CN206273540U - A kind of balanced type teaching mechanical arm - Google Patents
A kind of balanced type teaching mechanical arm Download PDFInfo
- Publication number
- CN206273540U CN206273540U CN201620988227.6U CN201620988227U CN206273540U CN 206273540 U CN206273540 U CN 206273540U CN 201620988227 U CN201620988227 U CN 201620988227U CN 206273540 U CN206273540 U CN 206273540U
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- rotary shaft
- mechanical arm
- rocking bar
- balanced
- fuselage
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Abstract
A kind of balanced type teaching mechanical arm, including base, fuselage, underarm, upper arm mounting seat, upper arm and teaching wrist, base is connected with one end of fuselage by the first rotary shaft, the other end of fuselage is connected with one end of underarm by the second rotary shaft, the other end of underarm is connected with one end of upper arm mounting seat by the 3rd rotary shaft, the other end of upper arm mounting seat is connected with one end of upper arm by the 4th rotary shaft, the other end of upper arm is provided with the teaching wrist for dragging teaching, and balance device for zooming is additionally provided between fuselage, the second rotary shaft and the 3rd rotary shaft.The weight basic neutralisation of the underarm of teaching mechanical arm, upper arm and teaching wrist can be made operator obtain the operating experience of more light and flexible by the utility model by installing bascule additional.
Description
Technical field
The utility model is related to robot field, more particularly to a kind of balanced type teaching mechanical arm.
Background technology
At present there is certain limitation in the robot teaching that is used mostly, mainly to the requirement of programming personnel's technical merit compared with
Height, when species is various, surface is complicated product is applied to, efficiency is low, workload is big.In patent ZL 2,014 2
After drawing type teaching mechanical arm described by 0847601.1 is developed, the workload of robot teaching is greatly diminished.
But, because teaching mechanical arm has certain weight, fatigue is easily caused when operating personnel use, to operation
The physical efficiency requirement of personnel is high；And because the torque that gravity during manipulator motion causes constantly changes, raising is shown
The stability of track is taught to adversely affect.Therefore in order to reduce the working strength of operator, so that movement locus is more put down
Cunning is controllable, operates a kind of light, balanced type teaching joint arm of spy's invention.
Utility model content
The utility model purpose is to propose a kind of balanced type teaching mechanical arm, in order to solve teaching joint body weight it is big,
The problems such as operation inconvenience.
To reach this purpose, the utility model uses following technical scheme：
A kind of balanced type teaching mechanical arm, including base, fuselage, underarm, upper arm mounting seat, upper arm and teaching wrist, institute
One end that base is connected with the fuselage by the first rotary shaft is stated, the other end of the fuselage is connected with by the second rotary shaft
One end of the underarm, the other end of the underarm is connected with one end of the upper arm mounting seat by the 3rd rotary shaft, described
The other end of upper arm mounting seat is connected with one end of the upper arm by the 4th rotary shaft, and the other end of the upper arm is provided with use
In the teaching wrist of dragging teaching, balance is additionally provided between the fuselage, second rotary shaft and the 3rd rotary shaft
Device for zooming.
The balance device for zooming includes rotating Axile connection structure, scaling portion and fixed support, the 3rd rotary shaft and
Second rotary shaft is connected to the one end in the scaling portion, the other end connection in the scaling portion by the rotation Axile connection structure
The fixed support, the fixed support is installed on the fuselage.
The rotation Axile connection structure includes linkage rocking bar, driven rocking bar and balanced connecting rod, one end of the linkage rocking bar
The upper end of the balanced connecting rod is articulated with, is articulated with the middle part of the linkage rocking bar in the 3rd rotary shaft, the linkage is shaken
The other end of bar is connected with the upper arm mounting seat；One end of the driven rocking bar is articulated near the balanced connecting rod lower end
Position, the other end of the driven rocking bar is articulated with second rotary shaft.
The balanced connecting rod is arranged in parallel with the underarm, and the length of the balanced connecting rod is more than the underarm
Length, the part relative with the driven rocking bar be parallel to each other with the driven rocking bar on the linkage rocking bar and equal length.
The scaling portion is stretchable spring.
The fixed support for "<" shape support.
Described support bracket fastened one end is fixedly installed on the fuselage, and the end of the support bracket fastened other end is provided with use
In the first hanging scroll of the one end in the fixation scaling portion.
The elongated end of the balanced connecting rod is provided with the second hanging scroll, and second hanging scroll is used to fix the one of the scaling portion
End, the scaling portion is fixed on first hanging scroll and second hanging scroll.
The hinged place of the balanced connecting rod is provided with self-lubricating plain radial bearing.
Corner locating element apparatus are respectively equipped with second rotary shaft and the 3rd rotary shaft.
The utility model, can be by the weight of the underarm of teaching mechanical arm, upper arm and teaching wrist by installing bascule additional
Amount basic neutralisation, makes operator obtain the operating experience of more light and flexible.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the utility model；
Fig. 2 is a kind of structural side view of embodiment of the utility model；
Wherein：1 is base；2 is fuselage；3 is underarm；4 is upper arm；5 is the first rotary shaft；6 is the second rotary shaft；7 are
3rd rotary shaft；8 is teaching wrist；9 is scaling portion；10 is fixed support；11 is linkage rocking bar；12 is driven rocking bar；13 are
Balanced connecting rod；14 is upper arm mounting seat；15 is the 4th rotary shaft；101 is the first hanging scroll；131 is the second hanging scroll.
Specific embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by specific embodiment.
As shown in Figure 1 or 2, a kind of balanced type teaching mechanical arm, including base 1, fuselage 2, underarm 3, upper arm mounting seat
14th, upper arm 4 and teaching wrist 8, the base 1 are connected with one end of the fuselage 2 by the first rotary shaft 5, the fuselage 2
The other end is connected with one end of the underarm 3 by the second rotary shaft 6, and the other end of the underarm 3 is connected by the 3rd rotary shaft 7
It is connected to one end of the upper arm mounting seat 14, the other end of the upper arm mounting seat 14 is connected with described by the 4th rotary shaft 15
One end of upper arm 4, the other end of the upper arm 4 is provided with the teaching wrist 8 for dragging teaching, it is characterised in that：The machine
Balance device for zooming is additionally provided between body 2, second rotary shaft 6 and the 3rd rotary shaft 7.
This programme is based on harvester of the teaching mechanical arm as robot working trajectory, has installed a kind of balance scaling additional
Device, mechanical arm is a series of open kinematic chain linked together by rotary joint by connecting rods, and its joint is only come by bearing
The movable information in each joint is passed to during transmission teaching, weight is very big in itself due to mechanical arm, and staff was operating
It is easy to produce fatigue when long, so as to have influence on the stability of movable information, by installing balance device for zooming additional so that each pass
Stress on section reaches balance, stabilizes movement locus, reduces the work difficulty of operating personnel.
Further description, the balance device for zooming includes rotating Axile connection structure, scaling portion 9 and fixed support
10, the 3rd rotary shaft 7 and the second rotary shaft 6 rotate one end that Axile connection structure is connected to the scaling portion 9 by described,
The other end in the scaling portion 9 connects the fixed support 10, and the fixed support is installed on the fuselage 2.
Because teaching mechanical arm weight is big, operating personnel easily cause fatigue when in use, gravity in manipulator motion
Cause torque to be continually changing, reduce the stability of teaching track, addition balance device for zooming reduces operating personnel's working strength,
Teaching smooth trajectory is controllable.
Further description, the rotation Axile connection structure includes linkage rocking bar 11, driven rocking bar 12 and balanced connecting rod
13, one end of the linkage rocking bar 11 is articulated with the upper end of the balanced connecting rod 13, and the middle part of the linkage rocking bar 11 is articulated with
In 3rd rotary shaft 7, the other end of the linkage rocking bar 11 is connected with the upper arm mounting seat 14；The driven rocking bar 12
One end be articulated with position near the lower end of the balanced connecting rod 13, the other end of the driven rocking bar 12 is articulated with described second
In rotary shaft 6.
During teaching, operating personnel are operated by the handle of teaching mechanical arm tail end, are carried out according to particular track
In mobile process, underarm will pass through linkage rocking bar, driven rocking bar and balanced connecting rod so that extension spring is sent out with the motion of upper arm
Raw corresponding deformation, the change of the torque caused come balancing mechanical arm gravity using spring force.
Further description, the balanced connecting rod 13 is arranged in parallel with the underarm 3, and the balanced connecting rod 13
Length more than the underarm 3 length.The length of the balanced connecting rod determines according to mechanical balance principle, effectively ensures to transport
The stabilization of dynamic rail mark is preferably minimized the operation difficulty degree of operating personnel simultaneously.With described from shaking on the linkage rocking bar 11
The relative part of bar 12 is parallel to each other with the driven rocking bar 12 and equal length
Further description, is provided with bracing piece, it is therefore an objective to make balance between described two parallel balanced connecting rods 13
Connection between connecting rod is more firm, it is to avoid the equipment damage caused by mechanical arm gravity is excessive.
Further description, the hinged place of the balanced connecting rod 13 is provided with self-lubricating plain radial bearing.Self-lubricating
The spherical sliding contact surface of plain radial bearing is big, it is allowed to inclination angle it is big, with bearing compared with big load and shock proof ability,
And the features such as having anticorrosive, wear-resistant, Self-aligning and lubricated.
Further description, is respectively equipped with corner locating component dress in the rotary shaft 7 of second rotary shaft 6 and the 3rd
Put.
Corner locating element apparatus are used to remember movement locus of the mechanical arm in motion process, will more accurately move rail
Mark is stored, and work is used mechanical arm automatically after being easy to.
