CN204913894U - Three degree of freedom robots - Google Patents

Three degree of freedom robots Download PDF

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Publication number
CN204913894U
CN204913894U CN201520728418.4U CN201520728418U CN204913894U CN 204913894 U CN204913894 U CN 204913894U CN 201520728418 U CN201520728418 U CN 201520728418U CN 204913894 U CN204913894 U CN 204913894U
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CN
China
Prior art keywords
forearm
base
moving assembly
motion
degree
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201520728418.4U
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Chinese (zh)
Inventor
尚健
刘罡
韩守国
刘延杰
谭建勋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HAERBIN BOSHI AUTOMATION CO Ltd
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HAERBIN BOSHI AUTOMATION CO Ltd
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Priority to CN201520728418.4U priority Critical patent/CN204913894U/en
Application granted granted Critical
Publication of CN204913894U publication Critical patent/CN204913894U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model provides a three degree of freedom robots, belongs to the robotechnology field. The utility model discloses realize the spatial movement's of robot flexibility, the advantage of compact structure nature has higher velocity of movement again and can provide higher impact force on a certain axle direction of motion simultaneously. The utility model discloses have the three degree of freedom, the upper end of base is articulated with the swivel mount, and transposable upper end is articulated with the forearm, and rotary motion can be for the base to the swivel mount, luffing about the forearm can be done for the base, being equipped with the removal subassembly on the forearm support, removing subassembly and the hookup of rotary motion - linear motion shifter, the rotary motion - linear motion shifter is articulated with driving motor, removes the subassembly and is reciprocal linear motion through the leading wheel on the guide rail, and the front end that removes the subassembly is fixed with the instrument seat, still is equipped with the clamping jaw on the instrument seat, and the clamping jaw is articulated with clamping jaw air cylinder, and clamping jaw air cylinder's cylinder body is fixed on the instrument seat. The utility model is used for replace human operation.

Description

A kind of Three Degree Of Freedom robot
Technical field
The utility model relates to a kind of robot, belongs to robotics.
Background technology
Along with the progressively raising of human cost, robot replaces mankind's operation to become a kind of trend, the series connection that current automated production scene uses or parallel robot, as carrying, welding, spraying, the uses such as assembling, need to provide greater impact power at some, and need higher linear reciprocating motion speed at this force direction, some can also be used for the instrument of special process design, still do not have suitable robot to use at present.
Utility model content
Give hereinafter about brief overview of the present utility model, to provide about the basic comprehension in some of the present utility model.Should be appreciated that this general introduction is not summarize about exhaustive of the present utility model.It is not that intention determines key of the present utility model or pith, neither intended limitation scope of the present utility model.Its object is only provide some concept in simplified form, in this, as the preorder in greater detail discussed after a while.
Given this, according to an aspect of the present utility model, provide a kind of Three Degree Of Freedom robot, at least to realize the flexibility possessing robot spatial movement, the advantage of structural compactness, has again higher movement velocity and can provide higher impulsive force simultaneously in a certain axle direction of motion.
A kind of Three Degree Of Freedom robot that the utility model proposes, it has three degree of freedom, comprises base, swivel base and forearm; Base is fixed on robot entirety on fixed or packaged type platform, and upper end and the swivel base of base are hinged, and swivel base can do gyration relative to base, and upper end and the forearm of swivel base are hinged, and forearm can do upper and lower elevating movement relative to base;
Described forearm comprises drive motors, described drive motors is fixed on the rear end of forearm bracket, forearm bracket is provided with guide rail, described guide rail is semicircle long guideway, forearm bracket is provided with moving assembly, the two ends of moving assembly connect with rotary motion-linear motion conversion mechanism, rotary motion-linear motion conversion mechanism and drive motors hinged, four base angles, lower end place of moving assembly is equipped with directive wheel, moving assembly does linear reciprocating motion by directive wheel on guide rail, the front end of moving assembly is fixed with tool seat, the inside, front end of tool seat is outer toroidal taper hole structure, tool seat is also provided with jaw, the rear end of jaw and the lever of jaw cylinder hinged, the cylinder body of jaw cylinder is fixed in tool seat.
Further: described rotary motion-linear motion conversion mechanism comprises chain, the front end of chain is arranged on forearm bracket by forward sprocket axle, the rear end of chain is arranged on forearm bracket by rearward sprocket axle, rearward sprocket axle is provided with driven wheel of differential, drive motors is connected with drive bevel gear by decelerator, drive bevel gear engages with driven wheel of differential, the axis of drive bevel gear and the axes normal of driven wheel of differential.The rotary motion of drive motors is finally converted into the rectilinear motion of moving assembly, the speed of drive motors and torque can be controlled thus control the point-to-point speed of moving assembly and the impulsive force in the direction of motion, the moving assembly high-speed motion when needs impulsive force, the inertia force of the torque provided by drive motors and moving assembly itself provides an impulsive force needed in the movement direction.
Further: the directive wheel at moving assembly each base angle place is divided into upper and lower two parts, the directive wheel on top and fitting above of guide rail, fit in the directive wheel of bottom and the lower surface of forearm bracket.The directive wheel on top mainly plays guide effect, and the directive wheel of bottom plays the effect of equilibrium torsion moment.
Further: described guide rail is semicircle long guideway.
Further: described drive motors is servomotor, is controlled by motion controller and servo-driver.Have kinematics and the dynamic characteristic of robot, flexible movements, precisely, compact conformation, floor space is little, is easy to safeguard, convenient operation for repetitive positioning accuracy and movement locus precision controlling.
The effect that the utility model reaches is:
The utility model has three degree of freedom, swivel base can do gyration relative to base, , forearm can do upper and lower elevating movement relative to base, forearm is directly hinged on swivel base, the arm of force is less, swivel base and the hinged RV reductor stress of forearm better, resistance to impact is stronger, the rotary motion of drive motors is finally converted into the rectilinear motion of moving assembly by rotary motion-linear motion conversion mechanism, the speed of drive motors and torque can be controlled thus control the point-to-point speed of moving assembly and the impulsive force in the direction of motion, the moving assembly high-speed motion when needs impulsive force, the inertia force of the torque provided by drive motors and moving assembly itself provides an impulsive force needed in the movement direction.Achieve the flexibility of robot spatial movement, the advantage of structural compactness, there is again higher movement velocity in a certain axle direction of motion and higher impulsive force can be provided, see table 1 simultaneously.
Table 1: robot impact force data table
Motor speed rpm Impulsive force (kgf)
1500 1000.7
2000 1334.2
2400 1601.1
2700 1801.2
3000 2001.3
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present utility model;
Fig. 2 is the stereogram of forearm;
Fig. 3 is forearm rear transfer schematic diagram;
Fig. 4 is forearm front transfer schematic diagram;
Fig. 5 is the layout drawing of directive wheel at base angle, the lower end place of moving assembly.
In figure: 1 base; 2 swivel bases; 3 forearms; 3-1 drive motors; 3-2 forearm bracket; 3-3 moving assembly; 3-4 directive wheel; 3-5 guide rail; 3-6 rotary motion-linear motion conversion mechanism; 3-7 jaw cylinder; 3-8 jaw; 3-9 tool seat; 3-10 decelerator; 3-11 drive bevel gear; 3-12 driven wheel of differential; 3-13 rearward sprocket axle; 3-14 forward sprocket axle.
Detailed description of the invention
To be described one exemplary embodiment of the present utility model by reference to the accompanying drawings hereinafter.For clarity and conciseness, all features of actual embodiment are not described in the description.But, should understand, must make a lot specific to the decision of embodiment in the process of any this practical embodiments of exploitation, to realize the objectives of developer, such as, meet those restrictive conditions relevant to system and business, and these restrictive conditions may change to some extent along with the difference of embodiment.In addition, although will also be appreciated that development is likely very complicated and time-consuming, concerning the those skilled in the art having benefited from the utility model disclosure, this development is only routine task.
