CN204221785U - A kind of industrial robot - Google Patents
A kind of industrial robot Download PDFInfo
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- CN204221785U CN204221785U CN201420634349.6U CN201420634349U CN204221785U CN 204221785 U CN204221785 U CN 204221785U CN 201420634349 U CN201420634349 U CN 201420634349U CN 204221785 U CN204221785 U CN 204221785U
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- wrist
- guide rail
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Abstract
The utility model discloses a kind of industrial robot, by arranging horizontal drive shaft and vertical drive shaft drives the horizontal and vertical of wrist to move on fuselage, the parallelogram making a part for connecting rod, pull bar, large arm and upper arm constitute a four edges can mutually to rotate, also the wrist on upper arm and upper arm just can be driven to do level or move both vertically (principle being similar to pantograph), motion blind area is little.The movement locus of horizontal drive shaft and vertical drive shaft is straight line, brings facility to the programming of the servomotor driven.From stressing conditions, pull bar bears very large pulling force, significantly reduces the stressed of large arm, can reduce the cross-sectional area of large arm, makes large arm weight lighter, nor must use two or many large arm, simplify the structure.A kind of industrial robot of this utility model, more simply can realize the horizontal and vertical motion of manipulator, reduce motion blind area, reduce arm weight, reduce costs.
Description
Technical field
The utility model relates to industrial automation equipment field, is specifically related to a kind of industrial robot.
Background technology
Industrial robot is multi-joint manipulator towards industrial circle or multivariant robot.Industrial robot is the installations automatically performing work, is to lean on self power and control ability to realize a kind of machine of various function.It can accept mankind commander, also can run according to the program of layout in advance.
Within 1954, the U.S. wears the concept that Wal proposes industrial robot the earliest, nineteen fifty-nine, First industrial robot was born in the U.S., this industrial robot is by the joint of servo techniques control, realize the action being similar to staff, existing robot almost also adopts this control mode, just control more complicated and accurate, and more and more intelligent.
Industrial robot in the industrial production can for some long working that is dull, frequent and that repeat of oblige by doing, or the operation under dangerous, adverse circumstances, such as in the operations such as punching press, compression casting, heat treatment, welding, application, plastic products shaping, machining and simple assembling, and in the departments such as atomic energy industry, complete carrying or the technological operation of harmful material.And now along with the decline gradually of Chinese population bonus, enterprises using the labor cost rises steadily, and industrial robot has welcome new opportunity to develop.
At automatic packaging industry, the kind of common industrial robot has four axles and six axles, four axles can with except vertical axes except fuselage, the movable of arm can also be completed, vertical upper and lower with vertical rotation, the function except four axles of six axles, can also complete rotation and the swing of upper arm.Certainly also have the number of axle of its kind, can adapt to more use occasion, but the driving principle of this robot is substantially similar, mostly generally be joint rotary actuation, it has following multiple shortcoming:
1) realize the horizontal and vertical motion of manipulator, need the rotary motion in programming Control joint, its algorithm is very complicated;
2) the horizontal and vertical motion of the rotational movement manipulator in joint, blind area of often moving in addition;
3) 2 or many large-sized carrier bars will be used as large arm, and arm Heavy Weight, movement inertia are large, and machine loading is high, and action is sensitive not;
4) need to adopt expensive RV reductor or harmonic wave speed reducing machine.
Therefore, design a kind of novel industrial robot, more simply can realize the horizontal and vertical motion of manipulator, reduce motion blind area, reduce arm weight, reduce costs, simplifying structure, is this area technical issues that need to address.
Utility model content
The technical problems to be solved in the utility model: design a kind of novel industrial robot, more simply can realize the horizontal and vertical motion of manipulator, reduce motion blind area, reduce arm weight, reduce costs.
For solving the problems of the technologies described above, the technical solution of the utility model is as follows: a kind of industrial robot, comprise pedestal, fuselage, large arm, upper arm, wrist, described fuselage can rotate around vertical axis opposite base, described fuselage is provided with two guide rails, be respectively the horizontal guide rail of horizontal direction and the vertical guide rail of vertical direction, described horizontal guide rail and vertical guide rail are equipped with slide block, are respectively slide block one and slide block two; Be provided with in described horizontal guide rail and can move horizontally in described horizontal guide rail and drive the horizontal drive shaft of slide block one, be provided with in described vertical guide rail to do in described vertical guide rail and vertically move and drive the vertical drive shaft of slide block two; Described large arm is hinged to described slide block one apart from the position of its predeterminable range bottom by horizontal bearing pin one, and its upper end is hinged with described upper arm by horizontal bearing pin two; Described upper arm one end is provided with described wrist, and be wrist end, the other end is hinged with by horizontal bearing pin three pull bar only bearing pulling force, is drag link end, and described drag link end is less than the distance of described wrist end to described large arm to the distance of described large arm; Described pull bar upper end thereof is to described upper arm, and lower end is hinged to described slide block two by horizontal bearing pin four; Connecting rod is provided with between described pull bar and large arm, described connecting rod one end is hinged to described large arm lower end by horizontal bearing pin five, the other end is hinged to described horizontal bearing pin four, and described connecting rod is less than the distance of described upper arm to described horizontal bearing pin one to the distance of described horizontal bearing pin one.
Preferably, described wrist center is provided with vertical axis, and described wrist can rotate centered by described vertical axis.
Preferably, described wrist is connected on described upper arm by forearm, and described forearm can rotate with the axis of described upper arm.
Preferably, described wrist is hinged on described forearm by horizontal bearing pin six, and described wrist can swing based on described horizontal bearing pin six.Preferably, described horizontal guide rail and vertical guide rail are line slideway.
Preferably, described horizontal drive shaft and vertical drive shaft are equipped with the leading screw be mated, and described leading screw is connected to the output shaft of motor.
Preferably, described motor is a kind of servomotor.
Preferably, described leading screw is a kind of ball-screw.
Pass through technique scheme, a kind of industrial robot that the utility model provides, the horizontal and vertical motion of driving device hand is carried out by arranging horizontal drive shaft and vertical drive shaft on fuselage, specifically horizontal drive shaft is hinged in large arm, vertical drive shaft is connected to large arm and upper arm respectively by connecting rod and pull bar, the part of connecting rod, pull bar, large arm and upper arm constitutes the parallelogram that a four edges can rotate mutually, also the wrist on upper arm and upper arm just can be driven to do level or move both vertically (principle being similar to pantograph), motion blind area is little.The movement locus of horizontal drive shaft and vertical drive shaft is straight line, brings facility to the programming of the servomotor driven.From stressing conditions, pull bar bears very large pulling force, significantly reduces the stressing conditions of large arm, can reduce the cross-sectional area of large arm, makes large arm weight lighter, nor must use two or many large arm, simplify the structure.Its beneficial effect is: the horizontal and vertical motion that more simply can realize manipulator, reduces motion blind area, reduces arm weight, simplify structure, reduce costs.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of a kind of industrial robot disclosed in the utility model embodiment;
Fig. 2 is for a kind of industrial robot disclosed in the utility model embodiment is at the schematic diagram (comparing Fig. 1 slightly to simplify) of lifting heavy;
Weight is being put into the schematic diagram (comparing Fig. 1 slightly to simplify) of lower for a kind of industrial robot disclosed in the utility model embodiment by Fig. 3.
Numeral and the corresponding component title represented by letter in figure:
1. the pedestal 2. fuselage 21. horizontal guide rail 211. horizontal drive shaft 22. vertical guide rail 221. vertical drive shaft 3. large arm 4. upper arm 41. forearm 42. wrist 5. connecting rod 6. horizontal bearing pin 1 of the pull bar 71. horizontal bearing pin 3 74. of the horizontal bearing pin 2 73. horizontal bearing pin 5 76. of horizontal bearing pin 4 75. horizontal bearing pin 6 8. weight.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only a part of embodiment of the present utility model, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Principle of the present utility model is: the horizontal and vertical motion carrying out driving device hand by arranging horizontal drive shaft and vertical drive shaft on fuselage, specifically horizontal drive shaft is hinged in large arm, vertical drive shaft is connected to large arm and upper arm respectively by connecting rod and pull bar, the part of connecting rod, pull bar, large arm and upper arm constitutes the parallelogram that a four edges can rotate mutually, also the wrist on upper arm and upper arm just can be driven to do level or move both vertically (principle being similar to pantograph), motion blind area is little.The movement locus of horizontal drive shaft and vertical drive shaft is straight line, brings facility to the programming of the servomotor driven.From stressing conditions, pull bar bears very large pulling force, significantly reduces the stressing conditions of large arm, can reduce the cross-sectional area of large arm, makes large arm weight lighter, nor must use two or many large arm, simplify the structure.
Embodiment:
As Figure 1-3, a kind of industrial robot, comprise pedestal 1, fuselage 2, large arm 3, upper arm 4, wrist 42, fuselage 2 can rotate around vertical axis opposite base 1, fuselage is provided with two guide rails, be respectively the horizontal guide rail 21 of horizontal direction and the vertical guide rail 22 of vertical direction, horizontal guide rail 21 and vertical guide rail 22 are equipped with slide block, are respectively slide block one and slide block two (not illustrating in the drawings); Be provided with in horizontal guide rail and can move horizontally in horizontal guide rail and drive the horizontal drive shaft 211 of slide block one, be provided with in vertical guide rail to do in vertical guide rail and vertically move and drive the vertical drive shaft 221 of slide block two; Large arm 3 is hinged to slide block one apart from the position of its predeterminable range bottom by horizontal bearing pin 1, and its upper end is hinged with upper arm 4 by horizontal bearing pin 2 72; Upper arm 4 one end is provided with wrist 42, and be wrist end, the other end is hinged with the pull bar 6 only bearing pulling force by horizontal bearing pin 3 73, is drag link end, and drag link end is less than the distance of wrist end to large arm 3 to the distance of large arm 3; Pull bar 6 upper end thereof is to upper arm, and lower end is hinged to slide block two by horizontal bearing pin 4 74; Be provided with connecting rod 5 between pull bar 6 and large arm 3, connecting rod one end is hinged to large arm 3 lower end by horizontal bearing pin 5 75, and the other end is hinged to horizontal bearing pin 4 74, and connecting rod 5 is less than the distance of upper arm to horizontal bearing pin 1 to the distance of horizontal bearing pin 1.
The part of connecting rod 5, pull bar 6, large arm 3 and upper arm 4 constitutes the parallelogram (four edges is all hinged each other) that a four edges can rotate mutually, and the wrist on upper arm and upper arm also just can be driven to do level or move both vertically.This is similar to the principle of pantograph in fact, by the small distance movement of horizontal drive shaft or vertical drive shaft, drive the grand movement of wrist, and motion blind area is little.
The position relationship of horizontal guide rail 21 and vertical guide rail 22 also has requirement, from figure, see to be exactly horizontal guide rail the right at vertical guide rail, namely horizontal guide rail is in the centre of vertical guide rail and wrist, this is design on the right according to weight of the present utility model, so just can ensure the outside of pull bar in large arm, ensure that parallelogram has due function.
The movement locus of horizontal drive shaft 211 and vertical drive shaft 221 is all straight line, moves relative to the horizontal and vertical that rotary motion drives large arm, upper arm realizes wrist in control 2 joints, and much more simply the algorithm of its programming has been wanted.This is all understandable for those skilled in the art, is not described further.
Large arm 3 is hinged to slide block one apart from the position of its predeterminable range bottom by horizontal bearing pin 1, namely large arm is hinged to the position of slide block one near it bottom, but not bottom, because bottom, just cannot reach corresponding function, and near bottom, connecting rod to horizontal bearing pin once distance be less than the distance of upper arm to horizontal bearing pin one, in like manner, drag link end is less than the distance of wrist end to large arm to the distance of large arm.This is mainly in order to make horizontal drive shaft and vertical drive shaft when mobile small distance, wrist can be driven to move on a large scale, also can reduce blind area of moving.During actual fabrication, the ratio of the chances are 5:1, namely drag link end to the distance of large arm be wrist end to 1/5 of large arm distance, connecting rod is that upper arm arrives 1/5 of the distance of horizontal bearing pin one to the distance of horizontal bearing pin one.Certainly, other ratio is also fine, and the scope of just motion has difference.
As can be seen from the figure, wrist 42 is when capturing weight, and pull bar 6 can become to bear very large pulling force, and originally bearing large arm 3, the upper arm 4 of very large pressure and moment of flexure, especially large arm 3, it is stressed greatly reduces, therefore can reduce the area of its cross section, namely alleviate weight.And the bar footpath of pull bar does not need too large, because the object of same material and size, the moment of flexure that its pulling force born will bear much larger than it.
In the present embodiment, wrist 42 center is provided with vertical axis, and wrist can rotate centered by vertical axis.Like this, the goods of carrying can rotate by wrist, changes direction, the basic function of this Ye Shisizhou robot, is rotated and is generally realized by motor equal power device, concrete realize structure and can have a variety of, this is that those skilled in the art can understand, and no longer describes in detail.
In the present embodiment, wrist 42 is connected on upper arm 4 by forearm 41, and forearm 41 can rotate with the axis of upper arm 4.This function can realize toppling over goods, can be used in the occasion of particular/special requirement, and this is the function of six-joint robot.
In the present embodiment, wrist 42 is hinged on forearm 41 by horizontal bearing pin 6 76, and wrist 42 can swing based on horizontal bearing pin 6 76.This is also the function of six-joint robot.In the present embodiment, horizontal guide rail 21 and vertical guide rail 22 are line slideway.Line slideway has that precision is high, resistance is little, respond the features such as fast, can improve machine task efficiency.
In the present embodiment, horizontal drive shaft 211 and vertical drive shaft 221 are equipped with the leading screw be mated, and leading screw is connected to the output shaft of motor.Namely drive screw turns by motor, the rotation of leading screw drives the rectilinear movement of horizontal drive shaft or vertical drive shaft.Driven by leading screw, have that precision is high, hysterisis error is little, the advantage that speed ratio is large, efficiency is high is preferred mode.
In the present embodiment, motor is a kind of servomotor.Servomotor is a kind of conventional control motor, and compared to stepper motor etc., it has precision high (speed, position), high speed performance is good, overload capacity is large, stablize, respond the features such as quick, is that industrial robot preferably controls motor.
In the present embodiment, leading screw is a kind of ball-screw.Ball-screw has that precision is high, resistance is little, the feature of long service life.
In the above-described embodiments, a kind of industrial robot that the utility model provides, the horizontal and vertical motion of driving device hand is carried out by arranging horizontal drive shaft and vertical drive shaft on fuselage, specifically horizontal drive shaft is hinged in large arm, vertical drive shaft is connected to large arm and upper arm respectively by connecting rod and pull bar, the part of connecting rod, pull bar, large arm and upper arm constitutes the parallelogram that a four edges can rotate mutually, also the wrist on upper arm and upper arm just can be driven to do level or move both vertically (principle being similar to pantograph), motion blind area is little.The movement locus of horizontal drive shaft and vertical drive shaft is straight line, brings facility to the programming of the servomotor driven.From stressing conditions, pull bar bears very large pulling force, significantly reduces the stressing conditions of large arm, can reduce the cross-sectional area of large arm, makes large arm weight lighter, nor must use two or many large arm, simplify the structure.Its beneficial effect is: the horizontal and vertical motion that more simply can realize manipulator, reduces motion blind area, reduces arm weight, simplify structure, reduce costs.
Above-described is only preferred embodiment of the present utility model; it should be pointed out that for the person of ordinary skill of the art, under the prerequisite not departing from the utility model creation design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (8)
1. an industrial robot, comprise pedestal, fuselage, large arm, upper arm, wrist, described fuselage can rotate around vertical axis opposite base, it is characterized in that, described fuselage is provided with two guide rails, be respectively the horizontal guide rail of horizontal direction and the vertical guide rail of vertical direction, described horizontal guide rail and vertical guide rail are equipped with slide block, are respectively slide block one and slide block two; Be provided with in described horizontal guide rail and can move horizontally in described horizontal guide rail and drive the horizontal drive shaft of slide block one, be provided with in described vertical guide rail to do in described vertical guide rail and vertically move and drive the vertical drive shaft of slide block two; Described large arm is hinged to described slide block one apart from the position of its predeterminable range bottom by horizontal bearing pin one, and its upper end is hinged with described upper arm by horizontal bearing pin two; Described upper arm one end is provided with described wrist, and be wrist end, the other end is hinged with by horizontal bearing pin three pull bar only bearing pulling force, is drag link end, and described drag link end is less than the distance of described wrist end to described large arm to the distance of described large arm; Described pull bar upper end thereof is to described upper arm, and lower end is hinged to described slide block two by horizontal bearing pin four; Connecting rod is provided with between described pull bar and large arm, described connecting rod one end is hinged to described large arm lower end by horizontal bearing pin five, the other end is hinged to described horizontal bearing pin four, and described connecting rod is less than the distance of described upper arm to described horizontal bearing pin one to the distance of described horizontal bearing pin one.
