CN209140921U - Articulated robot - Google Patents

Abstract

The utility model discloses a kind of articulated robots, it is intended to provide a kind of equidistant with can quickly carry out, angularly operate, rotation precision is larger, reduce the alignment time, the articulated robot for the advantages of improving operation and production efficiency, its key points of the technical solution are that, second level arm end is equipped with and mechanical paw, mechanical paw includes the pivoted arm for being rotatably connected on second level arm end, the rotating mechanism for driving the two relative rotation is equipped between level-one arm and second level arm, rotating mechanism includes for connecting the rotation axis between level-one arm and second level arm, actuator for driving rotation axis to rotate, the actuator includes the synchronizing wheel with the concentric setting of rotation axis, and it is parallel to the driving wheel that synchronizing wheel is rotationally connected with level-one arm middle position, it is linked between driving wheel and synchronizing wheel by synchronous belt, and driving wheel is rotated by driving shaft and is connected It is connected in level-one arm, can be avoided the plenty of time that robot operates required cost when part alignment equidistantly, angularly.

Description

Articulated robot

Technical field

The utility model relates to industrial robot fields, and in particular to a kind of articulated robot.

Background technique

Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance Have the advantage of people and robotics respectively concurrently.

Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people Heavy work can be operated with realizing the mechanization and automation of production under hostile environment to protect personal safety, thus answer extensively For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.

The application of mechanical arm also will be more and more extensive, manipulator be a kind of high-tech for growing up of recent decades from Move production equipment, the ability to fulfil assignment in the accuracy and environment of operation.One important branch of industry mechanical arm robot, Manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical by driving method.Feature is can be completed by programming respectively The advantage of people and robotics respectively is had concurrently in operation expected from kind, construction and performance.

Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work The component of part (or tool), according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape Formula, such as clamp-type, holding type and absorbent-type.Movement mechanism makes hand complete various rotations (swing), mobile or compound motion It realizes defined movement, changes by the position of grasping object and posture.

The self-movements mode, the referred to as freedom degree of manipulator such as the lifting of movement mechanism, flexible, rotation.In order to grab sky Between middle any position and orientation object, need to have 6 freedom degrees.Freedom degree is the key parameter of manipulator design.Freedom degree is got over More, the flexibility of manipulator is bigger, and versatility is wider, and structure is also more complicated.

General special manipulator has 2~3 freedom degrees.Control system is by the motor to each freedom degree of manipulator Control, to complete specific action.The information of receiving sensor feedback simultaneously, forms stable closed-loop control.The core of control system The heart is usually to be made of microcontroller chips such as single-chip microcontroller or dsp, realizes wanted function by programming to it.

Currently, the Chinese patent of Publication No. CN108406747A discloses a kind of boosting manipulator, its arm is set thereon There is the first locking member；Adapter carries out hingedly, rotating arm to articulated shaft around X to articulated shaft by X with arm；Locking Mechanism is detachably mounted on adapter；

It is adjacent to adapter when arm is turned to around X to articulated shaft, retaining mechanism and the first locking member are sealed, make arm and turn Fitting is fixedly connected；Connector carries out hingedly, making the adapter being fixedly connected and arm by Z-direction articulated shaft with adapter It is rotated simultaneously around Z-direction articulated shaft；Lift drive mechanism is connect with the connector, is used for drive connection part, adapter and hand Arm is moved along Z-direction.

Although this boosting manipulator solves the transporting velocity and strength that are manually unable to control manipulator, quality is big, volume Not equal workpiece is difficult to the problem of loading and unloading, but this manipulator is when carrying out equidistant, equal angular part pickup or placing, such as Fruit rotation precision it is larger, this manipulator is difficult to be aligned in rotary course, and be aligned time it is longer, operating efficiency compared with It is low, reduce whole production efficiency.

Summary of the invention

The purpose of the utility model is to provide a kind of articulated robots, and having can quickly carry out equidistantly, angularly The advantages of operation, rotation precision is larger, reduces the alignment time, improves operation and production efficiency.

The above-mentioned technical purpose of the utility model has the technical scheme that

A kind of articulated robot, including pedestal and the mechanical arm being connected on pedestal, mechanical arm (2) includes mutual The level-one arm and second level arm of rotation connection, level-one arm are connect with pedestal, and second level arm end is equipped with and mechanical paw, mechanical paw packet The pivoted arm for being rotatably connected on second level arm end is included, the rotation for driving the two relative rotation is equipped between level-one arm and second level arm Mechanism, rotating mechanism include the driving for connecting the rotation axis between level-one arm and second level arm, for driving rotation axis to rotate Part, the actuator includes the synchronizing wheel with the concentric setting of rotation axis, and is parallel to synchronizing wheel and is rotationally connected with level-one arm The driving wheel in middle position is linked between driving wheel and synchronizing wheel by synchronous belt, and driving wheel is rotatablely connected by driving shaft In in level-one arm.

By using above-mentioned technical proposal, when manipulator need to carry out it is equidistant, angularly operate when, can star driving Part drives the rotation axis between level-one arm and second level arm to rotate, thus realize the relative rotation between level-one arm and second level arm, this Process are as follows: operator starts driving wheel and makes its rotation, and driving wheel is rotated by synchronous belt linkage synchronizing wheel, thus with turn Moving axis realizes the relative rotation between level-one arm and second level arm.So after determining the rotation angle of driving wheel, it will be able to drive The rotational angle of turn moving axis realizes the accurate control rotated between level-one arm and second level arm, and robot is facilitated to carry out part Equidistantly and angularly operate.

It so can be avoided the plenty of time that robot operates required cost when part alignment equidistantly, angularly, make Angle is determined in mechanical arm rotation, improves operation, the rotation precision of mechanical arm, is reduced the time required when production, is greatly promoted operation And production efficiency.

Further setting: actuator includes and the concentric positioning gear being fixed on driving shaft of driving wheel, and sliding The positioning tooth bar being connected in level-one arm is intermeshed between positioning tooth bar and positioning gear, is additionally provided in level-one arm for band The driving cylinder of dynamic positioning tooth bar sliding.

By using above-mentioned technical proposal, the output shaft activity of cylinder is driven, positioning tooth bar sliding is driven, due to positioning tooth Item and positioning gear cooperate, it will be able to drive positioning gear rotation, since positioning gear and driving wheel are coaxially disposed, positioning Gear rotation is just able to drive driving shaft and synchronizing wheel rotation, simultaneously because the skidding distance of positioning tooth bar is easy to control, operation Personnel can more easily control the rotation angle of positioning gear by the skidding distance of control control positioning tooth bar, reach Determine the purpose that angle is rotated between level-one arm and second level arm.

Further setting: being fixed with range sensor in drive rack, reference point is located in pedestal, for detecting positioning The length of rack gear sliding, the retaining mechanism for avoiding it from rotating for locking positioning gear is additionally provided in level-one arm.

By using above-mentioned technical proposal, the setting of range sensor can be convenient the cunning that operator controls positioning tooth bar Rotating cycle, the rotation angle of distance and driving wheel are moved, and retaining mechanism can be after the rotation is completed to level-one arm and second level arm Between angle locked, avoid its occur relative rotation.

Further setting: retaining mechanism includes the locking rack being slidably connected in level-one arm, locking rack and positioning tooth Item is mutually perpendicular to, and the locking cylinder by being set in level-one arm drives sliding, and locking rack and positioning gear cooperate.

By using above-mentioned technical proposal, when the rotation between level-one arm and second level arm needs fixed, range sensor Signal can be issued, locking cylinder drives locking rack sliding at this time, makes locking rack and positioning gear intermeshing, it will be able to Wheel gear locking will be positioned, achievees the effect that lock level-one arm and second level arm.

Further setting: locking member includes the locking hole that several are opened on positioning gear around the positioning gear center of circle, Sliding is connected with check lock lever in level-one arm, and check lock lever includes horizontally disposed slipping part and the tight lock part perpendicular to horizontal plane, lock Tight portion and locking hole cooperate, and check lock lever drives sliding by the locking cylinder being set in level-one arm.

By using above-mentioned technical proposal, when the rotation between level-one arm and second level arm needs fixed, range sensor Signal can be issued, locker is dry at this time enough drives check lock lever sliding, makes in tight lock part insertion locking hole, and the two cooperates, The locking that can be realized as positioning gear, determines the relative angle between level-one arm and second level arm.

Further setting: rotation axis is rotatably connected on level-one arm, and is fixedly connected with second level arm, rotation axis and level-one It is interference fitted between arm.

It by using above-mentioned technical proposal, is interference fitted between level-one arm and second level arm, is able to ascend level-one arm and second level Friction between arm avoids relative rotation between level-one arm and second level arm during rotation.

Further setting: pivoted arm end is fixed with pawl disk, and the outer circle of pawl disk is equipped with the pawl of several circular pawl disk settings Bar, claw bar are arranged in bending shape, and intermediate position and pawl disk are hinged.

By using above-mentioned technical proposal, it is synchronous to center sliding that bar is slid in clamping process, while to the week of disk While being clamped, pressure can uniformly be applied to it from disk perimeter, to realize the clamping of circular pieces, and clamping effect is good It is good, it can be avoided workpiece and fall off on hand from machinery.

Further setting: claw bar includes the initiative part and follower being arranged in obtuse angle between each other, initiative part and drive disk Connection, follower are bent in arc shape to pawl disk center direction.

By using above-mentioned technical proposal, it is arranged in obtuse angle between initiative part and follower, drives claw bar living in actuator The angle of claw bar sliding is able to ascend when dynamic, and follower can improve folder in arc shape bending setting in clamping process The stability held promotes clamping effect.

In conclusion the utility model has the following beneficial effects:

It can be avoided the plenty of time that robot operates required cost when part alignment equidistantly, angularly, make machinery Angle is determined in arm rotation, improves operation, the rotation precision of mechanical arm, is reduced the time required when production, is greatly promoted operation and life Produce efficiency.

Detailed description of the invention

The present invention will be further described with reference to the accompanying drawing.

Fig. 1 is that the structure of embodiment 1 shines intention；

Fig. 2 is in embodiment 1 for showing the schematic diagram of mechanical paw；

Fig. 3 is the schematic diagram that actuator is shown in embodiment 1；

Fig. 4 is the schematic diagram that actuator is shown in embodiment 2；

Fig. 5 is the schematic diagram that actuator is shown in embodiment 3；

Fig. 6 is the schematic diagram that rotating mechanism is shown in embodiment 4；

Fig. 7 is the schematic diagram that rotatable positioning member is shown in embodiment 4.

In figure, 1, pedestal；2, mechanical arm；21, level-one arm；22, second level arm；23, mechanical paw；24, pivoted arm；25, pawl Disk；26, claw bar；261, initiative part；262, follower；3, rotating mechanism；31, rotation axis；4, actuator；41, transition axis；42, Driving motor；43, locking member；431, worm gear is locked；432, worm screw is locked；44, synchronizing wheel；45, driving wheel；46, synchronous belt； 47, gear is positioned；48, positioning tooth bar；49, cylinder is driven；5, locating piece；51, active turntable；511, fanning strip；512, it pushes Bar；513, vertical bar；52, driven turntable；521, arc groove；522, driver slot；6, retaining mechanism；61, locking rack；62, it locks Cylinder；63, locking hole；64, check lock lever；641, tight lock part；642, slipping part；71, driven gear；72, rotating electric machine；73, living Moving gear；8, transition mechanism；81, slide；82, intermediate gear；83, positioning cylinder；84, limited block；9, rotatable positioning member；91, Locating shaft；92, fixed gear；93, positioning ratchet wheel；94, detent；95, swingle；96, movable disk；97, spring；98, it rotates Worm screw；99, rotation of worm gear；100, bevel gear.

Specific embodiment

Specific embodiments of the utility model will be further explained with reference to the accompanying drawing.

The technical scheme adopted by the utility model is

Embodiment 1, a kind of articulated robot, as shown in Figure 1 comprising the pedestal 1 of rectangular shape and rotation connection Mechanical arm 2 on pedestal 1, mechanical arm 2 include the level-one arm 21 and second level arm 22 that are mutually rotatablely connected, level-one arm 21 with Pedestal 1 connects, and 22 end of second level arm is equipped with and mechanical paw 23, and mechanical paw 23 includes being rotatably connected on 22 end of second level arm Pivoted arm 24,24 end of pivoted arm are fixed with pawl disk 25, and the outer circle of pawl disk 25 is equipped with the claw bar 26 that several circular pawl disks 25 are arranged, Claw bar 26 is arranged in bending shape, and intermediate position and pawl disk 25 are hinged.Claw bar 26 includes the master being arranged in obtuse angle between each other Dynamic portion 261 and follower 262, initiative part 261 are connect with drive disk, and follower 262 is in arc shape to 25 center position of pawl disk Bending.

As depicted in figs. 1 and 2, the whirler for driving the two relative rotation is equipped between level-one arm 21 and second level arm 22 Structure 3, rotating mechanism 3 include for connecting the rotation axis 31 between level-one arm 21 and second level arm 22, for driving rotation axis 31 to revolve The actuator 4 turned, and for determining that rotation axis 31 rotates the locating piece 5 of angle between actuator 4 and rotation axis 31, it is fixed Position part 5 includes the active turntable 51 in the actuator 4 and the driven turntable 52 that is fixed in rotation axis 31, active turntable 51 with It cooperates between driven turntable 52.

As shown in Figures 2 and 3, active turntable 51 include two panels relative symmetry setting fanning strip 511, fanning strip 511 it Between be equipped with perpendicular catch bar 512,512 end of catch bar is fixed with vertical bar 513, and vertical bar 513 is perpendicular to active turntable 51 Place plane.Offered on driven turntable 52 several around its midpoint setting arc groove 521, the shape of arc groove 521 with The shape of fanning strip 511 fits, and offers driver slot 522, driver slot on the driven turntable 52 between adjacent arc groove 521 522 depth is identical as the length of catch bar 512.

As shown in Figures 2 and 3, active turntable 51 and driven turntable 52 are in same level, and fanning strip 511 is embedded at In arc groove 521, the height of catch bar 512 lower than driven turntable 52 height and misplace therewith, the height of vertical bar 513 greater than from The height of turn disk 52.Actuator 4 includes the transition axis 41 being rotatably connected in level-one arm 21, and for driving transition axis 41 The driving motor 42 of rotation, active turntable 51 is concentric to be fixed on transition axis 41, between driving motor 42 and transition axis 41 also Equipped with locking member 43.

As shown in Figures 2 and 3, locking member 43 includes and the concentric locking snail being fixed on transition axis 41 of active turntable 51 Wheel 431, is rotatably connected to the locking worm screw 432 engaged with locking worm gear 431 in level-one arm 21, the output shaft of driving motor 42 and Locking worm screw 432 is wholely set.When active turntable 51 rotates, the catch bar 512 on active turntable 51 can intermittently pass through from Driver slot 522 on turn disk 52, vertical bar 513 is located in driver slot 522 at this time, and driven turntable 52 is driven to rotate, and every time Rotation is angularly to rotate, it is only necessary to which the model for changing active turntable 51 being capable of the true angle that rotates every time of mechanical arm.

Embodiment 2, a kind of articulated robot, difference from example 1 is that, as shown in figure 4, rotating mechanism 3 Including the actuator 4 for connecting the rotation axis 31 between level-one arm 21 and second level arm 22, for driving rotation axis 31 to rotate, institute Stating actuator 4 includes the synchronizing wheel 44 with the concentric setting of rotation axis 31, and is parallel to synchronizing wheel 44 and is rotationally connected with level-one The driving wheel 45 in 21 middle position of arm is linked between driving wheel 45 and synchronizing wheel 44 by synchronous belt 46, and driving wheel 45 passes through Driving shaft is rotationally connected in level-one arm 21.

As shown in figure 4, actuator 4 include with the concentric positioning gear 47 being fixed on driving shaft of driving wheel 45, and The positioning tooth bar 48 being connected in level-one arm 21 is slid, is intermeshed between positioning tooth bar 48 and positioning gear 47, level-one arm 21 Inside it is additionally provided with the driving cylinder 49 for driving positioning tooth bar 48 to slide.It is fixed with range sensor in drive rack, refers to Point is located in pedestal 1, for detecting the length of the sliding of positioning tooth bar 48.

As shown in figure 4, rotation axis 31 is rotatably connected on level-one arm 21, and it is fixedly connected with second level arm 22.Rotation axis 31 It is interference fitted between level-one arm 21, the retaining mechanism for avoiding it from rotating for locking positioning gear 47 is additionally provided in level-one arm 21 6, retaining mechanism 6 includes the locking rack 61 being slidably connected in level-one arm 21, and locking rack 61 and positioning tooth bar 48 are mutually hung down Directly, and the locking cylinder 62 by being set in level-one arm 21 drives sliding, and locking rack 61 and positioning gear 47 cooperate.

Embodiment 3, a kind of articulated robot, with embodiment 2 the difference is that, as shown in figure 5, locking member 43 wrap Several locking holes 63 being opened on positioning gear 47 around positioning 47 center of circle of gear are included, sliding is connected with lock in level-one arm 21 Tight bar 64, check lock lever 64 include horizontally disposed slipping part 642 and the tight lock part 641 perpendicular to horizontal plane, tight lock part 641 and lock Tieholen 63 cooperates, and check lock lever 64 drives sliding by the locking cylinder 62 being set in level-one arm 21.

Embodiment 4, a kind of articulated robot the difference is that, as shown in Figure 6 and Figure 7, turn with embodiment 1 or 2 It is fixed with driven gear 71 on moving axis 31, the mistake that sliding is connected in level-one arm 21 is equipped between actuator 4 and driven gear 71 Mechanism 8 is crossed, transition mechanism 8 includes the slide 81 of cuboid setting, and 81 one end of slide is rotatably connected to intermediate gear 82, the other end Equipped with for determining that driven gear 71 rotates the rotatable positioning member 9 of angle.

As shown in Figure 6 and Figure 7, actuator 4 includes the rotating electric machine 72 being fixed in level-one arm 21 and is fixed on electric rotating Free gear 73 on 72 output shaft of machine, free gear 73, intermediate gear 82 and driven gear 71 are respectively positioned on the water of sustained height In plane, and when intermediate gear 82 is moved to fixed point, free gear 73, intermediate gear 82 and driven gear 71 are successively engaged.

As shown in Figure 6 and Figure 7, rotatable positioning member 9 includes the locating shaft 91 that is rotatably connected on slide 81, on locating shaft 91 It is fixed with fixed gear 92 and positioning ratchet wheel 93, the detent for driving positioning ratchet wheel 93 to rotate is rotatably connected on slide 81 94.Swingle 95 is rotatably connected on slide 81,95 end of swingle is fixed with movable disk 96, and 94 bias of detent is connected to In movable disk 96, and it is rotationally connected, it is additionally provided on slide 81 for driving detent 94 to rotate towards positioning ratchet wheel 93 Spring 97.

As shown in Figure 6 and Figure 7, rotatable positioning member 9 include the concentric rotation of worm gear 99 being fixed on swingle 95 and The rotary worm 98 being rotatably connected on slide 81, rotation of worm gear 99 and rotary worm 98 are intermeshed, rotary worm 98 and The output shaft of rotating electric machine 72 is equipped with the bevel gear 100 being mutually adapted, when rotary worm 98 is moved to specified point with slide 81, Two bevel gears 100 are intermeshed, and fixed gear 92 is engaged with driven gear 71.Positioning cylinder 83 is fixed in level-one arm 21, The output shaft of positioning cylinder 83 is fixed on slide 81 for pushing slide 81 to slide, and is additionally provided in level-one arm 21 for limiting cunning The limited block 84 of 81 skidding distances of seat.

It is the preferred embodiment of the utility model above, does not impose any limitation on the present invention, All foundation the technical essence of the utility model any simple modification, equivalent change and modification made to the above embodiment, Belong in the range of utility model technical solution.

Claims (8)

1. a kind of articulated robot, including pedestal (1) and the mechanical arm (2) being connected on pedestal (1), mechanical arm (2) Including the level-one arm (21) and second level arm (22) being mutually rotatablely connected, level-one arm (21) is connect with pedestal (1), it is characterised in that: Second level arm (22) end is equipped with and mechanical paw (23), and mechanical paw (23) includes being rotatably connected on second level arm (22) end Pivoted arm (24), the rotating mechanism (3) for both drive relative rotation is equipped between level-one arm (21) and second level arm (22), is revolved Rotation mechanism (3) includes for connecting the rotation axis (31) between level-one arm (21) and second level arm (22), for driving rotation axis (31) actuator (4) rotated, the actuator (4) includes the synchronizing wheel (44) with rotation axis (31) concentric setting, and It is parallel to the driving wheel (45) that synchronizing wheel (44) is rotationally connected with level-one arm (21) middle position, driving wheel (45) and synchronizing wheel (44) it is linked between by synchronous belt (46), and driving wheel (45) is rotationally connected in level-one arm (21) by driving shaft.

2. articulated robot according to claim 1, it is characterised in that: the actuator (4) includes and driving wheel (45) the concentric positioning gear (47) being fixed on driving shaft, and the positioning tooth bar that sliding is connected in level-one arm (21) (48), it is intermeshed between positioning tooth bar (48) and positioning gear (47), is additionally provided in level-one arm (21) for driving positioning tooth The driving cylinder (49) of item (48) sliding.

3. articulated robot according to claim 2, it is characterised in that: be fixed with distance on the positioning tooth bar (48) Sensor, reference point are located in pedestal (1), and for detecting the length of positioning tooth bar (48) sliding, level-one arm is also set in (21) There is the retaining mechanism (6) for avoiding it from rotating for locking positioning gear (47).

4. articulated robot according to claim 3, it is characterised in that: the retaining mechanism (6) includes being slidably connected Locking rack (61) in level-one arm (21), locking rack (61) are mutually perpendicular to positioning tooth bar (48), and by being set to one Locking cylinder (62) in grade arm (21) drives sliding, and locking rack (61) and positioning gear (47) cooperate.

5. articulated robot according to claim 2, it is characterised in that: the positioning gear (47) is equipped with several Around the locking hole (63) of its center of circle setting, sliding is connected with check lock lever (64) in level-one arm (21), and check lock lever (64) includes water The flat slipping part (642) being arranged and the tight lock part (641) perpendicular to horizontal plane, tight lock part (641) and locking hole (63) cooperate, lock Tight bar (64) drives sliding by the locking cylinder (62) being set in level-one arm (21).

6. articulated robot according to claim 5, it is characterised in that: the rotation axis (31) is rotatably connected on level-one It on arm (21), and is fixedly connected with second level arm (22), is interference fitted between rotation axis (31) and level-one arm (21).

7. articulated robot according to claim 6, it is characterised in that: pivoted arm (24) end is fixed with pawl disk (25), the outer circle of pawl disk (25) is equipped with the claw bar (26) of several circular pawl disk (25) settings, and claw bar (26) is in bending shape Setting, intermediate position and pawl disk (25) are hinged.

8. articulated robot according to claim 7, it is characterised in that: the claw bar (26) includes between each other in blunt The initiative part (261) and follower (262) of angle setting, initiative part (261) are connect with drive disk, and follower (262) is in arc line shaped Shape is bent to pawl disk (25) center position.