CN105252545A - Horizontal joint mechanical arm - Google Patents

Abstract

The invention discloses a horizontal joint mechanical arm, which mainly drives a first arm to rotate in the horizontal direction through a first shaft motor on a base, a second shaft motor is arranged on a second arm and combined with the first arm, so that the second shaft motor drives the second arm to rotate in the horizontal direction, a third shaft rod-shaped linear motor is fixedly arranged on the second arm and serves as a driving source for linear displacement in the vertical direction, a linear motor rotor of the third shaft rod-shaped linear motor is linked with a fourth shaft motor, and the fourth shaft motor can be driven to displace in the vertical direction and simultaneously drive a rotating rod, so that three rotation momentum and one vertical displacement momentum are provided; and the driving sources of all movement momentum are independent driving sources of direct transmission, so that the driving precision and instantaneity can be obviously improved, the component composition needing to be configured in an indirect transmission mode can be simplified, the maintenance cost can be reduced, and the added value is improved.

Description

Horizontal joint robot arm

technical field

The invention relates to a horizontal joint mechanical arm, which is related to the structure of the mechanical arm.

Background technique

SCARA (SelectiveComplianceAssemblyRobotArm) selects a robot arm with compliance in the direction, which is a widely used planar articulated robot arm. Since the robot arm has three horizontal rotation joints and one vertical displacement joint, it can be used for simultaneous horizontal positioning. And the operation of vertical displacement or rotation drive.

And general planar articulated mechanical arm 10 is shown in Figure 1, and it mainly comprises that a first motor 111 is arranged on a base 11 to drive a large arm 12 to rotate horizontally with a first rotating shaft 112; a small arm 13 is provided with a second motor 131 and is rotatably combined with the big arm 12 with a second rotating shaft 132, then the second rotating shaft 132 can drive the small arm 13 to rotate horizontally; a third motor 133 and a screw rod 134 are arranged in the small arm 13, The third motor 133 drives a third rotating shaft 135 to rotate, and a transmission belt 14 is passed between the third rotating shaft 135 and the screw rod 134 to drive the screw rod 134 to rotate, and a nut is threaded on the screw rod 134 15, and when the screw rod 134 rotates, the nut 15 can drive a fourth rotating shaft 16 to vertically displace, and the fourth rotating shaft 16 can be driven to rotate by a fourth motor 17 at the same time.

The above is the main structural configuration of the general planar articulated mechanical arm 10, and since the third rotating shaft 135 and the screw rod 134 in the mechanical arm 10 are driven by a transmission belt 14, the structural characteristics of the transmission belt 14 not only make it In addition to being unable to maintain a certain tension for a long time, there is also a rated life limit of wear and tear, so the transmission belt 14 must be replaced regularly. However, the small arm 13 and related components must be disassembled when the transmission belt 14 is to be replaced. The replacement process is complicated and increases the warranty cost; in addition, the drive of the third rotating shaft 135 and the screw 134 through the drive belt 14 is an indirect drive, and its drive efficiency and precision cannot reach the best state, so there is still a need for improvement. .

Contents of the invention

The technical problem to be solved by the present invention is to provide a horizontally articulated mechanical arm, which improves the shortcomings of general planar articulated mechanical arms, which have transmission efficiency, low precision and high maintenance cost.

In order to solve the above problems, the present invention provides a horizontal joint mechanical arm, comprising:

a base on which a first shaft motor is fixed;

a first arm, one end of which is combined with the first shaft motor to rotate in a horizontal direction driven by the first shaft motor;

A second arm, one end of which is fixed with a second shaft motor, the second shaft motor is combined with the other end of the first arm, and the second shaft motor drives the second arm to rotate in the horizontal direction;

A third shaft rod-shaped linear motor includes a linear motor stator and a linear motor mover, the linear motor stator extends along a vertical direction perpendicular to the horizontal direction and is fixedly arranged on the second arm, and the linear motor The mover is displaceably fitted outside the linear motor stator along the vertical direction; and

A fourth-axis motor is provided in conjunction with the linear motor mover; and the fourth-axis motor is combined with one end of a rotating rod to drive the rotating rod to rotate, and the other end of the rotating rod passes through the second arm. Further, the fourth-axis motor is fixed on a link through a fourth-axis motor fixing plate, and the link is fixed on the linear motor mover at the same time, so that the linear motor mover can be connected with The fourth axis motor is linked.

Further, a linear guide unit is fixedly arranged on the second arm to guide the linear displacement of the fourth axis motor, the linear guide unit includes a linear guide part and a linear sliding part, and the linear guide part The linear sliding part is fixedly arranged on the second arm, and the linear sliding part is combined with the fourth axis motor and is guided by the linear guide part to generate a linear displacement.

Further, the linear guide part is a linear slide rail, the linear sliding part is a linear slider, the linear guide part is fixed on the second arm through a line rail fixing plate, and the fourth axis motor is fixed On a fourth-axis motor fixing plate, the linear sliding part is arranged on the fourth-axis motor fixing plate to form a connection with the fourth-axis motor.

Further, the linear guide part is fixed on the second arm through a line rail fixing plate, and the linear guide part is a linear groove, and the linear sliding part is a protrusion, and the linear guide part The guide part is opened through the line rail fixing plate, and the fourth axis motor is fixed on a fourth axis motor fixing plate, and the linear sliding part is arranged on the fourth axis motor fixing plate and the fourth axis motor Form a link.

Further, a linear position control unit is further provided on the second arm to sense the position of the fourth axis motor.

Further, the linear guide unit is further equipped with a rail clamp, and the rail clamp is opposite to the linear guide part and fixedly arranged on the linear sliding part.

Further, a lead frame is further fixedly arranged on the second arm, and one end of a plurality of electric wires is connected to the linear motor mover and the fourth axis motor respectively, and the other ends are supported on the lead frame.

Further, a lead frame is further fixedly arranged on the second arm, and one end of a plurality of electric wires is connected to the linear motor mover and the fourth axis motor respectively, and the other end is supported on the lead frame, and each The two ends of the electrical wiring are fixed on the linkage.

Further, the linear motor stator of the rod-shaped linear motor of the third shaft is threaded with a supporting member to limit the position of the linear motor mover to the correct motor angular position, and the supporting member is a coil spring.

The present invention can provide three horizontal rotation momentums and one vertical movement amount, and the drive sources of each movement amount are direct transmission, so the transmission efficiency and precision can be higher than the general indirect transmission drive mode, and at the same time, due to the movement of each position The drive of the quantity is direct transmission, so it can simplify the complex structure configuration that needs to be set up due to indirect transmission, and can reduce the maintenance cost of components accordingly.

Description of drawings

Figure 1 is a schematic diagram of a general horizontally articulated robotic arm.

Fig. 2 is a three-dimensional schematic diagram of the horizontal joint mechanical arm of the present invention.

FIG. 3 is a perspective schematic view of another perspective appearance of the horizontally articulated robotic arm of the present invention.

Fig. 4 is a cross-sectional view of the horizontal joint mechanical arm of the present invention.

Fig. 5 is an embodiment diagram of the linear guide unit of the horizontal joint robot arm arranged in different positions according to the present invention.

Fig. 6 is a schematic diagram of different forms of the linear guide unit of the horizontal joint robot arm of the present invention.

Explanation of reference signs

Planar articulated robotic arm 10 base 11

Motor 111 first rotating shaft 112

Big arm 12 Small arm 13

Second motor 131 Second rotating shaft 132

The third motor 133 screw 134

The third rotating shaft 135 transmission belt 14

Nut 15 fourth shaft 16

Fourth motor 17

Base 20 First axis motor 21

The first driving shaft 211 and the first reduction mechanism 22

first arm 30 second arm 40

Second shaft motor 41 Second driving shaft 411

Second reduction mechanism 42 Third shaft rod-shaped linear motor 50

Linear motor stator 51 Support member 511

Linear motor mover 52 Fourth axis motor 60

Fourth axis motor fixing plate 61 Linkage piece 62

Coupling 63 Rotating rod 64

Ball bearing 65 Linear guidance unit 70

Linear guide 71 Linear slide 72

Line rail fixing plate 73 Linear position control unit 80

Position sensor 81 Track clamp 82

Lead frame 90 electrical wiring A

Horizontal direction X Vertical direction Y

detailed description

A preferred embodiment of a horizontal joint mechanical arm of the present invention is shown in Figures 2 to 6, including:

A pedestal 20 is provided for fixed arrangement on the ground or a fixed plane, and the pedestal 20 is fixedly provided with a first shaft motor 21, and the first shaft motor 21 drives a first drive shaft 211 to rotate, and the first drive shaft 211 extends along a vertical direction Y, and the vertical direction Y is defined as the horizontal direction X. The first driving shaft 211 is combined with a first reduction mechanism 22, so that the first shaft motor 21 passes through the first The reduction mechanism 22 outputs power.

A first arm 30, one end is combined with the first reduction mechanism 22 on the first shaft motor 21, so that the first arm 30 is combined with the first shaft motor 21, then the first arm 30 can be controlled by the first shaft motor 21. The first axis motor 21 drives the rotation, and makes the first arm 30 rotate in the horizontal direction X with the first driving axis 211 as the axis of rotation.

A second arm 40, one end of which is fixed with a second shaft motor 41, the second shaft motor 41 drives a second drive shaft 411 to rotate, and the second drive shaft 411 drives a second reduction mechanism 42 in combination, thereby making The second shaft motor 41 outputs power through the second deceleration mechanism 42, and the second deceleration mechanism 42 is further combined with the other end of the first arm 30, so that the second arm 40 can be subjected to the second deceleration The mechanism 42 drives the rotation, and the second arm 40 rotates in the horizontal direction X with the second driving shaft 411 as the rotation axis.

A third shaft rod-shaped linear motor 50 is fixedly arranged on the second arm 40, and the third shaft rod-shaped linear motor 50 includes a linear motor stator 51 and a linear motor mover 52, and the linear motor stator 51 is along the vertical direction Y extends the length and is fixedly arranged on the second arm 40, and the linear motor mover 52 is electrically connected with a drive controller (not shown in the figure) and passed through the linear motor stator 51, the linear motor mover The sub 52 is driven by the drive controller and can be linearly displaced in the vertical direction Y relative to the linear motor stator 51; The Hall effect sensor smoothly finds the motor angle when the third-axis rod-shaped linear motor 50 is started to ensure smooth operation; of course, a supporting piece can also be worn on the linear motor stator 51 as shown in Figures 2 to 4 511, according to which the position of the linear motor mover 52 is limited to the correct motor angle position, without re-finding the motor angle when starting, and improving the smooth operation of the third axis rod-shaped linear motor 50; the embodiment of the present embodiment The supporting member 511 is a coil spring.

A fourth-axis motor 60 is arranged in conjunction with the linear motor mover 52. The fourth-axis motor 60 of this embodiment is fixed on a linkage 62 through a fourth-axis motor fixing plate 61, that is, the fourth axis motor The four-axis motor 60 is fixed on the fourth-axis motor fixing plate 61, and the fourth-axis motor fixing plate 61 is fixed on the linkage 62, and the linkage 62 is fixed on the linear motor mover 52 at the same time, Through the linkage 62, the linear motor mover 52 can be linked with the fourth axis motor 60; and the fourth axis motor 60 is combined with one end of a rotating rod 64 through a coupling 63 to drive the rotating rod 64 rotates, and the other end of the rotating rod 64 passes through the second arm 40 through a ball bearing 65 fixed on the second arm 40 .

A linear guide unit 70 is fixedly arranged on the second arm 40 to guide the linear displacement of the fourth axis motor 60. The linear guide unit 70 includes a linear guide part 71 and a linear sliding part 72. The guide part 71 is fixed on the second arm 40 through the line rail fixing plate 73, that is, the line rail fixing plate 73 is fixed on the second arm 40, and the linear guide part 71 is fixed on the second arm 40. on the line rail fixing plate 73; and the linear sliding part 72 is combined with the fourth axis motor fixing plate 61 to form a connection with the fourth axis motor 60 and is guided by the linear guide part 71 to generate a linear displacement, as shown in Figure 1 The linear guide part 71 is a linear slide rail, and the linear sliding part 72 is a linear slider.

