CN204525476U - A kind of adjustable robot of trimming moment - Google Patents

A kind of adjustable robot of trimming moment Download PDF

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Publication number
CN204525476U
CN204525476U CN201520215951.0U CN201520215951U CN204525476U CN 204525476 U CN204525476 U CN 204525476U CN 201520215951 U CN201520215951 U CN 201520215951U CN 204525476 U CN204525476 U CN 204525476U
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CN
China
Prior art keywords
arm
main shaft
hinged
pull bars
adjusted
Prior art date
Application number
CN201520215951.0U
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Chinese (zh)
Inventor
陆盘根
葛文龙
刘涛
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苏州荣威工贸有限公司
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Priority to CN201520215951.0U priority Critical patent/CN204525476U/en
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Publication of CN204525476U publication Critical patent/CN204525476U/en

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Abstract

The utility model discloses the adjustable robot of a kind of trimming moment, comprise main shaft, the first arm, the second arm and for adjustment moment bidirectional slider power module and be mated use and the equalising torque weight be positioned at below the first arm.After adding bidirectional slider power module, while the second arm stretches, the lengthening that equalising torque weight is also corresponding to the central moment of main shaft, under the prerequisite of weight not changing equalising torque weight, two ends equalising torque can be kept, thus the output reduced aerodynamic power, reach the object of energy-saving and emission-reduction.First arm and the second arm and its respective pull bar head and the tail are hinged, and each group forms the articulated structure of parallelogram, and then ensure that robot can ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without the need to arranging the special Power Drive Unit for driving workpiece level as conventional machines people.

Description

A kind of adjustable robot of trimming moment

Technical field

The utility model relates to Industrial Robot Technology field, relates to the adjustable robot of a kind of trimming moment specifically.

Background technology

Industrial robot as a kind of can for some long working that is dull, frequent and that repeat of oblige by doing, or the operation under dangerous, adverse circumstances, its application is own through more and more extensive, along with the development of society, require that industrial robot has higher transporting capacity, for transporting capacity, not only require that the action of its arm is wanted at a high speed, also will have high stability.

But robot of the prior art, especially that have the robot of multiple handle composite in the process of carrying tooling, arm its handgrip distance alignment of shafts moment while stretching, extension in end is elongated, its bottom weight is easily unbalance, the places such as robot gripper are caused to occur unstable phenomenon, not only impact captures and the precision of carrying, also may cause the injury to frock simultaneously.

Therefore, inventor of the present utility model needs a kind of new technology of design badly to improve its problem.

Utility model content

The utility model aim to provide a kind of ensure capture and carrying precision prerequisite under the adjustable robot of its trimming moment.

For solving the problems of the technologies described above, the technical solution of the utility model is:

A kind of adjustable robot of trimming moment, comprise base, described base is provided with the rotating main shaft of level, one end of described main shaft is provided with the spindle servo electric machine driving described main axis, the other end of described main shaft is connected with the first arm and the second arm that are hinged, described spindle servo electric machine is by driving described main axis and then driving described first arm and described second arm around the circuit oscillation of described main shaft, described first arm be provided with for adjustment moment bidirectional slider power module and with described Bidirectional power module with the use of and the equalising torque weight be positioned at below described first arm, described bidirectional slider power module comprises the Bidirectional power module seat being arranged at described first arm body inside, wherein said Bidirectional power module seat is provided with the first adjusted in concert slide block, first adjusted in concert screw mandrel, synchronous gear wheels, driving mechanism, second adjusted in concert slide block, second adjusted in concert screw mandrel, the output shaft of described driving mechanism is fixed with described synchronous gear wheels, described synchronous gear wheels upper end is connected with described second adjusted in concert screw mandrel, lower end is connected with described first adjusted in concert screw mandrel, and described driving mechanism drives described first adjusted in concert screw mandrel and described second adjusted in concert screw mandrel to move in the vertical by synchronous gear wheels, described equalising torque weight is connected with described first adjusted in concert slide block, be connected by second connecting rod in the middle part of the arm of described first arm and described second arm, described second connecting rod is connected with described second adjusted in concert slide block.

Further, the side of described first arm is provided with two the first pull bars for assisting described first arm swing, two described first pull bars and described first arm form the articulated structure of parallelogram, also form the articulated structure of parallelogram between two described first pull bars.

One end of described second arm and one end away from described main shaft of described first arm hinged, the other end and the 3rd arm of described second arm are hinged, the side of described second arm is provided with two the second pull bars for assisting described second arm swing, two described second pull bars are hinged on the end of two described first pull bars respectively, two described second pull bars form hinged parallelogram sturcutre, also form hinged parallelogram sturcutre between two described second pull bars and described second arm.

