CN209579568U - A kind of movable type seven freedom smart collaboration robot - Google Patents
A kind of movable type seven freedom smart collaboration robot Download PDFInfo
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- CN209579568U CN209579568U CN201920104293.6U CN201920104293U CN209579568U CN 209579568 U CN209579568 U CN 209579568U CN 201920104293 U CN201920104293 U CN 201920104293U CN 209579568 U CN209579568 U CN 209579568U
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Abstract
Disclosed by the utility model is a kind of mobile seven freedom smart collaboration robot, the seven freedom mechanical arm being installed in mobile base including mobile base and cooperation, mobile base includes base platform, movable pulley, adjusts support column, fixed corner fittings and support base, base platform is made of mental section, movable pulley cooperates the bottom for being installed in base platform, fixed corner fittings is installed on the profile connection installation place of the base platform, it adjusts support column cooperation and is installed in base platform top, support base cooperation is installed in the top for adjusting support column.The utility model, which not only increases additional axis robot may be implemented, hides certain specific targets, specific position is reached convenient for end effector, improve the relevant comprehensive kinematic and dynamic modeling of robot, and change traditional robot can only be fixed on production line some workflow position carry out using technical limitation, its flexibility is extended using degree, is preferably applied in actual production and application.
Description
Technical field
The utility model relates to moveable multi-freedom intelligent robot field, more specifically a kind of movement
Formula seven freedom smart collaboration robot.
Background technique
Enterprise based on light industry needs a large amount of artificial progress operations, is badly in need of the introducing of robot automation's equipment to mention
The production efficiency and quality of high factory, while reducing the recruitment cost of factory.But the working method master of traditional robot device
Will be based on simple, duplicate working method, and light industry robot needs relatively high positioning accuracy, and to material
Rigidity there are certain requirements, and have certain flexibility requirements for joint of robot, and limiting traditional robot, (such as shoes take in light industry
Industry) application.
Traditional robot is generally up to six-freedom degree at present, wherein preceding three degree of freedom guidance clamp hand device is extremely
Desired position, then three degree of freedom is used to determine the direction of end executive device, and there is height to rely on professional skill for robot
Teaching, the programming operation of energy personnel, and simple and repetitive operation can only be engaged in structured environment mostly.These types
Robot generally has the characteristics that positioning accuracy is high, speed is fast and High power output, meanwhile, this kind of robot the degree of automation compared with
Working efficiency with higher and economic benefit in high, the production relatively-stationary large enterprises of behavior, but the robot of these types
The cost is relatively high, lacks flexibility and fast adaptability, and have certain risk, needs that operation is isolated.On the other hand,
Traditional robot can only be some workflow position for being fixed on production line, can not be moved, and opposite position is solid
Fixed constant, flexible usability limitation is stronger, can not neatly move use.So this type machine people is in the consumer goods
When enterprise's production adjusts therewith caused by market quickly changes, it appears flexibility is insufficient, and dexterity and intelligence be not strong, makes one
Medium-sized and small enterprises of the large quantities of pairs of markets with significant contribution carry out production to use robot and hold a negative attitude.
In addition, although robot obtained great development and corresponding policy support in recent years, actually absolutely mostly
The production work of number medium-sized and small enterprises is still completed by craft or traditional robot manipulator, and the intelligence degree of robot is also insufficient
To replace the work that people's completion is intelligent, flexibility and technical ability are more demanding, in face of current production and life complicated and changeable
Demand, cooperation robot technology cause the attention of more and more researchers and company.
Utility model content
Disclosed by the utility model is a kind of mobile seven freedom smart collaboration robot, and main purpose is to overcome
Deficiencies of the prior art and disadvantage.
The technical solution adopted in the utility model is as follows:
A kind of movable type seven freedom smart collaboration robot, including mobile base and cooperation are installed in the mobile base
On seven freedom mechanical arm, the mobile base includes base platform, movable pulley, adjusts support column, fixed corner fittings and branch
Seat is supportted, the base platform is made of mental section, which cooperates the bottom for being installed in the base platform, the fixed angles
Part is installed on the profile connection installation place of the base platform, and the adjusting support column cooperation is installed on the base platform
Portion, the support base cooperate the top for being installed in the adjusting support column；
Seven freedom mechanical arm cooperation is installed on the support base, the seven freedom mechanical arm include according to
The pedestal of secondary connection setting, the first joint, second joint, first connecting rod, third joint, the 4th joint, second connecting rod, the 5th pass
Section, the 6th joint and the 7th joint, the upper flange connecting pin of the pedestal are fixedly connected with the motor output end in the first joint,
The flanged ends in first joint is fixedly connected with the motor output end of second joint, the flanged joint of the second joint
End is mutually fixedly connected with the lower flange connecting pin of first connecting rod, upper flange connecting pin and the third joint of the first connecting rod
Motor output end is fixedly connected, and the flanged ends in the third joint is fixedly connected with the motor output end in the 4th joint, this
The flanged ends in four joints and the lower flange connecting pin of second connecting rod are fixed, the upper flange connecting pin of the second connecting rod with
The flanged ends in the 5th joint is fixedly connected, and the motor output end in the 5th joint and the flanged ends in the 6th joint are fixed
Connection, the motor output end in the 6th joint are fixedly connected with the flanged ends in the 7th joint, and the motor in the 7th joint is defeated
Outlet is fitted with peripheral Auxiliary equipment；
Each intra articular is integrated to be equipped with motor driver, motor, absolute value encoder, incremental encoder, system
Dynamic device and retarder, and the one end in each joint is motor output end, the output torque of the motor output end is for joint
Rotation, the other end in joint are the flanged ends for drive connection；
The seven freedom mechanical arm further includes control module, the control module include ups power, computer console and
Safe I/O sensor, wherein ups power is used to provide power supply, the meter to the computer console and safe I/O sensor
By CAN bus, the motor driver and motor integrally disposed with each intra articular matches calculation machine console respectively
Corresponding control connection setting, the safe I/O sensor is connected with a teaching machine, and the computer console and the teaching
The connection of device phase control.
Further, the tune for adjusting support column and including the mobile adjustable column of liftable and being disposed on the adjustable column
Controller is saved, which is connected with the computer console of the seven freedom mechanical arm.
Further, the adjustable column is any one in hydraulic regulation column or cylinder lifting column.
Further, USB, LAN and USB interface are additionally provided on the computer console.
Further, the pedestal, the first joint, second joint, first connecting rod, third joint, the 4th joint, second connect
Bar, the 5th joint, the 6th joint and each corresponding connection parts in the 7th joint are respectively adopted sealing ring and carry out exclusion seal setting.
Further, first joint is identical with the structure of second joint, and the torque of output is maximum, third joint and
The structure in the 4th joint is identical, and the torque of output is taken second place, and the 5th joint, the 6th joint are identical with the structure in the 7th joint,
The torque of output is minimum.
Further, the seven freedom mechanical arm further includes third connecting rod and a joint connector, which connects
Be connected between the 5th joint and the 6th joint, the third connect both ends flanged ends respectively with the 5th joint and the 6th joint
Motor output end it is in mating connection, which is connected between third joint and second connecting rod, the joint connector
The flanged ends at both ends is connected with the flanged ends in third joint and second connecting rod respectively, and the 4th joint and the 5th is closed
Section is connected, and the motor output end in the 4th joint is connected with the flanged ends of second connecting rod；First joint and the
The structure in two joints is identical, and the torque of output is maximum, and the output torque in third joint is taken second place, the 4th joint, the 5th joint, the
Six joints are identical with the structure in the 7th joint, and the torque of output is minimum.
Further, the seven freedom mechanical arm further includes third connecting rod and a joint connector, which connects
It is connected between the 6th joint and joint connector, the flanged ends at the third connecting rod both ends connects with the 6th joint and joint respectively
The flanged ends of fitting is connected, and the joint connector is connected between third connecting rod and the 7th joint, joint connection
The flanged ends at part both ends is connected with the flanged ends of third connecting rod and the 7th joint respectively；First joint and
Two joint structures are identical, and the torque of output is maximum, and the third joint is identical with the structure in the 4th joint, the torque of output
Take second place, the structure in the 5th joint, the 6th joint and the 7th joint is identical, and the torque of output is minimum.
Further, it is additionally provided with aviation plug interface on the pedestal, is used for power supply power supply line, CAN bus and sensing
The cabling of device uses.
It further, further include driving power, which is respectively motor driver, the motor in each joint
And it adjusts support column and power supply is provided.
By the above-mentioned description to the utility model it is found that compared to the prior art, utility model has the advantages that
1, the utility model is hided compared in traditional six-joint robot, not only increasing additional axis robot may be implemented
Certain specific targets are kept away, specific position is reached convenient for end effector, certain this particular job can be adapted to more flexiblely
Environment improves the relevant comprehensive kinematic and dynamic modeling of robot, and moveable mobile base is arranged by increasing, and realizes
The seven freedom mechanical arm it is flexible using operation, change some work that traditional robot can only be fixed on production line
Workflow position carry out using technical limitation, extend its flexibility using degree, be preferably applied in actual production and application.
2, the seven freedom mechanical arm of the utility model is combined and is constituted by modular each joint component and connecting component,
It is self-possessed than light, and firm heavy pedestal is not needed, can be convenient mobile and placement, and can be realized dragging teaching, touch
The functions such as detection, flexible control system are hit, with flexible joint and lightweight structure, mankind colleague can be protected from wound
Evil, plays outstanding collaborative work efficiency.
3, the utility model it is man-machine can seamless delivery interface, robot is passed to by man-machine passing interface, thus
It realizes the technical ability transmitting of people, and controller integrated control may be implemented, meanwhile, I/O interface is sufficient, optimization layout, conveniently moving,
And support off-line programing and online programming, guiding function is programmed, the accessible motion of mechanical arm can be determined with real time algorithm
Path.
4, the utility model uses closed design, and all cables pass through from robot interior, facilitates maintenance and maintenance, together
When can according to practical function, carry out secondary development, to meet the complicated case of specific operating condition.
5, the utility model can have cooperative relationship flexible with operator, utilize the technical ability flexibility and robot of people
Homework precision and efficiency combine, and have not only met the production task amount of factory, but also guarantee product quality, while the technical ability of people being deposited
Storage reduces equipment to the dependence of people, to realize the automation and intelligence of production.It can further ensure that operating personnel pacifies
Entirely, it reduces labor intensity, improves working efficiency, better meet medium-sized and small enterprises demand, be that future robot technology continues to develop
Requirement.
Detailed description of the invention
Fig. 1 is the control structure schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of the utility model embodiment one.
Fig. 3 is the side structure schematic view of seven freedom mechanical arm in Fig. 2.
Fig. 4 is the structural schematic diagram of the utility model embodiment two.
Fig. 5 is the side structure schematic view of seven freedom mechanical arm in Fig. 4.
Fig. 6 is the structural schematic diagram of the utility model embodiment three.
Fig. 7 is the side structure schematic view of seven freedom mechanical arm in Fig. 6.
Fig. 8 is the structural schematic diagram of the utility model mobile base.
Fig. 9 is the overlooking structure diagram of the utility model mobile base.
Specific embodiment
Explanation is with reference to the accompanying drawings to further explain specific embodiment of the present utility model.
Embodiment one
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 8 and Fig. 9, a kind of movable type seven freedom smart collaboration robot, including movement
The seven freedom mechanical arm that pedestal and cooperation are installed in the mobile base, the mobile base include base platform 14, move
Driving wheel 15, adjusting support column 16, fixed corner fittings 17 and support base 18, the base platform 14 are made of mental section, the shifting
Driving wheel 15 cooperates the bottom for being installed in the base platform 14, and the fixed corner fittings 17 is installed on the type of the base platform 14
Material connects installation place, and the cooperation of adjusting support column 16 is installed in 14 top of base platform, and the support base 18 cooperation is installed in
The top of the adjusting support column 16.
Seven freedom mechanical arm cooperation is installed on the support base, the seven freedom mechanical arm include according to
The pedestal 1 of secondary connection setting, the first joint 2, second joint 3, first connecting rod 4, third joint 5, the 4th joint 6, second connecting rod
7, the 5th joint 8, the 6th joint 9 and the 7th joint 10, the motor of the upper flange connecting pin of the pedestal 1 and the first joint 2
Output end is fixedly connected, and the flanged ends in first joint 2 is fixedly connected with the motor output end of second joint 3, described
The flanged ends of second joint 3 is mutually fixedly connected with the lower flange connecting pin of first connecting rod 4, the top of the first connecting rod 4
Flanged ends is fixedly connected with the motor output end in third joint 5, the flanged ends in the third joint 5 and the 4th joint 6
Motor output end be fixedly connected, the flanged ends in the 4th joint 6 is fixed with the lower flange connecting pin of second connecting rod 7,
The upper flange connecting pin of the second connecting rod 7 is fixedly connected with the flanged ends in the 5th joint 8, the motor in the 5th joint 8
Output end is fixedly connected with the flanged ends in the 6th joint 9, the motor output end in the 6th joint 9 and the method in the 7th joint 10
Blue connecting pin is fixedly connected, and the motor output end in the 7th joint 10 is fitted with peripheral Auxiliary equipment；
Each intra articular is integrated to be equipped with motor driver, motor, absolute value encoder, incremental encoder, system
Dynamic device and retarder, and the one end in each joint is motor output end, the output torque of the motor output end is for joint
Rotation, the other end in joint are the flanged ends for drive connection；
It further include control module, which includes ups power, computer console and safe I/O sensor,
In, ups power is used to provide power supply to the computer console and safe I/O sensor, and the computer console passes through CAN
Bus matches corresponding control connection setting with the integrally disposed motor driver of each intra articular and motor respectively,
The safe I/O sensor is connected with a teaching machine, and the computer console is connect with the teaching machine phase control.
Further, the support column 16 that adjusts includes the mobile adjustable column of liftable and is disposed on the adjustable column
Adjusting controller, the adjusting controller are connected with the computer console of the seven freedom mechanical arm.
Further, the adjustable column is any one in hydraulic regulation column or cylinder lifting column.
Further, USB, LAN and USB interface are additionally provided on the computer console.
Further, the pedestal 1, the first joint 2, second joint 3, first connecting rod 4, third joint 5, the 4th joint 6,
The progress of sealing ring 11 is respectively adopted in second connecting rod 7, the 5th joint 8, the 6th joint 9 and each corresponding connection parts in the 7th joint 10
Exclusion seal setting.
Further, first joint 2 is identical with the structure of second joint 3, and the torque of output is maximum, third joint
5 is identical with the structure in the 4th joint 6, output torque take second place, the 5th joint 8, the 6th joint 9 and the 7th joint 10 structure
Identical, the torque of output is minimum.
As shown in Figures 2 and 3, robot is in the posture, the first joint 2, third joint 5, the 7th joint 10 its
Joint rotary axis direction is parallel to each other, and second joint 3, the 4th joint 6, its joint rotary axis direction of the 5th joint 8 are parallel to each other；
Furthermore its joint rotary axis direction is mutually perpendicular to the 6th joint 9 in the 5th joint 8, the 6th joint 9 and the 7th its joint of joint 10
Rotary axis direction is mutually perpendicular to.
Further, it is additionally provided with aviation plug interface on the pedestal 1, is used for power supply power supply line, CAN bus and sensing
The cabling of device uses.
It further, further include driving power, which is respectively motor driver, the motor in each joint
And it adjusts support column and power supply is provided.