Know-why of the present utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
With new principle, and can not by any way be construed to the limitation to the utility model protection domain.Based on explanation herein,
Those skilled in the art associates other specific embodiments of the present utility model by would not require any inventive effort,
These modes are fallen within protection domain of the present utility model.
Claims (10)
1. a kind of balanced type teaching mechanical arm, including base, fuselage, underarm, upper arm mounting seat, upper arm and teaching wrist, it is described
Base is connected with one end of the fuselage by the first rotary shaft, and the other end of the fuselage is connected by the second rotary shaft
State one end of underarm, the other end of the underarm is connected with one end of the upper arm mounting seat by the 3rd rotary shaft, it is described on
The other end of arm mounting seat is connected with one end of the upper arm by the 4th rotary shaft, the other end of the upper arm be provided with for
Drag the teaching wrist of teaching, it is characterised in that：Also set between the fuselage, second rotary shaft and the 3rd rotary shaft
It is equipped with balance device for zooming.
2. a kind of balanced type teaching mechanical arm according to claim 1, it is characterised in that：The balance device for zooming includes
Axile connection structure, scaling portion and fixed support are rotated, the 3rd rotary shaft and the second rotary shaft are connected by the rotary shaft
Structure is connected to the one end in the scaling portion, and the other end in the scaling portion connects the fixed support, the fixed support peace
Loaded on the fuselage.
3. a kind of balanced type teaching mechanical arm according to claim 1 and 2, it is characterised in that：The rotary shaft connection knot
Structure includes linkage rocking bar, driven rocking bar and balanced connecting rod, and one end of the linkage rocking bar is articulated with the upper end of the balanced connecting rod,
It is articulated with the 3rd rotary shaft in the middle part of the linkage rocking bar, the other end and the upper arm mounting seat of the linkage rocking bar
It is connected；One end of the driven rocking bar is articulated near the position of the balanced connecting rod lower end, the other end of the driven rocking bar
It is articulated with second rotary shaft.
4. a kind of balanced type teaching mechanical arm according to claim 3, it is characterised in that：The balanced connecting rod with it is described under
Arm is arranged in parallel, and the balanced connecting rod length more than the underarm length, on the linkage rocking bar with it is described from
Shake that the relative part of bar is parallel to each other with the driven rocking bar and equal length.
5. a kind of balanced type teaching mechanical arm according to claim 2, it is characterised in that：The scaling portion is stretchable
Spring.
6. a kind of balanced type teaching mechanical arm according to claim 2, it is characterised in that：The fixed support for "<" shape
Support.
7. a kind of balanced type teaching mechanical arm according to claim 6, it is characterised in that：Described support bracket fastened one end is consolidated
Surely the fuselage is arranged at, the end of the support bracket fastened other end is provided with first of the one end for fixing the scaling portion
Hanging scroll.
8. a kind of balanced type teaching mechanical arm according to claim 7, it is characterised in that：The elongated end of the balanced connecting rod
The second hanging scroll is provided with, second hanging scroll is used to fix the one end in the scaling portion, and the scaling portion is fixed on described first and hangs
On axle and second hanging scroll.
9. a kind of balanced type teaching mechanical arm according to claim 3, it is characterised in that：The hinged place of the balanced connecting rod
It is provided with self-lubricating plain radial bearing.
10. a kind of balanced type teaching mechanical arm according to claim 1, it is characterised in that：Second rotary shaft and
Corner locating element apparatus are respectively equipped with three rotary shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620988227.6U CN206273540U (en) | 2016-08-30 | 2016-08-30 | A kind of balanced type teaching mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620988227.6U CN206273540U (en) | 2016-08-30 | 2016-08-30 | A kind of balanced type teaching mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206273540U true CN206273540U (en) | 2017-06-23 |
Family
ID=59062949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620988227.6U Active CN206273540U (en) | 2016-08-30 | 2016-08-30 | A kind of balanced type teaching mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN206273540U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671139A (en) * | 2016-08-30 | 2017-05-17 | 佛山市新鹏机器人技术有限公司 | Balanced teaching mechanical arm |
-
2016
- 2016-08-30 CN CN201620988227.6U patent/CN206273540U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671139A (en) * | 2016-08-30 | 2017-05-17 | 佛山市新鹏机器人技术有限公司 | Balanced teaching mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 528225 A1 Factory Building, No. 40 Boai Middle Road, Shishan Town, Nanhai District, Foshan City, Guangdong Province (Residence Declaration) Patentee after: Guangdong Huibo Robot Technology Co., Ltd. Address before: 528225 Room A208 and A209, Research Building A, Nefo High-tech Think Tank Center, Nanhai Software Science Park, Shishan Town, Foshan City, Guangdong Province Patentee before: Xin Peng Robotics Technology Co., Ltd. of Foshan City |
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| CP03 | Change of name, title or address |