CN201800035U - Multiple-degree-of-freedom robot - Google Patents
Multiple-degree-of-freedom robot Download PDFInfo
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- CN201800035U CN201800035U CN2010202999370U CN201020299937U CN201800035U CN 201800035 U CN201800035 U CN 201800035U CN 2010202999370 U CN2010202999370 U CN 2010202999370U CN 201020299937 U CN201020299937 U CN 201020299937U CN 201800035 U CN201800035 U CN 201800035U
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Abstract
The utility model relates to a multiple-degree-of-freedom robot which comprises a chassis, a hoisting mechanism, a horizontal rotary mechanism, a mechanical arm and a clamping mechanism, wherein, the chassis acts on the ground and can freely move along the horizontal direction relative to the ground; the hoisting mechanism is connected on the chassis and can stretch along the height direction relative to the ground; the horizontal rotary mechanism is connected on the hoisting mechanism and can rotate in a horizontal plane relative to the ground; the mechanical arm is connected on the horizontal rotary mechanism and can stretch along the horizontal direction relative to the ground; the clamping mechanism is arranged on the mechanical arm and can rotate in a vertical plane relative to the ground; and the clamping mechanism further comprises a jack catch for clamping an object. The robot can go straight and turn on the ground freely, clamp the object arranged at certain height and place the object at a designated position; and the robot can be simply controlled.
Description
Technical field
The utility model relates to a kind of multi-freedom robot, and this robot can stand up, can move freely, but the snatch article are suitable for use as the explosive-removal robot in the explosive army or are used as the automatic haulage equipment that extracts small-sized underloading goods in the company warehouse.
Background technology
In the warehouse of company, the goods that some small-sized underloadings are arranged generally all be the people for carrying, on some automatic assembly lines, also will be with some small-sized underloading freight handlings to a certain ad-hoc location.The existing big more options end user worker of company carries, yet there are a lot of drawbacks in a dead lift, and at first Ban Yun workload is bigger, and ordinary person carries at short notice and is fine, if equipment needs operation continuously, then just need other manpowers to take at set intervals; Secondly the cost along with human resources increases gradually, and trucking expenses will cause increasing cost pressure to company.In the occasion of some danger, work under bad environment, for example high temperature, high pressure, workplace such as explosive use manually to have very big potential safety hazard.
Also have some industrial robots to be used to substitute artificial at present, as long as it is carried out suitable programming, it is can be in any workplace continual carries out work, can enhance productivity, reduce human resources consumption.Yet, existing industrial robot or be the robot arm of fixing, though or can move the free degree few, seem and be not very flexible in actual applications.And each joint of robot also exists can improved place.
The utility model content
Technical problem to be solved in the utility model provides a kind of multi-freedom robot of more flexible, more reasonable structure.
The technical scheme that the utility model adopted is: a kind of multi-freedom robot is characterized in that this robot is mainly by forming with the lower part: chassis, the mechanism of standing up, horizontal rotary mechanism, mechanical arm, clamp mechanism; Wherein, the chassis acts on ground, and can move freely on respect to the horizontal direction on ground; The mechanism of standing up is connected on the chassis, and can stretch on respect to the short transverse on ground; Horizontal rotary mechanism is connected in the mechanism of standing up, and can rotate in respect to the horizontal plane on ground; Mechanical arm is connected on the horizontal rotary mechanism, and can stretch on respect to the horizontal direction on ground; Clamp mechanism is arranged on the mechanical arm, and can rotate in respect to the vertical plane on ground, described clamp mechanism also comprise can holding articles claw.
The advantage that the utility model had is: this robot can freely keep straight on ground and turn, and can realize that fixed point work can realize transportation function again; Have the mechanism of standing up and can realize highly regulating, horizontal rotary mechanism is realized claw moving planar, and mechanical arm is realized the flexible of claw, and clamp mechanism realizes the rotation of claw, therefore can will be placed on the article gripping of certain altitude and be placed into assigned address; And the flexible direction at this each position of robot or rotating shaft all be constant in level or vertical plane, so robot control is simple.This robot is particluarly suitable for being used in the company warehouse access of small freight, perhaps as explosive-removal robot.
Description of drawings
By the more specifically explanation of the preferred embodiment of the present utility model shown in the accompanying drawing, above-mentioned and other purpose, feature and advantage of the present utility model will be more clear.Reference numeral identical in whole accompanying drawings is indicated identical part.Painstakingly do not draw accompanying drawing, focus on illustrating purport of the present utility model by actual size equal proportion convergent-divergent.
Fig. 1 is the overall stereogram of the robot that the utility model proposed;
Fig. 2 is the stereogram on chassis among Fig. 1;
Fig. 3 is the stereogram of the mechanism of standing up among Fig. 1;
Fig. 4 is the stereogram of horizontal rotary mechanism among Fig. 1;
Fig. 5 is the stereogram of mechanical arm, clamp mechanism among Fig. 1;
Fig. 6 is the front view of clamp mechanism among Fig. 1.
The specific embodiment
Referring to multi-freedom robot shown in Figure 1, mainly by forming: chassis 1, the mechanism 2 of standing up, horizontal rotary mechanism 3, mechanical arm 4, clamp mechanism 5 with the lower part.Wherein chassis 1 acts on ground, and can move freely on respect to the horizontal direction on ground; The mechanism 2 of standing up is connected on the chassis 1, and can stretch on respect to the short transverse on ground; Horizontal rotary mechanism 3 is connected in the mechanism 2 of standing up, and can rotate in respect to the horizontal plane on ground; Mechanical arm 4 is connected on the horizontal rotary mechanism 3, and can stretch on respect to the horizontal direction on ground; Clamp mechanism 5 is arranged on the mechanical arm 4, and can rotate in respect to the vertical plane on ground, described clamp mechanism 5 also comprise can holding articles claw 50.Respectively each part is described in detail below.
Described chassis 1 at first comprises framework 10, and described framework 10 is welded by square tube.Described chassis 1 comprises a pair of (can be two pairs or more under some occasion) driven pulley 13, described pair of driven 13 can freely be rotated is connected two ends of supporting optical axis 130, and described support optical axis 130 is connected with framework 10 by bearing.Described chassis 1 comprises first driving wheel 11, second driving wheel 12, described first driving wheel 11 is fixedly connected on the end that an end of first power transmission shaft 110, described second driving wheel 12 are fixedly connected on second power transmission shaft 120, and described first power transmission shaft 110 and second power transmission shaft 120 all are rotatably connected on the described framework 10 by bearing.First drive motors 111 that is fixed on the framework 10 drives first power transmission shaft 110 by band drive mechanism (not showing driving-belt among Fig. 2), and second drive motors 121 that is fixed on the framework 10 drives second power transmission shaft 120 by band drive mechanism (not showing driving-belt among Fig. 2).When first drive motors 111 was identical with second drive motors, 121 rotating speeds, first power transmission shaft 110, second power transmission shaft, 120 rotating speeds were also identical, and then first driving wheel 11, second driving wheel, 12 rotating speeds are identical, the rectilinear motion of implementation framework 10; When first drive motors 111 and second drive motors, 121 rotating speeds not simultaneously, first power transmission shaft 110, second power transmission shaft, 120 rotating speeds are also different, and then first driving wheel 11, second driving wheel, 12 differentials rotate the turning of implementation framework 10.The rectilinear motion of framework 10 adds that turning can realize that robot moves freely on the horizontal direction with respect to ground.
Described chassis 1 also comprises sleeve 15, and described sleeve can be fixed on also can be unsettled on the framework 10, and mounting means is not limit, and is preferably fixing with framework 10; Described sleeve 15 can also can be the prismatic tubular for cylindric, and shape is not limit.Second end that first end of described sleeve 15 offers first jack, sleeve 15 offers second jack, and the other end rotation of described first power transmission shaft 110 is plugged in described first jack, the other end of second power transmission shaft 120 rotates and is plugged in described second jack.Under some occasion, described first jack is communicated with, becomes a hole of running through sleeve 15 length with second jack.The degree of depth that described first power transmission shaft 110 or second power transmission shaft 120 insert sleeve 15 is preferably 1/4～2/5 of sleeve 15 length; make sleeve 15 under the situation that does not influence first power transmission shaft 110, second power transmission shaft 120, can guarantee the axiality of first power transmission shaft 110, second power transmission shaft 120, and then can guarantee the motion control precision of robot.
The mechanism 2 of standing up is referring to Fig. 3.
