CN206764766U - A kind of robot arm tool combinations structure - Google Patents
A kind of robot arm tool combinations structure Download PDFInfo
- Publication number
- CN206764766U CN206764766U CN201720183246.6U CN201720183246U CN206764766U CN 206764766 U CN206764766 U CN 206764766U CN 201720183246 U CN201720183246 U CN 201720183246U CN 206764766 U CN206764766 U CN 206764766U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- replacement
- instrument
- robot
- rotary tool
- 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
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of robot arm tool combinations structure, including robot, mechanical arm, manipulator, rotary tool frame, replacement head, replacement instrument and control system, wherein, the robot includes head and trunk, the mechanical arm is connected with the trunk of the robot, the manipulator is connected with the mechanical arm, and the rotary tool frame is arranged on the bottom of the robot trunk, and the replacement head and replacement instrument are arranged on the rotary tool frame；The set-up of control system is in the trunk of the robot；The utility model is by mechanical arm, manipulator, rotary tool frame, replacement head and replaces being used cooperatively for instrument, can realize the maintenance activity of external agency.
Description
Technical field
It the utility model is related to robotic technology field, and in particular to a kind of robot arm tool combinations structure.
Background technology
In recent years, the international market of robot product remains the trend of continuous enlargement, " robot is preferably serviced
Under the demand of the mankind ", characteristic of the anthropomorphic robot with it safely, conveniently, intelligent, the outward appearance and the characteristics of motion similar to the mankind,
With having reached higher level in terms of being serviced object interaction, can realize more has affinity than non-anthropomorphic robot
Function, thus by the extensive favor of various people.However, the function of anthropomorphic robot existing on the market is more single at present
One, the actual demand using multiple types of tools can not be adapted in terms of mechanism maintenance.
Utility model content
The shortcomings that the purpose of this utility model is to overcome prior art and deficiency, there is provided one kind can realize that mechanism ties up
Repair, the robot arm tool combinations structure of automatic tool exchange.
The purpose of this utility model is achieved through the following technical solutions：
A kind of robot arm tool combinations structure, including robot, mechanical arm, manipulator, rotary tool frame, replacement
Head, instrument and control system are replaced, wherein, the robot includes head and trunk, the mechanical arm and the robot
Trunk is connected, and the manipulator is connected with the mechanical arm, and the rotary tool frame is arranged on the robot trunk
Bottom, the replacement head and replacement instrument are arranged on the rotary tool frame；The set-up of control system is in the robot
Trunk in；
It is designed with control circuit inside the mechanical arm and manipulator, control circuit and manipulator inside the mechanical arm
Internal control circuit is connected with the control system respectively；The manipulator is provided with interface, the interface and manipulator
Internal control circuit is connected；
Stepper motor is provided with the trunk, the stepper motor is connected with the rotary tool frame, the revolution work
Having frame includes revolution annulus and mounting bracket, and the bottom of the revolution annulus and trunk is rotatably connected, and the revolution annulus with
The stepper motor is connected, and the mounting bracket is fixed on the side of the revolution annulus；The stepper motor and the control
System is connected；
The replacement head and replacement instrument are arranged on the mounting bracket of the rotary tool frame, and the replacement head includes storage
Groove, rotating gravure, drive circuit and direct current generator, wherein, the accommodating groove is arranged on the replacement head, the rotating gravure
The bottom of the replacement head is arranged on, the direct current generator is arranged on the bottom of the replacement head and is connected with the rotating gravure
Connect, the drive circuit, which is arranged on, to be replaced in head and be connected with the direct current generator, and the drive circuit is provided with interface, described
Interface is arranged in the accommodating groove；The manipulator can be embedded in the accommodating groove and fix, and interface and receipts on manipulator
The interface received in groove is connected；Magnetite is provided with the rotating gravure, the replacement instrument can be embedded in the rotating gravure solid
It is fixed；
The control system includes single-chip microcomputer.
Preferably, the structural framing of the mechanical arm and manipulator is made of 3D printing；The inner frame of mechanical arm with it is outer
Shell system integrated molding, intensity, hardness are high and in light weight, and each position steering wheel can be supported to run well and have certain anti-impact
Survivability is hit, can also reduce the rotation of control ancon and shoulder turnover, the load of three large-scale steering wheels of lifting to greatest extent；
Manipulator system high precision automated machine, the accuracy to size of its component require high, select the cost of 3D printing processing low
And the construction cycle is short, it is convenient to carries out the reparation of improvement and the damage of part.Compared to mechanical arm, steering wheel pair built in manipulator
It is harsher in the requirement of material weight：The action in the joint such as the five fingers and metacarpus, wrist is drawn real by corresponding small-sized steering machine respectively
Existing, the design is realized on the basis of 3D printing molding part low-density.
Preferably, the structural framing of the rotary tool frame is made of 3D printing；The revolution work made using 3D printing
Have frame, there is intensity, hardness height, hole position in light weight and fixed, store the advantages of groove location is very accurate, while work as structure
When there is mechanical damage in framework, it is convenient to repair with making again.
Preferably, the replacement instrument is provided with three, and respectively straight screwdriver replaces instrument, Phillips screwdriver replaces work
Tool and drill bit replace instrument；Manipulator, which is installed from rotary tool frame and connects the replacement head of circuit, can easily take mounting bracket
On all kinds of replacement instruments, when equipping screwdriver and replacing instrument, control system can drive built-in direct current generator to make instrument around solid
System of Rotating about Fixed Axis, use head is replaced as electric screw driver, and can then be used when equipping drill bit as electric drill, expand application
Scope is very wide.
Operation principle of the present utility model：
When without using rotary tool frame, rotary tool frame is located at robot behind, and mechanical arm and manipulator are in freely
State, will not be by movement interference；When using rotary tool frame, control system control rotary tool frame goes to mechanical arm and body
Between dry, control system control machinery hand is clenched fist, and control machinery arm is moved to rotary tool frame nearby and translation insertion revolution
In replacement head accommodating groove on tool rack and it is secured to, while the interface on mechanical arm is connected with the interface in accommodating groove,
The drive circuit for making control system connect in control replacement head, and then the controllable direct current generator replaced in head；Manipulator is nested
After replacing head, the movement of control system control machinery arm, it is moved to the replacement head on manipulator and replaces near tools selection needs
Instrument insertion of replacing replace in the rotating gravure of head and fixed, complete the installation of replacement instrument；Head is replaced in control system control
Interior direct current generator work, makes replacement instrument fixed-axis rotation, and then realizes its function, carries out the maintenance activity of external agency；Replace
The instrument of changing is divided into straight screwdriver and replaces instrument, Phillips screwdriver replacement instrument and drill bit replacement instrument, in maintenance activity process
In, if necessary to use different replacement instruments, then control system can control mechanical arm to be moved to replacement near tools selection and replace
Change different replacement instruments and carry out maintenance activity；After the completion of maintenance activity, control system control machinery arm moves back to revolution
Replacement head is unloaded at tool rack, rotary tool frame goes to robot behind, completes rotary tool frame, replaces head and replaces instrument
Use.
The utility model has following beneficial effect compared with prior art：
(1) the utility model by mechanical arm, manipulator, rotary tool frame, replacement head and replaces being used cooperatively for instrument,
The maintenance activity of external agency can be realized；
(2) the utility model global design layout is close, compact-sized, ingenious, will not be to machine when using replacement instrument
Tool arm and manipulator cause unnecessary movement interference；
(3) the utility model realizes that mechanical arm and manipulator are fast to replacement instrument by way of plug-in rotary tool frame
Prompt efficient use, while the setting for replacing head and replacement instrument realizes repair and replacement instrument, expands the function of maintenance type.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation under the utility model job state；
Fig. 3 is the utility model manipulator and replaces head combining structure schematic diagram；
Fig. 4 is the rotation status figure of the utility model rotary tool frame.
Reference is in figure：1st, manipulator；2nd, mechanical arm；3rd, annulus is turned round；4th, mounting bracket；5th, instrument is replaced；6th, replace
Change head；7th, accommodating groove；8th, direct current generator；9th, rotating gravure.
Embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model
Mode not limited to this.
As shown in figures 1-4, a kind of robot arm tool combinations structure, including robot, mechanical arm 2, manipulator 1, return
Turn tool rack, replace first 6, replacement instrument 5 and control system, wherein, the robot includes head and trunk, the mechanical arm
2 are connected with the trunk of the robot, and the manipulator 1 is connected with the mechanical arm 2, and the rotary tool frame is arranged on
The bottom of the robot trunk, the replacement first 6 and replacement instrument 5 are arranged on the rotary tool frame；The control system
System is arranged in the trunk of the robot；The structural framing of the mechanical arm 2 and manipulator 1 is made of 3D printing, with
The gradual popularization of rapid shaping technique, robotic user carry out structure improved demand and grown to even greater heights, the in-seam of above-mentioned mechanical arm 2
Frame and shell integrated molding, intensity, hardness are high and in light weight, and each position steering wheel can be supported to run well and had necessarily
Shock resistance survivability, control ancon can be also reduced to greatest extent and is rotated and shoulder turnover, lifting four large-scale steering wheels
Load, above-mentioned manipulator 1 are high precision automated machine, and the accuracy to size of its component requires high, selects 3D printing to add
The cost of work is low and the construction cycle is short, it is convenient to carries out the reparation of improvement and the damage of part.Compared to mechanical arm 2, machinery
Requirement of the steering wheel for material weight is harsher built in hand 1：The action in the joint such as the five fingers and metacarpus, wrist is respectively by corresponding small
The traction of type steering wheel realizes that the design is realized on the basis of 3D printing molding part low-density.The knot of the rotary tool frame
Structure framework is made of 3D printing, at present, with reference to the mathematical model file of mechanical structure optimization, can have been processed with 3D printing various
Various kinds meets the robot component of the requirements such as intensity in practice, hardness, weight, with aforementioned mechanical arm 2 and manipulator 1 one
Sample uses the rotary tool frame that 3D printing makes, and has intensity, hardness height, hole position in light weight and fixed, the position of accommodating groove 7
The advantages of very accurate, while when mechanical damage occurs in structural framing, it is convenient to repair with making again；The machine
It is designed with control circuit inside tool arm 2 and manipulator 1, the control circuit inside the mechanical arm 2 and the control inside manipulator 1
Circuit is connected with the control system respectively；The manipulator 1 is provided with interface, the interface and the control inside manipulator 1
Circuit processed is connected；Stepper motor, the rotation of the step motor control rotary tool frame, the revolution are provided with the trunk
Tool rack includes revolution annulus 3 and mounting bracket 4, and the bottom of the revolution annulus 3 and trunk is rotatably connected, and the turning circle
Ring 3 is connected with the stepper motor, turns round between annulus 3 and stepper motor and is separated with flange bearing, will not produce during rotation
Frictional resistance, the mounting bracket 4 are fixed on the side of the revolution annulus 3；The stepper motor is connected with the control system
Connect；The replacement first 6 and replacement instrument 5 are arranged on the mounting bracket 4 of the rotary tool frame, described to replace first 6 including storing
Groove 7, rotating gravure 9, drive circuit and direct current generator 8, wherein, the accommodating groove 7 is arranged in the replacement first 6, the rotation
Turn groove 9 be arranged on it is described replace first 6 bottom, the direct current generator 8 be arranged on it is described replace first 6 bottom and with the rotation
Turn groove 9 to be connected, the drive circuit, which is arranged on, to be replaced in first 6 and with the direct current generator 8 be connected, the drive circuit
Provided with interface, the interface is arranged in the accommodating groove 7；Magnetite is provided with the rotating gravure 9, the manipulator 1 can be embedding
Enter in the accommodating groove 7 and fix, and the interface on manipulator 1 is connected with the interface in accommodating groove 7；The replacement instrument 5 can
Fixed in the embedded rotating gravure 9, the replacement instrument 5 is provided with three, and respectively straight screwdriver replaces instrument, cross spiral shell
Silk knife replaces instrument and drill bit replaces instrument；The control system includes single-chip microcomputer, and the STM32 single-chip microcomputers as control system are adopted
It is programmed with C language, the driver of each position steering wheel, the feedback processing program of each site sensor and direct current generator 8
Control program is stored in chip, is judged by main program, called and is performed.
When without using rotary tool frame, rotary tool frame is located at robot behind, and mechanical arm 2 and manipulator 1 are in certainly
, will not be by movement interference by state；When using rotary tool frame, control system control rotary tool frame goes to mechanical arm 2
Between trunk, control system control machinery hand 1 is clenched fist, and control machinery arm 2 is moved to rotary tool frame nearby and translation is embedding
Enter in first 6 accommodating groove 7 of the replacement on rotary tool frame and be secured to, while the interface on mechanical arm 2 and connecing in accommodating groove 7
Mouth is connected, the drive circuit for making control system connect in control replacement first 6, and then the direct current generator in controllable replacement first 6
8；After the nested replacement first 6 of manipulator 1, control system control machinery arm 2 moves, and the replacement on manipulator 1 first 6 is moved to replacement
It is in the rotating gravure 9 for replacing the insertion of instrument 5 replacement first 6 of 5 needs selected around of instrument and fixed, complete the peace of replacement instrument 5
Dress；The direct current generator 8 that control system control is replaced in first 6 works, and makes the fixed-axis rotation of replacement instrument 5, and then realizes its function, enters
The maintenance activity of row external agency；Replacement instrument 5 divides replaces instrument, Phillips screwdriver replacement instrument and drill bit for straight screwdriver
Replacement instrument, manipulator 1 installed from rotary tool frame and connect circuit replace first 6 can conveniently by tip D types revolve
Turn groove 9 (built-in magnetite) and take all kinds of replacement instruments 5 on tool rack, such as when equipping screwdriver and replacing instrument 5, control
System can drive built-in direct current generator 8 instrument is rotated around fixing axle, be used replacing first 6 as electric screw driver, and
It can then be used when equipping drill bit as electric drill, therefore its expansion is of wide application.During maintenance activity, make if desired
With different replacement instruments 5, then control system can control mechanical arm 2 to be moved to replacement instrument 5 is selected around to replace different replace
Change instrument 5 and carry out maintenance activity；After the completion of maintenance activity, control system control machinery arm 2 is moved back at rotary tool frame
Replacement first 6 is unloaded, rotary tool frame goes to robot behind, completes rotary tool frame, replaces first 6 and replaces the use of instrument 5.
The utility model is by mechanical arm, manipulator, rotary tool frame, replacement head and replaces being used cooperatively for instrument, energy
Enough realize the maintenance activity of external agency；Global design layout is close, compact-sized, ingenious, will not when using replacement instrument
Unnecessary movement interference is caused to mechanical arm and manipulator；By way of plug-in rotary tool frame, mechanical arm and machine are realized
Tool hand replaces head and replaces the setting of instrument and realize the work(of repair and replacement instrument to replacing the use of instrument quickness and high efficiency
Energy.
Above-mentioned is the preferable embodiment of the utility model, but embodiment of the present utility model is not by the above
Limitation, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modification, replacement, combine, letter
Change, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (4)
1. a kind of robot arm tool combinations structure, it is characterised in that including robot, mechanical arm, manipulator, rotary tool
Frame, replace head, replace instrument and control system, wherein, the robot includes head and trunk, the mechanical arm and the machine
The trunk of device people is connected, and the manipulator is connected with the mechanical arm, and the rotary tool frame is arranged on the robot
The bottom of trunk, the replacement head and replacement instrument are arranged on the rotary tool frame；The set-up of control system is described
In the trunk of robot；
Control circuit is designed with inside the mechanical arm and manipulator, inside the control circuit and manipulator inside the mechanical arm
Control circuit be connected respectively with the control system；The manipulator is provided with interface, the interface with inside manipulator
Control circuit be connected；
Stepper motor is provided with the trunk, the stepper motor is connected with the rotary tool frame, the rotary tool frame
Including revolution annulus and mounting bracket, the bottom of the revolution annulus and trunk is rotatably connected, and the revolution annulus with it is described
Stepper motor is connected, and the mounting bracket is fixed on the side of the revolution annulus；The stepper motor and the control system
It is connected；
It is described replacement head and replacement instrument be arranged on the mounting bracket of the rotary tool frame, it is described replacement head include accommodating groove,
Rotating gravure, drive circuit and direct current generator, wherein, the accommodating groove is arranged on the replacement head, and the rotating gravure is set
Put in the bottom of the replacement head, the direct current generator is arranged on the bottom of the replacement head and is connected with the rotating gravure
Connect, the drive circuit, which is arranged on, to be replaced in head and be connected with the direct current generator, and the drive circuit is provided with interface, described
Interface is arranged in the accommodating groove；The manipulator can be embedded in the accommodating groove and fix, and interface and receipts on manipulator
The interface received in groove is connected；Magnetite is provided with the rotating gravure, the replacement instrument can be embedded in the rotating gravure solid
It is fixed；
The control system includes single-chip microcomputer.
2. robot arm tool combinations structure according to claim 1, it is characterised in that the mechanical arm and manipulator
Structural framing be made of 3D printing.
3. robot arm tool combinations structure according to claim 1, it is characterised in that the knot of the rotary tool frame
Structure framework is made of 3D printing.
4. robot arm tool combinations structure according to claim 1, it is characterised in that the replacement instrument is provided with three
Individual, respectively straight screwdriver replaces instrument, Phillips screwdriver replaces instrument and drill bit replaces instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720183246.6U CN206764766U (en) | 2017-02-28 | 2017-02-28 | A kind of robot arm tool combinations structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720183246.6U CN206764766U (en) | 2017-02-28 | 2017-02-28 | A kind of robot arm tool combinations structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206764766U true CN206764766U (en) | 2017-12-19 |
Family
ID=60631964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720183246.6U Expired - Fee Related CN206764766U (en) | 2017-02-28 | 2017-02-28 | A kind of robot arm tool combinations structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206764766U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019209463A (en) * | 2018-06-08 | 2019-12-12 | 株式会社クボタ | Assist device and holder member used in the same |
-
2017
- 2017-02-28 CN CN201720183246.6U patent/CN206764766U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019209463A (en) * | 2018-06-08 | 2019-12-12 | 株式会社クボタ | Assist device and holder member used in the same |
| JP6995018B2 (en) | 2018-06-08 | 2022-01-14 | 株式会社クボタ | Assist device and holder member used for it |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110125924A (en) | A kind of bionical legged type robot of software | |
| CN103737577B (en) | A kind of Six-DOF industrial robot driven containing ball screw assembly, | |
| CN103737207A (en) | Parallel-serial welding robot mechanism with six degrees of freedom | |
| CN103737582B (en) | A kind of six degree of freedom welding robot robot mechanism | |
| CN205969113U (en) | Simple manipulator | |
| CN211029972U (en) | Intelligent logistics robot | |
| CN101246366A (en) | Three-axis stepping motor control platform | |
| CN205328246U (en) | Stacking manipulator | |
| CN202480102U (en) | Three-dimensional sensing and controlling mechanical arm | |
| CN206764766U (en) | A kind of robot arm tool combinations structure | |
| CN107498539A (en) | A kind of asymmetric double robot arm device | |
| CN102490177A (en) | Four-freedom-degree parallel-connection robot | |
| CN201224023Y (en) | Five-DOF five-rod pure parallel numerical control machine tool | |
| CN106393089A (en) | Control method and device for six-shaft light-load industrial robot | |
| CN206561437U (en) | A kind of connector of industrial robot | |
| CN207757628U (en) | A kind of flexible assembly system towards Complex Parts in narrow space | |
| CN106346461A (en) | Servo-controlled 3D drawing robot | |
| CN204036470U (en) | A kind of Joint Manipulator of five-axle linkage | |
| CN205552556U (en) | High efficiency electric manipulator | |
| CN205734916U (en) | Articulated robot | |
| CN207172062U (en) | A kind of asymmetric double robot arm device | |
| CN207373177U (en) | Hydraulic intelligent controls articulated robot | |
| CN207509223U (en) | A kind of intelligent industrial robot | |
| CN208289905U (en) | A kind of humanoid basketball robot with hand structure | |
| CN205184767U (en) | Five robots |
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: 20171219 Termination date: 20200228 |