CN202895227U - Robot manipulator - Google Patents
Robot manipulator Download PDFInfo
- Publication number
- CN202895227U CN202895227U CN 201220584448 CN201220584448U CN202895227U CN 202895227 U CN202895227 U CN 202895227U CN 201220584448 CN201220584448 CN 201220584448 CN 201220584448 U CN201220584448 U CN 201220584448U CN 202895227 U CN202895227 U CN 202895227U
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- Prior art keywords
- axle
- synchronous pulley
- brake
- magnetic powder
- powder brake
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Abstract
The utility model discloses a robot manipulator which comprises a rotary part, a biaxial motor, a biaxial reducer, a vertical arm, a first synchronous pulley, a magnetic powder brake, a second synchronous pulley and a synchronous belt. The biaxial motor is fixedly connected to the rotary part. An output end of the biaxial motor is connected with an input end of the biaxial reducer. The vertical arm is provided with a rotary shaft. An output end of the biaxial reducer is connected with the vertical arm. The first synchronous pulley is fixedly disposed on the rotary shaft. The magnetic powder brake is provided with a brake shaft. The magnetic powder brake is fixedly connected to the rotary part. A line of the brake shaft is parallel with a line of the rotary shaft. The second synchronous pulley is fixedly connected with the brake shaft and on the same side with the first synchronous pulley. The second synchronous pulley is connected with the first synchronous pulley through the synchronous belt. The magnetic powder brake of the robot manipulator can always generate torque opposite to gravitational torque of a load when the robot manipulator operates at any angle, so that load of the biaxial motor of a robot is lessened.
Description
Technical field
The utility model relates to the robot field, relates in particular to a kind of robot mechanical arm.
Background technology
Existing industrial robot is because himself structure causes two spindle motors need to provide larger moment of torsion to satisfy need of work.In actual applications, from reducing cost, saving space equal angles triggering, people wish to alleviate the load of two spindle motors as far as possible.Therefore, people design the load that compensating cylinder alleviates two spindle motors, and balance cylinder technology is mainly spring balancing cylinder and nitrogen cylinder at present.
Yet the effect of compensating cylinder can only be within the specific limits, when the load center of gravity exceeds this scope, the moment of torsion that compensating cylinder provides the just gravity with load is identical apart from direction, this moment, compensating cylinder not only can not play balanced loaded effect, increased on the contrary the load of robot two spindle motors, reduce the service life of two spindle motors, increased cost of equipment maintenance.
The utility model content
The utility model is intended to solve above-mentioned problems of the prior art, proposes a kind of robot mechanical arm.
Robot mechanical arm of the present utility model comprises: pivoting part, two spindle motors, two axle decelerators, vertical arm, the first synchronous pulley, magnetic powder brake, the second synchronous pulley and Timing Belt, wherein: described two spindle motors are fixedly installed on the described pivoting part, and the output of described two spindle motors is connected with the input of described two axle decelerators; The output of described two axle decelerators is connected with described vertical arm, and described two axle decelerators are used for will described two axle decelerator input torque axis turning to the described two axle decelerator output moments of torsion after the amplification, and drive described vertical arm rotation; Described vertical arm has the single-revolution axle, and described the first synchronous pulley is fixedly installed on the described gyroaxis; Described magnetic powder brake has a brake axle, and described brake axle is used for transmitting torque; Described magnetic powder brake is fixedly installed on the described pivoting part, and described brake axle place straight line and described gyroaxis place straight line are parallel to each other; Described the second synchronous pulley is fixedly connected with described brake axle, and is positioned at homonymy with described the first synchronous pulley, and described the second synchronous pulley is connected with described the first synchronous pulley by described Timing Belt; Described magnetic powder brake can produce the moment of torsion with described synchronous pulley direction of rotation, to alleviate the load of described two spindle motors under the drive of described synchronous pulley.
The robot mechanical arm that the utility model proposes uses magnetic powder brake as robot two spindle motor counterweight balance devices, so that no matter robot mechanical arm is worked in which kind of angular range, magnetic powder brake can produce the moment of torsion with load gravitational moment opposite direction all the time, thereby alleviate the load of robot two spindle motors, reduce the power of two spindle motors.
Description of drawings
Below in conjunction with accompanying drawing the utility model is elaborated, wherein:
Fig. 1 is the robot mechanical arm stereogram one of the utility model one embodiment;
Fig. 2 is the robot mechanical arm stereogram two of the utility model one embodiment.
The specific embodiment
The below describes embodiment of the present utility model in detail, and the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, only be used for explaining the utility model, and can not be interpreted as restriction of the present utility model.
In description of the present utility model, term " interior ", " outward ", " vertically ", " laterally ", " on ", orientation or the position relationship of the indications such as D score, " top ", " end " be based on orientation shown in the drawings or position relationship, it only is the utility model rather than require the utility model with specific orientation structure and operation, therefore can not be interpreted as restriction of the present utility model for convenience of description.
Such as Fig. 1-robot mechanical arm of the present utility model shown in Figure 2, it comprises: pivoting part 100, two spindle motors 200, two axle decelerator (not shown), vertical arm 300, the first synchronous pulley 400, magnetic powder brake 500, the second synchronous pulley 600 and Timing Belt 700.
As shown in Figure 2, described two spindle motors 200 are fixedly installed on the described pivoting part 100, and the output of described two spindle motors 200 is connected with the input of described two axle decelerators.
The output of described two axle decelerators is connected with described vertical arm 300, described two axle decelerators are used for its input moment of torsion (being the output torque of described two spindle motors 200) is converted into described two axle decelerator output moments of torsion after the amplification, drive simultaneously described vertical arm 300 and rotate.
Described vertical arm 300 has the single-revolution axle, and described the first synchronous pulley 400 is fixedly installed on the described gyroaxis.
Described magnetic powder brake 500 has a brake axle, and described brake axle is used for transmitting torque.Described magnetic powder brake 500 is fixedly installed on the described pivoting part 100, and described brake axle place straight line and described gyroaxis place straight line are parallel to each other.
Described magnetic powder brake 500 is also with power line and external control device (not shown), and described power line is used for being connected with external power source, is described magnetic powder brake 500 power supplies; Described external control device is used for regulating described magnetic powder brake 500 inner magnet and swashs size of current, thereby the moment of torsion of different sizes is provided to the external world.
Described the second synchronous pulley 600 is fixedly connected with described brake axle, and is positioned at homonymy with described the first synchronous pulley 400, and described the second synchronous pulley 600 is connected with described the first synchronous pulley 400 by described Timing Belt 700.
Above a kind of robot mechanical arm structure and each the parts annexation thereof that the utility model proposes are introduced, the below is described further described robot mechanical arm operation principle.
At first to described two spindle motors 200 and 500 power supplies of described magnetic powder brake, when the described vertical arm 300 of carry load under the driving of two spindle motors 200 during around described gyroaxis motion, described the first synchronous pulley 400 is followed described vertical arm and is rotated synchronously, thereby further driving described the second synchronous pulley 600 by described Timing Belt 700 rotates, and then drive described brake axle and rotate, because described magnetic powder brake 500 has been switched on, its inner magnetic that produces swashs electric current so that described magnetic powder brake 500 produces a moment of torsion with described Timing Belt 700 direction of rotation at described brake axle place, and act on the described vertical arm 300 by described Timing Belt 700 and described the first synchronous pulley 400, thereby alleviated the load of described two spindle motors 200, reduced simultaneously the power output of described two spindle motors 200.
Particularly, it is relevant with the anglec of rotation of the load weight of carry and described vertical arm 300 that magnetic swashs choosing of size of current.Particularly, the load weight of supposing carry is M, and the distance of the described gyroaxis of described load distance is L, and described vertical arm 300 is α with the angle of vertical plane, and then the gravitational moment size of load generation is M * g * L * sin α, and wherein g is acceleration of gravity.The torque that described magnetic powder brake 500 provides is the product that magnetic swashs current strength I and constant K, wherein, constant K is relevant with employed described magnetic powder brake 500 models, can calculate by the torque characteristics figure in described magnetic powder brake 500 specifications, magnetic swashs current strength I and can adjust by the external control device of described magnetic powder brake 500.Suppose that the torque that described two spindle motors 200 provide is X, it is larger that so M * g * L * sin α=X+K * I, so magnetic swashs current strength I, and the torque X that described two spindle motors 200 need provide is less; It is less that magnetic swashs current strength I, and the torque X that described two spindle motors 200 need provide is larger.
Preferably, as shown in Figure 2, described robot mechanical arm also comprises a spindle motor 800 and an axle decelerator 900.
Wherein, a described spindle motor 800 is fixedly installed on the described pivoting part 100, and the output of a described spindle motor 800 is connected with the input of a described axle decelerator 900; The output of a described axle decelerator 900 links to each other with described pivoting part 100, a described axle decelerator 900 is used for its input moment of torsion (being the output torque of a described spindle motor 800) is converted into a described axle decelerator 900 output moments of torsion after the amplification, and drives described pivoting part 100 and rotate.
The robot mechanical arm that the utility model proposes uses described magnetic powder brake 500 as the counterweight balance device of described two spindle motors 200, so that no matter described robot mechanical arm is worked in which kind of angular range, magnetic powder brake 500 can produce the moment of torsion with load gravitational moment opposite direction all the time, thereby alleviate the load of described two spindle motors 200, and reduce the power of described two spindle motors 200, reach the purpose that prolongs 200 service lifes of described two spindle motors, reduces cost of equipment maintenance.
Although the utility model is described with reference to current better embodiment; but those skilled in the art will be understood that; above-mentioned better embodiment only is used for illustrating the utility model; be not to limit protection domain of the present utility model; any within spirit of the present utility model and principle scope; any modification of doing, equivalence replacement, improvement etc. all should be included within the rights protection scope of the present utility model.
Claims (3)
1. robot mechanical arm comprises: pivoting part, two spindle motors, two axle decelerators, vertically arm, the first synchronous pulley, magnetic powder brake, the second synchronous pulley and Timing Belt is characterized in that:
Described two spindle motors are fixedly installed on the described pivoting part, and the output of described two spindle motors is connected with the input of described two axle decelerators;
The output of described two axle decelerators is connected with described vertical arm, and described two axle decelerators are used for will described two axle decelerator input torque axis turning to the described two axle decelerator output moments of torsion after the amplification, and drive described vertical arm rotation;
Described vertical arm has the single-revolution axle, and described the first synchronous pulley is fixedly installed on the described gyroaxis;
Described magnetic powder brake has a brake axle, and described brake axle is used for transmitting torque;
Described magnetic powder brake is fixedly installed on the described pivoting part, and described brake axle place straight line and described gyroaxis place straight line are parallel to each other;
Described the second synchronous pulley is fixedly connected with described brake axle, and is positioned at homonymy with described the first synchronous pulley, and described the second synchronous pulley is connected with described the first synchronous pulley by described Timing Belt;
Described magnetic powder brake can produce the moment of torsion with described synchronous pulley direction of rotation, to alleviate the load of described two spindle motors under the drive of described synchronous pulley.
2. robot mechanical arm as claimed in claim 1, it is characterized in that, described vertical arm drives described brake axle by described the first synchronous pulley, described Timing Belt and described the second synchronous pulley and rotates, described magnetic powder brake can produce the moment of torsion with described Timing Belt direction of rotation, and act on the described vertical arm by described Timing Belt, reach the purpose that alleviates described two spindle motor load.
3. robot mechanical arm as claimed in claim 1 is characterized in that, also comprises: a spindle motor and an axle decelerator, wherein:
A described spindle motor is fixedly installed on the described pivoting part, and the output of a described spindle motor is connected with the input of a described axle decelerator;
The output of a described axle decelerator links to each other with described pivoting part, and a described axle decelerator is used for will a described axle decelerator input torque axis turning to the described axle decelerator output moment of torsion after the amplification, and drives described pivoting part rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220584448 CN202895227U (en) | 2012-11-08 | 2012-11-08 | Robot manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220584448 CN202895227U (en) | 2012-11-08 | 2012-11-08 | Robot manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202895227U true CN202895227U (en) | 2013-04-24 |
Family
ID=48115942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220584448 Withdrawn - After Issue CN202895227U (en) | 2012-11-08 | 2012-11-08 | Robot manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202895227U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802096A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Robot mechanical arm |
| CN109202881A (en) * | 2017-06-29 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of industrial robot large arm mounting work station |
-
2012
- 2012-11-08 CN CN 201220584448 patent/CN202895227U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802096A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Robot mechanical arm |
| CN103802096B (en) * | 2012-11-08 | 2015-08-12 | 沈阳新松机器人自动化股份有限公司 | A kind of robot mechanical arm |
| CN109202881A (en) * | 2017-06-29 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of industrial robot large arm mounting work station |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130424 Effective date of abandoning: 20150812 |
|
| RGAV | Abandon patent right to avoid regrant |