CN104647364A - Reconfigurable vertical joint type four-shaft robot - Google Patents
Reconfigurable vertical joint type four-shaft robot Download PDFInfo
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- CN104647364A CN104647364A CN201510057651.9A CN201510057651A CN104647364A CN 104647364 A CN104647364 A CN 104647364A CN 201510057651 A CN201510057651 A CN 201510057651A CN 104647364 A CN104647364 A CN 104647364A
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- 210000000707 wrist Anatomy 0.000 claims abstract description 67
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 10
- 244000144985 peep Species 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 5
- 238000003466 welding Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 102000008579 Transposases Human genes 0.000 description 4
- 108010020764 Transposases Proteins 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 4
- 239000010687 lubricating oil Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003517 fume Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The invention discloses a reconfigurable vertical joint type four-shaft robot. The reconfigurable vertical joint type four-shaft robot is characterized by comprising a wrist part, an arm part, a shoulder part and a waist part, wherein the wrist part, the arm part, the shoulder part and the waist part are sequentially connected, the wrist part and the arm part are in swinging connection, the arm part and the shoulder part are in rotational connection, and the shoulder part and the waist part are in swinging connection. According to the reconfigurable vertical joint type four-shaft robot disclosed by the invention, the robot is fixedly arranged on a machine in actual application by a fixed mounting surface of the waist part; the swinging of the shoulder part on the waist part in the axial direction within 360 degrees can be realized, 360-degree rotation of the arm part along the circumferential direction of the shoulder part can be realized, the swinging of the wrist part along the axial direction of the arm part within 360 degrees can be realized, and finally, the position change of the free end of the wrist part can be very flexible, thus the function of moving the position of a traditional robot is greatly enhanced, the adjustment on the movable end of the robot is realized by four shafts of the wrist part, the arm part, the shoulder part and the waist part, and the operation position which can be realized is wider.
Description
Technical field
The present invention relates to a kind of reconfigurable drag articulation type four axle robot, belong to robotics.
Background technology
In recent years, along with the arriving of international automated manufacturing trend, domestic industry manufacturing industry is just at fast transformation, demand for automated software and hardware device is all can be in any more, in this process, the market demand of inevitable industrial robot is just in powerful rise, and industrial robot application is just constantly widened, and kind is more various.
At present, the industrial robot size majority that automatic industrial manufacturing line uses is larger, be not suitable for the operation carrying out crawl space, just stricter to the selection and Application of industrial robot, high-precision operation should be realized and also will improve industrial machine human reriability, the six-DOF robot structure not restructural of standard, defines its application scenario and secondary development simultaneously.
Summary of the invention
In order to solve above-mentioned Problems existing, the invention discloses a kind of reconfigurable drag articulation type four axle robot, concrete scheme is as follows:
A kind of reconfigurable drag articulation type four axle robot, it is characterized in that comprising wrist, arm, shoulder and waist, described wrist, arm, shoulder and waist are linked in sequence successively, connect for swinging between described wrist and arm, for being rotatably connected between described arm and shoulder, connect for swinging between described shoulder and waist.
Described arm surface is provided with arm housing,
Cave inward in the middle part of one end of described arm housing the connecting hole of formation " recessed " font, laterally run through in this connecting hole and have an arms portion bearing, described wrist is connected with arm by this arm bearing, one end of described arm bearing is provided with synchronous pulley, wrist servomotor is also provided with in described arm housing, one end of this wrist servomotor is provided with synchronous pulley, and this synchronous pulley is connected by Timing Belt with the synchronous pulley of arm bearing end;
The other end of described arm housing is provided with outwardly directed adpting flange, is also provided with arm servomotor in arm housing.
Described shoulder surface is provided with shoulder housing,
One end of described shoulder housing is provided with rotary flange, the adpting flange of described rotary flange and arm is connected and fixed by connector, rotary drive mechanism is provided with in described shoulder housing, described rotary flange and rotary drive mechanism are connected with a joggle, shoulder servomotor is provided with in described shoulder housing, the rotary drive mechanism of described shoulder servomotor connection control shoulder, rotary flange can rotate around the longitudinal axis of shoulder;
The other end of described shoulder housing is provided with mounting flange, and described shoulder housing is connected with waist by mounting flange.