At this, also it should be noted is that, in order to avoid the utility model fuzzy because of unnecessary details, illustrate only in the accompanying drawings with according to the closely-related apparatus structure of scheme of the present utility model and/or treatment step, and eliminate other details little with the utility model relation.
Embodiment of the present utility model provides a kind of Three Degree Of Freedom robot, and it has three degree of freedom, comprises base 1, swivel base 2 and forearm 3; Base 1 is fixed on robot entirety on fixed or packaged type platform, and upper end and the swivel base 2 of base 1 are hinged, and swivel base 2 can do gyration relative to base 1, and upper end and the forearm 3 of swivel base 2 are hinged, and forearm 3 can do upper and lower elevating movement relative to base 1;
Described forearm 3 comprises drive motors 3-1, described drive motors 3-1 is fixed on the rear end of forearm bracket 3-2, forearm bracket 3-2 is provided with guide rail 3-5, guide rail 3-5 is two and is arranged in parallel, more complicated stressing conditions can be born, forearm bracket 3-2 is provided with moving assembly 3-3, the two ends of moving assembly 3-3 connect with rotary motion-linear motion conversion mechanism 3-6, rotary motion-linear motion conversion mechanism 3-6 and drive motors 3-1 is hinged, four base angles, lower end place of moving assembly 3-3 is equipped with directive wheel 3-4, moving assembly 3-3 does linear reciprocating motion by directive wheel 3-4 on guide rail 3-5, the front end of moving assembly 3-3 is fixed with tool seat 3-9, the inside, front end of tool seat 3-9 is outer toroidal taper hole structure, tool seat 3-9 is also provided with jaw 3-8, the rear end of jaw 3-8 and the lever of jaw cylinder 3-7 hinged, the cylinder body of jaw cylinder 3-7 is fixed on tool seat 3-9.
In addition, according to a kind of implementation, rotary motion-linear motion conversion mechanism 3-6 comprises chain, bevel gear.The front end of chain is arranged on forearm bracket 3-2 by forward sprocket axle 3-14, the rear end of chain is arranged on forearm bracket 3-2 by rearward sprocket axle 3-13, rearward sprocket axle 3-13 is provided with driven wheel of differential 3-12, turning motor drive motors 3-1 is connected with drive bevel gear 3-11 by decelerator 3-10, drive bevel gear 3-11 engages with driven wheel of differential 3-12, the axis of drive bevel gear 3-11 and the axes normal of driven wheel of differential 3-12.The rotary motion of drive motors 3-1 is finally converted into the rectilinear motion of moving assembly 3-3, the speed of drive motors 3-1 and torque can be controlled thus control the point-to-point speed of moving assembly 3-3 and the impulsive force in the direction of motion, the moving assembly 3-3 high-speed motion when needs impulsive force, the inertia force of the torque provided by drive motors and moving assembly 3-3 itself provides an impulsive force needed in the movement direction.
In addition, according to a kind of implementation, the directive wheel 3-4 at moving assembly each base angle place is divided into upper and lower two parts, and the directive wheel 3-4 on top and fitting above of guide rail 3-5, fit in the directive wheel 3-4 of bottom and the lower surface of forearm bracket 3-2 guide rail 3-5.The directive wheel on top mainly plays guide effect, and the directive wheel of bottom plays the effect of equilibrium torsion moment.
In addition, according to a kind of implementation, described guide rail is semicircle long guideway.
In addition, according to a kind of implementation, described drive motors 3-1 is servomotor, is controlled by motion controller and servo-driver.Have kinematics and the dynamic characteristic of robot, flexible movements, precisely, compact conformation, floor space is little, is easy to safeguard, convenient operation for repetitive positioning accuracy and movement locus precision controlling.
In addition, according to a kind of implementation, described rotary motion-linear motion conversion mechanism 3-6 can also be electric pushrod, threaded screw rod or belt.
Operation principle of the present utility model:
Robot is fixed on fixed or packaged type platform by base 1 entirety, one spindle motor drives RV reductor hinged between base 1 and swivel base 2, swivel base 2 can be driven to do reciprocating rotating motion, the RV reductor that two spindle motors drive swivel base 2 and forearm 3 hinged, forearm 3 can be driven to do upper and lower elevating movement, three spindle motors drive reductor driven rotary motion-linear motion conversion mechanism 3-6, rotary motion-linear motion conversion mechanism 3-6 drives moving assembly 3-3 to do linear reciprocating motion along guide rail 3-5, the stretching motion of jaw cylinder 3-7, the instrument of jaw 3-8 promptly or in back off tool seat 3-9 can be driven, the motor that robot uses is servomotor, controlled by motion controller and servo-driver, there is kinematics and the dynamic characteristic of robot, flexible movements, repetitive positioning accuracy and movement locus precision controlling accurate, compact conformation, floor space is little, be easy to safeguard, convenient operation, the rotary motion of three spindle motors is finally converted into the rectilinear motion of moving assembly 3-3, the speed of servomotor and torque can be controlled thus control the point-to-point speed of moving assembly 3-3 and the impulsive force in the direction of motion, the moving assembly 3-3 high-speed motion when needs impulsive force, the inertia force of the torque provided by motor and moving assembly 3-3 itself provides an impulsive force needed in the movement direction, monitor the size feedback of impulsive force simultaneously, impact when impulsive force reaches setting permissible value higher limit and stop, motor reversal rollback, instruction and feedback adopt high speed communication pattern, ensure the real-time receiving feedback and sending controling instruction, forearm 3 is directly hinged on swivel base 2, the arm of force is less, the swivel base 2 RV reductor stress hinged with forearm 3 is better, resistance to impact is stronger.Robot multi-freedom links, and can complete more complicated action.Robot RV used reductor has the plurality of advantages such as anti-impact force is strong, moment of torsion is large, volume is little, lightweight, gear range is large, speed reducing ratio is large, the life-span is long, positioning precision is high, precision keeps stable, efficiency is high, it is little to vibrate, stable drive, compared with harmonic wave speed reducing machine conventional in robot, there is much higher fatigue strength, rigidity and life-span, and return difference stable accuracy.
Although the embodiment that the utility model discloses as above, the embodiment that its content just adopts for the ease of understanding the technical solution of the utility model, is not intended to limit the utility model.Technical staff in any the utility model art; under the prerequisite not departing from the core technology scheme that the utility model discloses; any amendment and change can be made in the form implemented and details; but the protection domain that the utility model limits, the scope that still must limit with appending claims is as the criterion.

Claims (4)

1. a Three Degree Of Freedom robot, it has three degree of freedom, comprises base (1), swivel base (2) and forearm (3); Base (1) is fixed on robot entirety on fixed or packaged type platform, upper end and the swivel base (2) of base (1) are hinged, swivel base (2) can do gyration relative to base (1), upper end and the forearm (3) of swivel base (2) are hinged, and forearm (3) can do upper and lower elevating movement relative to base (1);
Above-mentioned roboting features is: described forearm (3) comprises drive motors (3-1), forearm bracket (3-2), moving assembly (3-3), directive wheel (3-4), guide rail (3-5), rotary motion-linear motion conversion mechanism (3-6), jaw cylinder (3-7), jaw (3-8), tool seat (3-9), described drive motors (3-1) is fixed on forearm bracket (3-2), forearm bracket (3-2) is provided with guide rail (3-5), described guide rail is semicircle long guideway, forearm bracket (3-2) is provided with moving assembly (3-3), the two ends of moving assembly (3-3) connect with rotary motion-linear motion conversion mechanism (3-6), rotary motion-linear motion conversion mechanism (3-6) is hinged with drive motors (3-1), four base angles, lower end place of moving assembly (3-3) is equipped with directive wheel (3-4), moving assembly (3-3) does linear reciprocating motion by directive wheel (3-4) on guide rail (3-5), the front end of moving assembly (3-3) is fixed with tool seat (3-9), the inside, front end of tool seat (3-9) is outer toroidal taper hole structure, tool seat (3-9) is also provided with jaw (3-8), the rear end of jaw (3-8) and the lever of jaw cylinder (3-7) hinged, the cylinder body of jaw cylinder (3-7) is fixed in tool seat (3-9).
2. a kind of Three Degree Of Freedom robot according to claim 1, it is characterized in that: described rotary motion-linear motion conversion mechanism (3-6) comprises chain, the front end of chain is arranged on forearm bracket (3-2) by forward sprocket axle (3-14), the rear end of chain is arranged on forearm bracket (3-2) by rearward sprocket axle (3-13), rearward sprocket axle (3-13) is provided with driven wheel of differential (3-12), turning motor drive motors (3-1) is connected with drive bevel gear (3-11) by decelerator (3-10), drive bevel gear (3-11) engages with driven wheel of differential (3-12), the axis of drive bevel gear (3-11) and the axes normal of driven wheel of differential (3-12).
3. a kind of Three Degree Of Freedom robot according to claim 1 and 2, it is characterized in that: the directive wheel (3-4) at moving assembly each base angle place is divided into upper and lower two parts, the directive wheel (3-4) on top and fitting above of guide rail (3-5), fit in the directive wheel (3-4) of bottom and the lower surface of forearm bracket (3-2).
4. a kind of Three Degree Of Freedom robot according to claim 3, is characterized in that: described drive motors (3-1) is servomotor, is controlled by motion controller and servo-driver.
CN201520728418.4U 2015-09-18 2015-09-18 Three degree of freedom robots Expired - Fee Related CN204913894U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201520728418.4U CN204913894U (en) 2015-09-18 2015-09-18 Three degree of freedom robots

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Country Link
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105082118A (en) * 2015-09-18 2015-11-25 哈尔滨博实自动化股份有限公司 Special operation robot
CN108472145A (en) * 2016-01-17 2018-08-31 人类运动机器人技术公司 System and equipment for the movement for guiding and detecting 3-DOF rolling targets joint

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105082118A (en) * 2015-09-18 2015-11-25 哈尔滨博实自动化股份有限公司 Special operation robot
CN108472145A (en) * 2016-01-17 2018-08-31 人类运动机器人技术公司 System and equipment for the movement for guiding and detecting 3-DOF rolling targets joint

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151230

Termination date: 20170918