CN107866795A - A kind of articulated robot - Google Patents
A kind of articulated robot Download PDFInfo
- Publication number
- CN107866795A CN107866795A CN201610885524.2A CN201610885524A CN107866795A CN 107866795 A CN107866795 A CN 107866795A CN 201610885524 A CN201610885524 A CN 201610885524A CN 107866795 A CN107866795 A CN 107866795A
- Authority
- CN
- China
- Prior art keywords
- push rod
- stepper motor
- motor push
- pitching
- flexible
- 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.)
- Pending
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
-
- 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
Abstract
The present invention relates to a kind of articulated robot, is made up of base, turning motor, slew gear, panoramic table, pitching stepper motor push rod, column, flexible stepper motor push rod, rotatable wrist, paw；The transform linear motion of stepper motor push rod is that manipulator acts around the flexion-extension of trunnion axis by quadric chain by pitching stepper motor push rod, realize that arm pitches the relatively simple for structure of motion, modularization is easily realized in structure, pitching on flexible stepper motor push rod with installing position sensor, controller is by controlling the motion and stopping of stepper motor push rod, the random positioned needs of manipulator can be realized, so that the present invention has the characteristics of cost is low, and dynamic property is good, simple in construction, the degree of modularity is high and versatile.
Description
Technical field
The present invention relates to manipulator technical field, particularly a kind of articulated robot.
Background technology
With the extensive use of manipulator technology, there are independent control, flexible movements, automated suitable for small batch
The Unimate of production is developed rapidly, and Unimate is arranged on the frame mode of joint using motor at present, is driven
Dynamic motor all on each joint of manipulator, by the rotation in each joint of motor driven manipulator, realizes machine
The various actions of tool hand；Problems be present in this frame mode：Manipulator arm needs to carry the weight of motor and needs to meet
Rigidity requirement, arm sectional dimension need to be made larger, can so increase the load of motor, the motion for increasing arm is used to
Amount, manipulator dynamic property is caused to decline, while motor all causes the complicated of manipulator installed in joint position, production
The degree of modularity of product is low.And with cost is low, dynamic property is good, universal machine simple in construction, the high feature of the degree of modularity
Hand is more and more important in the effect of small batch automated production.
The content of the invention
It is an object of the invention to：High for existing manipulator cost, dynamic property is low, the complicated, degree of modularity
Low deficiency, a kind of articulated robot is proposed, pitching, flexible, rotation turn, the motion for turning four frees degree of wrist can be achieved, have
The characteristics of cost is low, dynamic property is good, simple in construction, the degree of modularity is high, available for the small batch in modern manufacturing industry certainly
Dynamic metaplasia production.
Technical scheme provided by the invention is：A kind of articulated robot, by base, turning motor, slew gear, revolution
Platform, pitching stepper motor push rod, column, flexible stepper motor push rod, rotatable wrist, paw composition, column and pitching stepping
Motor push rod is arranged on panoramic table, and pitching stepper motor push rod is connected by hinge with flexible stepper motor push rod, is stretched
Stepper motor push rod is arranged on column, and flexible stepper motor push rod is connected with rotatable wrist, and paw is arranged on rotatable hand
On wrist, turning motor and transmission mechanism installation in the base, are connected with panoramic table.
The present invention has the prominent advantages that：Pitching stepper motor push rod is by quadric chain by the straight line of stepper motor push rod
Conversion of motion is that manipulator acts around the flexion-extension of trunnion axis, realizes that arm pitches the relatively simple for structure of motion, in structure easily
Realize modularization, controller is by controlling the motion and stopping of stepper motor push rod, it is possible to achieve the random positioned need of manipulator
Will, so that the present invention has the characteristics of cost is low, and dynamic property is good, simple in construction, the degree of modularity is high and versatile.
Brief description of the drawings
Fig. 1 is a kind of articulated robot schematic diagram of the present invention.
Embodiment
Technical scheme is described further below by way of accompanying drawing.
A kind of articulated robot, pushed away by 1 base, 2 turning motors, 3 slew gears, 4 panoramic tables, 5 pitching stepper motors
Bar, 6 columns, 7 flexible stepper motor push rods, 8 rotatable wrists, 9 paws composition, column are arranged on pitching stepper motor push rod
On panoramic table, pitching stepper motor push rod is connected by hinge with flexible stepper motor push rod, stepper motor push rod peace of stretching
On column, flexible stepper motor push rod is connected with rotatable wrist, paw in rotatable wrist, turning motor and
Transmission mechanism is installed in the base, is connected with panoramic table.
Pitching stepper motor push rod by quadric chain by the transform linear motion of stepper motor push rod be manipulator around
The flexion-extension action of trunnion axis, realizes that arm pitches the relatively simple for structure of motion, modularization is easily realized in structure, passes through control
The motion and stopping of stepper motor push rod, it is possible to achieve the random positioned needs of manipulator, so that the present invention has, cost is low,
The characteristics of dynamic property is good, simple in construction, the degree of modularity is high and versatile.
Claims (1)
1. a kind of articulated robot, by base, turning motor, slew gear, panoramic table, pitching stepper motor push rod, column,
Flexible stepper motor push rod, rotatable wrist, paw composition, column are arranged on panoramic table with pitching stepper motor push rod, bowed
Stepper motor push rod to be faced upward by hinge with flexible stepper motor push rod to be connected, the stepper motor push rod that stretches is arranged on column,
Flexible stepper motor push rod is connected with rotatable wrist, and paw is arranged in rotatable wrist, turning motor and transmission mechanism peace
Dress in the base, is connected with panoramic table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610885524.2A CN107866795A (en) | 2016-09-28 | 2016-09-28 | A kind of articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610885524.2A CN107866795A (en) | 2016-09-28 | 2016-09-28 | A kind of articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107866795A true CN107866795A (en) | 2018-04-03 |
Family
ID=61762072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610885524.2A Pending CN107866795A (en) | 2016-09-28 | 2016-09-28 | A kind of articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107866795A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757500A (en) * | 2018-07-26 | 2020-02-07 | 衢州职业技术学院 | Mechanical arm simply assembled by adopting variable-degree-of-freedom link mechanism |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647357A (en) * | 2015-01-09 | 2015-05-27 | 广西大学 | Four-degree-of-freedom stepper motor driving joint-type manipulator |
-
2016
- 2016-09-28 CN CN201610885524.2A patent/CN107866795A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647357A (en) * | 2015-01-09 | 2015-05-27 | 广西大学 | Four-degree-of-freedom stepper motor driving joint-type manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757500A (en) * | 2018-07-26 | 2020-02-07 | 衢州职业技术学院 | Mechanical arm simply assembled by adopting variable-degree-of-freedom link mechanism |
| CN110757500B (en) * | 2018-07-26 | 2021-02-19 | 衢州职业技术学院 | Mechanical arm simply assembled by adopting variable-degree-of-freedom link mechanism |
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Legal Events
| 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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180403 |
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| WD01 | Invention patent application deemed withdrawn after publication |