CN106217358B - Flapping articulation manipulator - Google Patents
Flapping articulation manipulator Download PDFInfo
- Publication number
- CN106217358B CN106217358B CN201610782612.XA CN201610782612A CN106217358B CN 106217358 B CN106217358 B CN 106217358B CN 201610782612 A CN201610782612 A CN 201610782612A CN 106217358 B CN106217358 B CN 106217358B
- Authority
- CN
- China
- Prior art keywords
- shaft
- disc
- pedestal
- code
- circuit board
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
This application discloses flapping articulation manipulators, belong to manipulator technical field, and which solve the problems that current flapping articulation manipulator Measuring error is more inconvenient.Flapping articulation manipulator includes the pedestal with inner cavity and the large arm positioned at pedestal side, circuit board one is equipped in the pedestal, retarder is equipped between the pedestal and large arm, and the retarder has shell, input terminal and output end；One of shell and output end of the retarder are fixed in large arm, another is fixed on the base；It is characterized in that, being connected with motor on the input terminal of the retarder, the motor is located in large arm at the side far from pedestal.In this structure, although structure relative complex code-disc one and code-disc two are provided in manipulator, and read head one and read head two are arranged on circuit board two, when circuit board two is dismantled, code-disc one and code-disc two are unaffected so that circuit board two can be disassembled conveniently.
Description
Technical field
The invention belongs to manipulator technical fields, are related to a kind of flapping articulation manipulator.
Background technology
Chinese invention patent (publication number CN102729247A, the day for announcing 20121017) discloses a kind of robot, including：
Base portion；Arm can in the horizontal direction be rotated centered on the base portion；Hollow working shaft, vertically extends, and
It is supported in a manner of it can be axially moveable and can rotate about the axis on the arm；Driving portion drives in the up-down direction
Move the working shaft；Hollow shaft is connected to the working shaft in such a way that the inside of its inside and the working shaft communicates with each other
Upper end；Thread-like member is arranged in a manner of via the inside of the working shaft and the hollow shaft；And cover, it is installed in institute
It states on arm, covers the working shaft, and have and supply the perforative through-hole of the hollow shaft in such a way that the hollow shaft is outstanding upward.
When work, the first arm is rotated relative to base portion centered on the rotary shaft of motor in the horizontal plane.Wherein, motor
It is arranged in the base portion with cavity.When needing to detect and repair at motor, need to carry out after dismantling base portion,
Therefore, Measuring error is more inconvenient.
Invention content
In view of the above-mentioned problems, the present invention proposes a kind of convenient manipulator of Measuring error, purpose can pass through following skills
Art scheme is realized：
Flapping articulation manipulator includes the pedestal with inner cavity and the large arm positioned at pedestal side, is set in the pedestal
There is circuit board one, retarder is equipped between the pedestal and large arm, the retarder has shell, input terminal and output end；
One of shell and output end of the retarder are fixed in large arm, another is fixed on the base；It is characterized in that,
Motor is connected on the input terminal of the retarder, the motor is located in large arm at the side far from pedestal.
In this manipulator, due to being arranged motor in the outside of large arm so that when needing to being detected at motor and
When repair, pedestal need not be dismantled, can be conveniently overhauled.And pedestal plays support to entire flapping articulation manipulator and makees
With dismounting pedestal is easy to impact entire manipulator.In addition, motor is arranged relative to previous level joint Manipulator
In pedestal, motor is arranged outside pedestal this manipulator, has also conceded space to install other components in pedestal.
In above-mentioned flapping articulation manipulator, the large arm is located at the upside of pedestal, is equipped in the retarder
One end of shaft one, the shaft one is fixed on the base, and the other end of shaft one stretches out motor, is stretched in the shaft one
The end for going out motor is fixed with code-disc one.
In general manipulator, the retarder of joint abuts against on joint.In original manipulator, due to motor
It is arranged in pedestal, the code-disc one in shaft one also is located on the downside of retarder, and retarder is in the process of running, it is possible to be occurred
Oil leak, oil leak are adhered on code-disc one, and code-disc one may be caused to fail.In this manipulator, code-disc one is located on the upside of retarder,
The oil leak that may occur on retarder will not impact code-disc one, but also this robot manipulator structure is relatively stable.
In above-mentioned flapping articulation manipulator, the large arm is located at the upside of pedestal, have in the motor with
Fixed rotor is in hollow shaft two, and the main body of motor is stretched out in one end far from retarder in shaft two, in shaft two
One end far from retarder is fixed with code-disc two.
Similarly, in this manipulator, since code-disc two is located on the upside of retarder, the oil leak that may occur on retarder is not yet
Code-disc one can be impacted, but also this robot manipulator structure is relatively stable.
It is in hollow shaft to have in above-mentioned flapping articulation manipulator, in the motor fixed with rotor
Two, the main body of motor is stretched out in one end far from retarder in shaft two, and one end far from retarder is fixed with code-disc in shaft two
Two；Shaft one is equipped in the retarder, the shaft one is located in shaft two, and one end of the shaft one is fixed on
On pedestal, the other end of shaft one stretches out motor, and the end that motor is stretched out in the shaft one is fixed with code-disc one.
Similarly, in this manipulator, since code-disc one and code-disc two are respectively positioned on the upside of retarder, may occur on retarder
Oil leak code-disc one and code-disc two will not be impacted, but also this robot manipulator structure is relatively stable.
In above-mentioned flapping articulation manipulator, mounting base is fixed in large arm, the shaft one is located in mounting base
And can be rotated relative to mounting base, circuit board two is removably fixed in the mounting base, the circuit board two is set in
One outside of shaft, the circuit board two are equipped with notch three, and the shaft one is located in notch three；
The notch three so that shaft one passes through when circuit board two is moved to one side of shaft more than one outer diameter of shaft
Notch Three Cut Off's circuit board two；
Read head one is fixed on the circuit board two, there is the read head one notch one, the code-disc one to be located at read head one
Notch one in so that when circuit board two is moved to the side of shaft one code-disc one be detached from read head one notch one.
Circuit board two is detachably secured to the mode in mounting base, can be that circuit board two is screwed in mounting base
On or circuit board two be fixed in mounting base by common buckle structure.
Wherein, read head one is used to read the rotational parameters of code-disc one, and then the relative rotation parameter for determining shaft one.
Due to having notch three on circuit board two, and when circuit board two is moved to the side of shaft one, code-disc one can be directly detached from
The notch one of read head one so that when circuit board two is dismantled, without being dismantled to code-disc one, do not easily cause the damage of code-disc one
It is bad；In the same old way, when circuit board two is installed, the notch of circuit board three is directly directed at shaft one and is inserted into, without to code-disc one
It is dismantled；Therefore, it dismounts more convenient.
In above-mentioned flapping articulation manipulator, read head two, the read head two tool are fixed on the circuit board two
Jagged two, the code-disc two is located in the notch two of read head two so that when circuit board two is moved to the side of shaft one
Code-disc two is detached from the notch two of read head two.
In this structure, although structure relative complex code-disc one and code-disc two are provided in manipulator, and one He of read head
Read head two is arranged on circuit board two, but when circuit board two is dismantled, code-disc one and code-disc two are unaffected so that circuit
Plate two can be disassembled conveniently.
Description of the drawings
Fig. 1 is a kind of stereogram of embodiment of flapping articulation manipulator；
Fig. 2 is the sectional view of base position in a kind of embodiment of flapping articulation manipulator；
Fig. 3 is the enlarged drawing at A in Fig. 2；
Fig. 4 is another structural schematic diagram of base position in flapping articulation manipulator；
In figure, 1, pedestal；2, large arm；3, retarder；31, shell；32, input terminal；33, output end；4, motor；5, shaft
One；6, code-disc one；7, shaft two；8, code-disc two；9, circuit board two；91, notch three；10, read head one；101, notch one；11, it reads
First two；111, notch two；12, circuit board one；13, forearm；14, working shaft；15, mounting base.
Specific implementation mode
As shown in Figure 1, in the present embodiment, flapping articulation manipulator includes pedestal 1 with inner cavity and is located at pedestal 1
One end of the large arm 2 of side, large arm 2 is connected with pedestal 1, and the other end of large arm 2 is connected with forearm 13, and forearm 13 is equipped with work
Axis 14.In the present embodiment, large arm 2 is located at the upside of pedestal 1.Wherein, large arm 2 is located at the upside of pedestal 1, refers to general
Under logical working condition, large arm 2 is located at the upside of pedestal 1.
Specifically, being equipped with circuit board 1 in pedestal 1, it to be used for each joint motions of controlled level joint Manipulator.
As shown in Fig. 2, being equipped with retarder 3 between pedestal 1 and large arm 2, retarder 3 has shell 31, input terminal 32 and defeated
Outlet 33.Wherein, one of the shell 31 of retarder 3 and output end 33 are fixed in large arm 2, another is fixed on pedestal
On 1.In the present embodiment, the shell 31 of retarder 3 is fixed in large arm 2, and the output end 33 of retarder 3 is fixed on pedestal 1.
As shown in Figure 3 and Figure 4, large arm 2 is located at the upside of pedestal 1, is equipped with shaft 1 in retarder 3, and the one of shaft 1
End is fixed on pedestal 1, and the other end of shaft 1 stretches out motor 4, and the end that motor 4 is stretched out in shaft 1 is fixed with code-disc
One 6.
It is in hollow shaft 27 to have in motor 4 fixed with 4 rotor of motor, in shaft 27 far from retarder 3 one
The main body of motor 4 is stretched out at end, and one end far from retarder 3 is fixed with code-disc 28 in shaft 27；Shaft one is equipped in retarder 3
5, shaft 1 is located in shaft 27, and one end of shaft 1 is fixed on pedestal 1, and the other end of shaft 1 stretches out motor 4, turns
The end that motor 4 is stretched out on axis 1 is fixed with code-disc 1.
Mounting base 15 is fixed in large arm 2, specifically, mounting base 15 is fixed on the shell 31 of retarder 3.Retarder 3
Input terminal 32 on be connected with motor 4, motor 4 is located at the side far from pedestal 1 in large arm 2.Motor 4 is arranged in mounting base 15
Interior, as a kind of mode, mounting base 15 can be as the shell 31 of motor 4.
Shaft 1 is located in mounting base 15 and can be rotated relative to mounting base 15.It is removably fixed with electricity in mounting base 15
Road plate 29, circuit board 29 are set in one 5 outside of shaft, and circuit board 29 is equipped with notch 3 91, and shaft 1 is located at notch three
In 91；
Notch 3 91 so that shaft 1 passes through when circuit board 29 is moved to one 5 side of shaft more than one 5 outer diameter of shaft
Notch 3 91 is detached from circuit board 29；Read head 1 is fixed on circuit board 29, read head 1 has notch 1, code-disc 1
In the notch 1 of read head 1 so that when circuit board 29 is moved to the side of shaft 1, code-disc 1 is detached from read head
One 10 notch 1.
Read head 2 11 is fixed on circuit board 29, there is read head 2 11 notch 2 111, code-disc 28 to be located at read head 2 11
In notch 2 111 so that when circuit board 29 is moved to the side of shaft 1, code-disc 28 is detached from the notch two of read head 2 11
111。
Circuit board 29 is detachably secured to the mode in mounting base 15, can be that circuit board 29 is screwed in peace
On dress seat 15 or circuit board 29 is fixed on by common buckle structure in mounting base 15.
Wherein, read head 1 is used to read the rotational parameters of code-disc 1, and then the relative rotation for determining shaft 1
Parameter.Due to having notch 3 91 on circuit board 29, and when circuit board 29 is moved to the side of shaft 1, one 6 energy of code-disc
Enough notches 1 for being directly detached from read head 1 so that when circuit board 29 is dismantled, without being dismantled to code-disc 1, no
Easily cause the damage of code-disc 1；In the same old way, when circuit board 29 is installed, directly the alignment of the notch of circuit board 3 91 shaft 1 is inserted
Enter, is dismantled without to code-disc 1；Therefore, it dismounts more convenient.
In general manipulator, the retarder 3 of joint abuts against on joint.In original manipulator, due to electricity
Machine 4 is arranged in pedestal 1, and the code-disc 1 in shaft 1 is also all located at 3 downside of retarder with the code-disc 28 in shaft 27, and
Retarder 3 is in the process of running, it is possible to oil leak occur, oil leak is adhered on code-disc 1 and code-disc 28, may cause code-disc
1 and code-disc 28 fail.In this manipulator, code-disc 1 and code-disc 28 are located at 3 upside of retarder, may hair on retarder 3
Raw oil leak will not impact code-disc 1 and code-disc 28, but also this robot manipulator structure is relatively stable.
In this manipulator, due to being arranged motor 4 in the outside of large arm 2 so that when needing to being detected at motor 4
When with repair, pedestal 1 need not be dismantled, can be conveniently overhauled.And pedestal 1 plays branch to entire flapping articulation manipulator
Support acts on, and dismounting pedestal 1 is easy to impact entire manipulator.In addition, will be electric relative to previous level joint Manipulator
Machine 4 is arranged in pedestal 1, and motor 4 is arranged outside pedestal 1 this manipulator, has also conceded sky for the other components of installation in pedestal 1
Between.
Claims (8)
1. flapping articulation manipulator includes the pedestal (1) with inner cavity and the large arm (2) positioned at pedestal (1) side, the bottom
It is equipped with circuit board one (12) in seat (1), retarder (3), the retarder (3) are equipped between the pedestal (1) and large arm (2)
With shell (31), input terminal (32) and output end (33)；The shell (31) and output end (33) of the retarder (3) are wherein
One is fixed in large arm (2), another is fixed on pedestal (1), which is characterized in that the input terminal of the retarder (3)
(32) motor (4) is connected on, the motor (4) is located in large arm (2) at the side far from pedestal (1), the large arm
(2) mounting base (15) is fixed on, shaft one (5) is located in mounting base (15) and can be rotated relative to mounting base (15), described
Mounting base (15) on be removably fixed with circuit board two (9), the circuit board two (9) is set on the outside of shaft one (5), institute
The circuit board two (9) stated is equipped with notch three (91), and the shaft one (5) is located in notch three (91), the notch three
(91) it is more than shaft one (5) outer diameter.
2. flapping articulation manipulator according to claim 1, which is characterized in that the large arm (2) is located at pedestal (1)
Upside, the retarder (3) is interior to be equipped with shaft one (5), and one end of the shaft one (5) is fixed on pedestal (1), shaft
The other end of one (5) stretches out motor (4), and the end that motor (4) is stretched out in the shaft one (5) is fixed with code-disc one (6).
3. flapping articulation manipulator according to claim 1, which is characterized in that the large arm (2) is located at pedestal (1)
Upside, it is in hollow shaft two (7) to have in the motor (4) fixed with motor (4) rotor, separate in shaft two (7)
The main body of motor (4) is stretched out in one end of retarder (3), and one end far from retarder (3) is fixed with code-disc two in shaft two (7)
(8)。
4. flapping articulation manipulator according to claim 1, which is characterized in that the shaft one (5) is located at shaft two
(7) in.
5. flapping articulation manipulator according to claim 1, which is characterized in that be fixed on the circuit board two (9)
Read head one (10), the read head one (10) have notch one (101).
6. flapping articulation manipulator according to claim 2, which is characterized in that the code-disc one (6) is located at read head one
(10) in notch one (101) so that when circuit board two (9) is moved to the side of shaft one (5), code-disc one (6) is detached from read head
The notch one (101) of one (10).
7. flapping articulation manipulator according to claim 1, which is characterized in that be fixed on the circuit board two (9)
Read head two (11), the read head two (11) have notch two (111).
8. flapping articulation manipulator according to claim 3, which is characterized in that the code-disc two (8) is located at read head two
(11) in notch two (111) so that when circuit board two (9) is moved to the side of shaft one (5), code-disc two (8) is detached from read head
The notch two (111) of two (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782612.XA CN106217358B (en) | 2016-08-30 | 2016-08-30 | Flapping articulation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610782612.XA CN106217358B (en) | 2016-08-30 | 2016-08-30 | Flapping articulation manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106217358A CN106217358A (en) | 2016-12-14 |
| CN106217358B true CN106217358B (en) | 2018-09-14 |
Family
ID=58071700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610782612.XA Active CN106217358B (en) | 2016-08-30 | 2016-08-30 | Flapping articulation manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106217358B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945070A (en) * | 2017-04-28 | 2017-07-14 | 杭州琦星机器人科技有限公司 | Decelerator code-disc structure, decelerator and manipulator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1258590A (en) * | 1998-12-26 | 2000-07-05 | 三星电子株式会社 | Cylindrical coordinates robot |
| CN104249366A (en) * | 2013-06-28 | 2014-12-31 | 国家电网公司 | Planar multi-joint robot |
| CN204604352U (en) * | 2014-12-30 | 2015-09-02 | 浙江琦星电子有限公司 | A kind of joint of mechanical arm |
| CN205115806U (en) * | 2015-10-27 | 2016-03-30 | 浙江琦星电子有限公司 | Last motor of using of sewing machine |
| CN206029859U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Horizontal joint manipulator |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9186799B2 (en) * | 2011-07-13 | 2015-11-17 | Brooks Automation, Inc. | Compact direct drive spindle |
| ITTO20110848A1 (en) * | 2011-09-23 | 2013-03-24 | Fond Istituto Italiano Di Tecnologia | ELASTIC ROTARY ACTUATOR. |
-
2016
- 2016-08-30 CN CN201610782612.XA patent/CN106217358B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1258590A (en) * | 1998-12-26 | 2000-07-05 | 三星电子株式会社 | Cylindrical coordinates robot |
| CN104249366A (en) * | 2013-06-28 | 2014-12-31 | 国家电网公司 | Planar multi-joint robot |
| CN204604352U (en) * | 2014-12-30 | 2015-09-02 | 浙江琦星电子有限公司 | A kind of joint of mechanical arm |
| CN205115806U (en) * | 2015-10-27 | 2016-03-30 | 浙江琦星电子有限公司 | Last motor of using of sewing machine |
| CN206029859U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Horizontal joint manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106217358A (en) | 2016-12-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102152169B (en) | Fixed equational indexing head | |
| CN106870895B (en) | A kind of bridge monitoring equipment for being easy to debugging | |
| CN108287308A (en) | Electromechanical testing tooling platform | |
| CN106217358B (en) | Flapping articulation manipulator | |
| CN105627859A (en) | Reversible platform detection device and globe bearing assembly detection method and device | |
| CN207779255U (en) | A kind of intelligent gear engagement measuring instrument transmission mechanism | |
| CN104972184B (en) | Discharging processing machine with rotary shaft | |
| CN102998111B (en) | Ball stud assembly high/low temperature muddy water spray endurance test bench | |
| CN109353168A (en) | A kind of automotive hub provision for disengagement | |
| CN104723086B (en) | Drive sleeve screw screwing-in mechanism of sewing machine part assembling machine | |
| KR20110001773A (en) | Automatic rotating inspection equipment for generator rotor retaining ring | |
| KR100844913B1 (en) | Rotation worktable for welding | |
| CN206029859U (en) | Horizontal joint manipulator | |
| CN203031370U (en) | Combined type robot tooling | |
| CN108247969A (en) | The plasticizing driving device of the high plasticizing required precision of adaptation of full electric injection molding machine | |
| CN106092485A (en) | Helmet test support | |
| CN208976419U (en) | A kind of complex parts inside iron filings slag remover | |
| CN104154940A (en) | PCT jig | |
| CN203011410U (en) | Device for opening glass cover plate of workbench | |
| CN205483020U (en) | Whole visual detection platform | |
| CN209223512U (en) | Turnover device for upper table surface assembling line | |
| CN215659049U (en) | Assembly machine applied to instrument board beam framework | |
| CN209019008U (en) | A kind of easy-to-mount dental scans instrument tooth die clamper | |
| CN103900627B (en) | Workbench glass cover-plate device for opening | |
| CN202140756U (en) | Monitoring camera lens support |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee after: Qixing Intelligent Technology Co., Ltd. Address before: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG QIXING ELECTRONICS CO., LTD. |