CN206066425U - A kind of four axle robots for being provided with bend arm - Google Patents
A kind of four axle robots for being provided with bend arm Download PDFInfo
- Publication number
- CN206066425U CN206066425U CN201621012842.XU CN201621012842U CN206066425U CN 206066425 U CN206066425 U CN 206066425U CN 201621012842 U CN201621012842 U CN 201621012842U CN 206066425 U CN206066425 U CN 206066425U
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- China
- Prior art keywords
- axle
- arm
- robots
- connecting rod
- bend
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- 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.)
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Abstract
This utility model is related to a kind of four axle robots for being provided with bend arm, including base, first axle, the second axle, the 3rd axle, the 4th axle；Described first axle is arranged on base, and the second axle is pivotally arranged in first axle, and, pivotally installed in the upper end of the second axle, the 4th axle is pivotally installed in the end of the 3rd axle for the 3rd axle；The 3rd described axle includes the first integrally formed arm and the second arm, and the second arm is located at the front end of the first arm, the second arm inclined downward forward from behind and above.From in left view or right apparent direction, the upper surface of the first arm is horizontal, from back lower place inclined upward forward, the upper surface of the second arm is parallel with the lower surface of the second arm for the lower surface of the first arm, and the angle formed by the lower surface of the lower surface of the first arm and the second arm is obtuse angle.This utility model can make the range of activity of robot tong bigger, belong to the technical field of four axle robots.
Description
Technical field
This utility model is related to the technical field of four axle robots, more particularly to a kind of four axle machines for being provided with bend arm
People.
Background technology
In prior art, in the four axle robots with regard to foreign countries, the 3rd axle of wherein robot is straight on the whole, in reality
In the use of border, the robot tong range of activity on the 4th axle is little, easily touches the 3rd axle.
Utility model content
For technical problem present in prior art, the purpose of this utility model is：A kind of bend arm of being provided with is provided
Four axle robots, can make the range of activity of robot tong bigger.
In order to achieve the above object, this utility model is adopted the following technical scheme that：
A kind of four axle robots for being provided with bend arm, including base, first axle, the second axle, the 3rd axle, the 4th axle；It is described
First axle be arranged on base on, the second axle pivotally be arranged on first axle on, the 3rd axle pivotally be arranged on the second axle
Upper end, the 4th axle pivotally installed in the 3rd axle end；The 3rd described axle includes the first integrally formed arm and
Two arms, the second arm are located at the front end of the first arm, the second arm inclined downward forward from behind and above.Due to first arm and of the 3rd axle
Two arms have been designed to certain angle so that the range of activity of the robot tong on the 4th axle becomes big, robot folder
Handss are not easy to encounter the 3rd axle.If the second arm of the 3rd axle is horizontal, i.e. the upper surface and lower surface of the second arm are all levels
, then when robot tong is excessive, robot tong easily touches the 3rd axle.In the case of equal brachium, this practicality
The range of activity of new robot tong is bigger, and robot tong can also be run at faster speed.
It is further：From in left view or right apparent direction, the upper surface of the first arm is horizontal, the lower end of the first arm
From back lower place inclined upward forward, the upper surface of the second arm is parallel with the lower surface of the second arm in face, the lower surface of the first arm and the
The angle formed by the lower surface of two arms is obtuse angle.So that the range of activity of the robot tong on the 4th axle becomes big.
It is further：The lower surface of the first described arm is provided with fillet with the joint of the lower surface of the second arm.It is round and smooth
Transition, reduces the problem of stress concentration.
It is further：The scope at described obtuse angle is 140 °～175 °.Meet actual operation requirements, this is selected in obtuse angle
During scope, robot tong will not typically touch the 3rd axle.
It is further：Described first axle is provided with the reductor for the 3rd axle of driving, and the outfan of reductor sets
The rear end for having moving block, the 3rd axle is connected with moving block by first connecting rod.Reductor is used to drive the 3rd axle.
It is further：Four axle robots also include second connecting rod, triangle bridge, third connecting rod, contiguous block；Triangle bridge
Pivotally installed in the upper end of the second axle, the lower end of second connecting rod is connected in first axle, and the upper end of second connecting rod is connected to
On triangle bridge, one end of third connecting rod is connected with triangle bridge, and the other end of third connecting rod is connected with contiguous block, and contiguous block turns
Dynamic formula ground is arranged on the 4th axle.The lower surface of the 4th axle can be caused to keep horizontality.
Generally speaking, this utility model has the advantage that：
1. this utility model can make the range of activity of robot tong bigger, and robot tong can also be at faster speed
Operation.
2. this utility model can make the lower surface of the 4th axle keep horizontality.
3. this utility model simple structure, designs simple.
Description of the drawings
Fig. 1 is the axonometric chart of this utility model first direction.
Fig. 2 is the axonometric chart of this utility model second direction, wherein, only draw the latter half.
Wherein, 1 is base, and 2 is first axle, and 3 is the second axle, and 4 is the first arm of the 3rd axle, and 5 is the second arm of the 3rd axle,
6 is the 4th axle, and 7 is second connecting rod, and 8 is triangle bridge, and 9 is third connecting rod, and 10 is contiguous block, and 11 is first connecting rod, and 12 is to turn
Motion block.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in more detail.
For sake of convenience, hereafter described fore-and-aft direction up and down is provided as follows：Above-below direction and four axle robots are certainly
Above-below direction when so placing is consistent, and, in the front end of the second axle, the 3rd axle position is in the left side of triangle bridge for the 4th axle position.
With reference to shown in Fig. 1, Fig. 2, a kind of four axle robots for being provided with bend arm, including base, first axle, the second axle,
Three axles, the 4th axle；Described first axle is arranged on base, and from overlook direction, first axle is clockwise or counterclockwise.
Second axle is substantially in vertical state, and pivotally in first axle, the second axle can be rotated in front and back for the lower end of the second axle.3rd
Pivotally installed in the upper end of the second axle, the postmedian of the 3rd axle is arranged on the second axle axle, and the 3rd axle is with respect on the second axle
Lower rotation.4th axle is pivotally installed in the end of the 3rd axle；The 3rd described axle includes the first integrally formed arm and
Two arms, the second arm are located at the front end of the first arm, the second arm inclined downward forward from behind and above.
From in left view or right apparent direction, the upper surface of the first arm is horizontal, and the lower surface of the first arm is from the back lower place
Inclined upward forward, the upper surface of the second arm are parallel with the lower surface of the second arm, the lower end of the lower surface of the first arm and the second arm
The angle formed by face is obtuse angle.The lower surface of the first described arm is provided with fillet with the joint of the lower surface of the second arm.It is described
Obtuse angle scope be 140 °～175 °.
Described first axle is provided with the reductor (not shown) for the 3rd axle of driving, and the outfan of reductor sets
The rear end for having moving block, the 3rd axle is connected with moving block by first connecting rod.Reductor can be realized rotating forward and reversely be turned
It is dynamic.
Four axle robots also include second connecting rod, triangle bridge, third connecting rod, contiguous block；Triangle bridge is triangular in shape, and three
Pivotally installed in the upper end of the second axle, the lower end of second connecting rod is connected in first axle, second connecting rod for the lower end of angular pole frame
Upper end be connected on the rear end of triangle bridge, one end of third connecting rod is connected with the front end of triangle bridge, third connecting rod it is another
One end is connected with contiguous block, and contiguous block is pivotally arranged on the 4th axle, and one end of the 4th axle is connected with the 3rd axle, the 4th axle
The other end be connected with contiguous block.4th axle is to be connected to robot tong (robot tong not shown in figure), so
The lower surface of the 4th axle will keep horizontality, as the 4th axle can be rotated upwardly and downwardly with respect to the 3rd axle, turn in the 3rd axle up and down
In dynamic process, it is to ensure that the lower surface of the 4th axle remains level, second connecting rod drives triangle bridge, then drives the 3rd company
Bar, so as to drive contiguous block, as one end of the 4th axle is connected with contiguous block, the rotation of contiguous block can drive the 4th axle to turn
It is dynamic.
