CN105082118B - Jobs that requires special skills robot - Google Patents
Jobs that requires special skills robot Download PDFInfo
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- CN105082118B CN105082118B CN201510599805.7A CN201510599805A CN105082118B CN 105082118 B CN105082118 B CN 105082118B CN 201510599805 A CN201510599805 A CN 201510599805A CN 105082118 B CN105082118 B CN 105082118B
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- forearm
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Abstract
Jobs that requires special skills robot, belongs to robotics.The present invention realizes the motility of robot space motion, the advantage of structural compactness, has higher movement velocity and may also provide higher impulsive force again simultaneously in a certain axle direction of motion.The present invention has three degree of freedom, and the upper end of base is hinged with swivel base, and the upper end of swivel base is hinged with forearm, and swivel base can do gyration with respect to base, and forearm can do upper and lower elevating movement with respect to base；Forearm bracket is provided with moving assembly, moving assembly is coupled with rotary motion linear motion conversion mechanism, rotary motion linear motion conversion mechanism is hinged with motor, moving assembly does linear reciprocating motion by directive wheel on guide rail, moving assembly be fixedly arranged at the front end with tool seat, jaw is additionally provided with tool seat, jaw is hinged with jaw cylinder, the cylinder body of jaw cylinder is fixed in tool seat.The present invention is used for replacing mankind's operation.
Description
Technical field
The present invention relates to a kind of robot, belong to robotics.
Background technology
Stepping up with human cost, robot replaces mankind's operation to become a kind of trend, current automated production
The robot in series or in parallel that scene uses, as carrying, welds, spraying, assembling etc. uses, and needs to provide larger at some
Impulsive force, and need higher linear reciprocating motion speed in this force direction, it is special to be directed to using some
The instrument of technological design, does not still have suitable robot can use at present.
Content of the invention
Brief overview with regard to the present invention is given below, to provide basic with regard to certain aspects of the invention
Understand.It should be appreciated that this general introduction is not the exhaustive general introduction with regard to the present invention.It is not intended to determine the pass of the present invention
Key or pith, nor is it intended to limit the scope of the present invention.Its purpose only provides some concepts in simplified form,
In this, as the preamble in greater detail discussed after a while.
In consideration of it, according to an aspect of the invention, it is provided a kind of jobs that requires special skills robot, at least to realize possessing machine
The motility of device people's space motion, the advantage of structural compactness, there is higher motion in a certain axle direction of motion simultaneously again
Speed and may also provide higher impulsive force.
Jobs that requires special skills robot proposed by the present invention, it has three degree of freedom, including base, swivel base and forearm；Base
Robot is integrally attached on fixed or packaged type platform, the upper end of base is hinged with swivel base, and swivel base is with respect to base
Gyration can be done, the upper end of swivel base is hinged with forearm, and forearm can do upper and lower elevating movement with respect to base；
Described forearm includes motor, and described motor is fixed on the rear end of forearm bracket, and forearm bracket is provided with
Guide rail, forearm bracket is provided with moving assembly, and the two ends of moving assembly are coupled with rotary motion-linear motion conversion mechanism, rotation
Transport dynamic-linear motion conversion mechanism hinged with motor, at lower end four base angle of moving assembly, be equipped with directive wheel, move
Dynamic assembly does linear reciprocating motion by directive wheel on guide rail, moving assembly be fixedly arranged at the front end with tool seat, before tool seat
End is internal to be outer toroidal taper hole structure, tool seat is additionally provided with jaw, the rear end of jaw is hinged with the lever of jaw cylinder,
The cylinder body of jaw cylinder is fixed in tool seat.
Further：Described rotary motion-linear motion conversion mechanism includes chain, and forward sprocket is passed through in the front end of chain
Axle is arranged on forearm bracket, and the rear end of chain is arranged on forearm bracket by rearward sprocket axle, and rearward sprocket axle is installed
There is driven wheel of differential, motor is connected with drive bevel gear by decelerator, and drive bevel gear is engaged with driven wheel of differential, main
The axis of dynamic bevel gear is vertical with the axis of driven wheel of differential.The rotary motion of motor is eventually converted into the straight of moving assembly
Line moves, and can control the speed of motor and torque thus controlling the point-to-point speed of moving assembly and in the direction of motion
Impulsive force, moving assembly high-speed motion when needing impulsive force, the torque being provided by motor and moving assembly
The inertia force of itself provides the impulsive force of needs in the movement direction.
Further：Directive wheel at each base angle of moving assembly is divided into upper and lower two parts, the directive wheel on top and guide rail
Above fit, the directive wheel of bottom fitted with the lower surface of forearm bracket.The directive wheel on top primarily serves guide effect, under
The directive wheel in portion plays the effect of equilibrium torsion moment.
Further：Described guide rail is semicircle long guideway.
Further：Described motor is servomotor, is controlled with servo-driver by motion controller.There is machine
The kinesiology of people and dynamic characteristic, flexible movements, repetitive positioning accuracy and movement locus precision controlling are accurate, compact conformation,
Floor space little it is easy to safeguard, be easy to operate.
The effect that the present invention is reached is：
The present invention has three degree of freedom, and swivel base can do gyration with respect to base, forearm can do with respect to base
Lower elevating movement, forearm is directly hinged on swivel base, and the arm of force is less, and the swivel base RV reductor stress hinged with forearm is relatively
Good, resistance to impact is higher, and the rotary motion of motor is eventually converted into mobile group by rotary motion-linear motion conversion mechanism
The linear motion of part, can control the speed of motor and torque thus controlling the point-to-point speed of moving assembly and in fortune
The impulsive force in dynamic direction, moving assembly high-speed motion when needing impulsive force, the torque being provided by motor and shifting
The dynamic assembly inertia force of itself provides the impulsive force of needs in the movement direction.Achieve the flexible of robot space motion
Property, the advantage of structural compactness, there is higher movement velocity and may also provide again in a certain axle direction of motion simultaneously
Higher impulsive force, referring to table 1.
Table 1：Robot impact force data table
| Motor speed rpm | Impulsive force (kgf) |
| 1500 | 1000.7 |
| 2000 | 1334.2 |
| 2400 | 1601.1 |
| 2700 | 1801.2 |
| 3000 | 2001.3 |
Brief description
Fig. 1 is the overall structure axonometric chart of the present invention；
Fig. 2 is the axonometric chart of forearm；
Fig. 3 is forearm rear transfer schematic diagram；
Fig. 4 is forearm front transfer schematic diagram；
Fig. 5 is layout drawing at the lower end base angle of moving assembly for the directive wheel.
In figure：1 base；2 swivel bases；3 forearms；3-1 motor；3-2 forearm bracket；3-3 moving assembly；3-4 directive wheel；
3-5 guide rail；3-6 rotary motion-linear motion conversion mechanism；3-7 jaw cylinder；3-8 jaw；3-9 tool seat；3-10 slows down
Device；3-11 drive bevel gear；3-12 driven wheel of differential；3-13 rearward sprocket axle；3-14 forward sprocket axle.
Specific embodiment
Hereinafter in connection with accompanying drawing, the one exemplary embodiment of the present invention is described.For clarity and conciseness,
All features of actual embodiment are not described in the description.It should be understood, however, that developing any this actual enforcement
A lot of decisions specific to embodiment, to realize the objectives of developer, for example, symbol must be made during example
Close those restrictive conditions related to system and business, and these restrictive conditions may have with the difference of embodiment
Changed.Additionally, it also should be appreciated that although development is likely to be extremely complex and time-consuming, but to having benefited from the present invention
For those skilled in the art of disclosure, this development is only routine task.
Here is in addition it is also necessary to illustrate is a bit, in order to avoid having obscured the present invention because of unnecessary details, in the accompanying drawings
Illustrate only and the apparatus structure closely related according to the solution of the present invention and/or process step, and eliminate and the present invention
The little other details of relation.
The embodiment provides a kind of jobs that requires special skills robot, it has three degree of freedom, including base 1, turns
Seat 2 and forearm 3；1 robot of base is integrally attached on fixed or packaged type platform, and the upper end of base 1 is cut with scissors with swivel base 2
Connect, swivel base 2 can do gyration with respect to base 1, the upper end of swivel base 2 is hinged with forearm 3, forearm 3 can do with respect to base 1
Lower elevating movement；
Described forearm 3 includes motor 3-1, and described motor 3-1 is fixed on the rear end of forearm bracket 3-2, forearm
Support 3-2 is provided with guide rail 3-5, and guide rail 3-5 is arranged in parallel for two, can bear more complicated stressing conditions, and forearm props up
Frame 3-2 is provided with moving assembly 3-3, and the two ends of moving assembly 3-3 are coupled with rotary motion-linear motion conversion mechanism 3-6, rotation
Transport dynamic-linear motion conversion mechanism 3-6 hinged with motor 3-1, be equipped with lower end four base angle of moving assembly 3-3
Directive wheel 3-4, moving assembly 3-3 do linear reciprocating motion, the front end of moving assembly 3-3 by directive wheel 3-4 on guide rail 3-5
It is fixed with tool seat 3-9, be outer toroidal taper hole structure inside the front end of tool seat 3-9, tool seat 3-9 is additionally provided with jaw
3-8, the rear end of jaw 3-8 is hinged with the lever of jaw cylinder 3-7, and the cylinder body of jaw cylinder 3-7 is fixed in tool seat 3-9.
In addition, according to a kind of implementation, rotary motion-linear motion conversion mechanism 3-6 includes chain, bevel gear.Chain
The front end of bar is arranged on forearm bracket 3-2 by forward sprocket axle 3-14, and the rear end of chain is passed through rearward sprocket axle 3-13 and pacified
It is contained on forearm bracket 3-2, rearward sprocket axle 3-13 is provided with driven wheel of differential 3-12, turning motor motor 3-1 leads to
Cross decelerator 3-10 to be connected with drive bevel gear 3-11, drive bevel gear 3-11 is engaged with driven wheel of differential 3-12, active conical tooth
The axis of wheel 3-11 is vertical with the axis of driven wheel of differential 3-12.The rotary motion of motor 3-1 is eventually converted into mobile group
The linear motion of part 3-3, can control the speed of motor 3-1 and torque thus controlling the linear motion of moving assembly 3-3
Speed and the impulsive force in the direction of motion, when needing impulsive force, moving assembly 3-3 high-speed motion, is carried by motor
For torque and the moving assembly 3-3 inertia force of itself provide in the movement direction one needs impulsive force.
In addition, according to a kind of implementation, the directive wheel 3-4 at each base angle of moving assembly is divided into upper and lower two parts, on
Fit above the directive wheel 3-4 and guide rail 3-5 in portion, the lower surface of the directive wheel 3-4 of bottom and forearm bracket 3-2 guide rail 3-5
Laminating.The directive wheel on top primarily serves guide effect, and the directive wheel of bottom plays the effect of equilibrium torsion moment.
In addition, according to a kind of implementation, described guide rail is semicircle long guideway.
In addition, according to a kind of implementation, described motor 3-1 is servomotor, is driven with servo by motion controller
Dynamic device controls.There is kinesiology and the dynamic characteristic of robot, flexible movements, repetitive positioning accuracy and movement locus precision control
System precisely, compact conformation, floor space little it is easy to safeguard, be easy to operate.
In addition, according to a kind of implementation, described rotary motion-linear motion conversion mechanism 3-6 can also be electronic
Push rod, threaded screw rod or belt.
The operation principle of the present invention：
Robot is integrally attached on fixed or packaged type platform by base 1, and a spindle motor drives base 1 and turns
Hinged RV reductor between seat 2, can drive swivel base 2 to do reciprocating rotating motion, two spindle motors drive swivel base 2 hinged with forearm 3
RV reductor, forearm 3 can be driven to do upper and lower elevating movement, three spindle motors drive reductors that motion-linear motion is rotated
Shifter 3-6, rotary motion-linear motion conversion mechanism 3-6 drive moving assembly 3-3 to do reciprocating linear fortune along guide rail 3-5
Dynamic, the stretching motion of jaw cylinder 3-7, instrument promptly or in back off tool seat 3-9 for the jaw 3-8, institute of robot can be driven
The motor using is servomotor, is controlled with servo-driver by motion controller, has kinesiology and the power of robot
Learn feature, flexible movements, repetitive positioning accuracy and movement locus precision controlling precisely, compact conformation, floor space little it is easy to dimension
Shield, is easy to operate, the rotary motion of three spindle motors is eventually converted into the linear motion of moving assembly 3-3, can control servo electricity
The speed of machine and torque, thus controlling point-to-point speed and the impulsive force in the direction of motion of moving assembly 3-3, are needing to rush
Hit moving assembly 3-3 high-speed motion when power, the torque providing by motor and the moving assembly 3-3 inertia force of itself are in fortune
The impulsive force of one needs is provided on dynamic direction, simultaneously the size feedback of monitoring impulsive force, when impulsive force reaches setting permissible value
During higher limit, impact stops, motor reversal rollback, and instruction and feedback adopt high speed communication pattern it is ensured that receiving feedback and sending control
The real-time of system instruction, forearm 3 is directly hinged on swivel base 2, and the arm of force is less, the swivel base 2 RV reductor stress hinged with forearm 3
Preferably, resistance to impact is higher for state.Robot multi-freedom links, and can complete more complicated action.RV used by robot
Reductor has that anti-impact force is strong, moment of torsion big, small volume, lightweight, gear range is big, speed reducing ratio is big, life-span length, positioning accurate
Degree is high, precision keeps stable, efficiency high, vibration is little, stable drive many advantages, such as, compared with conventional harmonic wave speed reducing machine in robot
There is much higher fatigue strength, rigidity and life-span, and return difference stable accuracy.
Although disclosed embodiment is as above, its content is only to facilitate understand the technical side of the present invention
Case and the embodiment that adopts, are not intended to limit the present invention.Technical staff in any the technical field of the invention, not
On the premise of departing from disclosed core technology scheme, any modification can be made on the form implemented and details and become
Change, but the protection domain that the present invention is limited, still must be defined by the scope of appending claims restriction.
Claims (4)
1. jobs that requires special skills robot, it has three degree of freedom, including base (1), swivel base (2) and forearm (3)；Base (1)
Robot is integrally attached on fixed or packaged type platform, and the upper end of base (1) is hinged with swivel base (2), and swivel base (2) is relatively
Gyration can be done in base (1), the upper end of swivel base (2) is hinged with forearm (3), and forearm (3) can do with respect to base (1) up and down
Elevating movement；
Above-mentioned roboting features are：Described forearm (3) includes motor (3-1), forearm bracket (3-2), moving assembly (3-
3), directive wheel (3-4), guide rail (3-5), rotary motion-linear motion conversion mechanism (3-6), jaw cylinder (3-7), jaw (3-
8), tool seat (3-9)；Described motor (3-1) is fixed on forearm bracket (3-2), and forearm bracket (3-2) is provided with guide rail
(3-5), forearm bracket (3-2) is provided with moving assembly (3-3), the two ends of moving assembly (3-3) and rotary motion-linear motion
Shifter (3-6) couples, and rotary motion-linear motion conversion mechanism (3-6) is hinged with motor (3-1), moving assembly
(3-3) it is equipped with directive wheel (3-4) at the base angle of lower end four, moving assembly (3-3) passes through directive wheel (3-4) in guide rail (3-
5) do linear reciprocating motion on, moving assembly (3-3) be fixedly arranged at the front end with tool seat (3-9), inside the front end of tool seat (3-9)
For outer toroidal taper hole structure, tool seat (3-9) is additionally provided with jaw (3-8), the rear end of jaw (3-8) and jaw cylinder
(3-7) lever is hinged, and the cylinder body of jaw cylinder (3-7) is fixed in tool seat (3-9).
2. jobs that requires special skills robot according to claim 1 it is characterised in that：Described rotary motion-linear motion conversion
Mechanism (3-6) includes chain, and the front end of chain is arranged on forearm bracket (3-2) by forward sprocket axle (3-14), chain
Rear end is arranged on forearm bracket (3-2) by rearward sprocket axle (3-13), and rearward sprocket axle (3-13) is provided with from mantle
Gear (3-12), turning motor motor (3-1) is connected with drive bevel gear (3-11) by decelerator (3-10), initiative taper
Gear (3-11) is engaged with driven wheel of differential (3-12), the axle of the axis of drive bevel gear (3-11) and driven wheel of differential (3-12)
Line is vertical.
3. jobs that requires special skills robot according to claim 1 and 2 it is characterised in that：Leading at each base angle of moving assembly
It is divided into upper and lower two parts to wheel (3-4), the directive wheel (3-4) on top is fitted with above guide rail (3-5), the directive wheel of bottom
(3-4) fit with the lower surface of forearm bracket (3-2).
4. jobs that requires special skills robot according to claim 3 it is characterised in that：Described motor (3-1) is servo electricity
Machine, is controlled with servo-driver by motion controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510599805.7A CN105082118B (en) | 2015-09-18 | 2015-09-18 | Jobs that requires special skills robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510599805.7A CN105082118B (en) | 2015-09-18 | 2015-09-18 | Jobs that requires special skills robot |
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| Publication Number | Publication Date |
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| CN105082118A CN105082118A (en) | 2015-11-25 |
| CN105082118B true CN105082118B (en) | 2017-03-01 |
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| CN201510599805.7A Active CN105082118B (en) | 2015-09-18 | 2015-09-18 | Jobs that requires special skills robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202016101255U1 (en) * | 2016-03-08 | 2016-04-13 | Igus Gmbh | robot arm |
| CN107243924A (en) * | 2017-07-27 | 2017-10-13 | 哈尔滨博实自动化股份有限公司 | Two-degree-of-freedorobot robot arm |
| CN109571452B (en) * | 2018-12-14 | 2021-07-30 | 上海交通大学 | One-translation and one-rotation double-freedom-degree rope driving mechanism |
| CN114952808B (en) * | 2022-08-02 | 2022-10-25 | 哈尔滨工业大学 | Double-arm six-degree-of-freedom heavy-load mounting manipulator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH059908A (en) * | 1991-07-04 | 1993-01-19 | Mitsubishi Electric Corp | Concrete drill robot |
| CN2319437Y (en) * | 1997-11-05 | 1999-05-19 | 谢先堂 | Pavement crusher |
| US7966856B1 (en) * | 2009-12-15 | 2011-06-28 | General Electric Company | Robotic peening apparatus |
| CN202614492U (en) * | 2012-05-14 | 2012-12-19 | 杭州沪宁电梯配件有限公司 | Elevator buffer testing equipment |
| CN204913894U (en) * | 2015-09-18 | 2015-12-30 | 哈尔滨博实自动化股份有限公司 | Three degree of freedom robots |
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| CN105082118A (en) | 2015-11-25 |
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Effective date of registration: 20220126 Address after: 215332 floor 2, building 1, No. 338, Xinsheng Road, Huaqiao Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Boshi (Suzhou) Intelligent Technology Co.,Ltd. Address before: 150001 No.9 Donghu street, Yingbin Road, development zone, Harbin City, Heilongjiang Province Patentee before: HARBIN BOSHI AUTOMATION Co.,Ltd. |
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Effective date of registration: 20220330 Address after: 150001 No.9 Donghu street, Yingbin Road, development zone, Harbin City, Heilongjiang Province Patentee after: HARBIN BOSHI AUTOMATION Co.,Ltd. Address before: 215332 floor 2, building 1, No. 338, Xinsheng Road, Huaqiao Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: Boshi (Suzhou) Intelligent Technology Co.,Ltd. |