CN208375318U - A kind of industrial carrying machine people - Google Patents
A kind of industrial carrying machine people Download PDFInfo
- Publication number
- CN208375318U CN208375318U CN201820737112.9U CN201820737112U CN208375318U CN 208375318 U CN208375318 U CN 208375318U CN 201820737112 U CN201820737112 U CN 201820737112U CN 208375318 U CN208375318 U CN 208375318U
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- connecting rod
- shaft
- finger
- driving unit
- connect
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Abstract
The utility model provides a kind of industrial carrying machine people, including pedestal, control module and drive module, robot body is provided on pedestal, robot body includes trunk connecting rod, postbrachium connecting rod, forearm connecting rod and palmar hand, waist connection shaft is provided on pedestal, waist connects shaft and connects trunk connecting rod, shoulder connection shaft is provided in trunk connecting rod, shoulder connects shaft and connects postbrachium connecting rod, ancon connection shaft is provided in postbrachium connecting rod, ancon connects shaft and connects forearm connecting rod, wrist movable axis is provided in forearm connecting rod, palmar hand is arranged on wrist movable axis, at least two holding fingers and sucker are provided on palmar hand；Control module is connect with drive module, and drive module connect shaft, shoulder connection shaft, ancon connection shaft and wrist activity axis connection with waist.The utility model realizes the fixed workpiece of palmar hand holding finger and workpiece two ways is sucked in sucker vacuum.
Description
Technical field
The utility model belongs to robot field, and in particular to a kind of industrial carrying machine people.
Background technique
Industrial carrying machine people can replace the heavy labor of people to realize the mechanization and automation of production, can be in harmful ring
Operation is under border to protect personal safety, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
The various different shapes end effector part different with the workpiece handling need of work of state, existing industrial carrying
The end effector part type of robot is single, i.e., can only carry out a kind of carrying of workpiece.
This is the deficiencies in the prior art, therefore, in view of the above-mentioned drawbacks in the prior art, provides a kind of industrial carrying machine
People is necessary.
Summary of the invention
The purpose of this utility model is that single for above-mentioned existing industrial carrying machine people end effector part type
Defect provides a kind of industrial carrying machine people, to solve the above technical problems.
To achieve the above object, the utility model provides following technical scheme:
A kind of industrial carrying machine people, including pedestal, control module and drive module are provided with robot sheet on pedestal
Body, robot body include connecting rod and palmar hand, and connection shaft is provided on pedestal, and connecting rod is arranged in connection shaft,
Wrist movable axis is provided in connecting rod, palmar hand is arranged on wrist movable axis；
Palmar hand is provided with sucker, and palmar hand is additionally provided at least two holding fingers；
Control module is connect with drive module, drive module with connect shaft and wrist activity axis connection.
Further, connecting rod includes trunk connecting rod, postbrachium connecting rod and forearm connecting rod；
Connection shaft includes waist connection shaft, shoulder connection shaft and ancon connection shaft；
Waist connects shaft connection pedestal and trunk connecting rod, and shoulder connection shaft connection trunk connecting rod is connected with postbrachium
Bar, ancon connect shaft connection postbrachium connecting rod and forearm connecting rod, wrist activity axis connection forearm connecting rod and palmar hand.
Further, drive module includes that waist driving unit, shoulder driving unit, ancon driving unit and wrist drive
Moving cell；
Waist driving unit connect shaft connection with waist, and shoulder driving unit connect shaft connection with shoulder, and ancon drives
Moving cell connect shaft connection, wrist driving unit and wrist activity axis connection with ancon.Waist driving unit drives waist to connect
Switching through axis rotation, shoulder driving unit drives shoulder connection shaft rotation, and ancon driving unit drives ancon connection shaft rotation,
Wrist driving unit drives the rotation of wrist movable axis, and four driving units realize the movement of four freedom degrees of palmar hand.
Further, palmar hand is provided with disk, and the edge of disk is provided with push rod, the other end and holding finger of push rod
Connection；
Finger fixed link is provided on holding finger, the other end of finger fixed link is arranged in palmar hand；
Disk is provided centrally with finger movement shaft, and finger movement shaft is arranged in palmar hand, finger movement shaft
It is connect with drive module.Disk rotational drives push rod to pull holding finger movement, and finger fixed link limits the movement of holding finger
Clamping function is realized in track, push rod and the cooperation of finger fixed link.
