CN103978477A - Multi-joint robot - Google Patents

Multi-joint robot Download PDF

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Publication number
CN103978477A
CN103978477A CN201410214591.2A CN201410214591A CN103978477A CN 103978477 A CN103978477 A CN 103978477A CN 201410214591 A CN201410214591 A CN 201410214591A CN 103978477 A CN103978477 A CN 103978477A
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CN
China
Prior art keywords
described
mechanism
forearm
decelerator
rotating shaft
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CN201410214591.2A
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Chinese (zh)
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CN103978477B (en
Inventor
江涛
邓裕文
李康文
赵玲
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奇瑞汽车股份有限公司
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Priority to CN201410214591.2A priority Critical patent/CN103978477B/en
Publication of CN103978477A publication Critical patent/CN103978477A/en
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Publication of CN103978477B publication Critical patent/CN103978477B/en

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Abstract

The invention provides a multi-joint robot, which comprises a large arm, a small arm, a movement unit and a gripper, wherein the large arm and the small arm are horizontally arranged and are mutually hinged, the movement unit is arranged on the small arm and comprises a lifting mechanism, and the gripper is used for gripping parts, is arranged on the lifting mechanism and can make lifting movement along with the lifting mechanism. The multi-joint robot is small and exquisite and flexible in tail end, compact in structure and good in control performance.

Description

A kind of articulated robot

Technical field

The present invention relates to a kind of articulated robot.

Background technology

Industrial robot has been widely used in production scene, can complete the tasks such as welding, carrying, assembling, cutting.The utilization of industrial robot, to improve production efficiency and product quality, improves work situation, ensures life safety, and there is very important meaning the aspect such as reduce production costs.

At present, in the occasion of most small articles processing, the operations such as the carrying of loading and unloading, assembling, piling, still mainly by manually completing, exist the shortcomings such as efficiency is low, labour intensity is high, poor stability by manually completing above-mentioned operation.In addition, for some narrow and small workpiece of processing space, if adopt industrial robot to carry out operation, require the end of robot can stretch in machining area, so just be convenient to operation, this just requires the end of robot small and exquisite, flexible, and generally all there is the excessive shortcoming of end volume in traditional SCARA robot.

Summary of the invention

The present invention is directed to above shortcomings in prior art, provide that a kind of end is small and exquisite flexibly, little, the compact conformation of taking up space, articulated robot that control performance is good.

Solving technical scheme that the technology of the present invention problem adopts and be this articulated robot comprises the large arm and the forearm that are horizontally disposed with and are hinged, is arranged on moving cell on forearm and for capturing the gripper of parts, described moving cell comprises elevating mechanism, described gripper is arranged on elevating mechanism, thereby can do elevating movement with elevating mechanism.

Preferably, described moving cell also comprises rotating mechanism, and described elevating mechanism can drive rotating mechanism to do elevating movement, and gripper is arranged on described rotating mechanism.

Preferably, described rotating mechanism comprises rotating shaft, the first synchronous belt mechanism and for driving the first driving mechanism of the first synchronous belt mechanism, described rotating shaft is vertical on forearm, described the first synchronous belt mechanism comprises the first synchronous pulley, the second synchronous pulley and rotates band for connecting first of the first synchronous pulley and the second synchronous pulley, gripper is located in rotating shaft, described the first synchronous pulley is sleeved in rotating shaft, rotating shaft, under the effect of the first synchronous belt mechanism, can be rotated around self axis.

Preferably, described the first driving mechanism comprises the 3rd motor and the 3rd decelerator, and the output shaft of described the 3rd motor is connected with the input of the 3rd decelerator, and the output of the 3rd decelerator is connected with the second synchronous pulley.

Further preferably, the second driving mechanism that described elevating mechanism comprises the screw mandrel that is vertical on forearm, is located at the nut block on screw mandrel and drives screw mandrel to rotate, nut block can be on screw mandrel moving linearly, described nut block is connected with described rotating shaft.

Preferably, described nut block is provided with contiguous block, and contiguous block is provided with support seat, and rotating shaft is located in the pedestal of support seat.

Preferably, described the second driving mechanism comprises the 4th motor and for the transmission mechanism of increment, described transmission mechanism adopts the second synchronous belt mechanism, described the second synchronous belt mechanism comprise two synchronous pulleys with for being connected the second driving-belt of described two synchronous pulleys, the output shaft of the 4th motor is connected with in above-mentioned two synchronous pulleys one, and another synchronous pulley is connected with the top of screw mandrel.

Preferably, this articulated robot also includes position-limiting unit, described position-limiting unit comprises limited block and for the stop of sensing limited block, limited block is located in nut block, described stop adopts three, three stops are located on vertical direction successively, and the limes superiors position of corresponding rotating shaft respectively, action start position and limit inferior position.

Preferably, an end of forearm is hinged with the end of large arm, and described rotating shaft is located on the opposite end of the hinged one end of forearm and large arm.

Preferably, this articulated robot also comprises the first power unit, described the first power unit comprises the first motor and the first decelerator, described the first decelerator is located on large arm, the first motor is located at the top on forearm and in the first decelerator, the output shaft of the first motor is through driving the first decelerator in the bottom to rotate after forearm, the first decelerator drives forearm to rotate again.

Further preferably, this articulated robot also comprises the second power unit, described the second power unit comprises the second motor and the second decelerator, and the output shaft of described the second motor is connected with the input of the second decelerator, and the output of the second decelerator is connected with large arm.

The present invention has following beneficial effect:

Articulated robot of the present invention has two large arm and the forearms that can carry out horizontal rotation, and on forearm, also there is the rotating shaft that can do elevating movement, it is the free degree that rotating shaft has upper and lower translation, can maintain response performance and positioning precision and can guarantee the movable range that it is larger, can be used in and bear moment of torsion and overturning moment.

It is small and exquisite that this robot has end, and compact conformation, transmission efficiency is high, return difference is little, transmission accuracy advantages of higher, is particularly suitable for the narrow and small workpiece of processing space and uses.

Accompanying drawing explanation

Fig. 1 is the structural representation of the articulated robot at a certain visual angle in the embodiment of the present invention 2;

Fig. 2 is the structural representation of the articulated robot at another visual angle in the embodiment of the present invention 2;

Fig. 3 is the zoomed-in view of support ledge separation structure in Fig. 1.

Wherein: the large arm of 10-; 20-forearm; 30-rotating shaft; 31-gas pawl; 40-elevating mechanism; 41-screw mandrel; 411-screw mandrel holder; 42-nut block; 43-contiguous block; 44-support seat; 50-rotating mechanism; 51-the first synchronous pulley; 52-the first driving-belt; 60-base; 70-bracing frame; 71-the first support body; 72-the second support body; 721-brace table; 722-chute; 723-stop; 724-limited block; 80-transmission mechanism; 81-synchronous pulley; 82-the second driving-belt; 90-the first motor; 902-the second motor; 903-the 3rd motor; 904-the 4th motor; 91-the first decelerator; 912-the second decelerator; 913-the 3rd decelerator.

The specific embodiment

For making those skilled in the art understand better technical scheme of the present invention, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.

The end volume that exists for existing robot is large, the problem of malfunction, the invention provides a kind of articulated robot, it comprises large arm and the forearm that is horizontally disposed with and is hinged, one end of large arm and hinged with one end of forearm; the other end of forearm is provided with the rotating shaft of can vertical lift and can rotate around axis; the bottom of rotating shaft is provided with gripper, for grabbing workpiece, this articulated robot has advantages of that end is small and exquisite, compact conformation and control performance good.

Embodiment 1:

In the present embodiment, this articulated robot comprises the large arm and the forearm that are horizontally disposed with and are hinged, be arranged on moving cell on forearm and for capturing the gripper of parts, described moving cell comprises elevating mechanism, described gripper is arranged on elevating mechanism, thereby can do elevating movement with elevating mechanism.

Preferably, described moving cell also comprises rotating mechanism, and described elevating mechanism can drive rotating mechanism to do elevating movement, and gripper is arranged on described rotating mechanism.

Preferably, described rotating mechanism comprises rotating shaft, the first synchronous belt mechanism and for driving the first driving mechanism of the first synchronous belt mechanism, described rotating shaft is vertical on forearm, described the first synchronous belt mechanism comprises the first synchronous pulley, the second synchronous pulley and rotates band for connecting first of the first synchronous pulley and the second synchronous pulley, gripper is located in rotating shaft, described the first synchronous pulley is sleeved in rotating shaft, rotating shaft, under the effect of the first synchronous belt mechanism, can be rotated around self axis.

Preferably, the second driving mechanism that described elevating mechanism comprises the screw mandrel that is vertical on forearm, is located at the nut block on screw mandrel and drives screw mandrel to rotate, nut block can be on screw mandrel moving linearly, described nut block and described rotating shaft are connected.

Preferably, described nut block is provided with contiguous block, and contiguous block is provided with support seat, and rotating shaft is located in the pedestal of support seat.

Preferably, described the second driving mechanism comprises the 4th motor and for the transmission mechanism of increment, described transmission mechanism adopts the second synchronous belt mechanism, described the second synchronous belt mechanism comprise two synchronous pulleys with for being connected the second driving-belt of described two synchronous pulleys, the output shaft of the 4th motor is connected with in above-mentioned two synchronous pulleys one, and another synchronous pulley is connected with the top of screw mandrel.

Preferably, described the first driving mechanism comprises the 3rd motor and the 3rd decelerator, and the output shaft of described the 3rd motor is connected with the input of the 3rd decelerator, and the output of the 3rd decelerator is connected with the second synchronous pulley.

Preferably, this articulated robot also includes position-limiting unit, described position-limiting unit comprises limited block and for the stop of sensing limited block, limited block is located in nut block, described stop adopts three, three stops are located on vertical direction successively, and the limes superiors position of corresponding rotating shaft respectively, action start position and limit inferior position.

Preferably, an end of forearm is hinged with the end of large arm, and described rotating shaft is located on the opposite end of the hinged one end of forearm and large arm.

Preferably, this articulated robot also comprises the first power unit, described the first power unit comprises the first motor and the first decelerator, described the first decelerator is located on large arm, the first motor is located at the top on forearm and in the first decelerator, the output shaft of the first motor is through driving the first decelerator in the bottom to rotate after forearm, the first decelerator drives forearm to rotate again.

Preferably, this articulated robot also comprises the second power unit, and described the second power unit comprises the second motor and the second decelerator, and the output shaft of described the second motor is connected with the input of the second decelerator, and the output of the second decelerator is connected with large arm

In the present embodiment, the forearm of this articulated robot is articulated with one end of large arm, forearm can freely be rotated in the horizontal direction around pin joint, thereby driving rotating shaft to take pin joint swings in horizontal plane as the center of circle, thereby can regulate the position of rotating shaft, make it be positioned at the top that will capture parts.Meanwhile, because rotating shaft can vertical lifting, and then parts are captured, when carrying out grasping movement, rotating shaft can be around self axis rotation, and gripper and the part to be crawled that so just can make to be located in rotating shaft are tightr in combination, make to capture to become more firm.After treating that grasping movement completes, rotating shaft is vertically risen and along with the rotation of forearm, is moved to next station position, and put down.Like this perseveration, can realize the functions such as crawl, movement, reset of robot.When mobile angle is larger or when distant, large arm can rotate equally in horizontal plane, so this robot can realize in larger spatial dimension and carries out operation.

Embodiment 2:

As shown in Figure 1, 2, the present embodiment provides a kind of articulated robot, it comprises the large arm 10 and the forearm 20 that are horizontally disposed with and are hinged, be arranged on moving cell on forearm and for capturing the gripper 31 of parts, described moving cell comprises elevating mechanism 40, gripper 31 is arranged on elevating mechanism 40, and can do elevating movement with elevating mechanism 40.

In the present embodiment, a large end of arm 10 and an end of forearm 20 are hinged.Gripper 31 specifically can adopt gas pawl.Described gas pawl is connected with pneumatic mechanism, and gas pawl can be according to the control of pneumatic mechanism and grabbing workpiece or unclamp workpiece.

Preferably, if realize longer-distance transmission, can increase the length of large arm and/or forearm, or increase the quantity of forearm, it is a plurality of to be that the quantity of forearm adopts, and a plurality of forearms are hinged successively, in described a plurality of forearms in two two distolateral outermost forearms, one of them outermost forearm is hinged with large arm 10, and moving cell is arranged on another outermost forearm.

In the present embodiment, large arm 10 and forearm 20 are all elongated.Preferably, the length range of large arm 10 is 400~500mm, and the length range of forearm 20 is 350~400mm.In the present embodiment, the length of large arm 10 is 430mm, and the length of forearm 20 is 370mm.

In the present embodiment, large arm 10 and forearm 20 all adopt aluminium alloy machined or cast aluminum-molykote composite material casting to be processed into.

Preferably, described moving cell also comprises rotating mechanism, and described elevating mechanism can drive rotating mechanism to do elevating movement, and gripper 31 is arranged on described rotating mechanism.

In the present embodiment, rotating mechanism 50 comprises rotating shaft 30, the first synchronous belt mechanism and for driving the first driving mechanism of the first synchronous belt mechanism.Wherein, rotating shaft 30 is vertical on forearm 20, and rotating shaft 30 is arranged on the opposite end of the hinged one end of forearm and large arm.Gripper 31 is fixed on the bottom in rotating shaft 30 and in rotating shaft.

In the present embodiment, the first synchronous belt mechanism comprises the first synchronous pulley 51, the second synchronous pulley and for connecting the first driving-belt 52 of the first synchronous pulley 51 and the second synchronous pulley.The first synchronous pulley 51 and the second synchronous pulley are oppositely arranged on forearm 20.Wherein, the first synchronous pulley 51 is sleeved on the axle body of rotating shaft 30, is specifically sleeved on the axle body middle part of rotating shaft.Rotating shaft 30, under the induced effect of the first synchronous belt mechanism, can rotate around self axis, thereby driving mechanical pawl 31 is rotated.

Wherein, the wheel footpath of the first synchronous pulley 51 is greater than the second synchronous pulley, and impeller diameter ratio is between the two 1.25:1.

Due to synchronous belt mechanism have lightweight, cost is low, registration, structure are convenient, transmission efficiency advantages of higher, so in rotating mechanism, adopt synchronous belt mechanism.Certainly, those skilled in the art can know, and the first synchronous belt mechanism also can be replaced by other mechanisms with identical function, such as, can adopt two roller gears to mesh to carry out transmission.

Particularly, the axle body of rotating shaft 30 be positioned at forearm 20 on and near the first synchronous pulley 51 of forearm one end end, be connected, and the second synchronous pulley is connected with the first driving mechanism.Further, rotating shaft 30 is connected to the core wheel position of the first synchronous pulley 51 by the axle sleeve of self axle head in swollen mode of closing pretension, even if the first synchronous pulley 51 is sleeved on the axle body of rotating shaft, thereby realizes the connection between the two and synchronously rotates.Wherein, the second synchronous pulley that connects the first driving mechanism is driving wheel, the first synchronous pulley 51 is driven pulley, under the driving of the first driving mechanism, the second synchronous pulley rotates, and by the transmission of power of the first driving-belt 52, drive the first synchronous pulley 51 of connection rotating shaft 30 to rotate, and then drive rotating shaft 30 to carry out rotation around self axis.

The first synchronous pulley 51 and the second synchronous pulley are that rack-and-pinion coordinates transmission with the transmission between the first driving-belt 52.

In the present embodiment, described the first driving mechanism comprises the 3rd motor 903 and the 3rd decelerator 913.Specifically, the output shaft of the 3rd motor is connected with the input of the 3rd decelerator, and the output of the 3rd decelerator is connected with the second synchronous pulley.

Preferably, elevating mechanism 40 adopts ball wire rod mechanism.Due to ball wire rod mechanism, to have transmission efficiency high, the advantage of stable drive, so elevating mechanism 40 adopts ball wire rod mechanisms, can guarantee the motion stabilization of rotating shaft 30 in vertical lifting process.Wherein, the second driving mechanism that elevating mechanism 40 comprises the screw mandrel 41 that is vertical on forearm 20, is located at the nut block 42 on screw mandrel 41 and drives screw mandrel 41 to rotate, nut block 42 can be on screw mandrel 41 moving linearly, and nut block 42 is connected with rotating shaft 30.

In the present embodiment, in order to save the space on forearm 20, so that total is compacter, preferably screw mandrel 41 is vertically arranged on the position on forearm 20 and between the first synchronous pulley 51 and the second synchronous pulley from bottom to top, the lower end of screw mandrel 41 is fixed on forearm 20 by bearing and bearing block, simultaneously in order not interfere with the first synchronous pulley 51, the second synchronous pulley and the first driving-belt 52, the lower end of screw mandrel 41 is located between above-mentioned two synchronous pulleys, and within the scope of the belt body space of the first driving-belt 52.Nut block 42 on screw mandrel 41, being extended with contiguous block 43 near on a side position of rotating shaft 30, is provided with support seat 44 on the contiguous block 43 of nut block, and the top of rotating shaft 30 is located in the pedestal of support seat 44.Like this, when nut block 42 is made vertical displacement movement on screw mandrel 41, just can drive rotating shaft 30 do oscilaltion campaign by support seat 44.Support seat 44 is mainly used in countershaft 30 and play fixed supporting role, and to guarantee that rotating shaft can not be offset in lifting process, also can guarantee that rotating shaft 30 is normally around its axis rotation simultaneously.

Preferably, the second driving mechanism can be located to the top of the first driving mechanism, further to save the space on forearm 20.

Preferably, the second driving mechanism comprises the 4th motor 904 and for the transmission mechanism 80 of increment.The second driving mechanism increases square by the transmission of transmission mechanism 80, to screw mandrel 41, to drive screw mandrel 41 to rotate, thereby drives nut block 42 on screw mandrel 41, to make upper and lower rectilinear motion the transmission of power of the 4th motor 904.Wherein, transmission mechanism 80 can be located at the top of screw mandrel 41.

In the present embodiment, transmission mechanism 80 adopts the second synchronous belt mechanism, described the second synchronous belt mechanism comprise two synchronous pulleys that are oppositely arranged 81 with for being connected the second driving-belt 82 of above-mentioned two synchronous pulleys, the output shaft of the 4th motor is connected with in above-mentioned two synchronous pulleys one, and another synchronous pulley 81 is connected with the top of screw mandrel 41.

In like manner, due to synchronous belt mechanism have lightweight, cost is low, registration, structure are convenient, transmission efficiency advantages of higher, so transmission mechanism 80 adopts synchronous belt mechanisms.Certainly, those skilled in the art can know, and the second synchronous belt mechanism also can be replaced by other mechanisms with identical function, such as, can adopt two roller gears to mesh to carry out transmission.

Because the lower end of screw mandrel 41 is fixed on forearm 20 by bearing and bearing block, in order to ensure nut block 42 can be on screw mandrel 41 moving linearly, the upper end of screw mandrel 41 must be connected with transmission mechanism 80 and can freely rotate.Therefore, in the present embodiment, the structure of transmission mechanism 80 is the same with rotating mechanism 50, also adopt synchronous belt mechanism, yet, the wheel footpath of two synchronous pulleys 81 in the second synchronous belt mechanism equates (the wheel footpath speed reducing ratio of two synchronous pulleys 81 is 1:1) and is less than the first synchronous pulley 51 in rotating mechanism 50 and the wheel footpath of the second synchronous pulley, further to reduce the volume of the second synchronous belt mechanism.

On forearm 20, also can be provided with bracing frame 70, bracing frame 70 mainly can provide effective support for transmission mechanism 80, the first driving mechanism and the second driving mechanism.The upper end of screw mandrel 41 connects the second driving mechanism by transmission mechanism 80, and transmission mechanism 80, the second driving mechanism and the first driving mechanism are all arranged on bracing frame 70.

Preferably, when considering the supporting role of bracing frame 70, consider the setting of being convenient to the first driving mechanism, the second driving mechanism and transmission mechanism 80 simultaneously, and in order further to save the space on forearm 20, and bracing frame 70 is arranged on to the side of the screw mandrel 41 on forearm 20.

In the present embodiment, as shown in Figure 1, 2, bracing frame 70 comprises the first support body 71 and the second support body 72, and the first support body 71 and the second support body 72 go to upper and lower the structure of two-part, between the two, by bolt, is fixed with one.Wherein, the second support body 72 is doorframe shape and is connected on forearm 20, and the first support body 71 is lath-shaped and its upper end is extended with step-like brace table 721 to both sides.The second support body 72 of doorframe shape covers on the second synchronous pulley, like this, by the first driving mechanism being arranged on the second support body 72, and the second driving mechanism and transmission mechanism 80 are arranged on the first support body 71, make bracing frame 70 can effectively support the first driving mechanism and the second driving mechanism, fully saved again their installing space, and make non-interference between two driving mechanisms, be independent of each other.

Particularly, the first support body comprises the plate body of vertical setting and is arranged on the brace table 721 on plate body.Brace table 721 comprises Gao Tai and low, and Gao Tai and low are divided into the both sides (be high platform and low extended to its both sides respectively by plate body and form) of plate body, and wherein the position of high is higher than the height of low.Two synchronous pulleys 81 lay respectively on the high platform and low platform of brace table 721, the 4th motor 904 (the second driving mechanism) is located on the lower surface of high platform, and the below of the synchronous pulley on high platform 81, the output shaft that connects the 4th motor by the synchronous pulley 81 on high platform, synchronous pulley 81 bottoms on low platform arrange screw mandrel holder 411, screw mandrel 41 is located at the below of low, and screw mandrel 41 is through the synchronous pulley 81 on the low platform of screw mandrel holder 411 connection.So just both guarantee being connected of screw mandrel 41 and synchronous pulley 81, guaranteed again the rotation of screw mandrel 41, also further saved space simultaneously.

The 3rd motor 903 is arranged on the top of the second support body 72, and relative with the position of the 4th motor 904, because the second support body 72 is doorframe shape, therefore the 3rd decelerator 913 can be arranged in the second support body 72 of doorframe shape, and the top of the bottom in the 3rd motor 903 the second synchronous pulley in rotating mechanism 50, output by the 3rd decelerator 913 bottoms connects the second synchronous pulley, thereby realizes the transmission of power.

Preferably, this articulated robot also comprises control module (not shown) and position-limiting unit.Described position-limit mechanism comprises limited block 724 and for the stop 723 of sensing limited block 724, limited block is located in nut block 42, stop 723 is electrically connected to control module, when stop 723 is when sensing limited block 724, stop 723 sends corresponding sensing signal to control module, due to control module and the first driving mechanism, the second driving mechanism is connected respectively, and control module can be controlled the motion of the first driving mechanism, the second driving mechanism according to the sensing signal receiving like this.

In the present embodiment, described stop 723 adopts three, and three stops vertically set gradually, and the limes superiors position of corresponding rotating shaft respectively, action start position and limit inferior position.

Particularly, as shown in Figure 3, the side that plate body in the second support body 72 is faced screw mandrel 41 is provided with chute 722, the upper end position of chute 722 is provided with two stops 723, lower end position is provided with a stop 723, the limited block 724 of answering is in contrast arranged on outside and the limited block of nut block 42 can be in the interior slip of chute 722, and stop 723 forms with limited block 724 position-limit mechanism that rotating shafts 30 are moved at vertical direction.

Wherein, 723, one conduct action starting points of two stops of chute upper end, another, the limes superiors position that a stop in extreme higher position moves upward as rotating shaft, the limit inferior position that a stop of chute lower end moves downward as rotating shaft.During the every task of this articulated robot, capital starts action from action starting point, after having worked each time, capital turns back to the position of action starting point, when sensing limited block 724 arrival Upper-lower Limit position, control module sends control instruction and controls the first driving mechanism, the second driving mechanism and stop action, and robot can quit work.

Preferably, this articulated robot also comprises the first power unit, and the first power unit is located at the articulated position place of large arm 10 and forearm 20.Described the first power unit comprises the first motor 90 and the first decelerator 91, the first decelerator 91 is fixedly arranged on large arm 10, the first motor 90 is fixedly arranged on the top on forearm 20 and in the first decelerator 91, the output shaft of the first motor rotates through the rear drive of forearm 20 the first decelerator 91 in the bottom, and the first decelerator 91 drives forearm 20 to rotate again.Because the other end of forearm 20 is free end, by said structure, make forearm 20 to carry out the 360 comprehensive flexible rotatings in degree ground with respect to large arm 10.

Further preferably, this articulated robot also comprises base 60 and the second power unit, and the second power unit is located at the opposite end at large arm 10 and forearm 20 articulated position places.The second power unit comprises that the second motor 902 and the second decelerator 912, the second decelerators 912 are connected in the below of large arm 10, and the second motor 902 is arranged on the below of the second decelerator 912, and is connected with base 60.The output shaft of the second motor is connected with the input of the second decelerator, and the output of the second decelerator is connected with large arm 10, thereby can drive large arm 10 on base 60, to carry out the omnibearing rotation of 360 degree.

Correspondingly, control module is also connected with the second power unit with the first power unit, and for controlling the start and stop of the action of the first power unit and the second power unit.

In the present embodiment, the first motor 90, the second motor 902, the 3rd motor 903 and the 4th motor 904 all adopt servomotor.

In the present embodiment, articulated robot comprises the large arm 10 and forearm 20 that is horizontally disposed with and is hinged, large arm 10 and be provided with power unit with forearm 20 pin joints; the other end of forearm 20 is vertically installed with the rotating shaft 30 of can lifting and rotating around axis; the bottom of rotating shaft 30 arranges gripper 31, and the direction of motion of rotating shaft vertical lifting is provided with position-limit mechanism.Wherein, large arm 10 can rotate around base 60; forearm 20 is articulated with the outer end of large arm 10; forearm 20 can freely rotate in the horizontal direction around pin joint; thereby drive rotating shaft 30 to take described pin joint, as the center of circle, in horizontal plane, swing, and then the position of adjusting rotating shaft 30 can be positioned at the top that will capture parts.Simultaneously rotating shaft 30 can vertical lifting, and then can grabbing workpiece, when carrying out grasping movement, rotating shaft 30 can be rotated around self axis, so just can make the gripper 31 of rotating shaft 30 bottoms be combined closelyr with workpiece to be crawled, thereby make to capture more firm.After treating that grasping movement completes, rotating shaft 30 is vertically risen and along with the rotation of forearm 20, along with the rotation of forearm 20, rotating shaft 30 is moved to next station position, and workpiece is put down.Like this perseveration, thus realize crawl, movement, the reset function of robot.The angle that moves when needs is larger or when distant, by large arm 10, can in horizontal plane, rotate.

Be understandable that, above embodiment is only used to principle of the present invention is described and the illustrative embodiments that adopts, yet the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.

Claims (10)

1. an articulated robot, it is characterized in that, comprise the large arm and the forearm that are horizontally disposed with and are hinged, be arranged on moving cell on forearm and for capturing the gripper of parts, described moving cell comprises elevating mechanism, described gripper is arranged on elevating mechanism, thereby can do elevating movement with elevating mechanism.
2. articulated robot as claimed in claim 1, is characterized in that, described moving cell also comprises rotating mechanism, and described elevating mechanism can drive rotating mechanism to do elevating movement, and gripper is arranged on described rotating mechanism.
3. articulated robot as claimed in claim 2, it is characterized in that, described rotating mechanism comprises rotating shaft, the first synchronous belt mechanism and for driving the first driving mechanism of the first synchronous belt mechanism, described rotating shaft is vertical on forearm, described the first synchronous belt mechanism comprises the first synchronous pulley, the second synchronous pulley and rotates band for connecting first of the first synchronous pulley and the second synchronous pulley, gripper is located in rotating shaft, described the first synchronous pulley is sleeved in rotating shaft, rotating shaft, under the effect of the first synchronous belt mechanism, can be rotated around self axis.
4. articulated robot as claimed in claim 3, it is characterized in that, described the first driving mechanism comprises the 3rd motor and the 3rd decelerator, and the output shaft of described the 3rd motor is connected with the input of the 3rd decelerator, and the output of the 3rd decelerator is connected with the second synchronous pulley.
5. articulated robot as claimed in claim 3, it is characterized in that, described elevating mechanism comprises the screw mandrel being vertical on forearm, the second driving mechanism of being located at the nut block on screw mandrel and driving screw mandrel to rotate, nut block can be on screw mandrel moving linearly, described nut block is connected with described rotating shaft.
6. articulated robot as claimed in claim 5, it is characterized in that, described the second driving mechanism comprises the 4th motor and for the transmission mechanism of increment, described transmission mechanism adopts the second synchronous belt mechanism, described the second synchronous belt mechanism comprise two synchronous pulleys with for being connected the second driving-belt of described two synchronous pulleys, the output shaft of the 4th motor is connected with in above-mentioned two synchronous pulleys one, and another synchronous pulley is connected with the top of screw mandrel.
7. articulated robot as claimed in claim 5, it is characterized in that, also include position-limiting unit, described position-limiting unit comprises limited block and for the stop of sensing limited block, limited block is located in nut block, described stop adopts three, and three stops are located on vertical direction successively, and the limes superiors position of corresponding rotating shaft respectively, action start position and limit inferior position.
8. articulated robot as claimed in claim 3, is characterized in that, an end of forearm is hinged with the end of large arm, and described rotating shaft is located on the opposite end of the hinged one end of forearm and large arm.
9. the articulated robot as described in claim 1-8 any one, it is characterized in that, also comprise the first power unit, described the first power unit comprises the first motor and the first decelerator, described the first decelerator is located on large arm, the first motor is located at the top on forearm and in the first decelerator, and the output shaft of the first motor is through driving the first decelerator in the bottom to rotate after forearm, and the first decelerator drives forearm to rotate again.
10. articulated robot as claimed in claim 9, it is characterized in that, also comprise the second power unit, described the second power unit comprises the second motor and the second decelerator, the output shaft of described the second motor is connected with the input of the second decelerator, and the output of the second decelerator is connected with large arm.
CN201410214591.2A 2014-05-20 2014-05-20 A kind of articulated robot CN103978477B (en)

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CN201410214591.2A CN103978477B (en) 2014-05-20 2014-05-20 A kind of articulated robot

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Application Number Priority Date Filing Date Title
CN201410214591.2A CN103978477B (en) 2014-05-20 2014-05-20 A kind of articulated robot

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CN103978477A true CN103978477A (en) 2014-08-13
CN103978477B CN103978477B (en) 2016-08-17

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CN104260108A (en) * 2014-09-09 2015-01-07 上海浩淼自动化设备有限公司 SCARA type mechanical arm
CN104385105A (en) * 2014-09-25 2015-03-04 北京航空航天大学 Three-coordinate digital polishing machine
CN104608124A (en) * 2015-02-03 2015-05-13 东莞技研新阳电子有限公司 Five-axis mechanical arm for hoisting
CN104827488A (en) * 2015-04-14 2015-08-12 马鞍山鼎泰稀土新材料股份有限公司 Vertical position driving mechanism of four-freedom-degree high-speed conveying robot
CN105171556A (en) * 2015-08-14 2015-12-23 芜湖真空科技有限公司 Glass edging machine
CN105269560A (en) * 2015-11-03 2016-01-27 深圳市福士工业科技有限公司 Novel ZR shaft assembly of horizontal multi-joint manipulator
CN105269561A (en) * 2015-11-03 2016-01-27 深圳市福士工业科技有限公司 Horizontal four-joint manipulator
CN105269567A (en) * 2015-11-03 2016-01-27 深圳市福士工业科技有限公司 Platform manipulator
CN105500359A (en) * 2016-03-02 2016-04-20 安徽华创智能装备有限公司 Heavy-load SCARA (selective compliance assembly robot arm) transfer robot
CN105500338A (en) * 2016-01-06 2016-04-20 上海大学 Double-arm SCARA (selective compliance assembly robot arm) industrial robot
CN105728917A (en) * 2016-05-11 2016-07-06 裴翌翔 Self-adaptive weld-seam welding industrial robot capable of automatically feeding and blanking
CN106272401A (en) * 2016-08-30 2017-01-04 浙江琦星电子有限公司 Mechanical hand, the installation of mechanical hand and method for dismounting
CN106335054A (en) * 2016-08-30 2017-01-18 浙江琦星电子有限公司 Mechanical hand
CN107876414A (en) * 2017-10-11 2018-04-06 南京邮电大学 A kind of sheet metal with additional shaft cuts part sorting equipment

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CN203293192U (en) * 2013-06-01 2013-11-20 东莞市鑫拓智能机械科技有限公司 Four-shaft SCARA industrial robot
CN203485202U (en) * 2013-08-28 2014-03-19 东莞市瓦力智能科技有限公司 Robot arm and four axis robot
CN203566700U (en) * 2013-11-12 2014-04-30 东莞市实达光电科技有限公司 Horizontal four-degree-of-freedom industrial robot

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JPH0957669A (en) * 1995-08-28 1997-03-04 Yamaha Motor Co Ltd Driving part structure of scalar type robot
JP2003275978A (en) * 2002-03-20 2003-09-30 Yamaha Motor Co Ltd Scara robot
CN203293192U (en) * 2013-06-01 2013-11-20 东莞市鑫拓智能机械科技有限公司 Four-shaft SCARA industrial robot
CN203485202U (en) * 2013-08-28 2014-03-19 东莞市瓦力智能科技有限公司 Robot arm and four axis robot
CN203566700U (en) * 2013-11-12 2014-04-30 东莞市实达光电科技有限公司 Horizontal four-degree-of-freedom industrial robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104260108A (en) * 2014-09-09 2015-01-07 上海浩淼自动化设备有限公司 SCARA type mechanical arm
CN104385105A (en) * 2014-09-25 2015-03-04 北京航空航天大学 Three-coordinate digital polishing machine
CN104608124A (en) * 2015-02-03 2015-05-13 东莞技研新阳电子有限公司 Five-axis mechanical arm for hoisting
CN104827488A (en) * 2015-04-14 2015-08-12 马鞍山鼎泰稀土新材料股份有限公司 Vertical position driving mechanism of four-freedom-degree high-speed conveying robot
CN105171556A (en) * 2015-08-14 2015-12-23 芜湖真空科技有限公司 Glass edging machine
CN105269567B (en) * 2015-11-03 2018-05-29 深圳市福士工业科技有限公司 A kind of platform mechanical arm
CN105269560A (en) * 2015-11-03 2016-01-27 深圳市福士工业科技有限公司 Novel ZR shaft assembly of horizontal multi-joint manipulator
CN105269561A (en) * 2015-11-03 2016-01-27 深圳市福士工业科技有限公司 Horizontal four-joint manipulator
CN105269567A (en) * 2015-11-03 2016-01-27 深圳市福士工业科技有限公司 Platform manipulator
CN105500338A (en) * 2016-01-06 2016-04-20 上海大学 Double-arm SCARA (selective compliance assembly robot arm) industrial robot
CN105500359A (en) * 2016-03-02 2016-04-20 安徽华创智能装备有限公司 Heavy-load SCARA (selective compliance assembly robot arm) transfer robot
CN105728917A (en) * 2016-05-11 2016-07-06 裴翌翔 Self-adaptive weld-seam welding industrial robot capable of automatically feeding and blanking
CN105728917B (en) * 2016-05-11 2019-01-29 裴翌翔 It is a kind of can automatic loading/unloading the adaptive welding industrial robot of weld seam
CN106272401A (en) * 2016-08-30 2017-01-04 浙江琦星电子有限公司 Mechanical hand, the installation of mechanical hand and method for dismounting
CN106335054A (en) * 2016-08-30 2017-01-18 浙江琦星电子有限公司 Mechanical hand
CN107876414A (en) * 2017-10-11 2018-04-06 南京邮电大学 A kind of sheet metal with additional shaft cuts part sorting equipment

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