CN108032285A - A kind of large space checking job robot system - Google Patents
A kind of large space checking job robot system Download PDFInfo
- Publication number
- CN108032285A CN108032285A CN201711393633.3A CN201711393633A CN108032285A CN 108032285 A CN108032285 A CN 108032285A CN 201711393633 A CN201711393633 A CN 201711393633A CN 108032285 A CN108032285 A CN 108032285A
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- CN
- China
- Prior art keywords
- base
- revolving bed
- large space
- drive
- robot system
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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—Program-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses a kind of large space checking job robot system, including rack, base, revolving bed and manipulator, base is slidedly arranged in rack, base is connected with the slip drive component for driving base to slide, revolving bed is rotatably installed on base, revolving bed is connected with the revolution driving component that driving revolving bed rotates, and manipulator is installed on revolving bed.The large space checking job robot system has the advantages that applied widely, flexibility is good, simple and compact for structure, cost is low, easily controllable, stable and reliable in work.
Description
Technical field
The present invention relates to Industrial Robot Technology field, and in particular to a kind of large space checking job robot system.
Background technology
The major part of industrial robot generally comprises manipulator, and manipulator is installed on base by swing mechanism, with
Realize driving manipulator rotary motion.Most of swing mechanism of existing manipulator is all the shape coordinated using gear ring with gear
Formula, wherein, gear ring is fixed on the revolving bed of manipulator, is rotated with revolving bed, and gear is installed on base and has motor
Driving, while gear is engaged with gear ring, and gear ring and revolving bed rotary motion are driven by motor-driven gear rotation.Above-mentioned time
Size and weight in rotation mechanism due to gear ring is larger, namely motor and the quality of gear driving it is big, it is necessary to driving force it is big, deposit
In high energy consumption, stablize the problem of difference, and the loss of gear, gear ring and motor can be aggravated to a certain extent, cause service life
Shorten.
The content of the invention
The technical problem to be solved in the present invention is overcome the shortcomings of the prior art, there is provided a kind of applied widely, clever
The large space work machine system that activity is good, simple and compact for structure, cost is low, easily controllable, stable and reliable in work.
In order to solve the above technical problems, the present invention uses following technical scheme：
A kind of large space checking job robot system, including rack, base, revolving bed and manipulator, the base are slidedly arranged on rack
On, the base is connected with the slip drive component for driving base to slide, and the revolving bed is rotatably installed on base
On, the revolving bed is connected with the revolution driving component that driving revolving bed rotates, and the manipulator is installed on revolving bed.
Above-mentioned large space checking job robot system, it is preferred that the revolution driving component includes revolution driving gear, tooth
Circle and the first rotary drive on revolving bed, the gear ring are fixedly mounted on base, the axis of gear ring and revolution
The axis of seat overlaps, and the revolution driving gear is connected to the drive end of the first rotary drive and is engaged with gear ring.
Above-mentioned large space checking job robot system, it is preferred that the manipulator is installed on revolving bed by elevating mechanism
Above and the setting height(from bottom) on revolving bed can be adjusted by elevating mechanism.
Above-mentioned large space checking job robot system, it is preferred that the elevating mechanism includes lifting seat and the second rotation is driven
Moving part, the lifting seat are vertically slidedly arranged on revolving bed, and second rotary drive is installed on revolving bed, the second rotation
Actuator is connected with lifting seat by ball wire rod mechanism and lifting seat can be driven to slide up and down, and the manipulator is installed on lifting
On seat.
Above-mentioned large space checking job robot system, it is preferred that the base is slidedly arranged in rack in the horizontal direction.
Above-mentioned large space checking job robot system, it is preferred that the slip drive component includes rack-mounted
Telescopic drive part, the drive end of the telescopic drive part are connected with base.
Above-mentioned large space checking job robot system, it is preferred that the slip drive component includes pan drive gear, tooth
Article and the 3rd rotary drive, the rack be fixedly mounted in rack, the 3rd rotary drive be installed on base on, institute
Pan drive gear is stated to be connected to the drive end of the 3rd rotary drive and engage with rack.
Above-mentioned large space checking job robot system, it is preferred that the revolving bed is installed on base by deep groove ball bearing
On.
Above-mentioned large space checking job robot system, it is preferred that be additionally provided with pivoting support between the revolving bed and base.
Compared with prior art, the advantage of the invention is that：The large space work machine system of the present invention is driven by sliding
Dynamic Component driver base slides the sliding position that can change manipulator, and being rotated by revolution driving Component driver revolving bed to change
The angle of revolution of manipulator, so as to be suitable for a variety of operation operating modes, is particularly suitable for large space operation, it is with the scope of application
Extensively, the advantages of flexibility is good, simple and compact for structure, cost is low, easily controllable, stable and reliable in work.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of large space checking job robot system.
Fig. 2 is the side structure schematic view of large space checking job robot system.
Fig. 3 is the dimensional structure diagram that revolving bed is installed on base.
Fig. 4 is the schematic cross-sectional view that revolving bed is installed on base.
Marginal data：
1st, base；2nd, revolving bed；3rd, revolution driving gear；4th, gear ring；5th, the first rotary drive；6th, lifting seat；7th, the second rotation
Turn actuator；8th, ball wire rod mechanism；9th, deep groove ball bearing；10th, pivoting support；100th, rack；200th, manipulator.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
As shown in Figures 1 to 4, the large space work machine system of the present embodiment, including rack 100, manipulator 200, bottom
Seat 1 and revolving bed 2, base 1 are slidedly arranged in rack 100, and base 1 is connected with the slip driving group for driving base 1 to slide
Part, revolving bed 2 are rotatably installed on base 1, and revolving bed 2 is connected with the revolution driving component that driving revolving bed 2 rotates, machine
Tool hand 200 is installed on revolving bed 2.The large space work machine system drives the slip of base 1 to change by sliding drive component
Become the sliding position of manipulator 200, the angle of revolution that can change manipulator 200 is rotated by revolution driving Component driver revolving bed 2
Degree, so as to be suitable for a variety of operation operating modes, be particularly suitable for large space operation, its with it is applied widely, flexibility is good, structure
The advantages of simple and compact, cost are low, easily controllable, stable and reliable in work.
In the present embodiment, revolution driving component include revolution driving gear 3, gear ring 4 and on revolving bed 2 first
Rotary drive 5, gear ring 4 are fixedly mounted on base 1, and the axis of gear ring 4 is overlapped with the axis of revolving bed 2, revolution driving tooth
Wheel 3 is connected to the drive end of the first rotary drive 5 and is engaged with gear ring 4, the first rotary drive 5 driving revolution driving gear
3 rotate, and revolving bed 2 can be forced to rotate.In the revolution driving component, due to by size and the less revolution driving gear 3 of quality
It is installed on revolving bed 2 with the first rotary drive 5 and rotates with revolving bed 2, size and the larger gear ring 4 of quality is fixedly mounted on
On base 1, the driving force of the first rotary drive 5 and revolution driving gear 3 can be reduced, so as to reduce energy consumption, improved back
The rotary stability and precision of swivel base 2, and the loss rate of 3 gear ring 4 of revolution driving gear and the first rotary drive 5 is reduced,
Prolong the service life.The revolution driving component also has the advantages that simple in structure, cost is low, is easy to make assembling.
In the present embodiment, as depicted in figs. 1 and 2, manipulator 200 is installed on revolving bed 2 and can be led to by elevating mechanism
Cross elevating mechanism and adjust the setting height(from bottom) on revolving bed 2, manipulator 200 is adjusted position in a vertical direction, improve
Its flexibility ratio.
In the present embodiment, elevating mechanism includes 6 and second rotary drive 7 of lifting seat, and lifting seat 6 is vertically slidedly arranged on back
On swivel base 2, the second rotary drive 7 is installed on revolving bed 2, and the second rotary drive 7 passes through ball wire rod mechanism 8 and lifting
Seat 6 is connected and lifting seat 6 can be driven to slide up and down, and manipulator 200 is installed on lifting seat 6.The structure of the elevating mechanism is simple,
It is stable and reliable in work, precision is high.In other embodiments, elevating mechanism can be also made of lifting seat 6 and lift drive mechanism, be risen
It can be telescopic oil cylinder or telescopic cylinder to drop driving mechanism.
In the present embodiment, base 1 is slidedly arranged in rack 100 in the horizontal direction, and base 1 is connected with for driving base 1
The slip drive component of slip, enables manipulator 200 to adjust position in the horizontal direction, improves its flexibility ratio.Above-mentioned slip
Drive component can use telescopic drive part, and telescopic drive part is installed in rack 100, and the drive end and base of telescopic drive part
1 is connected, and the drive end stretching motion of telescopic drive part can drive base 1 to reciprocatingly slide.Above-mentioned slip drive component may also comprise
Pan drive gear, rack and the 3rd rotary drive, rack are fixedly mounted in rack 100, the installation of the 3rd rotary drive
On base 1, pan drive gear is connected to the drive end of the 3rd rotary drive and is engaged with rack, the 3rd rotary drive
Drive pan drive gear to rotate, base 1 can be forced to slide.In other embodiments, telescopic drive component can also use existing
Other forms.
Above-mentioned first rotary drive 5, the second rotary drive 7 and the 3rd rotary drive use motor, stretch and drive
Moving part uses telescopic cylinder or telescopic oil cylinder.
In the present embodiment, as shown in figure 4, revolving bed 2 is installed on base 1 by deep groove ball bearing 9, revolution can be ensured
The radial accuracy and stability of 2 rotary motions of seat.Specifically, base 1 is equipped with a disk, a mistake is equipped with revolving bed 2
Flange is crossed, the inner ring of deep groove ball bearing 9 is socketed on disk, and the outer ring of deep groove ball bearing 9 is fixed in the endoporus of counter flange.
Preferably, pivoting support 10 is additionally provided between revolving bed 2 and base 1, the revolution fortune of revolving bed 2 can be further improved
Dynamic stability, and improve the bearing capacity of revolving bed 2.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example.To those of ordinary skill in the art, obtained improvement and change in the case where not departing from the technology of the present invention concept thereof
Change and also should be regarded as protection scope of the present invention.