The described mechanism 2 of standing up comprises base plate 21, and described base plate 21 is fixed on the framework 10; The described mechanism 2 of standing up also comprises four root posts 22 and fixed head 23, and the bottom of described column 22 is fixed on the described base plate 21, the top is fixed on the described fixed head 23, and wherein said column 22 can also be three or above four.The described mechanism of standing up also comprise three slips be located in optical axis guide rail 24 on the described fixed head 23, be fixed on described optical axis guide rail 24 bottoms driver plate 25, be fixed on the top board 27 at described optical axis guide rail 24 tops, the bearing of trend of described optical axis guide rail 24 is a direction perpendicular to the ground, and the quantity of optical axis guide rail 24 can also be for above three.The described mechanism of standing up makes 23 liftings of optical axis guide rail 24 relative fixed plates by screw-nut body, furthermore, described screw-nut body comprises the nut 250 that is fixed on the described driver plate 25, is rotatably connected on the leading screw 26 on the fixed head 23, described leading screw 26 bearing of trends are identical with optical axis guide rail 24, and described nut 250 also revolves and is located on the described leading screw 26.Be fixed with the motor 251 of standing up on the described driver plate 25, the described motor 251 of standing up drives described leading screw 26 rotations by the band drive mechanism, when leading screw 26 rotations, nut 250 leading screw 26 relatively slides, and then drive driver plate 25, optical axis guide rail 24 relative leading screws 26 slips, realize that finally top board 27 is flexible.
Horizontal rotary mechanism 3 is referring to Fig. 4.
Described horizontal rotary mechanism 3 comprises installing plate 31, is fixed on the disk 32 of installing plate 31 bottoms, described disk 32 rotates and is arranged on the top board 27 of the mechanism 3 of standing up, particularly, described disk 32 bottoms are provided with deep groove ball bearing (invisible among the figure), the deep groove ball bearing outer circumference surface rolls on top board 27, thereby the frictional force between disk 32 and the top board 27 is very little.Be fixed with driving shaft 310 on the described installing plate 31, be fixed with on the described top board 27 be used to drive described driving shaft 310 turn round motor 34.Described horizontal rotary mechanism 2 comprises that also rotation is arranged on the limited roller 33 on the top board 27, the periphery of the periphery of described limited roller 33 and described disk 32 against, described limited roller 33 is three and is evenly distributed on the circumference, under some occasion, limited roller 33 can also be four or more a plurality of, limited roller 33 can also be alternative with fixing locating part, but effect is relatively poor.The effect of limited roller 33 mainly is to prevent disk 32 relative top board 27 displacements, avoids driving shaft 310 owing to the too much dislocation frictional force of carrying is out of shape.
Described mechanical arm 4 comprises the guide rod 41 on the installing plate 31 that is fixed on horizontal rotary mechanism 3, and described guide rod 41 is that two and bearing of trend are the horizontal direction with respect to ground; Also comprise and be slidingly arranged in two slide blocks 42 on the described guide rod 41, be fixed on the flexible motor 43 on the installing plate 31, be fixed on the crank 44 on the output shaft of described flexible motor 43, the connecting rod 45 that one end and described crank are rotationally connected, the other end and described slide block 42 are rotationally connected, be fixed on the connecting axle 46 on the described slide block 42, be fixed on the Connection Block 48 on the described connecting axle 46.Described connecting axle 46 is two, and bearing of trend is parallel with guide rod 41, also is fixed with linear bearing 47 on the described installing plate 31, and described connecting axle 46 slides and is plugged in the described linear bearing 47.When the output shaft of described flexible motor 43 rotated, crank 44 rotated, and then drivening rod 45 swings, and connecting rod 45 drives slide block 42 relative guide rods 41 again and slides, and the also relative guide rod 41 of connecting axle 46 slides, and then drove Connection Block 48 relative installing plates 31 and slided.
Described clamp mechanism 5 comprises the rotating shaft 51 on the Connection Block 48 that is rotatably connected on mechanical arm, is fixed with electric rotating machine 52 on the described Connection Block 48, and the output shaft of described electric rotating machine 52 is connected with rotating shaft 51 and drives rotating shaft 51 rotation.Described claw 50 is symmetrically arranged two, is held article and is stuck between two claws 50.The chucking principle of described claw 50 is: be fixed with two in the described rotating shaft 51 and clamp slide-bar 53, slip cap is provided with grip slide 54 on two described clamping slide-bars 53, be fixedly connected with clamping motor 55 in the described rotating shaft 51, connect on the output shaft of clamping motor 55 and clamp leading screw 56, be fixed with binding nut 540 on the described grip slide 54, described clamping leading screw 56 revolves and is located in the described binding nut 540; Be rotatably connected to an end of first drive rod 57, an end of second drive rod 58 on each described claw 50, the middle part of described first drive rod is rotatably connected on the grip slide 54, the other end of described second drive rod 58 also is rotatably connected on the grip slide 54, and described grip slide 54, first drive rod 57, claw 55, second drive rod 58 form parallel-crank mechanism; The other end of described first drive rod 57 is rotatably connected on an end of the 3rd drive rod 59, and the other end of described the 3rd drive rod 59 and rotating shaft 51 are rotationally connected.When clamping motor 55 rotates, drive and clamp leading screw 56 rotations, and then make that grip slide 54 phase countershafts 51 are flexible, then drive first drive rod 57 and rotate, thereby make claw 55 foldings.Described second drive rod 58 can be many of be arrangeding in parallel.
Though the utility model with preferred embodiment openly as above; but it is not to be used for limiting claim; any those skilled in the art are not in breaking away from spirit and scope of the present utility model; can make possible change and modification, therefore protection domain of the present utility model should be as the criterion with the scope that the utility model claim is defined.
Claims (8)
1. a multi-freedom robot is characterized in that this robot is mainly by forming with the lower part: chassis, the mechanism of standing up, horizontal rotary mechanism, mechanical arm, clamp mechanism; Wherein, the chassis acts on ground, and can move freely on respect to the horizontal direction on ground; The mechanism of standing up is connected on the chassis, and can stretch on respect to the short transverse on ground; Horizontal rotary mechanism is connected in the mechanism of standing up, and can rotate in respect to the horizontal plane on ground; Mechanical arm is connected on the horizontal rotary mechanism, and can stretch on respect to the horizontal direction on ground; Clamp mechanism is arranged on the mechanical arm, and can rotate in respect to the vertical plane on ground, described clamp mechanism also comprise can holding articles claw.
2. multi-freedom robot as claimed in claim 1 is characterized in that: described chassis comprises framework; Driven pulley, described driven pulley and chassis are rotationally connected; First driving wheel and second driving wheel, described first driving wheel and second driving wheel and chassis are rotationally connected, and respectively by drive.
3. multi-freedom robot as claimed in claim 2, it is characterized in that: described first driving wheel is fixedly connected on the end that an end of first power transmission shaft, described second driving wheel are fixedly connected on second power transmission shaft, and described first power transmission shaft and second power transmission shaft all are rotatably connected on the described framework by bearing.
4. multi-freedom robot as claimed in claim 1 is characterized in that: the described mechanism of standing up comprises base plate, and described base plate is fixed on the described chassis; Column and fixed head, the bottom of described column are fixed on the described base plate, the top is fixed on the described fixed head; Slip is located in optical axis guide rail on the described fixed head, be fixed on the driver plate of described optical axis guide rail bottom, be fixed on the top board at described optical axis guide rail top, and the bearing of trend of described optical axis guide rail is a direction perpendicular to the ground; Be used to drive the screw-nut body of optical axis guide rail relative fixed plate lifting.
5. multi-freedom robot as claimed in claim 1 is characterized in that: described horizontal rotary mechanism comprises installing plate, is fixed on the disk of installing plate bottom, and described disk rotates and is arranged in the mechanism of standing up.
6. multi-freedom robot as claimed in claim 5 is characterized in that: described disk bottom is provided with deep groove ball bearing, and the outer circumference surface of described deep groove ball bearing contacts with the mechanism of standing up.
7. multi-freedom robot as claimed in claim 1 is characterized in that: described mechanical arm comprises the guide rod that is fixed on the horizontal rotary mechanism; Be slidingly arranged in the slide block on the described guide rod; Be fixed on the flexible motor on the horizontal rotary mechanism; Be fixed on the crank on the output shaft of described flexible motor; The connecting rod that one end and described crank are rotationally connected, the other end and described slide block are rotationally connected; Be fixed on the connecting axle on the described slide block, be fixed on the Connection Block on the described connecting axle.
