CN204471373U - A kind of reconfigurable drag articulation type four axle robot - Google Patents
A kind of reconfigurable drag articulation type four axle robot Download PDFInfo
- Publication number
- CN204471373U CN204471373U CN201520078547.3U CN201520078547U CN204471373U CN 204471373 U CN204471373 U CN 204471373U CN 201520078547 U CN201520078547 U CN 201520078547U CN 204471373 U CN204471373 U CN 204471373U
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- shoulder
- waist
- arm
- wrist
- housing
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Abstract
A kind of reconfigurable drag articulation type four axle robot, it is characterized in that comprising wrist, arm, shoulder and waist, described wrist, arm, shoulder and waist are linked in sequence successively, connect for swinging between described wrist and arm, for being rotatably connected between described arm and shoulder, connect for swinging between described shoulder and waist.The utility model, is fixed on practical application mechanically by the fixed installation face of waist by the utility model robot; The shoulder of the utility model robot can realize swinging in the angle of the axial direction 360 ° of waist, arm can realize the circumferencial direction 360 ° rotation along shoulder, wrist can realize swinging in the angle of the axial direction 360 ° of arm, finally, the change in location of wrist free end is very flexible, greatly strengthen the function of the moving position of conventional machines people, wrist, arm, shoulder and waist realize the movable end of four sections of axial adjustment the utility model robots, and the operating position that can realize is wider.
Description
Technical field
The utility model relates to a kind of reconfigurable drag articulation type four axle robot, belongs to robotics.
Background technology
In recent years, along with the arriving of international automated manufacturing trend, domestic industry manufacturing industry is just at fast transformation, demand for automated software and hardware device is all can be in any more, in this process, the market demand of inevitable industrial robot is just in powerful rise, and industrial robot application is just constantly widened, and kind is more various.
At present, the industrial robot size majority that automatic industrial manufacturing line uses is larger, be not suitable for the operation carrying out crawl space, just stricter to the selection and Application of industrial robot, high-precision operation should be realized and also will improve industrial machine human reriability, the six-DOF robot structure not restructural of standard, defines its application scenario and secondary development simultaneously.
Utility model content
In order to solve above-mentioned Problems existing, the utility model discloses a kind of reconfigurable drag articulation type four axle robot, concrete scheme is as follows:
A kind of reconfigurable drag articulation type four axle robot, it is characterized in that comprising wrist, arm, shoulder and waist, described wrist, arm, shoulder and waist are linked in sequence successively, connect for swinging between described wrist and arm, for being rotatably connected between described arm and shoulder, connect for swinging between described shoulder and waist.
Described arm surface is provided with arm housing,
Cave inward in the middle part of one end of described arm housing the connecting hole of formation " recessed " font, laterally run through in this connecting hole and have an arms portion bearing, described wrist is connected with arm by this arm bearing, one end of described arm bearing is provided with synchronous pulley, wrist servomotor is also provided with in described arm housing, one end of this wrist servomotor is provided with synchronous pulley, and this synchronous pulley is connected by Timing Belt with the synchronous pulley of arm bearing end;
The other end of described arm housing is provided with outwardly directed adpting flange, is also provided with arm servomotor in arm housing.
Described shoulder surface is provided with shoulder housing,
One end of described shoulder housing is provided with rotary flange, the adpting flange of described rotary flange and arm is connected and fixed by connector, rotary drive mechanism is provided with in described shoulder housing, described rotary flange and rotary drive mechanism are connected with a joggle, shoulder servomotor is provided with in described shoulder housing, the rotary drive mechanism of described shoulder servomotor connection control shoulder, rotary flange can rotate around the longitudinal axis of shoulder;
The other end of described shoulder housing is provided with mounting flange, and described shoulder housing is connected with waist by mounting flange.
Described waist surface is provided with waist housing, and one end of described waist housing arranges fixed installation face, and the other end of waist housing arranges swing swivel base.
One end of described swing swivel base is connected with waist by the waist bearing that is horizontally installed in waist, one end of described waist bearing is provided with synchronous pulley, waist servomotor is provided with in described waist housing, described waist servomotor connects synchronous pulley by driving member, this synchronous pulley is connected by Timing Belt with the synchronous pulley of waist bearing end
The described other end of swing swivel base is connected with the mounting flange of shoulder.
Described waist bearing with swing swivel base, arm bearing and wrist and shoulder housing and rotary flange and be and be connected by meshing transmission.
All run through in described wrist, arm, shoulder and waist and have cable, described cable is connected with wrist servomotor, arm servomotor, shoulder servomotor and waist servomotor, described waist housing is provided with cable quick socket, be provided with hollow tube in described shoulder, described cable passes shoulder from hollow tube.
Described wrist, arm, shoulder and waist are provided with oiling peep hole, and described oiling peep hole is connected respectively to engaged transmission position corresponding in wrist, arm, shoulder and waist.
The free end of described wrist is provided with ring flange.
Operation principle of the present utility model is:
The utility model, is fixed on practical application mechanically by the fixed installation face of waist by the utility model robot; The shoulder of the utility model robot can realize swinging in the angle of the axial direction 360 ° of waist, arm can realize the circumferencial direction 360 ° rotation along shoulder, wrist can realize swinging in the angle of the axial direction 360 ° of arm, finally, the change in location of wrist free end is very flexible, greatly strengthen the function of the moving position of conventional machines people, wrist, arm, shoulder and waist realize the movable end of four sections of axial adjustment the utility model robots, and the operating position that can realize is wider.
The fixed installation face of waist in actual use, is fixedly mounted on and sends order mechanically, by being switched on power by cable quick socket, robot being energized, being in and treating running status by the utility model, the order performed is run according to the utility model robot, the ring flange of wrist free end is installed and operates execution unit accordingly, such as, application the utility model robot is in welding field, be particularly useful for boat segmental, the welding of the inner tight space weld seam of the structural members such as coal mine hydraulic supporting, erecting and welding nozzle on the ring flange of wrist free end, pass through wrist, arm, shoulder and waist synchronous, sectional-regulated, the change in location of welding tip is more free and flexible in three dimensions, can realize, the accurate location of all angles and position, can according to welding procedure needs, realize the welding swinging welding and become gradient weld seam, the utility model robot also can be applied to carrying, capture simultaneously, and clamping device installed by the ring flange of wrist free end, after article firmly grasped by clamping device, and the path be transferred by wrist, arm, shoulder and waist setting article.
The beneficial effects of the utility model are:
1. the utility model wrist installs the mechanical part of executable operations, by the position of wrist, arm, shoulder and waist four sections of mechanical axis adjustment change wrist operating sides, regulates more flexible;
2. the shoulder swaying direction of the utility model robot and the direction of rotation of arm are in different cross sections, belong on the antarafacial of space and adjust, and the locus that can realize changing is more extensive;
3. the utility model can remove wrist or waist according to actual service condition, realize the locus adjustment of three sections of mechanical axis, or any one or more of removing in wrist, arm, shoulder and waist, for the purpose of task of can efficiently, accurately finishing the work, applying flexible;
4. the utility model assembling is simple, and the gap of engaged transmission part is adjustable, good rigidly, and transmission efficiency is high;
5. cable of the present utility model is from the inner cabling of wrist, arm, shoulder and waist, avoids cable winding, has taken into account the flexibility of each joint motions of robot simultaneously;
6. wrist of the present utility model, arm, shoulder and waist are provided with corresponding housing, protect inner each mechanism from the destruction of weld fumes, splashing and greasy dirt etc.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model,
Fig. 2 is the structural representation of wrist of the present utility model and arm,
Fig. 3 is the structural representation of shoulder of the present utility model,
Fig. 4 is waist structure schematic diagram of the present utility model,
Fig. 5 is the partial sectional view of wrist of the present utility model and arm junction,
Fig. 6 is an example structure schematic diagram (i.e. structural representation after removal waist) of the utility model practical application,
Reference numerals list: A1-wrist, A2-arm, A3-shoulder, A4-waist, 1-arm housing, 2-connecting hole, 3-synchronous pulley, 4-wrist servomotor, 5-Timing Belt, 6-adpting flange, 7-arm servomotor, 8-shoulder housing, 9-rotary flange, 10-mounting flange, 11-waist housing, 12-fixed installation face, 13-swing swivel base, 14-waist servomotor, 15-cable, 16-hollow tube, 17-cable quick socket, 18-ring flange.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, illustrate the utility model further.Following detailed description of the invention should be understood and be only not used in restriction scope of the present utility model for illustration of the utility model.It should be noted that, these accompanying drawings are the schematic diagram of simplification, only basic structure of the present utility model are described in a schematic way, and therefore it only shows the formation relevant with the utility model.
Fig. 1 is overall structure schematic diagram of the present utility model, visible by reference to the accompanying drawings, this reconfigurable drag articulation type four axle robot, comprise wrist A1, arm A2, shoulder A3 and waist A4, described wrist A1, arm A2, shoulder A3 and waist A4 are linked in sequence successively, connecting for swinging between described wrist A1 and arm A2, for being rotatably connected between described arm A2 and shoulder A3, connecting for swinging between described shoulder A3 and waist A4.
