CN107717978A - A kind of industrial robot - Google Patents
A kind of industrial robot Download PDFInfo
- Publication number
- CN107717978A CN107717978A CN201710939802.2A CN201710939802A CN107717978A CN 107717978 A CN107717978 A CN 107717978A CN 201710939802 A CN201710939802 A CN 201710939802A CN 107717978 A CN107717978 A CN 107717978A
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- China
- Prior art keywords
- arm body
- drive device
- rotating shaft
- arm
- drive
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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
- B25J9/10—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of industrial robot, and the industrial robot includes controller, main part and several robot arms；The robot arm includes first driving means, the second drive device, the 3rd drive device, four-drive device, the 5th drive device, the 6th drive device, the first arm body, the second arm body, the 3rd arm body, the 4th arm body, wrist and handgrip；Technical solution of the present invention can improve the Grasping skill of industrial robot.
Description
Technical field
The present invention relates to technical field of automatic control, more particularly to a kind of industrial robot.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, it is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle guiding principle of artificial intelligence technology formulation
Action.
Industrial robot for gripping article is common a kind of industrial robot, the machinery of existing industrial robot
Hand function is single, and the free degree is poor, can not realize the larger grasping manipulation of difficulty.
The content of the invention
The main object of the present invention is to provide a kind of industrial robot, it is intended to improves the Grasping skill of industrial robot.
To achieve the above object, industrial robot proposed by the present invention, including controller, main part and several robots
Arm；
The robot arm includes first driving means, the second drive device, the 3rd drive device, the 4th driving dress
Put, the 5th drive device, the 6th drive device, the first arm body, the second arm body, the 3rd arm body, the 4th arm body, wrist and hand are grabbed
Portion；
The first arm body is pivotally mounted on the main part by first rotating shaft, the extension side of the first rotating shaft
To identical with the length direction of the first arm body, the first driving means are connected with the first rotating shaft, for driving the
One rotating shaft drives the first arm body rotation；
The second arm body is pivotally connected by the second rotating shaft and the first arm body, the bearing of trend of second rotating shaft and institute
It is identical to state the width of the second arm body, second drive device is connected with second rotating shaft, for driving the second rotating shaft
The second arm body motion is driven to change the angle between the second arm body and the first arm body；
The 3rd arm body is pivotally connected by the 3rd rotating shaft and the second arm body, the bearing of trend of the 3rd rotating shaft and institute
It is identical to state the width of the 3rd arm body, the 3rd drive device is connected with the 3rd rotating shaft, for driving the 3rd rotating shaft
The 3rd arm body motion is driven to change the angle between the 3rd arm body and the second arm body；
The 4th arm body is pivotally mounted on the 3rd arm body by the 4th rotating shaft, the extension of the 4th rotating shaft
Direction is identical with the length direction of the 4th arm body, and the four-drive device is connected with the 4th rotating shaft, for driving
4th rotating shaft drives the 4th arm body rotation；
The wrist is pivotally connected by the 5th rotating shaft and the 4th arm body, the bearing of trend of the 5th rotating shaft and described the
The width of four arm bodies is identical, and the 5th drive device is connected with the 5th rotating shaft, for driving the 5th rotating shaft to drive
The wrist motion is to change the angle between the wrist and the 4th arm body；
The handgrip is pivotally mounted on the wrist by the 6th rotating shaft, the bearing of trend of the 6th rotating shaft with
The length direction of the wrist is identical, and the 6th drive device is connected with the 6th rotating shaft, for driving the 6th rotating shaft band
The dynamic handgrip rotation；
The controller and the first driving means, the second drive device, the 3rd drive device, four-drive device,
5th drive device, the 6th drive device and handgrip electrical connection, for controlling the first driving means, the second driving dress
Put, the work of the 3rd drive device, four-drive device, the 5th drive device, the 6th drive device and handgrip.
