CN208246811U - A kind of five articulated robots - Google Patents
A kind of five articulated robots Download PDFInfo
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- CN208246811U CN208246811U CN201721896297.XU CN201721896297U CN208246811U CN 208246811 U CN208246811 U CN 208246811U CN 201721896297 U CN201721896297 U CN 201721896297U CN 208246811 U CN208246811 U CN 208246811U
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- 210000000245 forearm Anatomy 0.000 claims abstract description 35
- 210000000707 wrist Anatomy 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000001360 synchronised effect Effects 0.000 claims description 41
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- -1 round Chemical compound 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model is suitable for robot field, a kind of five articulated robots is provided, including four mechanical arms being sequentially connected, respectively principal arm, large arm, forearm and wrist arm；The principal arm can move in the vertical direction；The large arm and the forearm can be rotated in the horizontal plane respectively；The wrist arm can rotate on vertical plane；The end of the wrist arm be equipped with can axial-rotation rotating part.The utility model embodiment provides a kind of five articulated robots, the positioning of height is realized by the elevating movement of principal arm, and by the horizontal rotation of large arm and forearm, realizes the positioning of horizontal plane any position, and the movement of wrist arm and rotating part is combined, it is comprehensive to realize flexible job space.
Description
Technical field
The utility model belongs to robot field, more particularly to a kind of five articulated robots.
Background technique
The development of robot technology is increasingly progressive, but application currently on the market is relatively widely mostly four axis and six axis machines
People, wu-zhi-shan pig are industrially applied relatively fewer.Four axis robot architectures are simple, and cost is relatively low, but its flexibility is also poor,
Application is significantly limited；And six-joint robot has six-freedom degree, is widely used, but in contrast, cost also increases not
It is few.In fact, a few thing occasion does not need six-freedom degree in practical application in industry, not using six articulated robots
Only will increase cost will also result in the wasting of resources, however, four articulated robots are unable to satisfy its work requirements again, therefore produce one
Kind takes into account the wu-zhi-shan pig of flexibility and low cost.
As shown in Figure 1, existing five articulated robot is usually that first axle rotates horizontally, second and third axis is with horizontal direction
It is rotated for axle center, on vertical plane, to realize the operation of the different height of robot, but the wu-zhi-shan pig of this mode
Operation mode it is complicated, and multiple joints move up and down while different height, very big to the loading effects of robot itself,
And the different variations of center of gravity, influenced by gravity and fuselage inertia it is also very big so that the manufacturing cost of robot is high, operation and
Maintenance is all inconvenient.
Utility model content
The utility model embodiment is designed to provide a kind of five articulated robots, to solve existing wu-zhi-shan pig
The low and at high cost problem of flexibility.
The utility model embodiment is achieved in that a kind of five articulated robots, including four machinery being sequentially connected
Arm, respectively principal arm, large arm, forearm and wrist arm；
The principal arm can move in the vertical direction；
The large arm and the forearm can be rotated in the horizontal plane respectively；
The wrist arm can rotate on vertical plane；The end of the wrist arm be equipped with can axial-rotation rotating part.
It further, further include the first joint assembly for respectively driving four manipulator motions, second joint component, third
Joint assembly, the 4th joint assembly.
It further, further include pedestal, the principal arm carries out vertical motion on the base.
Further, at least part component of the principal arm moves in the spatial dimension of the pedestal.
Further, first joint assembly includes:
The first motor being fixed on the pedestal；
The first synchronous pulley component being fixedly linked with the output shaft of the first motor；
The end of the screw rod and one end of output shaft of first synchronous pulley component far from the first motor, which fasten, to be connected
It connects；
The feed screw nut being adapted to the screw rod, the principal arm are fixedly connected with the feed screw nut.
Further, the second joint component includes the second motor being fixed on the principal arm, second motor
Output shaft be fixedly connected with the large arm.
Further, the second joint component further include the second harmonic speed reducer being fixed on the principal arm and
The second synchronous pulley component being connected between second motor and the second harmonic speed reducer.
Further, the third joint assembly includes:
The third motor and third synchronous pulley component being fixed on the principal arm；
The 4th synchronous pulley component in large arm；
Connect the transmission shaft between the third synchronous pulley component and the 4th synchronous pulley component；
The described one end of 4th synchronous pulley component far from the transmission shaft is fixedly connected with the forearm.
Further, third harmonic speed reducer is equipped between the forearm and the 4th synchronous pulley component.
Further, the 4th joint assembly includes:
The 4th motor being fixed on the forearm；
The 5th synchronous pulley component in forearm；
One end of 5th synchronous pulley component is fixedly connected with the forearm；The other end is fixedly connected with the wrist arm.
The utility model embodiment provides a kind of five articulated robots, realizes determining for height by the elevating movement of principal arm
Position, and by the horizontal rotation of large arm and forearm, realize the positioning of horizontal plane any position, and combine wrist arm and rotating part
Movement, it is comprehensive to realize flexible job space, meanwhile, the robot's arm and forearm are using vertical direction as axle center, in water
Plane is rotated, and without overcoming gravity acting, can quickly and accurately reach required position.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
The structure and movement schematic diagram of Fig. 1 prior art noon articulated robot；
Fig. 2 is five articulated robots motion configuration figure provided by the embodiment of the utility model；
Fig. 3 is the perspective view for five articulated robots that the utility model embodiment one provides；
Fig. 4 is the cross-sectional view for five articulated robots that the utility model embodiment one provides；
Fig. 5 is the cross-sectional view in the 4th joint that the utility model embodiment one provides；
Fig. 6 is the cross-sectional view for five articulated robots that the utility model embodiment two provides；
Fig. 7 is the perspective view for five articulated robots that the utility model embodiment two provides.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
As shown in Fig. 2, the utility model embodiment provides a kind of five articulated robots, five articulated robot includes five
A joint motions, respectively vertical motion, horizontal plane rotation, horizontal plane rotation, vertical plane rotation, axial-rotation.This mode
Second and third joint only needs to rotate surely in horizontal plane, cooperates the vertical plane in the 4th joint to revolve by the elevating movement in the first joint
Turn the positioning of realization height, motion mode simple and flexible, operation mode are also extremely simple.
As shown in figure 3, the utility model embodiment specifically provides a kind of five articulated robots 100, including what is be sequentially connected
Four mechanical arms, respectively principal arm 110, large arm 120, forearm 130 and wrist arm 140；The principal arm 110 can be in vertical side
It moves upwards；The large arm 120 and the forearm 130 can be rotated in the horizontal plane respectively；The wrist arm 140 can
It is rotated on vertical plane；The end of the wrist arm 140 be equipped with can axial-rotation rotating part 150.
The present embodiment is realized by the cooperation of principal arm 110, large arm 120, forearm 130, wrist arm 140 and rotating part 150
The movement of five freedom degrees, structure is simple, and movement is flexible.
Certainly, the title modification of the principal arm 110 in the present embodiment, large arm 120, forearm 130, wrist arm 140 does not limit
The structure size of mechanical arm in other embodiments.
As shown in figure 4, the movement of four mechanical arms is realized by four joint assemblies, specifically, four passes
Saving component is respectively the first joint assembly 111, second joint component 121, third joint assembly 131, the 4th joint assembly 141.
In order to preferably protect principal arm and corresponding joint assembly, five articulated robots of the present embodiment further include pedestal
160, the principal arm 110 can carry out vertical motion on the pedestal 160.
Further, pedestal 160 is a cavity body structure, and the principal arm 110 and the first joint assembly 111 are located at described
In pedestal 160.
The pedestal 160 of the present embodiment can be designed as needed certainly in other embodiments using rectangular cavity body structure
The shape of the pedestal, such as round, prismatic.
Meanwhile the pedestal 160 of the present embodiment is using being integrally formed, it, can be using splicing or combination in other embodiments
Mode.
In order to save volume and reduce driving energy consumption, at least part component of the principal arm 110 is in the pedestal
Movement in 160 spatial dimension.That is, the principal arm 110 can stretch on the pedestal of cavity body structure, to realize entire robot
In the lifting of vertical direction.
With continued reference to Fig. 4, first joint assembly 111 include be fixed on the pedestal 160 first motor 112,
The first synchronous pulley component 113, the screw rod 114, Yi Jiyu being fixedly linked with the output shaft (figure is not marked) of the first motor 112
The feed screw nut 115 that the screw rod 114 is adapted to；The screw rod 114 is arranged along the vertical direction, the end of the screw rod 114 and institute
State the first synchronous pulley component 113 be fixedly linked,；The principal arm 110 is fixedly connected with the feed screw nut 115.
Specifically, the output shaft of the first motor 112 rotates, silk is driven by the first synchronous pulley component 113 therewith
Bar 114 rotates, thus realize the elevating movement on the screw rod 114 of principal arm 110 being connected with feed screw nut 115, it is final to drive
The large arm 120 that is connected with the principal arm 110, the forearm 120 being connected with the large arm 120 far from one end of the principal arm and institute
State the one end of forearm 120 far from the large arm 120 connected wrist arm 130 and the rotating part on the wrist arm 130
150 whole progress elevating movements, realize height adjustment.
First synchronous pulley component 113 includes two to be connected respectively with the output shaft of first motor 112 and screw rod
Belt wheel (figure is not marked) and the synchronous belt being sheathed on two belt wheels (figure is not marked).
Since synchronous pulley component sheet is as the prior art, in the present embodiment, it is not described in detail its specific structure and shape
Influence of the selection of shape and different size, shape to the effect of product.
Further, the closed at both ends of the screw rod 114 is arranged with bearing assembly 116, and the bearing assembly 116 is fixed on
On the pedestal 160, the positioning of the screw rod is realized by the bearing assembly 116.
As shown in figure 4, the second joint component 121 includes the second motor 122 being fixed on the principal arm 110, institute
The output shaft for stating the second motor 122 is fixedly connected with the large arm 120.
Further, the second joint component 121 further includes the second harmonic speed reducer being fixed on the principal arm 110
123 and the second synchronous pulley component for being connected between second motor 122 and the second harmonic speed reducer 123
124。
Described 124 one end of synchronous pulley component is fixedly connected with the output shaft (figure is not marked) of second motor 122, another
End is connect with the input terminal of the second harmonic speed reducer 123, the output end of the second harmonic speed reducer 123 and the large arm
120 are fixedly connected.
High-accuracy high-efficiency rate is realized using high reduction ratio and biggish bearing torque by the setting of harmonic wave speed reducing machine
Movement and positioning.
As shown in figure 4, the third joint assembly 131 includes the third motor 132 being fixed on the principal arm 110, connects
It is connected to the third synchronous pulley component 133 of the third motor 132, the 4th synchronous pulley component B in large arm 120
134, both ends are connected to the transmission between the third synchronous pulley component 133 and the 4th synchronous pulley component 134
Axis 135；The one end of 4th synchronous pulley component 134 far from the transmission shaft is fixedly connected with the forearm 130.
First motor, the second motor, third motor are all fixed on the master by five articulated robots of the present embodiment respectively
On arm 110, and the principal arm is set on the pedestal 160, so that the weight saving of the mechanical arm of the distal end of the robot,
Load of robot itself is reduced, while reducing the load of the large arm 120 again, so that the energy consumption of driving substantially reduces,
And make the movement of large arm 120 lighter.Simultaneously because weight concentrates on the pedestal 160, so that the robot is whole
Body is more steady.
Further, third harmonic speed reducer is equipped between the forearm 130 and the third synchronous pulley component 133
136。
The present embodiment is rotated by the difference horizontal plane of the large arm 120 and forearm 130, is appointed in the horizontal plane to realize
The positioning of meaning position.
In the present embodiment, horizontally arranged setting is presented in second motor 122 and third motor 132, and is located at institute
The two sides of principal arm are stated, the third motor 132 is located at close to the side of the forearm 130.So that the robot of the present embodiment
The component entirety center of gravity of pedestal 160 and inside is reasonable, and robot itself is quite stable；Simultaneously because 122 He of the second motor
Third motor 132 is located at the two sides of principal arm, when the second motor 122 and third motor 132 operate simultaneously, the robot
Centre-of gravity shift will not be led to the problem of because of the rotation of motor.
Further, isosceles triangle is presented in second motor 122 and third motor 132 and the first motor 112
State distribution.
Further, the screw rod 114 is arranged far from the side of 150 groundwork of rotary shaft.
As shown in figure 5, the 4th joint assembly 141 includes the 4th motor 142 being fixed on the forearm 130, position
In the 5th synchronous pulley component 143 in forearm 130；One end of 5th synchronous pulley component 143 and the fixed company of the forearm 130
It connects, the other end is fixedly connected with the wrist arm 140.
The 4th harmonic wave speed reducing machine 144 is equipped between the wrist arm 140 and the 5th synchronous pulley component 143；It is described
4th harmonic wave speed reducing machine 144 is fixed on the forearm 130, and the 5th synchronous pulley component 143 subtracts with the 4th harmonic wave
The input terminal of fast machine 144 connects；The output end of 4th harmonic wave speed reducing machine 144 is connect with the wrist arm 140.
The wrist arm 140 is realized by the cooperation of the 4th motor 142 and the 5th synchronous pulley component 143 in vertical plane
Rotation, the axle center of rotation and the axis of rotation of the forearm are mutually perpendicular to, and the movement of the wrist arm 140 is with the forearm
Based on 130 space.
In other embodiments, the 4th joint assembly 141 can also be provided separately on a certain component, such as transition arm
145, so that the mechanical arm design operation of the robot is simple, transition arm 145 can be assembled into institute by the way of combination
State the end of forearm 130.
Referring again to Fig. 4, the 5th motor 152, the output shaft of the 5th motor and institute are additionally provided on the wrist arm 140
Rotating part 150 is stated to be fixedly connected.The rotating part 150 carries out axial-rotation in the end of the wrist arm 140.
Further, between the 5th motor 152 and the rotating part 150 be equipped with the 5th harmonic wave speed reducing machine 154, the 5th
Harmonic wave speed reducing machine 154 is fixed on the wrist arm 140, the output shaft and the 5th harmonic reduction of the 5th motor 152
The input terminal of machine 154 connects, and the output end of the 5th harmonic wave speed reducing machine 154 is connect with rotating part 150.
As shown in Figures 6 and 7, vertical direction row is presented in second motor 122 and third motor 132 in other embodiments
Column setting, can reduce the width of the pedestal 160, to reduce the volume of robot.
The arrangement mode of second motor 122 and third motor 132 can also be according to five joints in other embodiments
The volume needs or center of gravity demand or wiring requirements etc. of robot carry out reasonable arrangement.
Improved in the present embodiment before all parts title first or second or the third that contain or the 4th or
Person the 5th is neither defined the structure of associated components, only for distinguishing the difference of position.The above content is combine to have
The preferred embodiment further detailed description of the utility model of body, and it cannot be said that the utility model specific implementation
It is only limited to these instructions.It is practical not departing from for the utility model person of an ordinary skill in the technical field
Several equivalent substitute or obvious modifications are made under the premise of novel design, and performance or use is identical, all shall be regarded as belonging to
The utility model scope of patent protection determined by the appended claims.
Claims (10)
1. a kind of five articulated robots, which is characterized in that including four mechanical arms being sequentially connected, respectively principal arm, large arm, small
Arm and wrist arm；
The principal arm can move in the vertical direction；
The large arm and the forearm can be rotated in the horizontal plane respectively；
The wrist arm can rotate on vertical plane；The end of the wrist arm be equipped with can axial-rotation rotating part.
2. five articulated robot as described in claim 1, which is characterized in that further include respectively driving four manipulator motions
First joint assembly, second joint component, third joint assembly, the 4th joint assembly.
3. five articulated robot as claimed in claim 2, which is characterized in that further include pedestal, the principal arm is in the pedestal
Upper carry out vertical motion.
4. five articulated robot as claimed in claim 3, which is characterized in that at least part component of the principal arm is described
Movement in the spatial dimension of pedestal.
5. five articulated robot as claimed in claim 3, which is characterized in that first joint assembly includes:
The first motor being fixed on the pedestal；
The first synchronous pulley component being fixedly linked with the output shaft of the first motor；
Screw rod, the screw rod are arranged along the vertical direction, and the end of the screw rod and the first synchronous pulley component are far from described first
One end of the output shaft of motor is fastenedly connected；
The feed screw nut being adapted to the screw rod, the principal arm are fixedly connected with the feed screw nut.
6. five articulated robot as claimed in claim 5, which is characterized in that the second joint component is described including being fixed on
The output shaft of the second motor on principal arm, second motor is fixedly connected with the large arm.
7. five articulated robot as claimed in claim 6, which is characterized in that the second joint component further includes being fixed on institute
Second for stating the second harmonic speed reducer on principal arm and being connected between second motor and the second harmonic speed reducer
Synchronous pulley component.
8. five articulated robot as claimed in claim 6, which is characterized in that the third joint assembly includes:
The third motor and third synchronous pulley component being fixed on the principal arm；
The 4th synchronous pulley component in large arm；
Connect the transmission shaft between the third synchronous pulley component and the 4th synchronous pulley component；
The described one end of 4th synchronous pulley component far from the transmission shaft is fixedly connected with the forearm.
9. five articulated robot as claimed in claim 8, which is characterized in that the forearm and the 4th synchronous pulley component
Between be equipped with third harmonic speed reducer.
10. five articulated robot as claimed in claim 8, which is characterized in that the 4th joint assembly includes:
The 4th motor being fixed on the forearm；
The 5th synchronous pulley component in forearm；
One end of 5th synchronous pulley component is fixedly connected with the forearm；The other end is fixedly connected with the wrist arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721896297.XU CN208246811U (en) | 2017-12-29 | 2017-12-29 | A kind of five articulated robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721896297.XU CN208246811U (en) | 2017-12-29 | 2017-12-29 | A kind of five articulated robots |
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| Publication Number | Publication Date |
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| CN208246811U true CN208246811U (en) | 2018-12-18 |
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ID=64619326
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| CN201721896297.XU Active CN208246811U (en) | 2017-12-29 | 2017-12-29 | A kind of five articulated robots |
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| CN (1) | CN208246811U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732560A (en) * | 2019-03-14 | 2019-05-10 | 北京物资学院 | A kind of air brushing robot |
| CN110394416A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearer ring swaging operation machine people |
| WO2023115652A1 (en) * | 2021-12-24 | 2023-06-29 | 上海果纳半导体技术有限公司 | Transport robot |
-
2017
- 2017-12-29 CN CN201721896297.XU patent/CN208246811U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394416A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearer ring swaging operation machine people |
| CN109732560A (en) * | 2019-03-14 | 2019-05-10 | 北京物资学院 | A kind of air brushing robot |
| WO2023115652A1 (en) * | 2021-12-24 | 2023-06-29 | 上海果纳半导体技术有限公司 | Transport robot |
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Address after: 518100 Building 93-1 Xintang Road, Rentian Community, Fuhai Street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: ADTECH (SHENZHEN) TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 518052 room 5-001, majialong Tianxia Industrial Park, Yiyuan Road, Nanshan District, Shenzhen City, Guangdong Province Patentee before: ADTECH (SHENZHEN) TECHNOLOGY Co.,Ltd. Country or region before: China |
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