Fig. 2 is the structural representation of wrist A1 of the present utility model and arm A2, Fig. 3 is the structural representation of shoulder A3 of the present utility model, visible in conjunction with this two width accompanying drawing, described arm A2 surface is provided with arm housing 1, cave inward in the middle part of one end of described arm housing 1 connecting hole 2 of formation " recessed " font, laterally run through in this connecting hole 2 and have an arms portion A2 bearing, described wrist A1 is connected with arm A2 by this arm A2 bearing, one end of described arm A2 bearing is provided with synchronous pulley 3, wrist servomotor 4 is also provided with in described arm housing 1, one end of this wrist servomotor 4 is provided with synchronous pulley 3, this synchronous pulley 3 is connected by Timing Belt 5 with the synchronous pulley 3 of arm A2 bearing end, the other end of described arm housing 1 is provided with outwardly directed adpting flange 6, is also provided with arm A2 servomotor 7 in arm housing 1.
Fig. 3 is the structural representation of shoulder A3 of the present utility model, visible by reference to the accompanying drawings, described shoulder A3 surface is provided with shoulder A3 housing 8, one end of described shoulder A3 housing 8 is provided with rotary flange 9, described rotary flange 9 is connected and fixed by connector with the adpting flange 6 of arm A2, rotary drive mechanism is provided with in described shoulder A3 housing 8, described rotary flange 9 is connected with a joggle with rotary drive mechanism, shoulder A3 servomotor is provided with in described shoulder A3 housing 8, the rotary drive mechanism of described shoulder A3 servomotor connection control shoulder A3, rotary flange 9 can rotate around the longitudinal axis of shoulder A3, the other end of described shoulder A3 housing 8 is provided with mounting flange 10, and described shoulder A3 housing 8 is connected with waist A4 by mounting flange 10.
Fig. 4 is waist A4 structural representation of the present utility model, visible by reference to the accompanying drawings, and described waist A4 surface is provided with waist A4 housing 11, and one end of described waist A4 housing 11 arranges fixed installation face 12, and the other end of waist A4 housing 11 arranges and swings transposase 11 3.
One end of described swing transposase 11 3 is connected with waist A4 by the waist A4 bearing that is horizontally installed in waist A4, one end of described waist A4 bearing is provided with synchronous pulley 3, waist A4 servomotor 14 is provided with in described waist A4 housing 11, described waist A4 servomotor 14 connects synchronous pulley 3 by driving member, this synchronous pulley 3 is connected by Timing Belt 5 with the synchronous pulley 3 of waist A4 bearing end, and the other end of described swing transposase 11 3 is connected with the mounting flange 10 of shoulder A3.
Described waist A4 bearing with swing transposase 11 3, arm A2 bearing and wrist A1 and shoulder A3 housing 8 and rotary flange 9 and be and be connected by meshing transmission.Be connected by meshing transmission and make each parts under respective Serve Motor Control, complete corresponding action.
Fig. 5 is the partial sectional view of wrist A1 of the present utility model and arm A2 junction, visible by reference to the accompanying drawings, all run through in described wrist A1, arm A2, shoulder A3 and waist A4 and have cable 15, described cable 15 is connected with wrist servomotor 4, arm A2 servomotor 7, shoulder A3 servomotor and waist A4 servomotor 14, described waist A4 housing 11 is provided with cable 15 quick socket 17, be provided with hollow tube 16 in described shoulder A3, described cable 15 passes shoulder A3 from hollow tube 16.Power to wrist servomotor 4, arm A2 servomotor 7, shoulder A3 servomotor and waist A4 servomotor 14 by cable 15; can proper motion work; cable 15 quick socket 17 is for connecting cable 15 and power supply; hollow tube 16 pairs of cables 15 play a protective role; cable 15 is avoided to be wound into other things; cable 15 is in wrist A1, arm A2, junction between shoulder A3 and waist A4; more flexible, do not affect wrist A1, arm A2, shoulder A3 and waist A4 and perform an action separately.
Described wrist A1, arm A2, shoulder A3 and waist A4 are provided with oiling peep hole, and described oiling peep hole is connected respectively to engaged transmission position corresponding in wrist A1, arm A2, shoulder A3 and waist A4.Engaged transmission position needs applying lubricating oil to play reduction friction and transmission acts on smoothly, injects lubricating oil by oiling peep hole, and whether fully can wipe engaged transmission position lubricating oil by pipe, is convenient to timely supplementing.
The free end of described wrist A1 is provided with ring flange 18.Ring flange 18 is used for installing execution unit, can be reached flexibly by execution unit and perform position, come under conventional sense by the utility model, manually can not reach or cannot the execution position of operation in certain circumstances.
Fig. 6 is an example structure schematic diagram (i.e. structural representation after removal waist A4) of the utility model practical application, visible by reference to the accompanying drawings, after removing waist A4 of the present utility model, the utility model can use as three-axis robot, according to use actual needs, that can remove arbitrarily in wrist A1, arm A2, shoulder A3 and waist A4 is any one or more, the wrist A1, the arm A2 that need to use, multiple in shoulder A3 and waist A4 are coupled together, or is used alone any one in wrist A1, arm A2, shoulder A3 and waist A4.
