CN207710786U - Revolute robot - Google Patents
Revolute robot Download PDFInfo
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- CN207710786U CN207710786U CN201721840052.5U CN201721840052U CN207710786U CN 207710786 U CN207710786 U CN 207710786U CN 201721840052 U CN201721840052 U CN 201721840052U CN 207710786 U CN207710786 U CN 207710786U
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Abstract
The utility model provides a kind of revolute robot, including end component, forearm and auxiliary adjustment mechanism, wherein the end component is rotatably coupled with the forearm；The auxiliary adjustment mechanism includes triangular coupling rod component, the length of side at least one side of the triangular coupling rod component is arranged to be adjusted, the triangular coupling rod component is rotatably coupled with the end component, by the length of side for adjusting at least one side of the triangular coupling rod component, and then the end component is driven to rotate, to adjust the angle of the relatively described forearm of the end component.The utility model is by being arranged triangular coupling rod component, the length of side at least one side by adjusting the triangular coupling rod component, and then drives the end component rotation, so as to adjust end component as needed with respect to forearm or the angle on ground.Therefore, the utility model can improve the scope of application of revolute robot.
Description
Technical field
The utility model is related to industrial robot fields, more particularly to a kind of revolute robot.
Background technology
Revolute robot is industrially widely used.For example, joint type robot palletizer can capture production automatically
Product, and product is piled up or put by preset pattern.Using robot palletizer, labour can be saved, save space.
The present utility model people by the prior art the study found that the terminal part of common robot palletizer, such as
End flange remains that the supporting surface (being usually ground) of opposite robot palletizer is horizontal during the work time.But in reality
In situation, according to factors such as the concrete structures of the requirement of cargo stacking and shelf, it is likely encountered stacking plane and the stacking of cargo
The not parallel situation of the supporting surface of robot.In addition, other kinds of revolute robot is also required in some cases to it
The angle of end effector is adjusted.Therefore, it is necessary to a kind of novel revolute robots.
Utility model content
The utility model is mainly solving the technical problems that providing a kind of end component can be adjusted with respect to the angle on ground
Revolute robot.
In order to solve the above technical problems, the technical solution that the utility model uses is to provide a kind of joint type machine
People, including end component, forearm and auxiliary adjustment mechanism, wherein the end component is rotatably coupled with the forearm；Institute
It includes triangular coupling rod component to state auxiliary adjustment mechanism, and the length of side at least one side of the triangular coupling rod component is arranged to be adjusted,
The triangular coupling rod component is rotatably coupled with the end component, by at least one side for adjusting the triangular coupling rod component
The length of side, and then end component rotation is driven, to adjust the angle of the relatively described forearm of the end component.
The utility model is by being arranged triangular coupling rod component, the side at least one side by adjusting the triangular coupling rod component
It is long, and then the end component rotation is driven, so as to adjust end component as needed with respect to forearm or the angle on ground.
Therefore, the utility model can improve the scope of application of revolute robot.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of the utility model revolute robot；
Fig. 2 is the structure of one embodiment of triangular coupling rod component in the utility model revolute robot's auxiliary adjustment mechanism
Schematic diagram；
Fig. 3 is the schematic diagram of the slave other direction observation of triangular coupling rod component as shown in Figure 2；
Fig. 4 is the schematic diagram of the working condition of one embodiment of the utility model revolute robot；
Fig. 5 is the schematic diagram of another working condition of revolute robot as shown in Figure 4；
Fig. 6 is the application scenarios schematic diagram of the utility model revolute robot.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Revolute robot, also referred to as joint arm robot or joint Manipulator arm.Each component of revolute robot
Kinematic chain is formed after connection, multivariant movement may be implemented, to realize that the specific link position in revolute robot is held
The operation that row needs.For example, cutter can be set to be processed in the end of articulated robot, or setting paw is to realize
Clipping operation.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of one embodiment of the utility model revolute robot.The utility model
The revolute robot of offer includes：End component 10, forearm 20 and auxiliary adjustment mechanism 30.
End component 10 is located at the end of revolute robot's kinematic chain, and end component 10 can be end effector, example
Such as cutter, paw or end component 10 can also be connection structure, such as connecting flange, chuck etc., be used for and external work
Tool connection.End component 10 is rotatably coupled with forearm 20 and auxiliary adjustment mechanism 30 respectively.Auxiliary adjustment mechanism 30 can
To be formed by connecting by plurality of rods part, for example, auxiliary adjustment mechanism 30 may include triangular coupling rod component 31 and connecting rod 32, such as scheme
Shown in 1.In three sides of triangular coupling rod component 31, the length of side at least one side is arranged to be adjusted.In such a case, it is possible to logical
The length for overregulating this edge, the angle between each side to change triangular coupling rod component 31, and then pass through 32 band of connecting rod
One end (for example, hinge joint with auxiliary adjustment mechanism 30) movement of dynamic end component 10.Due to the other end of end component 10
(for example, hinge joint with forearm 20) is limited by forearm 20, therefore the position of end component 10 and angle are according to forearm 20
And the motion conditions of auxiliary adjustment mechanism 30, i.e. their position and angle determine.
The utility model, can be with the side at least one side of adjusting triangle link assembly 31 by the way that triangular coupling rod component 31 is arranged
It is long, and then end component 10 is driven to rotate, so as to adjust end component 10 independently as required with respect to forearm 20 or ground
The angle in face.Therefore, the utility model can improve the scope of application of revolute robot.
In order to more clearly describe the motion principle of revolute robot as shown in Figure 1, it is illustrated below.Joint type
Robot can also include other component, such as pedestal 80, postbrachium 40, forearm link 60, auxiliary adjustment connecting rod 70 and damper
50.Wherein, pedestal 80 is the connecting seat on revolute robot and ground, motor can be equipped on pedestal 80, for controlling pedestal
With perpendicular to the rotation of the rotary shaft of bottom surface (being typically ground).40 one end of postbrachium is hinged with pedestal 80, the other end and forearm 20
It is hinged.Forearm link 60 is hinged with pedestal 80 and forearm 20 respectively, and auxiliary adjustment connecting rod 70 then respectively with pedestal 80 and auxiliary
Regulating mechanism 30 is hinged.In some embodiments, driving motor can be provided to postbrachium 40 and forearm link 60, after control
The movement of arm 40 and forearm 20, and auxiliary adjustment mechanism 30 follows postbrachium 40 and forearm under the limitation of auxiliary adjustment connecting rod 70
20 is driven.By calculating the movement relation between them, so that it may to design the motion control method of end component 10 as needed.
It is noted that above structure is the example arrangement of revolute robot, the utility model proposes revolute robot
Component can also be used on the revolute robot with other structures, and revolute robot removes the utility model claims
Other component other than range should not be construed as the restrictive condition of the utility model.
In some embodiments, triangular coupling rod component 31 may include with triangle manner successively hinged first connecting rod 311,
Second connecting rod 312 and third connecting rod 313.Wherein, as shown in Figure 1, second connecting rod 312 and third connecting rod 313 can with forearm 20,
40 hinge joint having the same (rotary shaft) of postbrachium, and first connecting rod 311 is located at delta link component 31 and the hinge joint phase
To side.The length of 313 wherein at least one connecting rod of first connecting rod 311, second connecting rod 312 and third connecting rod is arranged to adjustable
Section, to realize the aforementioned length of side for adjusting the triangular coupling rod component 31.For example, can set first connecting rod 311 to can
To adjust.It can it is appreciated that second connecting rod 312 or third connecting rod 313 can also be set to length in other embodiments
To adjust, or multiple length that are set as in first connecting rod 311, second connecting rod 312 and third connecting rod 313 can be adjusted.
In order to which terseness considers, the utility model will be illustrated by taking the adjustable in length of first connecting rod 311 as an example.
Fig. 2 and Fig. 3 are please referred to, Fig. 2 and Fig. 3 show in the utility model revolute robot's auxiliary adjustment mechanism 30
The structural schematic diagram of 31 1 embodiment of triangular coupling rod component.As shown in Figures 2 and 3, the length on 311 place side of first connecting rod can be with
It adjusts.First connecting rod 311 may include the first sub-link 311a, the second sub-link 311b and spacing adjusting mechanism 311c.Wherein
First sub-link 311a is hinged with second connecting rod 312, and the second sub-link 311b is hinged with third connecting rod 313, spacing adjusting mechanism
311c is connected between the first sub-link 311a and the second sub-link 311b, for adjusting of the first sub-link 311a and second even
Relative position between bar 311b, to adjust the length on 311 place side of first connecting rod.If regulating mechanism 311c can be to provide
The discontinuous adjustment mechanism of dry optional position, for example, can respectively be set on the first sub-link 311a and the second sub-link 311b
Set several through-holes or threaded hole, and length as needed makes corresponding through-hole or threaded hole be aligned, and by bolt or
Screw makes its connection.Regulating mechanism 311c can also be continuous regulation mechanism, such as connect in of the first sub-link 311a and second
Intermeshing gear and rack are respectively set on bar 311b, by driving gear, the linear motion with carry-over bar, you can realize
The adjustment of relative position.
In as with the embodiments shown in figures 2 and 3, spacing adjusting mechanism 311c includes sliding rail 3111 and sliding block 3112.It is sliding
Rail 3111 is set on the first sub-link 311a, and sliding block 3112 is set on the second sub-link 311b, sliding block 3112 and sliding rail
3111 are slidably connected.The extending direction of sliding rail 3111 can be identical or essentially identical with the extending direction of first connecting rod 311,
When sliding block 3112 is slided along sliding rail 3111, the relative position of the first sub-link 311a and the second sub-link 311b correspondingly change
Become, to change the length of side on 311 place side of first connecting rod.It is appreciated that sliding rail 3112 and sliding rail 3111 may be reversed setting,
Sliding block is set on the first sub-link 311a, and sliding rail is set on the second sub-link 311b.
Sliding rail 3111 may include polished rod 3111a and lead screw 3111b, and correspondingly, sliding block 3112 is provided with and the polished rod
The through-hole of 3111a cooperations and the threaded hole coordinated with lead screw 3111b.Lead screw 3111b is set to come and sliding block through the threaded hole
3112 are spirally connected, and polished rod 3111a is made preferably to orient sliding block 3112 across through-hole.So, as rotary screw rod 3111b
When, pass through the screw-thread fit of lead screw 3111b and sliding block 3112, so that it may with band movable slider 3112, make it along lead screw 3111b (or light
Bar 3111a) extending direction movement, so as to adjust the relative position between the first sub-link 311a and the second sub-link 311b.
It should be appreciated that in some embodiments, it is also possible to there is no polished rod 3111a, and sliding block 3112 is individually realized by lead screw 3111b
Driving and orientating function, and in further embodiments, the quantity of polished rod 3111a can be single or multiple, as long as
It can realize the orientating function of sliding block 3112.In another implementation, sliding rail 3111 can also only include polished rod
3111a, sliding block 3112 slide on polished rod 3111a, are consolidated sliding block 3112 by external fixator when reaching the position needed
It is scheduled on polished rod 3111a, for example, the buckle being connect with polished rod 3111a can be arranged at sliding block both ends.
Spacing adjusting mechanism 311c can further comprise that screw rodb base 3113, screw rodb base 3113 are set to the first sub-link 311a
On, for example, screw rodb base 3113 can be set to the both ends of the first sub-link 311a.Polished rod 3111a and screw rodb base 3113 are affixed, and
Lead screw 3111b both ends rotational supports are on screw rodb base 3113.Screw rodb base 3113 can be dismountable, in order to install polished rod
The components such as 3111a, lead screw 3111b and sliding block 3112.
In some embodiments, spacing adjusting mechanism 311c may include handle 3114, the one of handle 3114 and lead screw 3111b
End connection, is used for rotary screw rod 3111b.Handle 3114 can be set to the outside (as shown in Figure 2) of the first sub-link 311a, hand
Lines can be arranged in the grip part surface of handle 3114, to be conveniently operated.It should be appreciated that the handle of other forms can also be applied to
The utility model.The rotary shaft of handle can not be identical as lead screw 3111b, but for example, by structures such as angular wheels, make hand
The rotary shaft of handle is perpendicular to lead screw 3111b, to provide more optional installation sites.
In further embodiments, driving motor (not shown) can be used to substitute handle 3114.The driving of driving motor
End is connect with one end of lead screw 3111b, which can be directly connected to, and can also be to be indirectly connected with, such as pass through reduction box.
Driving motor can be direct current generator, the alternating current that the revolute robot of any size, power and the utility model matches
Machine etc..When driving motor rotates, the 3111b rotations of driving lead screw.By being equipped with suitable control system for driving motor, so that it may
To control the rotation of lead screw 3111b by control system, so the sliding of control slide block 3112 and the first sub-link 311a and
Relative position between second sub-link 311b, to realize the adjustment to 10 angle of end component.
Referring to Fig. 3, spacing adjusting mechanism 311c, which can also include lead screw, presss from both sides 3115.Lead screw folder 3115 is fixedly installed in silk
On pole socket 3113, when lead screw folder 3115 unclamps, lead screw 3111b is allowed to rotate, and when lead screw folder 3115 starts, lead screw folder
3115 clamp lead screw 3111b, to prevent lead screw 3111b relative to the rotation of screw rodb base 3113.Therefore, end need not adjusted
In the case that the angle of component 10 or the angle of end component 10 have been adjusted in place, lead screw folder 3115 can be enabled, with fixation
The angle of end component 10 avoids angulation change caused by maloperation.
Spacing adjusting mechanism 311c can also include position indicator 3116, and position indicator 3116 is fixedly installed in lead screw
On seat 3113.Position indicator 3116 can indicate the first sub-link 311a and the second sub-link according to the rotation of lead screw 3111b
The length of side on the 311 place side of relative position or first connecting rod of 311b.The output of position indicator 3116 can be analog quantity,
For example, by the way that dial indicating positions measured value is arranged, the output of position indicator 3116 can also be digital quantity, for example, logical
The turnning circle for crossing sensor measurement lead screw 3111b calculates the displacement distance of sliding block 3112 according to the size of lead screw 3111b, into
And calculate and export the relative position of the first sub-link 311a and the second sub-link 311b.When the output of position indicator 3116 is
Digital quantity and using driving motor driving lead screw 3111b when, the output of position indicator 3116 is also provided to driving motor
Control circuit, to realize the adjustment of accurate position.
Fig. 4 and Fig. 5 shows the schematic diagram of the different working condition of one embodiment of the utility model revolute robot.Such as
Shown in figure, in the case where the other component (for example, forearm 20) of revolute robot is motionless, can only it connect by adjusting triangle
The length of side of a line of bar assembly 31 makes the angle between 31 each side of triangular coupling rod component change, to pass through 32 band of connecting rod
Dynamic end component 10 rotates.As needed, end component 10 can be adjusted to towards the deflection of revolute robot side (as schemed
Shown in 4), or deflect (as shown in Figure 5) towards the other side.It in practical applications, can be according to design requirement, it is specified that terminal part
The range of deflection angles of part 10, and the telescopic extensions of a line according to the angular range design triangle link assembly 31.
Fig. 6 shows the application scenarios schematic diagram of the utility model revolute robot.As shown in fig. 6, needing
In the case that cargo is put according to certain angle, for example, putting plane A and the not parallel situation in ground when cargo, pass through
The angle for adjusting the utility model robot end component 10 makes what the angle of end component 10 met cargo to put plane A, so
It is fixed in 10 angle of end component afterwards, then by components such as postbrachium 40, forearms 20 end is controlled with resultant motion
The translation of component 10 in all directions, so that it may easily to capture and put cargo as required.Therefore, the utility model closes
Nodal pattern robot has the better scope of application.
It is understood that according to the needs of actual conditions, connecting rod 32 can be saved, keep triangular coupling rod component 31 direct
It is hinged with end component 10, and then by at least change of the length on one side in triangular coupling rod component 31, drive end component 10
Rotation, to adjust end component 10 with respect to forearm 20 or the angle on ground.
The foregoing is merely the embodiments of the utility model, and it does not limit the scope of the patent of the present invention, all
It is equivalent structure or equivalent flow shift made based on the specification and figures of the utility model, directly or indirectly uses
In other related technical areas, it is equally included in the patent within the scope of the utility model.
Claims (10)
1. a kind of revolute robot, which is characterized in that including end component, forearm and auxiliary adjustment mechanism, wherein
The end component is rotatably coupled with the forearm；
The auxiliary adjustment mechanism includes triangular coupling rod component, and the length of side at least one side of the triangular coupling rod component is arranged to can
Adjust, the triangular coupling rod component is rotatably coupled with the end component, by the adjusting triangular coupling rod component to
The length of side on few one side, and then the end component rotation is driven, to adjust the angle of the relatively described forearm of the end component.
2. revolute robot as described in claim 1, it is characterised in that：The triangular coupling rod component includes with triangle side
Formula hinged first connecting rod, second connecting rod and third connecting rod successively, the length of the wherein at least described first connecting rod are arranged to adjustable
Section, to adjust the length of side of the triangular coupling rod component.
3. revolute robot as claimed in claim 2, it is characterised in that：The first connecting rod includes the first sub-link, the
Two sub-links and spacing adjusting mechanism, wherein first sub-link and second sub-link respectively with the second connecting rod
Hinged with third connecting rod, the spacing adjusting mechanism connects first sub-link and second sub-link, and for adjusting
Relative position between first sub-link and second sub-link, to adjust the length of the first connecting rod.
4. revolute robot as claimed in claim 3, which is characterized in that the spacing adjusting mechanism includes：
Sliding rail is set on first sub-link；
Sliding block is set on second sub-link, and is slidably connected with the sliding rail.
5. revolute robot as claimed in claim 4, it is characterised in that：
The sliding rail includes polished rod and lead screw, and the sliding block is provided with the through-hole coordinated with the polished rod and matches with the lead screw
The threaded hole of conjunction, and then by rotating the lead screw to drive the sliding block to be slided along the polished rod.
6. revolute robot as claimed in claim 5, which is characterized in that the spacing adjusting mechanism further comprises lead screw
Seat, is set on first sub-link, wherein the polished rod and the screw rodb base are affixed, and the lead screw rotational support is in institute
It states on screw rodb base.
7. revolute robot as claimed in claim 5, which is characterized in that the spacing adjusting mechanism further includes handle, institute
It states handle to connect with described lead screw one end, for rotating the lead screw.
8. revolute robot as claimed in claim 5, which is characterized in that the spacing adjusting mechanism further includes driving electricity
The driving end of machine, the driving motor is connect with one end of the lead screw, when the driving motor rotates, drives the lead screw
Rotation.
9. such as claim 7 or 8 any one of them revolute robots, it is characterised in that：The spacing adjusting mechanism also wraps
Lead screw folder is included, when the lead screw, which presss from both sides, to be enabled, the lead screw is locked and the lead screw is prevented to rotate.
10. such as claim 7 or 8 any one of them revolute robots, it is characterised in that：The spacing adjusting mechanism also wraps
Position indicator is included, the position indicator indicates first sub-link with second son even according to the rotation of the lead screw
The relative position of bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721840052.5U CN207710786U (en) | 2017-12-25 | 2017-12-25 | Revolute robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721840052.5U CN207710786U (en) | 2017-12-25 | 2017-12-25 | Revolute robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207710786U true CN207710786U (en) | 2018-08-10 |
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ID=63049705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721840052.5U Active CN207710786U (en) | 2017-12-25 | 2017-12-25 | Revolute robot |
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| Country | Link |
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| CN (1) | CN207710786U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
-
2017
- 2017-12-25 CN CN201721840052.5U patent/CN207710786U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114454186B (en) * | 2022-01-15 | 2024-03-15 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
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