The device for ensuring the linear displacement of the fourth axis motor 60 is not limited to the structural form of the linear guide unit 70 as shown in Figure 1, the linear guide part 71 as shown in Figure 1 is arranged on the line rail fixing plate 73 facing the One side of the fourth shaft motor 60; and as shown in Fig. 5, the linear guide 71 is arranged on the side of the line rail fixing plate 73, and it is only necessary to ensure that the link 62 really links the linear motor mover 52 and The fourth axis motor 60 can achieve the same purpose and effect as the example in Fig. 1; and the linear guide unit 70 can be used as shown in Fig. In the form shown, the linear guide part 71 of the linear guide unit 70 shown in FIG. on the line rail fixing plate 73, and the linear sliding part 72 is arranged on the fourth axis motor fixing plate 61 to form a connection with the fourth axis motor 60, so that the fourth axis motor 60 can also be driven through the linkage 62. The four-axis motor 60 is displaced, and the fourth-axis motor 60 is guided by the linear guide unit 70 to linearly displace.

A linear position control unit 80 includes a position sensor 81 and a track clamp 82, the position sensor 81 is connected to the drive controller and the track clamp 82, and the position sensor 81 is fixedly arranged on The line rail fixing plate 73 on the second arm 40 senses the linear position of the fourth axis motor 60 , the form of the position sensor 81 is not limited; and the track clamp 82 is relatively to the linear guide unit 70 The linear guide part 71 is fixed on the linear sliding part 72; the position sensor 81 senses the position of the fourth shaft motor 60 and feeds back the signal to the drive controller to control the third shaft rod-shaped linear The driving action of the motor 50 and the action of controlling the track clamp 82; and

A lead frame 90 is fixedly arranged on the second arm 40, and one end of a plurality of electric wires A is respectively connected to the linear motor mover 52, the fourth axis motor 60 and the rail clamper 82, and the other end is connected to Lean on the lead frame 90, and the electric wires combined with the fourth axis motor 60 and the track clamp 82 cross the link 62 and lean against the lead frame 90, so that each electric wire A The place that contacts the linkage 62 is fixed on the linkage 62, so that the electrical wiring A that crosses the linkage 62 is displaced with the linkage 62, and when each of the electrical wiring A is displaced , the other end of each of the electrical wiring A is supported on the lead frame 90, thereby reducing the occurrence of the random swinging of each of the electrical wiring A.

The above is the structural configuration and characteristics of the horizontal joint mechanical arm of the present invention, and when it is in operation, the first arm 30 can be driven and controlled to rotate through the first axis motor 21, and can be driven by the second axis motor 41. Controlling the rotation of the second arm 40 and then operating the third shaft rod-shaped linear motor 50 can make the linear motor mover 52 move in the vertical direction Y relative to the linear motor stator 51 .

And when the linear motor mover 52 is displaced in the vertical direction Y, since the linear motor mover 52 and the fourth axis motor 60 are fixedly connected to the fourth axis motor fixing plate 61 and the linkage member 62, therefore The displacement of the linear motor mover 52 can synchronously drive the fourth axis motor 60 to move in the vertical direction Y through the linkage 62 and the fourth axis motor fixing plate 61, and the motor coupled to the fourth axis motor 60 The rotating rod 64 also produces synchronous displacement in the vertical direction Y at the same time; at this time, as long as the fourth axis motor 60 is driven at the same time, the rotating rod 64 can simultaneously generate a linear displacement in the vertical direction Y and a linear displacement in the horizontal direction X. Rotation; accordingly, the present invention can provide three horizontal rotation momentums and one vertical displacement.

It is worth noting that, since the drive source that drives displacement in the vertical direction Y in the present invention is the third-axis rod-shaped linear motor 50, the internal structure of the third-axis rod-shaped linear motor 50 is a non-contact transmission method, so it can Reduce operating noise.

In addition, the present invention provides that the drive source for the displacement in the vertical direction Y is directly driven by the rod-shaped linear motor 50 on the third axis, and the drive source that provides the rotation of the rotating rod 64 is directly driven by the fourth axis motor 60, directly driven The drive mode can significantly improve the accuracy, stability and immediacy of the drive, and there is no need for indirect transmission through chains, belts or other transmission structures. The maintenance costs incurred by the indirect transmission components increase the added value.

In addition, since the fourth-axis motor 60 and the track clamper 72 will both produce displacements in the vertical direction Y, the electrical wiring A combined with the fourth-axis motor 60 and the track clamper 82 only needs to pass over the linkage 62 Make the other end of each of the electrical wiring A lean against the lead frame 90, then each of the electrical wiring A is displaced against the lead frame 90 while vertically displacing each component, and there is no need to use a chain guard. Under the state of the pipe, the situation that the other end of each electric wiring A can be arbitrarily swung can be avoided; The synchronous action of each of the electrical wirings A and the link 62 can be more ensured, and the smoothness of operation can be improved.

Claims (10)

1. a flapping articulation mechanical arm, is characterized in that: comprise:

One pedestal, is fixedly installed one first axle motor;

One first arm, one end is incorporated into this first axle motor and rotates in a horizontal direction by this first axle motor driving;

One second arm, one end is fixedly installed one second axle motor, and this second axle motor is incorporated into the other end of this first arm again, and this this second arm of the second axle motor driving rotates in this horizontal direction;

One the 3rd mandrel rod shape linear motor, comprise a stator of linear motor and a linear motor mover, this stator of linear motor along perpendicular to this horizontal direction a vertical direction development length and be fixedly installed on this second arm, and this linear motor mover can be set in outside this stator of linear motor along this vertical direction with displacement; And

One the 4th axle motor, is arranged with this linear motor mover interlock; And the 4th axle motor drives this swingle to rotate in conjunction with one end of a swingle, the other end of this swingle passes this second arm.

2. flapping articulation mechanical arm as claimed in claim 1, it is characterized in that: described 4th axle motor is fixed on a moving part through one the 4th axle motor fixed plate, and this moving part is fixed on this linear motor mover simultaneously, make accordingly this linear motor mover can with the 4th axle motor interlock.

3. flapping articulation mechanical arm as claimed in claim 1, it is characterized in that: described second arm is more fixedly installed a linear guide unit and guides the 4th axle motor linear displacement, this linear guide unit comprises a linear guide portion and a linear slipping part, this linear guide portion is fixedly installed on this second arm, and this linear slipping part is incorporated into the 4th axle motor also by this linear guide portion guiding generation linear displacement.

4. flapping articulation mechanical arm as claimed in claim 3, it is characterized in that: described linear guide portion is linear slide rail, linear slipping part is linear slide block, this linear guide portion is through a line rail fixed head and is fixed on this second arm, and the 4th axle motor is fixed on one the 4th axle motor fixed plate, this linear slipping part is arranged at the 4th axle motor fixed plate formed with the 4th axle motor and links.

5. flapping articulation mechanical arm as claimed in claim 3, it is characterized in that: described linear guide portion is through a line rail fixed head and is fixed on this second arm, and this linear guide portion is a linear groove, this linear slipping part is then a projection, this linear guide portion runs through and is opened on this line rail fixed head, and the 4th axle motor is fixed on one the 4th axle motor fixed plate, this linear slipping part is arranged at the 4th axle motor fixed plate formed with the 4th axle motor and links.

6. flapping articulation mechanical arm as claimed in claim 1, is characterized in that: described second arm is more arranged a linear position control unit to sense the 4th axle motor position.

7. flapping articulation mechanical arm as claimed in claim 1, is characterized in that: described linear guide unit is more equipped with a track clamping device, and this track clamping device is relative to this linear guide portion and be fixedly installed on this linear slipping part.

8. flapping articulation mechanical arm as claimed in claim 1, it is characterized in that: described second arm is more fixedly installed a lead frame, multiple electric wiring one end is incorporated into this linear motor mover and the 4th axle motor respectively, and another end is then bearing on this lead frame.

9. flapping articulation mechanical arm as claimed in claim 2, it is characterized in that: described second arm is more fixedly installed a lead frame, multiple electric wiring one end is incorporated into this linear motor mover and the 4th axle motor respectively, another end is then bearing on this lead frame, and is respectively fixed on this moving part between these electric wiring two ends.

10. flapping articulation mechanical arm as claimed in claim 1, it is characterized in that: this stator of linear motor upper sleeve through one of described 3rd mandrel rod shape linear motor is supported by part, the position limiting this linear motor mover is positioned at correct motor Angle Position, and this is supported by part is wound spring.