Embodiment two
As shown in Fig. 1, Fig. 4, Fig. 5, Fig. 8 and Fig. 9, the present embodiment further includes 12 He of third connecting rod compared with embodiment one
One joint connector 13, the third connecting rod 12 are connected between the 5th joint 8 and the 6th joint 9,12 both ends of third connecting rod
Flanged ends is in mating connection with the motor output end in the 5th joint 8 and the 6th joint 9 respectively, the joint connector 13 connection
Between third joint 5 and second connecting rod 7, the flanged ends at 13 both ends of joint connector respectively with third joint 5 and
The flanged ends of two connecting rods 7 is connected, and the 4th joint 6 is connected with the 5th joint 8, and the motor output in the 4th joint 6
End is connected with the flanged ends of second connecting rod 7；First joint 2 is identical as the structure of second joint 3, the power of output
Square is maximum, and the output torque in third joint 5 is taken second place, the 4th joint 6, the 5th joint 8, the 6th joint 9 and the 7th joint 10 knot
Structure is identical, and the torque of output is minimum.Other structures are the same as example 1, and are just no longer repeated herein.
As shown in Figure 4 and Figure 5, robot is in the posture, the first joint 2, third joint 5, the 5th joint 8,
Its joint rotary axis direction of seven joints 10 is parallel to each other, second joint 3, the 4th joint 6, its joint rotary shaft side of the 6th joint 9
To being parallel to each other.Joint connector 13 can carry out corresponding size adjusting according to the actual situation, in order to the first joint 2 and
Whether the joints axes of seven joints 10 between the two are overlapped in the state position.
Embodiment three
As shown in Fig. 1, Fig. 6, Fig. 7, Fig. 8 and Fig. 9, the present embodiment further includes 12 He of third connecting rod compared with embodiment one
One joint connector 13, the third connecting rod 12 are connected between the 6th joint 9 and joint connector 13,12 both ends of third connecting rod
Flanged ends be connected respectively with the flanged ends in the 6th joint 9 and joint connector 13, the joint connector 13
Be connected between third connecting rod 12 and the 7th joint 10, the flanged ends at 13 both ends of joint connector respectively with third connecting rod
12 are connected with the flanged ends in the 7th joint 10；First joint 2 is identical with 3 structure of second joint, the power of output
Square is maximum, and the third joint 5 is identical with the structure in the 4th joint 6, and the torque of output is taken second place, the 5th joint the 8, the 6th
The structure in joint 9 and the 7th joint 10 is identical, and the torque of output is minimum.Other structures are the same as example 1, herein just not
It repeats again.
As shown in Figure 6 and Figure 7, robot is in the posture, the first joint 2, third joint 5, the 5th joint 8,
Its joint rotary axis direction of seven joints 10 is parallel to each other, second joint 3, the 4th joint 6, its joint rotary shaft side of the 6th joint 9
To being parallel to each other.Joint connector 13 can carry out corresponding size adjusting according to the actual situation, in order to the 7th joint 10 with
Whether the joints axes of the first joint 2 or the 5th joint 8 between the two are overlapped in the state position.
By the above-mentioned description to the utility model it is found that compared to the prior art, utility model has the advantages that
1, the utility model is hided compared in traditional six-joint robot, not only increasing additional axis robot may be implemented
Certain specific targets are kept away, specific position is reached convenient for end effector, certain this particular job can be adapted to more flexiblely
Environment improves the relevant comprehensive kinematic and dynamic modeling of robot, and moveable mobile base is arranged by increasing, and realizes
The seven freedom mechanical arm it is flexible using operation, change some work that traditional robot can only be fixed on production line
Workflow position carry out using technical limitation, extend its flexibility using degree, be preferably applied in actual production and application.
2, the seven freedom mechanical arm of the utility model is combined and is constituted by modular each joint component and connecting component,
It is self-possessed than light, and firm heavy pedestal is not needed, can be convenient mobile and placement, and can be realized dragging teaching, touch
The functions such as detection, flexible control system are hit, with flexible joint and lightweight structure, mankind colleague can be protected from wound
Evil, plays outstanding collaborative work efficiency.
3, the utility model it is man-machine can seamless delivery interface, robot is passed to by man-machine passing interface, thus
It realizes the technical ability transmitting of people, and controller integrated control may be implemented, meanwhile, I/O interface is sufficient, optimization layout, conveniently moving,
And support off-line programing and online programming, guiding function is programmed, the accessible motion of mechanical arm can be determined with real time algorithm
Path.
4, the utility model uses closed design, and all cables pass through from robot interior, facilitates maintenance and maintenance, together
When can according to practical function, carry out secondary development, to meet the complicated case of specific operating condition.
5, the utility model can have cooperative relationship flexible with operator, utilize the technical ability flexibility and robot of people
Homework precision and efficiency combine, and have not only met the production task amount of factory, but also guarantee product quality, while the technical ability of people being deposited
Storage reduces equipment to the dependence of people, to realize the automation and intelligence of production.It can further ensure that operating personnel pacifies
Entirely, it reduces labor intensity, improves working efficiency, better meet medium-sized and small enterprises demand, be that future robot technology continues to develop
Requirement.
The above is only the specific embodiments of the present invention, but the design concept of the utility model is not limited merely to
This, it is all that the utility model is improved with carrying out unsubstantiality using this design, it should belong to and invade the utility model protection
The behavior of range.
Claims (10)
1. a kind of movable type seven freedom smart collaboration robot, it is characterised in that: be installed in including mobile base and cooperation
Seven freedom mechanical arm in the mobile base, the mobile base include base platform, movable pulley, adjust support column, fixation
Corner fittings and support base, the base platform are made of mental section, which cooperates the bottom for being installed in the base platform,
The fixed corner fittings is installed on the profile connection installation place of the base platform, and the adjusting support column cooperation is installed in this
Base platform top, the support base cooperate the top for being installed in the adjusting support column；
The seven freedom mechanical arm cooperation is installed on the support base, and the seven freedom mechanical arm includes successively connecting
Connect the pedestal of setting, the first joint, second joint, first connecting rod, third joint, the 4th joint, second connecting rod, the 5th joint,
The upper flange connecting pin in the 6th joint and the 7th joint, the pedestal is fixedly connected with the motor output end in the first joint, institute
The flanged ends for stating the first joint is fixedly connected with the motor output end of second joint, the flanged ends of the second joint
It is mutually fixedly connected with the lower flange connecting pin of first connecting rod, the upper flange connecting pin of the first connecting rod and the electricity in third joint
Machine output end is fixedly connected, and the flanged ends in the third joint is fixedly connected with the motor output end in the 4th joint, and the 4th
The flanged ends in joint and the lower flange connecting pin of second connecting rod are fixed, the upper flange connecting pin of the second connecting rod and the
The flanged ends in five joints is fixedly connected, the motor output end in the 5th joint and the fixed company of the flanged ends in the 6th joint
It connects, the motor output end in the 6th joint is fixedly connected with the flanged ends in the 7th joint, the motor output in the 7th joint
End is fitted with peripheral Auxiliary equipment；
Each intra articular is integrated to be equipped with motor driver, motor, absolute value encoder, incremental encoder, brake
And retarder, and the one end in each joint is motor output end, the output torque of the motor output end is used for the rotation in joint,
The other end in joint is the flanged ends for drive connection；
The seven freedom mechanical arm further includes control module, which includes ups power, computer console and safety
I/O sensor, wherein ups power is used to provide power supply, the computer to the computer console and safe I/O sensor
Console is matched with the integrally disposed motor driver of each intra articular and motor corresponding respectively by CAN bus
Control connection setting, the safe I/O sensor is connected with a teaching machine, and the computer console and the teaching machine phase
Control connection.
2. a kind of mobile seven freedom smart collaboration robot according to claim 1, it is characterised in that: the adjusting
Support column includes the adjustable column that liftable moves and the adjusting controller being disposed on the adjustable column, the adjusting controller and institute
The computer console for stating seven freedom mechanical arm is connected.
