CN202607664U - Robot drive structure - Google Patents
Robot drive structure Download PDFInfo
- Publication number
- CN202607664U CN202607664U CN 201220226820 CN201220226820U CN202607664U CN 202607664 U CN202607664 U CN 202607664U CN 201220226820 CN201220226820 CN 201220226820 CN 201220226820 U CN201220226820 U CN 201220226820U CN 202607664 U CN202607664 U CN 202607664U
- Authority
- CN
- China
- Prior art keywords
- arm
- robot
- segment
- joint
- flexible rigging
- 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.)
- Expired - Lifetime
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a robot drive structure. The structure comprises a base, a first arm, a second arm, at least two servo power devices, a drive wheel and a flexible rigging, wherein the first arm is hinged with the base, the second arm is hinged with the first arm, the drive wheel is arranged on the base, one of the servo power devices is arranged between the base and the first arm or between the first arm and the second arm, the drive wheel is connected with the other servo power device, the flexible rigging meshes with the drive wheel, one end of the flexible rigging is connected with the first arm, the second arm or the joint position of the first arm and the second arm, the flexible rigging is driven by the drive wheel to drive the first arm and the second arm to swing, and the two servo power devices drive the first arm and the second arm to move cooperatively. By the aid of the flexible rigging, the stress application point is close to a workpiece or an executive mechanism compared with a prior drive mode. Therefore, the stronger drive force is provided, the control error is reduced, and the loading capacity and absolute accuracy are improved.
Description
Technical field
The utility model relates to a kind of Drive Structure of field of mechanical technique, particularly relates to a kind of revolute robot's Drive Structure.
Background technology
The kind of robot Drive Structure is a lot of in the prior art, and revolute robot's Drive Structure becomes the principal mode of robot driving device structure because of the flexibility of its action receives extensive utilization.Revolute robot's Drive Structure has advantages such as motional inertia is little, resistance is little, the attitude variation is many, is widely used in aspects such as piling, carrying, welding and spraying.
Please refer to Fig. 1, Fig. 1 is the structural representation of a kind of set-up mode of robot of prior art.
Revolute robot's Drive Structure mainly comprises: the second joint arm 3 that a first segment arm 2 that rotatable pedestal 1, an end and pedestal are hinged and an end and first segment arm are hinged; An other end of the second joint arm 3 can be installed other lever arms or executing agency, and the suitable swing of the first segment arm 2 and the second joint arm 3 constitutes stretching, extension and the retraction and the various posture changing of robot.Above-mentioned motion can make end and lever arm mounted thereto or the executing agency of robot second joint arm 3 arrive the target location purpose of finishing the work.
Above-mentioned first segment arm 2, the second joint arm 3 and other lever arms are referred to as the mechanical arm of robot Drive Structure.
Wherein, the mechanical arm of the robot Drive Structure highest distance position that can arrive is called the radius of clean-up of robot apart from the distance of pedestal pivot; The terminal maximum lift weight of robot arm exhibition is called load capacity.
Though above-mentioned existing revolute robot's Drive Structure has the flexibility advantages of higher, its version, especially first segment arm 2 and second the joint arm 3 type of drive, to a great extent limit the load capacity and the radius of clean-up of robot.The relatively typical type of drive of above-mentioned existing revolute robot is: the swing power of first segment arm 2 comes from itself and the motor and the reductor of the hinged axial region of pedestal, second save arm 3 driving power come from the motor and the reductor of itself and first segment arm 2 articulated sections.
In conjunction with the said structure setting; We can draw; The driving power of existing revolute robot's arm all comes from its hinged pivot portion (being the root of swing arm); And the application point of this power is positioned at the end of swing arm, and according to lever principle, this type of drive needs power set that very big moment of torsion is provided.Especially reductor need bear very big load, and this has also proposed very high requirement of strength to reductor.Simultaneously, this kind structure is provided with and can makes the slight error of power set in centre obtain amplifying at the swing arm end, has reduced the levels of precision of operation.That is to say that the structure of existing revolute robot's Drive Structure and drive form have not only limited the load capacity and the radius of clean-up of robot Drive Structure, and influenced the positioning accuracy of robot Drive Structure.
Even the power set of some revolute robot's first segment arm 2 are not set directly at the jointed shaft position; But it also is to drive 2 motions of first segment arms through the pivot portion driving swing arm of power set or connecting rod etc.; Because type of drive is identical in fact, the defective of above-mentioned driving and generating also just still exists.
Therefore, the radius of clean-up and the equal difficulty of load capacity of existing robot Drive Structure have than quantum jump; The service behaviour that wants to improve the robot Drive Structure must find a new way.How under the less situation of power consumption, effectively improving the performances such as load capacity, the radius of clean-up and operating accuracy of robot Drive Structure, is the present technical issues that need to address of those skilled in the art.
The utility model content
The purpose of the utility model provides a kind of robot Drive Structure, can expand the ability to work (load capacity and the radius of clean-up) and the precision of robot, and this structure can also dispose the process auxiliary drive power that non-power consumption drives, and practices thrift to drive power and energy consumption.
For solving the problems of the technologies described above; The utility model provides a kind of robot Drive Structure; Comprise pedestal, with the hinged first segment arm of pedestal, second joint arm and at least two servo power devices hinged with the first segment arm; Also comprise the driving wheel and the flexible rigging that are positioned on the pedestal; Be provided with a servo power device between pedestal and the first segment arm or between the first segment arm and the second joint arm, be used for driving relative pedestal swing of first segment arm or the relative first segment arm swing of the second joint arm, driving wheel is connected with another servo power device; Flexible rigging and driving wheel engagement; And an end of flexible rigging is connected with the joint of first segment arm or the second joint arm or two joint arms, and flexible rigging is the pulling first segment arm and the second joint arm swing under said driving wheel drives, and said two the servo power device driven in common first segment arms and the second joint arm are realized cooperative motion.It is through power set being rigidly connected of robot arm to be driven and flexibly connect the aggregate motion that the mode that spurs combination is accomplished mechanical arm.
Preferably, said driving wheel is connected on the said pedestal through support arm, and the said flexible rigging of support arm supporting guide stretches to the tie point of flexible rigging and the first segment arm or the second joint arm.Preferably, said support arm contains hollow column, and column is positioned on the said pedestal, is provided with the weight that links to each other with flexible rigging in the column.
Preferably, an other end of said flexible rigging connects promising said first segment arm and the second joint arm provides the weight of auxiliary driving force.Preferably, an other end of said flexible rigging is connected to said first segment arm and second and saves cylinder or the spring that arm provides auxiliary driving force.
The robot Drive Structure of the utility model; Flexible rigging and robots arm's connecting portion can be at the far-end of arm, away from hinged pivot, and near workpiece or operating mechanism; Needed strength is far smaller than near the axle center and drives needed strength; Driving force can more directly act on the working position, and the robots arm is taken place by the flexible deformation and the flexible deformation is very little to the position degree influence of workpiece, has improved the precision of work; Because the existence of flexible rigging has reduced robots arm's flexible deformation, robots arm's structural strength can be littler, thereby the deadweight of minimizing robot and two joint arms are at the volley because of overcoming the energy that deadweight consumes, energy-conserving and environment-protective more; Because the existence of flexible rigging has reduced robots arm's the flexible deformation and the deadweight of mechanical arm, arm exhibition length can be bigger, thereby enlarge the radius of clean-up of robot.
Description of drawings
Fig. 1 is the structural representation of a kind of set-up mode of robot of prior art;
Fig. 2 is the structural representation of a kind of specific embodiment of robot Drive Structure that the utility model provided;
Fig. 3 is the structural representation of the another kind of specific embodiment of robot Drive Structure that the utility model provided.
The specific embodiment
The core of the utility model provides a kind of robot Drive Structure, and this robot Drive Structure can significantly improve its radius of clean-up and operating accuracy under the less situation of power consumption.
In order to make those skilled in the art person understand the scheme of the utility model better, the utility model is done further to specify below in conjunction with the accompanying drawing and the specific embodiment.
Please refer to Fig. 2, Fig. 2 provides the structural representation of a kind of specific embodiment of robot Drive Structure for the utility model.
The existing robots Drive Structure generally comprises pedestal 101 and is journaled into the mechanical arm on the pedestal 101.
Wherein, mechanical arm comprises that interconnective successively first segment arm 102, second saves arm 103 and the 3rd joint arm 104.Usually; The spin rotating shaft of pedestal is called as first (not shown); First segment arm 102 is journaled on the pedestal 101; Be hinged between the first segment arm 102 and the second joint arm 103; Between mechanical arm and the pedestal 101, between first segment arm 102 and the second joint arm 103, the second joint arm 103 is respectively equipped with second 202, the 3rd 203 and the 4th 204 with the 3rd joint between the arm 104, is equipped with motor and reductor respectively at second 202, the 3rd 203 and the 4th 204 places, so that move and control for the robot Drive Structure provides.
The swing of first segment arm 102 changes the angle of its relative horizontal plane; The swing of the second joint arm 103 changes its angle with respect to first segment arm 102; The variation that the variation of angle produces entire machine people attitude between the first segment arm 102 of robot and the second joint arm 103; Thereby make that the mechanical arm of robot is flexible, and then accomplish the conversion of the robot radius of clean-up and height.
The robot Drive Structure of the utility model comprises pedestal 101, with the hinged first segment arm 102 of pedestal 101, with the hinged second joint arm 103 of first segment arm 102, be positioned at support arm and flexible rigging 304 on the pedestal; Be provided with the first servo power device 105 between pedestal 101 and the first segment arm 102 or between the first segment arm 102 and the second joint arm 103; Support arm is provided with driving wheel 302; Driving wheel 302 is connected with the second servo power device 307; Flexible rigging 304 and driving wheel 302 engagements; One end of flexible rigging 304 is connected with the joint of first segment arm 102, the second joint arm 103 or two joint arms; Flexible rigging 304 pulling first segment arm 102 and second under driving wheel 302 drives saves arm 103 swings, and the first servo power device 105 and the second servo power device 307 receive the instruction action of self-controller (not shown), drives said first segment arm 102 and the second joint arm, 103 realization cooperative motions; Change the angle between first segment arm 102 and pedestal 101, first segment arm 102 and the second joint arm 103, realize that the various attitudes of robot change.
Particularly, the coordinated drive of the first servo power device 105 of robot Drive Structure and the second servo power device 307 is to accomplish like this:
The first servo power device 105 can drive the second joint arm 103 and swings or go up and down through drive 102 swings of first segment arm indirectly or directly, and the second servo power device 307 can be a spot wobble or a up-down with the 3rd 203 through driving wheel 302 and the flexible rigging 304 pullings second joint arm 103; The driving of the driving of the first servo power device 105 and the second servo power device 307 can be connected to the ROBOT CONTROL device; Robot controller is through calculating corresponding instruction; This instruction is delivered to the first servo power device 105 and the second servo power device 307; Under the control of this instruction, the first servo power device 105 and the 307 collaborative drivings of accomplishing the second joint arm 103 of the second servo power device, thus the end of feasible the 3rd joint arm 104 that links to each other with the second joint arm 103 arrives assigned address; Perhaps, finally realize lifting or the lowering function of robot Drive Structure to workpiece according to the route motion of appointment.
Driving method through above-mentioned robot Drive Structure; The mechanical arm of robot Drive Structure is accomplished swing or is gone up and down under the precision control of the first servo power device 105 and the second servo power device 307; Because flexible rigging 304 can be near workpiece with the driving part that is connected of the second joint arm 103; Driving force can more directly act on the working position, and the probability that the flexible deformation is taken place for the robot Drive Structure first segment arm 102 or the second joint arm 103 has reduced; Even the flexible deformation is taken place for the first segment arm 102 or the second joint arm 103, the influence that this distortion is confirmed the position of workpiece is also very little, and the operating accuracy of robot Drive Structure is improved.
Can the power set in the above-mentioned specific embodiment be improved.
The integral body that support arm can be made up of column 301 and side arm 306, this integral body can be crooked, also can be straight.Column 301 is installed on the pedestal 101, and side arm 306 is used for supporting and control flexible rigging 304.Side arm 306 tends to the tie point setting of flexible rigging 304 and the first segment arm 102 or the second joint arm 103.
The first servo power device 105 can be installed between pedestal 101 and the first segment arm 102, also can be in the hinged place of the first segment arm 102 and the second joint arm 103.
For better realizing the support and the control of 306 pairs of flexible riggings 304 of side arm; One or more directive wheels 303 can also be set on the side arm 306; Directive wheel 303 is used for supporting guide flexible rigging 304, and flexible rigging 304 pile warp driving wheel 302 successively is connected with mechanical arm afterwards with directive wheel 303.The power source of driving wheel 302 passes to mechanical arm with energy through flexible rigging 304, and flexible rigging 304 control second joint arm 103 under the guiding of driving wheel 302 and directive wheel 303 swings up and down, and accomplishes the course of work of robot Drive Structure.
Support arm at the utility model comprises that under the situation of column 301 and side arm 306, the driving wheel 302 on the support arm can exchange with directive wheel 303 positions.
In the preferred specific embodiment of another kind; The first servo power device 105 is installed in the hinged place of the first segment arm 102 and the second joint arm 103; On the pedestal 101 support arm is set, support arm is provided with driving wheel 302, the second servo power devices 307 and is mounted on the driving wheel 302; Flexible rigging 304 links to each other with the first segment arm 102 of said robot Drive Structure particularly, as shown in Figure 3.
For further alleviating the driving power of driving wheel 302 and robot driving device, can be equipped with liftable weight 305.Weight 305 is arranged on the support arm, and weight 305 is a free body, and weight 305 is connected the other end of flexible rigging 304, and weight 305 and mechanical arm are in the both sides of driving wheel 302 respectively.One end of flexible rigging 304 connects weight 305, and the other end is walked around driving wheel 302 and directive wheel 303 successively, is connected with the mechanical arm of robot at last.Weight 305 provides auxiliary driving force with its gravity to the first segment arm 102 and the second joint arm 103.
Support arm can be hollow legn; Column 301 in the support arm can be hollow column, and column 301 is positioned at the upside of pedestal 101, can be with pedestal 101 rotations or static; Column 301 can be arranged on the pivot of pedestal 101, also can depart from the pivot setting.Weight 305 can be built in column 301 inside, also can be arranged on the support arm outside, and promptly balance weight body 305 can be arranged on column 301 outsides.
In addition, an other end of said flexible rigging 304 can be connected to said first segment arm 102 and second and save cylinder or the spring that arm 103 provides auxiliary driving force.
Certainly, above-mentioned cylinder can also replace with hydraulic cylinder.Cylinder and hydraulic cylinder belong to known power set, and the not quite clear part of this paper please refer to the prior art associated description.
The utility model can be used for having the robot architecture of the above mechanical arm of two joints, can expand more mechanical arm on the promptly said first segment arm and the second joint arm.
Need to prove: the power set that power set that pedestal 101 and first segment arm are 102 or first segment arm 102 and the second joint arm are 103 only need one of them, can be the former, also can be the latter; The driving wheel 302 and directive wheel 303 positions of drive flexible rigging 304 can exchange; Support arm can also be bending or non-perpendicular; The arm side arm 306 that column 301 tops can not extend laterally, and the wheel that cooperates with flexible rigging 304 also possibly be one, flexible rigging 304 directly stretches out from column 301, connects the robots arm, and in some scenarios, the quantity of wheel maybe be above two; Can not have column 301 on the pedestal 101, driving wheel 302 is journaled on the pedestal 101, and flexible rigging 304 directly stretches out from driving wheel 302, connects the robots arm.
In addition, in other a kind of form of this type of drive, flexible rigging 304 can be connected with first segment arm 102.
Certainly, the servo power device also can be motor, especially servomotor or the hydraulic power that can accurately control etc.
More than the robot Drive Structure that the utility model provided has been carried out detailed introduction.Used concrete example among this paper the principle and the embodiment of the utility model are set forth, the explanation of above embodiment just is used to help to understand the method and the core concept thereof of the utility model.Should be understood that; For those skilled in the art; Under the prerequisite that does not break away from the utility model principle, can also carry out some improvement and modification to the utility model, these improvement and modification also fall in the protection domain of the utility model claim.
Claims (5)
1. robot Drive Structure; Comprise pedestal, with the hinged first segment arm of pedestal, second joint arm and at least two servo power devices hinged with the first segment arm; It is characterized in that; Also comprise the driving wheel and the flexible rigging that are positioned on the pedestal, be provided with a servo power device between said pedestal and the first segment arm or between the said first segment arm and the second joint arm, driving wheel is connected with another servo power device; Said flexible rigging and driving wheel engagement; One end of said flexible rigging is connected with the joint of said first segment arm, the second joint arm or two joint arms, and said flexible rigging is the said first segment arm of pulling and the second joint arm swing under said driving wheel drives, and said two the said first segment arms of servo power device driven in common and the second joint arm are realized cooperative motion.
2. robot as claimed in claim 1 Drive Structure is characterized in that, said driving wheel is connected on the said pedestal through support arm, and the said flexible rigging of said support arm supporting guide stretches to the tie point of said flexible rigging and the first segment arm or the second joint arm.
3. robot as claimed in claim 2 Drive Structure is characterized in that said support arm contains hollow column, and said column is positioned on the said pedestal, is provided with the weight that links to each other with said flexible rigging in the said column.
4. robot as claimed in claim 1 Drive Structure is characterized in that, an other end of said flexible rigging connects promising said first segment arm and second and saves the weight that arm provides auxiliary driving force.
5. robot as claimed in claim 1 Drive Structure is characterized in that, an other end of said flexible rigging is connected to said first segment arm and second and saves cylinder or the spring that arm provides auxiliary driving force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220226820 CN202607664U (en) | 2012-05-18 | 2012-05-18 | Robot drive structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220226820 CN202607664U (en) | 2012-05-18 | 2012-05-18 | Robot drive structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202607664U true CN202607664U (en) | 2012-12-19 |
Family
ID=47341395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220226820 Expired - Lifetime CN202607664U (en) | 2012-05-18 | 2012-05-18 | Robot drive structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202607664U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013170560A1 (en) * | 2012-05-18 | 2013-11-21 | Fan Hongbing | Robot driving structure |
-
2012
- 2012-05-18 CN CN 201220226820 patent/CN202607664U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013170560A1 (en) * | 2012-05-18 | 2013-11-21 | Fan Hongbing | Robot driving structure |
| CN103419189A (en) * | 2012-05-18 | 2013-12-04 | 范红兵 | Robot driving structure |
| CN103419189B (en) * | 2012-05-18 | 2016-05-18 | 范红兵 | A kind of robot drives structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103419189A (en) | Robot driving structure | |
| CN105945918A (en) | Five-degree-of-freedom series-parallel mechanism type controllable welding robot | |
| CN103722553B (en) | A kind of controlled welding robot of multiple freedom parallel mechanism formula | |
| CN104646881A (en) | Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism | |
| CN104552248A (en) | Multi-degree-of-freedom controllable mechanism type moving welding robot | |
| CN106041902A (en) | Four-freedom-degree ten-rod controllable mechanism type stacking robot | |
| CN101913153A (en) | Robot reinforcement method and device | |
| CN202607664U (en) | Robot drive structure | |
| CN104589309A (en) | Multi-freedom-degree parallel mechanism type controllable mobile welding robot | |
| CN201801315U (en) | Crane and shifting device thereof | |
| CN107571245A (en) | A kind of numerical control 6DOF parallel institution Minitype swing machine | |
| CN207104900U (en) | Four-shaft parallel movable disk and four-shaft parallel robot | |
| CN102229079B (en) | Edging polishing machine | |
| CN205998671U (en) | Profile steel stacker mechanical wrist part appearance position controlling organization | |
| CN221165661U (en) | Gantry crane | |
| CN204353677U (en) | A kind of welding manipulator and head section mechanism | |
| CN207522590U (en) | A kind of numerical control 6DOF parallel institution Minitype swing machine | |
| CN206185865U (en) | Hacking machine mechanical wrist portion translation device | |
| CN206727184U (en) | Pole group's tankage tipper | |
| CN205996972U (en) | Stacking machine mechanical wrist part translation mechanism | |
| CN104551476A (en) | Method for carrying out welding construction by using multi-freedom-degree rocker arm type connection rod mechanism | |
| CN104552255B (en) | A kind of multi-freedom-degreecontrollable controllable mechanism type welding robot | |
| CN104626103A (en) | Multi-freedom-degree parallel mechanism type controllable moving palletizing robot | |
| CN109604785A (en) | A kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism | |
| CN104551475A (en) | Method for carrying out welding construction by using rotation-controlled connection rod mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20121219 Effective date of abandoning: 20160518 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |