CN109760022A - A kind of operation posture dexterity adjustment mechanism - Google Patents
A kind of operation posture dexterity adjustment mechanism Download PDFInfo
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- CN109760022A CN109760022A CN201910148759.7A CN201910148759A CN109760022A CN 109760022 A CN109760022 A CN 109760022A CN 201910148759 A CN201910148759 A CN 201910148759A CN 109760022 A CN109760022 A CN 109760022A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 238000005452 bending Methods 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 59
- 238000009826 distribution Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000036544 posture Effects 0.000 abstract description 37
- 238000000034 method Methods 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 8
- 239000012636 effector Substances 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005538 encapsulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The invention discloses a kind of operation posture dexterity adjustment mechanisms, the connecting bracket that vertical motor and oblique motor are linked together has bending structure, oblique electrical axis and job execution unit axis are 45 degree, it can make power tool in oblique motor adjusting range to carry out the adjustment of operation posture in the upper semi-circle in two crossing point of axes centers of circle between vertical and horizontality, vertical electrical axis is cooperated to cross the intersection point again, operation posture can be achieved using the intersection point to be reachable within the scope of upper half of complete sphere universe in the center of circle, the processing stand of power tool is overlapped with two groups of end cradle head crossing point of axes, the mechanism can make during rotating the two cradle head adjustment operation postures in end, the processing stand position of power tool remains constant, and it is overlapped with the holding of the intersection point of two cradle head axis, not only make operation posture Adjustment process has maximum flexibility, and so that robot is had excellent dexterous transaction capabilities and job task and the condition of ability can be performed.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of operation posture dexterity adjustment mechanisms.
Background technique
In robot technology manufacture field, for existing operation attitude-adjusting system because its dexterity is lower, operation posture can
Small up to range, operation pose adjustment cannot be adjusted with job position and be decoupled, and operation pose adjustment is complex, towards complex shape
When shape parts machining job task demand, such Irregular Shaped Parts processing job task is had been unable to meet to processing operation
The requirement of posture dexterity adjustment.
Therefore, a kind of operation posture dexterity adjustment mechanism is designed, realizes that operation pose adjustment dexterity is convenient, and operation posture
Adjustment can be adjusted independently of job position, while realize that all operation postures are reachable in upper half of complete sphere, have weight
The practical value wanted.
Summary of the invention
To solve problems of the prior art, the purpose of the present invention is to provide a kind of operation posture dexterities to adjust machine
Structure, lower to solve existing mechanism operation pose adjustment dexterity, operation posture coverage is small, and operation pose adjustment cannot be made
The problems such as industry position adjustment decoupling, operation pose adjustment is complex, the present invention can be realized the operation posture tune of Working mechanism
Whole dexterity is convenient, and operation pose adjustment can be adjusted independently of job position, and all operation postures are reachable in upper half spherical surface.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of operation posture dexterity adjustment mechanism, including vertical motor, connecting bracket, oblique motor, tool support frame and
Job execution unit, connecting bracket are bending structure, and the upper side of connecting bracket is respectively equipped with first in the two sides of its bending part
Mounting surface and the second mounting surface, the first mounting surface are in level, in default angle between the second mounting surface and the first mounting surface；It is perpendicular
It is connect to motor is vertical with the first mounting surface, vertical motor can be drivingly connected bracket rotation；Oblique motor is installed on the second peace
Connect at dress face and with one end of tool support frame, oblique motor can driving instrument support frame rotation, the axis of oblique motor
It is vertical with the second mounting surface；Job execution unit is installed on the other end of tool support frame, and the axis of job execution unit is in
Vertical state.
The axis of vertical motor intersects with the axis of oblique motor and angle is 45 °, and axis and the operation of oblique motor are held
The axis of row unit intersects and angle is 45 °.
The axis coaxle of job execution unit and vertical motor.
The coke of the axis of the axis and oblique motor of the processing stand of power tool in job execution unit and vertical motor
Point is overlapped.
Job execution unit includes elastic installation set, electric main shaft and the power tool being installed in electric main shaft, elasticity
Installation set is hollow tubular structure, and the upper end of elastic installation set is equipped with the connection structure for being connected with tool support frame and and work
Have support frame to be connected；Electric main shaft is installed on the lower end of the inner cavity of elastic installation set, and the lower end of elastic installation set is equipped with for solid
Determine the fixed structure of electric main shaft；Elastic installation set is equipped with the elastic groove for increasing its elasticity.
Elastic groove is the groove in spiral distribution of the circumferential direction along elastic installation set surface.
Connection structure includes fixed lock ring and the flange in elasticity installation set upper side setting, and flange is set to distance elasticity peace
At the encapsulation end pre-determined distance, end to the partial threads between flange at fixed lock ring and the elastic installation set end are connected.
Fixed structure includes tight locking button, fastening card and the notch that opens up in elastic installation set lower end, notch and fastening
Card is adapted；Fastening card is set to indentation, there and can match with notch to clamp electric main shaft, and tight locking button is sheathed on
The position of installation fastening card in elastic installation set, for making to fasten card by electric main shaft clamping tightly.
Notch is the gap structure that axial cross section and radial section go out in the end of elastic installation set section, axial cross section and bullet
Property installation set axis it is parallel, radial section is vertical with the elastic axis of installation set.
Axial cross section was the face of elastic installation set axis.
Tight locking button is Quick Release clip, is opened up in elastic installation set with fastener on piece fluted, and tight locking button is sheathed on recessed
At slot.
Vertical harmonic speed reducer, the output shaft of vertical harmonic speed reducer and the first peace are connected on the output shaft of vertical motor
Dress face vertically connects and is drivingly connected bracket rotation；Oblique harmonic speed reducer is connected on the output shaft of oblique motor, it is oblique humorous
Wave retarder is mounted on the second mounting surface, and the output shaft of oblique harmonic speed reducer is connect with tool support frame and driving instrument branch
Support rotation.
The invention has the following beneficial technical effects:
The connecting bracket of operation posture dexterity adjustment mechanism of the present invention is bending structure, and the first mounting surface is in level, the
In default angle between two mounting surfaces and the first mounting surface；Vertically motor is vertical with the first mounting surface connect, and vertical motor can
It is drivingly connected bracket rotation；Oblique motor is installed at the second mounting surface and connect with one end of tool support frame, oblique motor
Can driving instrument support frame rotation, the axis of oblique motor is vertical with the second mounting surface, and job execution unit is installed on tool
The other end of support frame, job execution unit is installed on the other end of tool support frame, and the axis of job execution unit is in perpendicular
Straight state；It can be seen from above structure vertical motor and oblique motor can respectively drive other coupled mechanisms around
The rotation of its axis, i.e. vertical motor driven connecting bracket rotation, the rotation of connecting bracket drive oblique motor, tool support frame and
Job execution unit is whole to be rotated around the shaft of vertical motor together, oblique motor-driven tool support frame rotation, tool support
The rotation of frame drives the whole shaft around oblique motor of job execution unit to rotate；Since connecting bracket is bending structure,
Oblique motor can be changed along inclined direction to install, so that the corner of the end effector of job execution unit is cleverer
Living, only individually oblique motor rotates the conversion that end effector posture can be realized；It can make in oblique motor adjusting range
Power tool is obtained using the intersection point of two axis to carry out operation appearance in the upper semi-circle in the center of circle between vertical state and horizontality
The adjustment of state, then vertical electrical axis is cooperated to cross the intersection point, so that mechanism is carried out operation posture in the adjusting range of vertical motor
Adjustment, can be realized operation posture using the intersection point to be reachable within the scope of upper half of complete sphere universe in the center of circle, therefore, the present invention
Operation posture dexterity adjustment mechanism can be realized the end effector of job execution unit all works in upper half of complete sphere
Industry posture is reachable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of operation posture dexterity adjustment mechanism provided by the invention；
Fig. 2 is the structural schematic diagram of connecting bracket provided by the invention；
Fig. 3 is the structural schematic diagram of tool support frame provided by the invention；
Fig. 4 is the structural schematic diagram of electric main shaft clamping device provided by the invention；
Fig. 5 is the structural schematic diagram of fixed lock ring provided by the invention；
Fig. 6 is the structural schematic diagram of tight locking button provided by the invention；
Fig. 7 is the structural schematic diagram of elastic installation set provided by the invention；
Fig. 8 is the structural schematic diagram for fastening card.
In figure: 1, connecting plate；2, vertical motor；3, vertical harmonic speed reducer；4, connecting bracket, 4-1, the first mounting surface；
4-2, the second mounting surface；4-3, bending part；5, oblique motor；6, oblique harmonic speed reducer；7, tool support frame；7-1, installation
Hole；8, power tool；9, electric main shaft；10, electric main shaft clamping device；11, fixed lock ring；13, elastic groove；14, tight locking button；
17, card is fastened；18, elastic installation set；19, flange, 110, notch, 110-1, axial cross section, 110-2, radial section, 111,
Groove.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing:
As depicted in figs. 1 and 2, operation posture dexterity adjustment mechanism of the invention, including vertical motor 2, connecting bracket 4,
Oblique motor 5, tool support frame 7 and job execution unit, connecting bracket 4 as shown in Figure 2 are bending structure, connecting bracket 4
Upper side is respectively equipped at the first mounting surface 4-1 and the second mounting surface 4-2, the first mounting surface 4-1 in the two sides of its bending part 4-3
In default angle between level, the second mounting surface 4-2 and the first mounting surface 4-1；It is connected on the output shaft of vertical motor 2 perpendicular
To harmonic speed reducer 3, operation posture dexterity adjustment mechanism of the invention when in use, is mounted on the connecting plate 1 of equipment to be connected
On, wherein vertical harmonic speed reducer 3 is mounted on connecting plate 1, the output shaft of vertical harmonic speed reducer 3 pass through after connecting plate 1 with
First mounting surface 4-1 is vertically connected and is drivingly connected the rotation of bracket 4；Oblique harmonic wave is connected on the output shaft of oblique motor 5 to subtract
Fast device 6, oblique harmonic speed reducer 6 are mounted on the second mounting surface 4-2, and the output shaft of oblique harmonic speed reducer 6 passes through driving and connects
It is connect after connecing bracket 4 with tool support frame 7 and driving instrument support frame 7 rotates.Job execution unit is installed on tool support frame 7
The other end, and the axis state in a vertical shape of job execution unit.The axis of 2 shaft of vertical motor and oblique 5 shaft of motor
Axis intersects and angle is 45 °, and the axis of oblique motor 5 intersects with the axis of job execution unit and angle is 45 °.Operation is held
The axis coaxle of row unit and vertical motor 2.The axis of the processing stand of power tool 8 in job execution unit and vertical motor 2
The focus of the axis of line and oblique motor 5 is overlapped.Vertical motor 2 and oblique motor 5 are all made of AC servo motor.
In the present invention it can be seen from above structure, connecting bracket that vertical motor and oblique motor are linked together
With bending structure, one end is located at vertical with the axis of vertical motor in horizontal plane, and the axis of the other end and oblique motor is vertical
Directly, so that angle remains 45 degree between vertical motor and the axis of oblique motor, connecting bracket is arranged to folding
The form of kinking structure is along inclined direction installed with changing oblique motor, so that end effector (i.e. job execution unit)
Corner it is more flexible, only individually the conversion of end effector posture can be realized in the rotation of oblique motor.Vertical motor and oblique
Motor cooperation harmonic speed reducer respectively drives other coupled mechanisms and rotates about the axis thereof, the axis of oblique motor and operation
Execution unit axis is 45 degree, enables to power tool using the intersection point of two axis as the center of circle in oblique motor adjusting range
Upper semi-circle in the adjustment of operation posture is carried out between vertical state and horizontality, then vertical electrical axis is cooperated to cross the friendship
Point makes mechanism carry out operation pose adjustment in the adjusting range of vertical motor, and operation posture can be realized with the intersection point as circle
Reachable within the scope of upper half of complete sphere universe of the heart, therefore, two groups of revolute pairs that this angle is 45 degree realize that end executes
Device all operation postures in upper half of complete sphere are reachable.Vertical motor and oblique motor can realize that complete cycle operates, therefore can
The point that implementation mechanism operation posture is intersected using vertical electrical axis, oblique electrical axis with 8 position of power tool is the center of circle
It is reachable within the scope of upper half of complete sphere universe.The processing stand of last job execution unit and the axis of two groups of end cradle head are handed over
Point is overlapped, which enables to during rotating the two cradle head adjustment operation postures in end, and power tool 8 adds
Work point position remains constant, and is overlapped with the holding of the intersection point of two cradle head axis, at this point, passing through the rotation of end two
Joint adjusts operation posture, and the position of end effector setting is enabled to remain constant.Concentrate adjustment operation posture
The revolute pair structure axis of end two arrange in angle of 45 degrees, and the position of end effector power tool with this two groups turn
Diarthrodial crossing point of axes is overlapped, to realize that the operation pose adjustment dexterity of Working mechanism is convenient, operation pose adjustment can be with
It is adjusted independently of job position, all operation postures are reachable in upper half of complete sphere.
To sum up, operation posture dexterity adjustment mechanism of the invention is solved in robot technology manufacture field, existing work
For industry attitude-adjusting system because its dexterity is lower, operation posture coverage is small, and operation pose adjustment cannot be with job position tune
Whole decoupling, the complex problem of operation pose adjustment.
As shown in figs. 4 and 7, in the present invention, job execution unit includes elastic installation set 18, electric main shaft 9 and installation
In the power tool 8 in electric main shaft 9, elastic installation set 18 is hollow tubular structure, and the upper end of elastic installation set 18, which is equipped with, to be used
It is connected in the connection structure being connected with tool support frame 7 and with tool support frame 7；Electric main shaft 9 is installed on elastic installation set 18
Inner cavity lower end, the lower end of elastic installation set 18 is equipped with the fixed structure for fixing electric main shaft 9；In elastic installation set 18
Equipped with the elastic groove 13 for increasing its elasticity.Elastic groove 13 makes power tool in operation, and electric main shaft 9 can be allowed to generate one
Determine the avoidance effect protection electric main shaft 5 and clamping device of degree.
As shown in figs. 4 and 7, as the preferred embodiment of the invention, elastic groove 13 is along elastic 18 surface of installation set
Circumferential direction groove in spiral distribution, according to screw pitch and groove depth that manipulating object and working condition require calculating and setting suitable,
Different screw pitch and groove depth, can make clamping device generate different elasticity, to meet job requirement；Meanwhile it being set by calculating
Setting different screw pitch and groove depth it being made to generate this different elastic feature can obtain, this flexible job clamping device production side
Just, at low cost, reliable operation.
As shown in Fig. 4, Fig. 5 and Fig. 7, as the preferred embodiment of the invention, connection structure includes fixed 11 He of lock ring
The flange 19 that elastic installation set 18 is arranged in one end, flange 19 are set at the distance elastic installation set 18 end pre-determined distance,
End to the partial threads between flange 19 at 18 end of fixed lock ring 11 and elastic installation set connect, and by flange 19 and fix
Entire job execution unit can be mounted on tool support frame 7 by lock ring 11.
As shown in Fig. 4, Fig. 7 and Fig. 8, as the preferred embodiment of the invention, fixed structure includes tight locking button 14, fastening
The notch 110 that card 17 and elastic installation set 18 are opened up in its lower end, notch 110 are adapted with fastening card 17；Fastener
Piece 17 is set at notch 110 and can match with notch 110 to clamp electric main shaft 9, and tight locking button 14 is sheathed on elastic peace
The position of installation fastening card 17 on encapsulation 18, for clamping fastening card 17 tightly electric main shaft 9.Wherein, notch 110 is
Axial cross section 110-1 and radial section 110-2 cuts the gap structure of going out, axial cross section 110-1 in the end of elastic installation set 18
Parallel with the axis of elastic installation set 18, radial section 110-2 is vertical with the elastic axis of installation set 18.As shown in figure 8, fastening
Card 7 can cut the part of going out by axial cross section 10-1 and radial section 10-2 for elastic 8 lower end of installation set.
As the preferred embodiment of the invention, axial cross section 110-1 was the face of 18 axis of elastic installation set, that is, was fastened
Card 17 is the half of 18 lower end of elastic installation set.
As shown in Figure 6 to 8, in conjunction with Fig. 4, as the preferred embodiment of the invention, tight locking button 14 is Quick Release clip, bullet
Property installation set 18 on fastening card 17 on open up fluted 111, tight locking button 14 is sheathed at groove 111.
As shown in figure 4, electric main shaft 9 is located in elastic installation set 18, by fastener in job execution unit of the invention
Piece 17 and tight locking button 14 are fixed, remain unchanged electric main shaft 9 and the relative position of elastic installation set 18,9 lower end of electric main shaft
Equipped with power tool 8, under 9 high speed rotation of electric main shaft, power tool 8 is driven to work.Power tool 8 can be with are as follows: grinding mill
Head, rotary file, flat cutter, ball knife etc., to realize different functions.
Claims (10)
1. a kind of operation posture dexterity adjustment mechanism, which is characterized in that including vertical motor (2), connecting bracket (4), oblique electricity
Machine (5), tool support frame (7) and job execution unit, connecting bracket (4) are bending structure, and the upper side of connecting bracket (4) exists
The two sides of its bending part (4-3) are respectively equipped with the first mounting surface (4-1) and the second mounting surface (4-2), at the first mounting surface (4-1)
In default angle between level, the second mounting surface (4-2) and the first mounting surface (4-1)；Vertical motor (2) and the first mounting surface
(4-1) is vertically connected, and vertical motor (2) can be drivingly connected bracket (4) rotation；Oblique motor (5) is installed on the second mounting surface
Connect at (4-2) and with one end of tool support frame (7), oblique motor (5) can driving instrument support frame (7) rotation, it is oblique
The axis of motor (5) is vertical with the second mounting surface (4-2)；Job execution unit is installed on the other end of tool support frame (7), and
The axis of job execution unit state in a vertical shape.
2. a kind of operation posture dexterity adjustment mechanism according to claim 1, which is characterized in that the axis of vertical motor (2)
Line intersects with the axis of oblique motor (5) and angle is 45 °, the axis and the axis phase of job execution unit of oblique motor (5)
It hands over and angle is 45 °.
3. a kind of operation posture dexterity adjustment mechanism according to claim 1, which is characterized in that job execution unit and perpendicular
To the axis coaxle of motor (2).
4. a kind of operation posture dexterity adjustment mechanism according to claim 1, which is characterized in that in job execution unit
The processing stand of power tool (8) is overlapped with the focus of the axis of vertical motor (2) and the axis of oblique motor (5).
5. a kind of operation posture dexterity adjustment mechanism according to claim 1, which is characterized in that job execution unit includes
Elastic installation set (18), electric main shaft (9) and the power tool (8) being installed on electric main shaft (9), elastic installation set (18) are
Hollow tubular structure, the upper end of elastic installation set (18) are equipped with the connection structure for being connected with tool support frame (7) and and work
Have support frame (7) to be connected；Electric main shaft (9) is installed on the lower end of the inner cavity of elastic installation set (18), elastic installation set (18)
Lower end is equipped with the fixed structure for fixing electric main shaft (9)；Elastic installation set (18) is equipped with the bullet for increasing its elasticity
Property slot (13).
6. a kind of operation posture dexterity adjustment mechanism according to claim 5, which is characterized in that elastic groove (13) is along bullet
The circumferential direction on property installation set (18) surface groove in spiral distribution.
7. a kind of operation posture dexterity adjustment mechanism according to claim 5, which is characterized in that connection structure includes fixing
Lock ring (11) and the flange (19) being arranged in elastic installation set (18) upper end, flange (19) are set to the elastic installation set (18) of distance
At the end pre-determined distance, the end at fixed lock ring (11) and elasticity installation set (18) end to the partial threads between flange (19)
Connection.
8. a kind of operation posture dexterity adjustment mechanism according to claim 5, which is characterized in that fixed structure includes locking
Button (14), fastening card (17) and the notch (110) opened up in elastic installation set (18) lower end, notch (110) and fastener
Piece (17) is adapted；Fastening card (17) is set at notch (110) and can match with notch (110) to clamp electronic master
Axis (9), tight locking button (14) are sheathed on the position of installation fastening card (17) on elastic installation set (18), fasten card for making
(17) electric main shaft (9) are clamped tight.
9. a kind of operation posture dexterity adjustment mechanism according to claim 8, which is characterized in that notch (110) is axial
The gap structure that section (110-1) and radial section (110-2) go out in the end of elastic installation set (18) section, axial cross section
(110-1) is parallel with the axis of elastic installation set (18), and radial section (110-2) is vertical with the axis of elastic installation set (18).
10. a kind of operation posture dexterity adjustment mechanism according to claim 5, which is characterized in that tight locking button (14) is fast
It tears clip open, is opened up fluted (111) on elastic installation set (18) in fastening card (17), tight locking button (14) is sheathed on groove
(111) at.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910148759.7A CN109760022B (en) | 2019-02-28 | 2019-02-28 | Flexible adjusting mechanism for operation posture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910148759.7A CN109760022B (en) | 2019-02-28 | 2019-02-28 | Flexible adjusting mechanism for operation posture |
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| Publication Number | Publication Date |
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| CN109760022A true CN109760022A (en) | 2019-05-17 |
| CN109760022B CN109760022B (en) | 2024-04-16 |
Family
ID=66456457
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910148759.7A Active CN109760022B (en) | 2019-02-28 | 2019-02-28 | Flexible adjusting mechanism for operation posture |
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| CN110303519A (en) * | 2019-07-09 | 2019-10-08 | 郑州科技学院 | Wrist joint and robot |
| CN111230832A (en) * | 2020-01-21 | 2020-06-05 | 中国外运福建有限公司 | Intelligent box repairing system |
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| Publication number | Publication date |
|---|---|
| CN109760022B (en) | 2024-04-16 |
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