CN204800626U - Three -dimensional walking robot - Google Patents

Abstract

The utility model discloses a three -dimensional walking robot belongs to robot application technical field, and it includes four group's rack constructions, wherein, frame no. 1 and two parallel arrangement of frame, frame no. 3 respectively with frame no. 1, two be the perpendicular setting of T shape, arm and frame no. 3 are the quadrature setting, three group's rack constructions adopt the steel wire drive, and a set of rack construction adopts rack and pinion drive. Four group's frame quadratures set up for it not only can realize still can moving on three -dimensional curved surface or on the inclined plane, and can pinpointing or stop on the optional position at the turn and the two -dimentional curvilinear motion of arbitrary angle. Use wherein most rack construction instead the steel wire drive, the driven advantage of rack and pinion that had both kept can realize the ascending removal of vertical side, added the advanced part of steel wire driven again, reduced manufacturing cost and operating power consumption, improved work efficiency, prolonged the shelf life, required to hang down to operating environment, made its application very extensive.

Description

A kind of three-dimensional walking robot

Technical field

The utility model belongs to robot application technical field, is a kind of three-dimensional walking robot, is specially adapted to automatic loading/unloading in industrial production, object upset, object turns the operation such as sequence, object conveying and commercial distribution, civilian intelligence are carried and dispensing.

Background technology

Moving component in existing truss robot running gear all can only do rectilinear motion or simple two dimensional motion, the movement on three-dimensional planar cannot be realized during walking, accurately can not arrive the optional position of actual needs, cause its range of application very limited.

And existing robot fortune is because its transmission is mainly by belt transmission and rack-and-pinion, be only suitable at short-distance movement workpiece, and its element quality is large, acceleration is high, cause vibration and impact strong, when distance increases, cost increases too many, and error also can superpose, transmission speed is too slow, and precision is also uncontrollable.

Utility model content

For solving the problems referred to above that prior art exists, the invention provides a kind of three-dimensional walking robot, this system utilizes the light and handy feature flexibly of steel wire drive, overcomes in existing truss robot, moving cell quality is large, shortcoming that acceleration is high.Both rigidity and the shock resistance of total had been ensure that; Adopt again state-of-the-art high-precision servo motor, encoder and sensor technology and product in the world, improve positional precision and the kinematic accuracy of robot; Not only the fast precision of speed is high for it, and distance more far more has cost advantage; This system not only increases the free degree of carrying, and the undertaking part in the middle of having lost, thus reduces cost, improves operating efficiency.

To achieve these goals, the technical solution of the utility model is as follows: a kind of three-dimensional walking robot, and it comprises servomotor one, servomotor two, servomotor three, servomotor four; Keyset; Pulley tension assembly one, pulley tension assembly two, pulley tension assembly three; Guider one, guider two, guider three; Wire reel rotor one, wire reel rotor two, wire reel rotor three, steel wire one, steel wire two, steel wire three; Frame one, frame two, frame three, mechanical arm; Connect chunk one, connect chunk two, connect chunk three, gear, tooth bar, switch board; Wherein, described frame one and described frame two be arranged in parallel, described frame three respectively with described frame one, the T-shaped vertical setting of described frame two, described mechanical arm and the orthogonal thereto setting of described frame three; Described guider one is positioned in described frame one, described connection chunk one to be connected in described frame one by described guider one and to be fixedly connected with described steel wire one, the output shaft of described servomotor one to extend in described frame one and drives wire reel rotor one, described reel rotor one is wound with described steel wire one, and described steel wire one also encloses around described tension pulley block assembly simultaneously one by one; Described guider two is positioned in described frame two, described connection chunk two to be connected in described frame two by described guider two and to be fixedly connected with described steel wire two, the output shaft of described servomotor two to extend in described frame two and drives wire reel rotor two, described reel rotor two is wound with described steel wire two, and described steel wire two also encloses around described tension pulley block assembly 21 simultaneously; Connect chunk three to be connected in frame three by guider three and to be fixedly connected with steel wire three; The two ends of described frame three are connected with described frame one, frame two respectively by described connection chunk one, connection chunk two, described keyset is positioned on described mechanical arm, described mechanical arm is connected with connection chunk four by slide rail, described mechanical arm is provided with described tooth bar, described gear connects with the output shaft of described servomotor four, described tooth bar engages with described tooth bar, and described servomotor one, servomotor two, servomotor three, servomotor four are all connected with described switch board by electric wire.

Further, described keyset is connected with manipulator.

The invention has the beneficial effects as follows:

1, not only can easily realize turning at any angle and two-dimensional curve motion, can also travelling workpiece or object on three-dimension curved surface or on inclined-plane, and also precision can reach 0.003mm/1000mm.Its running precision is high, utilizes the control such as servomotor and encoder, makes walking and location all very flexible, can accurately locate or stop on the optional position in movement locus.

2, both remained rack pinion advantage in the Z-axis direction, the movement on vertical direction can have been realized; In X-axis and Y direction, have employed steel wire drive form again, reduce operation energy consumption, improve operating efficiency, extend service life, require low to running environment.

3, can reduce the load-bearing of guide rail and bearing, thus save material, reduce the manufacturing cost of truss robot, compared with the kind of drive such as belt or leading screw, travel distance is far away, and price more has superiority.

4 and, shorten the delivery cycle.Adopt international advanced technology and standard configuration, shorten delivery date, accelerate the factory automation construction period.

5, it can the advantage of three-dimensional motion, makes its application widely.Both the general industry works such as automobile making, Aero-Space, Digit Control Machine Tool, food and drink, medicine equipment and industrial automation can be used in; Logistics carrying and the dispensing fields such as port and pier, store management, drugstore dispensing, self-service bookstore, Smart Home, omnipotent supermarket can be used in again.

Accompanying drawing explanation

Fig. 1 is structural representation of the present utility model.

In figure, servomotor one (1-1), servomotor two (2-1), servomotor three (3-1), servomotor four (4-1); Keyset (4-2); Pulley tension assembly one (1-3), pulley tension assembly two (2-3), pulley tension assembly three (3-3); Guider one (1-4), guider two (2-4), guider three (3-4); Wire reel rotor one (1-5), wire reel rotor two (2-5), wire reel rotor three (3-5) steel wire one (1-6), steel wire two (2-6), steel wire three (3-6); Frame one (1-7), frame two (2-7), frame three (3-7), mechanical arm (4-7); Connect chunk one (1-8), connect chunk two (2-8), connect chunk three (3-8), gear (4-9), tooth bar (4-10), switch board (5-1).

Detailed description of the invention

Below in conjunction with accompanying drawing, the invention will be further described.As shown in Figure 1, a kind of three-dimensional robot running gear, is characterized in that: it comprises servomotor one 1-1, servomotor two 2-1, servomotor three 3-1, servomotor four 4-1; Keyset 4-2; Pulley tension assembly one 1-3, pulley tension assembly two 2-3, pulley tension assembly three 3-3; Guider one 1-4, guider two 2-4, guider three 3-4; Wire reel rotor one 1-5, wire reel rotor two 2-5, wire reel rotor three 3-5, steel wire one 1-6, steel wire two 2-6, steel wire three 3-6; Frame one 1-7, frame two 2-7, frame three 3-7, mechanical arm 4-7; Connect chunk one 1-8, connect chunk two 2-8, connect chunk three 3-8, gear 4-9, tooth bar 4-10, switch board 5-1; Wherein, frame one 1-7 and frame two 2-7 be arranged in parallel, and frame three 3-7 is vertical setting T-shaped with frame one 1-7, frame two 2-7 respectively, mechanical arm 4-7 and the orthogonal thereto setting of frame three 3-7; Guider one 1-4 is positioned on frame one 1-7, connect chunk one 1-8 to be connected on frame one 1-7 by guider one 1-4 and to be fixedly connected with steel wire one 1-6, the output shaft of servomotor one 1-1 to extend in frame one 1-7 and drives wire reel rotor one 1-5, reel rotor one 1-5 is wound with steel wire one 1-6, steel wire one 1-6 also encloses around tension pulley block assembly one 1-3 mono-simultaneously; Guider two 2-4 is positioned on frame two 2-7, connect chunk two 2-8 to be connected on frame two 2-7 by guider two 2-4 and to be fixedly connected with steel wire two 2-6, the output shaft of servomotor two 2-1 to extend in frame two 2-7 and drives wire reel rotor two 2-5, reel rotor two 2-5 is wound with steel wire two 2-6, steel wire two 2-6 also encloses around tension pulley block assembly two 2-3 mono-simultaneously; Connect chunk three 3-8 to be connected on frame three 3-7 by guider three 3-4 and to be fixedly connected with steel wire three 3-6; The two ends of frame three 3-7 are connected with frame one 1-7, frame two 2-7 respectively by connection chunk one 1-8, connection chunk two 2-8, plate keyset 4-2 is positioned on mechanical arm 4-7, mechanical arm 4-7 is connected with connection chunk four 4-8 by slide rail, mechanical arm 4-7 is provided with tooth bar 4-10, gear 4-9 connects with the output shaft of servomotor four 4-1, gear 4-9 engages with tooth bar 4-10, and servomotor one 1-1, servomotor two 2-1, servomotor three 3-1, servomotor four 4-1 are all connected with switch board 10 by electric wire.Keyset 4-2 is connected with manipulator.

