CN106078714A - The assembly method of man-machine collaboration robot walking device - Google Patents
The assembly method of man-machine collaboration robot walking device Download PDFInfo
- Publication number
- CN106078714A CN106078714A CN201610604557.5A CN201610604557A CN106078714A CN 106078714 A CN106078714 A CN 106078714A CN 201610604557 A CN201610604557 A CN 201610604557A CN 106078714 A CN106078714 A CN 106078714A
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- China
- Prior art keywords
- axle
- man
- joint
- assembly method
- walking device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
Abstract
The present invention relates to robot, specifically the assembly method of man-machine collaboration robot walking device, it includes being fixed on platform the walking beam of running gear, is assembled in several joints of robot complete；The one end in each joint is hinged with ground-engaging element；By hinged to the other end and a tie-beam one end in each joint；The tie-beam other end is bolted to connection on walking beam.The present invention is moved in three dimensions by several joint drive robots, the first axle and the second axle is assembled on the housing that this joint is special, housing and linking arm can be driven to horizontally rotate by the rotation of the first axle, linking arm can be driven vertically to rotate by the second axle, 3rd axle then can drive moving component vertically to rotate, it is seen that the present invention realizes the three-dimensional motion of moving component by the rotation of three axles；In implementation process, not only processing is simple, low cost, and easy to assembly, quick.
Description
Technical field
The present invention relates to robot, specifically the assembly method of man-machine collaboration robot walking device.
Background technology
Existing robot mainly divides two big classes: Cartesian robot and prosthetic robot.Cartesian robot
Mainly by some linear motion units, motor, control system and end-effector etc. is driven to form.This robot can be for not
Same application, fast and easy is combined into different dimension, various stroke and wall-mounted, cantilevered, the planer-type of different band loading capability
Or the Cartesian robot of the various ways such as reversely hung Yong.Prosthetic robot is mainly driven electricity by some rotary motion unit
Machine, control system and end-effector etc. form.Prosthetic robot can become not with Rapid Combination unlike Cartesian robot
Same dimension.For different application, such as arc welding robot, the prosthetic robot of fixing different dimensions should be selected, as man-machine
Cooperation robot.
At present, the kind of drive of man-machine collaboration robot walking device mainly have rope pulley transmission, linkage transmission,
V belt translation, Chain conveyer and gear drive etc., and these drive disk assemblies are easily deformed a bit, transmission is accurate not, such as V belt translation, rope
Rope pulley drive etc., certain structures is complicated, process and assemble difficulty, suitable for application in hypomegetic arc welding robot, as even
Linkage, gear drive etc..
Summary of the invention
For above-mentioned technical problem, the present invention provides a kind of and assembles man-machine collaboration robot walking device simple, firm
Assembly method.
The technical solution used in the present invention is: the assembly method of man-machine collaboration robot walking device, and it includes following step
Rapid:
(1) walking beam of running gear is fixed on platform, several joints of robot is assembled complete；
(2) one end in each joint is hinged with ground-engaging element；
(3) by hinged to the other end and a tie-beam one end in each joint；
(4) the tie-beam other end is bolted to connection on walking beam.
As preferably, during assembling joint, taking the housing of joint U-type groove formula, on the biside plate of housing, correspondence is offered respectively
Through hole, installs a bearing in each through hole；The base plate of housing welds the first axle along U-type groove length direction, this first axle
Hinged with one end described in tie-beam；The linking arm one end in joint is fixedly mounted axle sleeve, the hinged described ground-engaging element of the other end, and
Second axle one end bearing from side plate is stretched between biside plate；Again by the axle sleeve on described linking arm between biside plate
It is set on the second axle, and makes axle sleeve pass through key and the connection of the second axle；Tap the other end of the second axle, make described the one of the second axle
Hold through axle sleeve and the bearing interference fit on another side plate.
As preferably, by other bearing, rotatable 3rd axle is installed at the linking arm other end, solid on the 3rd axle
Surely described ground-engaging element is connected.
As preferably, described base plate processes half slot along U-type groove length direction, with the sleeve of the external diameter such as this half slot
Being welded in half slot, described first axle is bonded with this sleeve through barrel bore.
As preferably, described housing is formed in one structure.
As preferably, described first axle one end is rotationally connected with one end described in tie-beam, and the first axle other end is by decelerator
Drive and rotate.
As can be known from the above technical solutions, the present invention is moved in three dimensions by several joint drive robots, this pass
Save and on special housing, assemble the first axle and the second axle, housing and linking arm can be driven to horizontally rotate by the rotation of the first axle,
Linking arm can be driven vertically to rotate by the second axle, the 3rd axle then can drive moving component vertically to rotate, it is seen that the present invention is led to
The rotation crossing three axles realizes the three-dimensional motion of moving component；In implementation process, not only processing is simple, low cost, and fills
Join convenient, fast.
Detailed description of the invention
The present invention is described more detail below, and illustrative examples and explanation in this present invention are used for explaining the present invention,
But it is not as a limitation of the invention.
The assembly method of man-machine collaboration robot walking device, it comprises the following steps:
The walking beam of running gear is fixed on platform, several joints of robot is assembled complete；Again by each joint
One end hinged with ground-engaging element；The other end and a tie-beam one end in each joint are hinged；Finally the tie-beam other end is led to
Cross bolt to be fixedly connected on walking beam, so that walking beam and ground-engaging element are coupled together by joint safely and reliably, joint
And ground-engaging element can be driven to walk in three dimensions, meet the walking requirement of man-machine collaboration robot.
When assembling joint, taking the housing of the U-type groove formula in joint, described housing is by the biside plate of vertical horizontally set and erects
The most longitudinally disposed base plate composition, and housing is formed in one structure, easy to process, it is connected firmly, at the biside plate of housing
Upper correspondence respectively offers through hole, installs a bearing in each through hole, to assemble the second axle.Owing to the housing of U-type groove formula is three
Individual mask has opening, will not hinder the rotation of linking arm, it is ensured that linking arm moves safely and steadly.
The base plate of housing welds the first axle along U-type groove length direction, this first axle one end and one end described in tie-beam
Being rotationally connected, the first axle other end is driven by decelerator and rotates, it is ensured that joint can rotate in walking beam side around the first axle.Specifically
For when welding the first axle, first on described base plate, process half slot along U-type groove length direction, with the set of the external diameter such as this half slot
Cylinder is welded in half slot, and described first axle is bonded with this sleeve through barrel bore, thus axle can be avoided to be directly welded at
On base plate, prevent from damaging the first axle, and the design of half slot on the one hand processing is simple, convenient, be on the other hand easy to welding, connect
Firmly.
The linking arm one end in joint is fixedly mounted axle sleeve, installs the 3rd at the linking arm other end by other bearing
Axle, fixing connection robot motion's parts on described 3rd axle, such moving component can directly be driven around the 3rd by the 3rd axle
Axle vertically rotates, and this vertical range of rotation is less；Meanwhile, the second axle drives linking arm vertically to rotate around this second axle, thus
Moving component is driven the most vertically to rotate around this second axle；While vertically rotating, the first axle can drive the housing water surface to revolve
Turning, housing drives linking arm, then is driven moving component to horizontally rotate around the first axle by linking arm, thus realizes the big model of moving component
Enclose or the three-dimensional motion of little scope.
Second axle one end bearing from side plate is stretched between biside plate；Again by the axle sleeve on described linking arm from two
It is set between side plate on the second axle, and makes axle sleeve pass through key and the connection of the second axle；Then tap the other end of the second axle, make
Described one end of two axles is through axle sleeve and the bearing interference fit on another side plate, thus is connected across on biside plate by the second axle,
And linking arm one end is between biside plate, and rotated by the linking arm that rotarily drives of the second axle, it is achieved linking arm and motion
The purpose that parts vertically rotate around this second axle.
The technical scheme provided the embodiment of the present invention above is described in detail, specific case used herein
Principle and embodiment to the embodiment of the present invention are set forth, and the explanation of above example is only applicable to help to understand this
The principle of inventive embodiments；Simultaneously for one of ordinary skill in the art, according to the embodiment of the present invention, in specific embodiment party
All will change in formula and range of application, in sum, this specification content should not be construed as limitation of the present invention.
Claims (6)
1. the assembly method of man-machine collaboration robot walking device, it comprises the following steps:
(1) walking beam of running gear is fixed on platform, several joints of robot is assembled complete；
(2) one end in each joint is hinged with ground-engaging element；
(3) by hinged to the other end and a tie-beam one end in each joint；
(4) the tie-beam other end is bolted to connection on walking beam.
The assembly method of man-machine collaboration robot walking device the most according to claim 1, it is characterised in that: assembling joint
Time, take the housing of joint U-type groove formula, on the biside plate of housing, correspondence offers through hole respectively, installs an axle in each through hole
Hold；Welding the first axle along U-type groove length direction on the base plate of housing, this first axle is hinged with one end described in tie-beam；To close
Linking arm one end fixed installation axle sleeve of joint, the hinged described ground-engaging element of the other end, and by second axle one end from side plate
Bearing stretches between biside plate；Again the axle sleeve on described linking arm is set in the second axle between biside plate, and makes axle sleeve
Connected by key and the second axle；Tap the other end of the second axle, make described one end of the second axle pass on axle sleeve and another side plate
Bearing interference fit.
The assembly method of man-machine collaboration robot walking device the most according to claim 2, it is characterised in that: another at linking arm
Rotatable 3rd axle is installed by other bearing in one end, the described ground-engaging element of fixing connection on the 3rd axle.
The assembly method of man-machine collaboration robot walking device the most according to claim 2, it is characterised in that: at described base plate
On process half slot along U-type groove length direction, with the sleeve weld of the external diameter such as this half slot in half slot, described first axle is worn
Cross barrel bore bonded with this sleeve.
The assembly method of man-machine collaboration robot walking device the most according to claim 2, it is characterised in that: described housing is
Integrated formed structure.
The assembly method of man-machine collaboration robot walking device the most according to claim 2, it is characterised in that: described first axle
One end is rotationally connected with one end described in tie-beam, and the first axle other end is driven by decelerator and rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610604557.5A CN106078714A (en) | 2016-07-29 | 2016-07-29 | The assembly method of man-machine collaboration robot walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610604557.5A CN106078714A (en) | 2016-07-29 | 2016-07-29 | The assembly method of man-machine collaboration robot walking device |
Publications (1)
| Publication Number | Publication Date |
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| CN106078714A true CN106078714A (en) | 2016-11-09 |
Family
ID=57479279
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610604557.5A Pending CN106078714A (en) | 2016-07-29 | 2016-07-29 | The assembly method of man-machine collaboration robot walking device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06126679A (en) * | 1991-01-11 | 1994-05-10 | Yaskawa Electric Corp | Sewing operation robot |
| CN101058321A (en) * | 2007-06-06 | 2007-10-24 | 哈尔滨工业大学 | Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle |
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
| CN101570220A (en) * | 2009-06-04 | 2009-11-04 | 哈尔滨工程大学 | Reversible and amphibious multi-legged robot with variable postures |
| CN204110201U (en) * | 2014-10-15 | 2015-01-21 | 吉林大学 | A kind of multiple degree of freedom running gear for six biped robots |
| CN105643616A (en) * | 2016-03-18 | 2016-06-08 | 西安交通大学 | Dual-drive harmonic speed reducer applied to error compensation of mechanical arm |
-
2016
- 2016-07-29 CN CN201610604557.5A patent/CN106078714A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06126679A (en) * | 1991-01-11 | 1994-05-10 | Yaskawa Electric Corp | Sewing operation robot |
| CN101058321A (en) * | 2007-06-06 | 2007-10-24 | 哈尔滨工业大学 | Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle |
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
| CN101570220A (en) * | 2009-06-04 | 2009-11-04 | 哈尔滨工程大学 | Reversible and amphibious multi-legged robot with variable postures |
| CN204110201U (en) * | 2014-10-15 | 2015-01-21 | 吉林大学 | A kind of multiple degree of freedom running gear for six biped robots |
| CN105643616A (en) * | 2016-03-18 | 2016-06-08 | 西安交通大学 | Dual-drive harmonic speed reducer applied to error compensation of mechanical arm |
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Application publication date: 20161109 |
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