CN105108750A - Drive mechanism used for five-freedom-degree carrying robot - Google Patents
Drive mechanism used for five-freedom-degree carrying robot Download PDFInfo
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- CN105108750A CN105108750A CN201510550572.1A CN201510550572A CN105108750A CN 105108750 A CN105108750 A CN 105108750A CN 201510550572 A CN201510550572 A CN 201510550572A CN 105108750 A CN105108750 A CN 105108750A
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Abstract
The invention discloses a drive mechanism used for a five-freedom-degree carrying robot. The drive mechanism comprises an arm part drive mechanism, a wrist part drive mechanism and a gripper drive mechanism. The arm part drive mechanism comprises an arm part telescopic hydraulic oil cylinder, an arm part rotation hydraulic oil cylinder and an arm part lifting hydraulic oil cylinder. The wrist part drive mechanism is a wrist part rotation hydraulic oil cylinder. The gripper drive mechanism is a dual-action single-plunger hydraulic oil cylinder. By means of the mode, the drive mechanism has the advantages of being novel in structure, simple in structure, strong in power, flexible in reaction, capable of achieving continuous path control, convenient to maintain, capable of improving efficiency, convenient to use, practical and the like, and has wide market prospects in popularization.
Description
Technical field
The present invention relates to transfer robot field, particularly relate to a kind of driving mechanism for five degree of freedom transfer robot.
Background technology
Along with the develop rapidly of modernization science and technology and the progress of society, robot system is more and more extensive in the application of every field.At present, the application of industrial robot mainly contains arc-welding, spot welding, assembles, copies mechanically, sprays paint, detects, grinding and polishing, Laser Processing etc., wherein transfer robot is widely used in carrying work.User is more and more higher to factors dictate such as transfer robot speed, precision, cost, structures, but existing transfer robot can not meet many requirements of people.
Summary of the invention
The technical problem that the present invention mainly solves is to provide a kind of driving mechanism for five degree of freedom transfer robot, by adopting arm driving mechanism, wrist driving mechanism and paw driving mechanism actuating arm portion mechanism, wrist mechanism and paw mechanism respectively, different actions is completed to realize arm section mechanism, wrist mechanism and paw mechanism, structure is simple, fitness is high, control is flexible, stable performance, cost is low, space is large, precision is high, efficiency improves, the driving mechanism for five degree of freedom transfer robot universal on have market prospects widely.
For solving the problems of the technologies described above, the invention provides a kind of driving mechanism for five degree of freedom transfer robot, for driving the executing agency of transfer robot, described executing agency comprises arm section mechanism, wrist mechanism and paw mechanism, comprise: arm driving mechanism, wrist driving mechanism and paw driving mechanism, described arm driving mechanism comprises arm telescopic hydraulic oil cylinder, arm revolution hydraulic jack and up-down traverse of the arm hydraulic jack, described wrist driving mechanism is wrist revolution hydraulic jack, and described paw driving mechanism is double acting single plunger hydraulic jack.
In a preferred embodiment of the present invention, described arm driving mechanism, described wrist driving mechanism are connected described arm section mechanism, described wrist mechanism and described paw mechanism respectively by oil-out with oil-in with described paw driving mechanism.
The invention has the beneficial effects as follows: the present invention be used for five degree of freedom transfer robot driving mechanism has novel structure, structure is simple, power is strong, be quick on the draw, can realize continuous path controls, convenient for maintaining, efficiency raising, the advantage such as convenient and practical, have market prospects widely popularizing of the driving mechanism for five degree of freedom transfer robot.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation of driving mechanism one preferred embodiment for five degree of freedom transfer robot of the present invention.
Detailed description of the invention
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention comprises:
For a driving mechanism for five degree of freedom transfer robot, for driving the executing agency of transfer robot, described executing agency comprises arm section mechanism, wrist mechanism and paw mechanism, comprising: arm driving mechanism, wrist driving mechanism and paw driving mechanism.
Described arm driving mechanism comprises arm telescopic hydraulic oil cylinder 5, arm revolution hydraulic jack 3 and up-down traverse of the arm hydraulic jack 1, described wrist driving mechanism is wrist revolution hydraulic jack 4, described paw driving mechanism is double acting single plunger hydraulic jack 2, adopt arm driving mechanism, wrist driving mechanism and paw driving mechanism actuating arm portion mechanism, wrist mechanism and paw mechanism respectively, complete different actions to realize arm section mechanism, wrist mechanism and paw mechanism, structure be simple, fitness is high, cost is low, space is large, precision is high, efficiency improve.
Preferably, described arm driving mechanism, described wrist driving mechanism are connected described arm section mechanism, described wrist mechanism and described paw mechanism respectively by oil-out with oil-in with described paw driving mechanism, adopt hydraulic jack as drive unit, overcome traditional, pneumatic, electronic, to be mechanically operatedly short of power, the shortcoming such as sensitivity is low, motion of uncontrollable continuous path, novel structure, stable performance, control are flexible.
The beneficial effect that the present invention is used for the driving mechanism of five degree of freedom transfer robot is:
One, by adopting arm driving mechanism, wrist driving mechanism and paw driving mechanism actuating arm portion mechanism, wrist mechanism and paw mechanism respectively, complete different actions to realize arm section mechanism, wrist mechanism and paw mechanism, structure be simple, fitness is high, cost is low, space is large, precision is high, efficiency improve;
Two, by adopting hydraulic jack as drive unit, overcoming traditional, pneumatic, electronic, to be mechanically operatedly short of power, the shortcoming such as sensitivity is low, the motion of uncontrollable continuous path, novel structure, stable performance, control are flexible.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (2)
1. the driving mechanism for five degree of freedom transfer robot, for driving the executing agency of transfer robot, described executing agency comprises arm section mechanism, wrist mechanism and paw mechanism, it is characterized in that, comprise: arm driving mechanism, wrist driving mechanism and paw driving mechanism, described arm driving mechanism comprises arm telescopic hydraulic oil cylinder, arm revolution hydraulic jack and up-down traverse of the arm hydraulic jack, described wrist driving mechanism is wrist revolution hydraulic jack, and described paw driving mechanism is double acting single plunger hydraulic jack.
2. the driving mechanism for five degree of freedom transfer robot according to claim 1, it is characterized in that, described arm driving mechanism, described wrist driving mechanism are connected described arm section mechanism, described wrist mechanism and described paw mechanism respectively by oil-out with oil-in with described paw driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550572.1A CN105108750A (en) | 2015-09-01 | 2015-09-01 | Drive mechanism used for five-freedom-degree carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550572.1A CN105108750A (en) | 2015-09-01 | 2015-09-01 | Drive mechanism used for five-freedom-degree carrying robot |
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| Publication Number | Publication Date |
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| CN105108750A true CN105108750A (en) | 2015-12-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510550572.1A Pending CN105108750A (en) | 2015-09-01 | 2015-09-01 | Drive mechanism used for five-freedom-degree carrying robot |
Country Status (1)
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| CN (1) | CN105108750A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3945676A (en) * | 1973-09-14 | 1976-03-23 | Kabushiki Kaisha Komatsu Seisakusho | Gripping device |
| CN86200371U (en) * | 1986-01-21 | 1988-10-05 | 昆明工学院 | Hydraulic manipulators |
| CN2552649Y (en) * | 2002-06-24 | 2003-05-28 | 山东鲁能智能技术有限公司 | Adaptive high voltage insulating manipulator |
| JP2008194789A (en) * | 2007-02-14 | 2008-08-28 | Shin Meiwa Ind Co Ltd | Inner force sense presentation device, and power assist arm equipped therewith, and power assist device |
| CN101811304A (en) * | 2010-04-23 | 2010-08-25 | 山东大学 | Hydraulic drive system of four-foot walking robot |
| CN201669703U (en) * | 2010-05-14 | 2010-12-15 | 郑州新大方重工科技有限公司 | Turnover mechanical arm |
| EP2620260A1 (en) * | 2010-09-20 | 2013-07-31 | Proytecsa Security. S.L. | Remote-controlled robot for special operations |
| CN204913910U (en) * | 2015-09-01 | 2015-12-30 | 苏州达力客自动化科技有限公司 | A actuating mechanism for five degree of freedom transfer robots |
-
2015
- 2015-09-01 CN CN201510550572.1A patent/CN105108750A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3945676A (en) * | 1973-09-14 | 1976-03-23 | Kabushiki Kaisha Komatsu Seisakusho | Gripping device |
| CN86200371U (en) * | 1986-01-21 | 1988-10-05 | 昆明工学院 | Hydraulic manipulators |
| CN2552649Y (en) * | 2002-06-24 | 2003-05-28 | 山东鲁能智能技术有限公司 | Adaptive high voltage insulating manipulator |
| JP2008194789A (en) * | 2007-02-14 | 2008-08-28 | Shin Meiwa Ind Co Ltd | Inner force sense presentation device, and power assist arm equipped therewith, and power assist device |
| CN101811304A (en) * | 2010-04-23 | 2010-08-25 | 山东大学 | Hydraulic drive system of four-foot walking robot |
| CN201669703U (en) * | 2010-05-14 | 2010-12-15 | 郑州新大方重工科技有限公司 | Turnover mechanical arm |
| EP2620260A1 (en) * | 2010-09-20 | 2013-07-31 | Proytecsa Security. S.L. | Remote-controlled robot for special operations |
| CN204913910U (en) * | 2015-09-01 | 2015-12-30 | 苏州达力客自动化科技有限公司 | A actuating mechanism for five degree of freedom transfer robots |
Non-Patent Citations (1)
| Title |
|---|
| 谭益松等: "轻型液压平动搬运机械手研制", 《液压与气动》 * |
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Application publication date: 20151202 |
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| RJ01 | Rejection of invention patent application after publication |