Further, palmar hand is equipped with first sliding groove, and first sliding groove is parallel with the holding finger direction of motion, holding finger packet
Clamping end and fixing end are included, the fixing end of holding finger is arranged in first sliding groove, and the fixing end of holding finger is provided with first
Connecting rod, first connecting rod are connected with the second connecting rod, and the second connecting rod is arranged in second sliding slot, second sliding slot and clamping hand
Referring to that the direction of motion is vertical, the second connecting rod is connected with push rod,
Palmar hand is provided with disk, and the edge of disk is arranged in the other end of push rod,
Disk is provided centrally with finger movement shaft, and finger movement shaft is arranged in palmar hand, finger movement shaft
It is connect with drive module.Disk rotational drive pushrod movement, reciprocating motion of the second connecting rod of realization in second sliding slot, second
Connecting rod drives first connecting rod flexible, and then holding finger is driven to move in first sliding groove.
Further, drive module further includes finger movement driving unit, and finger movement driving unit and finger movement turn
Axis connection.Finger movement driving unit drives the rotation of finger movement shaft, thus disc-rotated.
Further, waist driving unit, shoulder driving unit, ancon driving unit, wrist driving unit and finger
Activity-driven unit is all made of stepper motor.Electrically driven mode is compared with hydraulic-driven, air pressure driving and Mechanical Driven, power supply
Convenient, response is fast, and driving force is larger, and signal detection, transmission, processing are convenient.
Further, sucker is connected with gas piping, and intake valve and control valve, control valve connection are provided on gas piping
There is vacuum generator, intake valve, control valve and vacuum generator are connect with control module.Palmar hand will carry out work by sucker
When part is carried, control valve is opened in control module control, closes intake valve, and vacuum generator provides vacuum to sucker by control valve
Workpiece is sucked in environment, sucker；Handling work is completed, and when needing to put down workpiece, control valve is closed in control module control, opens air inlet
Valve, sucker are communicated with the atmosphere, and workpiece is laid down.
It further, further include power module, control module, drive module and vacuum generator connect with power module
It connects.Power module is powered to each motor of drive module, and power module provides electric energy, power module to vacuum generator
Electric energy is provided to control module.
Further, control module is arranged inside or outside robot body.Control module is inside robot body
It is controlled, or setting is remotely controlled long-range.
The utility model has the beneficial effects that:
The industrial carrying machine people of the utility model, realizes palmar hand by holding finger and grips workpiece and sucker
Vacuum is sucked workpiece, and a kind of use or both is used cooperatively in the optional two kinds of functions of user, has wide range of applications.
In addition, the utility model design principle is reliable, structure is simple, has very extensive application prospect.
It can be seen that the utility model compared with prior art, has substantive features and progress, the beneficial effect implemented
Fruit is also obvious.
Detailed description of the invention
Fig. 1 is 1 structural schematic diagram of the utility model embodiment；
Fig. 2 is that the utility model implements 2 palmar hand structural schematic diagrams；
Fig. 3 is Tthe utility model system connection schematic diagram one；
Fig. 4 is the structural schematic diagram of the utility model sucker；
Fig. 5 is Tthe utility model system connection schematic diagram two；
Wherein, 1- pedestal；2- control module；3- drive module；3.1- waist driving unit；3.2- shoulder driving unit；
3.3- ancon driving unit；3.4- wrist driving unit；3.5- finger movement driving unit；4- palmar hand；5- wrist movable axis；
6- sucker；7- holding finger；The first holding finger of 7.1-；The second holding finger of 7.2-；8- trunk connecting rod；The connection of 9- postbrachium
Bar；10- forearm connecting rod；11- waist connects shaft；12- shoulder connects shaft；13- ancon connects shaft；14- push rod；15-
Disk；15.1- the first disk；15.2- the second disk；16- finger fixed link；17- finger movement shaft；17.1- the first finger
Movable rotation-shaft；17.2- second finger movable rotation-shaft；18- gas piping；19- intake valve；20- control valve；21- vacuum generator；
22- first sliding groove；23- first connecting rod；The first A connecting rod of 23.1-；The first B connecting rod of 23.2-；The second connecting rod of 24-；25-
Second sliding slot；26- power module.
Specific embodiment:
It is specific below in conjunction with this to enable the purpose of this utility model, feature, advantage more obvious and understandable
The technical solution in the utility model is clearly and completely described in attached drawing in embodiment.
Embodiment 1 is as shown in Figure 1, a kind of industrial carrying machine people, including pedestal 1, control module 2 and drive module 3, base
It is provided with robot body on seat 1, robot body includes connecting rod and palmar hand 4, connection shaft is provided on pedestal 1, even
Extension bar setting is provided with wrist movable axis 5 in connection shaft in connecting rod, palmar hand 4 is arranged on wrist movable axis 5；
Palmar hand 4 is provided with sucker 6, and palmar hand 4 is additionally provided with the first holding finger 7.1 and the second holding finger 7.2；
Control module 2 is connect with drive module 3, and drive module 3 is connected with shaft and wrist movable axis 5 is connect；
Connecting rod includes trunk connecting rod 8, postbrachium connecting rod 9 and forearm connecting rod 10；
Connection shaft includes waist connection shaft 11, shoulder connection shaft 12 and ancon connection shaft 13；
Waist connects shaft 11 and connects pedestal 1 and trunk connecting rod 8, and shoulder connects shaft 12 and connects 8 He of trunk connecting rod
Postbrachium connecting rod 9, ancon connect shaft 13 and connect postbrachium connecting rod 9 and forearm connecting rod 10, and wrist movable axis 5 connects forearm and connects
Extension bar 10 and palmar hand 4；
Palmar hand 4 is provided with the first disk 15.1 and the second disk 15.2, and the edge of the first disk 15.1 is provided with first
Push rod 14.1, the other end of the first push rod 14.1 are connect with the first holding finger 7.1, and the edge of the second disk 15.2 is provided with
Two push rods 14.2, the other end of the second push rod 14.2 are connect with the second holding finger 7.2；
The first finger fixed link 16.1, the other end of the first finger fixed link 16.1 are provided on first holding finger 7.1
It is arranged in palmar hand 4；
Second finger fixed link 16.2, the other end of the first finger fixed link 16.2 are provided on second holding finger 7.2
It is arranged in palmar hand 4；
First disk 15.1 is provided centrally with the first finger movable rotation-shaft 17.1, and the second disk 15.2 is provided centrally with
Second finger movable rotation-shaft 17.2, the first finger movable rotation-shaft 17.1 and second finger movable rotation-shaft 17.2 are arranged at palmar hand
4, the first finger movable rotation-shaft 17.1 and second finger movable rotation-shaft 17.2 are also connect with drive module 3；
As shown in figure 3, drive module 3 includes waist driving unit 3.1, shoulder driving unit 3.2, ancon driving unit
3.3, wrist driving unit 3.4 and finger movement driving unit 3.5；Waist driving unit 3.1, shoulder driving unit 3.2, elbow
Portion's driving unit 3.3, wrist driving unit 3.4 and finger movement driving unit 3.5 are all made of stepper motor；Electrically driven side
For formula compared with hydraulic-driven, air pressure driving and Mechanical Driven, power supply is convenient, and response is fast, and driving force is larger, signal detection, transmission,
Processing is convenient；
Waist driving unit 3.1 connect the connection of shaft 11 with waist, and shoulder driving unit 3.2 connect the company of shaft 12 with shoulder
It connects, ancon driving unit 3.3 connect the connection of shaft 13 with ancon, and wrist driving unit 3.4 is connect with wrist movable axis 5, finger
Activity-driven unit 3.5 is connect with finger movement shaft 17.Finger movement driving unit 3.5 drives the first finger movable rotation-shaft
17.1 and second finger movable rotation-shaft 17.2 rotate, thus drive the first disk 15.1 and the second disk 15.2 rotation.First circle
The rotation of disk 15.1 drives the first push rod 14.1 to pull the first holding finger 7.1, the first clamping of the first finger fixed link 16.1 limitation
The motion profile of finger 7.1；The rotation of second disk 15.2 drives the second push rod 14.2 to pull the second holding finger 7.2, second-hand
Refer to that fixed link 16.2 limits the motion profile of the second holding finger 7.2, the first push rod 14.1 and the first finger fixed link 16.1 are matched
It closes, the second push rod 14.2 and second finger fixed link 16.2 cooperate, and realize clamping function.
Control module 2 is arranged inside or outside robot body in above-described embodiment 1.Control module 2 is in robot sheet
Internal portion is controlled, or setting is remotely controlled long-range.
In above-described embodiment 1, as shown in Figure 4 and Figure 5, sucker 6 is connected with gas piping 18, is provided on gas piping 18
Intake valve 19 and control valve 20, control valve 20 are connected with vacuum generator 21, intake valve 19, control valve 20 and vacuum generator 21
It is connect with control module 2；
Control module 2 is also connected with power module 26, and drive module 3 and vacuum generator 21 connect with power module 26
It connects.Power module 26 is powered to each motor of drive module 3, and power module 26 provides electric energy to vacuum generator 21,
Power module 26 provides electric energy to control module 2.
Embodiment 2 provides a kind of industrial carrying machine people, including pedestal 1, control module 2 and drive module 3, on pedestal 1
It is provided with robot body, robot body includes connecting rod and palmar hand 4, connection shaft is provided on pedestal 1, connecting rod is set
It sets in connection shaft, wrist movable axis 5 is provided in connecting rod, palmar hand 4 is arranged on wrist movable axis 5；
Palmar hand 4 is provided with sucker 6, and the first holding finger 7.1 and the second holding finger 7.2 is arranged in palmar hand 4；
Control module 2 is connect with drive module 3, and drive module 3 is connected with shaft and wrist movable axis 5 is connect；
As shown in Fig. 2, palmar hand 4 is equipped with first sliding groove 22, first sliding groove 22 and the first holding finger 7.1 and the second clamping
7.2 direction of motion of finger is parallel, and the first holding finger 7.1 and the second holding finger 7.2 include clamping end and fixing end, and first
The fixing end of holding finger 7.1 and the fixing end of the second holding finger 7.2 are arranged in first sliding groove 22, the first holding finger
7.1 fixing end is provided with the first A connecting rod 23.1, and the fixing end of the second holding finger 7.2 is provided with the first B connecting rod
23.2, the first A connecting rod 23.1 is connected with the second connecting rod 24, and the first B connecting rod 23.2 is also connect with the second connecting rod 24, the
Two connecting rods 24 are arranged in second sliding slot 25, and second sliding slot 25 and the first holding finger 7.1 and the second holding finger 7.2 move
Direction is vertical, and the second connecting rod 24 is connected with push rod 14,
Palmar hand 4 is provided with disk 15, and the edge of disk 15 is arranged in the other end of push rod 14,
Disk 15 is provided centrally with finger movement shaft 17, and finger movement shaft 17 is arranged in palmar hand 4, finger movement
Shaft 17 is also connect with drive module 3.The rotation of disk 15 drives push rod 14 to move, and realizes the second connecting rod 24 in second sliding slot 25
Interior reciprocating motion, the second connecting rod 24 drive the first A connecting rod 23.1 and the first B connecting rod 23.2 flexible, and then drive the
One holding finger 7.1 and the second holding finger 7.2 move in first sliding groove 22, realize holding action.
The embodiments of the present invention be it is illustrative and not restrictive, above-described embodiment, which is only to aid in, understands this reality
With novel, therefore the utility model is not limited to embodiment described in specific embodiment, all by those skilled in the art's root
The other specific embodiments obtained according to the technical solution of the utility model also belong to the range of the utility model protection.
Claims (10)
1. a kind of industrial carrying machine people, which is characterized in that including pedestal (1), control module (2) and drive module (3), pedestal
(1) robot body is provided on, robot body includes connecting rod and palmar hand (4), and connection is provided on pedestal (1) and is turned
Axis, connecting rod setting are provided with wrist movable axis (5) in connection shaft in connecting rod, and palmar hand (4) setting is in wrist activity
On axis (5)；
Palmar hand (4) is provided with sucker (6), and palmar hand (4) is additionally provided at least two holding fingers (7)；
Control module (2) is connect with drive module (3), and drive module (3) is connected with shaft and wrist movable axis (5) is connect.
2. a kind of industrial carrying machine people as described in claim 1, which is characterized in that connecting rod include trunk connecting rod (8),
Postbrachium connecting rod (9) and forearm connecting rod (10)；
Connection shaft includes waist connection shaft (11), shoulder connection shaft (12) and ancon connection shaft (13)；
Waist connects shaft (11) connection pedestal (1) and trunk connecting rod (8), and shoulder connects shaft (12) and connects trunk connecting rod
(8) and postbrachium connecting rod (9), ancon connect shaft (13) connection postbrachium connecting rod (9) and forearm connecting rod (10), wrist activity
Axis (5) connects forearm connecting rod (10) and palmar hand (4).
3. a kind of industrial carrying machine people as claimed in claim 2, which is characterized in that drive module (3) includes waist driving
Unit (3.1), shoulder driving unit (3.2), ancon driving unit (3.3) and wrist driving unit (3.4)；
Waist driving unit (3.1) connect shaft (11) connection with waist, and shoulder driving unit (3.2) connect shaft with shoulder
(12) it connects, ancon driving unit (3.3) connect shaft (13) connection, wrist driving unit (3.4) and wrist activity with ancon
Axis (5) connection.
4. a kind of industrial carrying machine people as claimed in claim 3, which is characterized in that palmar hand (4) is provided with disk (15),
The edge of disk (15) is provided with push rod (14), and the other end of push rod (14) is connect with holding finger (7)；
It is provided on holding finger (7) finger fixed link (16), the other end of finger fixed link (16) is arranged in palmar hand (4)；
Disk (15) is provided centrally with finger movement shaft (17), and finger movement shaft (17) is arranged in palmar hand (4), finger
Movable rotation-shaft (17) is also connect with drive module (3).
5. a kind of industrial carrying machine people as claimed in claim 3, which is characterized in that palmar hand (4) is equipped with first sliding groove
(22), first sliding groove (22) is parallel with holding finger (7) direction of motion, and holding finger (7) includes clamping end and fixing end, clamping
In first sliding groove (22), the fixing end of holding finger (7) is provided with first connecting rod (23) for the fixing end setting of finger (7),
First connecting rod (23) is connected with the second connecting rod (24), and in second sliding slot (25), second is sliding for the second connecting rod (24) setting
Slot (25) is vertical with holding finger (7) direction of motion, and the second connecting rod (24) is connected with push rod (14),
Palmar hand (4) is provided with disk (15), and the other end of push rod (14) is arranged at the edge of disk (15),
Disk (15) is provided centrally with finger movement shaft (17), and finger movement shaft (17) is arranged in palmar hand (4), finger
Movable rotation-shaft (17) is also connect with drive module (3).
6. a kind of industrial carrying machine people as described in claim 4 or 5, which is characterized in that drive module (3) further includes finger
Activity-driven unit (3.5), finger movement driving unit (3.5) are connect with finger movement shaft (17).
7. a kind of industrial carrying machine people as claimed in claim 6, which is characterized in that waist driving unit (3.1), shoulder drive
Moving cell (3.2), ancon driving unit (3.3), wrist driving unit (3.4) and finger movement driving unit (3.5) are adopted
Use stepper motor.
8. a kind of industrial carrying machine people as claimed in claim 3, which is characterized in that sucker (6) is connected with gas piping
(18), intake valve (19) and control valve (20) are provided on gas piping (18), control valve (20) is connected with vacuum generator
(21), intake valve (19), control valve (20) and vacuum generator (21) are connect with control module (2).
9. a kind of industrial carrying machine people as claimed in claim 8, which is characterized in that it further include power module (26), control
Module (2), drive module (3) and vacuum generator (21) are connect with power module (26).
10. a kind of industrial carrying machine people as described in claim 1, which is characterized in that control module (2) is arranged in robot
Body interior or outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820737112.9U CN208375318U (en) | 2018-05-17 | 2018-05-17 | A kind of industrial carrying machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820737112.9U CN208375318U (en) | 2018-05-17 | 2018-05-17 | A kind of industrial carrying machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208375318U true CN208375318U (en) | 2019-01-15 |
Family
ID=64971099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820737112.9U Expired - Fee Related CN208375318U (en) | 2018-05-17 | 2018-05-17 | A kind of industrial carrying machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208375318U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822197A (en) * | 2019-02-18 | 2019-05-31 | 哈尔滨工业大学（威海） | A kind of full-automatic fuel rod welding equipment device and method |
-
2018
- 2018-05-17 CN CN201820737112.9U patent/CN208375318U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822197A (en) * | 2019-02-18 | 2019-05-31 | 哈尔滨工业大学（威海） | A kind of full-automatic fuel rod welding equipment device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190115 Termination date: 20190517 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |