CN108748130A - Robot device with translation and rotation function - Google Patents
Robot device with translation and rotation function Download PDFInfo
- Publication number
- CN108748130A CN108748130A CN201810651292.3A CN201810651292A CN108748130A CN 108748130 A CN108748130 A CN 108748130A CN 201810651292 A CN201810651292 A CN 201810651292A CN 108748130 A CN108748130 A CN 108748130A
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- CN
- China
- Prior art keywords
- cylinder
- mobile platform
- translation
- rotating cylinder
- driving
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot device with translation and rotation function, mechanical arm is connected on rotating cylinder, and driving motor can drive rotating cylinder to rotate, since the lower surface of mobile platform and the upper surface slide of support platform coordinate；And cylinder is driven there are three being set around mobile platform, the rear end of each driving cylinder is articulated and connected with rack, the drive rod of each driving cylinder front end is hinged on a mobile platform, each to drive the drive rod of cylinder towards rotating cylinder, each that cylinder is driven to be connect with control device with driving motor；In this way, the drive rod for controlling each driving cylinder by control device is flexible, each drive rod for driving cylinder is mutually coordinated, it will be able to so that mobile platform slides in support platform, so that the center of rotating cylinder can adjust in a certain range；In this way, it is possible to adjust the working range of mechanical arm in a certain range.
Description
Technical field
The present invention relates to a kind of robot devices with translation and rotation function.
Background technology
Manipulator is a kind of production equipment being frequently used in manufacturing, and manipulator can improve production efficiency, mitigate
The working strength of labourer.There is miscellaneous mechanical arm in the prior art, the manipulator that can be turned round is in the prior art
A kind of common mechanical arm, the working range of this mechanical arm is bigger, can be rotated around rotating cylinder, but in some feelings
Under condition, it would be desirable to make the centre of gyration of rotary machine arm that can adjust in a certain range, to adapt to the need manufactured
It wants.
For example, usually needing to use the lower part of manipulator crawl hardness in production and carrying out centering installation, grabbing
Trace cannot be extruded when part in piece surface by taking, when installing the part, it is desirable to be able to adjust the position range of part with energy
It is enough successfully to be docked with installation interface.
But in the prior art on can not realize that the manipulator of this function or some manipulators have similar work(
Can, but structure is more complicated, and cost is higher.
Invention content
In view of the foregoing deficiencies of prior art, the technical problem to be solved in the present invention is to provide a kind of with translation
And the robot device of rotation function, enable to the working range of mechanical arm adjustable.
To achieve the above object, the present invention provides a kind of robot device with translation and rotation function, including level
The mobile platform and support platform of setting, mobile platform can be moved horizontally with respect to support platform；The middle part of mobile platform is equipped with one
The lower end of rotating cylinder, rotating cylinder is connected with driving motor, and rotating cylinder is connect with a mechanical arm, and three are equipped with around mobile platform
A driving cylinder, it is each that the rear end of cylinder is driven to be articulated and connected with rack, respectively drive the drive rod of cylinder front end to be hinged on mobile flat
It is each to drive the drive rod of cylinder towards rotating cylinder on platform；The mechanical arm includes being set to stretching in rotation tube inner chamber
The piston rod of cylinder, telescopic cylinder is stretched out from rotating cylinder upper end, and piston rod upper end is connected with mechanical paw；The mechanical paw packet
Two mechanical fingers being oppositely arranged are included, two mechanical fingers can relatively rotate, and be formed between two mechanical fingers opening up
Grasping part.
Preferably, the angle respectively between the drive rod of driving cylinder is 120 degree.
Preferably, the mobile platform is triangular in shape, each that cylinder is driven to be respectively arranged at three angles of mobile platform.
Preferably, uniformly distributed there are three link block around the cylinder base, the drive rod front end of three driving cylinders is hinged on
On link block.
Preferably, the driving motor is fixed on the lower surface of mobile platform, and the spindle nose of driving motor is upward through cylinder
Seat bottom and connect with rotating cylinder.
Preferably, the mobile platform is equipped with a cylinder base, the rotating cylinder be arranged in the cylinder base and in cylinder base
Hole rotatable engagement.
As described above, a kind of robot device with translation and rotation function of the present invention, has beneficial below
Effect：In a kind of robot device with translation and rotation function of the present invention, mechanical arm is connected on rotating cylinder, is driven
Dynamic motor can drive rotating cylinder to rotate, since mobile platform can be moved horizontally with respect to support platform；And around mobile platform
If each that the rear end of cylinder is driven to be articulated and connected with rack there are three cylinder is driven, each drive rod for driving cylinder front end is hinged on
It is each to drive the drive rod of cylinder towards rotating cylinder on mobile platform, it is each that cylinder is driven to connect with control device with driving motor
It connects；In this way, the drive rod for controlling each driving cylinder by control device is flexible, each drive rod for driving cylinder is mutually coordinated, just
Mobile platform is enabled to be slided in support platform, so that the center of rotating cylinder can adjust in a certain range；This
Sample, it will be able to adjust the working range of mechanical arm in a certain range.
Description of the drawings
Fig. 1 is shown as a kind of vertical view for robot device with translation and rotation function that the present invention relates to.
Fig. 2 is shown as in Fig. 1 the sectional view at A-A.
Fig. 3 is shown as the mounting structure schematic diagram of mobile platform and its ball of bottom.
Fig. 4 is shown as the partial schematic diagram of mobile platform.
Fig. 5 is shown as the structural schematic diagram of annular abaculus.
Fig. 6 is shown as the structural schematic diagram of mechanical finger.
Fig. 7 is shown as the drive mechanism schematic diagram between two mechanical fingers.
Component label instructions
1 mobile platform
2 rotating cylinders
3 driving motors
4 mechanical arms
5 driving cylinders
6 racks
7 drive rods
8 cylinder bases
9 cylinder base endoporus
10 link blocks
11 support platforms
12 thrust bearings
13 mechanical paws
14a mechanical fingers
14b mechanical fingers
15 installation slotted eyes
16 elastomer blocks
17 pairs are worn pilot hole
18 blocks
19 guide rods
20 compressed springs
21 balls
22 rounded channels
23 circular sink holes
24 annular abaculus
25 sphere holes
26 telescopic cylinders
27 driving gears
28 driven gears
29 motors
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this explanations by particular specific embodiment below
Content disclosed by book understands other advantages and effect of the present invention easily.
It should be clear that structure, ratio, size etc. depicted in this specification institute accompanying drawings, only coordinating specification to be taken off
The content shown is not limited to the enforceable qualifications of the present invention so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall and obtain the model that can cover in disclosed technology contents
In enclosing.Meanwhile in this specification cited such as "upper", "lower", "left", "right", " centre " term, be merely convenient to chat
That states is illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and skill is being changed without essence
It is held in art, when being also considered as the enforceable scope of the present invention.
As depicted in figs. 1 and 2, the present invention provides a kind of robot device with translation and rotation function, including level
The mobile platform 1 and support platform 11 of setting, mobile platform 1 can be moved horizontally with respect to support platform 11；The middle part of mobile platform 1
Equipped with a rotating cylinder 2, the lower end of rotating cylinder 2 is connected with driving motor 3, and rotating cylinder 2 is connect with a mechanical arm 4, mobile platform 1
Around set there are three driving cylinder 5, each that the rear end of cylinder 5 is driven to be articulated and connected with rack 6, each drive for driving 5 front end of cylinder
Lever 7 is hinged on mobile platform 1, each to drive the drive rod 7 of cylinder 5 towards rotating cylinder 2, each to drive cylinder 5 and driving electricity
Machine 3 is connect with control device；As shown in Figure 1, the mechanical arm 4 includes the telescopic cylinder being set in 2 inner cavity of rotating cylinder
26, the piston rod of telescopic cylinder 26 is stretched out from 2 upper end of rotating cylinder, and piston rod upper end is connected with mechanical paw 13.In this way, flexible gas
Cylinder 26 can obtain mechanical paw 13 and stretch out or retract.It is further preferable that as shown in Fig. 2, the mechanical paw 13 includes two
A mechanical finger 14a, 14b being oppositely arranged, two mechanical fingers 14a, 14b can be relatively rotated, two mechanical fingers 14a, 14b
Between form opening up grasping part.
In a kind of robot device with translation and rotation function of the present invention, mechanical arm 4 is connected to rotating cylinder 2
On, driving motor 3 can drive rotating cylinder 2 to rotate, due to the upper surface slide of the lower surface and support platform 11 of mobile platform 1
Cooperation；And set around mobile platform 1 there are three cylinder 5 is driven, each rear end for driving cylinder 5 and rack 6 are articulated and connected, each to drive
The drive rod 7 of 5 front end of cylinder of taking offence is hinged on mobile platform 1, each to drive the drive rod 7 of cylinder 5 towards rotating cylinder 2, each to drive
Cylinder 5 of taking offence is connect with control device with driving motor 3；In this way, controlling the drive rod 7 of each driving cylinder 5 by control device
Flexible, each drive rod 7 for driving cylinder 5 is mutually coordinated, it will be able to so that mobile platform 1 slides in support platform 11, to
The center of rotating cylinder 2 is adjusted in a certain range；In this way, it is possible to adjust mechanical arm 4 in a certain range
Working range.
In a kind of robot device with translation and rotation function of the present invention, mechanical finger 14a, 14b are by controlling
Device is controlled and is moved, and control device can control two mutual clamp or releases of mechanical finger 14a, 14b, two mechanical fingers
Between formed aid space.Mechanical finger 14a, 14b extrudes impression on the surface of gripped object in order to prevent, as shown in fig. 6, institute
It states mechanical finger 14a, 14b and is equipped with installation slotted eye 15, the two side walls of installation slotted eye 15 are equipped with to wearing pilot hole 17, to wearing
Guide rod 19 is slidably connected in pilot hole 17, the both ends of guide rod 19 rush respectively to be pierced by wearing pilot hole 17, guide rod 19
Upper one end close to aid space is connected with elastomer block 16, and the part that guide rod 19 is located in installation slotted eye 15 is cased with compressed spring
20, the middle part of guide rod 19 is equipped with block 18, block 18 by compressed spring 20 to aid space side top pressure, therefore, in machinery
When finger 14a, 14b do not accommodate object, there is a fixed gap between elastomer block 16 and mechanical finger 14a, 14b.In two machineries
When finger 14a, 14b aid object, due to the reaction force by object, compressed spring 20 is further compressed, elastomer block 16
It is moved towards close to the side of mechanical finger 14a, 14b, as two mechanical fingers 14a, 14b are further towards chucking power is gradual
Object can be clamped by increasing to.In this way, due to the cushioning effect of compressed spring 20 and the cushioning effect of elastomer block, by aid object
It is not easy to be forced out impression on body.
In a kind of robot device with translation and rotation function of the present invention, mobile platform 1 is in support platform 11
Upper sliding reduces frictional force between the two in order to enable mobile platform 1 can be slided swimmingly in support platform 11, excellent
Selection of land, as shown in Figures 2 and 3, the bottom of mobile platform 1 embedded with can free rolling ball 21, in this way, 1 He of mobile platform
It is rolling friction between support platform 11, friction is small.For the ease of being embedded in ball 21 in 1 bottom of mobile platform, as one
Kind preferred embodiment, as shown in figure 4, the bottom of the mobile platform 1 is equipped with multiple circular sink holes 23 and and circular sink hole
The rounded channels 22 of 23 coaxial arrangements, rounded channels 22 are in hemisphere face shape, the top surface of the centre ofs sphere of rounded channels 22 and circular sink hole 23 (according to
The annular surface of the view of Fig. 3 and Fig. 4,23 upside of circular sink hole is its top surface) it is coplanar.In order to enable ball 21 can be located at spherical surface
It cannot deviate from slot 22, as shown in figure 3, being equipped with annular abaculus 24 in the circular sink hole 23, annular abaculus 24 is fixed
In circular sink hole 23, as shown in figure 5, annular abaculus 24 is equipped with sphere hole 25, the round mouth diameter of 25 lower end of sphere hole is less than
The round mouth diameter of the upper end.
In a kind of robot device with translation and rotation function of the present invention, in order to drive mobile platform 1
It is slid in moving range in support platform 11, is set around mobile platform 1 there are three cylinder 5 is driven, pass through control device
The drive rod 7 for controlling each driving cylinder 5 is flexible and mutually coordinated, so that the center of rotating cylinder 2 can be in a certain range
Adjustment.As shown in Figure 1,7 front end of drive rod of three driving cylinders 5 is directed to rotating cylinder 2, three driving cylinders 5 divide in uniform way
Cloth is around mobile platform 1, as a preferred embodiment, respectively the angle between the drive rod 7 of driving cylinder 5 is 120
Degree.When needing to adjust the position of mobile platform 1, the drive rod 7 that control device controls two of which driving cylinder 5 extends, and
The drive rod 7 of another driving cylinder 5 shortens, and the both ends of three driving cylinders 5 are articulated connection, in this way, being filled by controlling
The drive rod 7 for setting control driving cylinder 5 mutually coordinated stretches, it will be able to so that mobile platform 1 slides in support platform 11.
In a kind of robot device with translation and rotation function of the present invention, three are equipped with around mobile platform 1
A driving cylinder 5 respectively drives cylinder as shown in Figure 1, as a preferred embodiment, the mobile platform 1 is triangular in shape
5 are respectively arranged at three angles of mobile platform 1, and the rack 6 has inside casing similar with 1 shape of mobile platform, each to drive
The rear end of the cylinder block of cylinder 5 is hinged in rack 6, and each drive rod 7 for driving 5 front end of cylinder is hinged on mobile platform 1.It is preferred that
Ground, as depicted in figs. 1 and 2, uniformly distributed around the cylinder base 8 there are three link blocks 10, before three drive the drive rod 7 of cylinder 5
End is hinged on link block 10.
In a kind of robot device with translation and rotation function of the present invention, the driving rotation of the driving motor 3
Cylinder 2 is rotated and is rotated with mechanical arm 4, as a preferred embodiment, as shown in Fig. 2, the mobile platform 1 is equipped with
One cylinder base 8, the rotating cylinder 2 be arranged in the cylinder base 8 and with 9 rotatable engagement of cylinder base endoporus；The driving motor 3 is fixed on
On the lower surface of mobile platform 1, the spindle nose of driving motor 3 is upward through 8 bottom of cylinder base and is connect with rotating cylinder 2.In order to enable
Rotating cylinder 2 can be rotated neatly, and 8 bottom of cylinder base is equipped with a thrust bearing 12, and the lower end of rotating cylinder 2 is supported on thrust bearing 12
On.
As shown in fig. 7, in a kind of robot device with translation and rotation function of the present invention, mechanical paw 13 wraps
Two relatively turnable mechanical finger 14a, 14b are included, one of mechanical finger 14a is fixed on driving gear 27, another
A mechanical finger 14b is fixed on driven gear 28, and driving gear 27 is driven by motor 29 to be rotated forward or invert, driving gear 27
Be meshed with driven gear 28 because the rotation direction of driving gear 27 and driven gear 28 on the contrary, when motor 29 drive
When driving gear 27 is rotated forward or inverted, driving gear 27 and driven gear 28 drive two mechanical finger 14a, 14b phases respectively
Mutually clamp or release.
Technical solution based on above-described embodiment, a kind of robot device energy with translation and rotation function of the invention
Enough realize the rotation and translation of mechanical arm so that the working range of mechanical arm is adjustable in a certain range, simple in structure, behaviour
Facilitate, cost is relatively low.
In conclusion the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (6)
1. a kind of robot device with translation and rotation function, characterized in that including horizontally disposed mobile platform (1) and
Support platform (11), mobile platform (1) can be moved horizontally with respect to support platform (11)；The middle part of mobile platform (1) is equipped with a rotation
The lower end of rotating cylinder (2), rotating cylinder (2) is connected with driving motor (3), and rotating cylinder (2) is connect with a mechanical arm (4), mobile flat
It is set around platform (1) and the rear end of cylinder (5) is respectively driven to be articulated and connected with rack (6) there are three cylinder (5) is driven, respectively drive gas
The drive rod (7) of cylinder (5) front end is hinged on mobile platform (1), respectively drives the drive rod (7) of cylinder (5) towards rotating cylinder
(2)；The mechanical arm (4) includes the telescopic cylinder (26) being set in rotating cylinder (2) inner cavity, the piston of telescopic cylinder (26)
Bar is stretched out from rotating cylinder (2) upper end, and piston rod upper end is connected with mechanical paw (13)；The mechanical paw (13) includes two phases
To the mechanical finger (14a, 14b) of setting, two mechanical fingers (14a, 14b) can relatively rotate, two mechanical fingers (14a,
Opening up grasping part is formed between 14b).
2. the robot device with translation and rotation function according to claim 1, it is characterised in that：Each driving cylinder
(5) the angle between drive rod (7) is 120 degree.
3. the robot device with translation and rotation function according to claim 1, it is characterised in that：The movement is flat
Platform (1) is triangular in shape, respectively cylinder (5) is driven to be respectively arranged at three angles of mobile platform (1).
4. the robot device with translation and rotation function according to claim 1, it is characterised in that：The movement is flat
Platform (1) is equipped with a cylinder base (8), the rotating cylinder (2) be arranged in the cylinder base (8) and with cylinder base endoporus (9) rotatable engagement.
5. the robot device with translation and rotation function according to claim 4, it is characterised in that：The cylinder base
(8) uniformly distributed there are three link block (10) around, drive rod (7) front end of three driving cylinders (5) is hinged on link block (10)
On.
6. the robot device with translation and rotation function according to claim 5, it is characterised in that：The driving electricity
Machine (3) is fixed on the lower surface of mobile platform (1), the spindle nose of driving motor (3) be upward through cylinder base (8) bottom and with rotation
Cylinder (2) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651292.3A CN108748130B (en) | 2018-06-22 | 2018-06-22 | Manipulator device with translation and rotation functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651292.3A CN108748130B (en) | 2018-06-22 | 2018-06-22 | Manipulator device with translation and rotation functions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108748130A true CN108748130A (en) | 2018-11-06 |
| CN108748130B CN108748130B (en) | 2020-11-03 |
Family
ID=63976337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810651292.3A Active CN108748130B (en) | 2018-06-22 | 2018-06-22 | Manipulator device with translation and rotation functions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108748130B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021309A (en) * | 2019-12-24 | 2021-06-25 | 广东博智林机器人有限公司 | Rotary platform, mobile chassis and construction robot |
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| CN105252531A (en) * | 2015-11-26 | 2016-01-20 | 哈尔滨工业大学 | Paw for double-position grabbing |
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| CN105773177A (en) * | 2016-03-31 | 2016-07-20 | 长安大学 | Parallel redundancy full hydraulic machine tool |
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| CN105945940A (en) * | 2016-07-14 | 2016-09-21 | 广东技术师范学院 | Warehouse goods carrying robot |
| CN206383074U (en) * | 2017-01-04 | 2017-08-08 | 原子高科医药有限公司 | A kind of adjustable grip device of clamping force |
| CN206445709U (en) * | 2017-02-14 | 2017-08-29 | 陈架亨 | A kind of workpiece sensing fixture |
| CN108032294A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB761408A (en) * | 1953-07-10 | 1956-11-14 | Pierre Henry Dussumier De Fonb | Apparatus for the control of displacements of fluid |
| CN105314530A (en) * | 2015-11-24 | 2016-02-10 | 重庆市星极齿轮有限责任公司 | Gear lifting fixture device |
| CN105252531A (en) * | 2015-11-26 | 2016-01-20 | 哈尔滨工业大学 | Paw for double-position grabbing |
| CN205521035U (en) * | 2016-02-02 | 2016-08-31 | 崇业（苏州）精密工业有限公司 | Car air bag explosive cartridge detects anchor clamps |
| CN105773177A (en) * | 2016-03-31 | 2016-07-20 | 长安大学 | Parallel redundancy full hydraulic machine tool |
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| CN206383074U (en) * | 2017-01-04 | 2017-08-08 | 原子高科医药有限公司 | A kind of adjustable grip device of clamping force |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113021309A (en) * | 2019-12-24 | 2021-06-25 | 广东博智林机器人有限公司 | Rotary platform, mobile chassis and construction robot |
| CN113021309B (en) * | 2019-12-24 | 2022-09-20 | 广东博智林机器人有限公司 | Rotary platform, mobile chassis and construction robot |
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| Publication number | Publication date |
|---|---|
| CN108748130B (en) | 2020-11-03 |
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