CN204843832U - 360 full rotation in a circumferential direction robot arm's of degree rotatory arm - Google Patents
360 full rotation in a circumferential direction robot arm's of degree rotatory arm Download PDFInfo
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- CN204843832U CN204843832U CN201520505891.6U CN201520505891U CN204843832U CN 204843832 U CN204843832 U CN 204843832U CN 201520505891 U CN201520505891 U CN 201520505891U CN 204843832 U CN204843832 U CN 204843832U
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- armshaft
- connecting rod
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- full wind
- robot arm
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Abstract
The utility model discloses a 360 full rotation in a circumferential direction robot arm's of degree rotatory arm is somebody's turn to do rotatory arm including first armshaft, second armshaft and third armshaft, first armshaft have be used for the installation the ear seat of second armshaft, the one end swing joint of second armshaft and third armshaft, the bistrique component is installed to the other end of third armshaft, the third armshaft comprises telescopic link and connecting rod, the bistrique components are installed be in on the connecting rod, telescopic link one end with the connecting rod is connected, the other end and second armshaft swing joint, 360 degrees full rotation in a circumferential direction axles are installed to first armshaft bottom. Above -mentioned technical scheme seems that the supporting seat is bigger, and is stable, the telescopic link is adopted on the third armshaft, the processing angle of bistrique component can be adjusted in good time for the bistrique component can the up -and -down motion, polishes the position with needs and arranges the robot arm within range in.
Description
Technical field
The utility model relates to product automation processing technique field, especially relates to a kind of 360 degree of all-round full wind-ups to rotary machine human arm.
Background technology
Current industrial robot, also be mechanical arm, one has the programmable machine of the six axle frees degree to be widely used in every field in industrial production, in Chinese patent literature CN104121987A, such as disclose a kind of distributed luminosity counter device based on multi-freedom robot arm, the technical scheme of concrete employing is: comprise the first pedestal for clamping probe or tested light fixture, and for clamping probe or the second pedestal of tested light fixture, it is characterized in that, described first pedestal is arranged on the robot arm end of energy multi-angle rotary, described second pedestal is arranged on fixed mechanism or metope, wherein, described robot arm comprises: the first armshaft, and described first armshaft one end connects the first joint on pedestal and by the first joint driven rotary, second armshaft, described second armshaft one end connects the first armshaft other end by second joint, and drives pivotable by second joint, joint arm, described joint arm connects the second armshaft other end through the 3rd joint, and drives pivotable by the 3rd joint, turning arm, described turning arm one end the 4th articulating joints arm, and by the 4th joint driven rotary, wave bracket, the described turning arm other end waves bracket one end through the 5th joint connection, and drives pivotable by the 5th joint, hinged cantilever, joint, described hinged cantilever one end the 6th connects waves the bracket other end, and by the 6th joint driven rotary, and the described hinged cantilever other end is robot arm end.
In polishing operation industry, also the trend using mechanical arm to carry out operation is had, or occur in some place, but disclosed report, operation strategies is not very wide, and there is various difficulty, and it can not simply adopt robot arm disclosed in above-mentioned Chinese patent literature CN104121987A, because the robot arm in technique scheme is used on polishing platform there is the anglec of rotation not, the various defects such as robot arm action is unstable.
Using robot arm institute problems faced to solve polishing operation technical field, needing to work out a kind of new robot arm, to be suitable for the development of intellectuality, automation process technology.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of scientific and reasonable for structure, safety durable, having stable behavior, realizes 360 degree of all-round polishing platforms to rotary machine human arm.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is, based on 360 degree of all-round polishing platforms to rotary machine human arm, should include robot arm; Also comprising at least one frock clamp splits around described robot arm; Described robot arm and frock clamp are installed on polishing platform; Described robot arm has the base be fixedly installed on described polishing platform, and described base is provided with supporting seat, and described supporting seat is movably installed with full wind-up.
In technique scheme, split around described robot arm owing to also comprising at least one frock clamp, make polishing component locations within the scope of robot arm, scientific and reasonable for structure; Described robot arm and frock clamp are installed on polishing platform, and the two position relationship is fixed, and ensure that the having stable behavior of robot arm; In addition, described robot arm has the base be fixedly installed on described polishing platform, and described base is provided with supporting seat, makes robot arm have certain height, facilitates robot arm to adjust angle, can significantly expand arm job area; Described supporting seat is movably installed with full wind-up, achieves robot arm 360 degree and entirely rotate in a circumferential direction.
Adopt said structure based on 360 degree of all-round polishing platforms to rotary machine human arm, scientific and reasonable for structure, safety durable, having stable behavior, realize 360 degree and entirely rotate in a circumferential direction, be applicable to automation and the standardization of polishing operation, robot arm identifies fast, shorten robot time.
Preferably, described full wind-up includes the first armshaft, the second armshaft and the 3rd armshaft; Described first armshaft tilts upward from described supporting seat and extends to form, and has the ear seat for installing described second armshaft; Described first armshaft bottom be provided with 360 degree all-round to rotating shaft; Described second armshaft is flexibly connected with one end of the 3rd armshaft, and the other end of described 3rd armshaft is provided with bistrique component.
First armshaft tilts upward from described supporting seat and extends to form, and such vibrational power flow seems that supporting seat is larger, stable, meanwhile, the first armshaft is obliquely installed, full wind-up distance wherein certain frock clamp can reduce the distance, and realizes identifying fast, shortening robot time; First armshaft has the ear seat for installing described second armshaft, adopts ear seat to install the second armshaft, makes the second armshaft be connected closely with the first armshaft, adopts ear seat to connect simultaneously, is convenient to the second armshaft movable between the ear seat of the first armshaft; Second armshaft is flexibly connected with one end of the 3rd armshaft, can adjust the angle of the 3rd armshaft in real time, is convenient to bistrique component and carries out polishing processing to the frock on frock clamp.
Preferably, described 3rd armshaft is made up of expansion link and connecting rod; Described bistrique Components installation is on described connecting rod; Described expansion link one end is connected with described connecting rod, and the other end is flexibly connected with the second armshaft.
3rd armshaft adopts expansion link, the machining angle of bistrique component can be adjusted in good time, bistrique component can be moved up and down, needs polishing position is placed within the scope of robot arm.
Preferably, described 3rd armshaft is connected by driving component with described second armshaft one end near described first armshaft away from that free end of bistrique component.
By arranging stabilizing member, make the 3rd armshaft can not because gravity is unbalance action unstable, meanwhile, stabilizing member is set and also mitigates rotary torsion between the 3rd armshaft and the second armshaft, extend the service life of robot arm.
Preferably, described polishing platform has two frock clamps.
Preferably, described base is square, and is bolted on described polishing platform by circumferential four, adopts firm banking in this way, robot arm is run more stable.
Another problem to be solved in the utility model is to provide one and makes robot arm spin stabilization, moves up and down easily for the driving component of robot arm.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: this driving component being used for robot arm is constituted by an active connection successively by first connecting rod, second connecting rod and third connecting rod; Described first connecting rod has horizontal axis hole; The two ends of described second connecting rod all have horizontal axis hole, and are flexibly connected with first connecting rod, third connecting rod respectively; Described first connecting rod and third connecting rod are positioned at the same side of described second connecting rod.
In technique scheme, first connecting rod has horizontal axis hole, and the setting of horizontal axis hole reduces the rotary torsion of first connecting rod and robot arm; Same, the two ends of second connecting rod all have horizontal axis hole, synchronous when second connecting rod is rotated with first connecting rod, third connecting rod activity respectively, reduce rotary torsion; First connecting rod and third connecting rod are positioned at the same side of described second connecting rod, make three's close look at the swing, and tractive force when rotating robot arm is the most appropriate, makes robot arm spin stabilization, move up and down conveniently.
Preferably, one end outer rim that described first connecting rod has axis hole is curved, is arranged to arc, mainly due to, its be positioned at robot arm upper end, be connected for the 3rd armshaft of polishing, adopt arc, smooth rotation, frictional resistance is little.
Preferably, described third connecting rod two ends are curved, and have horizontal axis hole away from that one end be connected with second connecting rod, and this has in second armshaft of one end embedding machine human arm of horizontal axis hole; Adopt such vibrational power flow, make this driving component can form better tractive force to robot arm, ensure that robot arm rotates more stable, move up and down more convenient.
