CN106737647A - A kind of material handling high-freedom degree robot - Google Patents
A kind of material handling high-freedom degree robot Download PDFInfo
- Publication number
- CN106737647A CN106737647A CN201710049038.1A CN201710049038A CN106737647A CN 106737647 A CN106737647 A CN 106737647A CN 201710049038 A CN201710049038 A CN 201710049038A CN 106737647 A CN106737647 A CN 106737647A
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- CN
- China
- Prior art keywords
- motor
- connecting rod
- finger
- robot
- freedom degree
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of material handling high-freedom degree robot, including base and large arm, line box is docked by bolt and is fixed in the base top, and it is provided with packing ring at base and bolt connection, the large arm is connected with dish structure upper end is rotated, large arm lower section side is provided with the 3rd motor, and top side is connected with forearm, 5th motor is connected with ring flange and first connecting rod, the first connecting rod both sides are provided with robot carriage, the robot carriage upper end is hinged with finger, the finger upper end inner side is fixed with pad, the pad lower section is provided with spring.Material handling high-freedom degree robot, structure setting is light, occupy little space, simultaneously using five stepper motors as drive system, drive conversion flexible, idle stroke is small when just going to reversion, position control accuracy higher can be obtained, reaction speed is fast, can preferably carry out carrying work, promotes the development of robot industry.
Description
Technical field
The present invention relates to robot equipment technical field, specially a kind of material handling high-freedom degree robot.
Background technology
In current extensive manufacturing industry, enterprise is improve production efficiency, ensures product quality, most attention production process
Automaticity, industrial robot gradually accepted and used as the important member on automatic production line by enterprise, work
The technical merit and level of application of industry robot reflect a level for National Industrial automation to a certain extent, at present,
Industrial robot mainly carries the repeatability such as welding, spraying, carrying and stacking and labour intensity greatly works, and works
Mode typically takes the mode of teaching playback,
It is presently used for being transported the industrial robot of material to pressing equipment, is driven using hydraulic cylinder, movement velocity is slower,
Kinematic accuracy is low, and weight is big.
The content of the invention
It is an object of the invention to provide a kind of material handling high-freedom degree robot, with solving above-mentioned background technology
The use hydraulic cylinder of proposition is driven, and movement velocity is slower, and kinematic accuracy is low, and weight it is big the problems such as.
To achieve the above object, the present invention provides following technical scheme：A kind of material handling high-freedom degree robot, bag
Base and large arm are included, the base top is docked line box and is fixed by bolt, and pad is provided with base and bolt connection
Circle, the terminal box top is provided with rotation dish structure, and rotation dish superstructure is provided with the 4th motor, the large arm
Be connected with dish structure upper end is rotated, large arm lower section side is provided with the 3rd motor, and top side be connected with it is small
Arm, the forearm bottom is provided with the second motor, and upper end is provided with the first motor, and first motor connects
It is connected to manipulator, manipulator side lower end is provided with the 5th motor, the 5th motor and ring flange and the
One connecting rod is connected, and the first connecting rod both sides are provided with robot carriage, and the robot carriage upper end is hinged on finger
Together, the first connecting rod upper end is hinged with second connecting rod, and second connecting rod upper end is connected with finger, on the finger
End inner side is fixed with pad, and the pad lower section is provided with spring.
Preferably, the large arm is aluminum alloy materials composition, and forearm is that oily Steel material is constituted, while packing ring is spring steel
Material is constituted.
Preferably, first motor, the second motor, the 3rd motor, the 4th motor and the 5th
Motor is stepper motor.
Preferably, on the manipulator ring flange, first connecting rod, robot carriage, second connecting rod and finger are aluminium
Alloy material is constituted, and pad above finger is that plastic material is constituted.
Preferably, the finger is provided with two, and the pad of top is symmetrical arranged, at the same mats inside be provided with it is anti-skidding
Curved slot arrangement.
Compared with prior art, the beneficial effects of the invention are as follows：Material handling high-freedom degree robot, structure setting
It is light, occupy little space, setting is referred to using pincer, and lower section sets a spring, can also so provide appropriate clamping force,
Simultaneously using five stepper motors as drive system, drive conversion flexible, idle stroke is small when just going to reversion, can obtain compared with
Position control accuracy high, reaction speed is fast, can preferably carry out carrying work, promotes the development of robot industry.
Brief description of the drawings
Fig. 1 is structure schematic elevation view of the present invention；
Fig. 2 is structure schematic side view of the present invention；
Fig. 3 is construction machine hand schematic diagram of the present invention.
In figure：1st, base, 2, terminal box, 3, large arm, 4, forearm, the 5, first motor, 6, manipulator, 7, second drives
Motor, the 8, the 3rd motor, the 9, the 4th motor, 10, packing ring, 11, bolt, the 12, the 5th motor, 13, rotation dish
Structure, 14, ring flange, 15, first connecting rod, 16, robot carriage, 17, second connecting rod, 18, finger, 19, spring, 20, pad.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-3 are referred to, the present invention provides a kind of technical scheme：A kind of material handling high-freedom degree robot, including
Base 1 and large arm 3, the top of base 1 are docked line box 2 and are fixed by bolt 11, and base 1 and the junction of bolt 11 are provided with
Packing ring 10, the top of terminal box 2 is provided with rotation dish structure 13, and the top of rotation dish structure 13 is provided with the 4th motor 9, greatly
Arm 3 is connected with the upper end of dish structure 13 is rotated, and the lower section side of large arm 3 is provided with the 3rd motor 8, and top side is connected with
Forearm 4, large arm 3 is constituted for aluminum alloy materials, and forearm 4 is that oily Steel material is constituted, while packing ring 10 is constituted for spring steel material,
The bottom of forearm 4 is provided with the second motor 7, and upper end is provided with the first motor 5, and the first motor 5 connects organic
Tool hand 6, the side lower end of manipulator 6 is provided with the 5th motor 12, and the first motor 5, the second motor the 7, the 3rd drive
Dynamic motor 8, the 4th motor 9 and the 5th motor 12 are stepper motor, drive conversion flexible, are just going to reversion space-time
Stroke is small, can obtain position control accuracy higher, and reaction speed is fast, and the 5th motor 12 connects with ring flange 14 and first
Bar 15 is connected, and the both sides of first connecting rod 15 are provided with robot carriage 16, and the upper end of robot carriage 16 is hinged on one with finger 18
Rise, the upper end of first connecting rod 15 is hinged with second connecting rod 17, and the upper end of second connecting rod 17 is connected with finger 18, on finger 18
End inner side is fixed with pad 20, ring flange 14, first connecting rod 15, robot carriage 16, second connecting rod 17 and hand on manipulator 6
Refer to that 18 are aluminum alloy materials composition, and the pad 20 of the top of finger 18 is plastic material composition, the lower section of pad 20 is provided with bullet
Spring 19, finger 18 is provided with two, and the pad 20 of top is symmetrical arranged, while pad 20 is internally provided with anti-skidding deep-slotted chip breaker knot
Structure.
Operation principle：When using the material handling with high-freedom degree robot, base 1 is fixed first, it is fixed
After the completion of, the 4th motor 9 drive rotate dish structure 13 rotated, while the 3rd motor 8 drive large arm 3 around turn
The upper end of Moving plate structure 13 is freely adjusted, and the forearm 4 of upper end passes through the drive of the second motor 7, makes 4 turns of forearm
It is dynamic, and the driving mechanical hand 6 of the first motor 5 of top is rotated, the 5th motor 12 on manipulator 6 is by driving flange
Disk 14 is rotated, and makes the raising and lowering of first connecting rod 15, is rotated connecting rod of the finger 18 around middle part, is pressed from both sides by pad 20
Taking article carries out material handling work, here it is the whole process that the material handling is worked with high-freedom degree robot.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (5)
1. a kind of material handling high-freedom degree robot, including base（1）And large arm（3）, it is characterised in that：The base
（1）Top passes through bolt（11）Docking line box（2）It is fixed, and base（1）And bolt（11）Junction is provided with packing ring
（10）, the terminal box（2）Top is provided with rotation dish structure（13）, and rotate dish structure（13）Top is provided with the 4th driving
Motor（9）, the large arm（3）With rotation dish structure（13）Upper end is connected, the large arm（3）Lower section side is provided with the 3rd drive
Dynamic motor（8）, and top side is connected with forearm（4）, the forearm（4）Bottom is provided with the second motor（7）, and upper end
First motor is installed（5）, first motor（5）It is connected with manipulator（6）, the manipulator（6）Under side
End is provided with the 5th motor（12）, the 5th motor（12）With ring flange（14）And first connecting rod（15）It is connected
Connect, the first connecting rod（15）Both sides are provided with robot carriage（16）, the robot carriage（16）Upper end and finger（18）
It is hinged, the first connecting rod（15）Upper end and second connecting rod（17）It is hinged, and second connecting rod（17）Upper end connects
It is connected to finger（18）, the finger（18）Upper end inner side is fixed with pad（20）, the pad（20）Lower section is provided with spring
（19）.
2. a kind of material handling high-freedom degree robot according to claim 1, it is characterised in that：The large arm（3）
For aluminum alloy materials are constituted, and forearm（4）For oily Steel material is constituted, while packing ring（10）For spring steel material is constituted.
3. a kind of material handling high-freedom degree robot according to claim 1, it is characterised in that：Described first drives
Motor（5）, the second motor（7）, the 3rd motor（8）, the 4th motor（9）With the 5th motor（12）It is
Stepper motor.
4. a kind of material handling high-freedom degree robot according to claim 1, it is characterised in that：The manipulator
（6）On ring flange（14）, first connecting rod（15）, robot carriage（16）, second connecting rod（17）And finger（18）It is aluminium conjunction
Golden material is constituted, and finger（18）The pad of top（20）For plastic material is constituted.
5. a kind of material handling high-freedom degree robot according to claim 1, it is characterised in that：The finger（18）
Be provided with two, and top pad（20）It is symmetrical arranged, while pad（20）It is internally provided with anti-skidding curved slot arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710049038.1A CN106737647A (en) | 2017-01-23 | 2017-01-23 | A kind of material handling high-freedom degree robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710049038.1A CN106737647A (en) | 2017-01-23 | 2017-01-23 | A kind of material handling high-freedom degree robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737647A true CN106737647A (en) | 2017-05-31 |
Family
ID=58941423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710049038.1A Withdrawn CN106737647A (en) | 2017-01-23 | 2017-01-23 | A kind of material handling high-freedom degree robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737647A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283407A (en) * | 2017-07-09 | 2017-10-24 | 洛阳德威机电科技有限公司 | A kind of design method of digital control hole drilling groover manipulator clamping device |
| CN111152261A (en) * | 2020-02-07 | 2020-05-15 | 天津大学 | High-flexibility six-degree-of-freedom spraying robot |
-
2017
- 2017-01-23 CN CN201710049038.1A patent/CN106737647A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107283407A (en) * | 2017-07-09 | 2017-10-24 | 洛阳德威机电科技有限公司 | A kind of design method of digital control hole drilling groover manipulator clamping device |
| CN111152261A (en) * | 2020-02-07 | 2020-05-15 | 天津大学 | High-flexibility six-degree-of-freedom spraying robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170531 |