CN105216008A - A kind of construction package for four axle robots - Google Patents
A kind of construction package for four axle robots Download PDFInfo
- Publication number
- CN105216008A CN105216008A CN201510666241.4A CN201510666241A CN105216008A CN 105216008 A CN105216008 A CN 105216008A CN 201510666241 A CN201510666241 A CN 201510666241A CN 105216008 A CN105216008 A CN 105216008A
- Authority
- CN
- China
- Prior art keywords
- axle
- shaft
- cover
- spindle motor
- motor outer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of construction package for four axle robots, comprise a shaft assembly, two shaft assemblies, three shaft assemblies, four shaft assemblies and gripper assembly.A described shaft assembly, two shaft assemblies, three shaft assemblies, four shaft assemblies and gripper assembly connect to form four axle construction successively, by adopting this kind four axle construction, by four axle construction, eliminate mechanical dead angle.Kinematic dexterity is high, high speed, high accuracy.Can be used for rugged environment, can long-term work, convenient operation keeps in repair.
Description
Technical field
The present invention relates to robot field, specifically, be related specifically to a kind of construction package for four axle robots.
Background technology
Multi-axis robot is also known as single-shaft mechanical arm, industrial machine mechanical arm, electricity cylinder etc., with servomotor, stepper motor for the single shaft mechanical arm driven is for groundwork unit, with the robot system that ball screw, synchronous belt, rack-and-pinion are got up for the kind of drive institute framework commonly used, the arrival of any point in three-dimensional system of coordinate can be completed and follow controlled movement locus.Multi-axis robot adopts kinetic control system to realize its driving and programming Control, the movement locus such as straight line, curve be generated as multiple spot interpolation mode, operation and program mode is for guiding teach programming mode or coordinate setting mode.
The defect of existing multi-axis robot is:
1, freedom of motion is lower, there is mechanical dead angle.2, complex structure, is generally made up of control system, drive system, mechanical system, operation tool etc.3, reliability, movement velocity, precision are lower.4, applicability is inadequate, cannot long-term work, and later period maintenance is constant.
Summary of the invention
The object of the invention is to for deficiency of the prior art, provide a kind of construction package for four axle robots, to solve the problem.
Technical problem solved by the invention can realize by the following technical solutions:
For a construction package for four axle robots, comprise a shaft assembly, two shaft assemblies, three shaft assemblies, four shaft assemblies and gripper assembly;
A described shaft assembly comprises an axle servomotor, a spindle motor outer cover, motor fixing plate, an axle harmonic wave speed reducing machine, an axle reductor fixed head; A described spindle motor outer cover is installed on described assembly fixed head, one axle servomotor is installed in a spindle motor outer cover, a described axle servomotor is connected and fixed by the inwall of motor fixing plate and a spindle motor outer cover, the output of a described axle servomotor is connected with an axle harmonic wave speed reducing machine, and a described axle harmonic wave speed reducing machine is connected with the top of a spindle motor outer cover by an axle reductor fixed head;
Described two shaft assemblies comprise cover, two axle joints, two axle knuckle guards, two axle harmonic wave speed reducing machines, two axle reductor fixed heads, the first locating shaft, two shaft mechanical arms and two shaft mechanical arm connecting portions at the bottom of two axle servomotors, two spindle motor outer covers, two spindle motors, described two spindle motor outer covers are installed on the top of a spindle motor outer cover, be provided with above two spindle motor outer covers at the bottom of two spindle motors and cover, in cover at the bottom of described two spindle motors, two axle servomotors are installed, the output of described two axle servomotors is connected with two axle harmonic wave speed reducing machines, it is inner that described two axle harmonic wave speed reducing machines are fixed on cover at the bottom of two spindle motors by two axle reductor fixed heads, at the bottom of described two spindle motors, the side of cover is provided with two axle knuckle guards, two axle joints are provided with in described two axle knuckle guards, the one end in described two axle joints is connected with the first locating shaft, described first locating shaft and two axle harmonic wave speed reducing machines link, two shaft mechanical arm connecting portions are provided with above two axle knuckle guards, described two shaft mechanical arm connecting portions are connected with two shaft mechanical arms,
Described three shaft assemblies comprise cover, three spindle motor fixed heads, three axle harmonic wave speed reducing machines, the second locating shaft, three axle knuckle guards, three axle joints, three shaft mechanical arm connecting portions and three shaft mechanical arms at the bottom of three axle servomotors, three spindle motor outer covers, three spindle motors, described three spindle motor outer covers are positioned at the top of two shaft mechanical arm connecting portions, be provided with above three spindle motor outer covers at the bottom of three spindle motors and cover, in cover at the bottom of described three spindle motors, three axle servomotors are installed, the output of described three axle servomotors is connected with three axle harmonic wave speed reducing machines, output and second locating shaft of described three axle harmonic wave speed reducing machines link, the outside of described second locating shaft is provided with three axle knuckle guards, three axle joints are provided with in described three axle knuckle guards, three shaft mechanical arm connecting portions are provided with above three axle knuckle guards, described three shaft mechanical arm connecting portions are connected with three shaft mechanical arms,
Described four shaft assemblies comprise cover, the 3rd locating shaft, four axle harmonic wave speed reducing machines, four axle reductor fixed heads and four axle joints at the bottom of four axle servomotors, four spindle motor outer covers, four spindle motor outer cover connecting portions, four spindle motors; Described four spindle motor outer covers are connected with three shaft mechanical arms by four spindle motor outer cover connecting portions, be provided with above four spindle motor outer covers at the bottom of four spindle motors and cover, in cover at the bottom of described four spindle motors, four axle servomotors are installed, the output shaft of four axle servomotors is connected with four axle harmonic wave speed reducing machines, four axle harmonic wave speed reducing machines are fixedly installed in cover at the bottom of four spindle motors by four axle reductor fixed heads, output shaft and the 3rd locating shaft of four axle harmonic wave speed reducing machines link, and are provided with four axle joints above cover at the bottom of four spindle motors;
Described gripper assembly comprises tilt cylinder, corner fittings, the gentle pawl of gas pawl fixed head; One end of described tilt cylinder is installed on four axle joints of four shaft assemblies, and the other end of tilt cylinder is provided with corner fittings, and described corner fittings is provided with some gas pawls, and described gas pawl is installed on corner fittings by gas pawl fixed head.
Compared with prior art, beneficial effect of the present invention is as follows:
1, freedom of motion is high, by four axle construction, eliminates mechanical dead angle.
2, structure is simple, and flexibility is high, high speed, high accuracy.
3, can be used for rugged environment, can long-term work, convenient operation keeps in repair.
Accompanying drawing explanation
Fig. 1 is the construction package schematic diagram for four axle robots of the present invention.
Fig. 2 is the construction package side view for four axle robots of the present invention.
Fig. 3 is the structural representation of four shaft assemblies of the present invention.
Number in the figure illustrates: an axle servomotor 10, one spindle motor outer cover 11, motor fixing plate 12, one axle harmonic wave speed reducing machine 13, one axle reductor fixed head 14, two axle servomotors 15, two spindle motor outer covers 16, 17 are covered at the bottom of two spindle motors, two axle joints 18, two axle knuckle guards 19, two axle harmonic wave speed reducing machines 20, two axle reductor fixed heads 21, first locating shaft 22, two shaft mechanical arms 23, two shaft mechanical arm connecting portions 24, three axle servomotors 25, three spindle motor outer covers 26, 27 are covered at the bottom of three spindle motors, three axle harmonic wave speed reducing machines 29, second locating shaft 30, three axle knuckle guards 31, three axle joints 32, three shaft mechanical arm connecting portions 33, three shaft mechanical arms 34, four axle servomotors 35, four spindle motor outer covers 36, four spindle motor outer cover connecting portions 37, 38 are covered at the bottom of four spindle motors, 3rd locating shaft 39, four axle harmonic wave speed reducing machines 40, four axle reductor fixed heads 41, tilt cylinder 43, corner fittings 44, gas pawl fixed head 45, gas pawl 46.
Detailed description of the invention
The technological means realized for making the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with detailed description of the invention, setting forth the present invention further.
See Fig. 1, Fig. 2, Fig. 3, a kind of construction package for four axle robots, comprises a shaft assembly, two shaft assemblies, three shaft assemblies, four shaft assemblies and gripper assembly.
A described shaft assembly comprises axle servomotor 10, spindle motor outer cover 11, motor fixing plate 12, axle harmonic wave speed reducing machine 13 and an axle reductor fixed head 14; A described spindle motor outer cover 11 is installed on described assembly fixed head, one axle servomotor 10 is installed in a spindle motor outer cover 11, a described axle servomotor 10 is connected and fixed by the inwall of motor fixing plate 12 and a spindle motor outer cover 11, the output of a described axle servomotor 10 is connected with an axle harmonic wave speed reducing machine 13, and a described axle harmonic wave speed reducing machine 13 is connected with the top of a spindle motor outer cover 11 by an axle reductor fixed head 14;
Described two shaft assemblies comprise cover 17, two axle joint 18, two axle knuckle guard 19, two axle harmonic wave speed reducing machine 20, two axle reductor fixed head 21, first locating shaft 22, two shaft mechanical arm 23 and two shaft mechanical arm connecting portions 24 at the bottom of two axle servomotor 15, two spindle motor outer cover 16, two spindle motors, described two spindle motor outer covers 16 are installed on the top of a spindle motor outer cover 11, be provided with above two spindle motor outer covers 16 at the bottom of two spindle motors and cover 17, cover in 17 at the bottom of described two spindle motors and two axle servomotors 15 are installed, the output of described two axle servomotors 15 is connected with two axle harmonic wave speed reducing machines 20, described two axle harmonic wave speed reducing machines 20 are fixed at the bottom of two spindle motors by two axle reductor fixed heads 21 and cover 17 inside, the side of covering 17 at the bottom of described two spindle motors is provided with two axle knuckle guards 19, two axle joints 18 are provided with in described two axle knuckle guards 19, the one end in described two axle joints 18 is connected with the first locating shaft 22, described first locating shaft 22 and two axle harmonic wave speed reducing machines 20 link, two shaft mechanical arm connecting portions 24 are provided with above two axle knuckle guards 19, described two shaft mechanical arm connecting portions 24 are connected with two shaft mechanical arms 23,
Described three shaft assemblies comprise cover 27, three axle harmonic wave speed reducing machine 29, second locating shaft 30, three axle knuckle guard 31, three axle joint 32, three shaft mechanical arm connecting portion 33 and three shaft mechanical arms 34 at the bottom of three axle servomotor 25, three spindle motor outer cover 26, three spindle motors, described three spindle motor outer covers 26 are positioned at the top of two shaft mechanical arm connecting portions 24, be provided with above three spindle motor outer covers 26 at the bottom of three spindle motors and cover 27, cover in 27 at the bottom of described three spindle motors and three axle servomotors 25 are installed, the output of described three axle servomotors 25 is connected with three axle harmonic wave speed reducing machines 29, output and second locating shaft 30 of described three axle harmonic wave speed reducing machines 29 link, the outside of described second locating shaft 30 is provided with three axle knuckle guards 31, three axle joints 32 are provided with in described three axle knuckle guards 31, three shaft mechanical arm connecting portions 33 are provided with above three axle knuckle guards 31, described three shaft mechanical arm connecting portions 33 are connected with three shaft mechanical arms 34,
Described four shaft assemblies comprise cover the 38, the 3rd locating shaft 39, four axle harmonic wave speed reducing machine 40, four axle reductor fixed head 41 and four axle joints at the bottom of four axle servomotor 35, four spindle motor outer cover 36, four spindle motor outer cover connecting portion 37, four spindle motors; Described four spindle motor outer covers 36 are connected with three shaft mechanical arms 34 by four spindle motor outer cover connecting portions 37, be provided with above four spindle motor outer covers 36 at the bottom of four spindle motors and cover 38, cover in 38 at the bottom of described four spindle motors and four axle servomotors 35 are installed, the output shaft of four axle servomotors 35 is connected with four axle harmonic wave speed reducing machines 40, four axle harmonic wave speed reducing machines 40 are fixedly installed at the bottom of four spindle motors by four axle reductor fixed heads 41 and cover in 38, output shaft and the 3rd locating shaft 39 of four axle harmonic wave speed reducing machines 40 link, and are provided with four axle joints above covering 38 at the bottom of four spindle motors;
Described gripper assembly comprises tilt cylinder 43, corner fittings 42, the gentle pawl 44 of gas pawl fixed head 43; One end of described tilt cylinder 43 is installed on four axle joints of four shaft assemblies, and the other end of tilt cylinder 43 is provided with corner fittings 42, and described corner fittings 42 is provided with some gas pawls 44, and described gas pawl 44 is installed on corner fittings 42 by gas pawl fixed head 43.
