CN107571252A - A kind of bispin articulated robot - Google Patents
A kind of bispin articulated robot Download PDFInfo
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- CN107571252A CN107571252A CN201710812007.7A CN201710812007A CN107571252A CN 107571252 A CN107571252 A CN 107571252A CN 201710812007 A CN201710812007 A CN 201710812007A CN 107571252 A CN107571252 A CN 107571252A
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- forearm
- large arm
- motor
- rotating shaft
- wrist
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- 210000000245 forearm Anatomy 0.000 claims abstract description 82
- 210000000707 wrist Anatomy 0.000 claims abstract description 41
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 17
- 230000006872 improvement Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Abstract
The invention discloses a kind of bispin articulated robot, including large arm, the forearm forward extended out, wrist; forearm is connected on the right side of large arm with large arm; wrist is connected on the right side of the end of forearm with forearm, and forearm is connected with large arm with the first horizontal rotating shaft, and forearm is connected with wrist with the second horizontal rotating shaft; the right side of large arm is provided with empty avoiding space; so that forearm can be in empty avoiding space around the first horizontal axis of rotation, the first horizontal rotating shaft is located at the end of large arm, and the second horizontal rotating shaft is located at the end of forearm.By large arm, forearm, the setting of the wrist right side from left to right successively, so forearm under large arm vertical state, can be rotated down so as to streak empty avoiding space, the flexible movements of such forearm, inertia is small, is swift in motion.The present invention is used for articulated robot.
Description
Technical field
The present invention relates to a kind of bispin articulated robot.
Background technology
Machine substitute human labor, usually produced in terms of industry manufacture, production and its correlative technology field using robot assisted, mesh
The multi-joint industrial robot of preceding in the market belongs to common six axle (six joints) robot mostly, but for production efficiency requirement
Higher and higher industry, need badly and the robot speed of service, maximum economic benefit are improved in the case where not increasing energy consumption.
Robot background of invention is invented for small space equipment loading and unloading demand, and the use environment requires that robot accounts for
Ground area very little, movement velocity are fast, are transported between front and rear amount station and are not take up extra avoiding space, in such circumstances using biography
System structure six-joint robot is very limited, and the present invention breaks traditions all-purpose robot structure type, invents a kind of new knot
Structure six-joint robot so that robot can not only fully achieve general six-joint robot function, be referred to as outer spinfunction, together
When robot forearm can also be realized from large arm internal rotating so that robot need not take exterior space can be achieved it is front and rear
Carry, therefore referred to as a kind of bispin robot.The space required for robot installation, Neng Gou great can be greatly lowered in this robot
Inertia in amplitude reduction running, the robot speed of service is finally greatly improved, reduce the activity duration.
Moreover, having a large amount of articulated type six-joint robots on the market at present, each comparison of first three axle is similar, rear three-axis robot
Two classes, motor postposition formula articulated robot of the first kind using kuka as representative are broadly divided into, the second class is with FUNAC, peace river etc.
For the motor preposition formula articulated robot of representative, motor is all to be transversely mounted, and such robot arm volume size depends on electricity
Captain's degree, most of mechanical arm heavier-weight is caused, cause robot weight itself bigger than normal.
And industrially most commonly six-joint robot, existing six-joint robot, its 5th motor and wrist are direct
Connection, because the weight of the 5th motor is big, so such rotary inertia can be very big, energy is also very expended, it is unfavorable
In energy-conserving and environment-protective.And existing wrist motion inertia is also very big, these factors can all cause robot motion dumb,
Power consumption is big.
The content of the invention
The technical problem to be solved in the present invention is：A kind of bispin articulated robot is provided.
The present invention solve its technical problem solution be：
A kind of bispin articulated robot, including large arm, the forearm forward extended out, wrist, forearm is on the right side of large arm and greatly
Arm is connected, and wrist is connected on the right side of the end of forearm with forearm, and forearm is connected with large arm with the first horizontal rotating shaft, forearm and wrist
Portion is connected with the second horizontal rotating shaft, and the right side of large arm is provided with empty avoiding space so that forearm can be horizontal around first in empty avoiding space
Axis of rotation, the first horizontal rotating shaft are located at the end of large arm, and the second horizontal rotating shaft is located at the end of forearm.
As the further improvement of above-mentioned technical proposal, in addition to the 5th motor, the 5th motor is located on the front end of forearm,
The output shaft of 5th motor forward extends out, and wrist is located at the right side of forearm, and taper is used between the output shaft and wrist of the 5th motor
Gear train connects, and angular wheel group includes the be connected with the first angular wheel of the output axis connection of the 5th motor, with wrist
Two angular wheels, the first angular wheel and the second angular wheel are intermeshed, and the rotating shaft of the second angular wheel is described the
Two horizontal rotating shafts.
Large arm is located at as the further improvement of above-mentioned technical proposal, in addition to the 4th motor, arm line set, the 4th motor
On the left of end, the output shaft of the 4th motor is stretched out to the right and the forearm with being located on the right side of large arm is connected, and one end of arm line set is set
In the left side of large arm, wall line set is across forearm and large arm so that the other end of arm line set is located at the right side of large arm；The right side of large arm
Provided with string holes so that the one end for the arm line set being originally connected with the right side of large arm can be connected with string holes, the 4th motor
Output shaft is the first described horizontal rotating shaft.
As the further improvement of above-mentioned technical proposal, arm line set includes leading portion, back segment, and leading portion is located at the right side of forearm, preceding
The top of section is fixed on forearm, and the end of leading portion is fixed on the rear end of forearm, and the top of back segment is fixed on the rear end of forearm
On, the end of back segment is fixed on the right side of large arm.
As the further improvement of above-mentioned technical proposal, in addition to the 5th motor, wrist, before the 5th motor is located at forearm
On end, the output shaft of the 5th motor forward extends out, and wrist is located at the right side of forearm, is used between the output shaft and wrist of the 5th motor
Angular wheel group connects.
As the further improvement of above-mentioned technical proposal, in addition to base assembly, base assembly is horizontal with the 3rd with large arm
Rotating shaft is connected, and the 3rd horizontal rotating shaft is located on base assembly, and base assembly, large arm, forearm, wrist are set gradually from left to right.
As the further improvement of above-mentioned technical proposal, in addition to base assembly, base assembly turns provided with first longitudinal direction
Axle, the first longitudinal direction rotating shaft are connected with base assembly.
The beneficial effects of the invention are as follows：A kind of bispin articulated robot, including large arm, the forearm forward extended out, wrist are small
Arm is connected on the right side of large arm with large arm, and wrist is connected on the right side of the end of forearm with forearm, and forearm is horizontal with first with large arm
Connected to rotating shaft, forearm is connected with wrist with the second horizontal rotating shaft, and the right side of large arm is provided with empty avoiding space so that forearm can kept away
Around the first horizontal axis of rotation in absolutely empty, the first horizontal rotating shaft is located at the end of large arm, and the second horizontal rotating shaft is located at forearm
End.By large arm, forearm, the setting of the wrist right side from left to right successively, thus forearm under large arm vertical state, can down rotate from
And empty avoiding space is streaked, the flexible movements of such forearm, inertia is small, is swift in motion.The present invention is used for articulated robot.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described.Obviously, described accompanying drawing is the part of the embodiment of the present invention, rather than is all implemented
Example, those skilled in the art on the premise of not paying creative work, can also obtain other designs according to these accompanying drawings
Scheme and accompanying drawing.
Fig. 1 is the three-dimensional schematic diagram of the embodiment of the present invention；
Fig. 2 is Fig. 1 close-up schematic view；
Fig. 3 is the overlooking the structure diagram of the embodiment of the present invention；
Fig. 4 is Fig. 3 close-up schematic view；
Fig. 5 is path schematic diagram when making outward turning operation of the embodiment of the present invention；
Fig. 6 is path schematic diagram when making outward turning operation of the embodiment of the present invention.
Embodiment
Carried out below with reference to the design of embodiment and accompanying drawing to the present invention, concrete structure and caused technique effect clear
Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright part of the embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying
The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.In addition, be previously mentioned in text
All connection/annexations, not singly refer to component and directly connect, and refer to be added deduct by adding according to specific implementation situation
Few couple auxiliary, to form more excellent draw bail.Each technical characteristic in the present invention, in the premise of not conflicting conflict
Under can be with combination of interactions.
Referring to figs. 1 to Fig. 4, this is embodiments of the invention, specifically：
A kind of bispin articulated robot, including large arm 2, the forearm 3 forward extended out, wrist 8, forearm 3 is on the right side of large arm 2
It is connected with large arm 2, wrist 8 is connected on the right side of the end of forearm 3 with forearm 3, and forearm 3 is connected with large arm 2 with the first horizontal rotating shaft
Connect, forearm 3 is connected with wrist 8 with the second horizontal rotating shaft, and the right side of large arm 2 is provided with empty avoiding space so that forearm 3 can be empty in empty avoiding
In around the first horizontal axis of rotation, the first horizontal rotating shaft is located at the end of large arm 2, and the second horizontal rotating shaft is located at the end of forearm 3
End.By large arm, forearm, the setting of the wrist right side from left to right successively, thus forearm under large arm vertical state, can down rotate so as to
Empty avoiding space is streaked, the flexible movements of such forearm, inertia is small, is swift in motion.
Present invention additionally comprises the 5th motor 7, the 5th motor 7 is located on the front end of forearm 3, the output axial direction of the 5th motor 7
Preceding stretching, wrist 8 are located at the right side of forearm 3, connected between the output shaft and wrist 8 of the 5th motor 7 with angular wheel group 10, cone
Shape gear train 10 includes and the first angular wheel of the output axis connection of the 5th motor 7, the second conical tooth being connected with wrist 8
Wheel, the first angular wheel and the second angular wheel are intermeshed, and the rotating shaft of the second angular wheel is that described second laterally turns
Axle.So, can be very long by output shaft setting, so as to allow the center of gravity of the 5th motor to offset backward, even if output shaft is not provided with very
It is long, because the 5th motor is in front and rear setting, so the center of gravity of the 5th motor also will not be small so as to reduce on the front end of forearm
The movement inertia of arm.
Present invention additionally comprises the 4th motor 5, arm line set, the 4th motor 5 is located on the left of the end of large arm 2, the 4th motor 5
Output shaft is stretched out to the right and the forearm 3 with being located at the right side of large arm 2 is connected, and one end of arm line set is located at the left side of large arm 2, wall line
Cover across forearm 3 and large arm 2 so that the other end of arm line set is located at the right side of large arm 2；The right side of large arm 2 is provided with string holes 9, makes
The one end for obtaining the arm line set being originally connected with the right side of large arm 2 can be connected with string holes 9, and the output shaft of the 4th motor 5 is
For the first described horizontal rotating shaft.Sample just can allow large arm to lower swing, and the energy expended during swinging 180 degree is small, so
Movement inertia with regard to small, robot motion can be very flexible.The right side of large arm is provided with string holes 9 so that originally with the right side of large arm 2
One end of the arm line set of side connection can be connected with string holes 9, so as to realize the variable of joint motions.
Arm line set includes leading portion 61, back segment 62, and leading portion 61 is located at the right side of forearm 3, and the top of leading portion 61 is fixed on forearm 3
On, the end of leading portion 61 is fixed on the rear end of forearm 3, and the top of back segment 62 is fixed on the rear end of forearm 3, the end of back segment 62
End is fixed on the right side of large arm 2.It will not thus allow large arm to cover with arm line during rotation to interfere, also can further drop
Harmonic motion inertia.
