CN107243893A - Robot - Google Patents
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- Publication number
- CN107243893A CN107243893A CN201710621120.7A CN201710621120A CN107243893A CN 107243893 A CN107243893 A CN 107243893A CN 201710621120 A CN201710621120 A CN 201710621120A CN 107243893 A CN107243893 A CN 107243893A
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- Prior art keywords
- mobile
- gyro black
- black assembly
- forearm
- hinged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Robot, belongs to robotic technology field.The present invention realize the flexibility of robot spatial movement, structural compactness advantage.The present invention has five frees degree, and upper end and the swivel base of base are hinged, and the upper end both sides of swivel base are hinged with large arm and rocking bar respectively, and upper end and the forearm of large arm are hinged, and the other end of rocking bar and the lower end of pull bar are hinged, and upper end and the forearm of pull bar are hinged；Forearm bracket is provided with mobile gyro black assembly, mobile gyro black assembly couples with rotary motion linear motion conversion mechanism, rotary motion linear motion conversion mechanism is hinged with mobile motor, mobile gyro black assembly does linear reciprocating motion by directive wheel on guide rail, mobile gyro black assembly rotor assembly does gyration by revolution driving motor, mobile gyro black assembly rotor assembly is fixedly arranged at the front end with clamping jaw cylinder, tool seat is fixed on the front end of clamping jaw cylinder, clamping jaw is additionally provided with tool seat, clamping jaw is hinged with clamping jaw cylinder.The present invention is used to replace mankind's operation.
Description
Technical field
The present invention relates to a kind of robot, belong to robotic technology field.
Background technology
Robot is the automatic installations for performing work, and it can both receive mankind commander, advance volume can be run again
Volume program, can also according to the principle guiding principle action specified with artificial intelligence technology, with the continuous development of China's economy and
Scientific and technical advances by leaps and bounds so that robot has quite wide in industries such as stacking, gluing, spot welding, spraying, carrying, measurements
General application.
The robot in series or in parallel that current automated production scene is used, as carrying, is welded, spraying, assembling etc.
Use, but need at some to provide greater impact power, and higher linear reciprocating motion speed is needed in the force direction
Degree, while may be spinning motion, can additionally use some to be directed to the instrument that special process is designed, to such complicated technology
Production scene, at present still without suitable robot can use.
The content of the invention
The invention aims to solve above-mentioned technical problem, and then provide robot.
Technical scheme：
Robot, it has five frees degree, including base, swivel base, large arm, forearm, pull bar and rocking bar；Base is machine
People is integrally attached on fixed or packaged type platform, and upper end and the swivel base of base are hinged, and swivel base can be returned relative to base
Transhipment is dynamic, and the upper end both sides of swivel base are hinged with large arm and rocking bar respectively, and upper end and the forearm of large arm are hinged, the other end of rocking bar and
The lower end of pull bar is hinged, and pull bar external part is provided with Weight plate, and upper end and the forearm of pull bar are hinged, and large arm can be done relative to base
Move forward and backward, forearm relative to base can do above and below elevating movement；
Described forearm includes mobile motor, revolution driving motor, mobile gyro black assembly, directive wheel, mobile revolution
Component rotor assembly, clamping jaw cylinder, rotary motion-linear motion conversion mechanism, clamping jaw, tool seat, guide rail and forearm bracket, institute
State mobile motor and be fixed on forearm bracket rear end side, forearm bracket is provided with mobile gyro black assembly, mobile gyro black assembly
Both sides couple with rotary motion-linear motion conversion mechanism, rotary motion-linear motion conversion mechanism and mobile motor
It is hinged, forearm bracket is provided with guide rail, guide rail is to be all provided with two and parallel arrangement, the base angle of lower end four of mobile gyro black assembly
There is directive wheel, mobile gyro black assembly does linear reciprocating motion by directive wheel on guide rail, and revolution driving motor is turned round with mobile
Component arranges that the rotor assembly of mobile gyro black assembly does ± 180 ° of gyrations by revolution driving motor, mobile up and down side by side
Gyro black assembly rotor assembly is fixedly arranged at the front end with clamping jaw cylinder, and tool seat is fixed on the cylinder body front end of clamping jaw cylinder, tool seat
It is that clamping jaw is additionally provided with outer toroidal taper hole structure, tool seat inside front end, the rear end of clamping jaw is cut with scissors with the lever of clamping jaw cylinder
Connect.