Preferably, the controller includes axis motion control card and servo amplifier, and the servo amplifier includes comparing
Unit, D/A converting units, driver element and pulse processor；The axis motion control card is used to send to the comparing unit
Command pulse signal；The pulse processor is used to receive the feedback pulse signal of photoelectric encoder and believes the feedback pulse
Number it is sent to the comparing unit；The comparing unit be used for the command pulse signal and the feedback pulse signal with
Control signal is obtained, and the control signal is sent to the D/A converting units；The D/A converting units are used for numeral
Signal is converted to analog signal and is sent to driver element, and the driver element is used to obtain driving letter according to the model signals
Number and according to drive signal control the first driving means, the second drive device, the 3rd drive device, four-drive device,
5th drive device, the 6th drive device and handgrip work.
Preferably, the first driving means, the second drive device, the 3rd drive device, four-drive device and the 5th
Drive device is motor.
Preferably, the handgrip includes fixing base, drive motor, pull bar and two clamping parts；
The drive motor is connected with the pull bar, drives the pull bar to move forward and backward；
It is obtuse angle including angle that the clamping part, which includes a movable connecting rod and an arcuation finger, the movable connecting rod,
The link position of first body of rod and second body of rod, first body of rod and second body of rod is pivotally mounted to by connecting shaft
On the fixing base, first body of rod and the pull bar pin joint, second body of rod are connected with the arcuation finger.
Preferably, the first arm body includes the first guide pin bushing, the first hydraulic piston device and two the first guide rods；
First guide rod and first hydraulic piston are installed in first guide pin bushing；
Two first guide rods be arranged in parallel and extend through first hydraulic piston, to limit first liquid
Press piston rotation.
Preferably, the second arm body includes the second guide pin bushing, the second hydraulic piston device and two the second guide rods；
Second guide rod and second hydraulic piston are installed in second guide pin bushing；
Two second guide rods be arranged in parallel and extend through second hydraulic piston, to limit second liquid
Press piston rotation.
Preferably, the 3rd arm body includes the 3rd guide pin bushing, the 3rd hydraulic piston device and two the 3rd guide rods；
3rd guide rod and the 3rd hydraulic piston are installed in the 3rd guide pin bushing；
Two the 3rd guide rods be arranged in parallel and extend through the 3rd hydraulic piston, to limit the 3rd liquid
Press piston rotation.
Preferably, the 4th arm body includes the 4th guide pin bushing, the 4th hydraulic piston device and two the 4th guide rods；
4th guide rod and the 4th hydraulic piston are installed in the 4th guide pin bushing；
Two the 4th guide rods be arranged in parallel and extend through the 4th hydraulic piston, to limit the 4th liquid
Press piston rotation.
Preferably, the wrist includes the 5th guide pin bushing, the 5th hydraulic piston device and two the 5th guide rods；
5th guide rod and the 5th hydraulic piston are installed in the 5th guide pin bushing；
Two the 5th guide rods be arranged in parallel and extend through the 5th hydraulic piston, to limit the 5th liquid
Press piston rotation.
Technical solution of the present invention set robot arm include the first arm body, the second arm body, the 3rd arm body, the 4th arm body,
Wrist and handgrip；Using the connected mode of the first arm body and main part, the rotation of whole robot arm is realized, utilizes second
The connected mode of arm body and the first arm body, the regulation of robot arm in the vertical direction is realized, utilizes the 3rd arm body and second
The connected mode of arm body, the refinement regulation of robot arm in the vertical direction is realized, utilizes the 4th arm body and the 3rd arm body
Connected mode, rotation of the robot at clip position is realized, using the connected mode of wrist and the 4th arm body, realizes machine
The refinement regulation of the handgrip of device human arm in the vertical direction；Such robot arm passes through above-mentioned multiple connection members and company
Mode is connect, more direction, more freedom, more accurate grasping manipulation can be realized.Meanwhile pass through first driving means,
Two drive devices, the 3rd drive device, four-drive device, the 5th drive device, the 6th drive device are driven, and utilize control
The accurate control of device processed, accurate grasping manipulation can be realized automatically, so as to improve the Grasping skill of industrial robot.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of industrial robot one of the present invention；
Fig. 2 is the functional block diagram of controller in industrial robot shown in Fig. 1；
Fig. 3 is the structural representation of handgrip in industrial robot shown in Fig. 1.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
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 describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
If it is to be appreciated that related in the embodiment of the present invention directionality instruction (such as up, down, left, right, before and after ...),
Then directionality instruction be only used for explaining relative position relation under a certain particular pose (as shown in drawings) between each part,
Motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes therewith.
If in addition, relating to the description of " first ", " second " etc. in the embodiment of the present invention, " first ", " second " etc. are somebody's turn to do
Description be only used for describing purpose, and it is not intended that instruction or implying its relative importance or implicit indicating indicated skill
The quantity of art feature.Thus, " first " is defined, the feature of " second " can be expressed or implicitly includes at least one spy
Sign.In addition, the technical scheme between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
Based on enough realizations, the knot of this technical scheme is will be understood that when the combination appearance of technical scheme is conflicting or can not realize
Conjunction is not present, also not within the protection domain of application claims.
The present invention proposes a kind of industrial robot.
Fig. 1 to Fig. 3 is referred to, in embodiments of the present invention, the industrial robot includes controller 300, the and of main part 100
Several robot arms 200；
The robot arm 200 include first driving means 201, the second drive device 202, the 3rd drive device 203,
Four-drive device 204, the 5th drive device 205, the 6th drive device 206, the first arm body 210, the second arm body the 220, the 3rd
Arm body 230, the 4th arm body 240, wrist 250 and handgrip 260；
The first arm body 210 is pivotally mounted on the main part 100 by first rotating shaft, the first rotating shaft
Bearing of trend is identical with the length direction of the first arm body 210, and the first driving means 201 connect with the first rotating shaft
Connect, for driving first rotating shaft to drive the first arm body 210 to rotate；
The second arm body 220 is pivotally connected by the second rotating shaft and the first arm body 210, the extension side of second rotating shaft
To identical with the width of the second arm body 220, second drive device 202 is connected with second rotating shaft, is used for
The second rotating shaft is driven to drive the second arm body 220 to move to change between the second arm body 220 and the first arm body 210
Angle；
The 3rd arm body 230 is pivotally connected by the 3rd rotating shaft and the second arm body 220, the extension side of the 3rd rotating shaft
To identical with the width of the 3rd arm body 230, the 3rd drive device 203 is connected with the 3rd rotating shaft, is used for
The 3rd rotating shaft is driven to drive the 3rd arm body 230 to move to change between the 3rd arm body 230 and the second arm body 220
Angle；
The 4th arm body 240 is pivotally mounted on the 3rd arm body 230 by the 4th rotating shaft, the 4th rotating shaft
Bearing of trend it is identical with the length direction of the 4th arm body 240, the four-drive device 204 and the 4th rotating shaft connect
Connect, for driving the 4th rotating shaft to drive the 4th arm body 240 to rotate；
The wrist 250 is pivotally connected by the 5th rotating shaft and the 4th arm body 240, the bearing of trend of the 5th rotating shaft with
The width of the 4th arm body 240 is identical, and the 5th drive device 205 is connected with the 5th rotating shaft, for driving
5th rotating shaft drives the wrist 250 to move to change the angle between the wrist 250 and the 4th arm body 240；
The handgrip 260 is pivotally mounted on the wrist 250 by the 6th rotating shaft, the extension of the 6th rotating shaft
Direction is identical with the length direction of the wrist 250, and the 6th drive device 206 is connected with the 6th rotating shaft, for driving
Dynamic 6th rotating shaft drives the handgrip 260 to rotate；
The controller 300 and the first driving means 201, the second drive device 202, the 3rd drive device 203, the
Four-drive device 204, the 5th drive device 205, the 6th drive device 206 and handgrip 260 electrically connect, for controlling described
One drive device 201, the second drive device 202, the 3rd drive device 203, four-drive device 204, the 5th drive device
205th, the 6th drive device 206 and handgrip 260 work.