8. multi-freedom robot as claimed in claim 1, it is characterized in that: described clamp mechanism comprises the rotating shaft of the rotation of mechanical arm relatively that is rotatably connected on the mechanical arm, be arranged on the claw in the described rotating shaft, described claw is symmetrically arranged two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202999370U CN201800035U (en) | 2010-08-20 | 2010-08-20 | Multiple-degree-of-freedom robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202999370U CN201800035U (en) | 2010-08-20 | 2010-08-20 | Multiple-degree-of-freedom robot |
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| CN201800035U true CN201800035U (en) | 2011-04-20 |
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| CN2010202999370U Expired - Fee Related CN201800035U (en) | 2010-08-20 | 2010-08-20 | Multiple-degree-of-freedom robot |
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| CN102284668A (en) * | 2011-05-02 | 2011-12-21 | 苏州工业园区高登威科技有限公司 | Rivet grasping manipulator |
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| CN102941575A (en) * | 2011-05-18 | 2013-02-27 | 东莞市松庆自动化设备有限公司 | Direct-in/direct-out servo electrical pick-up machine |
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| CN102583044A (en) * | 2012-03-08 | 2012-07-18 | 机械科学研究总院先进制造技术研究中心 | Dye transfer device and dye dissolution equipment |
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| CN104772750A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Moving ascending and descending robot |
| CN104772750B (en) * | 2015-03-27 | 2016-08-24 | 燕山大学 | A kind of moving lifting machine people |
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| CN105437205B (en) * | 2015-12-31 | 2018-07-13 | 上海珍岛信息技术有限公司 | A kind of cylindrical objects handling manipulator |
| CN105798872A (en) * | 2016-05-22 | 2016-07-27 | 程岚 | Stainless steel building balustrade cleaning robot |
| CN105798007A (en) * | 2016-05-22 | 2016-07-27 | 程岚 | Moving type cleaning robot for high-altitude indoor building balustrade |
| CN105798006A (en) * | 2016-05-22 | 2016-07-27 | 程岚 | Building balustrade cleaning robot based on six-freedom-degree parallel mechanism |
| CN105798007B (en) * | 2016-05-22 | 2017-12-12 | 杭州天行建筑装饰股份有限公司 | A kind of movable altitude interior architecture guard rail cleaning machine device people |
| CN105798006B (en) * | 2016-05-22 | 2017-11-21 | 季燕琴 | A kind of building guardrail cleaning robot based on six-degree-of-freedom parallel connection mechanism |
| CN105880104A (en) * | 2016-05-25 | 2016-08-24 | 成都国珈星际固态锂电科技有限公司 | Coating mechanism, slit coating device and film preparation method |
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| CN106002978B (en) * | 2016-05-28 | 2017-12-01 | 嵊州北航投星空众创科技有限公司 | A kind of bottom is provided with the six-joint robot of lifting roller |
| CN106112959A (en) * | 2016-08-12 | 2016-11-16 | 无锡百禾工业机器人有限公司 | A kind of industrial robot of high workload efficiency |
| CN106426077A (en) * | 2016-10-14 | 2017-02-22 | 苏州得尔达国际物流有限公司 | Intelligent warehouse transfer robot |
| CN106903668A (en) * | 2017-04-18 | 2017-06-30 | 武汉知青年教育咨询有限公司 | A kind of universal mechanical arm robot teaching aid |
| CN107054195A (en) * | 2017-05-02 | 2017-08-18 | 岳西县科盛机电有限公司 | A kind of automation transport vehicle |
| CN106986180A (en) * | 2017-05-02 | 2017-07-28 | 岳西县科盛机电有限公司 | A kind of automatic carriage of Two axle drive |
| CN106903686A (en) * | 2017-05-08 | 2017-06-30 | 深圳市时维智能装备有限公司 | A kind of manipulator |
| CN107380298A (en) * | 2017-07-24 | 2017-11-24 | 佛山科学技术学院 | A kind of Double-wheel self-balancing intelligence haulage equipment of four-degree-of-freedom mechanical arm |
| CN107472892A (en) * | 2017-07-31 | 2017-12-15 | 浙江洁宇环保装备科技有限公司 | A kind of conveying device of dedusting airduct |
| CN107414613A (en) * | 2017-07-31 | 2017-12-01 | 浙江洁宇环保装备科技有限公司 | A kind of dedusting airduct polishing method |
| CN108356195A (en) * | 2018-03-27 | 2018-08-03 | 湖南粤科汇智能科技有限公司 | A kind of efficient production system of hardware |
| CN108416918A (en) * | 2018-03-29 | 2018-08-17 | 深圳市道中创新科技有限公司 | A kind of Vending Machine |
| CN108447178A (en) * | 2018-03-29 | 2018-08-24 | 深圳市道中创新科技有限公司 | A kind of grabbing device |
| CN108946119A (en) * | 2018-07-27 | 2018-12-07 | 黄萍 | A kind of filling machine handling equipment |
| CN109305240A (en) * | 2018-10-15 | 2019-02-05 | 哈尔滨理工大学 | A kind of climbing robot foot structure under slope environment |
| CN109484789A (en) * | 2018-10-22 | 2019-03-19 | 西南石油大学 | A kind of intelligent repository robot rapidly and efficiently |
| CN110353813A (en) * | 2019-07-01 | 2019-10-22 | 中奕智创医疗科技有限公司 | A kind of puncture ancillary equipment |
| CN111283693A (en) * | 2020-03-05 | 2020-06-16 | 广东智源机器人科技有限公司 | Actuating mechanism and catering robot |
| CN115090779A (en) * | 2022-08-25 | 2022-09-23 | 苏州弘皓光电科技有限公司 | Metal shell stamping equipment for developing industrial furnace inner temperature detector |
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