CN111993447A - Industrial robot manipulator structure with high flexibility and use method thereof - Google Patents
Industrial robot manipulator structure with high flexibility and use method thereof Download PDFInfo
- Publication number
- CN111993447A CN111993447A CN202010719334.XA CN202010719334A CN111993447A CN 111993447 A CN111993447 A CN 111993447A CN 202010719334 A CN202010719334 A CN 202010719334A CN 111993447 A CN111993447 A CN 111993447A
- Authority
- CN
- China
- Prior art keywords
- shaft
- arm
- mechanical
- joint
- box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an industrial robot manipulator structure with high flexibility and a use method thereof, relates to the technical field of industrial robots, and aims to solve the problems that although an industrial robot in the prior art is provided with a sensing system, a worker still needs to perform programmed programming design according to actual working requirements in the use process, and the robot cannot autonomously perform operation identification, so that the robot has certain defects in flexibility and freedom. The top of mounting base is provided with arm driving pillow block, and arm driving pillow block rotates with the mounting base to be connected, the top of arm driving pillow block is provided with moment machinery armshaft, and the top of moment machinery armshaft is provided with switching machinery armshaft, the other end of switching machinery armshaft is provided with terminal machinery armshaft, the surface of terminal machinery armshaft one side is provided with signal data port, and signal data port and terminal machinery armshaft fixed connection.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot manipulator structure with high flexibility and a use method thereof.
Background
At the end of the 20 th century, 50 s, industrial robots began to come into use at the earliest. The servo system of Joseph Engelberg has developed an industrial robot-YOUMEITT with George DeWol, which is used in the production workshop of general-purpose automobile in 1961. The initial industrial robots were relatively simple in construction and performed the function of picking up car parts and placing them on a conveyor belt, without the ability to interact with other work environments, i.e. to perform exactly the same repetitive movement according to a predetermined basic program. The application of the 'UNIMELT' is simple and repeated operation, but shows the good prospect of industrial mechanization, and also draws the sequence for the vigorous development of industrial robots. Since then, in the field of industrial production, many heavy, repetitive or meaningless flow operations can be performed by industrial robots instead of humans.
Generally, an industrial robot is composed of three major parts, namely a mechanical part, a sensing part and a control part, and the six major parts can be divided into a mechanical structure system, a driving system, a sensing system, a robot and environment interaction system, a human-computer interaction system and a control system.
Although an existing industrial robot is provided with a sensing system, a worker is still required to perform programmed programming design according to actual working requirements in the using process, and the robot cannot autonomously perform operation identification, so that the robot has certain defects in flexibility and freedom.
Disclosure of Invention
The invention aims to provide an industrial robot manipulator structure with high flexibility and a use method thereof, and aims to solve the problems that although the industrial robot provided by the background technology is provided with a sensing system, a worker still needs to perform programmed programming design according to actual work requirements in the use process, and the robot cannot autonomously perform operation identification, so that the robot has certain defects in flexibility and freedom.
In order to achieve the purpose, the invention provides the following technical scheme: a high-flexibility industrial robot manipulator structure comprises a mounting base, wherein a mechanical arm driving shaft platform is arranged above the mounting base and is rotatably connected with the mounting base, a torque mechanical shaft arm is arranged above the mechanical arm driving shaft platform, a switching mechanical shaft arm is arranged above the torque mechanical shaft arm, a terminal mechanical shaft arm is arranged at the other end of the switching mechanical shaft arm, a signal data port is arranged on the surface of one side of the terminal mechanical shaft arm and is fixedly connected with the terminal mechanical shaft arm, a needle type inserting groove is formed in the outer surface of the signal data port, an inner shaft rotating groove is formed in the other end of the terminal mechanical shaft arm, an electronic shaft rod is arranged inside the inner shaft rotating groove and is rotatably connected with the terminal mechanical shaft arm through the inner shaft rotating groove, and a clamp shaft disc is arranged at the other end of the electronic shaft rod, and the anchor clamps reel rotates with the electron axostylus axostyle to be connected, the outside of anchor clamps reel is provided with anchor clamps butt joint piece, and anchor clamps butt joint piece passes through bolted connection with the anchor clamps reel, the outside of anchor clamps butt joint piece is provided with the control response pole, and controls response pole and electron axostylus axostyle electric connection, the other end of anchor clamps butt joint piece is provided with anthropomorphic mechanical gripper utensil, can help the mechanical axis arm to carry out the operation of autonomy consciousness, distinguishes and traditional artificial intelligence system, promotes the flexibility of mechanical arm on data thinking.
In a further embodiment, the top of the mechanical arm driving shaft platform is provided with a metal supporting shaft frame, the metal supporting shaft frame is connected with the mechanical arm driving shaft platform through bolts, a first driving shaft is arranged above the metal supporting shaft frame, the metal supporting shaft frame is rotatably connected with the torque mechanical shaft arm through the first driving shaft, and up-and-down swinging adjustment between the torque mechanical shaft arm and the metal supporting shaft frame can be achieved.
In a further embodiment, the inner side of the torque mechanical shaft arm is provided with a middle-range motor, a second driving shaft is arranged above the middle-range motor and electrically connected with the middle-range motor, the torque mechanical shaft arm is rotatably connected with the switching mechanical shaft arm through the second driving shaft, and up-and-down swing adjustment between the switching mechanical shaft arm and the torque mechanical shaft arm can be achieved.
In a further embodiment, a rotating shaft disc is arranged on the surface of one end of the switching mechanical shaft arm, the rotating shaft disc is connected with the switching mechanical shaft arm through a bolt, the switching mechanical shaft arm is rotatably connected with the terminal mechanical shaft arm through the rotating shaft disc, and rotation angle adjustment between the terminal mechanical shaft arm and the switching mechanical shaft arm can be achieved.
In further embodiment, the top of electron axostylus axostyle one end is provided with vision work module, vision work module includes the modem box, and modem box and electron axostylus axostyle pass through the leg joint, the surface of modem box is provided with protecting frame, protecting frame's inboard is provided with matrix scanning probe, matrix scanning probe's top is provided with infrared distance inductor, and the model of infrared distance inductor is GP3YOD012, can respond to the object information in arm the place ahead, replaces traditional perception system and data programming help arm to carry out control operation.
In a further embodiment, a signal line terminal is arranged on one side of the modem box and connected with the signal data port through a pin type slot, so that data connection between the visual working module and the mechanical arm assembly can be established, and a synchronization instruction is realized.
In a further embodiment, a remote signal control box is arranged on one side of the mechanical arm driving shaft platform, an emergency switch module is arranged on the outer surface of the remote signal control box, a signal antenna is arranged on one side of the remote signal control box, and the remote signal control box can receive a data signal sent by the visual work module and then control the mechanical arm to carry out a work instruction according to the data signal.
In a further embodiment, the anthropomorphic mechanical gripper comprises a power shaft box, the power shaft box is electrically connected with the control induction rod, one end of the power shaft box is provided with a fixed sleeve shaft, the fixed sleeve shaft is connected with the clamp butt joint block through a bolt, a data transmission function can be realized through the power shaft box, and the fixed sleeve shaft can complete the installation and fixation operation between the anthropomorphic mechanical gripper and the mechanical arm.
In a further embodiment, a first joint is arranged at the other end of the power shaft box and is connected with the power shaft box in a sliding mode, a second joint is arranged at the other end of the first joint and is connected with the first joint in a rotating mode through a tail end shaft, a third joint is arranged at the other end of the second joint and is connected with the second joint in a rotating mode through a front end shaft, action operation of the hand joint of the human body can be simulated, and grabbing efficiency of the anthropomorphic mechanical gripper is improved.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the visual working module can help the industrial robot to acquire remark information of a processed object, and then the operation of a corresponding instruction is carried out according to the remark information, the visual working module comprises a modem box, the modem box is connected with the electronic shaft rod through a bracket, a group of matrix scanning probes are arranged outside the visual working module, each matrix scanning probe consists of a plurality of shooting probes and can shoot scene information in front of the industrial robot in a large range, an infrared distance sensor is also arranged above each matrix scanning probe, the distance information between the anthropomorphic mechanical gripper and an object can be sensed through the infrared distance sensor, and the system is helped to control the feeding operation between the mechanical shaft arms;
2. the anthropomorphic mechanical claw mainly comprises a first joint, a second joint and a third joint, wherein the first joint can be in sliding connection with a power shaft box, the first joint is the same as a root joint of a human finger, the second joint is the same as a middle joint of the human finger, the second joint is rotatably connected with the first joint through a tail end shaft, the third joint is the same as a fingertip joint of the human finger, and the third joint is rotatably connected with the second joint through a front end shaft;
3. after the visual working module is installed, a signal line end on one side of the visual working module is in butt joint with a signal data port on the terminal mechanical shaft arm, so that information acquired by the visual working module can be transmitted to the terminal mechanical shaft arm, the signal is sent to the remote signal control box through the terminal mechanical shaft arm, the signal antenna can receive a control signal sent by an internal system of the terminal mechanical shaft arm, the signal is judged and processed, and then an operation instruction is sent to the mechanical arm structure.