Referring to Fig. 1, technical solution of the present invention set robot arm 200 include the first arm body 210, the second arm body 220,
3rd arm body 230, the 4th arm body 240, wrist 250 and handgrip 260；Utilize the connection side of the first arm body 210 and main part 100
Formula, the rotation of whole robot arm 200 is realized, using the connected mode of the second arm body 220 and the first arm body 210, realize machine
The regulation of device human arm 200 in the vertical direction, using the connected mode of the 3rd arm body 230 and the second arm body 220, realizes machine
The refinement regulation of human arm 200 in the vertical direction, using the connected mode of the 4th arm body 240 and the 3rd arm body 230, realizes machine
Rotation of the device human hand at clip position, using the connected mode of the arm body 240 of wrist 250 and the 4th, realize robot arm
The refinement regulation of 200 handgrip 260 in the vertical direction；Such robot arm 200 by above-mentioned multiple connection members and
Connected mode, more direction, more freedom, more accurate grasping manipulation can be realized.Meanwhile pass through first driving means
201st, the second drive device 202, the 3rd drive device 203, four-drive device 204, the driving of the 5th drive device the 205, the 6th
Device 206 is driven, and using the accurate control of controller 300, accurate grasping manipulation can be realized automatically, so as to improve industry
The Grasping skill of robot.
Referring to Fig. 2, the controller 300 includes axis motion control card 310 and servo amplifier 320, the servo is put
Big device 320 includes comparing unit 321, D/A converting units 322, driver element 323 and pulse processor 324；The axle motion control
Fabrication 310 is used to send command pulse signal to the comparing unit 321；The pulse processor 324 is used to receive photoelectricity volume
The feedback pulse signal is simultaneously sent to the comparing unit 321 by the feedback pulse signal of code device；The comparing unit 321 is used
In the command pulse signal and the feedback pulse signal to obtain control signal, and the control signal is sent to
The D/A converting units 322；The D/A converting units 322 are used to convert digital signals into analog signal and are sent to driving
Unit 323, the driver element 323 are used to obtain drive signal and according to controlling drive signal according to the model signals
First driving means 201, the second drive device 202, the 3rd drive device 203, four-drive device 204, the 5th drive device
205th, the 6th drive device 206 and handgrip 260 work.Signal is sent from embedded system to axis motion control card 310 to pass through
Comparing unit 321 is handled to be changed by D/A again, and rotation is sent from driver element 323 to drive device (such as AC servo motor)
Signal, while servo amplifier 320 is sent back to through pulse processing by optical rotary encoder hair feedback pulse by drive device and compared
Handled compared with unit 321.
In the present embodiment, the first driving means 201, the second drive device 202, the 3rd drive device the 203, the 4th
The drive device 205 of drive device 204 and the 5th is motor.
Referring to Fig. 3, the handgrip 260 include fixing base 261, drive motor (not shown), pull bar 262 and
Two clamping parts 263；The drive motor is connected with the pull bar 262, drives the pull bar 262 movable；It is described
Clamping part 263 includes a movable connecting rod 265 and an arcuation finger 266, and the movable connecting rod 265 is obtuse angle including angle
The link position of first body of rod and second body of rod, first body of rod and second body of rod is pivotally mounted to by connecting shaft
On the fixing base 261, first body of rod and the pin connection of pull bar 262, second body of rod and the arcuation finger
266 are connected.
Wherein, it is P to act on the upward pulling force of lower bearing pin in pull bar 263, and passes through bearing pin center O points, two movable connecting rods 265
Chute be P1, P2 to the reaction force of bearing pin, O points, P1 perpendicular to chute center line OO1 and OO2 and are pointed in the direction of its power
O1O2 is handed in A and B with P2 extended line, because △ O1OA and △ O2OA are right angled triangle, therefore ∠ AOC=∠ BOC=α.
According to the dynamic balance condition of bearing pin, i.e.,
∑ Fx=0, P1=P2；∑ Fy=0
P=2P1cos α P1=P/2cos α
Bearing pin is p1 ' to the active force of movable connecting rod 265.Required power is referred to as grip and (clamped during finger grips workpiece
Power), imaginary grip was acted in the symmetrical plane of finger and work piece interface, and set the equal in magnitude of two power, in the opposite direction,
Represented with N.By the moment equilibrium condition of finger, i.e. ∑ m01 (F)=0 is obtained
P1 ' h=Nb because of h=a/cos α so
P=2b (cos α) 2N/a
In formula
A turns round fulcrum to the distance (millimeter) of symmetrical center line for movable connecting rod 265.
Angle when α is clamped for workpiece between the chute direction of arcuation finger 266 and two revolution fulcrum lines.
In order that robot arm 200 has Telescopic, it is Collapsible structure that can set all parts, arm body or
The flexible of wrist, lifting and transverse shifting belong to move along a straight line, and realize the mechanism shape of arm body or wrist linear reciprocating motion
Formula is relatively more, and conventional has piston oil (gas) cylinder, piston cylinder and pinion and rack, leading screw and nut mechanism and piston cylinder and company
Linkage.
In the present embodiment, the first arm body 210 can be including the first guide pin bushing, the first hydraulic piston device and two
First guide rod；First guide rod and first hydraulic piston are installed in first guide pin bushing；Two first guide rods
It is arranged in parallel and extends through first hydraulic piston, is rotated to limit first hydraulic piston.Such first arm body
210 can stablize it is flexible.Due to the small volume of piston oil-cylinder, in light weight, thus apply in the arm mechanism of manipulator than
It is more.When two chambers of the first hydraulic piston device each lead into pressure oil, then piston rod is promoted to do reciprocating linear motion.First
Arm body 210 is when being stretched (or lifting) motion, in order to prevent the first arm body 210 from being rotated around axis, to ensure finger
Correct direction, and piston rod is not acted on by larger bending moment, to increase the rigidity of the first arm body 210, designing
During the structure of the first arm body 210, it is necessary to use appropriate guider.It is according to the installation of the arm body 210 of the first arm body 210 first
The factor such as form, specific structure and weight capacity is determined, while the reduction motion that should be tried one's best in structure design and layout
Rotary inertia of the weight of part with reduction arm to the centre of gyration.The guider used at present has single guide rod, double guiding
Bar, four guide rods and other guiders.In the present embodiment, moved especially by the first guide rod in the first guide pin bushing, with
Prevent rotation when the first arm body 210 stretches.Due to the first arm body 210 the first hydraulic piston dress be arranged on two first guide rods it
Between, flecition is born by the first guide rod, piston rod is only acted on by tension and compression, therefore stress is simple, stable drive, and profile is neatly beautiful
See, it is compact-sized.Available for grabbing occasion great, that stroke is longer.
Similarly, the second arm body 220 can also be led including the second guide pin bushing, the second hydraulic piston device and two second
Bar；Second guide rod and second hydraulic piston are installed in second guide pin bushing；Two second guide rods are parallel to be set
Put and extend through second hydraulic piston, rotated to limit second hydraulic piston.
The 3rd arm body 230 can also include the 3rd guide pin bushing, the 3rd hydraulic piston device and two the 3rd guide rods；Institute
State the 3rd guide rod and the 3rd hydraulic piston is installed in the 3rd guide pin bushing；Two the 3rd guide rods be arranged in parallel and divided
Not Guan Chuan the 3rd hydraulic piston, rotated to limit the 3rd hydraulic piston.
The 4th arm body 240 can also include the 4th guide pin bushing, the 4th hydraulic piston device and two the 4th guide rods；Institute
State the 4th guide rod and the 4th hydraulic piston is installed in the 4th guide pin bushing；Two the 4th guide rods be arranged in parallel and divided
Not Guan Chuan the 4th hydraulic piston, rotated to limit the 4th hydraulic piston.
The wrist 250 can also include the 5th guide pin bushing, the 5th hydraulic piston device and two the 5th guide rods；Described
Five guide rods and the 5th hydraulic piston are installed in the 5th guide pin bushing；Two the 5th guide rods be arranged in parallel and passed through respectively
The 5th hydraulic piston is worn, is rotated to limit the 5th hydraulic piston.
Second arm body 220, the 3rd arm body 230, design principle and the class of the first arm body 210 of the 4th arm body 240 and wrist 250
Seemingly, function and advantage are also basically identical, will not be repeated here.
It should be noted that the technical scheme of each embodiment of the present invention can be combined with each other, but must be with this
The technical staff in field can be implemented as basis, when the combination of technical scheme occur it is conflicting or when can not realize should people recognize
Combination for this technical scheme is not present, also not within the protection domain of application claims.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, every utilization
The equivalent structure transformation that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other related technology necks
Domain, it is included within the scope of the present invention.
Claims (9)
1. a kind of industrial robot, it is characterised in that including controller, main part and several robot arms；
The robot arm includes first driving means, the second drive device, the 3rd drive device, four-drive device, the
Five drive devices, the 6th drive device, the first arm body, the second arm body, the 3rd arm body, the 4th arm body, wrist and handgrip；
The first arm body is pivotally mounted on the main part by first rotating shaft, the bearing of trend of the first rotating shaft with
The length direction of the first arm body is identical, and the first driving means are connected with the first rotating shaft, for driving first turn
Axle drives the first arm body rotation；
The second arm body is pivotally connected by the second rotating shaft and the first arm body, the bearing of trend of second rotating shaft and described the
The width of two arm bodies is identical, and second drive device is connected with second rotating shaft, for driving the second rotating shaft to drive
The second arm body is moved to change the angle between the second arm body and the first arm body；
The 3rd arm body is pivotally connected by the 3rd rotating shaft and the second arm body, the bearing of trend of the 3rd rotating shaft and described the
The width of three arm bodies is identical, and the 3rd drive device is connected with the 3rd rotating shaft, for driving the 3rd rotating shaft to drive
The 3rd arm body is moved to change the angle between the 3rd arm body and the second arm body；
The 4th arm body is pivotally mounted on the 3rd arm body by the 4th rotating shaft, the bearing of trend of the 4th rotating shaft
Identical with the length direction of the 4th arm body, the four-drive device is connected with the 4th rotating shaft, for driving the 4th
Rotating shaft drives the 4th arm body rotation；
The wrist is pivotally connected by the 5th rotating shaft and the 4th arm body, bearing of trend and the 4th arm of the 5th rotating shaft
The width of body is identical, and the 5th drive device is connected with the 5th rotating shaft, for driving described in the 5th rotating shaft drive
Wrist motion is to change the angle between the wrist and the 4th arm body；
The handgrip is pivotally mounted on the wrist by the 6th rotating shaft, the bearing of trend of the 6th rotating shaft with it is described
The length direction of wrist is identical, and the 6th drive device is connected with the 6th rotating shaft, for driving the 6th rotating shaft to drive institute
State handgrip rotation；
The controller and the first driving means, the second drive device, the 3rd drive device, four-drive device, the 5th
Drive device, the 6th drive device and handgrip electrical connection, for controlling the first driving means, the second drive device, the
Three drive devices, four-drive device, the 5th drive device, the 6th drive device and handgrip work.
2. industrial robot as claimed in claim 1, it is characterised in that the controller includes axis motion control card and servo
Amplifier, the servo amplifier include comparing unit, D/A converting units, driver element and pulse processor；The axle motion
Control card is used to send command pulse signal to the comparing unit；The pulse processor is used to receive the anti-of photoelectric encoder
The feedback pulse signal is simultaneously sent to the comparing unit by feedback pulse signal；The comparing unit is used for the instruction
The control signal is sent to the D/A and changes list by pulse signal and the feedback pulse signal to obtain control signal
Member；The D/A converting units are used to convert digital signals into analog signal and are sent to driver element, and the driver element is used
In obtaining drive signal according to the model signals and control the first driving means, the second driving to fill according to drive signal
Put, the work of the 3rd drive device, four-drive device, the 5th drive device, the 6th drive device and handgrip.
3. industrial robot as claimed in claim 1, it is characterised in that the first driving means, the second drive device,
Three drive devices, four-drive device and the 5th drive device are motor.
4. industrial robot as claimed in claim 1, it is characterised in that the handgrip is electronic including fixing base, driving
Machine, pull bar and two clamping parts；
The drive motor is connected with the pull bar, drives the pull bar to move forward and backward；
The clamping part includes a movable connecting rod and an arcuation finger, and the movable connecting rod is the first of obtuse angle including angle
The link position of the body of rod and second body of rod, first body of rod and second body of rod is pivotally mounted to described by connecting shaft
On fixing base, first body of rod and the pull bar pin joint, second body of rod are connected with the arcuation finger.
5. industrial robot as claimed in claim 1, it is characterised in that the first arm body includes the first guide pin bushing, the first liquid
Press piston apparatus and two the first guide rods；
First guide rod and first hydraulic piston are installed in first guide pin bushing；
Two first guide rods be arranged in parallel and extend through first hydraulic piston, are lived to limit first hydraulic pressure
Plug rotates.
6. industrial robot as claimed in claim 1, it is characterised in that the second arm body includes the second guide pin bushing, the second liquid
Press piston apparatus and two the second guide rods；
Second guide rod and second hydraulic piston are installed in second guide pin bushing；
Two second guide rods be arranged in parallel and extend through second hydraulic piston, are lived to limit second hydraulic pressure
Plug rotates.
7. industrial robot as claimed in claim 1, it is characterised in that the 3rd arm body includes the 3rd guide pin bushing, the 3rd liquid
Press piston apparatus and two the 3rd guide rods；
3rd guide rod and the 3rd hydraulic piston are installed in the 3rd guide pin bushing；
Two the 3rd guide rods be arranged in parallel and extend through the 3rd hydraulic piston, are lived to limit the 3rd hydraulic pressure
Plug rotates.
8. industrial robot as claimed in claim 1, it is characterised in that the 4th arm body includes the 4th guide pin bushing, the 4th liquid
Press piston apparatus and two the 4th guide rods；
4th guide rod and the 4th hydraulic piston are installed in the 4th guide pin bushing；
Two the 4th guide rods be arranged in parallel and extend through the 4th hydraulic piston, are lived to limit the 4th hydraulic pressure
Plug rotates.
9. industrial robot as claimed in claim 1, it is characterised in that the wrist includes the 5th guide pin bushing, the 5th hydraulic pressure is lived
Plug device and two the 5th guide rods；
5th guide rod and the 5th hydraulic piston are installed in the 5th guide pin bushing；
Two the 5th guide rods be arranged in parallel and extend through the 5th hydraulic piston, are lived to limit the 5th hydraulic pressure
Plug rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710939802.2A CN107717978A (en) | 2017-10-11 | 2017-10-11 | A kind of industrial robot |
Applications Claiming Priority (1)
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Cited By (5)
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| CN107639632A (en) * | 2017-10-11 | 2018-01-30 | 深圳好多彩五金有限公司 | A kind of robot arm |
| CN108406750A (en) * | 2018-03-05 | 2018-08-17 | 丽水学院 | A kind of intelligent automation robot of multi-functional six joint arm |
| CN109940647A (en) * | 2019-04-16 | 2019-06-28 | 芜湖新兴铸管有限责任公司 | Plug clamping manipulator used in cast tube production process |
| CN110150951A (en) * | 2018-02-24 | 2019-08-23 | 钱月英 | A kind of intelligence garnishes device with adjust automatically food materials deal function |
| WO2022019518A1 (en) * | 2020-07-24 | 2022-01-27 | 삼성전자주식회사 | Grip device and robot device comprising same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107639632A (en) * | 2017-10-11 | 2018-01-30 | 深圳好多彩五金有限公司 | A kind of robot arm |
| CN110150951A (en) * | 2018-02-24 | 2019-08-23 | 钱月英 | A kind of intelligence garnishes device with adjust automatically food materials deal function |
| CN110150951B (en) * | 2018-02-24 | 2020-12-11 | 新沂市锡沂高新材料产业技术研究院有限公司 | Intelligent dish distribution device with automatic food material quantity adjusting function |
| CN108406750A (en) * | 2018-03-05 | 2018-08-17 | 丽水学院 | A kind of intelligent automation robot of multi-functional six joint arm |
| CN108406750B (en) * | 2018-03-05 | 2020-10-30 | 丽水学院 | Intelligent automatic robot of multi-functional six joint arms |
| CN109940647A (en) * | 2019-04-16 | 2019-06-28 | 芜湖新兴铸管有限责任公司 | Plug clamping manipulator used in cast tube production process |
| WO2022019518A1 (en) * | 2020-07-24 | 2022-01-27 | 삼성전자주식회사 | Grip device and robot device comprising same |
| EP4140668A4 (en) * | 2020-07-24 | 2024-01-24 | Samsung Electronics Co., Ltd. | Grip device and robot device comprising same |
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