More than show and describe general principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (1)
1. for a construction package for four axle robots, it is characterized in that: comprise a shaft assembly, two shaft assemblies, three shaft assemblies, four shaft assemblies and gripper assembly;
A described shaft assembly comprises an axle servomotor, a spindle motor outer cover, motor fixing plate, an axle harmonic wave speed reducing machine, an axle reductor fixed head; A described spindle motor outer cover is installed on described assembly fixed head, one axle servomotor is installed in a spindle motor outer cover, a described axle servomotor is connected and fixed by the inwall of motor fixing plate and a spindle motor outer cover, the output of a described axle servomotor is connected with an axle harmonic wave speed reducing machine, and a described axle harmonic wave speed reducing machine is connected with the top of a spindle motor outer cover by an axle reductor fixed head;
Described two shaft assemblies comprise cover, two axle joints, two axle knuckle guards, two axle harmonic wave speed reducing machines, two axle reductor fixed heads, the first locating shaft, two shaft mechanical arms and two shaft mechanical arm connecting portions at the bottom of two axle servomotors, two spindle motor outer covers, two spindle motors, described two spindle motor outer covers are installed on the top of a spindle motor outer cover, be provided with above two spindle motor outer covers at the bottom of two spindle motors and cover, in cover at the bottom of described two spindle motors, two axle servomotors are installed, the output of described two axle servomotors is connected with two axle harmonic wave speed reducing machines, it is inner that described two axle harmonic wave speed reducing machines are fixed on cover at the bottom of two spindle motors by two axle reductor fixed heads, at the bottom of described two spindle motors, the side of cover is provided with two axle knuckle guards, two axle joints are provided with in described two axle knuckle guards, the one end in described two axle joints is connected with the first locating shaft, described first locating shaft and two axle harmonic wave speed reducing machines link, two shaft mechanical arm connecting portions are provided with above two axle knuckle guards, described two shaft mechanical arm connecting portions are connected with two shaft mechanical arms,
Described three shaft assemblies comprise cover, three spindle motor fixed heads, three axle harmonic wave speed reducing machines, the second locating shaft, three axle knuckle guards, three axle joints, three shaft mechanical arm connecting portions and three shaft mechanical arms at the bottom of three axle servomotors, three spindle motor outer covers, three spindle motors, described three spindle motor outer covers are positioned at the top of two shaft mechanical arm connecting portions, be provided with above three spindle motor outer covers at the bottom of three spindle motors and cover, in cover at the bottom of described three spindle motors, three axle servomotors are installed, the output of described three axle servomotors is connected with three axle harmonic wave speed reducing machines, output and second locating shaft of described three axle harmonic wave speed reducing machines link, the outside of described second locating shaft is provided with three axle knuckle guards, three axle joints are provided with in described three axle knuckle guards, three shaft mechanical arm connecting portions are provided with above three axle knuckle guards, described three shaft mechanical arm connecting portions are connected with three shaft mechanical arms,
Described four shaft assemblies comprise cover, the 3rd locating shaft, four axle harmonic wave speed reducing machines, four axle reductor fixed heads and four axle joints at the bottom of four axle servomotors, four spindle motor outer covers, four spindle motor outer cover connecting portions, four spindle motors; Described four spindle motor outer covers are connected with three shaft mechanical arms by four spindle motor outer cover connecting portions, be provided with above four spindle motor outer covers at the bottom of four spindle motors and cover, in cover at the bottom of described four spindle motors, four axle servomotors are installed, the output shaft of four axle servomotors is connected with four axle harmonic wave speed reducing machines, four axle harmonic wave speed reducing machines are fixedly installed in cover at the bottom of four spindle motors by four axle reductor fixed heads, output shaft and the 3rd locating shaft of four axle harmonic wave speed reducing machines link, and are provided with four axle joints above cover at the bottom of four spindle motors;
Described gripper assembly comprises tilt cylinder, corner fittings, the gentle pawl of gas pawl fixed head; One end of described tilt cylinder is installed on four axle joints of four shaft assemblies, and the other end of tilt cylinder is provided with corner fittings, and described corner fittings is provided with some gas pawls, and described gas pawl is installed on corner fittings by gas pawl fixed head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510666241.4A CN105216008A (en) | 2015-10-15 | 2015-10-15 | A kind of construction package for four axle robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510666241.4A CN105216008A (en) | 2015-10-15 | 2015-10-15 | A kind of construction package for four axle robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105216008A true CN105216008A (en) | 2016-01-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510666241.4A Pending CN105216008A (en) | 2015-10-15 | 2015-10-15 | A kind of construction package for four axle robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105216008A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030677A (en) * | 2017-04-26 | 2017-08-11 | 常州永盛新材料装备股份有限公司 | A kind of the axle tow-armed robot of space four and its Scroll handler |
| CN108163456A (en) * | 2017-12-26 | 2018-06-15 | 天津威衡自动化科技有限公司 | A kind of coating equipment for being used for electric vehicle, bicycle high speed suspension type assembly line |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2516324Y (en) * | 2001-11-07 | 2002-10-16 | 舒良 | Manipulator |
| EP1905551A1 (en) * | 2006-09-27 | 2008-04-02 | Abb Ab | Industrial robot with pressurized air supply in balancing device |
| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| WO2012157169A1 (en) * | 2011-05-13 | 2012-11-22 | 川崎重工業株式会社 | Multijoint industrial robot |
| CN104589340A (en) * | 2015-02-03 | 2015-05-06 | 东莞技研新阳电子有限公司 | Novel six-degree-of-freedom manipulator |
| CN205086004U (en) * | 2015-10-15 | 2016-03-16 | 浙江思玛特机器人科技有限公司 | A construction package for four -axis robot |
-
2015
- 2015-10-15 CN CN201510666241.4A patent/CN105216008A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2516324Y (en) * | 2001-11-07 | 2002-10-16 | 舒良 | Manipulator |
| EP1905551A1 (en) * | 2006-09-27 | 2008-04-02 | Abb Ab | Industrial robot with pressurized air supply in balancing device |
| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| WO2012157169A1 (en) * | 2011-05-13 | 2012-11-22 | 川崎重工業株式会社 | Multijoint industrial robot |
| CN104589340A (en) * | 2015-02-03 | 2015-05-06 | 东莞技研新阳电子有限公司 | Novel six-degree-of-freedom manipulator |
| CN205086004U (en) * | 2015-10-15 | 2016-03-16 | 浙江思玛特机器人科技有限公司 | A construction package for four -axis robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030677A (en) * | 2017-04-26 | 2017-08-11 | 常州永盛新材料装备股份有限公司 | A kind of the axle tow-armed robot of space four and its Scroll handler |
| CN108163456A (en) * | 2017-12-26 | 2018-06-15 | 天津威衡自动化科技有限公司 | A kind of coating equipment for being used for electric vehicle, bicycle high speed suspension type assembly line |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20160106 |