Technological means disclosed in the utility model scheme is not limited only to the technological means disclosed in above-mentioned technological means, also comprises the technical scheme be made up of above technical characteristic.
With above-mentioned according to desirable embodiment of the present utility model for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this utility model technological thought, can carry out various change and amendment completely.The technical scope of this utility model is not limited to the content on description, must determine its technical scope according to right.
Claims (9)
1. a reconfigurable drag articulation type four axle robot, it is characterized in that comprising wrist, arm, shoulder and waist, described wrist, arm, shoulder and waist are linked in sequence successively, connect for swinging between described wrist and arm, for being rotatably connected between described arm and shoulder, connect for swinging between described shoulder and waist.
2. one according to claim 1 reconfigurable drag articulation type four axle robot, is characterized in that described arm surface is provided with arm housing,
Cave inward in the middle part of one end of described arm housing the connecting hole of formation " recessed " font, laterally run through in this connecting hole and have an arms portion bearing, described wrist is connected with arm by this arm bearing, one end of described arm bearing is provided with synchronous pulley, wrist servomotor is also provided with in described arm housing, one end of this wrist servomotor is provided with synchronous pulley, and this synchronous pulley is connected by Timing Belt with the synchronous pulley of arm bearing end;
The other end of described arm housing is provided with outwardly directed adpting flange, is also provided with arm servomotor in arm housing.
3. one according to claim 2 reconfigurable drag articulation type four axle robot, is characterized in that described shoulder surface is provided with shoulder housing,
One end of described shoulder housing is provided with rotary flange, the adpting flange of described rotary flange and arm is connected and fixed by connector, rotary drive mechanism is provided with in described shoulder housing, described rotary flange and rotary drive mechanism are connected with a joggle, shoulder servomotor is provided with in described shoulder housing, the rotary drive mechanism of described shoulder servomotor connection control shoulder, rotary flange can rotate around the longitudinal axis of shoulder;
The other end of described shoulder housing is provided with mounting flange, and described shoulder housing is connected with waist by mounting flange.
4. one according to claim 3 reconfigurable drag articulation type four axle robot, it is characterized in that described waist surface is provided with waist housing, one end of described waist housing arranges fixed installation face, and the other end of waist housing arranges swing swivel base.
5. one according to claim 4 reconfigurable drag articulation type four axle robot, it is characterized in that the one end swinging swivel base is connected with waist by the waist bearing that is horizontally installed in waist, one end of described waist bearing is provided with synchronous pulley, waist servomotor is provided with in described waist housing, described waist servomotor connects synchronous pulley by driving member, this synchronous pulley is connected by Timing Belt with the synchronous pulley of waist bearing end
The described other end of swing swivel base is connected with the mounting flange of shoulder.
6. one according to claim 5 reconfigurable drag articulation type four axle robot, is characterized in that described waist bearing and swings swivel base, arm bearing and wrist and shoulder housing and rotary flange and be and be connected by meshing transmission.
7. one according to claim 6 reconfigurable drag articulation type four axle robot, it is characterized in that all running through in described wrist, arm, shoulder and waist have cable, described cable is connected with wrist servomotor, arm servomotor, shoulder servomotor and waist servomotor, described waist housing is provided with cable quick socket, be provided with hollow tube in described shoulder, described cable passes shoulder from hollow tube.
8. one according to claim 7 reconfigurable drag articulation type four axle robot, it is characterized in that described wrist, arm, shoulder and waist are provided with oiling peep hole, described oiling peep hole is connected respectively to engaged transmission position corresponding in wrist, arm, shoulder and waist.
9. one according to claim 8 reconfigurable drag articulation type four axle robot, is characterized in that the free end of described wrist is provided with ring flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520078547.3U CN204471373U (en) | 2015-02-04 | 2015-02-04 | A kind of reconfigurable drag articulation type four axle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520078547.3U CN204471373U (en) | 2015-02-04 | 2015-02-04 | A kind of reconfigurable drag articulation type four axle robot |
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| Publication Number | Publication Date |
|---|---|
| CN204471373U true CN204471373U (en) | 2015-07-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520078547.3U Withdrawn - After Issue CN204471373U (en) | 2015-02-04 | 2015-02-04 | A kind of reconfigurable drag articulation type four axle robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN204471373U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647364A (en) * | 2015-02-04 | 2015-05-27 | 中船重工鹏力（南京）智能装备系统有限公司 | Reconfigurable vertical joint type four-shaft robot |
-
2015
- 2015-02-04 CN CN201520078547.3U patent/CN204471373U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647364A (en) * | 2015-02-04 | 2015-05-27 | 中船重工鹏力（南京）智能装备系统有限公司 | Reconfigurable vertical joint type four-shaft robot |
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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: 20150715 Effective date of abandoning: 20160504 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |