CN207409187U - A kind of improved balanced type teaching mechanical arm - Google Patents
A kind of improved balanced type teaching mechanical arm Download PDFInfo
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- CN207409187U CN207409187U CN201621479851.XU CN201621479851U CN207409187U CN 207409187 U CN207409187 U CN 207409187U CN 201621479851 U CN201621479851 U CN 201621479851U CN 207409187 U CN207409187 U CN 207409187U
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- rotation axis
- rocking bar
- upper arm
- fuselage
- mechanical arm
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Abstract
A kind of improved balanced type teaching mechanical arm, including pedestal, fuselage, underarm, upper arm mounting base, upper arm and teaching wrist；One end that pedestal rotates axis connection fuselage by first, one end that the other end of fuselage rotates axis connection underarm by second, one end that the other end of underarm rotates axis connection upper arm mounting base by the 3rd, one end that the other end of upper arm mounting base rotates axis connection upper arm by the 4th, the other end of upper arm are provided with to drag the teaching wrist of teaching；Balance device for zooming is further included, balance device for zooming is arranged between fuselage, the second rotation axis and the 3rd rotation axis.The utility model in the center close to scaling portion after improvement equipped with roller shaft by supporting, and the restoring force that can make the stretching of scaling portion is consistent with required equilibrant force always, thus the more steady and smooth when operating robotic arm.
Description
Technical field
The utility model is related to robot field more particularly to a kind of improved balanced type teaching mechanical arms.
Background technology
The robot teaching that uses mostly is there are certain limitation at present, mainly to the requirement of programming personnel's technical merit compared with
Height, when applied to the product that species is various, surface is complicated, efficiency is low, heavy workload.In patent ZL 2,014 2
After 0847601.1 described drawing type teaching mechanical arm is developed, the workload of robot teaching is greatly diminished.
But due to teaching mechanical arm have certain weight, operating personnel using when easily cause fatigue, to operation
The physical efficiency requirement of personnel is high；And torque constantly changes caused by gravity during the manipulator motion, and raising is shown
The stability of religion track adversely affects.Therefore in order to reduce the working strength of operator, so that movement locus is more flat
Sliding controllable, operation is light, and spy invents a kind of balanced type teaching joint arm.
Utility model content
The purpose of this utility model is that solving the above problems, a kind of improved balanced type teaching mechanical arm is proposed.
In order to reach this purpose, the utility model uses following technical scheme：
A kind of improved balanced type teaching mechanical arm, including pedestal, fuselage, underarm, upper arm mounting base, upper arm and teaching hand
Wrist；
One end that the pedestal rotates fuselage described in axis connection by first, the other end of the fuselage are rotated by second
One end of underarm described in axis connection, one end that the other end of the underarm rotates upper arm mounting base described in axis connection by the 3rd,
One end that the other end of the upper arm mounting base rotates upper arm described in axis connection by the 4th, the other end of the upper arm are provided with
For dragging the teaching wrist of teaching；
Balance device for zooming is further included, the balance device for zooming is arranged at the fuselage, second rotation axis and institute
It states between the 3rd rotation axis；
The balance device for zooming includes rotating shaft connection mechanism, scaling portion and fixing bracket, the 3rd rotation axis and
Second rotation axis is connected to the one end in the scaling portion, the other end in the scaling portion by the rotation shaft connection mechanism
Connect the fixing bracket；
Described support bracket fastened one end is fixedly installed on the fuselage, and the end of the support bracket fastened other end, which is equipped with, to be used
The first hanging scroll in the fixation scaling portion, the support bracket fastened middle part are equipped with horizontal extension, and the extension is equipped with
Roller shaft, the middle part in the scaling portion are arranged between two roller shafts.
More preferably, the rotation shaft connection mechanism includes linkage rocking bar, driven rocking bar and balanced connecting rod, the linkage rocking bar
One end be articulated with the upper end of the balanced connecting rod, be articulated in the middle part of the linkage rocking bar in the 3rd rotation axis, it is described
The other end of linkage rocking bar is connected with the upper arm mounting base；
One end of the driven rocking bar is articulated with the position close to the balanced connecting rod lower end, the driven rocking bar it is another
End is articulated in second rotation axis.
More preferably, the balanced connecting rod is disposed in parallel relation to one another with the underarm, and the length of the balanced connecting rod is more than institute
State the length of underarm, the part opposite with the driven rocking bar is parallel to each other with the driven rocking bar and long on the linkage rocking bar
It spends equal.
More preferably, the scaling portion is stretchable spring.
More preferably, the elongated end of the balanced connecting rod is equipped with the second hanging scroll, and second hanging scroll is used to fix the scaling
The one end in portion, the scaling portion are fixed on first hanging scroll and second hanging scroll.
More preferably, the hinged place of the balanced connecting rod is provided with self-lubricating plain radial bearing.
More preferably, it is respectively equipped with corner locating element apparatus in second rotation axis and the 3rd rotation axis.
The utility model can stretch scaling portion by being supported after improvement in the center close to scaling portion equipped with roller shaft
Restoring force it is consistent with required equilibrant force always, thus the more steady and smooth when operating robotic arm.