It is preferred that：Described rotary motion-linear motion conversion mechanism includes chain and sprocket wheel, and chain is two parallel cloth
Put, the front end of chain is arranged on forearm bracket by forward sprocket axle, the rear end of chain is arranged on small by rearward sprocket axle
On arm support, two chains are arranged on the outside of forearm bracket, are provided with rearward sprocket axle on drive sprocket I, forward sprocket axle
Driven sprocket I is installed, mobile motor is connected by reductor with drive sprocket I.
It is preferred that：Described revolution driving motor above and below mobile gyro black assembly with being arranged in juxtaposition, and revolution driving motor is with moving
The diameter parallel of dynamic gyro black assembly, revolution driving motor via reducer is arranged on mounting bracket, and mounting bracket is arranged on and moved back to
Turn on component, the output end of reductor is provided with drive sprocket II, and the output end of the rotor assembly of mobile gyro black assembly is provided with
Drive sprocket II, drive sprocket II drives drive sprocket II and the rotor assembly of mobile gyro black assembly to do ± 180 ° by Chain conveyer
Gyration.
It is preferred that：The upper surface of described mobile gyro black assembly is provided with adjustment bolt mounting seat, adjustment bolt mounting seat
On adjustment bolt is installed, described adjustment bolt is acted against on mounting bracket.
It is preferred that：Described mobile gyro black assembly rotor assembly uses two ends supporting way, and the bearing chamber of rotor assembly is
Demountable structure, the both sides of the bearing chamber of described mobile gyro black assembly rotor assembly are separately installed with bearing chamber set, described
Bearing chamber set, which is mounted by means of bolts in bearing chamber both sides, bearing chamber set, is provided with spring bearing, and mobile gyro black assembly turns
The rotary shaft of sub-component be arranged in bearing chamber and by bearing chamber cover in spring bearing support and install.
It is preferred that：Directive wheel at the described each base angle of mobile gyro black assembly be divided into above and below two parts, the guiding on top
Wheel above guide rail with being fitted, and the directive wheel of bottom is fitted with the lower surface of forearm bracket.
The invention has the advantages that：The present invention has five frees degree, and swivel base can do revolution fortune relative to base
Dynamic, large arm can be moved forward and backward relative to base, forearm relative to base can do above and below elevating movement, mobile gyro black assembly turns
Son, tool seat and clamping jaw cylinder can do ± 180 ° of gyrations along forearm axis direction, by controlling revolution driving motor controllable
The output torque of the mobile gyro black assembly of system, its level of torque is referring to table 1；Rotary motion-linear motion conversion mechanism drives mobile
The rotary motion of dynamic motor is eventually converted into the linear motion of mobile gyro black assembly, can control to move the speed of motor and
Torque is so as to control to move the point-to-point speed of gyro black assembly and the impulsive force in the direction of motion, when impulsive force is needed
Mobile gyro black assembly high-speed motion, the inertia force of the torque provided by motor and mobile gyro black assembly in itself is in motion side
The impulsive force of one needs is provided upwards.Realize the flexibility of robot spatial movement, the advantage of structural compactness, while
Additionally can again with higher point-to-point speed and while realize gyration in a certain axle direction of motion specified
Higher impulsive force is provided, referring to table 2.
Table 1：Robot output torque table
| Motor speed rpm | Motor torque (Nm) | Output torque (Nm) | |
| Rated speed | 1500 | 8.34 | 292 |
| Maximum speed | 3000 | 4.74 | 167 |
| Instantaneous torque capacity | — | 20.85 | 730 |
Table 2：Robot impact force data table
| Motor speed rpm | Impulsive force (kgf) |
| 900 | 2298.1 |
| 1100 | 2626.4 |
| 1300 | 2954.7 |
Brief description of the drawings
Fig. 1 is the overall structure stereogram of the present invention；
Fig. 2 is the stereogram of forearm；
Fig. 3 is mobile gyro black assembly stereogram
Fig. 4 is the local main sectional view of mobile gyro black assembly；
Fig. 5 is the anterior chain drive schematic diagram of forearm；
Fig. 6 is forearm rear portion chain drive schematic diagram；
Fig. 7 is layout drawing of the directive wheel at the lower end base angle of mobile gyro black assembly,
Fig. 8 is bearing chamber sectional view；
Fig. 9 is impact experiment design sketch of the robot in the direction of motion；
1- bases in figure, 2- swivel bases, 3- large arm, 4- forearms, 5- pull bars, 6- rocking bars, 7- Weight plates, 8- movement driving electricity
Machine, 9- revolution driving motors, 10- movement gyro black assemblies, 11- directive wheels, 12- movement gyro black assembly rotor assembly, 13- clamping jaws
Cylinder, 14- rotary motions-linear motion conversion mechanism, 15- clamping jaws, 16- tool seats, 17- guide rails, 18- forearm brackets, 19-
Reductor, 20- mounting brackets, 21- drive sprockets II, 22- drive sprockets II, 23- bearing chambers, 24- adjustment bolts, 25- front portions chain
Wheel shaft, 26- rearward sprocket axles, 27- drive sprockets I, 28- driven sprockets I, 29- bearing chamber sets, 30- adjustment bolt mounting seats.
Embodiment
The one exemplary embodiment of the present invention is described hereinafter in connection with accompanying drawing.For clarity and conciseness,
All features of actual embodiment are not described in the description.It should be understood, however, that developing any this actual implementation
Many decisions specific to embodiment must be made during example, to realize the objectives of developer, for example, symbol
Those restrictive conditions related to system and business are closed, and these restrictive conditions may have with the difference of embodiment
Changed.In addition, it also should be appreciated that, although development is likely to be extremely complex and time-consuming, but to having benefited from the present invention
For those skilled in the art of disclosure, this development is only routine task.
Herein, in addition it is also necessary to which explanation is a bit, in order to avoid having obscured the present invention because of unnecessary details, in the accompanying drawings
It illustrate only and according to the closely related apparatus structure of the solution of the present invention and/or process step, and eliminate and the present invention
The little other details of relation.
Embodiment one：Illustrate present embodiment with reference to Fig. 1-Fig. 8, the robot of present embodiment, it has five
The individual free degree, including base 1, swivel base 2, large arm 3, forearm 4, pull bar 5 and rocking bar 6；Base 1 is integrally attached to robot to fix
In formula or packaged type platform, upper end and the swivel base 2 of base 1 are hinged, and swivel base 2 can do gyration, swivel base 2 relative to base 1
Upper end both sides be hinged respectively with large arm 3 and rocking bar 6, upper end and the forearm 4 of large arm 3 are hinged, the other end of rocking bar 6 and pull bar 5
Lower end be hinged, pull bar external part is provided with Weight plate 7, and upper end and the forearm 4 of pull bar 5 are hinged, and large arm 3 can relative to base 1
Move forward and backward, forearm 4 relative to base 1 can do above and below elevating movement；
Described forearm 4 includes mobile motor 8, revolution driving motor 9, mobile gyro black assembly 10, directive wheel 11, shifting
Dynamic gyro black assembly rotor assembly 12, clamping jaw cylinder 13, rotary motion-linear motion conversion mechanism 14, clamping jaw 15, tool seat 16,
Guide rail 17 and forearm bracket 18, the mobile motor 8 are fixed on the rear end of forearm bracket 18 side, and forearm bracket is provided with shifting
Dynamic gyro black assembly 10, the both sides of mobile gyro black assembly 10 couple with rotary motion-linear motion conversion mechanism 14, and rotary motion-
Linear motion conversion mechanism 14 is hinged with mobile motor 8, and forearm bracket 18 is provided with guide rail 17, and guide rail 17 is two and flat
Directive wheel 11 is equipped with row arrangement, the base angle of lower end four of mobile gyro black assembly 10, mobile gyro black assembly 10 passes through directive wheel
11 do linear reciprocating motion on guide rail 17, and revolution driving motor 9 is arranged up and down side by side with mobile gyro black assembly 10, mobile revolution
Component rotor assembly 12 does ± 180 ° of gyrations, the front end of mobile gyro black assembly rotor assembly 12 by revolution driving motor 9
Clamping jaw cylinder 13 is fixed with, it is outer loudspeaker that tool seat 16, which is fixed on inside the cylinder body front end of clamping jaw cylinder 13, the front end of tool seat 16,
Clamping jaw 15 is additionally provided with degree of lip-rounding taper hole structure, tool seat 16, the rear end of clamping jaw 15 and the lever of clamping jaw cylinder 13 are hinged.Such as
This is set, such a arrangement that motor 8 is fixed on to the rear end side of forearm bracket 18, the output end of its motor 8
The power of output directly acts on rotary motion-linear motion conversion mechanism 14, and this mode is while transmission efficiency is improved
Also the maximum impact force that mobile gyro black assembly 10 is provided is substantially increased, while the mobile upper end of gyro black assembly 10 has been arranged in juxtaposition
Revolution driving motor 9, the rotor assembly 12 of the mobile gyro black assembly of the driving of revolution driving motor 9 is rotated so that installed in moving back to
Turn the axial rotation of clamping jaw cylinder 13 of the front end of rotor assembly 12 of component, so in motor 8 and the work of revolution driving motor 9
Under, robot includes turn of inertia force and mobile gyro black assembly of mobile gyro black assembly in itself in itself in the impact of the direction of motion
Power, the target efficiency that this mode reaches is higher, and this conclusion is proved by testing, and testing program is as follows：
Scheme 1：Gyro black assembly 10 is driven to carry out impact effect simulation in subjects using motor 8；
Scheme 2：Utilize the compound motion of the straight line+revolution produced under motor 8 and the common operational of revolution driving motor 9
Impact effect simulation is carried out in subjects；
Operational version 1 and scheme 2 enter line number in same rigidity, the subjects of same thickness with same speed respectively
Secondary Shocks are tested, and obtain the time for completing breakdown test object for several times, result of the test such as Fig. 9：
The maximum breakdown time that can be seen that scheme 2 from breakdown time curve is less than the minimum breakdown time of scheme 1, and
The breakdown time basic held stationary of scheme 2, the efficiency far that punctures of explanation scheme 2 is higher than scheme 1.Scheme 1 is due to puncturing
During its instrument situation about being stuck in subjects occurs, cause its breakdown time to change greatly, it is difficult to ensure that it punctures
Efficiency.Therefore mode of the present invention is in addition to substantially increasing impulsive force, and it punctures efficiency (namely operating efficiency) and also obtained
It is obviously improved, ensure that the stability of its work.
The guide rail 17 of the present invention is two and is arranged in parallel, and can bear more complicated stressing conditions, and tool seat 16 is consolidated
The cylinder body front end of clamping jaw cylinder 13 is scheduled on, the preposition arrangement of such a cylinder is easy to wiring, and cable and mobile gyro black assembly
Servo-actuated, total is easy and effective.
Embodiment two：Illustrate present embodiment, the rotation described in the robot of present embodiment with reference to Fig. 1-Fig. 8
Motion-linear motion conversion mechanism 14 includes chain and sprocket wheel, and chain is two parallel arrangements, and the front end of chain passes through anterior chain
Wheel shaft 25 is arranged on forearm bracket 18, and the rear end of chain is arranged on forearm bracket 18 by rearward sprocket axle 26, two chains
Bar is arranged in be provided with drive sprocket I 27, forward sprocket axle 25 on the outside of forearm bracket 18, rearward sprocket axle 26 and is provided with
Driven sprocket I 28, mobile motor 8 is connected by reductor 19 with drive sprocket I 27.It is arranged such, this arrangement makes
The overall structure of forearm is compacter, and the rotary motion of mobile motor 8 is eventually converted into the reciprocal of mobile gyro black assembly 10
Linear motion, can control to move the speed of motor 8 and torque to control the linear motion for moving gyro black assembly 10 fast
Spend and in the impulsive force of linear movement direction, the high-speed motion of gyro black assembly 10 is moved when impulsive force is needed, passes through movement
The inertia force of the torque and moving assembly that motor 8 is provided in itself provides the impulsive force of a needs in the movement direction.
Embodiment three：Illustrate present embodiment, the revolution described in the robot of present embodiment with reference to Fig. 1-Fig. 8
Motor 9 is arranged in juxtaposition with mobile gyro black assembly about 10, and the axis of revolution driving motor 9 and mobile gyro black assembly 10 is put down
OK, revolution driving motor 9 is arranged on mounting bracket 20 by reductor 19, and mounting bracket 20 is arranged on mobile gyro black assembly 10,
The output end of reductor 19 is provided with drive sprocket II 21, and the output end of mobile gyro black assembly rotor assembly 12 is provided with driving-chain
II 22 are taken turns, drive sprocket II 21 drives drive sprocket II 22 and mobile gyro black assembly rotor assembly 12 to do ± 180 ° by Chain conveyer
Gyration.
Embodiment four：Illustrate present embodiment, the movement described in the robot of present embodiment with reference to Fig. 1-Fig. 8
The upper surface of gyro black assembly 10 is provided with adjustment bolt mounting seat 30, adjustment bolt mounting seat 30 and is provided with adjustment bolt 24,
Described adjustment bolt 24 is acted against on mounting bracket 20.It is arranged such, the fixed form that described mounting bracket 20 passes through slotted hole
On the upper surface of gyro black assembly 10, the logical adjustment bolt 24 acted against on mounting bracket 20 ensure that reductor 19 is defeated
Go out to hold the workplace of output end drive sprocket II 22 of drive sprocket II 21 and mobile gyro black assembly rotor assembly 12 away from, it is ensured that chain
Bar is in tensioning state all the time.
Embodiment five：Illustrate present embodiment, the movement described in the robot of present embodiment with reference to Fig. 1-Fig. 8
Gyro black assembly rotor assembly 12 uses two ends supporting way, and the bearing chamber 23 of mobile gyro black assembly rotor assembly 12 is detachable knot
Structure, the both sides of the bearing chamber 23 of described mobile gyro black assembly rotor assembly 12 are separately installed with bearing chamber set 29, described axle
Hold room set 29 and be mounted by means of bolts on the both sides of bearing chamber 23, bearing chamber, which covers, is provided with spring bearing in 29, mobile revolution group
The rotary shaft of part rotor assembly 12, which is arranged in bearing chamber 23 and the spring bearing in 29 is covered by bearing chamber, supports installation.So
Set, rotor assembly uses two ends supporting way, its bearing chamber is demountable structure, and this demountable structure is more convenient for rotor set
Part carries out the dismounting of maintenance process after a long time use, its structure easy removal, when saving maintenance and conserving
Between.
Embodiment six：Illustrate present embodiment, the movement described in the robot of present embodiment with reference to Fig. 1-Fig. 8
11 points of directive wheel at each base angle of gyro black assembly 10 is two parts up and down, and the directive wheel 11 on top above guide rail 17 with pasting
Close, the directive wheel 11 of bottom is fitted with the lower surface of forearm bracket 18.The directive wheel 11 on top primarily serves guide effect, bottom
Directive wheel 11 play a part of equilibrium torsion torque.
Further, according to a kind of implementation, the guide rail 17 is semicircle long guideway.
Further, according to a kind of implementation, the mobile motor 8 and revolution driving motor 9 are servomotor,
Controlled by motion controller and servo-driver.Kinematics and dynamic characteristic with robot, flexible movements, resetting
Precisely, compact conformation, floor space is small, it is easy to safeguard for precision and movement locus precision controlling, is easy to operation.
Further, according to a kind of implementation, described rotary motion-linear motion conversion mechanism 14 can also be electricity
Dynamic push rod, threaded screw rod or belt.
Further, according to a kind of implementation, the Chain conveyer of described mobile gyro black assembly 10 can also pass for gear
The kinds of drive such as dynamic, V belt translation.
Further, according to a kind of implementation, bearing chamber 23 can be set to detachable and non-disconnectable according to actual conditions
Unload two ways.
The operation principle of the present invention：
Robot is integrally attached on fixed or packaged type platform by base 1, and spindle motor driving base 1 is with turning
The RV reductors being hinged between seat 2, can drive swivel base 2 to do reciprocating rotating motion, and two spindle motors driving swivel base 2 is cut with scissors with large arm 3
The RV reductors connect, can drive large arm 3 to move back and forth, the RV reductors that three spindle motors driving swivel base 2 is hinged with rocking bar 6, can
Drive pull bar 5 act so that drive forearm 4 do above and below elevating movement, four spindle motors driving reductor drive rotary motion-straight line
Movement conversion mechanism 14, rotary motion-linear motion conversion mechanism 14 drives mobile gyro black assembly 11 to do reciprocal straight along guide rail 17
Line is moved, and five spindle motors driving chain-drive mechanism drives mobile gyro black assembly 10 to do gyration.The flexible fortune of clamping jaw cylinder 13
It is dynamic, it can drive clamping jaw 15 promptly or the instrument in back off tool 16, motor used in robot is servomotor, by
Motion controller is controlled with servo-driver, kinematics and dynamic characteristic with robot, flexible movements, resetting essence
Precisely, compact conformation, floor space is small, it is easy to safeguard for degree and movement locus precision controlling, is easy to operation, the rotation of four spindle motors
Motion is eventually converted into the linear motion of mobile gyro black assembly 10, can control servomotor speed and torque so as to controlling to move
The output torque and point-to-point speed and the impulsive force in the direction of motion of dynamic gyro black assembly 10, are moved when impulsive force is needed
The dynamic high-speed motion of gyro black assembly 10, the torque provided by motor and mobile gyro black assembly 10 inertia force of itself are in the direction of motion
The upper impulsive force that a needs are provided, while the size feedback of impulsive force is monitored, when impulsive force reaches setting permissible value higher limit
When impact stop, motor reversal retract, instruction and feedback use high speed communication pattern, it is ensured that receive feedback and send control instruction
Real-time.Robot multi-freedom links, and can complete more complicated spatial displacements and running orbit.RV used in robot
Reductor has that anti-impact force is strong, moment of torsion big, small volume, lightweight, gear range is big, speed reducing ratio is big, long lifespan, positioning accurate
Many advantages, such as degree height, precision keep stabilization, efficiency high, small vibration, stable drive, compared with the harmonic wave speed reducing machine commonly used in robot
With much higher fatigue strength, rigidity and life-span, and return difference stable accuracy.
Present embodiment is the exemplary illustration to this patent, does not limit its protection domain, people in the art
Member can also be changed to its part, as long as no the Spirit Essence beyond this patent, all in the protection domain of this patent.
Claims (6)
1. robot, it has five frees degree, including base (1), swivel base (2), large arm (3), forearm (4), pull bar (5) and shakes
Bar (6)；Base (1) is integrally attached to robot on fixed or packaged type platform, upper end and the swivel base (2) of base (1)
Be hinged, swivel base (2) can do gyration relative to base (1), the upper end both sides of swivel base (2) respectively with large arm (3) and rocking bar (6)
It is hinged, upper end and the forearm (4) of large arm (3) are hinged, and the lower end of the other end and pull bar (5) of rocking bar (6) is hinged, pull bar external part
Weight plate (7) is installed, upper end and the forearm (4) of pull bar (5) are hinged, and large arm (3) can be moved forward and backward relative to base (1),
Forearm (4) relative to base (1) can do above and below elevating movement；
Above-mentioned roboting features are：Described forearm (4) includes mobile motor (8), revolution driving motor (9), movement
Gyro black assembly (10), directive wheel (11), mobile gyro black assembly rotor assembly (12), clamping jaw cylinder (13), rotary motion-straight line fortune
Manual converting mechanism (14), clamping jaw (15), tool seat (16), guide rail (17) and forearm bracket (18), the mobile motor (8)
Forearm bracket (18) rear end side is fixed on, forearm bracket is provided with mobile gyro black assembly (10), mobile gyro black assembly (10)
Both sides couple with rotary motion-linear motion conversion mechanism (14), and rotary motion-linear motion conversion mechanism (14) is driven with mobile
Dynamic motor (8) is hinged, and forearm bracket (18) is provided with guide rail (17), and guide rail (17) is two and parallel arrangement, mobile revolution group
Directive wheel (11) is equipped with the base angle of lower end four of part (10), mobile gyro black assembly (10) is by directive wheel (11) in guide rail
(17) linear reciprocating motion is done on, revolution driving motor (9) is arranged up and down side by side with mobile gyro black assembly (10), mobile revolution group
Part rotor assembly (12) does ± 180 ° of gyrations by revolution driving motor (9), mobile gyro black assembly rotor assembly (12)
Clamping jaw cylinder (13) is fixedly arranged at the front end with, tool seat (16) is fixed on before the cylinder body front end of clamping jaw cylinder (13), tool seat (16)
Internal end is that clamping jaw (15) is additionally provided with outer toroidal taper hole structure, tool seat (16), rear end and the clamping jaw gas of clamping jaw (15)
The lever of cylinder (13) is hinged.
2. robot according to claim 1, it is characterised in that：Described rotary motion-linear motion conversion mechanism
(14) chain and sprocket wheel are included, chain is two parallel arrangements, and the front end of chain is arranged on forearm by forward sprocket axle (25)
On support (18), the rear end of chain is arranged on forearm bracket (18) by rearward sprocket axle (26), and two chains are arranged in small
On the outside of arm support (18), be provided with rearward sprocket axle (26) on drive sprocket I (27), forward sprocket axle (25) be provided with it is driven
Chain wheel I (28), mobile motor (8) is connected by reductor (19) with drive sprocket I (27).
3. robot according to claim 1, it is characterised in that：Described revolution driving motor (9) and mobile revolution group
Part (10) is arranged in juxtaposition up and down, revolution driving motor (9) and the diameter parallel of mobile gyro black assembly (10), revolution driving motor
(9) it is arranged on by reductor (19) on mounting bracket (20), mounting bracket (20) is arranged on mobile gyro black assembly (10), reductor
(19) output end is provided with drive sprocket II (21), and the output end of mobile gyro black assembly rotor assembly (12) is provided with driving-chain
II (22) are taken turns, drive sprocket II (21) drives drive sprocket II (22) and mobile gyro black assembly rotor assembly (12) by Chain conveyer
Do ± 180 ° of gyrations.
4. robot according to claim 3, it is characterised in that：Install the upper surface of described mobile gyro black assembly (10)
Have and adjustment bolt (24), described adjustment bolt are installed in adjustment bolt mounting seat (30), adjustment bolt mounting seat (30)
(24) act against on mounting bracket (20).
5. robot according to claim 1, it is characterised in that：Described mobile gyro black assembly rotor assembly (12) uses
Two ends supporting way, the bearing chamber (23) of the rotor assembly (12) of mobile gyro black assembly is demountable structure, and described moves back to
The both sides for turning the bearing chamber (23) of the rotor assembly (12) of component are separately installed with bearing chamber set (29), described bearing chamber set
(29) it is mounted by means of bolts in bearing chamber (23) both sides, bearing chamber set (29) and spring bearing is installed, mobile revolution group
The rotary shaft of the rotor assembly (12) of part is arranged in bearing chamber (23) and supported by the spring bearing in bearing chamber set (29)
Install.
6. robot according to claim 4, it is characterised in that：At each base angle of described mobile gyro black assembly (10)
Directive wheel (11) be divided into above and below two parts, the directive wheel (11) on top above guide rail (17) with fitting, the directive wheel of bottom
(11) lower surface with forearm bracket (18) is fitted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710621120.7A CN107243893A (en) | 2017-07-27 | 2017-07-27 | Robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710621120.7A CN107243893A (en) | 2017-07-27 | 2017-07-27 | Robot |
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|---|---|
| CN107243893A true CN107243893A (en) | 2017-10-13 |
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| CN201710621120.7A Pending CN107243893A (en) | 2017-07-27 | 2017-07-27 | Robot |
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| CN108489291A (en) * | 2018-03-26 | 2018-09-04 | 哈尔滨博实自动化股份有限公司 | A kind of furnace of calcium carbide burns stove eye control system and its control method automatically |
| CN108683294A (en) * | 2018-06-20 | 2018-10-19 | 国网江苏省电力有限公司泰州供电分公司 | A kind of swing and the executive device that moves along a straight line |
| CN109500301A (en) * | 2019-01-10 | 2019-03-22 | 湖南奥密普特智能科技有限公司 | A kind of copper wire straightening device |
| CN110861102A (en) * | 2019-11-26 | 2020-03-06 | 哈尔滨博实自动化股份有限公司 | Furnace discharging robot |
| CN114986533A (en) * | 2022-06-30 | 2022-09-02 | 西南科技大学 | Elephant-nose-imitated flexible mechanical arm and application thereof |
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| CN204913888U (en) * | 2015-09-18 | 2015-12-30 | 哈尔滨博实自动化股份有限公司 | Four degree of freedom robots |
| CN207127889U (en) * | 2017-07-27 | 2018-03-23 | 哈尔滨博实自动化股份有限公司 | Robot |
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| JPS63163063A (en) * | 1986-12-26 | 1988-07-06 | Res Dev Corp Of Japan | Two-degree of freedom driving mechanism performing straight advancing motion and rotary motion |
| CN204913888U (en) * | 2015-09-18 | 2015-12-30 | 哈尔滨博实自动化股份有限公司 | Four degree of freedom robots |
| CN207127889U (en) * | 2017-07-27 | 2018-03-23 | 哈尔滨博实自动化股份有限公司 | Robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108489291A (en) * | 2018-03-26 | 2018-09-04 | 哈尔滨博实自动化股份有限公司 | A kind of furnace of calcium carbide burns stove eye control system and its control method automatically |
| CN108489291B (en) * | 2018-03-26 | 2019-07-09 | 哈尔滨博实自动化股份有限公司 | A kind of furnace of calcium carbide burns furnace eye control system and its control method automatically |
| CN108683294A (en) * | 2018-06-20 | 2018-10-19 | 国网江苏省电力有限公司泰州供电分公司 | A kind of swing and the executive device that moves along a straight line |
| CN109500301A (en) * | 2019-01-10 | 2019-03-22 | 湖南奥密普特智能科技有限公司 | A kind of copper wire straightening device |
| CN110861102A (en) * | 2019-11-26 | 2020-03-06 | 哈尔滨博实自动化股份有限公司 | Furnace discharging robot |
| CN114986533A (en) * | 2022-06-30 | 2022-09-02 | 西南科技大学 | Elephant-nose-imitated flexible mechanical arm and application thereof |
| CN114986533B (en) * | 2022-06-30 | 2024-04-09 | 西南科技大学 | Flexible mechanical arm imitating trunk and application thereof |
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Inventor after: Tan Jianxun Inventor after: Liu Gang Inventor after: Shang Jian Inventor after: Jiang Haitao Inventor after: Han Shouguo Inventor after: Jin Yan Inventor after: Liu Chao Inventor after: Song Jianjian Inventor before: Liu Gang Inventor before: Tan Jianxun Inventor before: Shang Jian Inventor before: Jiang Haitao Inventor before: Han Shouguo Inventor before: Jin Yan Inventor before: Liu Chao Inventor before: Song Jianjian |