Described waist surface is provided with waist housing, and one end of described waist housing arranges fixed installation face, and the other end of waist housing arranges swing swivel base.
One end of described swing swivel base is connected with waist by the waist bearing that is horizontally installed in waist, one end of described waist bearing is provided with synchronous pulley, waist servomotor is provided with in described waist housing, described waist servomotor connects synchronous pulley by driving member, this synchronous pulley is connected by Timing Belt with the synchronous pulley of waist bearing end
The described other end of swing swivel base is connected with the mounting flange of shoulder.
Described waist bearing with swing swivel base, arm bearing and wrist and shoulder housing and rotary flange and be and be connected by meshing transmission.
All run through in described wrist, arm, shoulder and waist and have cable, described cable is connected with wrist servomotor, arm servomotor, shoulder servomotor and waist servomotor, described waist housing is provided with cable quick socket, be provided with hollow tube in described shoulder, described cable passes shoulder from hollow tube.
Described wrist, arm, shoulder and waist are provided with oiling peep hole, and described oiling peep hole is connected respectively to engaged transmission position corresponding in wrist, arm, shoulder and waist.
The free end of described wrist is provided with ring flange.
Operation principle of the present invention is:
The present invention, is fixed on practical application mechanically by the fixed installation face of waist by robot of the present invention; The shoulder of robot of the present invention can realize swinging in the angle of the axial direction 360 ° of waist, arm can realize the circumferencial direction 360 ° rotation along shoulder, wrist can realize swinging in the angle of the axial direction 360 ° of arm, finally, the change in location of wrist free end is very flexible, greatly strengthen the function of the moving position of conventional machines people, wrist, arm, shoulder and waist realize the movable end of four sections of axial adjustment robots of the present invention, and the operating position that can realize is wider.
The fixed installation face of waist in actual use, is fixedly mounted on and sends order mechanically, by being switched on power by cable quick socket, robot being energized, being in and treating running status by the present invention, the order performed is run according to robot of the present invention, the ring flange of wrist free end is installed and operates execution unit accordingly, such as, apply robot of the present invention in welding field, be particularly useful for boat segmental, the welding of the inner tight space weld seam of the structural members such as coal mine hydraulic supporting, erecting and welding nozzle on the ring flange of wrist free end, pass through wrist, arm, shoulder and waist synchronous, sectional-regulated, the change in location of welding tip is more free and flexible in three dimensions, can realize, the accurate location of all angles and position, can according to welding procedure needs, realize the welding swinging welding and become gradient weld seam, robot of the present invention also can be applied to carrying, capture simultaneously, and clamping device installed by the ring flange of wrist free end, after article firmly grasped by clamping device, and the path be transferred by wrist, arm, shoulder and waist setting article.
Beneficial effect of the present invention is:
1. wrist of the present invention installs the mechanical part of executable operations, by the position of wrist, arm, shoulder and waist four sections of mechanical axis adjustment change wrist operating sides, regulates more flexible;
2. the shoulder swaying direction of robot of the present invention and the direction of rotation of arm are in different cross sections, belong on the antarafacial of space and adjust, and the locus that can realize changing is more extensive;
3. the present invention can remove wrist or waist according to actual service condition, realize the locus adjustment of three sections of mechanical axis, or any one or more of removing in wrist, arm, shoulder and waist, for the purpose of task of can efficiently, accurately finishing the work, applying flexible;
4. the present invention assembles simply, and the gap of engaged transmission part is adjustable, good rigidly, and transmission efficiency is high;
5. cable of the present invention is from the inner cabling of wrist, arm, shoulder and waist, avoids cable winding, has taken into account the flexibility of each joint motions of robot simultaneously;
6. wrist of the present invention, arm, shoulder and waist are provided with corresponding housing, protect inner each mechanism from the destruction of weld fumes, splashing and greasy dirt etc.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention,
Fig. 2 is the structural representation of wrist of the present invention and arm,
Fig. 3 is the structural representation of shoulder of the present invention,
Fig. 4 is waist structure schematic diagram of the present invention,
Fig. 5 is the partial sectional view of wrist of the present invention and arm junction,
Fig. 6 is an example structure schematic diagram (i.e. structural representation after removal waist) of practical application of the present invention,
Reference numerals list: A1-wrist, A2-arm, A3-shoulder, A4-waist, 1-arm housing, 2-connecting hole, 3-synchronous pulley, 4-wrist servomotor, 5-Timing Belt, 6-adpting flange, 7-arm servomotor, 8-shoulder housing, 9-rotary flange, 10-mounting flange, 11-waist housing, 12-fixed installation face, 13-swing swivel base, 14-waist servomotor, 15-cable, 16-hollow tube, 17-cable quick socket, 18-ring flange.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further.Following detailed description of the invention should be understood only be not used in for illustration of the present invention and limit the scope of the invention.It should be noted that, these accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
Fig. 1 is overall structure schematic diagram of the present invention, visible by reference to the accompanying drawings, this reconfigurable drag articulation type four axle robot, comprise wrist A1, arm A2, shoulder A3 and waist A4, described wrist A1, arm A2, shoulder A3 and waist A4 are linked in sequence successively, connecting for swinging between described wrist A1 and arm A2, for being rotatably connected between described arm A2 and shoulder A3, connecting for swinging between described shoulder A3 and waist A4.
Fig. 2 is the structural representation of wrist A1 of the present invention and arm A2, Fig. 3 is the structural representation of shoulder A3 of the present invention, visible in conjunction with this two width accompanying drawing, described arm A2 surface is provided with arm housing 1, cave inward in the middle part of one end of described arm housing 1 connecting hole 2 of formation " recessed " font, laterally run through in this connecting hole 2 and have an arms portion A2 bearing, described wrist A1 is connected with arm A2 by this arm A2 bearing, one end of described arm A2 bearing is provided with synchronous pulley 3, wrist servomotor 4 is also provided with in described arm housing 1, one end of this wrist servomotor 4 is provided with synchronous pulley 3, this synchronous pulley 3 is connected by Timing Belt 5 with the synchronous pulley 3 of arm A2 bearing end, the other end of described arm housing 1 is provided with outwardly directed adpting flange 6, is also provided with arm A2 servomotor 7 in arm housing 1.
Fig. 3 is the structural representation of shoulder A3 of the present invention, visible by reference to the accompanying drawings, described shoulder A3 surface is provided with shoulder A3 housing 8, one end of described shoulder A3 housing 8 is provided with rotary flange 9, described rotary flange 9 is connected and fixed by connector with the adpting flange 6 of arm A2, rotary drive mechanism is provided with in described shoulder A3 housing 8, described rotary flange 9 is connected with a joggle with rotary drive mechanism, shoulder A3 servomotor is provided with in described shoulder A3 housing 8, the rotary drive mechanism of described shoulder A3 servomotor connection control shoulder A3, rotary flange 9 can rotate around the longitudinal axis of shoulder A3, the other end of described shoulder A3 housing 8 is provided with mounting flange 10, and described shoulder A3 housing 8 is connected with waist A4 by mounting flange 10.
Fig. 4 is waist A4 structural representation of the present invention, visible by reference to the accompanying drawings, and described waist A4 surface is provided with waist A4 housing 11, and one end of described waist A4 housing 11 arranges fixed installation face 12, and the other end of waist A4 housing 11 arranges and swings transposase 11 3.
One end of described swing transposase 11 3 is connected with waist A4 by the waist A4 bearing that is horizontally installed in waist A4, one end of described waist A4 bearing is provided with synchronous pulley 3, waist A4 servomotor 14 is provided with in described waist A4 housing 11, described waist A4 servomotor 14 connects synchronous pulley 3 by driving member, this synchronous pulley 3 is connected by Timing Belt 5 with the synchronous pulley 3 of waist A4 bearing end, and the other end of described swing transposase 11 3 is connected with the mounting flange 10 of shoulder A3.
Described waist A4 bearing with swing transposase 11 3, arm A2 bearing and wrist A1 and shoulder A3 housing 8 and rotary flange 9 and be and be connected by meshing transmission.Be connected by meshing transmission and make each parts under respective Serve Motor Control, complete corresponding action.
Fig. 5 is the partial sectional view of wrist A1 of the present invention and arm A2 junction, visible by reference to the accompanying drawings, all run through in described wrist A1, arm A2, shoulder A3 and waist A4 and have cable 15, described cable 15 is connected with wrist servomotor 4, arm A2 servomotor 7, shoulder A3 servomotor and waist A4 servomotor 14, described waist A4 housing 11 is provided with cable 15 quick socket 17, be provided with hollow tube 16 in described shoulder A3, described cable 15 passes shoulder A3 from hollow tube 16.Power to wrist servomotor 4, arm A2 servomotor 7, shoulder A3 servomotor and waist A4 servomotor 14 by cable 15; can proper motion work; cable 15 quick socket 17 is for connecting cable 15 and power supply; hollow tube 16 pairs of cables 15 play a protective role; cable 15 is avoided to be wound into other things; cable 15 is in wrist A1, arm A2, junction between shoulder A3 and waist A4; more flexible, do not affect wrist A1, arm A2, shoulder A3 and waist A4 and perform an action separately.
Described wrist A1, arm A2, shoulder A3 and waist A4 are provided with oiling peep hole, and described oiling peep hole is connected respectively to engaged transmission position corresponding in wrist A1, arm A2, shoulder A3 and waist A4.Engaged transmission position needs applying lubricating oil to play reduction friction and transmission acts on smoothly, injects lubricating oil by oiling peep hole, and whether fully can wipe engaged transmission position lubricating oil by pipe, is convenient to timely supplementing.
The free end of described wrist A1 is provided with ring flange 18.Ring flange 18 is used for installing execution unit, can be reached flexibly by execution unit and perform position, come under conventional sense by the present invention, manually can not reach or cannot the execution position of operation in certain circumstances.
Fig. 6 is an example structure schematic diagram (i.e. structural representation after removal waist A4) of practical application of the present invention, visible by reference to the accompanying drawings, after removing waist A4 of the present invention, the present invention can use as three-axis robot, according to use actual needs, that can remove arbitrarily in wrist A1, arm A2, shoulder A3 and waist A4 is any one or more, the wrist A1, the arm A2 that need to use, multiple in shoulder A3 and waist A4 are coupled together, or is used alone any one in wrist A1, arm A2, shoulder A3 and waist A4.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned technological means, also comprises the technical scheme be made up of above technical characteristic.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on description, must determine its technical scope according to right.
Claims (9)
1. a reconfigurable drag articulation type four axle robot, it is characterized in that comprising wrist, arm, shoulder and waist, described wrist, arm, shoulder and waist are linked in sequence successively, connect for swinging between described wrist and arm, for being rotatably connected between described arm and shoulder, connect for swinging between described shoulder and waist.
2. one according to claim 1 reconfigurable drag articulation type four axle robot, is characterized in that described arm surface is provided with arm housing,
Cave inward in the middle part of one end of described arm housing the connecting hole of formation " recessed " font, laterally run through in this connecting hole and have an arms portion bearing, described wrist is connected with arm by this arm bearing, one end of described arm bearing is provided with synchronous pulley, wrist servomotor is also provided with in described arm housing, one end of this wrist servomotor is provided with synchronous pulley, and this synchronous pulley is connected by Timing Belt with the synchronous pulley of arm bearing end;
The other end of described arm housing is provided with outwardly directed adpting flange, is also provided with arm servomotor in arm housing.
3. one according to claim 2 reconfigurable drag articulation type four axle robot, is characterized in that described shoulder surface is provided with shoulder housing,
One end of described shoulder housing is provided with rotary flange, the adpting flange of described rotary flange and arm is connected and fixed by connector, rotary drive mechanism is provided with in described shoulder housing, described rotary flange and rotary drive mechanism are connected with a joggle, shoulder servomotor is provided with in described shoulder housing, the rotary drive mechanism of described shoulder servomotor connection control shoulder, rotary flange can rotate around the longitudinal axis of shoulder;
The other end of described shoulder housing is provided with mounting flange, and described shoulder housing is connected with waist by mounting flange.
4. one according to claim 3 reconfigurable drag articulation type four axle robot, it is characterized in that described waist surface is provided with waist housing, one end of described waist housing arranges fixed installation face, and the other end of waist housing arranges swing swivel base.
5. one according to claim 4 reconfigurable drag articulation type four axle robot, it is characterized in that the one end swinging swivel base is connected with waist by the waist bearing that is horizontally installed in waist, one end of described waist bearing is provided with synchronous pulley, waist servomotor is provided with in described waist housing, described waist servomotor connects synchronous pulley by driving member, this synchronous pulley is connected by Timing Belt with the synchronous pulley of waist bearing end
The described other end of swing swivel base is connected with the mounting flange of shoulder.
6. one according to claim 5 reconfigurable drag articulation type four axle robot, is characterized in that described waist bearing and swings swivel base, arm bearing and wrist and shoulder housing and rotary flange and be and be connected by meshing transmission.
7. one according to claim 6 reconfigurable drag articulation type four axle robot, it is characterized in that all running through in described wrist, arm, shoulder and waist have cable, described cable is connected with wrist servomotor, arm servomotor, shoulder servomotor and waist servomotor, described waist housing is provided with cable quick socket, be provided with hollow tube in described shoulder, described cable passes shoulder from hollow tube.
8. one according to claim 7 reconfigurable drag articulation type four axle robot, it is characterized in that described wrist, arm, shoulder and waist are provided with oiling peep hole, described oiling peep hole is connected respectively to engaged transmission position corresponding in wrist, arm, shoulder and waist.
9. one according to claim 8 reconfigurable drag articulation type four axle robot, is characterized in that the free end of described wrist is provided with ring flange.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510057651.9A CN104647364B (en) | 2015-02-04 | 2015-02-04 | A kind of reconfigurable drag articulation type four axle robots |
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| CN201510057651.9A CN104647364B (en) | 2015-02-04 | 2015-02-04 | A kind of reconfigurable drag articulation type four axle robots |
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| CN104647364B CN104647364B (en) | 2016-05-04 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105500402A (en) * | 2016-02-04 | 2016-04-20 | 广东科捷龙机器人有限公司 | Novel movable joint of robot |
| CN106239128A (en) * | 2016-07-29 | 2016-12-21 | 柳州福能机器人开发有限公司 | A kind of assembly method in arc welding robot joint |
| CN107718045A (en) * | 2017-10-13 | 2018-02-23 | 江苏捷帝机器人股份有限公司 | A kind of anthropomorphic robot's joint arm |
| CN107738272A (en) * | 2017-10-13 | 2018-02-27 | 江苏捷帝机器人股份有限公司 | A kind of auxiliary shell of joint of robot arm with fluid injection lubrication system |
| CN107838944A (en) * | 2017-10-13 | 2018-03-27 | 江苏捷帝机器人股份有限公司 | A kind of multi-function robot joint arm |
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|---|---|
| CN104647364B (en) | 2016-05-04 |
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Address after: 211106 No. 32, Changqing street, Jiangning Economic and Technological Development Zone, Nanjing, Jiangsu Province Patentee after: China Shipbuilding Pengli (Nanjing) Intelligent Equipment System Co.,Ltd. Country or region after: China Patentee after: 724 Research Institute of China Shipbuilding Corp. Address before: 211106 No. 32, Changqing street, Jiangning Economic and Technological Development Zone, Nanjing, Jiangsu Province Patentee before: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd Country or region before: China Patentee before: 724TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. |