CN208914169U - A kind of dismountable robot crawl structure - Google Patents
A kind of dismountable robot crawl structure Download PDFInfo
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- CN208914169U CN208914169U CN201821694203.5U CN201821694203U CN208914169U CN 208914169 U CN208914169 U CN 208914169U CN 201821694203 U CN201821694203 U CN 201821694203U CN 208914169 U CN208914169 U CN 208914169U
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- wall
- ancon
- axis
- forearm
- shoulder
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Abstract
The utility model discloses a kind of dismountable robots to grab structure, including pedestal, the side outer wall of the pedestal is provided with groove, and groove inner wall has been bolted cabinet, the top exterior walls of the pedestal have been connected by key shoulder, and the two sides outer wall of shoulder has been bolted shoulder deck, the top exterior walls of the shoulder have been connected by key upper arm, and the top exterior walls of upper arm have been connected by key interior ancon and outer ancon, interior ancon is connected with outer ancon by annular hinge, the interior ancon and outer ancon have been connected by key the same forearm, and the two sides outer wall of forearm has been bolted forearm cover board, the forearm is provided with wrist far from one end outer wall of ancon.The utility model gripping portion is by defining flange and magnetic location, and with the fixed crawl structure of magnetic snap-on is closed, Demountable is more flexible in replacement and operation, and different location adjustment can be carried out from J1 axis to J6 axis, and it is more convenient on assembly line to apply.
Description
Technical field
The utility model relates to robotic technology fields more particularly to a kind of dismountable robot to grab structure.
Background technique
Robot is the automatic installations for executing work, mainly by mechanical body, memory or program function and core zero
The composition such as part, it can not only receive mankind commander, but also can run the program of preparatory layout, can also be according to artificial intelligence skill
The principle program action that art is formulated.Robot is used in flow line production and is grabbed, but existing mechanical arm is grabbed
Structure is taken to be fixed, disassembly is more troublesome, and the forms of motion of mechanical arm, and essentially lifting grabs and horizontally rotates,
The order of some complexity is not supported to execute
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and a kind of dismountable machine proposed
Device people grabs structure.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of dismountable robot crawl structure, including pedestal, the side outer wall of the pedestal are provided with groove, and groove
Inner wall has been bolted cabinet, and the top exterior walls of the pedestal have been connected by key shoulder, and the two sides outer wall of shoulder is equal
It is bolted shoulder deck, the top exterior walls of the shoulder have been connected by key upper arm, and the top exterior walls of upper arm are logical
Crossing key connection has interior ancon and outer ancon, and interior ancon is connected with outer ancon by annular hinge, the interior ancon and outer ancon
It is connected by key the same forearm, and the two sides outer wall of forearm has been bolted forearm cover board, the forearm is remote
One end outer wall from ancon is provided with wrist, and the bottom outer wall of wrist has been bolted mechanical splice, and the machinery connects
Head includes mechanical junction, mounting flange and defining flange, and defining flange is arranged at the central axes of mechanical junction, the peace
It fills and is provided with card slot at the bottom outer wall central axes of flange, and mounting flange is connected on the outer wall of defining flange by card slot, institute
It states mechanical junction and is provided with magnetic location hole close to four side outer walls of defining flange, and four side of bottom outer wall of mounting flange is equal
The snap-on that is magnetic is set, and the bottom outer wall of magnetic snap-on is plugged on the inner wall in magnetic location hole.
Preferably, the bottom interior wall of the pedestal is provided with first reducing motors, and the output shaft of first reducing motors connects
It is connected to J1 axis, J axis is plugged between J1 axis and shoulder.
Preferably, J2 axis is provided at the top exterior walls central axes of the upper arm, and interior ancon and outer ancon pass through J2
Axis forms solderless wrapped connection cooperation.
Preferably, the outer wall of the outer ancon and interior ancon has been bolted second reducing motors, and second slows down
The output shaft of motor is connected with J3 axis, and J3 axis is connected with forearm.
Preferably, the junction of the forearm and wrist is provided with J4 axis, and the inner wall of wrist is provided with third deceleration electricity
Machine, the output shaft of third decelerating motor are connected with J5 axis, and J5 axis is connected with mechanical splice.
Preferably, the first reducing motors, second reducing motors and the equal bolt of third decelerating motor are fixed with switch, and
Switch is connected with operating condition machine by conducting wire.
The utility model has the following beneficial effects:
1. the gripping portion of robot is installed by mounting flange, mounting flange is fixed by defining flange and magnetism
Position hole, grabs structure on magnetic snap-on mounting flange with closing, and detachable structure is more flexible in replacement and operation, and
And same type of robotic structure can install different devices by mounting flange, complete the model of production line robot
Uniformly, it is convenient to bring for later maintenance and the control of operating condition machine；
2. the motion range of robot extends to three dimension faces from three ranges, while can carry out not from J1 axis to J6 axis
Same position adjustment, the specification and span suitability to production line are more preferable, and it is more convenient on assembly line to apply.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of dismountable robot grab the structural schematic diagram of structure；
Fig. 2 be the utility model proposes a kind of dismountable robot grab the mechanical splice structural schematic diagram of structure；
Fig. 3 be the utility model proposes a kind of dismountable robot grab structure be used for vision guide sorting equipment
Work flow diagram.
In figure: 1 pedestal, 2 cabinets, 3 shoulders plate armour, 4 upper arm, 5 ancons plate armour, 6 outer ancons, ancon in 7,8 forearm cover boards,
9 forearms, 10 wrists, 11 mechanical splices, 12 shoulders, 13 mounting flanges, 14 defining flanges, 15 magnetic location holes.
Specific embodiment
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 describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-2, a kind of dismountable robot grabs structure, including pedestal 1, the side outer wall of pedestal 1 are provided with recessed
Slot, and groove inner wall has been bolted cabinet 2, the top exterior walls of pedestal 1 have been connected by key shoulder 12, and shoulder 12
Two sides outer wall has been bolted shoulder deck 3, and the top exterior walls of shoulder 12 have been connected by key upper arm 4, and upper arm 4
Top exterior walls have been connected by key interior ancon 7 and outer ancon 6, and interior ancon 7 is connected with outer ancon 6 by annular hinge, interior elbow
Portion 7 and outer ancon 6 have been connected by key the same forearm 9, and the two sides outer wall of forearm 9 has been bolted forearm lid
Plate 8, forearm 9 is provided with wrist 10 far from one end outer wall of ancon, and the bottom outer wall of wrist 10 has been bolted machinery
Connector 11, mechanical splice 11 includes mechanical junction, mounting flange 13 and defining flange 14, and defining flange 14 is arranged in machinery
At the central axes of junction, card slot is provided at the bottom outer wall central axes of mounting flange 13, and mounting flange 13 is clamped by card slot
On the outer wall of defining flange 14, mechanical junction is provided with magnetic location hole 15 close to four side outer walls of defining flange 14, and
Four side of bottom outer wall of mounting flange 13 is provided with magnetic snap-on, and the bottom outer wall of magnetic snap-on is plugged on magnetic location hole 15
Inner wall on, the bottom interior wall of pedestal 1 is provided with first reducing motors, and the output shaft of first reducing motors is connected with J1 axis,
It is plugged with J2 axis between J1 axis and shoulder, J3 axis, and interior ancon 7 and outer ancon 6 are provided at the top exterior walls central axes of upper arm 4
Solderless wrapped connection cooperation is formed by J3 axis, the outer wall of outer ancon 6 and interior ancon 7 has been bolted second reducing motors, and the
The output shaft of two decelerating motors is connected with J4 axis, and J4 axis is connected with forearm 9, and the junction of forearm 9 and wrist 10 is provided with J5
Axis, and the inner wall of wrist 10 is provided with third decelerating motor, the output shaft of third decelerating motor is connected with J6 axis, J6 axis and machinery
Connector 11 is connected, and first reducing motors, second reducing motors and the equal bolt of third decelerating motor are fixed with switch, and switchs logical
It crosses conducting wire and is connected with operating condition machine.
Referring to Fig. 3, it is mounted on vision guide system in a kind of dismountable robot crawl structure, wherein vision guide system
The workflow of system is as shown, the edge in sorter is equipped with optoelectronic switch, when the optoelectronic switch of sorter moves to original
Point postpones, and optoelectronic switch issues trigger signal, vision system starting carries out Image Acquisition to sorter by video camera.Depending on
Feel system carries out feature extraction to the picture of shooting, to the spy of target object in image by the image processing software of host computer
Sign point extracts, and determines the coordinate position of target object.Vision system can then convert image coordinate according to internal algorithm
The variable quantity of robot workpiece coordinate system out, and the position is calculated as to the deviation of robot motion, robot passes through receiving
To deviation re-establish workpiece coordinate system, so as to accurately complete specified deliberate action.
The main task of robot vision is to acquire image information to target object by video camera, computer disposal obtains
To the geological information of the three-dimensional space of target object, thus effectively identification positioning target object.The calibration of video camera is i.e. to camera
Each parameter of geometrical model calculating solution procedure, its geometrical model realizes target image coordinate system and robot coordinate system
Connection, image procossing related core technology include image dividing processing and picture smooth treatment, and system will be using at image segmentation
Original progress image procossing is carried out algorithm optimal implementation, realizes black and whiteization and binaryzation optimization processing by the algorithm of reason
For production line, robot is correctly to complete process basis the most and crucial one to the crawl of workpiece
Step, traditional robot be all to the crawl of workpiece using teaching or off-line programing mode, if the location of workpiece or posture, or
When the position of robot changes, the track execution according to prior teaching that robot can also be mechanical is unable to complete grabs in this way
Task is taken, whether the positioning of vision system accurately has a direct impact the crawl precision of robot, it is understood that vision system
Positioning is exactly to obtain coordinate value by the processing to image, is being converted to robot system, the positioning result ability of image
Carry out the precise positioning of accurate workpiece to vision system positioning belt.
Working principle: by installing crawl structure and vision guide system on the mechanical splice 11 of detachable structure, in shoulder
Portion 12, upper arm 4, ancon and 9 four part of forearm adjust lower control crawl range, become with the slewing area for closing J1 axis to J6 axis
Change, improve positioning accuracy, the positioning of vision guide system improves the crawl precision of robot.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (6)
1. a kind of dismountable robot grabs structure, including pedestal (1), which is characterized in that the side outer wall of the pedestal (1)
It is provided with groove, and groove inner wall has been bolted cabinet (2), the top exterior walls of the pedestal (1) have been connected by key shoulder
Portion (12), and the two sides outer wall of shoulder (12) has been bolted shoulder deck (3), the top exterior walls of the shoulder (12)
It has been connected by key upper arm (4), and the top exterior walls of upper arm (4) have been connected by key interior ancon (7) and outer ancon (6), interior elbow
Portion (7) is connected with outer ancon (6) by annular hinge, and the interior ancon (7) and outer ancon (6) have been connected by key same
A forearm (9), and the two sides outer wall of forearm (9) has been bolted forearm cover board (8), the forearm (9) is far from ancon
One end outer wall be provided with wrist (10), and the bottom outer wall of wrist (10) has been bolted mechanical splice (11), described
Mechanical splice (11) includes mechanical junction, mounting flange (13) and defining flange (14), and defining flange (14) is arranged in machine
At the central axes of tool junction, card slot is provided at the bottom outer wall central axes of the mounting flange (13), and mounting flange (13) is logical
It crosses card slot to be connected on the outer wall of defining flange (14), the machinery junction is respectively provided with close to four side outer walls of defining flange (14)
Be magnetic location hole (15), and four side of bottom outer wall of mounting flange (13) is provided with magnetic snap-on, the bottom of magnetic snap-on
Outer wall is plugged on the inner wall of magnetic location hole (15).
2. a kind of dismountable robot according to claim 1 grabs structure, which is characterized in that the pedestal (1)
Bottom interior wall is provided with first reducing motors, and the output shaft of first reducing motors is connected with J1 axis, and J1 axis and shoulder interleave
It is connected to J2 axis.
3. a kind of dismountable robot according to claim 1 grabs structure, which is characterized in that the upper arm (4)
J3 axis is provided at top exterior walls central axes, and interior ancon (7) and outer ancon (6) form solderless wrapped connection cooperation by J3 axis.
4. a kind of dismountable robot according to claim 1 grabs structure, which is characterized in that the outer ancon (6)
Second reducing motors are bolted with the outer wall of interior ancon (7), and the output shaft of second reducing motors is connected with J4 axis,
J4 axis is connected with forearm (9).
5. a kind of dismountable robot according to claim 1 grabs structure, which is characterized in that the forearm (9) and
The junction of wrist (10) is provided with J5 axis, and the inner wall of wrist (10) is provided with third decelerating motor, third decelerating motor
Output shaft is connected with J6 axis, and J6 axis is connected with mechanical splice (11).
6. a kind of dismountable robot according to claim 2 grabs structure, which is characterized in that the first deceleration electricity
Machine, second reducing motors and the equal bolt of third decelerating motor are fixed with switch, and switch and be connected with operating condition machine by conducting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821694203.5U CN208914169U (en) | 2018-09-30 | 2018-09-30 | A kind of dismountable robot crawl structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821694203.5U CN208914169U (en) | 2018-09-30 | 2018-09-30 | A kind of dismountable robot crawl structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208914169U true CN208914169U (en) | 2019-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821694203.5U Expired - Fee Related CN208914169U (en) | 2018-09-30 | 2018-09-30 | A kind of dismountable robot crawl structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208914169U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283668A (en) * | 2020-03-07 | 2020-06-16 | 上海崟燊新能源科技有限公司 | Quick disassembly and assembly structure of fan |
| CN111331355A (en) * | 2020-01-03 | 2020-06-26 | 杨照明 | Automatic assembling equipment for butt joint pipes of oxygen storage oxygen bags |
-
2018
- 2018-09-30 CN CN201821694203.5U patent/CN208914169U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331355A (en) * | 2020-01-03 | 2020-06-26 | 杨照明 | Automatic assembling equipment for butt joint pipes of oxygen storage oxygen bags |
| CN111331355B (en) * | 2020-01-03 | 2021-04-09 | 连云港市第一人民医院 | Automatic assembling equipment for butt joint pipes of oxygen storage oxygen bags |
| CN111283668A (en) * | 2020-03-07 | 2020-06-16 | 上海崟燊新能源科技有限公司 | Quick disassembly and assembly structure of fan |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190531 Termination date: 20190930 |