2. a kind of industrial robot according to claim 1, is characterized in that, described wrist center is provided with vertical axis, and described wrist can rotate centered by described vertical axis.
3. a kind of industrial robot according to claim 1, is characterized in that, described wrist is connected on described upper arm by forearm, and described forearm can rotate with the axis of described upper arm.
4. a kind of industrial robot according to claim 1, is characterized in that, described wrist is hinged on described forearm by horizontal bearing pin six, and described wrist can swing based on described horizontal bearing pin six.
5. a kind of industrial robot according to claim 1, is characterized in that, described horizontal guide rail and vertical guide rail are line slideway.
6. a kind of industrial robot according to claim 1, is characterized in that, described horizontal drive shaft and vertical drive shaft are equipped with the leading screw be mated, and described leading screw is connected to the output shaft of motor.
7. a kind of industrial robot according to claim 6, is characterized in that, described motor is a kind of servomotor.
8. a kind of industrial robot according to claim 6, is characterized in that, described leading screw is a kind of ball-screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420634349.6U CN204221785U (en) | 2014-10-29 | 2014-10-29 | A kind of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420634349.6U CN204221785U (en) | 2014-10-29 | 2014-10-29 | A kind of industrial robot |
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| Publication Number | Publication Date |
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| CN204221785U true CN204221785U (en) | 2015-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420634349.6U Expired - Fee Related CN204221785U (en) | 2014-10-29 | 2014-10-29 | A kind of industrial robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104709713A (en) * | 2015-03-28 | 2015-06-17 | 苏州荣威工贸有限公司 | Double-pole bidirectional carrying robot based on parallelism principle |
| CN104723361A (en) * | 2015-03-28 | 2015-06-24 | 苏州荣威工贸有限公司 | Bidirectional parallelogram hinged structure on transfer robot |
| CN105619393A (en) * | 2014-10-29 | 2016-06-01 | 常州市海德工业自动化系统有限公司 | Industrial robot |
| CN106493719A (en) * | 2015-09-08 | 2017-03-15 | 微创（上海）医疗机器人有限公司 | Mechanical arm and robot |
| CN111633658A (en) * | 2020-06-08 | 2020-09-08 | 湖南翰坤实业有限公司 | Mechanical arm and enclosure cleaning equipment |
-
2014
- 2014-10-29 CN CN201420634349.6U patent/CN204221785U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619393A (en) * | 2014-10-29 | 2016-06-01 | 常州市海德工业自动化系统有限公司 | Industrial robot |
| CN104709713A (en) * | 2015-03-28 | 2015-06-17 | 苏州荣威工贸有限公司 | Double-pole bidirectional carrying robot based on parallelism principle |
| CN104723361A (en) * | 2015-03-28 | 2015-06-24 | 苏州荣威工贸有限公司 | Bidirectional parallelogram hinged structure on transfer robot |
| CN104723361B (en) * | 2015-03-28 | 2016-04-13 | 苏州荣威工贸有限公司 | Two-way parallelogram articulated system on a kind of transfer robot |
| CN106493719A (en) * | 2015-09-08 | 2017-03-15 | 微创（上海）医疗机器人有限公司 | Mechanical arm and robot |
| CN106493719B (en) * | 2015-09-08 | 2019-07-23 | 微创（上海）医疗机器人有限公司 | Mechanical arm and robot |
| CN111633658A (en) * | 2020-06-08 | 2020-09-08 | 湖南翰坤实业有限公司 | Mechanical arm and enclosure cleaning equipment |
| CN111633658B (en) * | 2020-06-08 | 2021-06-25 | 湖南翰坤实业有限公司 | Mechanical arm and enclosure cleaning equipment |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150325 Termination date: 20151029 |
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| EXPY | Termination of patent right or utility model |