Further, pushing component is provided with between described first arm and described main shaft, described pushing component comprises one end and is hinged on described first arm, the other end is hinged on the first connecting rod on slide block, described slide block is arranged in the guide rail of power module support plate, and described slide block drives the axis direction along described main shaft to do linear reciprocal movement by the first arm power module.

Further, described 3rd arm is connected with described second arm by two or three arm bindiny mechanisms, and the end to described second pull bar side by the 3rd arm Hooks coupling universal coupling and described second pull bar of described 3rd arm is articulated and connected; One end away from described second pull bar of described 3rd arm is successively by being fixedly connected with handgrip after described two or three arm bindiny mechanisms, handgrip connector.

Further, described two or three arm bindiny mechanisms comprise the 3rd arm seat, the bearing cap that described 3rd arm seat is provided with transverse rotation bearing, longitudinal rotating shaft holds and hold for coated described transverse rotation bearing and described longitudinal rotating shaft, described bearing cap is fixed by clamp nut.

Further, T-shaped structural configuration is formed between described first arm and two described first pull bars, two described first pull bars are symmetricly set on described first arm both sides, also form T-shaped structural configuration between described second arm and two described second pull bars, two described second pull bars are symmetricly set on described second arm both sides.

Further, described main shaft is supported by the front end panel be vertically set on described base and rear bearing sheet, and described front end panel and described rear bearing sheet parallel interval are arranged, and described equalising torque weight is arranged on the centre of two described wallboards.

Further, described front end panel is provided with the pull bar support bar for supporting described first pull bar, and the bottom-hinged point of described first pull bar and described pull bar support bar and the bottom-hinged point of described first arm are positioned on same level line.

Further, two described second pull bars are hinged on the end of two described first pull bars respectively by the second arm Hooks coupling universal coupling, be connected between described first arm with described first pull bar by central support shaft.

Further, be provided with main shaft decelerator between described spindle servo electric machine and described main shaft, described spindle servo electric machine and described main shaft decelerator are all fixed on described rear bearing sheet.

Adopt technique scheme, the utility model at least comprises following beneficial effect:

1. the adjustable robot of trimming moment described in the utility model, after adding described bidirectional slider power module, while the second arm stretches, the lengthening that equalising torque weight is also corresponding to the central moment of main shaft, under the prerequisite of weight not changing equalising torque weight, two ends equalising torque can be kept, thus reduce the output to aerodynamic power, reach the object of energy-saving and emission-reduction.

2. the adjustable robot of trimming moment described in the utility model, first arm and the second arm and its respective pull bar head and the tail are hinged, and each group forms the articulated structure of parallelogram, and then ensure that robot can ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without the need to arranging the special Power Drive Unit for driving workpiece level as conventional machines people, therefore, it is possible to economize energy, and overall structure is simple, cost is lower.

Accompanying drawing explanation

Fig. 1 is the front view of the adjustable robot of trimming moment described in the utility model;

Fig. 2 is the side view of the adjustable robot of trimming moment described in the utility model;

Fig. 3 is that the master of trimming moment described in the utility model adjustable robot when being sent in equipment by workpiece looks state diagram;

Fig. 4 is the side-looking state diagram of trimming moment described in the utility model adjustable robot when being sent in equipment by workpiece;

Fig. 5 is the structural representation of bidirectional slider power module described in the utility model;

Fig. 6 is the structural representation of two or three arm bindiny mechanisms described in the utility model;

Fig. 7 is the A-A direction view of Fig. 6.

Wherein: 1. rear bearing sheet, 2. spindle servo electric machine, 3. main shaft decelerator, 4. main shaft, 5. power module support plate, 6. the first arm power module, 7. first connecting rod, 8. bidirectional slider power module, 81. Bidirectional power module seats, 82. first adjusted in concert slide blocks, 83. first adjusted in concert screw mandrels, 84. synchronous gear wheels, 85. driving mechanisms, 86. second adjusted in concert slide blocks, 87. second adjusted in concert screw mandrels, 88. connect securing member, 9. second connecting rod, 10. two or three arm bindiny mechanisms, 101. transverse rotation bearings, 102. longitudinal rotating shafts hold, 103. bearing cap, 104. clamp nut, 11. the 3rd arm seats, 12. the 3rd arms, 13. handgrip connectors, 14. the 3rd arm Hooks coupling universal couplings, 15. second pull bars, 16. second arms, 17. second arm Hooks coupling universal couplings, 18. central support shaft, 19. first pull bars, 20. first arms, 21. front end panels, 22. pull bar support bars, 23. equalising torque weights.

Detailed description of the invention

Further illustrate the utility model below in conjunction with drawings and Examples, in figure, the direction of arrow is the rotation direction of corresponding component.

As shown in Figures 1 to 7, for meeting the adjustable robot of a kind of trimming moment of the present utility model, comprise base, the rotating main shaft 4 of level that described base is provided with, one end of described main shaft 4 is provided with the spindle servo electric machine 2 driving described main shaft 4 to rotate, the other end of described main shaft 4 is connected with the first arm 20 and the second arm 16 be hinged, described spindle servo electric machine 2 rotates and then drives described first arm 20 and described second arm 16 around the circuit oscillation of described main shaft 4 by driving described main shaft 4, described first arm 20 be provided with for adjustment moment bidirectional slider power module 8 and with described Bidirectional power module with the use of and the equalising torque weight 23 be positioned at below described first arm 20, described bidirectional slider power module 8 comprises the Bidirectional power module seat 81 being arranged at described first arm 20 body interior, wherein said Bidirectional power module seat 81 is provided with the first adjusted in concert slide block 82, first adjusted in concert screw mandrel 83, synchronous gear wheels 84, driving mechanism 85, second adjusted in concert slide block 86, second adjusted in concert screw mandrel 87, the output shaft of described driving mechanism 85 is fixed with described synchronous gear wheels 84, described synchronous gear wheels 84 upper end is connected with described second adjusted in concert screw mandrel 87, lower end is connected with described first adjusted in concert screw mandrel 83, and described driving mechanism 85 drives described first adjusted in concert screw mandrel 83 and described second adjusted in concert screw mandrel 87 to move in the vertical by synchronous gear wheels 84, described equalising torque weight 23 is connected with described first adjusted in concert slide block 82, be connected by second connecting rod 9 in the middle part of the arm of described first arm 20 and described second arm 16, described second connecting rod 9 is connected with described second adjusted in concert slide block 86.As shown in Figure 3 and Figure 4, while the second arm 16 stretches, equalising torque weight 23 under the drive of described Bidirectional power module along with described first arm 20 moves, make the lengthening that it is also corresponding to the central moment of main shaft 4, therefore it can under the prerequisite of weight not changing equalising torque weight 23, keep two ends equalising torque, thus reduce the output to aerodynamic power, reach the object of energy-saving and emission-reduction.

Preferably, described equalising torque weight 23 is connected with described first adjusted in concert slide block 82 by connecting securing member 88, and described driving mechanism 85 is the servomotor with decelerator.Due to the routine techniques means that it is those skilled in the art, so place repeats no more.

In the present embodiment, as depicted in figs. 1 and 2, the side of described first arm 20 is provided with two the first pull bars 19 for assisting described first arm 20 to swing, two described first pull bars 19 and described first arm 20 form the articulated structure of parallelogram, also form the articulated structure of parallelogram between two described first pull bars 19.

One end of described second arm 16 and one end away from described main shaft 4 of described first arm 20 hinged, the other end and the 3rd arm 12 of described second arm 16 are hinged, the side of described second arm 16 is provided with two the second pull bars 15 for assisting described second arm 16 to swing, two described second pull bars 15 are hinged on the end of two described first pull bars 19 respectively, two described second pull bars 15 form hinged parallelogram sturcutre, also form hinged parallelogram sturcutre between two described second pull bars 15 and described second arm 16.

In the present embodiment, first arm 20 and the second arm 16 and its respective pull bar head and the tail are hinged, and each group forms the articulated structure of parallelogram, and then ensure that robot can ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without the need to arranging the special Power Drive Unit for driving workpiece level as conventional machines people, therefore, it is possible to economize energy, and overall structure is simple, cost is lower.

In the present embodiment, pushing component is provided with between described first arm 20 and described main shaft 4, described pushing component comprises one end and is hinged on described first arm 20, the other end is hinged on the first connecting rod 7 on slide block, described slide block is arranged in the guide rail of power module support plate 5, and described slide block drives the axis direction along described main shaft 4 to do linear reciprocal movement by the first arm power module 6.Described first arm power module 6 is preferably servomotor.

In the present embodiment, described 3rd arm 12 is connected with described second arm 16 by two or three arm bindiny mechanisms 10, being articulated and connected with the end of described second pull bar 15 by the 3rd arm Hooks coupling universal coupling 14 to described second pull bar 15 side of described 3rd arm 12; One end away from described second pull bar 15 of described 3rd arm 12 is successively by being fixedly connected with handgrip after described two or three arm bindiny mechanisms 10, handgrip connector 13.

In the present embodiment, described two or three arm bindiny mechanisms 10 comprise the 3rd arm seat 11, described 3rd arm seat 11 is provided with transverse rotation bearing 101, longitudinal rotating shaft hold 102 and hold for coated described transverse rotation bearing 101 and described longitudinal rotating shaft 102 bearing cap 103, described bearing cap 103 is fixed by clamp nut 104.

In the present embodiment, T-shaped structural configuration is formed between described first arm 20 and two described first pull bars 19, two described first pull bars 19 are symmetricly set on described first arm 20 both sides, also form T-shaped structural configuration between described second arm 16 and two described second pull bars 15, two described second pull bars 15 are symmetricly set on described second arm 16 both sides.

In the present embodiment, described main shaft 4 is supported by the front end panel 21 be vertically set on described base and rear bearing sheet 1, and described front end panel 21 and described rear bearing sheet 1 parallel interval are arranged, and described equalising torque weight 23 is arranged on the centre of two described wallboards.

In the present embodiment, described front end panel 21 is provided with the pull bar support bar 22 for supporting described first pull bar 19, and described first pull bar 19 is positioned on same level line with the bottom-hinged point of described pull bar support bar 22 and the bottom-hinged point of described first arm 20.This setup had both been convenient to install, and being also convenient to guarantee grabs chirokinesthetic stationary performance simultaneously.

In the present embodiment, two described second pull bars 15 are hinged on the end of two described first pull bars 19 respectively by the second arm Hooks coupling universal coupling 17, be connected between described first arm 20 with described first pull bar 19 by central support shaft 18.

In the present embodiment, be provided with main shaft decelerator 3 between described spindle servo electric machine 2 and described main shaft 4, described spindle servo electric machine 2 and described main shaft decelerator 3 are all fixed on described rear bearing sheet 1.

Above an embodiment of the present utility model has been described in detail, but described content is only the preferred embodiment that the utility model is created, and can not be considered to for limiting practical range of the present utility model.All any equivalent variations done according to the utility model application range, all should still be within patent covering scope of the present utility model.

Claims (10)

1. the adjustable robot of trimming moment, it is characterized in that: comprise base, described base is provided with the rotating main shaft of level, one end of described main shaft is provided with the spindle servo electric machine driving described main axis, the other end of described main shaft is connected with the first arm and the second arm that are hinged, described spindle servo electric machine is by driving described main axis and then driving described first arm and described second arm around the circuit oscillation of described main shaft, described first arm be provided with for adjustment moment bidirectional slider power module and with described Bidirectional power module with the use of and the equalising torque weight be positioned at below described first arm, described bidirectional slider power module comprises the Bidirectional power module seat being arranged at described first arm body inside, wherein said Bidirectional power module seat is provided with the first adjusted in concert slide block, first adjusted in concert screw mandrel, synchronous gear wheels, driving mechanism, second adjusted in concert slide block, second adjusted in concert screw mandrel, the output shaft of described driving mechanism is fixed with described synchronous gear wheels, described synchronous gear wheels upper end is connected with described second adjusted in concert screw mandrel, lower end is connected with described first adjusted in concert screw mandrel, and described driving mechanism drives described first adjusted in concert screw mandrel and described second adjusted in concert screw mandrel to move in the vertical by synchronous gear wheels, described equalising torque weight is connected with described first adjusted in concert slide block, be connected by second connecting rod in the middle part of the arm of described first arm and described second arm, described second connecting rod is connected with described second adjusted in concert slide block.
2. the adjustable robot of trimming moment as claimed in claim 1, it is characterized in that: the side of described first arm is provided with two the first pull bars for assisting described first arm swing, two described first pull bars and described first arm form the articulated structure of parallelogram, also form the articulated structure of parallelogram between two described first pull bars;
One end of described second arm and one end away from described main shaft of described first arm hinged, the other end and the 3rd arm of described second arm are hinged, the side of described second arm is provided with two the second pull bars for assisting described second arm swing, two described second pull bars are hinged on the end of two described first pull bars respectively, two described second pull bars form hinged parallelogram sturcutre, also form hinged parallelogram sturcutre between two described second pull bars and described second arm.
3. the adjustable robot of trimming moment as claimed in claim 2, it is characterized in that: between described first arm and described main shaft, be provided with pushing component, described pushing component comprises one end and is hinged on described first arm, the other end is hinged on the first connecting rod on slide block, described slide block is arranged in the guide rail of power module support plate, and described slide block drives the axis direction along described main shaft to do linear reciprocal movement by the first arm power module.
4. the adjustable robot of trimming moment as claimed in claim 2 or claim 3, it is characterized in that: described 3rd arm is connected with described second arm by two or three arm bindiny mechanisms, and the end to described second pull bar side by the 3rd arm Hooks coupling universal coupling and described second pull bar of described 3rd arm is articulated and connected; One end away from described second pull bar of described 3rd arm is successively by being fixedly connected with handgrip after described two or three arm bindiny mechanisms, handgrip connector.
5. the adjustable robot of trimming moment as claimed in claim 4, it is characterized in that: described two or three arm bindiny mechanisms comprise the 3rd arm seat, the bearing cap that described 3rd arm seat is provided with transverse rotation bearing, longitudinal rotating shaft holds and hold for coated described transverse rotation bearing and described longitudinal rotating shaft, described bearing cap is fixed by clamp nut.
6. the adjustable robot of trimming moment as claimed in claim 5, it is characterized in that: between described first arm and two described first pull bars, form T-shaped structural configuration, two described first pull bars are symmetricly set on described first arm both sides, also form T-shaped structural configuration between described second arm and two described second pull bars, two described second pull bars are symmetricly set on described second arm both sides.
7. the adjustable robot of trimming moment as claimed in claim 6, it is characterized in that: described main shaft is supported by the front end panel be vertically set on described base and rear bearing sheet, described front end panel and described rear bearing sheet parallel interval are arranged, and described equalising torque weight is arranged on the centre of two described wallboards.
8. the adjustable robot of trimming moment as claimed in claim 7, it is characterized in that: described front end panel is provided with the pull bar support bar for supporting described first pull bar, the bottom-hinged point of described first pull bar and described pull bar support bar and the bottom-hinged point of described first arm are positioned on same level line.
9. the adjustable robot of trimming moment as claimed in claim 8, it is characterized in that: two described second pull bars are hinged on the end of two described first pull bars respectively by the second arm Hooks coupling universal coupling, be connected between described first arm with described first pull bar by central support shaft.
10. the adjustable robot of trimming moment as described in as arbitrary in claim 7-9, it is characterized in that: be provided with main shaft decelerator between described spindle servo electric machine and described main shaft, described spindle servo electric machine and described main shaft decelerator are all fixed on described rear bearing sheet.
CN201520215951.0U 2015-04-10 2015-04-10 A kind of adjustable robot of trimming moment CN204525476U (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104708623A (en) * 2015-04-10 2015-06-17 苏州荣威工贸有限公司 Robot with adjustable balance moment
CN108098749A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of long high speed three-axis robot of adjustable arm
CN108098759A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of adjustable arm long high speed three-axis robot of the electronic clamping jaw of band
CN108161973A (en) * 2017-12-27 2018-06-15 华南智能机器人创新研究院 A kind of Multi-shaft mechanical arm of the electronic clamping jaw of band
CN108161900A (en) * 2017-12-27 2018-06-15 华南智能机器人创新研究院 A kind of Multi-shaft mechanical arm and robot
CN108177152A (en) * 2017-12-27 2018-06-19 华南智能机器人创新研究院 A kind of high speed robot for positioning spray painting
CN108246386A (en) * 2018-01-17 2018-07-06 徐志华 Device is broken in a kind of municipal administration road construction stone multiple location impact into pieces

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104708623A (en) * 2015-04-10 2015-06-17 苏州荣威工贸有限公司 Robot with adjustable balance moment
CN108098749A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of long high speed three-axis robot of adjustable arm
CN108098759A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of adjustable arm long high speed three-axis robot of the electronic clamping jaw of band
CN108161973A (en) * 2017-12-27 2018-06-15 华南智能机器人创新研究院 A kind of Multi-shaft mechanical arm of the electronic clamping jaw of band
CN108161900A (en) * 2017-12-27 2018-06-15 华南智能机器人创新研究院 A kind of Multi-shaft mechanical arm and robot
CN108177152A (en) * 2017-12-27 2018-06-19 华南智能机器人创新研究院 A kind of high speed robot for positioning spray painting
CN108246386A (en) * 2018-01-17 2018-07-06 徐志华 Device is broken in a kind of municipal administration road construction stone multiple location impact into pieces
CN108246386B (en) * 2018-01-17 2019-12-06 山西友成信达项目管理咨询有限公司 Multi-position hitting and smashing device for municipal road construction stones

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