CN203266665U

CN203266665U - Multi-degree of freedom type industrial robot

Info

Publication number: CN203266665U
Application number: CN 201320233164
Authority: CN
Inventors: 毛桂女
Original assignee: 毛桂女
Current assignee: SHENZHEN WEIXINGSHUN TECHNOLOGY CO., LTD.
Priority date: 2013-04-26
Filing date: 2013-04-26
Publication date: 2013-11-06
Anticipated expiration: 2023-04-26

Abstract

The utility model relates to a multi-degree of freedom type industrial robot which comprises a mechanical arm (1) on the upper portion, a rotary table (2) in the middle and a base (3) on the bottom. A rotary disc (6) is arranged on the base (3), the rotary table (2) is arranged on the rotary disc (6), and a cross beam (4) is arranged below the mechanical arm (1). The mechanical arm (1) is formed by a back base (7) at the back end, a front arm (8) in the middle and a wrist end (9) at the front section. A rotating wheel (12) and a servo motor (13) are arranged in the rotary table (2), and the front arm (8) and the wrist end (9) are connected through a revolving mechanism (18). According to the multi-degree of freedom type industrial robot, the revolving mechanism is arranged, the revolving mechanism drives the wrist end to rotate, therefore, degrees of freedom of the industrial robot are improved, and operational capacity is flexible.

Description

Multiple degrees of freedom formula industrial robot

Technical field

The utility model relates to a kind of industrial robot, further relates to a kind of multiple degrees of freedom formula industrial robot, belongs to industrial control field.

Background technology

Along with the development of society, people's living standard improves constantly, and various new products come one after another, and has come into people's life.And along with expanding economy, China is gradually from the low human cost epoch to expensive epoch transition, increase due to human cost, the use cost of enterprise also increases greatly, and in the face of keen competition, enterprise has to consider to cut down human cost, so uses industrial robot to replace manually becoming inexorable trend.Announce to use industrial robot in 2013 such as Foxconn, the human cost that rises steadily with reply.

Industrial robot is all very high automation equipments of a kind of automaticity and operating efficiency, its work is controlled by predefined program, complete regularly same action, these industrial robots spray paint at automobile making, cutting, die casting, mould widely, polishing, freight handling, packing and stacking etc. use in the field.For repetitive operation, the use of industrial robot can reduce workman's labour intensity widely, enhance productivity, and if program and machine failsafe, error and quality problems in the time of just can manual working not occurring.In addition, the most important thing is that the damage of industrial robot can not cause the problem of ethics, prevented the actual bodily harm of workman when operation, greatly reduced medical treatment cost.

The use of industrial robot has many good qualities, but also has corresponding defective and problem simultaneously, such as:

1. industrial robot general technology content is higher, and operation and maintenance needs the professional and technical personnel, and needs special staff to carry out on duty;

2. the price of industrial robot is generally higher, and equipment is valuable, if occur to lose or problem, enterprise is caused larger loss;

3. traditional industrial robot function is comparatively single, and structure is accurate not, and is unable to do what one wishes when carrying out high-accuracy operation;

4. often set-up function is less for traditional industrial robot, can't satisfy people to higher requirements in aspect such as functional, autonomous Design, expanded function explorations.

The utility model content

In order to overcome the deficiencies in the prior art, resolve the problem of prior art, make up the existing deficiency of existing product in the market.

the utility model provides a kind of multiple degrees of freedom formula industrial robot, the mechanical arm that comprises top, middle turntable and the base of bottom, be provided with rotating disc on described base, turntable is arranged on rotating disc, described mechanical arm below is provided with crossbeam, crossbeam connects respectively mechanical arm and turntable by connecting rod, described mechanical arm comprises the back seat of rear end, middle forearm and the wrist end of leading portion, be provided with runner and servomotor in described turntable, described forearm is connected by slew gear with the wrist end, described slew gear comprises pedestal and rotary table, wherein the pedestal of slew gear is fixed in the front end of forearm, rotary table is fixed in the rear end of wrist end.

Preferably, be provided with expansion link and gear train in above-mentioned back seat.

Preferably, above-mentioned servomotor side is provided with radiator.

Preferably, be provided with limit switch on above-mentioned base.

Preferably, above-mentioned connecting rod and turntable junction are provided with balancing pole.

Preferably, be provided with damping spring between above-mentioned crossbeam and mechanical arm.

The multiple degrees of freedom formula industrial robot that the utility model provides is compared with traditional industrial robot, the multiple degrees of freedom formula industrial robot that the utility model provides is by arranging slew gear, utilizing slew gear to drive the wrist end is rotated, make the free degree of industrial robot be improved, ability to work is more flexible and changeable.

Description of drawings

Fig. 1 is the utility model structural representation.

Mark in figure: 1-mechanical arm; The 2-turntable; The 3-base; The 4-crossbeam; The 5-connecting rod; The 6-rotating disc; The 7-back seat; The 8-forearm; 9-wrist end; The 10-expansion link; The 11-gear train; The 12-runner; The 13-servomotor; The 14-radiator; The 15-limit switch; The 16-balancing pole; The 17-damping spring; The 18-slew gear; The 19-pedestal; The 20-rotary table.

The specific embodiment

Understand and implement the utility model for the ease of those of ordinary skills, below in conjunction with the drawings and the specific embodiments, the utility model being described in further detail.

Be illustrated in figure 1 as multiple degrees of freedom formula industrial robot structure schematic diagram of the present utility model, main body comprises the mechanical arm 1 on top, the turntable 2 of centre and the base 3 of bottom.

Wherein, mechanical arm 1 comprises the back seat 7 of rear end, the forearm 8 of centre and the wrist end 9 of leading portion, is provided with expansion link 10 and gear train 11 in back seat 7.Expansion link 10 has been realized flexible in front and back of mechanical arm 1, and gear train 11 has been realized the fine adjustments that seesaws.At work, mechanical arm 1 is controlled after being responsible for rotating, and the wrist end 9 of leading portion can be installed various devices, and such as handgrip, plumb joint, sprayer etc. is to realize different functions.

Be provided with runner 12 and servomotor 13 in turntable 2, servomotor 13 provides electric power and control, and runner 12 is realized the rotation of mechanical arm 1.For the needs that dispel the heat, be provided with radiator 14 in servomotor 13 sides.

Be provided with rotating disc 6 on base 3, turntable 2 is arranged on rotating disc 6, is provided with limit switch 15 on base 3.

As shown in Figure 1, mechanical arm 1 below is provided with crossbeam 4, and crossbeam 4 connects respectively mechanical arm 1 and turntable 2 by connecting rod 5, and connecting rod 5 is provided with balancing pole 16 with turntable 2 junctions.In addition, in order to realize the needs of damping, be provided with damping spring 17 between crossbeam 4 and mechanical arm 1.

Innovative point of the present utility model is with inventive point: described forearm 8 is connected by slew gear 18 with wrist end 9, described slew gear 18 comprises pedestal 19 and rotary table 20, wherein the pedestal 19 of slew gear 18 is fixed in the front end of forearm 8, and rotary table 20 is fixed in the rear end of wrist end 9.

The specific embodiment of the above is better embodiment of the present utility model; be not to limit concrete practical range of the present utility model with this; scope of the present utility model comprises and is not limited to this specific embodiment, and the equivalence that all shapes according to the utility model, structure are done changes all in protection domain of the present utility model.

Claims

1. multiple degrees of freedom formula industrial robot, the mechanical arm (1) that comprises top, middle turntable (2) and the base (3) of bottom, be provided with rotating disc (6) on described base (3), turntable (2) is arranged on rotating disc (6), described mechanical arm (1) below is provided with crossbeam (4), crossbeam (4) connects respectively mechanical arm (1) and turntable (2) by connecting rod (5), described mechanical arm (1) comprises the back seat (7) of rear end, middle forearm (8) and the wrist end (9) of leading portion, be provided with runner (12) and servomotor (13) in described turntable (2), it is characterized in that: described forearm (8) is connected by slew gear (18) with wrist end (9), described slew gear (18) comprises pedestal (19) and rotary table (20), wherein the pedestal (19) of slew gear (18) is fixed in the front end of forearm (8), rotary table (20) is fixed in the rear end of wrist end (9).

2. multiple degrees of freedom formula industrial robot according to claim 1, is characterized in that: be provided with expansion link (10) and gear train (11) in described back seat (7).

3. multiple degrees of freedom formula industrial robot according to claim 1 is characterized in that: described servomotor (13) side is provided with radiator (14).

4. multiple degrees of freedom formula industrial robot according to claim 1, is characterized in that: be provided with limit switch (15) on described base (3).

5. multiple degrees of freedom formula industrial robot according to claim 1 is characterized in that: described connecting rod (5) is provided with balancing pole (16) with turntable (2) junction.

6. one of according to claim 1-5 described multiple degrees of freedom formula industrial robots, is characterized in that: be provided with damping spring (17) between described crossbeam (4) and mechanical arm (1).