in fact, many dealers were considered as the industrial robot first year of China's Mainland by 2014.
But, close examination a slice with all worries set aside seems flouring behind, but current domestic industry robot market gets deeply stuck in awkward condition: the transnational famous brand of foreign capitals occupies the absolute share in domestic market, and the key core such as motor, reductor parts are under one's control, native country industry faces " village hollowing " risk ...
In addition, current industrial robot there is machine-made design style on the whole and main body is formed, build both bulk, carrying and installation is very complicated, and noise is large, use underaction, expensive, make much originally to want the enterprise developing robot automation to abandon the paces of intelligence manufacture.
According to current marketing industries robot present situation, following analysis is made to its shortcoming:
1, expensive
Expensive is current a lot of enterprise, especially the medium-sized and small enterprises maximum reason of hanging back to industrial robot automation.Conventional industrial robot, especially six axle all-purpose robots adopt cast iron as contour structures material usually, are equipped with motor in addition, and reductor realizes the control to joint, therefore one of production cost expensive key factor of robot becoming numerous brand.
In addition from three-axis robot, to four axle robots, to the contour structures of six axle all-purpose robots, all need according to practical application again planning and designing, often increase an axle joint just to need to redesign overall and each function parts, not only increase the R&D cycle, and significantly increase research and development difficulty and R&D costs.This is expensive another key factor.
Regular industrial robot all needs to use reductor again, and this is the factor that holds at high price of regular industrial robot especially.
2, build both bulk
Six traditional axle all-purpose robots, because critical component principle is all the control realizing joint motions by driven by servomotor reductor, are that a joint is equipped with a reductor substantially, and therefore to occupy body proportion very large for the weight of reductor.Design aspect in addition, in order to realize load-bearing to reductor and operational effect, makes the huger burden of form construction design.
In order to meet the load-bearing and rigid demand that bring thus, the structural material of conventional machines people selects cast iron usually, and therefore weight increases, and makes complete machine seem huge and heavy, and give and produce and assembling, robot installs and uses and all brings very big inconvenience.
3, noise is large
Large build, heavy body and parts, also have the break-in of motor and speed reducer, all makes conventional industrial robot's noise large, affect working environment.
4, production, dismounting process complexity
Traditional common robot by tens even hundreds of big and small parts form, trouble is produced because this increasing, the assembly working of each joint and parts also very loaded down with trivial details, the assembling of a usual machine consumes a large amount of manpowers and time, make to produce delivery cycle prolongation, heavy and huge build gives the transfer of integrator, and installing and using of later stage terminal use is made troubles.If robot needs dismounting to safeguard, maintenance, needs the dismounting process made a great fuss especially.
5, maneuverability is lacked
Huge and heavy just because of conventional machines people, cause using in factory the occupation of land space that link needs are very large, and machine is once install in place, is just difficult to move again, this all uses to terminal use and makes troubles, and lacks the demand of factory lines environment for post mobility.
Also bring restriction to range of application simultaneously, as medical industry robot, robot preferably can be allowed to move at any time and shift in each floor, each ward; As mechanical processing industry, preferably according to different Production requirements, allow robot can have enough to meet the need use on different lathes, thus improve the flexibility of utilization rate and scheme.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, provide that a kind of applicability is wide, flexibility is high, volume is little, quality is light, cost is low, noise is little, produce universal multi-joint all-purpose robot easy for installation.
For solving problems of the prior art, the concrete technical scheme of employing is:
A kind of universal multi-joint all-purpose robot comprise connect successively flange, gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, curved boom portion, gimbal suspension four, gimbal suspension five and gimbal suspension six.Described gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, curved boom portion, gimbal suspension four, gimbal suspension five and gimbal suspension six are tubulose; Described gimbal suspension one is vertically mounted on described flange; Described gimbal suspension two is vertically mounted on the side of described gimbal suspension one; Described straight-arm portion is vertically mounted on the outer surface of described gimbal suspension two; Described gimbal suspension three is arranged on the top in described straight-arm portion and vertical with described straight-arm portion; Described curved boom portion is one " L " shape mechanical arm, and its one end is arc end, and the other end is straight-arm end, and the end face of described arc end is connected with an end face of described gimbal suspension three, and described straight-arm end is connected with described gimbal suspension four is vertical; Described gimbal suspension four is connected with described gimbal suspension five is vertical by its end face; Described gimbal suspension five-way is crossed its end face and is connected with described gimbal suspension six is vertical; Described gimbal suspension six one end is provided with tool ends end, in order to external tool; All there is torque motor in described gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, gimbal suspension four, gimbal suspension five and gimbal suspension six and all can rotate around respective axis direction.
