CN211806139U - Multi-degree-of-freedom industrial robot - Google Patents
Multi-degree-of-freedom industrial robot Download PDFInfo
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- CN211806139U CN211806139U CN202020144520.0U CN202020144520U CN211806139U CN 211806139 U CN211806139 U CN 211806139U CN 202020144520 U CN202020144520 U CN 202020144520U CN 211806139 U CN211806139 U CN 211806139U
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Abstract
The utility model provides a multi-degree-of-freedom industrial robot, which comprises a base, a workbench arranged on the base, a first machine body, a second machine body, a driving device for moving in X-axis or/and Y-axis directions, a lifting seat, a driving device for moving in Z-axis direction and an end effector; the driving device moving in the Z-axis direction is arranged on the first machine body and is connected with the lifting seat; the end effector is positioned above the workbench, and the driving device moving in the X-axis or/and Y-axis directions is connected with the lifting seat and the end effector; the device also comprises a driving device rotating in the Y-axis direction and a driving device rotating in the X-axis direction; the driving device rotating in the X-axis direction is arranged on the second machine body and is connected with the first machine body; and the driving device rotating in the Y-axis direction is arranged on the base and is connected with the second machine body. The utility model discloses multi freedom industrial robot compact structure, the flexibility is strong, can realize multi freedom motion in the space, the application range of multiplicable operation to improve the practicality.
Description
Technical Field
The utility model relates to a robotechnology field, more specifically say, relate to a multi freedom industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The industrial robot can grab and carry objects or operate tools to complete certain specific operations according to a fixed program, can replace a person to perform monotonous, repeated or heavy physical labor, realize mechanization and automation of production, or replace the person to perform manual operation in a harmful environment, improve labor conditions and ensure personal safety.
In the prior art, an industrial robot mainly comprises a hand mechanism and a motion mechanism, the hand mechanism is driven by hydraulic, pneumatic and electric devices according to different use occasions and operation objects, the hand mechanism is commonly clamped, held, adsorbed and the like, the motion mechanism is generally driven by the hydraulic, pneumatic and electric devices, the industrial robot can independently realize the motions of stretching, rotating, lifting and the like, and generally has 2-3 degrees of freedom, so that the existing industrial robot cannot operate at multiple degrees of freedom, the increase of operation time can be caused, the reduction of the operation efficiency and quality is caused, the process of production operation is not facilitated, and the application range is limited.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the shortcoming and not enough among the prior art, provide a multi freedom industrial robot, this industrial robot compact structure, the flexibility is strong, can realize multi freedom motion in the space, the application range of multiplicable operation to improve the practicality.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a multi freedom industrial robot which is characterized in that: the device comprises a base, a workbench arranged on the base, a first machine body, a second machine body, a driving device moving in the X-axis or/and Y-axis directions, a lifting seat, a driving device moving in the Z-axis direction and an end effector; the driving device for moving in the Z-axis direction is arranged on the first machine body and is connected with the lifting seat to drive the lifting seat to move in the Z-axis direction; the end effector is positioned above the workbench, and the driving device for moving in the X-axis direction or/and the Y-axis direction is connected with the lifting seat and the end effector to drive the end effector to move in the X-axis direction or/and the Y-axis direction;
the device also comprises a driving device rotating in the Y-axis direction and a driving device rotating in the X-axis direction; the driving device rotating in the X-axis direction is arranged on the second machine body and is connected with the first machine body to drive the first machine body to rotate in the X-axis direction; and the driving device rotating in the Y-axis direction is arranged on the base and is connected with the second machine body, so that the second machine body is driven to rotate in the Y-axis direction.
In the above scheme, end effector passes through the effect of the drive arrangement that X axle or/and Y axle direction removed, realizes that X axle direction or/and Y axle direction remove in the plane, through the effect of the drive arrangement that Z axle direction removed, realizes the lift of Z axle direction, through the effect of Y axle direction pivoted drive arrangement, realizes the rotation of Y axle direction to and through X axle direction pivoted drive arrangement's effect, realize the rotation of X axle direction, consequently the utility model discloses an industrial robot compact structure, the flexibility is strong, can realize the interior multi freedom motion of space, the application range of multiplicable operation to improve the practicality.
The driving device for moving in the X-axis or/and Y-axis directions comprises two moving arms, and a first motor and a second motor which are arranged at two ends of the lifting seat; the two moving arms are hinged by connecting rods; one end of one moving arm is connected with the first motor, the other end of the moving arm is connected with the end effector, one end of the other moving arm is connected with the second motor, and the other end of the other moving arm is connected with the end effector, so that the first motor and/or the second motor drive the moving arm to push the end effector to move along the X-axis direction or/and move along the Y-axis direction.
Each moving arm is formed by hinging connecting rods, and the following steps are included: the moving arm comprises a first connecting rod, a second connecting rod and a rotating pair; the first connecting rod is hinged with the second connecting rod through a revolute pair; the first connecting rod is connected with the end effector, and the second connecting rod is connected with the first motor or the second motor. The utility model discloses a two connecting rods of motor one and motor two drive respectively, at last common action in end effector, rigidity and precision when having increased the robot work.
The driving device for moving in the Z-axis direction comprises a ball screw and a motor III arranged on the first machine body; the ball screw penetrates through the lifting seat and is connected with the motor III, and the motor III drives the ball screw to rotate so as to drive the lifting seat to lift along the Z-axis direction.
The driving device rotating in the X-axis direction comprises a motor IV and a rotor shaft; the motor IV is arranged on the machine body II; the rotor shaft penetrates through the first machine body and is connected with the fourth motor, and the fourth motor drives the rotor shaft to rotate so as to drive the first machine body to rotate along the X-axis direction.
The second machine body is a U-shaped frame body; the first machine body rotates in the middle groove of the U-shaped frame body along the X-axis direction.
The driving device rotating in the Y-axis direction comprises a motor V and a rotating shaft; the motor V is arranged on the base; the rotating shaft penetrates through the second machine body and is connected with the fifth motor, and the fifth motor drives the rotating shaft to rotate so as to drive the second machine body to rotate along the Y-axis direction.
The tail end of the base is provided with a support frame; the workbench is arranged below the end effector through a support frame. The utility model discloses the drive arrangement of drive end effector multi freedom motion passes through the base with the workstation and is connected structure as an organic whole for overall structure is compact, easily controls, and the rigidity is good, can accomplish the motion of arbitrary orbit in the space.
The base bottom is provided with the mounting hole of being convenient for the installation.
The utility model discloses a part (including end effector, connecting rod, motor one, motor two, lift seat, motor three and ball screw) on four drive fuselages of motor and the fuselage one rotates together, and the component moves on two drive fuselages of motor two and the fuselage two together, realizes the modularized design, is convenient for maintain and replace.
The utility model discloses industrial robot adaptability is better, and wherein, connecting rod and end effector can be changed according to different application occasion demands to satisfy the operating mode demand. The industrial robot can realize 5-degree-of-freedom motion in space, and can be applied to application occasions such as process engraving, welding, flatness and precision detection and the like.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect: the utility model discloses multi freedom industrial robot compact structure, the flexibility is strong, can realize multi freedom motion in the space, the application range of multiplicable operation to improve the practicality.
Drawings
Fig. 1 is a schematic view of a multiple degree of freedom industrial robot of the present invention;
the device comprises a base, a rotor shaft, a motor I, a motor II, a motor V, a base, a support frame, a worktable, an end effector, a connecting rod I, a rotating pair 11, a connecting rod II, a motor I, a ball screw 14, a motor III, a lifting seat 16, a motor II and a mounting hole 18, wherein the motor I is 1, the rotor shaft 2, the motor IV is 3, the motor II is 4, the motor V is 5, the base is 6, the support frame is 7, the worktable is 8, the end effector is 9, the connecting rod I is 10, the.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1, the multi-degree-of-freedom industrial robot of the present invention includes a base 6, a workbench 8 disposed on the base 6, a first machine body 1, a second machine body 4, a driving device for moving in the X-axis or/and Y-axis direction, a lifting seat 16, a driving device for moving in the Z-axis direction and an end effector 9, wherein the driving device for moving in the Z-axis direction is disposed on the first machine body 1 and connected to the lifting seat 16, so as to drive the lifting seat 16 to move in the Z-axis direction, the end effector 9 is disposed above the workbench 8, the driving device for moving in the X-axis or/and Y-axis direction is connected to the lifting seat 16 and connected to the end effector 9, so as to drive the end effector 9 to move in the X-axis direction or/and move in.
The utility model discloses still include Y axle direction pivoted drive arrangement and X axle direction pivoted drive arrangement, this X axle direction pivoted drive arrangement sets up on fuselage two 4 to be connected with fuselage one 1, realize driving fuselage one 1 and rotate in X axle direction, this Y axle direction pivoted drive arrangement sets up on base 6 and is connected with fuselage two 4, realizes driving fuselage two 4 and rotates in Y axle direction.
The driving device for the X-axis or/and Y-axis movement of the utility model comprises two moving arms, a first motor 13 and a second motor 17 which are arranged at the two ends of a lifting seat 16; the two moving arms are hinged by connecting rods; one end of one moving arm is connected with the first motor 13, the other end of the moving arm is connected with the end effector 9, one end of the other moving arm is connected with the second motor 17, and the other end of the other moving arm is connected with the end effector 9, so that the first motor 13 or/and the second motor 17 can drive the moving arm to push the end effector 9 to move along the X-axis direction or/and move along the Y-axis direction. Wherein, every moving arm is articulated by the connecting rod and constitutes and indicates: the moving arm comprises a first connecting rod 10, a second connecting rod 12 and a rotating pair 11, the first connecting rod 10 is hinged with the second connecting rod 12 through the rotating pair 11, the first connecting rod 10 is connected with the end effector 9, and the second connecting rod 12 is connected with a first motor 13 or a second motor 17. The utility model discloses a two connecting rods are driven respectively to motor one 13 and motor two 17, at last common action in end effector 9, have increased rigidity and precision when the robot works.
The utility model discloses a drive arrangement that Z axle direction removed includes ball screw 14 and sets up three 15 of motors on fuselage 1, and this ball screw 14 wears to establish on lift seat 16 and is connected with three 15 of motors, realizes that three 15 drive ball screw 14 of motor rotate in order to drive lift seat 16 and go up and down along Z axle direction.
The utility model discloses a X axle direction pivoted drive arrangement includes motor four 3 and rotor shaft 2, and this motor four 3 sets up on fuselage two 4, and rotor shaft 2 wears to establish on fuselage 1 and is connected with motor four 3, realizes that motor four 3 drive rotor shaft 2 rotates in order to drive fuselage 1 and rotate along the X axle direction. The second machine body 4 is a U-shaped frame body, and the first machine body 1 rotates in a groove in the middle of the U-shaped frame body along the X-axis direction.
The utility model discloses a Y axle direction pivoted drive arrangement includes five 5 of motors and pivot, and five 5 settings of this motor are on base 6, and the pivot is worn to establish on fuselage two 4 and is connected with five 5 of motors, realizes that five 5 drive pivots of motor rotate in order to drive fuselage two 4 along the Y axle direction and rotate.
The utility model discloses a 6 ends of base are provided with support frame 7, and workstation 8 sets up in the below of end effector 9 through support frame 7. The utility model discloses the drive arrangement of the 9 multi freedom motions of drive end effector is connected structure as an organic whole through base 6 with workstation 8 for overall structure is compact, easily controls, and the rigidity is good, can accomplish the motion of arbitrary orbit in the space. The bottom of the base 6 is provided with a mounting hole 18 for mounting.
The utility model discloses a part (including end effector 9, connecting rod, motor 13, motor two 17, lift seat 16, three 15 of motor and ball screw 14) on four 3 drive fuselages of motor 1 and the fuselages 1 rotates together, and the five 5 drive fuselages of motor two 4 and the two 4 upper parts of fuselage move together, realize the modularized design, be convenient for maintenance and replacement. The utility model discloses industrial robot adaptability is better, and wherein, connecting rod and end effector 9 can be changed according to different application occasion demands to satisfy the operating mode demand. The industrial robot can realize 5-degree-of-freedom motion in space, and can be applied to application occasions such as process engraving, welding, flatness and precision detection and the like.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (9)
1. A multi freedom industrial robot which is characterized in that: the device comprises a base, a workbench arranged on the base, a first machine body, a second machine body, a driving device moving in the X-axis or/and Y-axis directions, a lifting seat, a driving device moving in the Z-axis direction and an end effector; the driving device for moving in the Z-axis direction is arranged on the first machine body and is connected with the lifting seat to drive the lifting seat to move in the Z-axis direction; the end effector is positioned above the workbench, and the driving device for moving in the X-axis direction or/and the Y-axis direction is connected with the lifting seat and the end effector to drive the end effector to move in the X-axis direction or/and the Y-axis direction;
the device also comprises a driving device rotating in the Y-axis direction and a driving device rotating in the X-axis direction; the driving device rotating in the X-axis direction is arranged on the second machine body and is connected with the first machine body to drive the first machine body to rotate in the X-axis direction; and the driving device rotating in the Y-axis direction is arranged on the base and is connected with the second machine body, so that the second machine body is driven to rotate in the Y-axis direction.
2. The multiple degree of freedom industrial robot according to claim 1, characterized in that: the driving device for moving in the X-axis or/and Y-axis directions comprises two moving arms, and a first motor and a second motor which are arranged at two ends of the lifting seat; the two moving arms are hinged by connecting rods; one end of one moving arm is connected with the first motor, the other end of the moving arm is connected with the end effector, one end of the other moving arm is connected with the second motor, and the other end of the other moving arm is connected with the end effector, so that the first motor and/or the second motor drive the moving arm to push the end effector to move along the X-axis direction or/and move along the Y-axis direction.
3. The multiple degree of freedom industrial robot according to claim 2, characterized in that: each moving arm is formed by hinging connecting rods, and the following steps are included: the moving arm comprises a first connecting rod, a second connecting rod and a rotating pair; the first connecting rod is hinged with the second connecting rod through a revolute pair; the first connecting rod is connected with the end effector, and the second connecting rod is connected with the first motor or the second motor.
4. The multiple degree of freedom industrial robot according to claim 1, characterized in that: the driving device for moving in the Z-axis direction comprises a ball screw and a motor III arranged on the first machine body; the ball screw penetrates through the lifting seat and is connected with the motor III, and the motor III drives the ball screw to rotate so as to drive the lifting seat to lift along the Z-axis direction.
5. The multiple degree of freedom industrial robot according to claim 1, characterized in that: the driving device rotating in the X-axis direction comprises a motor IV and a rotor shaft; the motor IV is arranged on the machine body II; the rotor shaft penetrates through the first machine body and is connected with the fourth motor, and the fourth motor drives the rotor shaft to rotate so as to drive the first machine body to rotate along the X-axis direction.
6. The multiple degree of freedom industrial robot of claim 5, characterized in that: the second machine body is a U-shaped frame body; the first machine body rotates in the middle groove of the U-shaped frame body along the X-axis direction.
7. The multiple degree of freedom industrial robot according to claim 1, characterized in that: the driving device rotating in the Y-axis direction comprises a motor V and a rotating shaft; the motor V is arranged on the base; the rotating shaft penetrates through the second machine body and is connected with the fifth motor, and the fifth motor drives the rotating shaft to rotate so as to drive the second machine body to rotate along the Y-axis direction.
8. The multiple degree of freedom industrial robot according to claim 1, characterized in that: the tail end of the base is provided with a support frame; the workbench is arranged below the end effector through a support frame.
9. The multiple degree of freedom industrial robot according to claim 1, characterized in that: the base bottom is provided with the mounting hole of being convenient for the installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020144520.0U CN211806139U (en) | 2020-01-22 | 2020-01-22 | Multi-degree-of-freedom industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020144520.0U CN211806139U (en) | 2020-01-22 | 2020-01-22 | Multi-degree-of-freedom industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN211806139U true CN211806139U (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020144520.0U Active CN211806139U (en) | 2020-01-22 | 2020-01-22 | Multi-degree-of-freedom industrial robot |
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|---|---|
| CN (1) | CN211806139U (en) |
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- 2020-01-22 CN CN202020144520.0U patent/CN211806139U/en active Active
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