3. a kind of mobile seven freedom smart collaboration robot according to claim 2, it is characterised in that: the adjusting
Column is any one in hydraulic regulation column or cylinder lifting column.
4. a kind of mobile seven freedom smart collaboration robot according to claim 1, it is characterised in that: the calculating
USB, LAN and USB interface are additionally provided on machine console.
5. a kind of mobile seven freedom smart collaboration robot according to claim 1, it is characterised in that: the base
Seat, the first joint, second joint, first connecting rod, third joint, the 4th joint, second connecting rod, the 5th joint, the 6th joint and
Each corresponding connection parts in the 7th joint are respectively adopted sealing ring and carry out exclusion seal setting.
6. a kind of mobile seven freedom smart collaboration robot according to claim 4, it is characterised in that: described first
Joint is identical with the structure of second joint, and the torque of output is maximum, and third joint is identical with the structure in the 4th joint, output
Torque take second place, the 5th joint, the 6th joint are identical with the structure in the 7th joint, and the torque of output is minimum.
7. a kind of mobile seven freedom smart collaboration robot according to claim 4, it is characterised in that: described seven certainly
Further include third connecting rod and a joint connector by degree mechanical arm, the third connecting rod be connected to the 5th joint and the 6th joint it
Between, the flanged ends which connects both ends is in mating connection with the motor output end in the 5th joint and the 6th joint respectively,
The joint connector is connected between third joint and second connecting rod, and the flanged ends at the joint connector both ends is respectively with
Three joints are connected with the flanged ends of second connecting rod, and the 4th joint is connected with the 5th joint, and the electricity in the 4th joint
Machine output end is connected with the flanged ends of second connecting rod；First joint is identical as the structure of second joint, output
Torque it is maximum, the output torque in third joint is taken second place, the 4th joint, the 5th joint, the 6th joint and the 7th joint structure
Identical, the torque of output is minimum.
8. a kind of mobile seven freedom smart collaboration robot according to claim 4, it is characterised in that: described seven certainly
Further include third connecting rod and a joint connector by degree mechanical arm, the third connecting rod be connected to the 6th joint and joint connector it
Between, the flanged ends at the third connecting rod both ends is connected with the flanged ends in the 6th joint and joint connector respectively, institute
It states joint connector to be connected between third connecting rod and the 7th joint, the flanged ends at the joint connector both ends is respectively with
Three-link is connected with the flanged ends in the 7th joint；First joint is identical with second joint structure, the power of output
Square is maximum, and the third joint is identical with the structure in the 4th joint, and the torque of output is taken second place, and the 5th joint, the 6th are closed
The structure in section and the 7th joint is identical, and the torque of output is minimum.
9. a kind of mobile seven freedom smart collaboration robot according to claim 1, it is characterised in that: the pedestal
On be additionally provided with aviation plug interface, for power supply power supply line, CAN bus and sensor cabling use.
10. a kind of mobile seven freedom smart collaboration robot according to claim 1, it is characterised in that: further include
Driving power, the driving power are respectively that the motor driver, motor and adjusting support column in each joint provide power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920104293.6U CN209579568U (en) | 2019-01-22 | 2019-01-22 | A kind of movable type seven freedom smart collaboration robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920104293.6U CN209579568U (en) | 2019-01-22 | 2019-01-22 | A kind of movable type seven freedom smart collaboration robot |
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| CN209579568U true CN209579568U (en) | 2019-11-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702733A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of movable type seven freedom smart collaboration robot |
| CN112775954A (en) * | 2020-12-28 | 2021-05-11 | 航天科工智能机器人有限责任公司 | Novel light mechanical arm |
-
2019
- 2019-01-22 CN CN201920104293.6U patent/CN209579568U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702733A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of movable type seven freedom smart collaboration robot |
| CN112775954A (en) * | 2020-12-28 | 2021-05-11 | 航天科工智能机器人有限责任公司 | Novel light mechanical arm |
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