Description of the drawings
Fig. 1 is the structure chart of the utility model embodiment；
Fig. 2 is the structure chart of the utility model embodiment；
Wherein：1 is pedestal；2 be fuselage；3 be underarm；4 be upper arm mounting base；5 be upper arm；6 be teaching wrist；7 be
One rotation axis；8 be the second rotation axis；9 be the 3rd rotation axis；10 be the 4th rotation axis；11 be balance device for zooming；111 be to turn
Moving axis bindiny mechanism；1111 be linkage rocking bar；1112 be driven rocking bar；1113 be balanced connecting rod；11131 be the second hanging scroll；112
For scaling portion；113 be fixing bracket；1131 be the first hanging scroll；1132 be extension；11321 be roller shaft.
Specific embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by specific embodiment mode.
A kind of improved balanced type teaching mechanical arm, including pedestal 1, fuselage 2, underarm 3, upper arm mounting base 4,5 and of upper arm
Teaching wrist 6；The pedestal 1 connects one end of the fuselage 2 by the first rotation axis 7, and the other end of the fuselage 2 passes through
Two rotate one end of underarm 3 described in 8 axis connections, and the other end of the underarm 3 connects the upper arm by the 3rd rotation axis 9 and installs
One end of seat 4, the other end of the upper arm mounting base 4 connect one end of the upper arm 5, the upper arm by the 4th rotation axis 10
5 other end is provided with to drag the teaching wrist 6 of teaching；Further include balance device for zooming 11, the balance scaling
Device 11 is arranged between the fuselage 2, second rotation axis 8 and the 3rd rotation axis 9；The balance device for zooming 11
Including rotating shaft connection mechanism 111, scaling portion 112 and fixing bracket 113, the 3rd rotation axis 9 and second rotation axis 8
The one end in the scaling portion 112, the other end connection in the scaling portion 112 are connected to by the rotation shaft connection mechanism 111
The fixing bracket 113；One end of the fixing bracket 113 is fixedly installed on the fuselage 2, the fixing bracket 113 it is another
The end of one end is equipped with to fix first hanging scroll 1131 in the scaling portion 112, and the middle part of the fixing bracket 113 is equipped with water
Flat extension 1132, the extension 1132 are equipped with roller shaft 11321, and the middle part in the scaling portion 112 is arranged on two rollings
Between wheel shaft 11321.
This programme is scaled based on a kind of balance on harvester of the teaching mechanical arm as robot working trajectory, has been installed additional
Device, mechanical arm are a series of open kinematic chains to be linked together by connecting rods by rotary joint, joint only by bearing Lai
The movable information that each joint is passed to during teaching is transferred, since mechanical arm weight itself is very big, staff was operating
It is easy to generate fatigue when long, so as to influence the stability of movable information, balances device for zooming by installing additional so that Ge Geguan
Stress on section reaches balance, stabilizes movement locus, reduces the work difficulty of operating personnel.Due to teaching mechanical arm weight
Amount is big, and operating personnel easily cause fatigue when in use, and gravity causes torque constantly to change in manipulator motion, reduces teaching rail
The stability of mark, addition balance device for zooming, reduces operating personnel's working strength, teaching smooth trajectory is controllable.It is improved flat
Weigh device for zooming equipped with roller shaft support, can make close to spring center the restoring force of spring elongation always with required balance
Power is consistent, thus the more steady and smooth when operating robotic arm.
Further description, the rotation shaft connection mechanism 111 include linkage rocking bar 1111,1112 peace of driven rocking bar
Weigh connecting rod 1113, and one end of the linkage rocking bar 1111 is articulated with the upper end of the balanced connecting rod 1113, the linkage rocking bar
1111 middle part is articulated in the 3rd rotation axis 9, and the other end of the linkage rocking bar 1111 and the upper arm mounting base 4 are solid
Even；One end of the driven rocking bar 1112 is articulated with close to the position of 1113 lower end of balanced connecting rod, the driven rocking bar
1112 other end is articulated in second rotation axis 8.During teaching, hand that operating personnel pass through teaching mechanical arm tail end
Handle is operated, according to particular track carry out it is mobile during, the movement of underarm and upper arm will pass through linkage rocking bar, from shaking
Bar and balanced connecting rod cause extension spring that corresponding deformation occurs, using spring force come torque caused by balancing mechanical arm gravity
Variation.
Further description, the balanced connecting rod 1113 is disposed in parallel relation to one another with the underarm 3, and the balanced connecting rod
1113 length is more than the length of the underarm 3, the part opposite with the driven rocking bar 1112 on the linkage rocking bar 1111
The parallel to each other and equal length with the driven rocking bar 1112.The length of the balanced connecting rod determines according to mechanical balance principle,
Effectively ensure that the stabilization of movement locus is simultaneously preferably minimized the operation difficulty degree of operating personnel.On the linkage rocking bar 11
The part opposite with the driven rocking bar 12 be parallel to each other with the driven rocking bar 12 and equal length
Further description, the scaling portion 112 are stretchable spring.
Further description, the elongated end of the balanced connecting rod 1113 are equipped with the second hanging scroll 11131, second hanging scroll
11131 for fixing the one end in the scaling portion 112, and first hanging scroll 1131 and described the are fixed in the scaling portion 112
On two hanging scrolls 11131.
Further description, the hinged place of the balanced connecting rod 1113 are provided with self-lubricating plain radial bearing.From profit
The spherical sliding contact surface of sliding plain radial bearing is big, and permissible angle of heel is big, has and bears compared with big load and shock proof energy
Power, and the features such as have anticorrosive, wear-resistant, Self-aligning and lubricated.
Corner locating component is respectively equipped in further description, second rotation axis 8 and the 3rd rotation axis 9
Device.Corner locating element apparatus is for remembering the movement locus of mechanical arm during the motion, more accurately by movement locus
It stores, works automatically use convenient for later mechanical arm.
The technical principle of the utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
With new principle, and the limitation to scope of protection of the utility model cannot be construed in any way.Based on explanation herein,
Those skilled in the art would not require any inventive effort the other specific embodiments that can associate the utility model,
These modes are fallen within the scope of protection of the utility model.
Claims (7)
1. a kind of improved balanced type teaching mechanical arm, it is characterised in that：Including pedestal, fuselage, underarm, upper arm mounting base, on
Arm and teaching wrist；
One end that the pedestal rotates fuselage described in axis connection by first, the other end of the fuselage are connected by the second rotation axis
Connect one end of the underarm, one end that the other end of the underarm rotates upper arm mounting base described in axis connection by the 3rd is described
One end that the other end of upper arm mounting base rotates upper arm described in axis connection by the 4th, the other end of the upper arm, which is provided with, to be used for
Drag the teaching wrist of teaching；
Further include balance device for zooming, the balance device for zooming is arranged at the fuselage, second rotation axis and described the
Between three rotation axis；
The balance device for zooming includes rotating shaft connection mechanism, scaling portion and fixing bracket, the 3rd rotation axis and described
Second rotation axis is connected to the one end in the scaling portion, the other end connection in the scaling portion by the rotation shaft connection mechanism
The fixing bracket；
Described support bracket fastened one end is fixedly installed on the fuselage, and the end of the support bracket fastened other end is equipped with for solid
First hanging scroll in the fixed scaling portion, the support bracket fastened middle part are equipped with horizontal extension, and the extension is equipped with idler wheel
Axis, the middle part in the scaling portion are arranged between two roller shafts.
2. a kind of improved balanced type teaching mechanical arm according to claim 1, it is characterised in that：The rotation axis connection
Mechanism includes linkage rocking bar, driven rocking bar and balanced connecting rod, and one end of the linkage rocking bar is articulated with the upper of the balanced connecting rod
It holds, is articulated in the middle part of the linkage rocking bar in the 3rd rotation axis, the other end of the linkage rocking bar is pacified with the upper arm
Dress seat is connected；
One end of the driven rocking bar is articulated with close to the position of the balanced connecting rod lower end, the other end hinge of the driven rocking bar
It is connected in second rotation axis.
3. a kind of improved balanced type teaching mechanical arm according to claim 2, it is characterised in that：The balanced connecting rod with
The underarm is disposed in parallel relation to one another, and the length of the balanced connecting rod be more than the underarm length, it is described linkage rocking bar on
The opposite part of the driven rocking bar is parallel to each other with the driven rocking bar and equal length.
4. a kind of improved balanced type teaching mechanical arm according to claim 1, it is characterised in that：The scaling portion is can
The spring of stretching.
5. a kind of improved balanced type teaching mechanical arm according to claim 2, it is characterised in that：The balanced connecting rod
Elongated end is equipped with the second hanging scroll, and second hanging scroll is used to fix the one end in the scaling portion, and the scaling portion is fixed on described
On first hanging scroll and second hanging scroll.
6. a kind of improved balanced type teaching mechanical arm according to claim 2, it is characterised in that：The balanced connecting rod
Hinged place is provided with self-lubricating plain radial bearing.
7. a kind of improved balanced type teaching mechanical arm according to claim 1, it is characterised in that：Second rotation axis
Corner locating element apparatus is respectively equipped with in the 3rd rotation axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621479851.XU CN207409187U (en) | 2016-12-30 | 2016-12-30 | A kind of improved balanced type teaching mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621479851.XU CN207409187U (en) | 2016-12-30 | 2016-12-30 | A kind of improved balanced type teaching mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207409187U true CN207409187U (en) | 2018-05-25 |
Family
ID=62321527
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621479851.XU Active CN207409187U (en) | 2016-12-30 | 2016-12-30 | A kind of improved balanced type teaching mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207409187U (en) |
-
2016
- 2016-12-30 CN CN201621479851.XU patent/CN207409187U/en active Active
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Address after: No.18, Jiangwan 1st Road, Foshan, Guangdong 528300 Patentee after: FOSHAN University Patentee after: Guangdong Huibo Robot Technology Co.,Ltd. Address before: No.18, Jiangwan 1st Road, Foshan, Guangdong 528300 Patentee before: FOSHAN University Patentee before: FOSHAN KINGPENG ROBOT TECHNOLOGY Co.,Ltd. |