Preferably, driving component global shape is U-shaped, adopts this vibrational power flow, makes driving component when drawing robot arm, and release in the inside U-shaped driving component of the power of drawing, tractive force is maximum.
Preferably, described first connecting rod, second connecting rod are consistent with the thickness of third connecting rod, and thickness is 3-8cm.
360 degree in the utility model all-round full wind-ups to rotary machine human arm can also adopt such technical scheme, and this full wind-up includes the first armshaft, the second armshaft and the 3rd armshaft; Described first armshaft has the ear seat for installing described second armshaft; Described second armshaft is flexibly connected with one end of the 3rd armshaft, and the other end of described 3rd armshaft is provided with bistrique component; Described 3rd armshaft is made up of expansion link and connecting rod; Described bistrique Components installation is on described connecting rod; Described expansion link one end is connected with described connecting rod, and the other end is flexibly connected with the second armshaft; Described first armshaft bottom be provided with 360 degree all-round to rotating shaft.
In technique scheme, first armshaft tilts upward from described supporting seat and extends to form, such vibrational power flow, seem that supporting seat is larger, stable, meanwhile, the first armshaft is obliquely installed, full wind-up distance wherein certain frock clamp can reduce the distance, and realizes identifying fast, shortening robot time; First armshaft has the ear seat for installing described second armshaft, adopts ear seat to install the second armshaft, makes the second armshaft be connected closely with the first armshaft, adopts ear seat to connect simultaneously, is convenient to the second armshaft movable between the ear seat of the first armshaft; Second armshaft is flexibly connected with one end of the 3rd armshaft, can adjust the angle of the 3rd armshaft in real time, is convenient to bistrique component and carries out polishing processing to the frock on frock clamp; 3rd armshaft adopts expansion link, the machining angle of bistrique component can be adjusted in good time, bistrique component can be moved up and down, needs polishing position is placed within the scope of robot arm.
Preferably, described expansion link is made up of loop bar and swingle, and described loop bar has internal thread, and described swingle is by the screw-internal thread fit of external screw thread disposed thereon and described loop bar, and described loop bar is flexibly connected with described second armshaft and has free end; Described free end connects one end of driving component, and the other end of described driving component is connected with described second armshaft.
When expansion link needs to extend, swingle transfers extension to along internal thread rotation, and on the contrary, when expansion link needs to shrink back, swingle transfers in loop bar along internal thread rotation and returns, and like this, realizes full wind-up adjustment angle, can significantly expand arm job area; The object arranging driving component is, makes robot arm spin stabilization, moves up and down conveniently.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in further detail:
Fig. 1 is the all-round rotation arm structure schematic diagrames to rotary machine human arm of 360 degree in the utility model;
Fig. 2 is the structural representation under the another kind of duty of full wind-up in Fig. 1;
Fig. 3 is that the utility model is based on 360 degree of all-round polishing platform structural representations to rotary machine human arm;
Fig. 4 is the plan structure figure of Fig. 3;
Fig. 5 is the structure enlarged diagram of the driving component in Fig. 1;
Fig. 6 is the structural representation of the driving component in figure Fig. 2;
Wherein: 1-polishes platform, 2-robot arm, 201-base, 202-supporting seat, 203-full wind-up, 2031-first armshaft, 2032-second armshaft, 2033-the 3rd armshaft, 204-ear seat, 205-bistrique component, 206-expansion link, 2061-loop bar, 2062-swingle, 207-connecting rod, 208-free end, 3,4-frock clamp, 5-driving component, 501-first connecting rod, 502-second connecting rod, 503-third connecting rod.
Detailed description of the invention
In order to understand the utility model better relative to the improvement done by prior art, respectively detailed description is made to this detailed description of the invention of the present utility model below.
As shown in Figure 1, 2,360 degree of all-round full wind-ups 203 to rotary machine human arm 2 of the present utility model, described full wind-up 203 includes the first armshaft 2031, second armshaft 2032 and the 3rd armshaft 2033; Described first armshaft 2031 has the ear seat 204 for installing described second armshaft 2032; Described first armshaft 2031 bottom be provided with 360 degree all-round to rotating shaft; Described second armshaft 2032 is flexibly connected with one end of the 3rd armshaft 2033, and the other end of described 3rd armshaft 2033 is provided with bistrique component 205.
Described 3rd armshaft 2033 is made up of expansion link 206 and connecting rod 207; Described bistrique component 205 is arranged on described connecting rod 207; Described expansion link 206 one end is connected with described connecting rod 207, and the other end is flexibly connected with the second armshaft 2032; Described first armshaft 2031 bottom be provided with 360 degree all-round to rotating shaft; Described 3rd armshaft 2033 is connected by driving component 5 with described second armshaft 2032 one end near described first armshaft 2031 away from that free end 208 of bistrique component 205.
In the utility model, expansion link 206 shown in Fig. 1,2 is made up of loop bar 2061 and swingle 2062, described loop bar 2061 has internal thread, described swingle 2062 is by the screw-internal thread fit of external screw thread disposed thereon and described loop bar 2061, and described loop bar 2061 is flexibly connected with described second armshaft 2032 and has free end 208; Described free end 208 connects one end of driving component 5, and the other end of described driving component 5 is connected with described second armshaft 2032.
Fig. 3,4 be the utility model based on 360 degree of all-round polishing platforms 1 to rotary machine human arm, include robot arm 2; Also comprising two frock clamps 3,4 splits around described robot arm; Described robot arm 2 and frock clamp 3,4 are installed on polishing platform 1; Described robot arm 2 has the base 201 be fixedly installed on described polishing platform 1, described base 201 is square, and be bolted on described polishing platform 1 by circumferential four, described base 201 is provided with supporting seat 202, described supporting seat 202 is movably installed with full wind-up 203.
It is worth mentioning that: the full wind-up 203 in Fig. 3,4 be consistent in Fig. 1,2, not other difference, includes the first armshaft 2031, second armshaft 2032 and the 3rd armshaft 2033; Described first armshaft 2031 tilts upward from described supporting seat 202 and extends to form, and has the ear seat 204 for installing described second armshaft 2032; Described first armshaft 2031 bottom be provided with 360 degree all-round to rotating shaft; Described second armshaft 2032 is flexibly connected with one end of the 3rd armshaft 2033, and the other end of described 3rd armshaft 2033 is provided with bistrique component 205; 3rd armshaft 2033 is made up of expansion link 206 and connecting rod 207; Described bistrique component 205 is arranged on described connecting rod 207; Described expansion link 206 one end is connected with described connecting rod 207, the other end is flexibly connected with the second armshaft 2032, and described 3rd armshaft 2033 is connected by driving component 5 with described second armshaft 2032 one end near described first armshaft 2031 away from that free end 208 of bistrique component 205.
Wherein: 1-polishes platform, 2-robot arm, 201-base, 202-supporting seat, 203-full wind-up, 2031-first armshaft, 2032-second armshaft, 2033-the 3rd armshaft, 204-ear seat, 205-bistrique component, 206-expansion link, 2061-loop bar, 2062-swingle, 207-connecting rod, 208-free end, 3,4-frock clamp, 5-driving component, 501-first connecting rod, 502-second connecting rod, 503-third connecting rod.
Finally it should be noted that, full wind-up 203 in the utility model has driving component and obtains amplification at Fig. 5,6, as can be seen from Fig. 5,6, this driving component 5 being used for full wind-up 203 in robot arm is constituted by an active connection successively by first connecting rod 501, second connecting rod 502 and third connecting rod 503; Described first connecting rod 501 has horizontal axis hole; The two ends of described second connecting rod 502 all have horizontal axis hole, and are flexibly connected with first connecting rod 501, third connecting rod 503 respectively; Described first connecting rod 501 and third connecting rod 503 are positioned at the same side of described second connecting rod 502.
One end outer rim that described first connecting rod 501 has axis hole is curved, described third connecting rod 503 two ends are curved, and away from that one end be connected with second connecting rod 502, there is horizontal axis hole, this has in the second armshaft 2032 of one end embedding machine human arm of horizontal axis hole; Driving component 5 global shape is U-shaped, in the utility model, described first connecting rod 501, second connecting rod 502 are consistent with the thickness of third connecting rod 503, thickness is that 5cm(studies discovery through inventor, be all passable in 3-8cm scope, be enough to resistance the 3rd armshaft 2033 and draw the torsion formed).
By reference to the accompanying drawings embodiment of the present utility model is described in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken that art those of ordinary skill possesses, can also make a variety of changes under the prerequisite not departing from the utility model aim.
Claims (7)
1. 360 degree of all-round full wind-ups to rotary machine human arm, is characterized in that, this full wind-up includes the first armshaft, the second armshaft and the 3rd armshaft; Described first armshaft has the ear seat for installing described second armshaft; Described second armshaft is flexibly connected with one end of the 3rd armshaft, and the other end of described 3rd armshaft is provided with bistrique component; Described 3rd armshaft is made up of expansion link and connecting rod; Described bistrique Components installation is on described connecting rod; Described expansion link one end is connected with described connecting rod, and the other end is flexibly connected with the second armshaft; Described first armshaft bottom be provided with 360 degree all-round to rotating shaft.
2. 360 degree of all-round full wind-ups to rotary machine human arm according to claim 1, it is characterized in that, described expansion link is made up of loop bar and swingle, described loop bar has internal thread, described swingle is by the screw-internal thread fit of external screw thread disposed thereon and described loop bar, and described loop bar is flexibly connected with described second armshaft and has free end; Described free end connects one end of driving component, and the other end of described driving component is connected with described second armshaft.
3. 360 degree of all-round full wind-ups to rotary machine human arm according to claim 2, it is characterized in that, described driving component is constituted by an active connection successively by first connecting rod, second connecting rod and third connecting rod; Described first connecting rod has horizontal axis hole; The two ends of described second connecting rod all have horizontal axis hole, and are flexibly connected with first connecting rod, third connecting rod respectively; Described first connecting rod and third connecting rod are positioned at the same side of described second connecting rod.
4. 360 degree of all-round full wind-ups to rotary machine human arm according to claim 3, it is characterized in that, one end outer rim that described first connecting rod has axis hole is curved.
5. 360 degree of all-round full wind-ups to rotary machine human arm according to claim 4, it is characterized in that, described third connecting rod two ends are curved, and away from that one end be connected with second connecting rod, there is horizontal axis hole, this has in second armshaft of one end embedding machine human arm of horizontal axis hole.
6. 360 degree of all-round full wind-ups to rotary machine human arm according to claim 5, it is characterized in that, this driving component global shape is U-shaped.
7. 360 degree of all-round full wind-ups to rotary machine human arm according to claim 6, it is characterized in that, described first connecting rod, second connecting rod are consistent with the thickness of third connecting rod, and thickness is 3-8cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520505891.6U CN204843832U (en) | 2015-07-14 | 2015-07-14 | 360 full rotation in a circumferential direction robot arm's of degree rotatory arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520505891.6U CN204843832U (en) | 2015-07-14 | 2015-07-14 | 360 full rotation in a circumferential direction robot arm's of degree rotatory arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204843832U true CN204843832U (en) | 2015-12-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520505891.6U Expired - Fee Related CN204843832U (en) | 2015-07-14 | 2015-07-14 | 360 full rotation in a circumferential direction robot arm's of degree rotatory arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204843832U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877499A (en) * | 2017-12-15 | 2018-04-06 | 长沙志唯电子科技有限公司 | A kind of 360 degree of all-round full wind-ups to rotary machine human arm |
| CN108555776A (en) * | 2018-05-04 | 2018-09-21 | 冯敬新 | Three axis flexibility sanding and polishing system of robot |
| CN111185914A (en) * | 2019-07-15 | 2020-05-22 | 上海戴屹科技有限公司 | Five-axis grinding robot |
-
2015
- 2015-07-14 CN CN201520505891.6U patent/CN204843832U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877499A (en) * | 2017-12-15 | 2018-04-06 | 长沙志唯电子科技有限公司 | A kind of 360 degree of all-round full wind-ups to rotary machine human arm |
| CN108555776A (en) * | 2018-05-04 | 2018-09-21 | 冯敬新 | Three axis flexibility sanding and polishing system of robot |
| CN111185914A (en) * | 2019-07-15 | 2020-05-22 | 上海戴屹科技有限公司 | Five-axis grinding robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20151209 Termination date: 20160714 |
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| CF01 | Termination of patent right due to non-payment of annual fee |