Preferred scheme, described flange, gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, curved boom portion, gimbal suspension four, is connected by torque motor between gimbal suspension five and each interconnective parts of gimbal suspension six.
Preferred scheme further, described gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, curved boom portion, gimbal suspension four, gimbal suspension five and gimbal suspension six all adopt aluminium alloy to cast and form.
Further preferred scheme, the anglec of rotation of described gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, gimbal suspension four, gimbal suspension five and gimbal suspension six is positive/negative 360 °.
Further preferred scheme again, described universal multi-joint all-purpose robot also comprises control system and servo-drive system.
Described control system is used for the control to described multi-joint all-purpose robot movement locus.
Described servo-drive system is used for driving moment motor, performs the action of each several part, coordinates various different handgrip to make robot complete the action of programming or teaching.
Described flange plays fixation, can be arranged on each position of ground, body, support.
Described tool ends end is used for fixing various different cleft hand, to complete different actions.
By adopting such scheme, compared with prior art, its technique effect is the universal multi-joint all-purpose robot of one of the present invention:
1, flexibility ratio is high, applicability is wide: a kind of universal multi-joint all-purpose robot of the present invention adopts multiple universal structure, gimbal suspension number can arbitrarily combine, adopt pipeline principle, outer appearance part is mainly divided into cylinder straight-arm and gimbal suspension two parts, gimbal suspension can arbitrarily be combined into three axles straight-arm at three dimensions, four axles, the all-purpose robots such as six axles, even arbitrarily can be combined into tow-armed robot, eight axles are multiaxial joint robot even more, the following unlimited extension to serial manipulator can be met, solve from now on to the Structural Development problem of more multi-axis robot, for a shortcut has been laid in the rapid development of Robot industry in the future.
2, volume is little, lightweight, noise is little
The present invention adopts aluminium alloy as structure material, and has abandoned the reductor parts of conventional conception, makes complete machine weight very light.Adopt cylinder straight-arm and gimbal suspension directly to be connected by inner fixed electrical machinery in addition, volume is very little, has expanded the application market of all-purpose robot.Little volume, light body and parts, and there is no the break-in of the motor and speed reducer in conventional machines people, when the present invention's universal multi-joint all-purpose robot is run, noise is very little, provides comfortable, a quiet working environment to workman.
3, price is applicable to popular universal
The present invention adopts the version arranging torque motor in gimbal suspension, robot of the present invention is made to have reamed the cost of expensive items reductor, gimbal suspension and cylinder straight-arm can make modular size, avoiding different joint part and need to design the nonstandardized technique trouble that different parts bring, also reducing costs for producing mass.These advantages make domestic enterprise, and especially medium-sized and small enterprises can march toward the ranks of robot automation early, promote Chinese overall intelligence manufacturing industry level.
4, produce easy for installation, it is convenient to carry
Whole universal multi-joint all-purpose robot close structure, parts are simple, substantially be made up of structures such as straight-arm, gimbal suspension and motors, therefore production technology and assembly technology are all very simple, if client only needs when fixture is complete just robot to be put into operation for several hours, substantially reduce installation period.
Light just because of quality in addition, make robot of the present invention easy to carry, calling flexibly of factory's multi-environment can be adapted to, several screws of mounting flange of only need dismantling, just directly can put new environment use by single shouldering away.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of universal multi-joint all-purpose robot of the present invention;
Fig. 2 is each gimbal suspension internal structure schematic diagram of a kind of universal multi-joint all-purpose robot of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with instantiation also with reference to accompanying drawing, the present invention is described in more detail.Should be appreciated that, these describe just exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring concept of the present invention.
As depicted in figs. 1 and 2:
A kind of universal multi-joint all-purpose robot, comprise connect successively flange 1, gimbal suspension 1, gimbal suspension 23, straight-arm portion 4, gimbal suspension 35, curved boom portion 6, gimbal suspension 47, gimbal suspension 58 and gimbal suspension 69.Described flange 1 fixation, can be arranged on each position of ground, body, support.Described gimbal suspension 1, gimbal suspension 23, straight-arm portion 4, gimbal suspension 35, curved boom portion 6, gimbal suspension 47, gimbal suspension 58 and gimbal suspension 69 are tubulose.Described gimbal suspension 1 is vertical on described flange 1; Described gimbal suspension 23 is vertical at the side of described gimbal suspension 1; Described straight-arm portion 4 is vertical on the circumferential surface of described gimbal suspension 23; Described gimbal suspension 35 is set up in the top in described straight-arm portion 4 and vertical with described straight-arm portion 4; Described curved boom portion 6 is one " L " shape mechanical arm, and its one end is arc end 61, and the other end is straight-arm end 62, and the end face of described arc end 61 is connected with an end face of described gimbal suspension 35, and described straight-arm end 62 is connected with described gimbal suspension 47 is vertical; Described gimbal suspension 47 is connected with described gimbal suspension 58 is vertical by its end face; Described gimbal suspension 58 is connected with described gimbal suspension 69 is vertical by its end face; One end of described gimbal suspension 69 is also provided with tool ends end 91, described tool ends end 91 for fixing various different cleft hand, to complete different actions.
Be equipped with torque motor 10 in described gimbal suspension 1, gimbal suspension 23, straight-arm portion 4, gimbal suspension 35, gimbal suspension 47, gimbal suspension 58 and gimbal suspension 69 and all can do the rotation that angle is positive/negative 360 ° around respective axis direction.In Fig. 2,101 is the stator of torque motor, and 102 is the rotor of torque motor.
Described flange 1, gimbal suspension 1, gimbal suspension 23, straight-arm portion 4, gimbal suspension 35, curved boom portion 6, gimbal suspension 47, to be connected by torque motor 10 between gimbal suspension 58 and each adjacent component of gimbal suspension 69.Described gimbal suspension 1, gimbal suspension 23, straight-arm portion 4, gimbal suspension 35, curved boom portion 6, gimbal suspension 47, gimbal suspension 58 and gimbal suspension 69 all adopt aluminium alloy to cast and form.
Described universal multi-joint all-purpose robot also comprises control system and servo-drive system, described control system is used for the control to described multi-joint all-purpose robot movement locus, described servo-drive system performs the action of each several part, coordinates various different handgrip to make robot complete the action of programming or teaching.
Flange 1 plays the fixation to robot, and gimbal suspension 1 is connected with flange 1 by torque motor 10, then become first turning joint, the vertical direction of blue 1 plane of winding can rotate +/-360 °; Gimbal suspension 1 and gimbal suspension 23 fit together formation second turning joint by torque motor 10, can rotate +/-360 ° around the vertical direction being connected plane; Gimbal suspension 23 and straight-arm portion 4 are assembled into the 3rd turning joint again, extend robot arm lengths, increase working range; Straight-arm portion 4 is assembled by gimbal suspension 35 again, forms the 4th turning joint, extends length and working range equally; Last again by the combination of gimbal suspension 47, gimbal suspension 58, gimbal suspension 69, be assembled into the 5th and the 6th turning joint, be assembled into six axle all-purpose robots in this way, and realize the control to robot motion track by control system, servo-drive system performs the action of each several part, makes robot complete the action of programming or teaching.
The present invention and there is the flexibility of height, the feature such as diversity of assembling thinking, what adopt is dismountable connected mode, the all-purpose robots such as three axles, four axles, six axles, seven axles can be arbitrarily combined at three-dimensional space direction, even arbitrarily can be combined into tow-armed robot, eight axles even more multiaxial joint robot, the following unlimited extension to series and parallel connections robot can be met, solve from now on to the Structural Development problem of more multi-axis robot, for a shortcut has been laid in the rapid development of Robot industry in the future.
Described on end, the present invention has expanded the range of application of robot, be applicable to the assembling of electronics 3C production line, the working range such as loading and unloading, industrial welding, spraying, some glue, packaging, vision guide, intelligent screening of lathe, be applicable to the fields such as industrial, medical, civilian, military, popular price can use so portable and smart all-purpose robot, terminal use is come into operation and just can be returned in half a year.Namely the present invention solves the shortcoming of conventional machines people, is again that the depth development of serial manipulator, parallel robot from now on provides organization plan and control program simultaneously.
