CN205870557U - Nimble robot that controls on a large scale - Google Patents
Nimble robot that controls on a large scale Download PDFInfo
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- CN205870557U CN205870557U CN201620729346.XU CN201620729346U CN205870557U CN 205870557 U CN205870557 U CN 205870557U CN 201620729346 U CN201620729346 U CN 201620729346U CN 205870557 U CN205870557 U CN 205870557U
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- seat
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Abstract
The utility model discloses an on a large scale, control the robot in a flexible way, the toughened glass storage apparatus comprises a pedestal, be equipped with on the base and rotate the seat by base servo motor drive pivoted, be connected with lower part support arm and drive lower part support arm swing back and forth's lower swinging driving device on the rotation seat, the hinge is equipped with the upper strut seat on the support arm of lower part, be connected with the last swinging driving device who orders about upper strut seat luffing motion on the rotation seat, it is connected with outer sleeve to rotate on the upper strut seat, outer sleeve internal rotation is connected with well sleeve, well sleeve internal rotation is connected with interior sleeve, the anterior rigid coupling of outer sleeve has anterior supporting seat, rotate on the anterior supporting seat and be connected with swing end seat, swing end seat is gone up to rotate to be connected with and is connected and the axial lead power output shaft seat parallel with the axial lead of outer sleeve with interior sleeve power. The utility model discloses can go on on a large scale operation Terminal, the controlling of flexibility to have operation Terminal operation precision height, functioning speed controllability ability height and the big advantage of operation Terminal opereating specification.
Description
Technical field
This utility model relates to one and manipulates robot on a large scale, flexibly.
Background technology
At present, external industrial six-joint robot industry has developed the most ripe, also occupies the domestic and international overwhelming majority
The market share.Six-joint robot is widely used, the assembly of such as automobile component, welding, accurately transfer location of workpiece etc..
Recent years, China there has also been bigger progress for the research and development of industrial robot, also occurs in that a number of domestic brand machine
Device people, its basic structure includes the six roots of sensation drive shaft being sequentially connected with, and drives each drive shaft turns above-mentioned by oscillating oil cylinder,
Attended operation terminal in the drive shaft in front, there is certain defect in it: 1. owing to using oscillating oil cylinder to drive, thus it runs essence
Spend the highest；2., when ordering about drive shaft turns by oscillating oil cylinder, the speed of service performance-adjustable of each drive shaft is poor, thus causes
Labor efficiency is low and the problem of bad adaptability (does not the most adapt to the transfer etc. that the parts of various quickly put in place ask
Topic)；3. due to each drive shaft the most at grade, the track concordance that reruns is poor, thus causes opereating specification narrow
Problem.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of operation terminal operating precision height, speed of service scalable
What performance height was big with operation terminal operation scope manipulates robot on a large scale, flexibly.
For solving above-mentioned technical problem, provided on a large scale, flexibly manipulation robot include base, on base equipped with by
Base servo motor drives the rotation seat rotated, and it is structurally characterized in that: connecting on described rotation seat has vertically arranged bottom to prop up
Brace and the lower swing driving means of driving lower support arm swing, lower support arm is hinged with upper support seat,
Connect on rotation seat and have and order about the upper oscillatory gearing mechanism that upper support seat swings up and down, upper support seat is rotatably connected to by
The outer sleeve of overcoat driven by servomotor, is rotatably connected in outer sleeve by the middle sleeve of middle set driven by servomotor, middle sleeve
Inside being rotatably connected to by the interior sleeve of inner sleeve driven by servomotor, described outer sleeve front portion is connected with front support seat, front portion
The swinging end being connected, swingable and oscillation center line is vertical with outer sleeve axial line it is rotatably connected to middle sleeve power on support seat
Seat, swinging end seat is rotatably connected to is connected with interior sleeve power and the power of axial line and the axis parallel of outer sleeve exports
Axle bed.
Being rotatably connected to mandrel on described swinging end seat, the front end of described middle sleeve is stretched in swinging end seat and connected to be had
Power bevel gear, swinging end seat is fixed with the drive bevel gear that pivoted housing is connected on mandrel and with power bevel gear power.
Being rotatably connected to be positioned at the power transmission shaft in mandrel front on described swinging end seat, described mandrel leads to the front end of interior sleeve
Crossing bevel gear set power to connect, power transmission shaft is in transmission connection with mandrel, and described power output shaft seat passes through bevel gear set and power transmission shaft
Power connects.
Described overcoat servomotor, middle set servomotor and inner sleeve servomotor are all connected on upper support seat, described
The rear end of outer sleeve, middle sleeve and interior sleeve is watched with overcoat servomotor, middle set servomotor and inner sleeve by gear train respectively
The power output shaft power taking motor connects.
The lower rotational of described lower support arm is connected on rotation seat, and described lower swing driving means includes being connected to turn
Lower swing servomotor on dynamic seat, the lower power of lower support arm is connected to the power output shaft of lower swing servomotor
On.
Described upper oscillatory gearing mechanism includes the upper wobble servo motor being connected on rotation seat, upper wobble servo motor
Equipped with drive rod on power output shaft, between drive rod and upper support seat, it is hinged with connecting rod.
The described power output shaft of upper wobble servo motor is coaxially set with the power output shaft of lower swing servomotor,
The length of described connecting rod is equal with the length of lower support arm and both be arranged in parallel.
Using after said structure, on power output shaft seat, attended operation terminal (such as welding manipulator, clamps fixture
Deng), drive rotation seat and parts thereon to rotate by base servo motor and realize overall large rotation, pass through the bottom
Dynamic driving means orders about lower support arm swing, upper oscillatory gearing mechanism orders about upper support seat and swings up and down, it is achieved that
The accurate swing in above-mentioned two direction, more respectively by overcoat servomotor, middle set driven by servomotor and inner sleeve servo electricity
Machine orders about outer sleeve, middle sleeve and interior sleeve and rotates, it is achieved thereby that the three-dimensional perspective position adjustment of swinging end seat, eventually through
Parts are welded or the operation such as clamping by operation terminal.By foregoing description it can be seen that this utility model can be to operation
Terminal is carried out on a large scale, the manipulation of motility, thus have that operation terminal operating precision is high, speed of service performance-adjustable high and
The advantage that operation terminal operation scope is big.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings this utility model is further described:
Fig. 1 is the structural representation of a kind of embodiment of this utility model；
Fig. 2 is the structural representation that Fig. 1 overlooks；
Fig. 3 is the structural representation of line A-A section view along Fig. 1；
Fig. 4 be in Fig. 2 B to structural representation；
Fig. 5 is the schematic diagram that this utility model uses state；
Fig. 6 is the top view of Fig. 5.
Detailed description of the invention
As depicted in figs. 1 and 2, this utility model provide a kind of on a large scale, manipulate flexibly the embodiment of robot, for side
Just describing, be its front end with the position near operation terminal, it includes base 1, and base 1 drives equipped with by base servo motor 2
The dynamic rotation seat 3 rotated, in the present embodiment, rotation seat 3 is connected on base by rotating sleeve, base servo motor 2
Power output shaft with rotate sleeve by gear fit into action edge transmission, on described rotation seat 3 connect have vertically arranged
Lower support arm 4 and the lower swing driving means of driving lower support arm 4 swing, the top hinge dress of lower support arm 4
There is upper support seat 5, rotation seat 3 connects to have and orders about the upper oscillatory gearing mechanism that upper support seat 5 swings up and down, upper support
It is rotatably connected to the outer sleeve 6 driven by overcoat servomotor 20 on seat 5, is rotatably connected in outer sleeve 6 by middle set servo electricity
The middle sleeve 7 that machine 21 drives, is rotatably connected to the interior sleeve 8 driven by inner sleeve servomotor 22, described outer sleeve in middle sleeve 7
6 front portions are connected with front support seat 9, front support seat 9 are rotatably connected to be connected with middle sleeve 7 power, swingable and swing
The swinging end seat 10 that centrage is vertical with outer sleeve axial line, as shown in Figure 4, the axial line of outer sleeve 6 is left and right directions
Horizontal line, the oscillation center line of swinging end seat 10 is vertical line setting up and down, and swinging end seat 10 is rotatably connected to and inner sleeve
The power output shaft seat 11 of the axis parallel of the connection of axle 8 power and axial line and outer sleeve 6, i.e. the axle center of power output shaft 11
Line is the horizontal line of left and right directions, and power output shaft seat 11 can operate terminal equipped with welding gun, fixture etc..
As shown in Figure 1, Figure 2 and Figure 4, described overcoat servomotor 20, middle set servomotor 21 and inner sleeve servomotor 22
All being connected on upper support seat 5, the rear end of described outer sleeve 6, middle sleeve 7 and interior sleeve 8 is respectively by gear train and overcoat
The power output shaft power of servomotor 20, middle set servomotor 21 and inner sleeve servomotor 22 connects, so that its structure is more
Add compact, make sleeve mechanism floor space little, improve operating flexibility.It is rotatably connected to mandrel 12 on described swinging end seat 10,
In swinging end seat 10 is stretched in the front end of described middle sleeve 7 and connect dynamic bevel gear 13, swinging end seat 10 is fixed with pivoted housing
The drive bevel gear 14 being connected on mandrel 12 and with power bevel gear 13 power, described swinging end seat 10 is rotatably connected to position
In mandrel front and vertically arranged power transmission shaft 15, described mandrel 12 is connected by bevel gear set power with the front end of interior sleeve 8,
Power transmission shaft 15 and mandrel 12 are engaged by the gear of bottom and are in transmission connection, and described power output shaft seat 11 passes through bevel gear set
It is connected with power transmission shaft 15 power.In conjunction with Fig. 1 and Fig. 4, the internal upper part of swinging end seat 10 is rotationally connected by semiaxis 23 and bearing
On front support seat 9, semiaxis 23 is coaxially set with mandrel 12, when overcoat servomotor 20 action, and outer sleeve 6, overcoat
Front support seat 9 and all parts thereon that axle 6 front end connects rotate around the axial line of outer sleeve 6, middle set servomotor
During 21 action, engage, by power bevel gear 13 and drive bevel gear 14, the axial line making swinging end seat 10 around above-mentioned semiaxis 23
Swing, during inner sleeve servomotor 22 action, passed with the power of power transmission shaft 15 by power transmission, the mandrel of interior sleeve with mandrel 12
Pass and impart power to power output shaft seat 11, thus the operation terminal for being connected to it on provides the angle and side needed
To, the advantage of said structure is, manipulation is accurate, flexible, and compact conformation.
As shown in Figure 1, Figure 2 and Figure 3, the lower rotational of described lower support arm 4 is connected on rotation seat 3, the described bottom
Dynamic driving means includes the lower swing servomotor 24 being connected on rotation seat 3, and the lower power of lower support arm 4 is connected to down
On the power output shaft of wobble servo motor 24, described upper oscillatory gearing mechanism includes that the upper swing being connected on rotation seat 3 is watched
Take motor 25, equipped with drive rod 16 on the power output shaft of upper wobble servo motor 25, between drive rod 16 and upper support seat 5
Being hinged with connecting rod 17, the power output shaft of described upper wobble servo electricity 25 is coaxial with the power output shaft of lower swing servomotor 24
Line is arranged, and the length of described connecting rod 17 is equal with the length of lower support arm 4 and both be arranged in parallel, so that connecting rod and top
Support the hinged center of seat 5, lower support arm 4 and the hinged center of upper support seat, above-mentioned two power output shafts axle center with
And the hinged center of drive rod and connecting rod projects the subpoint on paper in FIG and forms parallelogram, say, that will
Connecting rod 17, lower support arm 4, upper support seat 5 and drive rod 16 constitute a parallel quadric chain of opposite side, so that
Action can be operated alone, it is achieved the level of lower support arm 4 swings and (schemes during above-mentioned two servomotor 24 power drive
Direction in 1), it is also possible to the front portion realizing upper support seat 5 is carried out around the hinged center of lower support arm 4 with upper support seat
Swing up and down, naturally it is also possible to realize the linkage in above-mentioned two direction without producing interference.
As shown in Figure 5 and Figure 6, in a state of use, for convenience of describing, define above-mentioned rotation seat 3 is this utility model
J1 arm, lower support arm 4 is J2 arm, and upper support seat 5 is J3 arm, and outer sleeve 6 forms J4 arm, middle sleeve 7 with front support seat 9
Forming J5 arm with swinging end seat 10, interior sleeve 8, mandrel 12, power transmission shaft 15 and power output shaft seat 11 constitute J6 arm, by Fig. 5
In direction for, as shown in Figure 5, figure illustrates the hunting range of J2 arm, the hunting range of J3 arm, the rotation side of J4 arm
To (it is of course possible to forward and reverse), the hunting range of J5 arm and the rotation direction of J6 arm, and in figure before the sign of above-mentioned J2
Add "+", the meaning of "-" number be its forward hunting range for+J2, backswing scope for-J2, the meaning that other arms indicate
Think in like manner can obtain, thus illustrate the most one by one, by above-mentioned scope and the adjustment in direction, can make to be arranged on power output shaft
Operation terminal on seat 11 carries out the adjustment of angles and positions in X circle (dotted line circle)；As shown in Figure 6, figure illustrates J1
The slewing area radius of arm, operation terminal can carry out the adjustment of angles and positions, pass through foregoing description enclose (dotted line circle) at Y in
And it can be seen that this utility model compact conformation, can carry out on a large scale, accurately and the adjustment operation of motility shown in figure
Terminal.
This utility model is not restricted to the described embodiments, say, that first, for those skilled in the art, and base
On this utility model, the equivalent variations of concrete structure and part replacement are all in protection domain of the present utility model, secondly,
This utility model can be not only used for that vehicle is assembled, welding profession, and the location being equally applicable to other any parts puts, right
Together, the operation such as boring.
Claims (7)
1. manipulate a robot on a large scale, flexibly, including base (1), base (1) drives equipped with by base servo motor (2)
The dynamic rotation seat (3) rotated, is characterized in that: there is vertically arranged lower support arm (4) described rotation seat (3) upper connection and drives
The lower swing driving means of dynamic lower support arm (4) swing, lower support arm (4) is hinged with upper support seat (5), turns
The upper connection of dynamic seat (3) has orders about the upper oscillatory gearing mechanism that upper support seat (5) swings up and down, and upper support seat (5) is upper to be rotated
Connect and have by the outer sleeve (6) of overcoat driven by servomotor, be rotatably connected to by middle set driven by servomotor in outer sleeve (6)
Middle sleeve (7), is rotatably connected in middle sleeve (7) by the interior sleeve (8) of inner sleeve driven by servomotor, and described outer sleeve (6) is front
Portion is connected with front support seat (9), front support seat (9) is rotatably connected to be connected with middle sleeve (7) power, swingable and pendulum
The swinging end seat (10) that dynamic centrage is vertical with outer sleeve axial line, swinging end seat (10) is rotatably connected to and interior sleeve (8)
The power output shaft seat (11) of the axis parallel of power connection and axial line and outer sleeve (6).
The most according to claim 1 manipulate robot on a large scale, flexibly, it is characterized in that: described swinging end seat (10) is upper to be turned
Be dynamically connected mandrel (12), and the front end of described middle sleeve (7) is stretched in swinging end seat (10) and connects dynamic bevel gear (13),
The drive bevel gear that pivoted housing is upper at mandrel (12) and is connected it is fixed with power bevel gear (13) power on swinging end seat (10)
(14).
The most according to claim 2 manipulate robot on a large scale, flexibly, it is characterized in that: described swinging end seat (10) is upper to be turned
Being dynamically connected and be positioned at the power transmission shaft (15) in mandrel front, described mandrel (12) is moved by bevel gear set with the front end of interior sleeve (8)
Power connects, and power transmission shaft (15) is in transmission connection with mandrel (12), and described power output shaft seat (11) passes through bevel gear set and power transmission shaft
(15) power connects.
4., according to manipulating robot on a large scale, flexibly according to any one of claim 1-3, it is characterized in that: described overcoat is watched
Take motor, middle set servomotor and inner sleeve servomotor to be all connected on upper support seat (5), described outer sleeve (6), middle sleeve
And the rear end of interior sleeve (8) is respectively by gear train and overcoat servomotor, middle set servomotor and inner sleeve servomotor (7)
Power output shaft power connects.
5., according to manipulating robot on a large scale, flexibly according to any one of claim 1-3, it is characterized in that: described bottom is propped up
The lower rotational of brace (4) is connected on rotation seat (3), and described lower swing driving means includes being connected on rotation seat (3)
Lower swing servomotor, the lower power of lower support arm (4) is connected on the power output shaft of lower swing servomotor.
The most according to claim 5 manipulate robot on a large scale, flexibly, it is characterized in that: described upper oscillatory gearing mechanism bag
Include the upper wobble servo motor being connected on rotation seat (3), equipped with drive rod on the power output shaft of upper wobble servo motor
(16), connecting rod (17) it is hinged with between drive rod (16) and upper support seat (5).
The most according to claim 6 manipulate robot on a large scale, flexibly, it is characterized in that: described upper wobble servo motor
Power output shaft is coaxially set with the power output shaft of lower swing servomotor, the length of described connecting rod (17) and lower support
The length of arm (4) is equal and both be arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620729346.XU CN205870557U (en) | 2016-07-12 | 2016-07-12 | Nimble robot that controls on a large scale |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620729346.XU CN205870557U (en) | 2016-07-12 | 2016-07-12 | Nimble robot that controls on a large scale |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205870557U true CN205870557U (en) | 2017-01-11 |
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ID=57696269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620729346.XU Active CN205870557U (en) | 2016-07-12 | 2016-07-12 | Nimble robot that controls on a large scale |
Country Status (1)
| Country | Link |
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| CN (1) | CN205870557U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965523A (en) * | 2016-07-12 | 2016-09-28 | 迈赫机器人自动化股份有限公司 | Large-range flexible-operated robot |
| CN106994682A (en) * | 2017-05-27 | 2017-08-01 | 李双双 | A kind of new type mechanical device of teaching |
| CN107116763A (en) * | 2017-06-18 | 2017-09-01 | 徐秀娥 | A kind of material taking manipulator of injection molding machine |
| CN108435447A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of multi-direction apparatus for work |
| CN108435469A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of full-automatic paint spraying apparatus |
| CN108435448A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of automatically controlled end can turn to horn |
| CN108620934A (en) * | 2018-05-14 | 2018-10-09 | 肇庆学院 | A kind of manipulator for numerical control machine |
| CN115008448A (en) * | 2021-11-29 | 2022-09-06 | 北京精准医械科技有限公司 | Space parallelogram connecting rod structure, miniaturized mechanical arm with space parallelogram connecting rod structure and application of space parallelogram connecting rod structure |
-
2016
- 2016-07-12 CN CN201620729346.XU patent/CN205870557U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965523A (en) * | 2016-07-12 | 2016-09-28 | 迈赫机器人自动化股份有限公司 | Large-range flexible-operated robot |
| CN106994682A (en) * | 2017-05-27 | 2017-08-01 | 李双双 | A kind of new type mechanical device of teaching |
| CN107116763A (en) * | 2017-06-18 | 2017-09-01 | 徐秀娥 | A kind of material taking manipulator of injection molding machine |
| CN108435447A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of multi-direction apparatus for work |
| CN108435469A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of full-automatic paint spraying apparatus |
| CN108435448A (en) * | 2018-03-19 | 2018-08-24 | 华南智能机器人创新研究院 | A kind of automatically controlled end can turn to horn |
| CN108435469B (en) * | 2018-03-19 | 2020-07-03 | 华南智能机器人创新研究院 | Full-automatic paint spraying equipment |
| CN108620934A (en) * | 2018-05-14 | 2018-10-09 | 肇庆学院 | A kind of manipulator for numerical control machine |
| CN115008448A (en) * | 2021-11-29 | 2022-09-06 | 北京精准医械科技有限公司 | Space parallelogram connecting rod structure, miniaturized mechanical arm with space parallelogram connecting rod structure and application of space parallelogram connecting rod structure |
| CN115008448B (en) * | 2021-11-29 | 2022-11-04 | 北京精准医械科技有限公司 | Space parallelogram connecting rod structure, miniaturized mechanical arm with space parallelogram connecting rod structure and application of space parallelogram connecting rod structure |
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