Claims (9)
- A kind of 1. large space checking job robot system, it is characterised in that：Including rack（100）, manipulator（200）, base（1）With Revolving bed（2）, the base（1）It is slidedly arranged on rack（100）On, the base（1）It is connected with for driving base（1）Slide Slide drive component, the revolving bed（2）Rotatably it is installed on base（1）On, the revolving bed（2）It is connected with driving revolution Seat（2）The revolution driving component of rotation, the manipulator（200）Installed in revolving bed（2）On.
- 2. large space checking job robot system according to claim 1, it is characterised in that：The revolution driving component includes Revolution driving gear（3）, gear ring（4）With installed in revolving bed（2）On the first rotary drive（5）, the gear ring（4）It is fixed Installed in base（1）On, gear ring（4）Axis and revolving bed（2）Axis overlap, the revolution driving gear（3）It is connected to First rotary drive（5）Drive end and and gear ring（4）Engagement.
- 3. large space checking job robot system according to claim 2, it is characterised in that：The manipulator（200）Pass through Elevating mechanism is installed on revolving bed（2）Above and it can be adjusted by elevating mechanism in revolving bed（2）On setting height(from bottom).
- 4. large space checking job robot system according to claim 3, it is characterised in that：The elevating mechanism includes lifting Seat（6）With the second rotary drive（7）, the lifting seat（6）Vertically it is slidedly arranged on revolving bed（2）On, second rotation is driven Moving part（7）Installed in revolving bed（2）On, the second rotary drive（7）Pass through ball wire rod mechanism（8）With lifting seat（6）It is connected And lifting seat can be driven（6）Slide up and down, the manipulator（200）Installed in lifting seat（6）On.
- 5. large space checking job robot system according to claim 1, it is characterised in that：The base（1）Along level side To being slidedly arranged on rack（100）On.
- 6. large space checking job robot system according to claim 5, it is characterised in that：The slip drive component includes Installed in rack（100）On telescopic drive part, the drive end and base of the telescopic drive part（1）It is connected.
- 7. large space checking job robot system according to claim 5, it is characterised in that：The slip drive component includes Pan drive gear, rack and the 3rd rotary drive, the rack are fixedly mounted on rack（100）On, the 3rd rotation Actuator is installed on base（1）On, the pan drive gear is connected to the drive end of the 3rd rotary drive and is nibbled with rack Close.
- 8. large space checking job robot system according to any one of claim 1 to 7, it is characterised in that：The revolution Seat（2）Pass through deep groove ball bearing（9）Installed in base（1）On.
- 9. large space checking job robot system according to claim 8, it is characterised in that：The revolving bed（2）With base （1）Between be additionally provided with pivoting support（10）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711393633.3A CN108032285A (en) | 2017-12-21 | 2017-12-21 | A kind of large space checking job robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711393633.3A CN108032285A (en) | 2017-12-21 | 2017-12-21 | A kind of large space checking job robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032285A true CN108032285A (en) | 2018-05-15 |
Family
ID=62100388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711393633.3A Pending CN108032285A (en) | 2017-12-21 | 2017-12-21 | A kind of large space checking job robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032285A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719705A (en) * | 2018-11-16 | 2019-05-07 | 北京敬一科技有限公司 | A kind of Intelligent robotic manipulator of numerical control equipment and control method |
| CN110774258A (en) * | 2018-07-30 | 2020-02-11 | 中国科学院沈阳自动化研究所 | Automatic follow ration powder charge robot |
| CN112405603A (en) * | 2019-08-20 | 2021-02-26 | 沈阳新松机器人自动化股份有限公司 | Heavy-load large-inertia transfer robot |
| CN113021309A (en) * | 2019-12-24 | 2021-06-25 | 广东博智林机器人有限公司 | Rotary platform, mobile chassis and construction robot |
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| KR20070093746A (en) * | 2006-03-15 | 2007-09-19 | 삼성전자주식회사 | Reversal device of semiconductor substrate and reversal method of substrate using same |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774258A (en) * | 2018-07-30 | 2020-02-11 | 中国科学院沈阳自动化研究所 | Automatic follow ration powder charge robot |
| CN109719705A (en) * | 2018-11-16 | 2019-05-07 | 北京敬一科技有限公司 | A kind of Intelligent robotic manipulator of numerical control equipment and control method |
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| CN112405603A (en) * | 2019-08-20 | 2021-02-26 | 沈阳新松机器人自动化股份有限公司 | Heavy-load large-inertia transfer robot |
| CN112405603B (en) * | 2019-08-20 | 2021-10-22 | 沈阳新松机器人自动化股份有限公司 | Heavy-load large-inertia transfer robot |
| CN113021309A (en) * | 2019-12-24 | 2021-06-25 | 广东博智林机器人有限公司 | Rotary platform, mobile chassis and construction robot |
| CN113021309B (en) * | 2019-12-24 | 2022-09-20 | 广东博智林机器人有限公司 | Rotary platform, mobile chassis and construction robot |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180515 |