The foregoing is only preferred embodiment of the present invention, not in order to limit the scope of the invention, within the spirit and principles in the present invention all, any amendment done, equivalent to replace, be all included within protection scope of the present invention.
Claims (8)
1. a universal multi-joint all-purpose robot, is characterized in that: it comprise connect successively flange, gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, curved boom portion, gimbal suspension four, gimbal suspension five and gimbal suspension six; Described gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, curved boom portion, gimbal suspension four, gimbal suspension five and gimbal suspension six are tubulose; Described gimbal suspension one is vertically mounted on described flange; Described gimbal suspension two is vertically mounted on the side of described gimbal suspension one; Described straight-arm portion is vertically mounted on the outer surface of described gimbal suspension two; Described gimbal suspension three is arranged on the top in described straight-arm portion and vertical with described straight-arm portion; Described curved boom portion is one " L " shape mechanical arm, and its one end is arc end, and the other end is straight-arm end, and the end face of described arc end is connected with an end face of described gimbal suspension three, and described straight-arm end is connected with described gimbal suspension four is vertical; Described gimbal suspension four is connected with described gimbal suspension five is vertical by its end face; Described gimbal suspension five-way is crossed its end face and is connected with described gimbal suspension six is vertical; Described gimbal suspension six one end is provided with tool ends end, in order to external tool; All there is torque motor in described gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, gimbal suspension four, gimbal suspension five and gimbal suspension six and all can rotate around respective axis direction.
2. the universal multi-joint all-purpose robot of one according to claim 1, is characterized in that: described flange, gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, curved boom portion, gimbal suspension four, connected by torque motor between gimbal suspension five and each attaching parts of gimbal suspension six.
3. the universal multi-joint all-purpose robot of one according to claim 1, is characterized in that: described gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, curved boom portion, gimbal suspension four, gimbal suspension five and gimbal suspension six all adopt aluminium alloy to cast and form.
4. the universal multi-joint all-purpose robot of one according to claim 1, is characterized in that: the angle rotatable of described gimbal suspension one, gimbal suspension two, straight-arm portion, gimbal suspension three, gimbal suspension four, gimbal suspension five and gimbal suspension six is positive/negative 360 °.
5. the universal multi-joint all-purpose robot of one according to claim 1, is characterized in that: described universal multi-joint all-purpose robot also comprises control system and servo-drive system.
6. the universal multi-joint all-purpose robot of one according to claim 5, is characterized in that: described control system is used for the control to described multi-joint all-purpose robot movement locus.
7. the universal multi-joint all-purpose robot of one according to claim 5, is characterized in that: described servo-drive system is used for driving moment motor.
8. the universal multi-joint all-purpose robot of one according to claim 1, is characterized in that: described tool ends end can external various difform cleft hand, to complete different actions.
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| CN201510234105.8A CN104842366A (en) | 2015-05-11 | 2015-05-11 | Universal multi-joint all-purpose robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510234105.8A CN104842366A (en) | 2015-05-11 | 2015-05-11 | Universal multi-joint all-purpose robot |
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| CN201510234105.8A Pending CN104842366A (en) | 2015-05-11 | 2015-05-11 | Universal multi-joint all-purpose robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106670511A (en) * | 2017-01-05 | 2017-05-17 | 郑州坤博科技有限公司 | High-precision mechanical arm for lathe and lathe |
| CN109821975A (en) * | 2018-11-12 | 2019-05-31 | 沈阳自动化研究所(昆山)智能装备研究院 | A kind of press machine system based on tow-armed robot implantation |
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| CN1817573A (en) * | 2006-03-15 | 2006-08-16 | 哈尔滨工业大学 | Foldable space manipulator |
| US20110257786A1 (en) * | 2008-10-06 | 2011-10-20 | Caron L Ecuyer Louis Joseph | Portable robotic arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106670511A (en) * | 2017-01-05 | 2017-05-17 | 郑州坤博科技有限公司 | High-precision mechanical arm for lathe and lathe |
| CN109821975A (en) * | 2018-11-12 | 2019-05-31 | 沈阳自动化研究所(昆山)智能装备研究院 | A kind of press machine system based on tow-armed robot implantation |
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Application publication date: 20150819 |
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