CN101797751B - A seven-axis serial industrial robot structure for pipe end operations - Google Patents
A seven-axis serial industrial robot structure for pipe end operations Download PDFInfo
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- CN101797751B CN101797751B CN2010101010178A CN201010101017A CN101797751B CN 101797751 B CN101797751 B CN 101797751B CN 2010101010178 A CN2010101010178 A CN 2010101010178A CN 201010101017 A CN201010101017 A CN 201010101017A CN 101797751 B CN101797751 B CN 101797751B
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Abstract
The invention provides an industrial robot structure with seven tandem shafts for pipe end operations. The industrial robot structure consists of a base, a rotary articulated shaft, a movable articulated shaft, a rotary rack arm, a bracket arm, a support arm, a movable arm, a swinging arm and a tail end actuator. The industrial robot structure is characterized in that the industrial robot structure enables the actuator to directly act on the special processing target of the end of a pipe and has great flexibility and practicability.
Description
Technical field
The present invention relates to a kind of industrial robot structure, particularly relate to the industrial robot structure that is used for pipe end operations.
Background technology
At present, the various forms of adapters of widespread usage in engineerings such as oil, chemical industry, boiler, pressure vessel and pipeline, robot extensively is applied to detection, flaw detection, measurement, sandblast, assembling, carrying and the various forms of processing operations etc. of these adapters.
Industrial serially connected robot architecture has four kinds of basic structures: cartesian coordinate robot, cylindrical robot, polar robot and typical multi-joint polyphone robot, these robots are all because the restriction of self structure all is difficult to adapt to the particular surroundings of pipe end.
Summary of the invention
The invention reside in provides a kind of industrial robot structure with seven tandem shafts that is used for pipe end operations with big flexibility and practicality.
The object of the present invention is achieved like this:
A kind of industrial robot structure with seven tandem shafts that is used for pipe end operations, it comprises pedestal, arm, end effector, it is characterized in that: described arm comprises rotating rack arm 3, support arm 5, strut arm 7, first transfer arm 9, second transfer arm 11, swing arm 13, one end of rotating rack arm 3 is installed on the pedestal 1 by the first rotary joint axle 2, the other end of rotating rack arm 3 is connected with support arm 5 by the second rotary joint axle 4, support arm 5 is connected with strut arm 7 by the 3rd rotary joint axle 6, first transfer arm 9 is installed on the strut arm 7 by the first linear joint axle 8, second transfer arm 11 is installed on first transfer arm 9 by the second linear joint axle 10, one end of swing arm 13 is connected with an end of second transfer arm 11 by the 4th rotary joint axle 12, the other end of swing arm 13 is installed the 5th rotary joint axle 14, and end effector 15 is installed on the 5th rotary joint axle 14.
The structure of planer type multi-shaft tandem type robot of the present invention can also comprise:
1, the axial line of the described first rotary joint axle 2 is vertical with the plane of pedestal 1.
2, the axial line of described second rotating shaft 4 is vertical mutually with the axial line of first rotating shaft 2.
3, the axial line of described the 3rd rotating shaft 6 is vertical mutually with the axial line of second rotating shaft 4.
4, the axial line of the moving direction of described first transfer arm 9 and the 3rd rotary joint axle 6 is orthogonal.
5, described second transfer arm 11 is vertical mutually with first transfer arm 9.
6, the axial line of the axial line of described the 5th rotary joint axle 14 and the 4th rotary joint axle 12 is orthogonal.
Advantage of the present invention is: actuator is directly acted on this special processing object of pipe end, have bigger flexibility and practicality; Orthogonal specific position relation between the axial line by each, between the axial line of axle and the pedestal and between the transfer arm has been strengthened stability of structure.
Description of drawings
Fig. 1 is a general structure schematic diagram of the present invention.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Among Fig. 1, pedestal 1 is according to the particular location situation of pipe end operations, and desired location fixedly mounts; The U joint is installed on the pedestal 1, and the U joint is made of rotary joint axle 2 and rotating rack arm 3, and the rotating shaft of rotary joint 2 is perpendicular to the installed surface of pedestal 1; The V joint is installed on the rotating rack arm 3, and the V joint is made of rotary joint axle 4 and support arm 5, and wherein the rotating shaft of the rotating shaft of rotary joint axle 4 and rotary joint axle 2 is perpendicular; The W joint is installed on the support arm 5, and the W joint is made of rotary joint axle 6 and strut arm 7, and the rotating shaft of the rotating shaft of rotary joint axle 6 and rotary joint axle 4 is perpendicular, and it mainly acts on is that the rotating shaft of rotary joint axle 6 is overlapped with the axle of adapter; The R joint is installed on the strut arm 7, and the R joint is made of linear joint axle 8 and transfer arm 9, and the moving direction of linear joint axle 8 is perpendicular with the rotating shaft that changes joint shaft 6; The H joint is installed on the transfer arm 9, and the H joint is made of linear joint axle 10 and transfer arm 11, and the moving direction of the moving direction of linear joint axle 10 and linear joint axle 8 is perpendicular; End at transfer arm 11 is installed rotary joint B, choosing is changeed joint B and is made of rotary joint axle 12 and swing arm 13, wherein the moving direction of the moving direction of the rotating shaft of rotary joint 12 and transfer arm 11 and transfer arm 9 is vertical mutually, because special job requirements, 12 of swing arms are swung in a special angle scope; Rotary joint M is installed on the swing arm 13, be made of rotary joint axle 14 and end effector 15, and the rotating shaft of the rotating shaft of rotary joint axle 14 and rotary joint axle 12 is perpendicular.Wherein the type of drive of each can be determined according to environment for use, positioning accuracy, repetitive positioning accuracy and concrete operation situation.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101010178A CN101797751B (en) | 2010-01-26 | 2010-01-26 | A seven-axis serial industrial robot structure for pipe end operations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101010178A CN101797751B (en) | 2010-01-26 | 2010-01-26 | A seven-axis serial industrial robot structure for pipe end operations |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101797751A CN101797751A (en) | 2010-08-11 |
| CN101797751B true CN101797751B (en) | 2011-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101010178A Active CN101797751B (en) | 2010-01-26 | 2010-01-26 | A seven-axis serial industrial robot structure for pipe end operations |
Country Status (1)
| Country | Link |
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| CN (1) | CN101797751B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102909504A (en) * | 2012-10-17 | 2013-02-06 | 哈尔滨工程大学 | Intersecting line cutting robot mechanism for container adapter tube |
| CN103056570A (en) * | 2013-01-28 | 2013-04-24 | 大连理工大学 | Suspension type hull section margin cutting device on upper slideway |
| CN103538052B (en) * | 2013-09-29 | 2016-08-17 | 昆山中士设备工业有限公司 | Fine setting mechanical hand |
| CN104669301A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | Rotary swing-arm robot with rodless cylinder |
| TW201600275A (en) * | 2014-06-26 | 2016-01-01 | Hiwin Tech Corp | Robotic arm system and parallelism calibration method thereof |
| CN111015630B (en) * | 2019-12-10 | 2023-01-17 | 渤海造船厂集团有限公司 | Electric joint positioning and supporting device |
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2010
- 2010-01-26 CN CN2010101010178A patent/CN101797751B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN101797751A (en) | 2010-08-11 |
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| C06 | Publication | ||
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Effective date of registration: 20160325 Address after: 150069 Heilongjiang Province, Harbin Economic Development Zone haping Road District Tongjiang Road No. 8 Building No. 7 (East) Patentee after: HARBIN XIROBOT TECHNOLOGY Co.,Ltd. Address before: 150001 Heilongjiang, Nangang District, Nantong street, building No. 145, Harbin Engineering University, Intellectual Property Office Patentee before: HARBIN ENGINEERING University |
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| CP03 | Change of name, title or address |
Address after: No. 16, Lingyuan Road, National Robot Industry Park, Wanchun East Road, Wuhu District, Wuhu City, Anhui Province, 241060 Patentee after: Anhui Xingjian Intelligent Manufacturing Equipment Co.,Ltd. Address before: 150069 Building 7 # (east side), No. 8, Tongjiang Road, Harbin Economic Development Zone, Heilongjiang Province Patentee before: HARBIN XIROBOT TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |