CN110076765A - Four articulated robots - Google Patents
Four articulated robots Download PDFInfo
- Publication number
- CN110076765A CN110076765A CN201910518317.7A CN201910518317A CN110076765A CN 110076765 A CN110076765 A CN 110076765A CN 201910518317 A CN201910518317 A CN 201910518317A CN 110076765 A CN110076765 A CN 110076765A
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- Prior art keywords
- mechanical arm
- spindle motor
- retarder
- spindle
- pull rod
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- 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 13
- 230000007246 mechanism Effects 0.000 claims description 46
- 239000003638 chemical reducing agent Substances 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000007592 spray painting technique Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of four articulated robots, pedestal is connect with a spindle motor, one spindle motor is drivingly connected by two axle beds and two spindle motors, one end of two spindle motors and first mechanical arm is drivingly connected, the other end of first mechanical arm is connect with three spindle motors, one end of three spindle motors and second mechanical arm is drivingly connected, and the other end and hollow shaft bearing sleeve of second mechanical arm are rotatablely connected, and four spindle motors are inserted in hollow shaft bearing sleeve and connect with hollow shaft bearing sleeve；One end of first pull rod and the second axle bed are rotatablely connected, first jiao of rotation connection of the other end and set square of the first pull rod, the one end of first mechanical arm far from pedestal is arranged in set square, one end of second pull rod and second jiao of rotation connection of set square, the other end of the second pull rod are connect with hollow shaft bearing sleeve；Cable is electrically connected with a spindle motor and two spindle motors；Cable passes through first mechanical arm and is electrically connected with three spindle motors, and cable passes through second mechanical arm and hollow shaft bearing sleeve is electrically connected with four spindle motors.
Description
Technical field
The present invention relates to joint Manipulator arm fields, more particularly to a kind of four articulated robots.
Background technique
Articulated robot, also referred to as joint arm robot or joint Manipulator arm are most common in current industrial circle
One of form of industrial robot, suitable for the mechanical automation operation of many industrial circles, for example, automatic assembling, spray painting,
The work such as carrying, welding have different classification according to it is constructed.Specifically, articulated robot is broadly divided into multiaxial joint machine
People, pallet articulated robot and plane articulation robot.Multiaxial joint robot gather around there are five or six rotary shafts, be similar to
The arm of the mankind, application field have the multiple fields such as handling goods, spray painting, test, welding, packaging.Pallet articulated robot includes
The positioning and locking device of two or four rotary shaft and mechanical gripper.Plane articulation robot includes three rotations being parallel to each other
Shaft and a linear axes.
Articulated robot needs to use multiple rotating electric machines due to possessing multiple shafts, causes it to be routed and its cumbersome, greatly
It is all disposed within the outside of mechanical wall, particularly, the peripheral hardware route of four traditional articulated robots is often because of its multiple shaft
Work and abrasion damage, seriously affect the job stability and service life of four articulated robots.
Summary of the invention
Based on this, it is necessary to for the peripheral hardware route for four traditional articulated robots often because of its multiple shaft
Work and abrasion damage, the problem of seriously affecting job stability and service life, a kind of four articulated robots are provided.
A kind of four articulated robots, four articulated robot, comprising: articulation mechanism, parallelogram holding mechanism and
Wiring mechanism.
The articulation mechanism includes pedestal, a spindle motor, two axle beds, two spindle motors, first mechanical arm, three spindle motors,
Two mechanical arms, hollow shaft bearing sleeve and four spindle motors.The pedestal is connect with a spindle motor, and a spindle motor passes through institute
It states two axle beds and two spindle motor is drivingly connected, one end of two spindle motor and the first mechanical arm is drivingly connected, institute
The other end for stating first mechanical arm is connect with three spindle motor, and one end of three spindle motor and the second mechanical arm drives
Connection, the other end of the second mechanical arm and the hollow shaft bearing sleeve are rotatablely connected, and four spindle motor is inserted in described
It is connect in empty bearing holder (housing, cover) with the hollow shaft bearing sleeve.
The parallelogram holding mechanism includes the first pull rod, set square and the second pull rod.First pull rod with
The first mechanical arm is arranged in parallel, and one end of first pull rod and second axle bed are rotatablely connected, first pull rod
The other end and first jiao of set square rotation connection, the set square first mechanical arm is set far from the pedestal
One end, one end of second pull rod and second jiao of rotation connection of the set square, second pull rod and second machine
Tool arm is arranged in parallel, and the other end of second pull rod is connect with the hollow shaft bearing sleeve.
The wiring mechanism includes terminal box and cable, and the cable is electrically connected with the terminal box, the cable and institute
State a spindle motor and two spindle motor electrical connection；The first mechanical arm and the second mechanical arm are in both ends open
Void column body, the cable pass through the first mechanical arm and are electrically connected with three spindle motor, and the cable passes through second machine
Tool arm and the hollow shaft bearing sleeve are electrically connected with four spindle motor.
The articulation mechanism further includes the first retarder in one of the embodiments, a spindle motor and described the
One speed reducer is adapted and is drivingly connected, and first retarder and two axle bed are drivingly connected.
The articulation mechanism further includes the second retarder in one of the embodiments, two spindle motor and described the
Two retarders are adapted and are drivingly connected, second retarder and the one end of the first mechanical arm far from three spindle motor
It is drivingly connected.
The articulation mechanism further includes third retarder in one of the embodiments, three spindle motor and described the
Three retarders are adapted and are drivingly connected, the third retarder and the one end of the second mechanical arm far from four spindle motor
It is drivingly connected.
The articulation mechanism further includes the 4th retarder and flange in one of the embodiments, four spindle motor with
4th retarder is adapted and is drivingly connected, and the 4th retarder and the flange are drivingly connected.
The set square is arranged between three spindle motor and the second mechanical arm simultaneously in one of the embodiments,
It is connect with the third retarder.
The set square offers threading hole in one of the embodiments, and the cable passes through the threading hole, described
Second mechanical arm and the hollow shaft bearing sleeve are electrically connected with four spindle motor.
The articulation mechanism further includes tracheae and sucker in one of the embodiments, and four spindle motor passes through described
Flange and the sucker are drivingly connected, and the second mechanical arm offers gas tube orifice, and the tracheae passes through the first mechanical arm
And penetrated from one end of the second mechanical arm, it is pierced by from the gas tube orifice of the second mechanical arm and is connected to the sucker.
The gas tube orifice is opened in the second mechanical arm close to the portion of four spindle motor in one of the embodiments,
Point.
Throttle valve is provided on the tracheae in one of the embodiments,.
Terminal box in above-mentioned four articulated robot is connect with external circuitry, and cable passes through first mechanical arm and three spindle motors
Electrical connection, cable passes through second mechanical arm and hollow shaft bearing sleeve is electrically connected with four spindle motors.Cable is hidden into the first machinery
In arm and second mechanical arm, avoids and be located at first mechanical arm and second mechanical arm outside cable because multiple in four articulated robots
The work of shaft is pullled, is twisted, is worn, is damaged, and the job stability and service life of four articulated robots are increased.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of four articulated robots in one embodiment；
Fig. 2 is the structural schematic diagram of four articulated robots in one embodiment；
Fig. 3 is the structural schematic diagram of four articulated robots in one embodiment；
Fig. 4 is the disassemblying structure schematic diagram of four articulated robots in one embodiment.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case where violating intension of the present invention, therefore the present invention is not limited by the specific embodiments disclosed below.?
In description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ",
"upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " clockwise ", " inverse
The orientation or positional relationship of the instructions such as hour hands ", " axial direction ", " radial direction ", " circumferential direction " is that orientation based on the figure or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be with
It is directly to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " level
", "upper", "lower", "left", "right" and similar statement for illustrative purposes only, be not offered as being uniquely to implement
Mode.
Also referring to Fig. 1 to Fig. 4, the present invention provides a kind of four articulated robots 10, which includes:
Articulation mechanism 100, parallelogram holding mechanism 200 and wiring mechanism 300.Articulation mechanism 100 is used as four articulated robots
10 main body realizes that the various dimensions for carrying out four articulated robots 10 are mobile, and parallelogram holding mechanism 200 is for coordinating joint
The running of mechanism 100, assisting four articulated robots 10 to carry out, various dimensions are mobile, and wiring mechanism 300 is used to connect for articulation mechanism 100
Line and wiring.
Specifically, articulation mechanism 100 includes pedestal 110, a spindle motor 120, two axle beds 130, two spindle motors 140, first
Mechanical arm 150, three spindle motors 160, second mechanical arm 170, hollow shaft bearing sleeve 180 and four spindle motors 190.Pedestal 110 and one
Spindle motor 120 connects, for accepting a spindle motor 120 and two axle beds 130.One spindle motor 120 passes through two axle beds 130 and two axis electricity
Machine 140 is drivingly connected, for driving the rotation of two spindle motors 140.One end of two spindle motors 140 and first mechanical arm 150, which drives, to be connected
Connect, the other end of first mechanical arm 150 is connect with three spindle motors 160, two spindle motors 140 for drive first mechanical arm 150 with
And three spindle motor 160 rotate.Three spindle motors 160 and one end of second mechanical arm 170 are drivingly connected, second mechanical arm 170 it is another
One end and hollow shaft bearing sleeve 180 are rotatablely connected, and three spindle motors 160 are for driving second mechanical arm 170 and hollow shaft bearing sleeve 180
Rotation.Four spindle motors 190 are inserted in hollow shaft bearing sleeve 180 to be connect with hollow shaft bearing sleeve 180.In the present embodiment, hollow shaft
Bearing sleeve 180 offers heat release hole 181, in order to which four spindle motors 190 are radiated by heat release hole 101, four spindle motors 190 is avoided to plug
It is burned out in hollow shaft bearing sleeve 180 because heat dissipation is unsmooth.It should be noted that a spindle motor 120 is driven by two axle beds 130
The plane that the rotation of two spindle motors 140 obtains is vertical with the plane that the driving rotation of first mechanical arm 150 of two spindle motors 140 obtains,
That is a spindle motor 120 and two spindle motors 140 are vertically arranged.The driving rotation of second mechanical arm 170 of three spindle motors 160 obtains
Plane and two spindle motors 140 driving first mechanical arm 150 to rotate obtained plane parallel, that is to say, that two spindle motors, 140 He
Three spindle motors 160 are vertically arranged.Four spindle motors 190 are vertically arranged with three spindle motors 160.
Parallelogram holding mechanism 200 includes the first pull rod 210, set square 220 and the second pull rod 230.First draws
Bar 210 is arranged in parallel with first mechanical arm 150, and one end of the first pull rod 210 and the second axle bed 130 are rotatablely connected, the first pull rod
First jiao of rotation connection of 210 other end and set square 220, set square 220 are arranged in first mechanical arm 150 far from pedestal
110 one end, one end of the second pull rod 230 and second jiao of rotation connection of set square 220, the second pull rod 230 and second are mechanical
Arm 170 is arranged in parallel, and the other end of the second pull rod 230 is connect with hollow shaft bearing sleeve 180.Parallelogram holding mechanism 200 is used
In make four spindle motors 190 four articulated robots 10 work operation process in always perpendicular to pedestal 110 straight down, with protect
Demonstrate,prove the operation straight down always of four articulated robots 10.
Wiring mechanism 300 includes terminal box 310 and cable 320, and terminal box 310 is for connecting external circuitry, terminal box 310
It is that a spindle motor 120, two spindle motors 140, three spindle motors 160 and four spindle motors 190 provide electric energy by cable 320.Cable
320 are electrically connected with terminal box 310, and cable 320 is electrically connected with a spindle motor 120 and two spindle motors 140；150 He of first mechanical arm
Second mechanical arm 170 is the hollow cylinder of both ends open, and cable 320 passes through first mechanical arm 150 and is electrically connected with three spindle motors 160
It connects, cable 320 passes through second mechanical arm 170 and hollow shaft bearing sleeve 180 is electrically connected with four spindle motors 190.In the present embodiment,
Terminal box 310 is arranged on pedestal 110.In a further embodiment, terminal box is arranged on two axle beds.
Terminal box 310 in above-mentioned four articulated robot 10 is connect with external circuitry, and cable 320 passes through first mechanical arm
150 are electrically connected with three spindle motors 160, and cable 320 passes through second mechanical arm 170 and hollow shaft bearing sleeve 180 and four spindle motors 190
Electrical connection.Cable 320 is hidden into first mechanical arm 150 and second mechanical arm 170, is avoided and is located at first outside cable 320
When mechanical arm 150 and second mechanical arm 170 because four articulated robots 10 in multiple shafts work pullled, twisted, being worn,
It damages, increases the job stability and service life of four articulated robots 10.
In order to improve the job stability of a spindle motor 120, also referring to Fig. 1, Fig. 3 and Fig. 4, wherein an implementation
In example, articulation mechanism 100 further includes the first retarder 121, and a spindle motor 120 is adapted with the first retarder 121, a spindle motor
120 and first retarder 121 be drivingly connected, the first retarder 121 and two axle beds 130 drive connection.Further, first slows down
Device 121 is gear reduction unit.In a further embodiment, the first retarder is worm reducer.In other embodiments, first
Retarder is harmonic speed reducer.In yet another embodiment, the first retarder is RV speed reducer.Setting a spindle motor 120 with
The first retarder 121 between two axle beds 130 is used as a kind of power transmission mechanism, and the revolving speed for reducing a spindle motor 120 increases
The torque of one spindle motor 120.It is acted on that is, the first retarder 121 extends a spindle motor 120 according to lever principle
Torque to reduce the load of a spindle motor 120, avoid other component overweight one when two axle beds 130 and its carrying
Spindle motor 120 is burned when starting moment due to load excessive.In this way, extending the service life of a spindle motor 120, mention
The high job stability of a spindle motor 120.
In order to improve the job stability of two spindle motors 140, also referring to Fig. 1, Fig. 3 and Fig. 4, wherein an implementation
In example, articulation mechanism 100 further includes the second retarder 141, and two spindle motors 140 are adapted with the second retarder 141, two spindle motors
140 and second retarder 141 be drivingly connected, the second retarder 141 and first mechanical arm 150 far from three spindle motors 160 one
End rotation connection.Further, the second retarder 141 is gear reduction unit.In a further embodiment, the second retarder is snail
Bar retarder.Second retarder is harmonic speed reducer.In yet another embodiment, the second retarder is RV speed reducer.Setting exists
The second retarder 141 between two spindle motors 140 and first mechanical arm 150 is used as a kind of power transmission mechanism, reduces two axis
The revolving speed of motor 140 increases the torque of two spindle motors 140.That is, the second retarder 141 is extended according to lever principle
Torque that two spindle motors 140 are acted on to reduce the loads of two spindle motors 140, avoid when first mechanical arm 150 and its
Overweight two spindle motor 140 of the other component of load is burned when starting moment due to load excessive.In this way, extending two axis
The service life of motor 140 improves the job stability of two spindle motors 140.
In order to improve the job stability of three spindle motors 160, referring to Fig. 3, articulation mechanism in one of the embodiments,
100 further include third retarder 161, and three spindle motors 160 are adapted with third retarder 161, and three spindle motors 160 slow down with third
Device 161 is drivingly connected, and one end of third retarder 161 and second mechanical arm 170 four spindle motors 190 far from is rotatablely connected.Into
One step, third retarder 161 is gear reduction unit.In a further embodiment, third retarder is worm reducer.At it
In his embodiment, third retarder is harmonic speed reducer.In yet another embodiment, third retarder is RV speed reducer.Setting
Third retarder 161 between three spindle motors 160 and second mechanical arm 170 is used as a kind of power transmission mechanism, reduces three
The revolving speed of spindle motor 160 increases the torque of three spindle motors 160.That is, third retarder 161 extends according to lever principle
The torque that three spindle motors 160 are acted on to reduce the loads of three spindle motors 160, avoid when second mechanical arm 170 and
Its overweight three spindle motor 160 of other component loaded is burned when starting moment due to load excessive.In this way, extending three
The service life of spindle motor 160 improves the job stability of three spindle motors 160.
In order to improve the job stability of four spindle motors 190, referring to Fig. 2, articulation mechanism in one of the embodiments,
100 further include the 4th retarder 191 and flange 192, and four spindle motors 190 are adapted with the 4th retarder 191, four spindle motors 190
It is drivingly connected with the 4th retarder 191, the 4th retarder 191 is drivingly connected with flange 192.Further, the 4th retarder 191
For gear reduction unit.In a further embodiment, the 4th retarder is worm reducer.In other embodiments, the 4th slows down
Device is harmonic speed reducer.In yet another embodiment, the 4th retarder is RV speed reducer.It is arranged in four spindle motors 190 and flange
The 4th retarder 191 between 192 is used as a kind of power transmission mechanism, and the revolving speed for reducing four spindle motors 190 increases four axis
The torque of motor 190.That is, the 4th retarder 191 extends the torque that four spindle motors 190 are acted on according to lever principle
To reduce the load of four spindle motors 190, overweight four spindle motor 190 of other component when flange 192 and its load is avoided
It is burned in moment starting due to load excessive.In this way, extending the service life of four spindle motors 190, four axis are improved
The job stability of motor 190.
In order to increase the structural compactness of articulation mechanism 100, referring to Fig. 4, set square in one of the embodiments,
220 are arranged between three spindle motors 160 and second mechanical arm 170 and connect with third retarder 161.Specifically, set square 220
The part of the third angle is provided with swivel bearing, swivel bearing is adapted with third retarder 161, and the inner ring of swivel bearing can be with
It is directly anchored on the ontology of third retarder 161, saves fixing axle used in installation set square 220, reduce joint machine
The complexity of structure 100.On the other hand, set square 220 is mounted on the centre of three spindle motors 160 with second mechanical arm 170, can be with
Guarantee that set square 220 and the first pull rod 210 and the second pull rod 230 are maintained in unified plane, set square 220 is used
Surface plate production, avoids needing to cooperate the first pull rod using curved set square when set square 220 is mounted on other positions
210 and second pull rod 230 the effect of pullling, reduce the complex degree of structure of articulation mechanism 100.One embodiment wherein
In, set square 220 offers threading hole 102, and cable 320 passes through threading hole 102, second mechanical arm 170 and hollow shaft bearing sleeve
180 are electrically connected with four spindle motors 190.In this way, reducing the occupied space of set square 220 and cable 320, joint machine is increased
The structural compactness of structure 100.
In order to increase the job stability of hollow shaft bearing sleeve 180, referring to Fig. 1, joint machine in one of the embodiments,
Structure 100 further includes rotating seat 171, and one end of rotating seat 171 is connect with second mechanical arm 170 far from one end of three spindle motors 160,
The other end and hollow shaft bearing sleeve 180 of rotating seat 171 are rotatablely connected, and rotating seat 171 is hollow structure, and cable 320 passes through rotation
Seat 171 and hollow shaft bearing sleeve 180 are electrically connected with four spindle motors 190.In this way, rotating seat 171 by second mechanical arm 170 with it is hollow
Bearing holder (housing, cover) 180 links together, and easily facilitates hollow shaft bearing sleeve 180 and rotates around second mechanical arm 170, to increase hollow
The job stability of bearing holder (housing, cover) 180.
In order to realize the adsorption function of four articulated robots, in one of the embodiments, referring to Fig. 2, articulation mechanism
100 further include tracheae and sucker, and four spindle motors 190 are drivingly connected with sucker, and second mechanical arm 170 offers gas tube orifice 103, gas
Pipe is penetrated across first mechanical arm 150 and from one end of second mechanical arm 170, from the gas tube orifice 103 of second mechanical arm be pierced by with
Sucker connection.Further, tracheae initially passes through the threading hole 102 that set square 220 opens up after passing through from first mechanical arm 150, then
Penetrate from one end of second mechanical arm 170, be pierced by from the gas tube orifice 103 of second mechanical arm, with reduce the occupied space of tracheae into
The structural compactness of one step increase articulation mechanism 100.Tracheae is connected to extraneous air exhauster, so that four articulated robots have suction
Attached function.In the present embodiment, gas tube orifice 103 is opened in second mechanical arm 170 close to the part of four spindle motors 190, with into one
Step ground reduces the occupied space of tracheae.In another embodiment, throttle valve is provided on tracheae, user can be according to four joints
The real work object of robot adjusts the adsorption capacity of sucker by adjusting throttle valve.It should be noted that flange is set below
The equipment set not necessarily sucker is also possible to other end effector mechanisms such as fixture.In this way, realizing four articulated robots
Adsorption function.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of four articulated robots characterized by comprising articulation mechanism, parallelogram holding mechanism and patching machine
Structure；
The articulation mechanism includes pedestal, a spindle motor, two axle beds, two spindle motors, first mechanical arm, three spindle motors, the second machine
Tool arm, hollow shaft bearing sleeve and four spindle motors；The pedestal is connect with a spindle motor, and a spindle motor passes through described two
Axle bed and two spindle motor are drivingly connected, and one end of two spindle motor and the first mechanical arm is drivingly connected, and described the
The other end of one mechanical arm is connect with three spindle motor, and one end of three spindle motor and the second mechanical arm, which drives, to be connected
It connects, the other end of the second mechanical arm and the hollow shaft bearing sleeve are rotatablely connected, and four spindle motor is inserted in described hollow
It is connect in bearing holder (housing, cover) with the hollow shaft bearing sleeve；
The parallelogram holding mechanism include the first pull rod, set square and the second pull rod, first pull rod with it is described
First mechanical arm is arranged in parallel, and one end of first pull rod and second axle bed are rotatablely connected, first pull rod it is another
One of first mechanical arm far from the pedestal is arranged in first jiao of rotation connection of one end and the set square, the set square
End, one end of second pull rod and second jiao of rotation connection of the set square, second pull rod and second machinery
Arm is arranged in parallel, and the other end of second pull rod is connect with the hollow shaft bearing sleeve；
The wiring mechanism includes terminal box and cable, and the cable is electrically connected with the terminal box, the cable and described one
Spindle motor and two spindle motor electrical connection；The first mechanical arm and the second mechanical arm are the hollow posts of both ends open
Body, the cable pass through the first mechanical arm and are electrically connected with three spindle motor, and the cable passes through the second mechanical arm
And the hollow shaft bearing sleeve is electrically connected with four spindle motor.
2. four articulated robot according to claim 1, which is characterized in that the articulation mechanism further includes the first deceleration
Device, a spindle motor are adapted and are drivingly connected with first retarder, and first retarder and two axle bed drive
Dynamic connection.
3. four articulated robot according to claim 1, which is characterized in that the articulation mechanism further includes the second deceleration
Device, two spindle motor are adapted and are drivingly connected with second retarder, second retarder and first machinery
Arm is drivingly connected far from one end of three spindle motor.
4. four articulated robot according to claim 1, which is characterized in that the articulation mechanism further includes that third is slowed down
Device, three spindle motor are adapted and are drivingly connected with the third retarder, the third retarder and second machinery
Arm is drivingly connected far from one end of four spindle motor.
5. four articulated robot according to claim 1, which is characterized in that the articulation mechanism further includes the 4th retarder
And flange, four spindle motor are adapted and are drivingly connected with the 4th retarder, the 4th retarder and the flange
It is drivingly connected.
6. four articulated robot according to claim 1, which is characterized in that the set square offers threading hole, described
Cable is electrically connected by the threading hole, the second mechanical arm and the hollow shaft bearing sleeve with four spindle motor.
7. four articulated robot according to claim 1, which is characterized in that the set square is arranged in three spindle motor
It is connect between the second mechanical arm and with the third retarder.
8. four articulated robot according to claim 7, which is characterized in that the articulation mechanism further includes tracheae and suction
Disk, four spindle motor are drivingly connected by the flange and the sucker, and the second mechanical arm offers gas tube orifice, described
Tracheae passes through the first mechanical arm and penetrates from one end of the second mechanical arm, wears from the gas tube orifice of the second mechanical arm
It is connected to out with the sucker.
9. four articulated robot according to claim 8, which is characterized in that it is mechanical that the gas tube orifice is opened in described second
The part of nearly four spindle motor of arm rest.
10. four articulated robot according to claim 8, which is characterized in that be provided with throttle valve on the tracheae.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Effective date of registration: 20211018 Address after: 523716 Room 201, building 1, No. 89, Pingshan Industrial Road, Tangxia Town, Dongguan City, Guangdong Province Applicant after: Dongguan Zhuolin Robot Technology Co.,Ltd. Address before: 523960 1405, building 5, Vanke Jinyu international, Santun, Houjie Town, Dongguan City, Guangdong Province Applicant before: Wu Fang |