As first arm and the second arm of the 3rd axle have been designed to certain angle so that the machine on the 4th axle
The range of activity of people's tong becomes big, and robot tong is not easy to encounter the 3rd axle.If the second arm of the 3rd axle is horizontal, i.e.,
The upper surface and lower surface of two arms is all level, then, when robot tong is excessive, robot tong easily touches the 3rd
Axle.In the case of equal brachium, the range of activity of robot tong of the present utility model is bigger, and robot tong can also be with
Speed operation faster.
First axle of the present utility model, the second axle, the 3rd axle, the installation of the 4th axle and relative motion relation can be using existing
The technology of some maturations is realizing.Four axles robot of the present utility model is heavily loaded humanoid robot.
Above-described embodiment is this utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned
The restriction of embodiment, it is other it is any without departing from the change made under spirit of the present utility model and principle, modify, replace
Generation, combination, simplification, should be equivalent substitute mode, are included within protection domain of the present utility model.
Claims (6)
1. a kind of four axle robots for being provided with bend arm, it is characterised in that：Including base, first axle, the second axle, the 3rd axle,
Four axles；Described first axle is arranged on base, and the second axle is pivotally arranged in first axle, and the 3rd axle is pivotally installed
In the upper end of the second axle, the 4th axle is pivotally installed in the end of the 3rd axle；The 3rd described axle includes integrally formed
One arm and the second arm, the second arm are located at the front end of the first arm, the second arm inclined downward forward from behind and above.
2. according to a kind of four axle robots for being provided with bend arm described in claim 1, it is characterised in that：Regard from left view or the right side
Side looks up, and the upper surface of the first arm is horizontal, the lower surface of the first arm from back lower place inclined upward forward, the second arm it is upper
End face is parallel with the lower surface of the second arm, and the angle formed by the lower surface of the lower surface of the first arm and the second arm is obtuse angle.
3. according to a kind of four axle robots for being provided with bend arm described in claim 2, it is characterised in that：The first described arm
Lower surface is provided with fillet with the joint of the lower surface of the second arm.
4. according to a kind of four axle robots for being provided with bend arm described in claim 2, it is characterised in that：The model at described obtuse angle
Enclose for 140 °～175 °.
5. according to a kind of four axle robots for being provided with bend arm described in claim 1, it is characterised in that：In described first axle
The reductor for the 3rd axle of driving is provided with, the outfan of reductor is provided with moving block, and the rear end of the 3rd axle passes through first connecting rod
Connect with moving block.
6. according to a kind of four axle robots for being provided with bend arm described in claim 1, it is characterised in that：Four axle robots are also wrapped
Include second connecting rod, triangle bridge, third connecting rod, contiguous block；Pivotally installed in the upper end of the second axle, second connects triangle bridge
The lower end of bar is connected in first axle, and the upper end of second connecting rod is connected on triangle bridge, one end of third connecting rod and triangle pole
Frame connects, and the other end of third connecting rod is connected with contiguous block, and contiguous block is pivotally arranged on the 4th axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621012842.XU CN206066425U (en) | 2016-08-31 | 2016-08-31 | A kind of four axle robots for being provided with bend arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621012842.XU CN206066425U (en) | 2016-08-31 | 2016-08-31 | A kind of four axle robots for being provided with bend arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066425U true CN206066425U (en) | 2017-04-05 |
Family
ID=58434690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621012842.XU Expired - Fee Related CN206066425U (en) | 2016-08-31 | 2016-08-31 | A kind of four axle robots for being provided with bend arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066425U (en) |
-
2016
- 2016-08-31 CN CN201621012842.XU patent/CN206066425U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170405 Termination date: 20190831 |