Present invention additionally comprises base assembly 4, base assembly 4 is connected with large arm 2 with the 3rd horizontal rotating shaft, the 3rd horizontal rotating shaft
It is located on base assembly 4, base assembly 4, large arm 2, forearm 3, wrist 8 are set gradually from left to right.It can so allow empty avoiding empty
Between can extend to the right side of base assembly 4, prevent forearm 3, wrist 8 and base assembly 4 from interfering.
Present invention additionally comprises base assembly 41, base assembly 41 is provided with first longitudinal direction rotating shaft, the first longitudinal direction rotating shaft
It is connected with base assembly 4.
First horizontal rotating shaft, the second horizontal rotating shaft, the 3rd horizontal rotating shaft are parallel to each other, the 3rd horizontal rotating shaft and first longitudinal direction
Rotating shaft is mutually perpendicular to.
As shown in Figure 5 and Figure 6, base assembly 4 of the present invention, large arm 2, forearm 3, wrist 8 are set gradually from left to right, can be real
The biasing of the large arm 2, forearm 3, wrist 8 of existing each robot, so that robot can not only be rotated from position by first axle
A is put by position B1 in-positions C, is referred to as outer spinfunction, additionally it is possible to by reaching position C from position A by B2, so as to
Realize that robot, from first motion immediately ahead of robot to robot dead astern, referred to as internal rotation function, is entered by internal rotation
And two kinds of rotation modes of robot realize same motion.Can be with when wherein internal rotation is moved, in robot kinematics
Reach inertia minimum, most save, and it is fastest so that robot motion can be very flexible.Robot internal rotation work(
Robot end can be caused to run to dead astern immediately ahead of robot.
The better embodiment of the present invention is illustrated above, but the present invention is not limited to the embodiment,
Those skilled in the art can also make a variety of equivalent modifications or replacement on the premise of without prejudice to spirit of the invention, this
Equivalent modification or replacement are all contained in the application claim limited range a bit.
Claims (7)
1. a kind of bispin articulated robot, including large arm (2), the forearm (3) forward extended out, wrist (8), it is characterised in that：It is small
Arm (3) is connected on the right side of large arm (2) with large arm (2), and wrist (8) is connected on the right side of the end of forearm (3) with forearm (3),
Forearm (3) is connected with large arm (2) with the first horizontal rotating shaft, and forearm (3) is connected with wrist (8) with the second horizontal rotating shaft, large arm (2)
Right side be provided with empty avoiding space so that forearm (3) can be set in empty avoiding space around the first horizontal axis of rotation, the first horizontal rotating shaft
In the end of large arm (2), the second horizontal rotating shaft is located at the end of forearm (3).
A kind of 2. bispin articulated robot according to claim 1, it is characterised in that：Also include the 5th motor (7), the 5th
Motor (7) is located on the front end of forearm (3), and the output shaft of the 5th motor (7) forward extends out, and wrist (8) is located at the right side of forearm (3)
Side, be connected between the output shaft and wrist (8) of the 5th motor (7) with angular wheel group (10), angular wheel group (10) include with
First angular wheel of the output axis connection of the 5th motor (7), the second angular wheel being connected with wrist (8), the first conical tooth
Wheel is intermeshed with the second angular wheel, and the rotating shaft of the second angular wheel is the second described horizontal rotating shaft.
A kind of 3. bispin articulated robot according to claim 1, it is characterised in that：Also include the 4th motor (5), arm line
Set, the 4th motor (5) are located on the left of the end of large arm (2), and the output shaft of the 4th motor (5) stretches out and with being located at large arm to the right
(2) forearm (3) connection on the right side of, one end of arm line set are located at the left sides of large arm (2), and wall line set is across forearm (3) and large arm
(2) so that the other end of arm line set is located at the right side of large arm (2)；The right side of large arm (2) is provided with string holes (9) so that originally with greatly
One end of the arm line set of the right side connection of arm (2) can be connected with string holes (9), and the output shaft of the 4th motor (5) is institute
The the first horizontal rotating shaft stated.
A kind of 4. bispin articulated robot according to claim 3, it is characterised in that：Arm line set include leading portion (61), after
Section (62), leading portion (61) are located at the right side of forearm (3), and the top of leading portion (61) is fixed on forearm (3), and the end of leading portion (61) is consolidated
It is scheduled on the rear end of forearm (3), the top of back segment (62) is fixed on the rear end of forearm (3), and the end of back segment (62) is fixed on
On the right side of large arm (2).
A kind of 5. bispin articulated robot according to claim 3, it is characterised in that：Also include the 5th motor (7), wrist
(8), the 5th motor (7) is located on the front end of forearm (3), and the output shaft of the 5th motor (7) forward extends out, and wrist (8) is located at small
The right side of arm (3), it is connected between the output shaft and wrist (8) of the 5th motor (7) with angular wheel group (10).
A kind of 6. bispin articulated robot according to claim 1, it is characterised in that：Also include base assembly (4), pedestal
Component (4) is connected with large arm (2) with the 3rd horizontal rotating shaft, and the 3rd horizontal rotating shaft is located on base assembly (4), base assembly (4),
Large arm (2), forearm (3), wrist (8) are set gradually from left to right.
A kind of 7. bispin articulated robot according to claim 6, it is characterised in that：Also include base assembly (41), bottom
Holder assembly (41) is provided with first longitudinal direction rotating shaft, and the first longitudinal direction rotating shaft is connected with base assembly (4).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710408595 | 2017-06-02 | ||
| CN2017104085958 | 2017-06-02 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107571252A true CN107571252A (en) | 2018-01-12 |
| CN107571252B CN107571252B (en) | 2024-06-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638051A (en) * | 2018-07-06 | 2018-10-12 | 佛山华数机器人有限公司 | A kind of high protection bispin articulated robot |
| CN109663746A (en) * | 2018-12-21 | 2019-04-23 | 浙江罗尔科精密工业有限公司 | A kind of spinning clamp clamps shedding mechanism automatically |
| CN110979059A (en) * | 2019-11-27 | 2020-04-10 | 长安大学 | Electric truck arm and device that charges |
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| JP2011125976A (en) * | 2009-12-18 | 2011-06-30 | Denso Wave Inc | Robot failure detector |
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| CN107283418A (en) * | 2017-06-02 | 2017-10-24 | 佛山华数机器人有限公司 | A kind of articulated robot |
| CN207256239U (en) * | 2017-06-02 | 2018-04-20 | 佛山华数机器人有限公司 | A kind of bispin articulated robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6250174B1 (en) * | 1996-12-17 | 2001-06-26 | Fanuc Ltd. | Robot construction |
| US20090314120A1 (en) * | 2006-12-27 | 2009-12-24 | Jan Larsson | Industrial Robot With Tubular Member For A Cable Harness |
| JP2011125976A (en) * | 2009-12-18 | 2011-06-30 | Denso Wave Inc | Robot failure detector |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108638051A (en) * | 2018-07-06 | 2018-10-12 | 佛山华数机器人有限公司 | A kind of high protection bispin articulated robot |
| CN109663746A (en) * | 2018-12-21 | 2019-04-23 | 浙江罗尔科精密工业有限公司 | A kind of spinning clamp clamps shedding mechanism automatically |
| CN110979059A (en) * | 2019-11-27 | 2020-04-10 | 长安大学 | Electric truck arm and device that charges |
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Effective date of registration: 20180213 Address after: 528000 Guangdong Province Nanhai District of Foshan City Shishan Songgang Songxia Industrial Park in Taoyuan Road No. 19 Applicant after: FOSHAN HS ROBOTER Corp. Applicant after: FOSHAN INSTITUTE OF INTELLIGENT EQUIPMENT TECHNOLOGY Address before: 528200 Foshan, Nanhai District, Guangdong, lion Town Industrial Park, Taoyuan Road, Songgang, No. 19 Applicant before: FOSHAN HS ROBOTER Corp. |
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