Its operation principle is: switch board controls servomotor one, servomotor two, servomotor three, servomotor four by control system, servomotor one, servomotor two, servomotor three drive each self-corresponding wire reel rotor turns respectively, and then drive connection chunk along with steel wire is in X-axis or Y-axis motion.Servomotor four driven gear rotates, and pinion rotation drives tooth bar to move up and down thus driving mechanical arm moves in Z-direction, is arranged on the manipulator of keyset also along with motion.

Illustrate this patent described in above-described embodiment; though be described by specific term in literary composition; but the protection domain of this patent can not be limited with this; the personage being familiar with this technical field can change it or revise and reach equivalent object after the spirit understanding this patent and principle; and this equivalence is changed and amendment, all should be covered by right and define in category.

Claims (2)

1. a three-dimensional walking robot, is characterized in that: it comprises servomotor one (1-1), servomotor two (2-1), servomotor three (3-1), servomotor four (4-1), keyset (4-2), pulley tension assembly one (1-3), pulley tension assembly two (2-3), pulley tension assembly three (3-3), guider one (1-4), guider two (2-4), guider three (3-4), wire reel rotor one (1-5), wire reel rotor two (2-5), wire reel rotor three (3-5), steel wire one (1-6), steel wire two (2-6), steel wire three (3-6), frame one (1-7), frame two (2-7), frame three (3-7), mechanical arm (4-7), connect chunk one (1-8), connect chunk two (2-8), connect chunk three (3-8), gear (4-9), tooth bar (4-10), switch board (5-1), wherein, described frame one (1-7) and described frame two (2-7) be arranged in parallel, described frame three (3-7) respectively with described frame one (1-7), the T-shaped vertical setting of described frame two (2-7), described mechanical arm (4-7) and the orthogonal thereto setting of described frame three (3-7), described guider one (1-4) is positioned on described frame one (1-7), described connection chunk one (1-8) is connected to described frame one (1-7) by described guider one (1-4) and goes up and be fixedly connected with described steel wire one (1-6), the output shaft of described servomotor one (1-1) to extend in described frame one (1-7) and drives wire reel rotor one (1-5), described reel rotor one (1-5) is wound with described steel wire one (1-6), described steel wire one (1-6) is also enclosed around described tension pulley block assembly one (1-3) simultaneously, described guider two (2-4) is positioned on described frame two (2-7), described connection chunk two (2-8) is connected to described frame two (2-7) by described guider two (2-4) and goes up and be fixedly connected with described steel wire two (2-6), the output shaft of described servomotor two (2-1) to extend in described frame two (2-7) and drives wire reel rotor two (2-5), described reel rotor two (2-5) is wound with described steel wire two (2-6), described steel wire two (2-6) is also enclosed around described tension pulley block assembly two (2-3) simultaneously, connection chunk three (3-8) is connected to frame three (3-7) by guider three (3-4) and goes up and be fixedly connected with steel wire three (3-6), the two ends of described frame three (3-7) are by described connection chunk one (1-8), connect chunk two (2-8) respectively with described frame one (1-7), frame two (2-7) connects, described keyset (4-2) is positioned on described mechanical arm (4-7), described mechanical arm (4-7) is connected with connection chunk four (4-8) by slide rail, described mechanical arm (4-7) is provided with described tooth bar (4-10), described gear (4-9) connects with the output shaft of described servomotor four (4-1), described gear (4-9) engages with described tooth bar (4-10), described servomotor one (1-1), servomotor two (2-1), servomotor three (3-1), servomotor four (4-1) is all connected with described switch board (10) by electric wire.

2. the three-dimensional walking robot of one according to claim 1, is characterized in that: described keyset (4-2) is connected with manipulator.