Drawings
FIG. 1 is an overall front view of the present invention;
FIG. 2 is a schematic structural diagram of a mechanical end shaft arm according to the present invention;
FIG. 3 is a schematic structural view of an anthropomorphic manipulator of the present invention;
FIG. 4 is a schematic diagram of a visual work module according to the present invention;
fig. 5 is a schematic structural diagram of a remote signal control box according to the present invention.
In the figure: the device comprises a mounting base 1, a mechanical arm driving shaft platform 2, a metal supporting shaft bracket 3, a remote signal control box 4, a torque mechanical shaft arm 5, a first driving shaft 6, a middle-range motor 7, a switching mechanical shaft arm 8, a second driving shaft 9, a rotating shaft disc 10, a terminal mechanical shaft arm 11, an inner shaft rotary groove 12, an electronic shaft rod 13, a anthropomorphic mechanical gripper 14, a signal data port 15, a needle type slot 16, a clamp shaft disc 17, a clamp butt joint block 18, a control induction rod 19, a visual working module 20, a modem box 21, a signal wire end 22, an infrared distance sensor 23, a protective frame 24, a matrix type scanning probe 25, a fixed sleeve shaft 26, a power shaft box 27, a first joint 28, a second joint 29, a third joint 30, a tail end shaft 31, a front end shaft 32, an emergency switch module 33 and a signal antenna 34.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, an embodiment of the present invention is shown: a high-flexibility industrial robot manipulator structure comprises a mounting base 1, a whole robot module can be mounted in a designated working area through the mounting base 1, a mechanical arm driving shaft platform 2 is arranged above the mounting base 1, the mechanical arm driving shaft platform 2 is rotatably connected with the mounting base 1 to realize three-hundred-sixty-degree dead-angle-free rotation, a torque mechanical shaft arm 5 is arranged above the mechanical arm driving shaft platform 2, the torque mechanical shaft arm 5 is longer relative to other mechanical shaft arms, so that the bearing capacity of the whole mechanical arm assembly can be increased, a switching mechanical shaft arm 8 is arranged above the torque mechanical shaft arm 5, the switching mechanical shaft arm 8 is used as a link structure between the other two groups of mechanical shaft arms and is connected with the other two groups of mechanical shaft arms through two different connection modes, and a terminal mechanical shaft arm 11 is arranged at the other end of the switching mechanical shaft arm 8, a circuit control system is arranged inside the terminal mechanical shaft arm 11, a signal data port 15 is arranged on the surface of one side of the terminal mechanical shaft arm 11, the signal data port 15 is fixedly connected with the terminal mechanical shaft arm 11, the signal data port 15 is connected with a circuit system inside the terminal mechanical shaft arm 11, a needle type slot 16 is arranged on the outer surface of the signal data port 15, an inner rotary groove 12 is arranged at the other end of the terminal mechanical shaft arm 11, an electronic shaft rod 13 is arranged inside the inner rotary groove 12, the electronic shaft rod 13 is rotatably connected with the terminal mechanical shaft arm 11 through the inner rotary groove 12, a clamp shaft disc 17 is arranged at the other end of the electronic shaft rod 13, the clamp shaft disc 17 is rotatably connected with the electronic shaft rod 13, a clamp butt joint block 18 is arranged outside the clamp shaft disc 17 and can be provided with different included angle models, and the clamp butt joint block 18 is connected with the clamp shaft disc 17 through bolts, the outside of anchor clamps butt joint piece 18 is provided with control response pole 19, and control response pole 19 and electronic shaft pole 13 electric connection, and control response pole 19 can dock with the inside response groove of anthropomorphic mechanical gripper utensil 14 to establish the connection, realize synchronous operation, the other end of anchor clamps butt joint piece 18 is provided with anthropomorphic mechanical gripper utensil 14, can realize the operation of snatching of similar human hand through anthropomorphic mechanical gripper utensil 14.
Further, the top of the mechanical arm driving shaft platform 2 is provided with a metal supporting shaft bracket 3, the metal supporting shaft bracket 3 is connected with the mechanical arm driving shaft platform 2 through a bolt, a first driving shaft 6 is arranged above the metal supporting shaft bracket 3, and the metal supporting shaft bracket 3 is rotatably connected with the torque mechanical shaft arm 5 through the first driving shaft 6.
Further, the inner side of the moment mechanical shaft arm 5 is provided with a middle-range motor 7, a second driving shaft 9 is arranged above the middle-range motor 7, the second driving shaft 9 is electrically connected with the middle-range motor 7, and the moment mechanical shaft arm 5 is rotatably connected with the switching mechanical shaft arm 8 through the second driving shaft 9.
Further, the surface of one end of the switching mechanical shaft arm 8 is provided with a rotating shaft disc 10, the rotating shaft disc 10 is connected with the switching mechanical shaft arm 8 through a bolt, the switching mechanical shaft arm 8 is rotatably connected with the terminal mechanical shaft arm 11 through the rotating shaft disc 10, and the terminal mechanical shaft arm 11 can be rotatably adjusted along the rotating shaft disc 10.
Further, a visual work module 20 is arranged above one end of the electronic shaft rod 13, the visual work module 20 is similar to a human visual system, the industrial robot can be helped to obtain remark information of a processed article through the visual work module 20, and then corresponding instruction operation is carried out according to the remark information, the visual work module 20 comprises a modem box 21, the modem box 21 is connected with the electronic shaft rod 13 through a bracket, a protection frame 24 is arranged on the outer surface of the modem box 21 and plays a role in protection, a matrix type scanning probe 25 is arranged on the inner side of the protection frame 24, the matrix type scanning probe 25 is composed of a plurality of shooting probes and can shoot scene information in front of the industrial robot in a large range, an infrared distance sensor 23 is arranged above the matrix type scanning probe 25, the model of the infrared distance sensor 23 is GP3YOD012, and distance information between the anthropomorphic mechanical gripper 14 and an object can be sensed through the infrared distance sensor 23, the help system controls the feeding operation between the mechanical shaft arms.
Further, a signal line end 22 is arranged on one side of the modem box 21, the signal line end 22 is connected with the signal data port 15 through the needle type slot 16, after the visual work module 20 is installed, the signal line end 22 on one side of the visual work module is in butt joint with the signal data port 15 on the terminal mechanical shaft arm 11, so that information acquired by the visual work module 20 can be transmitted to the terminal mechanical shaft arm 11, and then signals are sent to the remote signal control box 4 through the terminal mechanical shaft arm 11.
Further, one side of the mechanical arm driving shaft platform 2 is provided with a remote signal control box 4, the outer surface of the remote signal control box 4 is provided with an emergency switch module 33 for controlling a power switch of the whole robot, one side of the remote signal control box 4 is provided with a signal antenna 34, the signal antenna 34 can receive a control signal sent by an internal system of the terminal mechanical shaft arm 11, the signal is judged and processed, and then an operation instruction is sent to the mechanical arm structure.
Further, the anthropomorphic mechanical gripper 14 comprises a power shaft box 27, the power shaft box 27 serves as a control module of the anthropomorphic mechanical gripper 14, can receive a control instruction from the modem box 21, controls the grabbing joint to work, is electrically connected with the control induction rod 19, one end of the power shaft box 27 is provided with a fixed sleeve shaft 26, the fixed sleeve shaft 26 is connected with the clamp butt-joint block 18 through a bolt, and the anthropomorphic mechanical gripper 14 can be fixed on the clamp butt-joint block 18 at the tail end of the mechanical arm through the fixed sleeve shaft 26, so that the installation of the anthropomorphic mechanical gripper 14 is completed.
Further, the other end of the power shaft box 27 is provided with a first joint 28, the first joint 28 is connected with the power shaft box 27 in a sliding mode, the first joint 28 is the same as a root joint of a human finger, the other end of the first joint 28 is provided with a second joint 29, the second joint 29 is the same as a middle joint of the human finger, the second joint 29 is rotatably connected with the first joint 28 through a tail end shaft 31, the other end of the second joint 29 is provided with a third joint 30, the third joint 30 is rotatably connected with the second joint 29 through a front end shaft 32, and the third joint 30 is the same as a fingertip joint of the human finger.
The working principle is as follows: when the robot assembly is used, the whole robot assembly can be installed in a designated working area through the installation base 1, the mechanical arm driving shaft platform 2 above the installation base 1 can rotate at three hundred and sixty degrees without dead angles, the moment mechanical shaft arm 5 is arranged above the mechanical arm driving shaft platform 2, the moment mechanical shaft arm 5 is longer relative to other mechanical shaft arms, so that the bearing capacity of the whole mechanical arm assembly can be increased, the switching mechanical shaft arm 8 is arranged above the moment mechanical shaft arm 5, the switching mechanical shaft arm 8 is used as a link structure between the other two groups of mechanical shaft arms and is connected with the other two groups of mechanical shaft arms through two different connection modes, wherein the moment mechanical shaft arm 5 can swing up and down, the terminal mechanical shaft arm 11 can be rotationally adjusted, and a circuit control system is arranged inside the terminal mechanical shaft arm 11, after the visual work module 20 is installed, the signal line end 22 on one side of the visual work module needs to be in butt joint with the signal data port 15 on the terminal mechanical shaft arm 11, so that information acquired by the visual work module 20 can be transmitted to the terminal mechanical shaft arm 11, then the signal is sent to the remote signal control box 4 through the terminal mechanical shaft arm 11, the visual work module 20 is similar to a human visual system, the industrial robot can be helped to acquire remark information of a processed object through the visual work module 20, then operation of a corresponding instruction is carried out according to the remark information, finally, the signal antenna 34 judges and processes the signal when receiving a control signal sent by an internal system of the terminal mechanical shaft arm 11, and then an operation instruction is sent to the mechanical arm structure.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. An industrial robot manipulator structure that flexibility is high, includes mounting base (1), its characterized in that: a mechanical arm driving shaft platform (2) is arranged above the mounting base (1), the mechanical arm driving shaft platform (2) is rotatably connected with the mounting base (1), a torque mechanical shaft arm (5) is arranged above the mechanical arm driving shaft platform (2), a switching mechanical shaft arm (8) is arranged above the torque mechanical shaft arm (5), a terminal mechanical shaft arm (11) is arranged at the other end of the switching mechanical shaft arm (8), a signal data port (15) is arranged on the surface of one side of the terminal mechanical shaft arm (11), the signal data port (15) is fixedly connected with the terminal mechanical shaft arm (11), a needle type inner shaft slot (16) is arranged on the outer surface of the signal data port (15), a rotary slot (12) is arranged at the other end of the terminal mechanical shaft arm (11), and an electronic shaft lever (13) is arranged inside the inner shaft slot (12), the electronic shaft lever (13) is rotatably connected with the terminal mechanical shaft arm (11) through an inner shaft rotating groove (12), a clamp shaft disc (17) is arranged at the other end of the electronic shaft lever (13), the clamp shaft disc (17) is rotatably connected with the electronic shaft lever (13), a clamp butt joint block (18) is arranged on the outer side of the clamp shaft disc (17), the clamp butt joint block (18) is connected with the clamp shaft disc (17) through bolts, a control induction rod (19) is arranged on the outer side of the clamp butt joint block (18), the control induction rod (19) is electrically connected with the electronic shaft lever (13), and an anthropomorphic mechanical claw (14) is arranged at the other end of the clamp butt joint block (18).
2. A highly flexible manipulator structure for an industrial robot according to claim 1, characterized in that: the top of arm driving pillow block (2) is provided with metal support pedestal (3), and metal support pedestal (3) pass through bolted connection with arm driving pillow block (2), the top of metal support pedestal (3) is provided with first drive shaft (6), and metal support pedestal (3) rotate with moment machinery axostylus axostyle (5) through first drive shaft (6) and be connected.
3. A highly flexible manipulator structure for an industrial robot according to claim 1, characterized in that: the torque mechanical shaft arm is characterized in that a middle-range motor (7) is arranged on the inner side of the torque mechanical shaft arm (5), a second driving shaft (9) is arranged above the middle-range motor (7), the second driving shaft (9) is electrically connected with the middle-range motor (7), and the torque mechanical shaft arm (5) is rotatably connected with a switching mechanical shaft arm (8) through the second driving shaft (9).
4. A highly flexible manipulator structure for an industrial robot according to claim 1, characterized in that: the surface of one end of the switching mechanical shaft arm (8) is provided with a rotating shaft disc (10), the rotating shaft disc (10) is connected with the switching mechanical shaft arm (8) through a bolt, and the switching mechanical shaft arm (8) is rotatably connected with a terminal mechanical shaft arm (11) through the rotating shaft disc (10).
5. A highly flexible manipulator structure for an industrial robot according to claim 1, characterized in that: the utility model discloses an electronic device, including electron axostylus axostyle (13), the top of electron axostylus axostyle (13) one end is provided with vision work module (20), vision work module (20) are including modem box (21), and modem box (21) pass through the leg joint with electron axostylus axostyle (13), the surface of modem box (21) is provided with protecting frame (24), the inboard of protecting frame (24) is provided with matrix scanning probe (25), the top of matrix scanning probe (25) is provided with infrared distance inductor (23), and the model of infrared distance inductor (23) is GP3YOD 012.
6. A highly flexible manipulator structure for an industrial robot according to claim 5, characterized in that: and a signal wire end (22) is arranged on one side of the modem box (21), and the signal wire end (22) is connected with the signal data port (15) through a needle type slot (16).
7. A highly flexible manipulator structure for an industrial robot according to claim 1, characterized in that: one side of arm drive pillow block (2) is provided with remote signal control box (4), the surface of remote signal control box (4) is provided with emergency switch module (33), and one side of remote signal control box (4) is provided with signal antenna (34).
8. A highly flexible manipulator structure for an industrial robot according to claim 1, characterized in that: the anthropomorphic mechanical gripper (14) comprises a power supply shaft box (27), the power supply shaft box (27) is electrically connected with the control induction rod (19), a fixed sleeve shaft (26) is arranged at one end of the power supply shaft box (27), and the fixed sleeve shaft (26) is connected with the clamp butt joint block (18) through a bolt.
9. The robot hand structure of an industrial robot having high flexibility according to claim 8, wherein: the other end of power axle box (27) is provided with first joint (28), and first joint (28) and power axle box (27) sliding connection, the other end of first joint (28) is provided with second joint (29), and second joint (29) and first joint (28) rotate through tail end axle (31) and be connected, the other end of second joint (29) is provided with third joint (30), and third joint (30) and second joint (29) rotate through front end axle (32) and are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010719334.XA CN111993447A (en) | 2020-07-23 | 2020-07-23 | Industrial robot manipulator structure with high flexibility and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010719334.XA CN111993447A (en) | 2020-07-23 | 2020-07-23 | Industrial robot manipulator structure with high flexibility and use method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111993447A true CN111993447A (en) | 2020-11-27 |
Family
ID=73467784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010719334.XA Pending CN111993447A (en) | 2020-07-23 | 2020-07-23 | Industrial robot manipulator structure with high flexibility and use method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111993447A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664614A (en) * | 2021-09-03 | 2021-11-19 | 江苏图灵智能机器人有限公司 | Robot capable of realizing online high-precision measurement based on six degrees of freedom |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204622060U (en) * | 2015-04-29 | 2015-09-09 | 北京农业智能装备技术研究中心 | fruit and vegetable picking robot mechanical arm and robot |
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN105666485A (en) * | 2016-03-28 | 2016-06-15 | 桂林电子科技大学 | Automatic identifying and positioning chess placing robot based on image processing |
| CN106926266A (en) * | 2017-02-27 | 2017-07-07 | 哈尔滨工业大学深圳研究生院 | A kind of rope drives the mechanical clamping device of linkage |
| CN207807733U (en) * | 2018-01-23 | 2018-09-04 | 东莞市海亿机械设备有限公司 | A kind of six axis robot |
| CN108544153A (en) * | 2018-04-23 | 2018-09-18 | 哈尔滨阿尔特机器人技术有限公司 | A kind of vision robot's system for Tube-sheet Welding |
| CN208529147U (en) * | 2018-03-02 | 2019-02-22 | 淮阴师范学院 | A kind of wireless remote control trolley mechanical arm |
| CN208729783U (en) * | 2018-07-26 | 2019-04-12 | 宿迁学院 | A kind of six-joint robot of Multi-sensor Fusion |
| CN110509300A (en) * | 2019-09-30 | 2019-11-29 | 河南埃尔森智能科技有限公司 | Stirrup processing feeding control system and control method based on 3D vision guidance |
-
2020
- 2020-07-23 CN CN202010719334.XA patent/CN111993447A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204622060U (en) * | 2015-04-29 | 2015-09-09 | 北京农业智能装备技术研究中心 | fruit and vegetable picking robot mechanical arm and robot |
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN105666485A (en) * | 2016-03-28 | 2016-06-15 | 桂林电子科技大学 | Automatic identifying and positioning chess placing robot based on image processing |
| CN106926266A (en) * | 2017-02-27 | 2017-07-07 | 哈尔滨工业大学深圳研究生院 | A kind of rope drives the mechanical clamping device of linkage |
| CN207807733U (en) * | 2018-01-23 | 2018-09-04 | 东莞市海亿机械设备有限公司 | A kind of six axis robot |
| CN208529147U (en) * | 2018-03-02 | 2019-02-22 | 淮阴师范学院 | A kind of wireless remote control trolley mechanical arm |
| CN108544153A (en) * | 2018-04-23 | 2018-09-18 | 哈尔滨阿尔特机器人技术有限公司 | A kind of vision robot's system for Tube-sheet Welding |
| CN208729783U (en) * | 2018-07-26 | 2019-04-12 | 宿迁学院 | A kind of six-joint robot of Multi-sensor Fusion |
| CN110509300A (en) * | 2019-09-30 | 2019-11-29 | 河南埃尔森智能科技有限公司 | Stirrup processing feeding control system and control method based on 3D vision guidance |
Non-Patent Citations (1)
| Title |
|---|
| 李建: "《虚拟现实（VR）技术与应用》", 31 January 2018, 河南大学出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664614A (en) * | 2021-09-03 | 2021-11-19 | 江苏图灵智能机器人有限公司 | Robot capable of realizing online high-precision measurement based on six degrees of freedom |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107433573B (en) | Intelligent binocular automatic grabbing mechanical arm | |
| CN103303449B (en) | A kind of under-water operation robot | |
| CN106584093A (en) | Self-assembly system and method for industrial robots | |
| CN108582025A (en) | Logistics robot palletizer trolley and its carrying palletizing method | |
| CN111042752A (en) | Positioning device and method for drill rod loading and unloading manipulator | |
| CN209682199U (en) | A kind of mine monitoring rail polling robot | |
| CN208729783U (en) | A kind of six-joint robot of Multi-sensor Fusion | |
| CN107598920A (en) | A kind of manipulator of view-based access control model control | |
| CN111360787B (en) | Seven-degree-of-freedom serial-parallel hybrid mechanical arm and robot | |
| CN108908348B (en) | Intelligent crawling robot for tower patrol | |
| CN111993447A (en) | Industrial robot manipulator structure with high flexibility and use method thereof | |
| CN106584484B (en) | Fuselage rotary overhead line operation robot structure and application | |
| CN110402683B (en) | Intelligent cotton picker and control method thereof | |
| CN210256123U (en) | Parallel sorting robot convenient to install | |
| CN109176490A (en) | A kind of picking robot control system | |
| CN211827023U (en) | All-round monitoring robot of cable tunnel environment | |
| CN209755210U (en) | Manipulator positioning system based on binocular vision | |
| CN111571597A (en) | Under-actuated dead poultry picking manipulator | |
| CN209240007U (en) | A kind of intelligent industrial production equipment | |
| CN211230302U (en) | Positioning device for assembling and disassembling drill rod manipulator | |
| CN215836621U (en) | Silkworm pupa body pickup device | |
| CN115476379A (en) | Flexible robot and control method thereof | |
| CN208773584U (en) | A kind of picking robot control system | |
| CN114179068A (en) | Intelligent double-arm manipulator based on switched reluctance motor and control method | |
| CN209812315U (en) | Intelligent control's arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201127 |