CN204262877U - A kind of H humanoid robot - Google Patents
A kind of H humanoid robot Download PDFInfo
- Publication number
- CN204262877U CN204262877U CN201420715103.1U CN201420715103U CN204262877U CN 204262877 U CN204262877 U CN 204262877U CN 201420715103 U CN201420715103 U CN 201420715103U CN 204262877 U CN204262877 U CN 204262877U
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- arm
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- 210000000707 wrist Anatomy 0.000 claims description 17
- 238000013519 translation Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The utility model belongs to manufacturing mechanical field, specifically a kind of H humanoid robot, comprise base and be arranged at the mechanical arm on base, the crossbeam lower surface of described base arranges track, the linear axis driven by arm mobile motor is set with this parallel track, bearing and the track of described mechanical arm connect and compose the pair that is slidably connected, and this bearing and linear axis connect and compose rectilinear motion pair; Bearing is provided with revolution of arm motor, and the head end of mechanical arm is by seat supports and connect and compose horizontal revolving motion pair by the output shaft of revolution of arm axle and revolution of arm motor, and the end of mechanical arm is connected with fixture mounting flange by connecting axle; Described arm mobile motor is connected with control cabinet with the circuit of revolution of arm motor.The utility model can realize low blind area, long distance, multimachine bed butt-joint operation with streamline.
Description
Technical field
The utility model belongs to manufacturing mechanical field, specifically a kind of H humanoid robot.
Background technology
There is several typical forms in general robot: six articulated robots of connecting, DELTA robot, SCARA robot, Cartesian robot etc., be applicable to different application scenarios respectively, and lathe is sent get workpiece and the application of transporting between lathe does not have a kind of desirable robot architecture's pattern.
Existing all-purpose robot structure, all its working space is caused to be all annulus or the spherical shape of hollow because the coordinate position of No. 1 axle (i.e. mechanical arm main shaft) can not change, job area is little, and hollow position is unreachable, and, transporting work pieces between lathe in a big way be realized, these existing robots must be installed and just can complete on a mobile platform, thus cost and energy consumption improve greatly, and take up room increasing.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned deficiency, provides a kind of H humanoid robot, realizes low blind area, long distance, multimachine bed butt-joint operation with streamline.
For realizing above-mentioned technical purpose, the scheme that the utility model provides is: a kind of H humanoid robot, comprise base and be arranged at the mechanical arm on base, the crossbeam lower surface of described base arranges track, the linear axis driven by arm mobile motor is set with this parallel track, bearing and the track of described mechanical arm connect and compose the pair that is slidably connected, and this bearing and linear axis connect and compose rectilinear motion pair; Bearing is provided with revolution of arm motor, and the head end of mechanical arm is by seat supports and connect and compose horizontal revolving motion pair by the output shaft of revolution of arm axle and revolution of arm motor, and the end of mechanical arm is connected with fixture mounting flange by connecting axle; Described arm mobile motor is connected with control cabinet with the circuit of revolution of arm motor.
And described linear axis comprises active rotating shaft and the driven spindle at stroke both ends, and active rotating shaft is connected by Chain conveyer or V belt translation with driven spindle, and the output shaft that active rotating shaft drives with arm mobile motor is coaxially connected.
And described connecting axle is lifting shaft, this lifting shaft is driven by the lifting motor being arranged at mechanical arm tail end, and the circuit of lifting motor is connected with control cabinet.
And described connecting axle place arranges wrist gyroaxis, this wrist gyroaxis and connect and compose synchronous rotary kinematic pair by Chain conveyer or V belt translation with the fixed axis that described revolution of arm axle is coaxially arranged; Or this wrist gyroaxis is driven by wrist turning motor and forms active rotation kinematic pair.
The beneficial effects of the utility model are:
1, structural rate existing robot architecture form is more simple, good economy performance;
2, because mechanical arm is that the track arranged by base crossbeam lower surface carrys out load-bearing, other weight comprises transported workpiece weight and also all bears on bearing, all motors do not bear static load, and motor is exerted oneself substantially all for generation of acceleration, thus has significant energy-saving effect;
3, adopt linear axis design, the workpiece transhipment between distant lathe can be applicable to; Owing to being good at horizontal movement, and there is less thickness arm front end, picks and places workpiece so be more applicable for the lathe that die sinking is highly lower;
4, working space is strip, and centre is without hollow, and operation blind area is little.
Accompanying drawing explanation
Fig. 1 is top perspective structural representation of the present utility model.
Fig. 2 of the present utility modelly looks up perspective view.
Fig. 3 is theory diagram of the present utility model.
Fig. 4 be Fig. 3 overlook block diagram.
Fig. 5 is working space schematic diagram of the present utility model.
Fig. 6 is the utility model operation track block diagram.
Wherein, 1, linear axis, 2, revolution of arm axle, 3, wrist gyroaxis, 4, lifting shaft, 5, fixture mounting flange, 6, mechanical arm, 7, base, 8, crossbeam, 9, track, 10, bearing, 11, active rotating shaft, 12, driven spindle, 13, arm mobile motor, 14, revolution of arm motor, 15, lifting motor, 16, fixed axis, 17, the track of workpiece turnover lathe.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail.
The present embodiment provides a kind of H humanoid robot, as depicted in figs. 1 and 2, comprise base 7 and be arranged at the mechanical arm 6 on base 7, crossbeam 8 lower surface of described base 7 arranges track 9, to be arranged in parallel the linear axis 1 driven by arm mobile motor 13 with this track 9, bearing 10 and the track 9 of described mechanical arm 6 connect and compose the pair that is slidably connected, and this bearing 10 connects and composes rectilinear motion pair with linear axis 1; Bearing 10 is provided with revolution of arm motor 14, and the head end of mechanical arm 6 is supported by bearing 10 and connects and composes horizontal revolving motion pair by revolution of arm axle 2 and the output shaft of revolution of arm motor 14, and the end of mechanical arm 6 is connected with fixture mounting flange 5 by connecting axle; Described arm mobile motor 13 is connected with control cabinet with the circuit of revolution of arm motor 14.
Further, above-mentioned linear axis 1 comprises active rotating shaft 11 and the driven spindle 12 at stroke both ends, and active rotating shaft 11 is connected by Chain conveyer or V belt translation with driven spindle 12, and the output shaft that active rotating shaft 11 drives with arm mobile motor 13 is coaxially connected.
Further, above-mentioned connecting axle is lifting shaft 4, and this lifting shaft 4 is driven by the lifting motor 15 being arranged at mechanical arm 6 end, and the circuit of lifting motor 15 is connected with control cabinet.
Further, above-mentioned connecting axle place arranges wrist gyroaxis 3, this wrist gyroaxis 3 and connect and compose synchronous rotary kinematic pair by Chain conveyer or V belt translation with the coaxial fixed axis 16 arranged of described revolution of arm axle 2, namely realize the workpiece at mechanical arm 6 wrist place in pivotal process towards constant, meet processing operation needs; Or, this wrist gyroaxis 3 is driven by wrist turning motor and forms active rotation kinematic pair, this mode can realize the workpiece at mechanical arm 6 wrist place in pivotal process towards constant, also can realize as required workpiece towards any rotation, meet processing operation needs.
As shown in Figure 3 and Figure 4, by the aggregate motion of linear axis 1 with revolution of arm axle 2, the end of mechanical arm 6 and wrist gyroaxis 3 can be made to form the motion of any intended trajectory in the horizontal plane, add the elevating movement of lifting shaft 4, just can realize fixture mounting flange 5 in job area as shown in Figure 5, do the orbiting motion required arbitrarily.The rotation of wrist gyroaxis 3 realizes maintenance or the change of workpiece posture, and linear axis 1 achieves the movement needs of longer distance.
When robot fetches and delivers workpiece between two lathes, the track 17 of workpiece turnover lathe is in parallel or less parallel relation, these two trajectories and linear axis 1 form " H " shape, as as shown in Figure 6, therefore claim this kind of machine artificial " H humanoid robot ", but described in front, it is also confined to the orbiting motion doing H-shaped.
The above is only preferred embodiment of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvement or distortion, these improve or distortion also should be considered as protection domain of the present utility model.
Claims (4)
1. a H humanoid robot, comprise base and be arranged at the mechanical arm on base, it is characterized in that: the crossbeam lower surface of described base arranges track, the linear axis driven by arm mobile motor is set with this parallel track, bearing and the track of described mechanical arm connect and compose the pair that is slidably connected, and this bearing and linear axis connect and compose rectilinear motion pair; Bearing is provided with revolution of arm motor, and the head end of mechanical arm is by seat supports and connect and compose horizontal revolving motion pair by the output shaft of revolution of arm axle and revolution of arm motor, and the end of mechanical arm is connected with fixture mounting flange by connecting axle; Described arm mobile motor is connected with control cabinet with the circuit of revolution of arm motor.
2. a kind of H humanoid robot according to claim 1, it is characterized in that: described linear axis comprises active rotating shaft and the driven spindle at stroke both ends, active rotating shaft is connected by Chain conveyer or V belt translation with driven spindle, and the output shaft that active rotating shaft drives with arm mobile motor is coaxially connected.
3. a kind of H humanoid robot according to claim 1, is characterized in that: described connecting axle is lifting shaft, and this lifting shaft is driven by the lifting motor being arranged at mechanical arm tail end, and the circuit of lifting motor is connected with control cabinet.
4. a kind of H humanoid robot according to claim 1 or 3, is characterized in that: described connecting axle place arranges wrist gyroaxis, this wrist gyroaxis and connect and compose synchronous rotary kinematic pair by Chain conveyer or V belt translation with the fixed axis that described revolution of arm axle is coaxially arranged; Or this wrist gyroaxis is driven by wrist turning motor and forms active rotation kinematic pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420715103.1U CN204262877U (en) | 2014-11-25 | 2014-11-25 | A kind of H humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420715103.1U CN204262877U (en) | 2014-11-25 | 2014-11-25 | A kind of H humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204262877U true CN204262877U (en) | 2015-04-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420715103.1U Expired - Fee Related CN204262877U (en) | 2014-11-25 | 2014-11-25 | A kind of H humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204262877U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104369046A (en) * | 2014-11-25 | 2015-02-25 | 武汉奋进电力技术有限公司 | H-type robot |
-
2014
- 2014-11-25 CN CN201420715103.1U patent/CN204262877U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104369046A (en) * | 2014-11-25 | 2015-02-25 | 武汉奋进电力技术有限公司 | H-type robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: WUHAN FENJIN INTELLIGENT MACHINE CO., LTD. Free format text: FORMER OWNER: WUHAN FENJIN POWER TECHNOLOGY CO., LTD. Effective date: 20150715 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150715 Address after: 430205 endeavour Industrial Park, 25 hi tech four road, East Lake New Technology Development Zone, Hubei, Wuhan Patentee after: WUHAN FENJIN INTELLIGENT MACHINE Co.,Ltd. Address before: 430205 No. four, No. 25, hi tech Development Zone, East Lake hi tech Development Zone, Hubei, Wuhan Patentee before: WUHAN FENJIN POWER TECHNOLOGY Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |