CN208914108U - A kind of articulated robot - Google Patents
A kind of articulated robot Download PDFInfo
- Publication number
- CN208914108U CN208914108U CN201821765987.6U CN201821765987U CN208914108U CN 208914108 U CN208914108 U CN 208914108U CN 201821765987 U CN201821765987 U CN 201821765987U CN 208914108 U CN208914108 U CN 208914108U
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- clamper
- plate
- connecting rod
- arm
- driving
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Abstract
The utility model discloses a kind of articulated robots, mainly include horizontal rotation arm, vertical movement arm and clamper, horizontal rotation arm is connected with vertical movement arm, vertical movement arm end is equipped with clamper, and installation is fixed by manipulator mounting hole in the horizontal rotation arm.The advantages of the utility model: using planar linkage mechanism, reduces usage quantity of the driving motor at manipulator joint, improves movenent performance, reduces production cost.
Description
Technical field
The utility model relates to manipulator technical field more particularly to a kind of articulated robots.
Background technique
Industrial robot is a kind of typical automated production equipment, an important branch of the manipulator as robot,
And the industrial robot occurred earliest, can apish arm action, complete grabbing for object according to certain sequence of movement
The operation such as take and carry, have many advantages, such as movement quickly, flexibly, repetitive positioning accuracy height and can long working；With industry
The raising of the degree of automation, manipulator have been more and more widely used in all trades and professions, especially can high temperature, high pressure,
High intensity, dust, pollution and with working in the environment of Radio Active Hazard, heavy task are completed instead of people, reduction is produced into
This, improves production efficiency.A knuckle type manipulator (publication number: CN106553182A) is although can disclosed in Chinese patent
Achieve the effect that in high temperature, high pressure, high intensity, dust, pollution and replaces human work in the environment of with Radio Active Hazard, but its
There are many defects: the manipulator controls six joint actions using six stepper motors respectively, although can reach control machine
The purpose of tool hands movement, still, driving motor are mounted on each joint of manipulator and have the following problems: mechanical arm needs are held
The weight for carrying motor simultaneously meets rigidity requirement, therefore mechanical arm sectional dimension needs to do bigger, will increase driving motor
The rotary inertia of load and arm, so that robot movement performance declines；Driving motor is mounted on joint and makes manipulator knot
Structure becomes complicated, high production cost.
Utility model content
The purpose of this utility model is to provide a kind of articulated robots to reduce driving electricity using planar linkage mechanism
Usage quantity of the machine at manipulator joint improves movenent performance, reduces production cost.
To achieve the above object, the technical solution that the utility model is taken are as follows: a kind of articulated robot mainly includes level
Arm, vertical movement arm and clamper are turned round, horizontal rotation arm is connected with vertical movement arm, vertical to act arm end
End is equipped with clamper, and installation is fixed by manipulator mounting hole in the horizontal rotation arm.
Further, the vertical movement arm includes bottom plate, the first support plate, the second support plate, first connecting rod, first
Connecting plate, triangle connector, the second connecting plate, second connecting rod, clamper mounting plate and driving motor are fixedly mounted on the bottom plate
There are the first support plate and the second support plate, driving motor is fixedly installed on the outside of first support plate, driving motor turns
Axis is fixedly connected through the first support plate with first connecting plate one end, the other end of the first connecting plate respectively with triangle connector the
One end rotation connection of one angle point, the second connecting plate, the second angle point of the triangle connector and the rotation of second connecting rod one end connect
It connects, the other end of second connecting plate and the other end of second connecting rod are separately connected clamper mounting plate, the triangle connection
One end rotation connection of the third angle point and first connecting rod of part, the other end of first connecting rod and the rotation connection of the second support plate.
Further, the horizontal rotation arm includes rotary table and rotating electric machine, is fixed at the top of the rotary table
Rotating electric machine is installed, the output shaft of rotating electric machine is fixedly connected with the bottom plate on vertical movement arm, and the rotary table is logical
It crosses manipulator mounting hole and installation is fixed.
Further, the clamper include driving gear, driven gear, driving claw, from pawl and clamper mounting rack,
The clamper is mounted on clamper mounting plate by clamper mounting rack, and the driving gear and driven gear pass through respectively
Shaft be rotatablely installed inside clamper mounting rack, the driving gear is fixedly connected with driving claw, the driven gear and from
Pawl is fixedly connected, and driving gear and driven gear are meshed setting.
Further, shaft one end of the driving gear is provided with hexagon ring, and the hexagon ring is connected with the shaft of steering engine,
Steering engine is fixedly installed in outside the clamper mounting rack of clamper.
Further, the first connecting rod, the first connecting plate, triangle connector, the second connecting plate, second connecting rod and clamper
Mounting plate forms two parallelogram linkages.Parallelogram linkage is a kind of special shape of link mechanism,
It realizes and the power of driving motor is transferred directly to clamper mounting plate, reduce the peace of each joint driving motor of manipulator
Number is filled, so that robot manipulator structure is more compact light；It can guarantee that clamper is pacified using parallelogram linkage feature
The clamper installed in loading board remains translation.
Further, the driving motor, rotating electric machine and steering engine use servo motor.Such as model 80ST-
The servo motor of M02430.
Compared with prior art, the utility model has the following beneficial effects: first, passing through the first connecting rod, first
Connecting plate, triangle connector, the second connecting plate, second connecting rod and clamper mounting plate form two parallelogram linkages,
Parallelogram linkage is a kind of special shape of link mechanism, realizes and is transferred directly to press from both sides by the power of driving motor
Holder mounting plate greatly reduces the installation number of each joint driving motor of manipulator, alleviates the load of mechanical arm, make
It is more smooth, steady to obtain robot movement, so that robot manipulator structure is more compact light, what mechanical arm sectional dimension can be done
It is smaller, production cost is reduced, the overall structure of manipulator is simplified.Second, this manipulator carries out mechanical workpieces by clamper
It carries, transfer, human work can be replaced in high temperature, high pressure, high intensity, dust, pollution and in the environment of with Radio Active Hazard,
Since this manipulator overall structure is simple, lighter overall weight, driving motor usage quantity is reduced, therefore can be to a certain degree
On reduce the use of electric energy.Third, the hand getting of this machinery is driven with servo motor, control performance is good, it can be achieved that velocity potential
That sets is precisely controlled, and overall volume is small, and noise is small, pollution-free.
Detailed description of the invention
Fig. 1 is the vertical movement arm structure main view of the utility model；
Fig. 2 is the vertical movement arm structure top view of the utility model；
Fig. 3 is the parallelogram linkage structural schematic diagram of the utility model；
Fig. 4 is the vertical movement arm structure schematic diagram of the utility model；
Fig. 5 is the overall structure main view of the utility model；
Fig. 6 is the overall structure top view of the utility model；
Fig. 7 is the holder structure schematic diagram of the utility model；
Fig. 8 is the overall structure diagram of the utility model；
In figure: 1, bottom plate；1-1, rotating electric machine mounting hole；2, the first support plate；3, the second support plate；4, first connecting rod；
5, the first connecting plate；6, triangle connector；7, the second connecting plate；8, second connecting rod；9, clamper mounting plate；9-1, clamper installation
Hole；10, driving motor；11, rotary table；11-1, manipulator mounting hole；12, rotating electric machine；13, clamper；13-1, active
Gear；13-2, driven gear；13-3, hexagon ring；13-4, driving claw；13-5, from pawl；14, steering engine.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
As shown in figures 1-8, a kind of articulated robot mainly includes horizontal rotation arm, vertical movement arm and clamper
13, horizontal rotation arm is connected with vertical movement arm, and the vertical arm end that acts is equipped with clamper 13, and the level is returned
It changes hands arm and installation is fixed by manipulator mounting hole 11.
Wherein, the vertical movement arm includes bottom plate 1, the first support plate 2, the second support plate 3, first connecting rod 4, first
Connecting plate 5, triangle connector 6, the second connecting plate 7, second connecting rod 8, clamper mounting plate 9 and driving motor 10, on the bottom plate 1
It is fixedly installed with the first support plate 2 and the second support plate 3, the outside of first support plate 2 is fixedly installed with driving motor 10,
The shaft of driving motor 10 is fixedly connected through the first support plate 2 with 5 one end of the first connecting plate, the other end difference of the first connecting plate 5
With one end rotation connection of the first angle point, the second connecting plate 7 of triangle connector 6, the second angle point of the triangle connector 6
It is rotatablely connected with 8 one end of second connecting rod, the other end of second connecting plate 7 and the other end of second connecting rod 8 are separately connected clamping
One end rotation connection of device mounting plate 9, the third angle point of the triangle connector 6 and first connecting rod 4, first connecting rod 4 it is another
One end and the rotation connection of the second support plate 3.
Wherein, the horizontal rotation arm includes rotary table 11 and rotating electric machine 12, is consolidated at the top of the rotary table 11
Dingan County is equipped with rotating electric machine 12, and the output shaft of rotating electric machine 12 is fixedly connected with the bottom plate 1 on vertical movement arm, the revolution
Installation is fixed by manipulator mounting hole 11-1 in pedestal 11.
Wherein, the clamper 13 include driving gear 13-1, driven gear 13-2, driving claw 13-4, from pawl 13-5
With clamper mounting rack, the clamper 13 is mounted on clamper mounting plate 9 by clamper mounting rack, the driving gear
13-1 and driven gear 13-2 is respectively by shaft rotational installation inside clamper mounting rack, the driving gear 13-1 and master
Pawl 13-4 is fixedly connected, and the driven gear 13-2 is fixedly connected with from pawl 13-5, driving gear 13-1 and driven gear
13-2 is meshed setting.
Wherein, shaft one end of the driving gear 13-1 is provided with hexagon ring 13-3, the hexagon ring 13-3 and steering engine 14
Shaft connection, steering engine 14 is fixedly installed in outside the clamper mounting rack of clamper 13.
Wherein, the first connecting rod 4, the first connecting plate 5, triangle connector 6, the second connecting plate 7, second connecting rod 8 and clamping
Device mounting plate 9 forms two parallelogram linkages.Parallelogram linkage is a kind of special form of link mechanism
Formula realizes the power of driving motor 10 being transferred directly to clamper mounting plate 9, reduces each joint driving electricity of manipulator
The installation number of machine, so that robot manipulator structure is more compact light；It can guarantee to press from both sides using parallelogram linkage feature
The clamper 13 installed on holder mounting plate 9 remains translation.
Wherein, the driving motor 10, rotating electric machine 12 and steering engine 14 use servo motor.Such as model 80ST-
The servo motor of M02430.
It should be noted that the utility model is a kind of articulated robot, when use, first passes through rotary table 11
Installation is fixed in manipulator mounting hole 11-1, then connects the external power supply of driving motor 10, rotating electric machine 12 and steering engine 14,
The driving motor 10, rotating electric machine 12 and steering engine 14 use servo motor, and the included encoder of servo motor controls its drive
Dynamic device movement；This manipulator controls the horizontal rotation of vertical movement arm and clamper 13 by rotating electric machine 12, passes through driving
Motor 10 controls the expanding-contracting action of vertical movement arm, is acted by the folding and unfolding that steering engine 14 controls clamper 13；Described first connects
Bar 4, the first connecting plate 5, triangle connector 6, the second connecting plate 7, second connecting rod 8 and clamper mounting plate 9 form two parallel four
Side shape link mechanism, parallelogram linkage are a kind of special shapes of link mechanism, are realized driving motor 10
Power is transferred directly to clamper mounting plate 9, greatly reduces the installation number of each joint driving motor of manipulator, alleviates
The load of mechanical arm, so that robot movement is more smooth, steady, so that robot manipulator structure is more compact light, manipulator
Arm sectional dimension can be done smaller, and production cost is reduced, and simplify the overall structure of manipulator.Utilize parallelogram connection-rod machine
Structure feature can guarantee that the clamper 13 installed on clamper mounting plate 9 remains translation, and clamper 13 is adopted in this manipulator
With gear type rotary type clamper.
Above disclosed is only a kind of preferred embodiment of the utility model, certainly cannot be practical to limit with this
Novel interest field, those skilled in the art can understand all or part of the processes for realizing the above embodiment, and according to
Equivalent variations made by the utility model claims, still falls within the scope of the utility model.
Claims (7)
1. a kind of articulated robot mainly includes horizontal rotation arm, vertical movement arm and clamper (13), feature exists
In: horizontal rotation arm is connected with vertical movement arm, and the vertical arm end that acts is equipped with clamper (13), the level
Installation is fixed by manipulator mounting hole (11-1) in revolution arm.
2. a kind of articulated robot according to claim 1, it is characterised in that: the vertical movement arm includes bottom plate
(1), the first support plate (2), the second support plate (3), first connecting rod (4), the first connecting plate (5), triangle connector (6), second
Connecting plate (7), second connecting rod (8), clamper mounting plate (9) and driving motor (10) are fixedly installed with first on the bottom plate (1)
Support plate (2) and the second support plate (3) are fixedly installed with driving motor (10) on the outside of first support plate (2), driving electricity
The shaft of machine (10) is fixedly connected through the first support plate (2) with the first connecting plate (5) one end, the other end point of the first connecting plate (5)
It is not rotatablely connected with one end of the first angle point of triangle connector (6), the second connecting plate (7), the triangle connector (6)
Second angle point and the rotation connection of second connecting rod (8) one end, the other end of second connecting plate (7) and second connecting rod (8) it is another
End is separately connected clamper mounting plate (9), and the third angle point of the triangle connector (6) and one end of first connecting rod (4) turn
Dynamic connection, the other end and the second support plate (3) rotation connection of first connecting rod (4).
3. a kind of articulated robot according to claim 1, it is characterised in that: the horizontal rotation arm includes revolution
Pedestal (11) and rotating electric machine (12), rotary table (11) top are fixedly installed with rotating electric machine (12), rotating electric machine
(12) output shaft is fixedly connected with the bottom plate (1) on vertical movement arm, and the rotary table (11) is installed by manipulator
Installation is fixed in (11-1) in hole.
4. a kind of articulated robot according to claim 1, it is characterised in that: the clamper (13) includes driving tooth
Take turns (13-1), driven gear (13-2), driving claw (13-4), from pawl (13-5) and clamper mounting rack, the clamper
(13) it is mounted on clamper mounting plate (9) by clamper mounting rack, the driving gear (13-1) and driven gear (13-
2) respectively by shaft rotational installation inside clamper mounting rack, the driving gear (13-1) and driving claw (13-4) are fixed
Connection, the driven gear (13-2) are fixedly connected with from pawl (13-5), driving gear (13-1) and driven gear (13-2)
Be meshed setting.
5. a kind of articulated robot according to claim 4, it is characterised in that: the shaft of the driving gear (13-1)
One end is provided with hexagon ring (13-3), and the hexagon ring (13-3) connects with the shaft of steering engine (14), and steering engine (14) is fixedly installed in
Outside the clamper mounting rack of clamper (13).
6. a kind of articulated robot according to claim 2, it is characterised in that: the first connecting rod (4), the first connecting plate
(5), triangle connector (6), the second connecting plate (7), second connecting rod (8) form two parallel four sides with clamper mounting plate (9)
Shape link mechanism.
7. a kind of articulated robot according to claim 6, it is characterised in that: the driving motor (10), electric rotating
Machine (12) and steering engine (14) use servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821765987.6U CN208914108U (en) | 2018-10-30 | 2018-10-30 | A kind of articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821765987.6U CN208914108U (en) | 2018-10-30 | 2018-10-30 | A kind of articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208914108U true CN208914108U (en) | 2019-05-31 |
Family
ID=66710797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821765987.6U Expired - Fee Related CN208914108U (en) | 2018-10-30 | 2018-10-30 | A kind of articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208914108U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587571A (en) * | 2019-10-18 | 2019-12-20 | 南京蜘蛛侠智能机器人有限公司 | Mechanical arm trolley |
| CN110596491A (en) * | 2019-09-12 | 2019-12-20 | 安徽上造智能设备科技有限公司 | Cable aging detection device |
| CN110811843A (en) * | 2019-11-27 | 2020-02-21 | 山东大学 | Force feedback main manipulator for minimally invasive surgery |
| CN113147949A (en) * | 2021-04-22 | 2021-07-23 | 上海扩博智能技术有限公司 | Walking joint for robot |
-
2018
- 2018-10-30 CN CN201821765987.6U patent/CN208914108U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596491A (en) * | 2019-09-12 | 2019-12-20 | 安徽上造智能设备科技有限公司 | Cable aging detection device |
| CN110587571A (en) * | 2019-10-18 | 2019-12-20 | 南京蜘蛛侠智能机器人有限公司 | Mechanical arm trolley |
| CN110811843A (en) * | 2019-11-27 | 2020-02-21 | 山东大学 | Force feedback main manipulator for minimally invasive surgery |
| CN113147949A (en) * | 2021-04-22 | 2021-07-23 | 上海扩博智能技术有限公司 | Walking joint for robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190531 Termination date: 20191030 |