CN108058168A - A kind of flapping articulation formula dynamic teaching robot - Google Patents
A kind of flapping articulation formula dynamic teaching robot Download PDFInfo
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- CN108058168A CN108058168A CN201810069755.5A CN201810069755A CN108058168A CN 108058168 A CN108058168 A CN 108058168A CN 201810069755 A CN201810069755 A CN 201810069755A CN 108058168 A CN108058168 A CN 108058168A
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- forearm
- transmission gear
- large arm
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- 230000005540 biological transmission Effects 0.000 claims abstract description 59
- 210000000245 forearm Anatomy 0.000 claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000005611 electricity Effects 0.000 claims abstract description 18
- 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 abstract description 12
- 230000003028 elevating effect Effects 0.000 claims abstract description 10
- 230000002093 peripheral effect Effects 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 238000000926 separation method Methods 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 238000003466 welding Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000000994 depressogenic effect Effects 0.000 claims description 4
- 210000000323 shoulder joint Anatomy 0.000 claims description 4
- 230000005389 magnetism Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- 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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of flapping articulation formula dynamic teaching robot, including pedestal, large arm and the forearm being rotatablely connected successively；Forearm front end sets three-dimensional clamping manipulator, the three-dimensional clamping manipulator includes elevating mechanism, rotating mechanism and deflection mechanism, elevating mechanism, the motor of rotating mechanism and deflection mechanism and large arm motor and forearm motor are stepping or servomotor, motor one end is equipped with electromagnetic clutch and transmission gear, encoder is connected on electromagnetic clutch, when electromagnetic clutch obtains it is electric when be attracted, transmission gear passing power, encoder works, when electromagnetic clutch dead electricity, electromagnetic clutch separates, and transmission gear runs out of steam and constrains.A kind of flapping articulation formula dynamic teaching robot is light-weight, it is at low cost, be widely used, its three-dimensional clamping manipulator can manually be driven arbitrarily to rotate or lift, encoder pulse is recorded by peripheral control unit, its running state data can be obtained by computing, can repeat to play back the action of teaching after data processing.
Description
Technical field
The invention belongs to mechanical engineering technical fields, are related to a kind of robot, and a kind of particularly flapping articulation formula dynamic is shown
Teach robot.
Background technology
Robot has been widely used for industrial every field, and due to the characteristic of robot, robot is in most cases
It being affixed on the workbench on assembly line, works according to the program finished in advance, each program corresponds to a workpiece,
It needs to regroup program when work changes, this causes its use scope to be subject to certain restrictions：Industrial robot is suitble to
Produce industry in enormous quantities（Such as automobile industry）, be poorly suited for workpiece frequently change, the non-part volume such as steel structure, shipbuilding
Manufacturing is also unsuitable for using outdoors；In addition, traditional robot manipulation is generally required using teaching machine, acquisition key
Point and input controller, teaching machine further according to acquisition point by positive inverse kinematics and interpolation processing, calculate corresponding movement
Track, it is more demanding to operating personnel and controller, it is made to be difficult to popularize in medium-sized and small enterprises.
The content of the invention
The technical problem to be solved by the present invention is to：A kind of new flapping articulation formula dynamic teaching robot is provided, with gram
Take the above-mentioned deficiency present in prior art.
Solving the technical solution of above-mentioned technical problem is：
A kind of flapping articulation formula dynamic teaching robot, including pedestal, large arm and forearm；The large arm is rotatablely connected with column,
The large arm motor that installation is sequentially connected with large arm on column, the forearm are rotatablely connected by shoulder joint and large arm, are pacified in large arm
The forearm motor that dress is sequentially connected with forearm, forearm front end set three-dimensional clamping manipulator, and the three-dimensional clamping manipulator includes rising
Descending mechanism, rotating mechanism and deflection mechanism, the elevating mechanism include rack, slide, sliding block and lifting motor, the rack and
Slide is vertically mounted on the one side of forearm front end, and lifting motor is mounted on the sliding block being slidably connected with slide, the lifting electricity
Machine is connected with rack-driving, when lifting motor starts band movable slider together with lifting motor along rack and slide vertical displacement movement；
The rotating mechanism includes electric rotating machine, link block, rotation axis and rotary slider, and the electric rotating machine is mounted on and sliding block
On the link block being fixedly connected, rotary slider is mounted on link block lower part and is connected to forearm end, and rotation axis is vertically mounted on
It is rotatablely connected in the slide opening of rotary slider and with electric rotating machine；Rotation axis is driven when electric rotating machine starts in the slide opening of rotary slider
Interior rotation；
The deflection mechanism is mounted on the lower end of rotation axis, including holding frame, deflection motor and clamper, the holding frame connection
In rotation axis bottom, deflection motor is horizontally arranged on holding frame, the clamper be mounted on deflection motor front end and with deflection
Motor is rotatablely connected, and clamper deflection is driven when deflection motor starts so as to which the process tool or welding gun that drive gripper are inclined
Turn；
The large arm motor, forearm motor, lifting motor, electric rotating machine and deflection motor are stepping or servomotor, and large arm is electric
Machine, forearm motor, lifting motor, electric rotating machine connect electromagnetic clutch and transmission gear with deflection motor one end：
The large arm motor is sequentially connected by electromagnetic clutch and transmission gear and large arm, when electromagnetic clutch obtains it is electric when inhale
It closes, large arm motor transfers power to large arm by transmission gear rotates large arm；When electromagnetic clutch dead electricity, electromagnetic clutch
Device separates, and transmission gear runs out of steam large arm from the constraint of large arm motor；
The forearm motor is sequentially connected by electromagnetic clutch and transmission gear and forearm, when electromagnetic clutch obtains it is electric when inhale
It closes, forearm motor transfers power to forearm by transmission gear rotates forearm；When electromagnetic clutch dead electricity, electromagnetic clutch
Device separates, and transmission gear runs out of steam forearm from the constraint of large arm motor；
The electric rotating machine is connected by electromagnetic clutch and transmission gear with transmission of rotary axis, when electromagnetic clutch obtains it is electric when inhale
It closes, electric rotating machine transfers power to rotation axis by transmission gear rotates rotation axis；When electromagnetic clutch dead electricity, electromagnetism
Clutch separation, transmission gear run out of steam rotation axis from electric rotating machine constraint；
The deflection motor is sequentially connected by electromagnetic clutch and transmission gear and clamper, when electromagnetic clutch obtains it is electric when inhale
It closes, deflection motor transfers power to clamper by transmission gear deflects clamper；When electromagnetic clutch dead electricity, electromagnetism
Clutch separation, transmission gear run out of steam the constraint of clamper non-deflected motor；
The lifting motor is connected by meshing transmission by electromagnetic clutch and driving cog wheel and rack, when electromagnetic clutch obtains it is electric when
It is attracted, lifting motor transfers power to rack and the left elevating movement of opposite rack by transmission gear；When electromagnetic clutch loses
When electric, electromagnetic clutch separation, transmission gear runs out of steam, and driving cog wheel and rack engaged transmission constrains from lifting motor.
Its further technical solution is：
Encoder is connected on the electromagnetic clutch, encoder is connected to clutch left end and passes through transmission line and controlled with external
Signal is transferred in device connection.
Further：
The pedestal is equipped with magnetic suction, magnetic when a kind of flapping articulation formula dynamic teaching robot removes placement on the steel plate
It inhales 2 to be depressed, fits closely pedestal and steel plate.
Further：
Secondary spring is connected between the lifting motor and forearm.
Further：The forearm front end be equipped with to detect sliding block initial position close to switch；
The encoder uses absolute value encoder or has the incremental encoder of originally point location.
Due to using the above structure, compared with prior art, a kind of flapping articulation formula dynamic teaching robot of the present invention
It has the advantages that：
1. a kind of all rotary electric machines of flapping articulation formula dynamic teaching robot of the present invention are respectively connected with electromagnetic clutch, work as electricity
During magnet clutch dead electricity, electromagnetic clutch separation, cradle head is no longer constrained by motor, can manually drive teaching machine
The three-dimensional clamping manipulator of device people arbitrarily rotates or lifting；
2. a kind of all rotary electric machines of flapping articulation formula dynamic teaching robot of the present invention are with encoder, when workpiece changes
When needing to reprogram, three-dimensional clamping manipulator is driven to be moved along workpiece working trajectory, is recorded by peripheral control unit each
The encoder pulse of joint motions obtains its operating status by computing（Speed, direction, angle, distance etc.）Data, pass through
The action of playback teaching can be repeated after data processing；
3. between a kind of flapping articulation formula dynamic teaching robot lifting motor and forearm of the present invention be equipped with secondary spring, it is necessary to
During manual teaching, lifting motor is in light condition, can lift lifting motor and link block in order to avoid directly sliding；
4. a kind of flapping articulation formula dynamic teaching robot of the present invention is light-weight, easy movement, low cost, wide application are general, no
It can be only used for welding, can be also used for cutting, gluing, carrying, artistic creation etc..
In the following, in conjunction with the accompanying drawings and embodiments to the technical characteristic of flapping articulation formula dynamic teaching robot of the present invention a kind of
It is further described.
Description of the drawings
Fig. 1 is the structure diagram of flapping articulation formula dynamic teaching robot of the present invention a kind of；
Fig. 2 is motor and electromagnetic clutch, encoder connection diagram（In figure by taking large arm motor as an example）；
Fig. 3 is the stereoscopic effect schematic diagram of flapping articulation formula dynamic teaching robot of the present invention a kind of；
In figure：
1-pedestal, 2-magnetism are inhaled, 3-column, 4-large arm, 5-large arm motor, 6-shoulder joint, 7-forearm motor, 8-small
Arm, 9-rack, 10-slide, 11-sliding block, 12-lifting motor, 13-electric rotating machine, 14-link block, 15-rotation axis,
16-rotary slider, 17-holding frame, 18-deflection motor, 19-clamper, 20-welding gun, 21-transmission gear, 22-compile
Code device, 23-electromagnetic clutch, 231-clutch left end, 232-clutch right end, 24-secondary spring, 25-approach and open
It closes.
Specific embodiment
Embodiment one
A kind of flapping articulation formula dynamic teaching robot, including pedestal 1, large arm 4 and forearm 8；It is characterized in that：The large arm 4
It is rotatablely connected with column 3, the large arm motor 5 that installation is sequentially connected with large arm on column 3, the forearm 8 is by shoulder joint 6 and greatly
Arm 4 is rotatablely connected, and the forearm motor 7 that installation is sequentially connected with forearm in large arm 4, forearm front end sets three-dimensional clamping manipulator, institute
State three-dimensional clamping manipulator include elevating mechanism, rotating mechanism and deflection mechanism, the elevating mechanism include rack 9, slide 10,
Sliding block 11 and lifting motor 12, the rack 9 and slide 10 are vertically mounted on the one side of forearm front end, and lifting motor 12 is mounted on
On the sliding block 11 being slidably connected with slide 10, the lifting motor is connected with rack-driving, band movable slider when lifting motor starts
Together with lifting motor along rack and slide vertical displacement movement；
The rotating mechanism includes electric rotating machine 13, link block 14, rotation axis 15 and rotary slider 16, and the electric rotating machine 13 is pacified
On the link block 14 being fixedly connected with sliding block 11, rotary slider 16 is mounted on 14 lower part of link block and is connected to forearm end
Portion, rotation axis 15 are vertically mounted in the slide opening of rotary slider and are rotatablely connected with electric rotating machine；Electric rotating machine drives when starting
Rotation axis rotates in the slide opening of rotary slider；
The deflection mechanism is mounted on the lower end of rotation axis 15, including holding frame 17, deflection motor 18 and clamper 19, the folder
It holds frame 17 and is connected to 15 bottom of rotation axis, deflection motor 18 is horizontally arranged on holding frame 17, and the clamper 19 is mounted on inclined
18 front end of rotating motor is simultaneously rotatablely connected with deflection motor, and clamper deflection is driven to drive clamper when deflection motor 18 starts
Process tool or the welding gun deflection of clamping；
The large arm motor 5, forearm motor 7, lifting motor 12, electric rotating machine 13 and deflection motor 18 are stepping or servo electricity
Machine, large arm motor 5, forearm motor 7, lifting motor 12, electric rotating machine 13 connect electromagnetic clutch 23 with 18 one end of deflection motor
With transmission gear 21：
The large arm motor is sequentially connected by electromagnetic clutch and transmission gear with large arm 4, when electromagnetic clutch obtains it is electric when inhale
It closes, large arm motor transfers power to large arm by transmission gear rotates large arm；When electromagnetic clutch dead electricity, electromagnetic clutch
Device separates, and transmission gear runs out of steam large arm from the constraint of large arm motor；
The forearm motor 7 is sequentially connected by electromagnetic clutch and transmission gear with forearm 8, when electromagnetic clutch obtains it is electric when inhale
It closes, forearm motor transfers power to forearm by transmission gear rotates forearm；When electromagnetic clutch dead electricity, electromagnetic clutch
Device separates, and transmission gear runs out of steam forearm from the constraint of large arm motor；
The electric rotating machine 13 is sequentially connected by electromagnetic clutch and transmission gear with rotation axis 15, when electromagnetic clutch obtain it is electric
When be attracted, electric rotating machine transfers power to rotation axis by transmission gear rotates rotation axis；When electromagnetic clutch dead electricity,
Electromagnetic clutch separates, and transmission gear runs out of steam rotation axis from electric rotating machine constraint；
The deflection motor 18 is sequentially connected by electromagnetic clutch and transmission gear with clamper 19, when electromagnetic clutch obtain it is electric
When be attracted, deflection motor transfers power to clamper by transmission gear deflects clamper；When electromagnetic clutch dead electricity,
Electromagnetic clutch separates, and transmission gear runs out of steam the constraint of clamper non-deflected motor；
The lifting motor 12 is connected by meshing transmission by electromagnetic clutch and driving cog wheel and rack, when electromagnetic clutch obtain it is electric
When be attracted, lifting motor transfers power to rack and the opposite left elevating movement of rack by transmission gear；Work as electromagnetic clutch
During dead electricity, electromagnetic clutch separation, transmission gear runs out of steam, driving cog wheel and rack engaged transmission from lifting motor about
Beam.
Be connected with encoder 22 on the electromagnetic clutch 23, encoder be connected to clutch left end and pass through transmission line with
Signal is transferred in peripheral control unit connection；The pedestal is equipped with magnetic suction 2, when a kind of flapping articulation formula dynamic teaching robot removes
When disposing on the steel plate, magnetism inhales 2 and is depressed, and fits closely pedestal and steel plate；It is connected between the lifting motor and forearm
Secondary spring 24.
The forearm front end be equipped with to detect sliding block initial position close to switch；Wherein lifting motor 12 is opened by close
It closes 25 and initialized location is provided；The encoder is absolute value encoder or the incremental encoder with original locations, for accusing
Tell controller real time position.
The above content is combine specific embodiment further explanation made for the present invention, it is impossible to assert the present invention's
Specific implementation is confined to this, for the technical field of the invention, without departing from the inventive concept of the premise, makes simple
Deduction or replace, said mechanism should all be considered as protection scope of the present invention.
Operation principle
（One）When robot is carried on certain block steel plate, pedestal 1 is close on the steel plate, and magnetism, which is inhaled, 2 to be depressed, make pedestal and
Steel plate is combined closely；
（Two）When electromagnetic clutch obtains it is electric when be attracted when, following actions can be realized by peripheral control unit：
1. large arm 4 is mounted on column, large arm motor 5 can drive large arm 4 to be rotated with column 3 for axis；
2. forearm motor 7 can drive forearm to be rotated with shoulder joint 6 for axis；
3. lifting motor 12, electric rotating machine 13 and the sliding block 11 on link block 14 can be in the gears of lifting motor 12
And along 11 oscilaltion of slide under the drive of rack 9；
4. electric rotating machine 13 can drive rotation axis 15 to rotate（Rotary slider 16 constrains the up and down motion and rotation of rotation axis 15
Movement）；
5. deflection motor 18 can drive clamper 19 on holding frame 17 and its clamped process tool or welding gun 2 to deflect.
（Three）When electromagnetic clutch dead electricity during clutch, by the way that above-mentioned action can be achieved by hand.
When needing dynamic teaching, electromagnetic clutch power-off, all motors are in light condition（Lifting thrust load can be with
It is compensated with pulling force or spring）, large arm, forearm, upper and lower, rotation, deflection can be operated easily, can clamped with hand-motion
Device and welding gun above, around progress, up and down, the movement that rotates, deviate this five degree of freedom, encoder constantly sends
Signal tells real-time coordinates position, controller records the encoder pulse of each axis, by current coordinate and movement shape to controller
State coordinate is compared, and carries out closed-loop control, and the operating status of each axis can be drawn by computing（Speed, direction, angle, away from
From etc.）, can repeat to play back the action of teaching after appropriate processing.
Dynamic teaching robot can be not only used for welding, and can be also used for cutting, gluing, carrying, artistic creation etc..
Operational process：
1. each axis playbacks and carries out initialized location；
2. manual dynamic teaching；
3. necessary program editing and processing；
4. automatic robot repeats the action of teaching.
Claims (6)
1. a kind of flapping articulation formula dynamic teaching robot, including pedestal（1）, large arm（4）And forearm（8）；It is characterized in that：Institute
State large arm（4）With column（3）Rotation connection, column（3）The large arm motor that upper installation is sequentially connected with large arm（5）, the forearm
（8）Pass through shoulder joint（6）With large arm（4）Rotation connection, large arm（4）The forearm motor that upper installation is sequentially connected with forearm（7）, it is small
Arm front end sets three-dimensional clamping manipulator, and the three-dimensional clamping manipulator includes elevating mechanism, rotating mechanism and deflection mechanism, described
Elevating mechanism includes rack（9）, slide（10）, sliding block（11）And lifting motor（12）, the rack（9）And slide（10）Vertically
Mounted on the one side of forearm front end, lifting motor（12）It is mounted on and slide（10）The sliding block being slidably connected（11）On, the liter
Drop motor is connected with rack-driving, and band movable slider is transported together with lifting motor along rack and slide vertical lift when lifting motor starts
It is dynamic；
The rotating mechanism includes electric rotating machine（13）, link block（14）, rotation axis（15）And rotary slider（16）, the rotation
Motor（13）It is mounted on and sliding block（11）The link block being fixedly connected（14）On, rotary slider（16）Mounted on link block（14）Under
Portion is simultaneously connected to forearm end, rotation axis（15）It is vertically mounted in the slide opening of rotary slider and is rotatablely connected with electric rotating machine；
When electric rotating machine starts rotation axis is driven to be rotated in the slide opening of rotary slider；
The deflection mechanism is mounted on rotation axis（15）Lower end, including holding frame（17）, deflection motor（18）And clamper
（19）, the holding frame（17）It is connected to rotation axis（15）Bottom, deflection motor（18）It is horizontally arranged at holding frame（17）On, institute
State clamper（19）Mounted on deflection motor（18）Front end is simultaneously rotatablely connected with deflection motor, and clamping is driven when deflection motor starts
Device deflects to drive the process tool of gripper or welding gun deflection；
The large arm motor（5）, forearm motor（7）, lifting motor（12）, electric rotating machine（13）And deflection motor（18）For stepping
Or servomotor, large arm motor（5）, forearm motor（7）, lifting motor（12）, electric rotating machine（13）And deflection motor（18）One
End connection electromagnetic clutch（23）And transmission gear（21）：
The large arm motor（5）Pass through electromagnetic clutch and transmission gear and large arm（4）Be sequentially connected, when electromagnetic clutch obtain it is electric
When be attracted, large arm motor transfers power to large arm by transmission gear rotates large arm；When electromagnetic clutch dead electricity, electromagnetism
Clutch separation, transmission gear run out of steam large arm from the constraint of large arm motor；
The forearm motor（7）Pass through electromagnetic clutch and transmission gear and forearm（8）Be sequentially connected, when electromagnetic clutch obtain it is electric
When be attracted, forearm motor transfers power to forearm by transmission gear rotates forearm；When electromagnetic clutch dead electricity, electromagnetism
Clutch separation, transmission gear run out of steam forearm from the constraint of large arm motor；
The electric rotating machine（13）Pass through electromagnetic clutch and transmission gear and rotation axis（15）It is sequentially connected, works as electromagnetic clutch
It is attracted when obtaining electric, electric rotating machine transfers power to rotation axis by transmission gear rotates rotation axis；When electromagnetic clutch loses
When electric, electromagnetic clutch separation, transmission gear runs out of steam rotation axis from electric rotating machine constraint；
The deflection motor（18）Pass through electromagnetic clutch and transmission gear and clamper（19）It is sequentially connected, works as electromagnetic clutch
It is attracted when obtaining electric, deflection motor transfers power to clamper by transmission gear deflects clamper；When electromagnetic clutch loses
When electric, electromagnetic clutch separation, transmission gear runs out of steam the constraint of clamper non-deflected motor；
The lifting motor（12）It is connected by meshing transmission by electromagnetic clutch and driving cog wheel and rack, when electromagnetic clutch obtains
It is attracted when electric, lifting motor transfers power to rack and the left elevating movement of opposite rack by transmission gear；Work as electromagnetic clutch
During device dead electricity, electromagnetic clutch separation, transmission gear runs out of steam, driving cog wheel and rack engaged transmission from lifting motor about
Beam.
2. a kind of flapping articulation formula dynamic teaching robot as described in claim 1, it is characterised in that：The electromagnetic clutch
（23）On be connected with encoder（22）, encoder, which is connected to clutch left end and passes through transmission line, is connected transmission with peripheral control unit
Signal.
3. a kind of flapping articulation formula dynamic teaching robot as claimed in claim 2, it is characterised in that：The pedestal is equipped with magnetic
Property inhale（2）, when a kind of flapping articulation formula dynamic teaching robot remove placement on the steel plate when, magnetism inhale is depressed, make pedestal and
Steel plate fits closely.
4. a kind of flapping articulation formula dynamic teaching robot as claimed in claim 3, it is characterised in that：The lifting motor with it is small
Secondary spring is connected between arm（24）.
5. a kind of flapping articulation formula dynamic teaching robot as claimed in claim 4, it is characterised in that：The forearm（8）Front end
Equipped with for detecting sliding block（11）Initial position close to switch（25）.
6. a kind of flapping articulation formula dynamic teaching robot as claimed in claim 5, it is characterised in that：The encoder is using exhausted
To value encoder or there is the incremental encoder of originally point location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810069755.5A CN108058168A (en) | 2018-01-24 | 2018-01-24 | A kind of flapping articulation formula dynamic teaching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810069755.5A CN108058168A (en) | 2018-01-24 | 2018-01-24 | A kind of flapping articulation formula dynamic teaching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108058168A true CN108058168A (en) | 2018-05-22 |
Family
ID=62141823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810069755.5A Pending CN108058168A (en) | 2018-01-24 | 2018-01-24 | A kind of flapping articulation formula dynamic teaching robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108058168A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013132711A (en) * | 2011-12-26 | 2013-07-08 | Canon Electronics Inc | Parallel link robot |
| CN104029201A (en) * | 2014-06-19 | 2014-09-10 | 常州先进制造技术研究所 | SCARA (selective compliance assembly robot arm) robot special for welding operation |
| CN104742120A (en) * | 2015-03-31 | 2015-07-01 | 佛山市新鹏机器人技术有限公司 | Dragging teaching mechanical arm with power |
| CN205184777U (en) * | 2015-12-17 | 2016-04-27 | 佛山市新鹏机器人技术有限公司 | Connect in parallel and pull teaching machine people |
| CN105798905A (en) * | 2016-05-12 | 2016-07-27 | 安徽六联智能科技有限公司 | Six-axis intelligent carrying mechanical hand for stamping |
| CN106377425A (en) * | 2016-08-31 | 2017-02-08 | 深圳市博为医疗机器人有限公司 | Intelligent dispensing equipment |
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
| CN207771828U (en) * | 2018-01-24 | 2018-08-28 | 柳州幻智科技有限公司 | A kind of flapping articulation formula dynamic teaching robot |
-
2018
- 2018-01-24 CN CN201810069755.5A patent/CN108058168A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013132711A (en) * | 2011-12-26 | 2013-07-08 | Canon Electronics Inc | Parallel link robot |
| CN104029201A (en) * | 2014-06-19 | 2014-09-10 | 常州先进制造技术研究所 | SCARA (selective compliance assembly robot arm) robot special for welding operation |
| CN104742120A (en) * | 2015-03-31 | 2015-07-01 | 佛山市新鹏机器人技术有限公司 | Dragging teaching mechanical arm with power |
| CN205184777U (en) * | 2015-12-17 | 2016-04-27 | 佛山市新鹏机器人技术有限公司 | Connect in parallel and pull teaching machine people |
| CN105798905A (en) * | 2016-05-12 | 2016-07-27 | 安徽六联智能科技有限公司 | Six-axis intelligent carrying mechanical hand for stamping |
| CN106377425A (en) * | 2016-08-31 | 2017-02-08 | 深圳市博为医疗机器人有限公司 | Intelligent dispensing equipment |
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
| CN207771828U (en) * | 2018-01-24 | 2018-08-28 | 柳州幻智科技有限公司 | A kind of flapping articulation formula dynamic teaching robot |
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Application publication date: 20180522 |