CN201579787U - Four-joint sighted robot - Google Patents
Four-joint sighted robot Download PDFInfo
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- CN201579787U CN201579787U CN2009201818163U CN200920181816U CN201579787U CN 201579787 U CN201579787 U CN 201579787U CN 2009201818163 U CN2009201818163 U CN 2009201818163U CN 200920181816 U CN200920181816 U CN 200920181816U CN 201579787 U CN201579787 U CN 201579787U
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Abstract
The utility model discloses a four-joint sighted robot. A frame mechanism comprises a frame, a motor, a planetary gear reducer, a turntable, a base, and two bearing seats; the motor drives the planetary gear reducer to rotate, thereby driving the turntable, the base and the bearing seats to rotate; an upper arm mechanism component comprises a motor, a planetary gear reducer, a first-stage drive shaft, two first-stage drive arms, two first-stage driven arms, and two middle splints; the motor drives the planetary gear reducer to rotate, thereby driving the first-stage drive shaft and a parallelogram movement mechanism to move; a forearm mechanism component comprises a motor, a planetary gear reducer, a second-stage drive shaft, an arc gear synchronous belt, a driven wheel, a belt wheel shaft, two second-stage drive arms, two second-stage driven arms, and two end splints; the motor drives the planetary gear reducer and the second-stage drive shaft to rotate; the arc gear synchronous belt drives the driven wheel to rotate, thereby driving the parallelogram movement mechanism of the forearm to rotate; the four-joint sighted robot also comprises a hand component and has the advantages of simple structure, convenient use and cost reduction.
Description
Technical field:
The utility model belongs to the automatic control technology field, relates to a kind of robot, especially with a kind of simple in structure, easy to use, and the four joint visual machine relating to persons that cost is low.
Background technology:
Robotics has been used the time of over and done with decades from studying maturation, but high cost makes robot only be applied in the minority industry of automobile making, semiconductor, electric power etc., so traditional robot, cost height, use bother, the application scenario is narrow etc., have limited the promotion and application of robot.Traditional robot is divided into joint type and beam type from structure, apish moulding of joint type and action, and the beam type has been broken away from and feature like the physiognomy basically.Forming structure comprises: structural member (arm), driving member (joint), drive motors, controller, man-machine interface, recognition unit (image vision, position sensor etc.).The shortcoming of existing robot is:
1, costliness, special use has limited the scope of using.
2, complex structure, the manufacturing cost height.
3, Zhuan Yong controller, versatility is poor.
Summary of the invention:
The utility model purpose is to overcome above-mentioned shortcoming, provides a kind of simple in structure, easy to use, the robot that popularizes, control system framework with structural design and original creation cleverly thoroughly reduces construction cost, makes robot can be widely used in more industry and occasion.
For reaching above-mentioned purpose, the utility model adopts following technical scheme:
Four joint vision robots, described robot comprises:
Waist formula stand structure 1:
Motor 12: be installed on the support 11, motor is to be controlled by control system;
Planetary reducer 13: cooperate with motor 12 to be installed on the support, its output revolving shaft protrudes upward outside the support;
Rotating disk 14: be arranged on the support top, cooperate with the output revolving shaft of planetary reducer;
Base 15: it is affixed with it to be arranged on the rotating disk top;
2 bearing blocks 16: it is affixed with it to be arranged on base 15 tops;
Wherein, motor 12 drives planetary reduction gears 13 transhipments, and then drives rotating disk 14, base 15, bearing block 16 and carry out 360 degree and rotate;
Big arm mechanism assembly 2:
Motor 21: control by control system;
Planetary reducer 22: cooperate by its drive action with motor 21;
One-level driving shaft 23: be arranged on the bearing block 16, cooperate, by motor 22 driven rotary with planetary reducer 22 and motor 21;
24: one ends of 2 one-level master arms are arranged on the bearing block 16, cooperate with one-level driving shaft 23 by it to drive rotation;
25: one hinged being arranged on the bearing block 16 of end of 2 one-level slave arms;
2 middle clamp plates 26: be connected the other end of two master and slave swing arms 24,25 of one-level, with the motion of master and slave swing arm 24, the 25 formation parallelogram of 16,2 one-levels of 2 bearing blocks;
Wherein, motor 21 drives planetary reduction gear 22 actions, and then drives 23 rotations of one-level driving shaft, and parallelogram motion mechanism carries out horizontal direction around one-level driving shaft 23 and rotates to vertical direction 90 degree;
Forearm mechanism assembly 3:
Planetary reducer 32: cooperate by its drive action with motor 31;
Secondary driving shaft 33: be arranged on the bearing block 16, cooperate, by motor 31 driven rotary with planetary reducer 32 and motor 31;
34: one ends of arc tooth synchronous belt are set on the secondary driving shaft 33, drive action by it;
Driven pulley 35: it is set in the arc tooth synchronous belt other end;
Belt shaft 36: it is arranged on the middle clamp plate 26, and is sheathed on it for the other end of driven pulley 35, one-level slave arm 25 and secondary master arm 37;
2 secondary master arms 37: the one end is set on the belt shaft 36 on the middle clamp plate 26 and by it and drives action;
2 secondary slave arms 38: the one end is hinged to be arranged on the middle clamp plate 26;
2 end clamping plate 39: the other end for 2 master and slave swing arms 37,38 of secondary is sheathed;
Wherein, 26,2 ends of 38,2 middle clamp plates of 37,2 secondary slave arms of 2 secondary master arms clamping plate 39 are formed another parallel four limit row motions, motor 31 drives planetary reducer 32 and 33 rotations of secondary driving shaft, secondary driving shaft 33 borrow arc tooth synchronous belt 34 drive belt shafts 36 and on driven pulley 35 rotations, and then parallel four limit row motion strip winding wheel shafts, 36 vertical direction, 180 degree that drive forearm rotate;
Hand assembly 4: be installed in as required on the end clamping plate.
Described motor can be servomotor or stepper motor.
Described hand assembly 4 comprises side's plate 41, and it is arranged on end clamping plate 39 bottoms, can different manipulators be installed according to different needs on it.
Described control system 5 comprises: vision processor is equiped with visual processes software in it; Vision processor is communicated with central control system, is equiped with control software in it; Vision processor and central control system connect man-machine interface, are equiped with interface software in it.
Adopt technique scheme, the utility model is structural design cleverly, overturns existing robot design concept fully.The control system framework of original creation, versatility is good, and is reliable, easy-to-use, cheap.Software is easily expanded, easy care, easily upgrading.Simplified manufacturing technique reduces construction cost completely, and robot is popularized becomes possibility.It has following technical advantage:
1, waist formula stand structure, it is very firm steady to make that the entire machine people stands, and is convenient to lay, and moves.
2, the parallelogram sturcutre of arm guarantees that the hand angle does not change with arm is flexible.
3, drive motors, the whole underlyings of reduction gearing mechanism alleviate arm weight, make the motion of arm light and handy, and mechanical inertia is little, is convenient to quick acceleration and deceleration, rapid movement.
4, articulated structure, all cables only have the slight curves action at joint by the arm internal placement, have simplified cable arrangements, prolonged the crooked flexible life-span of cable, and layout are attractive in appearance.
5, the ingenious design of articulation structure makes the flexible scope of arm reach ultimate attainment, and the horizontal work scope can reach 360 °, and the flexible scope of arm is radially 600 millimeters, axial 600 millimeters.
6, vision camera, fixed and arranged with the arm motion, is not simplified the vision system layout.
Description of drawings:
Below with accompanying drawing the utility model is described in detail:
Fig. 1 is the main TV structure schematic diagram of the utility model robot;
Fig. 2 is the plan structure schematic diagram of the utility model robot;
Fig. 3 is the structural representation of the utility model control system;
Fig. 4 is the utility model robot motion schematic diagram.
The specific embodiment:
Below in conjunction with drawings and Examples the utility model is described in detail:
As Fig. 1-embodiment of the present utility model shown in Figure 4, four joint vision robots, described robot comprises: waist formula stand structure 1 comprises: support 11; Motor 12: be installed on the support 11, motor is to be controlled by control system; Planetary reducer 13: cooperate with motor 12 to be installed on the support, its output revolving shaft protrudes upward outside the support; Rotating disk 14: be arranged on the support top, cooperate with the output revolving shaft of planetary reducer; Base 15: it is affixed with it to be arranged on the rotating disk top; 2 bearing blocks 16: it is affixed with it to be arranged on base 15 tops; Wherein, motor 12 drives planetary reduction gears 13 transhipments, and then drives rotating disk 14, base 15, bearing block 16 and carry out 360 degree and rotate.
Big arm mechanism assembly 2 comprises: motor 21: controlled by control system; Planetary reducer 22: cooperate by its drive action with motor 21; One-level driving shaft 23: be arranged on the bearing block 16, cooperate, by motor 22 driven rotary with planetary reducer 22 and motor 21; 24: one hinged being arranged on the bearing block 16 of end of 2 one-level master arms cooperate by its drive rotation with one-level driving shaft 23, and the other end borrows a rotating shaft to be hinged on the middle clamp plate 26; 25: one hinged being arranged on the bearing block 16 of end of 2 one-level slave arms, the other end is hinged on the middle clamp plate 26; 2 middle clamp plates 26: be connected the other end of two master and slave swing arms 24,25 of one-level, with the motion of master and slave swing arm 24, the 25 formation parallelogram of 16,2 one-levels of 2 bearing blocks; Wherein, motor 21 drives planetary reduction gear 22 actions, and then drives 23 rotations of one-level driving shaft, and parallelogram motion mechanism carries out horizontal direction around one-level driving shaft 23 and rotates to vertical direction 90 degree.
Hand assembly 4: be installed in as required on the end clamping plate.
In use, described motor can be servomotor or stepper motor.Described hand assembly 4 comprises side's plate 41, and it is arranged on end clamping plate 39 bottoms, can different manipulators be installed according to different needs on it.Described control system 5 comprises: vision processor 51 is equiped with visual processes software 52 in it; Vision processor is communicated with central control system 53, is equiped with control software 54 in it; Vision processor 51 and central control system 53 connect man-machine interface 55, are equiped with interface software 56 in it.
The utility model is based on the purpose of popularizing robot, so on structural design and control system framework, carried out conceiving cleverly and designing, and in conjunction with NI Vision Builder for Automated Inspection, make robot have the visual identity ability, hand is equipped with apart from detecting sensor, be used for crashproof purpose, as shown in Figure 4, be example with carrying arrangement object: the course of work is, vision camera 6 grasps the realtime graphic of target 7, can grasp N object in the camera visual field simultaneously, extract coordinate and angle (X, the Y of N object, Θ), after robot found one by one according to these values and grabs object, position and angle according to prior setting were placed into target location 8 with object, can finish arrangement, stacking, upset, bad part eject etc.
The utility model can be used for finishing multiple work, as: glue, some flower, automatic spot, welding automatically, cutting or the like are automatically painted, put to carrying arrangement, spraying, brush.
The utility model is structural design cleverly, overturns existing robot design concept fully.The control system framework of original creation, versatility is good, and is reliable, easy-to-use, cheap.Software is easily expanded, easy care, easily upgrading.Simplified manufacturing technique reduces construction cost completely, and robot is popularized becomes possibility.Its waist formula stand structure, it is very firm steady to make that the entire machine people stands, and is convenient to lay, and moves.The parallelogram sturcutre of arm guarantees that the hand angle does not change with arm is flexible.Drive motors, the whole underlyings of reduction gearing mechanism alleviate arm weight, make the motion of arm light and handy, and mechanical inertia is little, is convenient to quick acceleration and deceleration, rapid movement.Articulated structure, all cables only have the slight curves action at joint by the arm internal placement, have simplified cable arrangements, prolonged the crooked flexible life-span of cable, and layout are attractive in appearance.The ingenious design of articulation structure makes the flexible scope of arm reach ultimate attainment, and the horizontal work scope can reach 360 °, and the flexible scope of arm is radially 600 millimeters, axial 600 millimeters.Vision camera, fixed and arranged with the arm motion, is not simplified the vision system layout.
The utility model control system: with " based on the kinetic control system of PLC " is the core of control system framework, and versatility is good, easily uses, and also very reliable.Hommization teaching interface.Vision system software is encapsulated as module separately, is convenient to safeguard.The modular software structure, open user's development interface is convenient to develop the application program that is directed to the proprietary application occasion.Remotely programmable, monitoring.But many robot networking operations.
The utility model can be used for finishing multiple work, as: glue, some flower, automatic spot, welding automatically, cutting or the like are automatically painted, put to carrying arrangement, spraying, brush.
Claims (4)
1. four joint vision robots, it is characterized in that: described robot comprises:
Waist formula stand structure (1):
Support (11);
Motor (12): be installed on the support (11), motor is to be controlled by control system;
Planetary reducer (13): cooperate with motor (12) to be installed on the support, its output revolving shaft protrudes upward outside the support;
Rotating disk (14): be arranged on the support top, cooperate with the output revolving shaft of planetary reducer;
Base (15): it is affixed with it to be arranged on the rotating disk top;
2 bearing blocks (16): it is affixed with it to be arranged on base (15) top;
Wherein, motor (12) drives planetary reduction gear (13) transhipment, and then drives rotating disk (14), base (15), bearing block (16) and carry out 360 degree and rotate;
Big arm mechanism assembly (2):
Motor (21): control by control system;
Planetary reducer (22): cooperate by its drive action with motor (21);
One-level driving shaft (23): be arranged on the bearing block (16), cooperate, by motor (22) driven rotary with planetary reducer (22) and motor (21);
2 one-level master arms (24): an end is arranged on the bearing block (16), cooperates with one-level driving shaft (23) by it to drive rotation;
2 one-level slave arms (25): an end is hinged to be arranged on the bearing block (16);
2 middle clamp plates (26): be connected the other end of two master and slave swing arms of one-level (24), (25), with the motion of 2 bearing blocks (16), 2 master and slave swing arms of one-level (24), (25) formation parallelogram;
Wherein, motor (21) drives planetary reduction gear (22) action, and then drives one-level driving shaft (23) rotation, and parallelogram motion mechanism carries out horizontal direction around one-level driving shaft (23) and rotates to vertical direction 90 degree;
Forearm mechanism assembly (3):
Motor (31) is controlled by control system;
Planetary reducer (32): cooperate by its drive action with motor (31);
Secondary driving shaft (33): be arranged on the bearing block (16), cooperate, by motor (31) driven rotary with planetary reducer (32) and motor (31);
Arc tooth synchronous belt (34): an end is set on the secondary driving shaft (33), drives action by it;
Driven pulley (35): it is set in the synchronous other end of circle-arc tooth;
Belt shaft (36): it is arranged on the middle clamp plate (26), and is sheathed on it for the other end of driven pulley (35), one-level slave arm (25) and secondary master arm (37);
2 secondary master arms (37): the belt shaft (36) that the one end is set on the middle clamp plate (26) upward and by it drives action;
2 secondary slave arms (38): the one end is hinged to be arranged on the middle clamp plate;
2 end clamping plate (39): the other end for 2 master and slave swing arms of secondary (37), (38) is sheathed;
Wherein, 2 secondary master arms (37), 2 secondary slave arms (38), 2 middle clamp plates (26), 2 end clamping plate (39) are formed another parallel four limit row motions, motor (31) drives planetary reducer (32) and secondary driving shaft (33) rotation, secondary driving shaft (33) borrow arc tooth synchronous belt (34) drive belt shaft (36) and on driven pulley (35) rotation, and then parallel four limit row motion strip winding wheel shaft (36) vertical direction, 180 degree that drive forearm rotate;
Hand assembly (4): be installed in as required on the end clamping plate.
2. four joint vision robots as claimed in claim 1 is characterized in that: motor is servomotor or stepper motor.
3. four joint vision robots as claimed in claim 1 is characterized in that: described hand assembly (4) comprises side's plate (41), and it is arranged on end clamping plate (39) bottom, can different manipulators be installed according to different needs on it.
4. as claim 1,2 or 3 described four joint vision robots, it is characterized in that: described control system 5 comprises: vision processor (51) is equiped with visual processes software (52) in it; Vision processor is communicated with central control system (53), is equiped with control software (54) in it; Vision processor and central control system connect man-machine interface (55), are equiped with interface software (56) in it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201818163U CN201579787U (en) | 2009-12-21 | 2009-12-21 | Four-joint sighted robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201818163U CN201579787U (en) | 2009-12-21 | 2009-12-21 | Four-joint sighted robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201579787U true CN201579787U (en) | 2010-09-15 |
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ID=42721780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201818163U Expired - Lifetime CN201579787U (en) | 2009-12-21 | 2009-12-21 | Four-joint sighted robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201579787U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101292B (en) * | 2009-12-21 | 2012-09-26 | 厦门至工机电有限公司 | Four-joint visual robot |
| CN103922147A (en) * | 2014-03-13 | 2014-07-16 | 成都荣德机电设备有限公司 | Rotating device of stacker crane |
| CN104476305A (en) * | 2014-11-11 | 2015-04-01 | 沈阳新松机器人自动化股份有限公司 | Manipulator |
| CN104589338A (en) * | 2015-01-12 | 2015-05-06 | 宁波市帝益机械科技有限公司 | Four-axle-joint robot |
| CN105129663A (en) * | 2015-07-03 | 2015-12-09 | 中广核检测技术有限公司 | Single-drive dual-parallelogram hoisting mechanism |
| CN107049493A (en) * | 2012-06-01 | 2017-08-18 | 直观外科手术操作公司 | In terms of operating theater instruments executor |
| CN108593977A (en) * | 2018-06-11 | 2018-09-28 | 昆山宇辰光通自动化科技有限公司 | Clamping device for test equipment |
-
2009
- 2009-12-21 CN CN2009201818163U patent/CN201579787U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101292B (en) * | 2009-12-21 | 2012-09-26 | 厦门至工机电有限公司 | Four-joint visual robot |
| CN107049493A (en) * | 2012-06-01 | 2017-08-18 | 直观外科手术操作公司 | In terms of operating theater instruments executor |
| CN107049493B (en) * | 2012-06-01 | 2020-06-12 | 直观外科手术操作公司 | Surgical instrument manipulator aspects |
| US11737834B2 (en) | 2012-06-01 | 2023-08-29 | Intuitive Surgical Operations, Inc. | Surgical instrument manipulator aspects |
| CN103922147A (en) * | 2014-03-13 | 2014-07-16 | 成都荣德机电设备有限公司 | Rotating device of stacker crane |
| CN104476305A (en) * | 2014-11-11 | 2015-04-01 | 沈阳新松机器人自动化股份有限公司 | Manipulator |
| CN104589338A (en) * | 2015-01-12 | 2015-05-06 | 宁波市帝益机械科技有限公司 | Four-axle-joint robot |
| CN105129663A (en) * | 2015-07-03 | 2015-12-09 | 中广核检测技术有限公司 | Single-drive dual-parallelogram hoisting mechanism |
| CN108593977A (en) * | 2018-06-11 | 2018-09-28 | 昆山宇辰光通自动化科技有限公司 | Clamping device for test equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100915 Effective date of abandoning: 20091221 |