CN103934818B - Robot - Google Patents

Robot Download PDF

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Publication number
CN103934818B
CN103934818B CN201310021145.5A CN201310021145A CN103934818B CN 103934818 B CN103934818 B CN 103934818B CN 201310021145 A CN201310021145 A CN 201310021145A CN 103934818 B CN103934818 B CN 103934818B
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China
Prior art keywords
arm
fixed
robot
reduction
chassis
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CN201310021145.5A
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CN103934818A (en
Inventor
吴永平
彭学星
刘飞龙
吴斌
郑波
朱伟
刘晓兰
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Kunshan Huaheng Welding Co Ltd
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Kunshan Huaheng Welding Co Ltd
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Abstract

The invention provides a kind of robot.Described robot comprises chassis and is fixed on the control cabinet on chassis.Described robot also comprises the three grades of elevating mechanisms be vertically fixed on chassis and the robot arm being fixed on described three grades of elevating mechanism upper ends.Described three grades of elevating mechanisms comprise the fixed knot be fixed on chassis, be slidably matched with fixed knot and can compare the first reduction that fixed knot moves up and down and save, save to be slidably matched also can compare the first reduction and save the second reduction moved up and down and save and drive described first reduction to save and the second reduction saves the lift drive mechanism that reduction slides with the first reduction.Described robot arm comprises the task driven mechanism being movably fixed to described second reduction joint the first arm of upper end, the second arm be flexibly connected with the first arm, the 3rd arm be flexibly connected with the second arm and the work of driven machine human arm.Wherein said second arm is provided with the parallel four-bar linkage connecting described first arm and the 3rd arm.

Description

Robot
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of Height Adjustable robot.
Background technology
Robot as a kind of installations automatically performing work, because its work implementation effect compares artificial implementation effect better and safety coefficient is higher and be little by little widely used in various industry.Existing robot is provided with chassis usually, be fixed on vertical column on chassis and activity is fixed on operation arm on vertical column.Existing robot most volume in building trade is comparatively large and be used in outdoor related work, such as spraying etc.For the work such as associated paint of indoor, because the comparatively large and inconvenience of robot volume operates and makes indoor related work only by manually having come in little space.But artificial implementation effect is poor, inefficiency and safety coefficient is lower.
Therefore, be necessary to provide a kind of robot of improvement to overcome the problems referred to above.
Summary of the invention
The object of the present invention is to provide a kind of Height Adjustable robot.
For achieving the above object, the invention provides a kind of robot, comprise chassis and be fixed on the control cabinet on chassis, described robot also comprises the three grades of elevating mechanisms be vertically fixed on chassis and the robot arm being fixed on described three grades of elevating mechanism upper ends; Described three grades of elevating mechanisms comprise the fixed knot be fixed on chassis, be slidably matched with fixed knot and can compare the first reduction that fixed knot moves up and down and save, save to be slidably matched also can compare the first reduction and save the second reduction moved up and down and save and drive described first reduction to save and the second reduction saves the lift drive mechanism that reduction slides with the first reduction; Described robot arm comprises the task driven mechanism being movably fixed to described second reduction joint the first arm of upper end, the second arm be flexibly connected with the first arm, the 3rd arm be flexibly connected with the second arm and the work of driven machine human arm; Wherein said second arm is provided with the parallel four-bar linkage connecting described first arm and the 3rd arm.
As a further improvement on the present invention, be equipped with the track and slide block that cooperatively interact and slide between described fixed knot, the first reduction joint and the second reduction save, described track and slide block are extended all along the vertical direction.
As a further improvement on the present invention, described lift drive mechanism comprise lifting motor, with the first reductor of the supporting setting of lifting motor and the first gear of being arranged on the first speed reducer output shaft, described second reduction joint is provided with tooth bar that is extended up and down and that be meshed with described first gear.
As a further improvement on the present invention, described robot also comprise be fixed on chassis and extend upwardly into second reduction joint inner side fixed mount, described second reduction joint is also provided with chain, the movable sprocket be meshed with chain and is fixedly connected with the contiguous block that described movable sprocket and described first reduction save, the overall U-shaped placement of described chain, and its one end is fixed on the upside of fixed mount, the other end is fixed in described second reduction joint housing, described movable sprocket is arranged at the corner of described chain.
As a further improvement on the present invention, described parallel four-bar linkage comprises two the first bearing pins being fixed on the first arm and the junction of the second arm, two the second bearing pins being fixed on the second arm and the junction of the 3rd arm and is flexibly connected the first bearing pin and the second bearing pin and be arranged in parallel two parallel rods, the connecting line of two described first bearing pins parallels with the connecting line of two the second bearing pins, keeps the attitude work preset to make the 3rd arm when the second arm overturns.
As a further improvement on the present invention, described robot also comprises and being fixed on the first arm to regulate the governor motion of the connecting line bearing of trend of two the first bearing pins of described parallel four-bar linkage, described governor motion comprises the adjusting gear be movably fixed to inside described first arm, two described first bearing pins are fixed on described adjusting gear, and two described second bearing pins are fixed on described 3rd arm.
As a further improvement on the present invention, described governor motion also comprises the operation gear be movably fixed in described first arm, and described adjusting gear is meshed with described operation gear.
As a further improvement on the present invention, described governor motion also comprises being fixed on described operation gear and stretching out outside described first arm and rotates the adjustment pin of described operation gear for operation.
As a further improvement on the present invention, described first arm is horizontal is fixed on described second reduction joint upper end, described task driven mechanism comprises and to be fixed on the first arm with the first electric rotating machine driving the first arm to horizontally rotate, to be fixed on the second electric rotating machine driving the second arm to rotate up and down for axle center with the end of the first arm on the first arm, and described robot also comprises the executing agency that is fixed on the 3rd arm and is fixed on the 3rd arm to drive the 3rd electric rotating machine of described executing agency.
As a further improvement on the present invention, described robot also comprises the walking mechanism be fixed on described chassis, and described walking mechanism comprises two groups of crawler travel assemblies being fixed on both sides, chassis and is fixed on chassis to drive the Liang Zu hoofing part mechanism of crawler travel assembly walking described in two groups respectively.
The invention has the beneficial effects as follows: robot of the present invention is by changing the three grades of elevating mechanisms being set to comprise fixed knot, the first reduction joint and the second reduction joint by vertical column of the prior art, the height of robot can be regulated as required thus, and the height of robot significantly can be reduced when described three grades of elevating mechanisms 4 are in contraction state, reduce the volume of robot and make robot can enter indoor to carry out related work, increase work efficiency and achievement; In addition, by arranging the parallel four-bar linkage being flexibly connected described first arm and the 3rd arm in the second arm, the 3rd arm can be made to keep the attitude preset to carry out related work.
Accompanying drawing explanation
The stereogram of Tu1Shi robot of the present invention;
The sectional view of three grades of elevating mechanisms of Tu2Shi Tu1Zhong robot;
The phantom of the robot arm of Tu3Shi Tu1Zhong robot.
Detailed description of the invention
Describe the present invention below with reference to each embodiment shown in the drawings.But these embodiments do not limit the present invention, the structure that those of ordinary skill in the art makes according to these embodiments, method or conversion functionally are all included in protection scope of the present invention.
Please refer to Fig. 1 to the better embodiment that Figure 3 shows that robot 100 of the present invention.The remote controller 8 that described robot 100 comprises chassis 1, be fixed on control cabinet 2 above chassis 1, be fixed on the walking mechanism 3 of both sides, chassis 1, be vertically fixed on the One On The Chassis three grades of elevating mechanisms 4, be fixed on the robot arm 5 of described three grades of elevating mechanism 4 upper ends, be fixed on seat 6 above control cabinet 2 and guidance panel 7 and be positioned over outside described three grades of elevating mechanisms 4.
Please refer to shown in Fig. 1, described walking mechanism 3 comprises two groups of crawler travel assemblies 31 being fixed on both sides, chassis 1 and is fixed on chassis 1 with the Liang Zu hoofing part mechanism (not shown) driving crawler travel assembly 31 described in two groups to walk respectively.Control two groups of crawler travel assemblies 31 respectively by Liang Zu hoofing part mechanism and can realize differential driving, thus realize the multi-angle rotary of robot 100 of the present invention.
Shown in composition graphs 1 and Fig. 2, described three grades of elevating mechanisms 4 comprise be fixed on the One On The Chassis fixed knot 41, be slidably matched with fixed knot 41 and can compare the first reduction that fixed knot 41 moves up and down save 42, save with the first reduction 42 be slidably matched also can compare the first reduction save 42 the second reductions moved up and down save 43 and drive described first reduction save 42 and second reduction save the lift drive mechanism 44 that 43 reductions slide.Described remote controller 8 is positioned over outside described fixed knot 41.The external diameter of described fixed knot 41 is greater than the external diameter of described first reduction joint 42, and described first reduction joint 42 is housed in inside described fixed knot 41; The external diameter of described first reduction joint 42 is greater than the external diameter of described second reduction joint 43, and described second reduction joint 43 is housed in the inner side of described first reduction joint 42.The track 45 and slide block 46 that cooperatively interact and slide is equipped with between described fixed knot 41, first reduction joint 42 and the second reduction joint 43.Described track 45 and slide block 46 extended all along the vertical direction, thus can guide first reduction joint 42 and second reduction joint 43 vertically movements along the vertical direction.
Described lift drive mechanism 44 is fixed on described first telescopic joint 42 side, and comprise lifting motor 441, with the first reductor 442 of the supporting setting of lifting motor 441 and the first gear 443 of being arranged on the first reductor 442 output shaft.Described second reduction joint 43 comprises housing 431, be fixed on housing 431 side and vertically extended tooth bar 432 and the chain 433 that is arranged at inside housing 431.Described first gear 443 is meshed with described tooth bar 432 and moves up and down to be driven by lifting motor 441 first reduction to save 43.Described chain 433 one end is fixed on the upside of housing 431.Described robot 100 also comprise be fixed on chassis 1 and extend upwardly into second reduction joint 43 inside fixed mount 9.Described fixed mount 9 parallels with housing 431 sidewall.Described chain 433 other end is fixed on the upside of described fixed mount 9, thus makes the generally u-shaped placement of described chain 433.In addition, the second reduction joint 43 is also provided with the corner being arranged on chain 433 and the movable sprocket 434 be meshed with chain 433 and be fixedly connected with the contiguous block 435 that described movable sprocket 434 and described first reduction save 42.When described lifting motor 441 drives the first reduction joint 43 to move up and down, the first reduction joint 43 drives the first reduction joint 42 to move up and down by chain 433, movable sprocket 434 and the contiguous block 435 arranged inside it simultaneously.
Shown in composition graphs 1 and Fig. 3, described robot arm 5 comprises and is movably fixed to described second reduction and saves the task driven mechanism that the first arm 51 of 43 upper ends, the second arm 52 be flexibly connected with the first arm 51, the 3rd arm 53 be flexibly connected with the second arm 52 and driven machine human arm 5 work.Described second arm 52 is provided with the parallel four-bar linkage connecting described first arm 51 and the 3rd arm 53.Described first arm 51 is horizontal to be fixed on described second reduction and to save 52 upper ends.Described task driven mechanism comprises and to be fixed on the first arm 51 with the first electric rotating machine 541 driving the first arm 51 to horizontally rotate, to be fixed on the first arm 51 with the second electric rotating machine 542 driving the second arm 52 to rotate up and down for axle center with the end of the first arm 51.In the present embodiment, described 3rd arm 53 remains on level.
Described parallel four-bar linkage comprises two the first bearing pins 55 being fixed on the first arm 51 and the junction of the second arm 52, two the second bearing pins 56 being fixed on the second arm 52 and the junction of the 3rd arm 53 and is flexibly connected the first bearing pin 55 and the second bearing pin 56 and be arranged in parallel two parallel rods 57.The connecting line of two described first bearing pins 55 parallels with the connecting line of two described second bearing pins 56, and described parallel rod 57 two ends can be rotated around the first bearing pin 55 and the second bearing pin 56, remain to make the 3rd arm 53 the attitude work preset when the second arm 52 overturns.Wherein said first bearing pin 55 is fixed in described first arm 51, and described second bearing pin 56 is fixed on described 3rd arm 53.
In addition, shown in composition graphs 1 and Fig. 3, robot 100 of the present invention also comprises and to be fixed on described first arm 51 near described second arm 52 position, to regulate the governor motion of the connecting line bearing of trend of two the first bearing pins 55 of described parallel four-bar linkage.Described governor motion comprises being movably fixed to operation gear 511 inside described first arm 51, being fixed on described operation gear 511 and stretching out described first arm 51 and rotates the adjustment pin 513 of described operation gear 511 for operation and be movably fixed to the adjusting gear 512 be meshed inside described first arm 51 and with described operation gear 511.Two described first bearing pins 55 are fixed on described adjusting gear 512.
When needing the operating angle regulating described 3rd arm 53, rotatable adjustment pin 513 rotates described operation gear 511 to regulate, now described operation gear 511 drives described adjusting gear 512 to rotate, and then described adjusting gear 512 is moved a certain distance with two described first bearing pins 55, the connecting line bearing of trend of two described first bearing pins 55 is changed, two described first bearing pins 55 drive two described second bearing pins 56 also to move the displacement same with two the first bearing pins 55 by two described parallel rods 57 simultaneously, namely the connecting line of two the second bearing pins 56 also changes with the change of the bearing of trend of the connecting line of the first bearing pin 55.Meanwhile, because two described second bearing pins 56 are all fixed on described 3rd arm 53, thus described 3rd arm 53 certain angle in rotary moving is also driven when the second bearing pin 56 moves.
In the present embodiment, described governor motion rotates to drive adjusting gear 512 by rotating described operation gear 511, thus the operating angle of the 3rd arm 53 described in indirect regulation; Certainly, described governor motion also can not comprise described operation gear 511, only comprises described adjusting gear 512, and by directly rotating described adjusting gear 512 with the operating angle of the 3rd arm 53 described in indirect regulation, equally also can reach object of the present invention.
In addition, in the present embodiment, described adjustment pin 513 is mainly manually regulated to rotate described operation gear 511 with the operating angle of the 3rd arm 53 described in indirect regulation to regulate; Certainly, adjustment pin 513 also can be set and manually operate, and rotate by arranging the mechanism such as motor or cylinder with the described operation gear 511 of electronic or pneumatic drive or adjusting gear 512, and then regulate the operating angle of described 3rd arm 53, equally also can reach object of the present invention.
In addition, described robot 100 also comprises the executing agency 58 that is fixed on the 3rd arm 53 and is fixed on the 3rd arm 53 with the 3rd electric rotating machine 59 driving described executing agency 58 to work.
First electric rotating machine 541, second electric rotating machine 542 described above and the 3rd electric rotating machine 59 is all supporting is provided with reductor 50.
In sum, robot 100 of the present invention is by changing the three grades of elevating mechanisms 4 being set to comprise fixed knot 41, first reduction joint 42 and the second reduction joint 43 by vertical column of the prior art, the height of robot 100 can be regulated as required thus, and the height of robot 100 significantly can be reduced when described three grades of elevating mechanisms 4 are in contraction state, reduce the volume of robot 100 and make robot 100 can enter indoor to carry out related work, increase work efficiency and achievement; In addition, by arranging the parallel four-bar linkage being flexibly connected described first arm 51 and the 3rd arm 53 in the second arm 52, the 3rd arm 53 can be made to keep the attitude preset to carry out related work.
Be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
A series of detailed description listed is above only illustrating for feasibility embodiment of the present invention; they are also not used to limit the scope of the invention, all do not depart from the skill of the present invention equivalent implementations done of spirit or change all should be included within protection scope of the present invention.

Claims (10)

1. a robot, comprises chassis and is fixed on the control cabinet on chassis, it is characterized in that: described robot also comprises the three grades of elevating mechanisms be vertically fixed on chassis and the robot arm being fixed on described three grades of elevating mechanism upper ends; Described three grades of elevating mechanisms comprise the fixed knot be fixed on chassis, be slidably matched with fixed knot and can compare the first reduction that fixed knot moves up and down and save, save to be slidably matched also can compare the first reduction and save the second reduction moved up and down and save and drive described first reduction to save and the second reduction saves the lift drive mechanism that reduction slides with the first reduction; Described robot arm comprises the task driven mechanism being movably fixed to described second reduction joint the first arm of upper end, the second arm be flexibly connected with the first arm, the 3rd arm be flexibly connected with the second arm and the work of driven machine human arm; Wherein said second arm is provided with the parallel four-bar linkage connecting described first arm and the 3rd arm.
2. robot according to claim 1, is characterized in that: be equipped with the track and slide block that cooperatively interact and slide between described fixed knot, the first reduction joint and the second reduction save, described track and slide block are extended all along the vertical direction.
3. robot according to claim 1 and 2, it is characterized in that: described lift drive mechanism comprise lifting motor, with the first reductor of the supporting setting of lifting motor and the first gear of being arranged on the first speed reducer output shaft, described second reduction joint is provided with tooth bar that is extended up and down and that be meshed with described first gear.
4. robot according to claim 3, it is characterized in that: described robot also comprise be fixed on chassis and extend upwardly into second reduction joint inner side fixed mount, described second reduction joint is also provided with chain, the movable sprocket be meshed with chain and is fixedly connected with the contiguous block that described movable sprocket and described first reduction save, the overall U-shaped placement of described chain, and its one end is fixed on the upside of fixed mount, the other end is fixed in described second reduction joint housing, described movable sprocket is arranged at the corner of described chain.
5. robot according to claim 1, it is characterized in that: described parallel four-bar linkage comprises two the first bearing pins being fixed on the first arm and the junction of the second arm, two the second bearing pins being fixed on the second arm and the junction of the 3rd arm and is flexibly connected the first bearing pin and the second bearing pin and be arranged in parallel two parallel rods, the connecting line of two described first bearing pins parallels with the connecting line of two the second bearing pins, keeps the attitude work preset to make the 3rd arm when the second arm overturns.
6. robot according to claim 5, it is characterized in that: described robot also comprises and being fixed on the first arm to regulate the governor motion of the connecting line bearing of trend of two the first bearing pins of described parallel four-bar linkage, described governor motion comprises the adjusting gear be movably fixed to inside described first arm, two described first bearing pins are fixed on described adjusting gear, and two described second bearing pins are fixed on described 3rd arm.
7. robot according to claim 6, is characterized in that: described governor motion also comprises the operation gear be movably fixed in described first arm, and described adjusting gear is meshed with described operation gear.
8. robot according to claim 7, is characterized in that: described governor motion also comprises being fixed on described operation gear and stretching out outside described first arm and rotates the adjustment pin of described operation gear for operation.
9. robot according to claim 1 or 5, it is characterized in that: described first arm is horizontal is fixed on described second reduction joint upper end, described task driven mechanism comprises and to be fixed on the first arm with the first electric rotating machine driving the first arm to horizontally rotate, to be fixed on the second electric rotating machine driving the second arm to rotate up and down for axle center with the end of the first arm on the first arm, and described robot also comprises the executing agency that is fixed on the 3rd arm and is fixed on the 3rd arm to drive the 3rd electric rotating machine of described executing agency.
10. robot according to claim 1, it is characterized in that: described robot also comprises the walking mechanism be fixed on described chassis, described walking mechanism comprises two groups of crawler travel assemblies being fixed on both sides, chassis and is fixed on chassis to drive the Liang Zu hoofing part mechanism of crawler travel assembly walking described in two groups respectively.
CN201310021145.5A 2013-01-21 2013-01-21 Robot Active CN103934818B (en)

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104989082B (en) * 2015-07-13 2017-11-07 马鞍山市志诚科技有限公司 A kind of Multifunctional spraying machine people

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5020323A (en) * 1988-10-03 1991-06-04 Huerlimann Peter Telescopically extendable and retractable arm
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot
CN102039240A (en) * 2010-12-31 2011-05-04 广西大学 Spraying robot mechanism
CN202507284U (en) * 2012-04-17 2012-10-31 中国航天科技集团公司第五研究院第五一八研究所 Synchronous transmission telescoping mechanical arm for multistage hollow screw rod
CN203031598U (en) * 2013-01-21 2013-07-03 昆山华恒焊接股份有限公司 Robot

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01222876A (en) * 1988-02-29 1989-09-06 Toshiba Corp Industrial robot
JPH0335987A (en) * 1989-07-04 1991-02-15 Matsushita Electric Ind Co Ltd Non-interacting method for robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5020323A (en) * 1988-10-03 1991-06-04 Huerlimann Peter Telescopically extendable and retractable arm
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot
CN102039240A (en) * 2010-12-31 2011-05-04 广西大学 Spraying robot mechanism
CN202507284U (en) * 2012-04-17 2012-10-31 中国航天科技集团公司第五研究院第五一八研究所 Synchronous transmission telescoping mechanical arm for multistage hollow screw rod
CN203031598U (en) * 2013-01-21 2013-07-03 昆山华恒焊接股份有限公司 Robot

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