CN105269561A - Horizontal four-joint manipulator - Google Patents
Horizontal four-joint manipulator Download PDFInfo
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- CN105269561A CN105269561A CN201510734876.3A CN201510734876A CN105269561A CN 105269561 A CN105269561 A CN 105269561A CN 201510734876 A CN201510734876 A CN 201510734876A CN 105269561 A CN105269561 A CN 105269561A
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- rotating arm
- ball screw
- joint manipulator
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- shaft assembly
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Abstract
The invention discloses a horizontal four-joint manipulator. The horizontal four-joint manipulator comprises a base, wherein the base is in rotating connection with a first rotating arm through a speed reducing rotating device, the first rotating arm is driven by the speed reducing rotating device to rotate around the base in the horizontal plane, a ZR shaft assembly is arranged on the first rotating arm, a connecting assembly is arranged in the bottom end position of the ZR shaft assembly so as to enable the ZR shaft assembly to be nesting connection with the first rotating arm, the ZR shaft assembly is driven by a linear transmission pair structure in the first rotating arm and moves forwards and backwards in the radial direction of the first rotating arm, an output assembly is arranged at the lower end of the connecting assembly, the output assembly penetrates through the first rotating arm and the connecting assembly and is connected with the ZR shaft assembly, and driven by the driving device of the ZR shaft assembly, the output assembly rises and falls in a vertical direction and rotates around a shaft in the output assembly. The horizontal four-joint manipulator solves the problems that the existing horizontal four-joint manipulator is high in manufacture cost and poor in use effect. The four-joint manipulator reduces the cost of the horizontal four-joint manipulator and improves the use effect of the horizontal four-joint manipulator.
Description
Technical field
The present invention relates to industrial robot field, especially a kind of level four joint Manipulator.
Background technology
One of equipment of horizontal articulated manipulator necessity of accurate operation in industrial trade, utilizes horizontal articulated manipulator to realize the accurate snatch transhipment of level and vertical direction, especially applicable in the operation of product line.But what the design of existing level four joint Manipulator adopted is the superposition of both arms horizontal revolving motion, and rotary joint generally needs to adopt harmonic speed reducer.So, have the following disadvantages:
One is, level four joint Manipulator just need overlap harmonic speed reducers with two, and for harmonic speed reducer, its matching requirements are high, and production cost is high, are assemblied in and level four joint Manipulator can make the Production design cost of horizontal mechanical hand increase;
Two are; existing harmonic speed reducer production technology is immature; its product quality is not high, so can cause and use the quality of level four joint Manipulator of both arms horizontal revolving motion not high, often because the qualitative effects of harmonic speed reducer is to the use of level four joint Manipulator;
Three are; the first rotating arm of level four joint Manipulator of two cover harmonic speed reducers is adopted also to there is stiff problem; in first rotating arm front end, rotary joint is installed; rotary joint deadweight and rotation vibrations can cause first rotating arm front end rigidity not enough; produce downward deformation; and affect the movement locus of level four joint Manipulator, thus affect the serviceability of level four joint Manipulator;
Therefore, the problems referred to above need the problem of solution badly.
Summary of the invention
The technical problem to be solved in the present invention is the defect for existing in existing design, a kind of level four joint Manipulator is provided, solve the high and problem of result of use difference of existing level four joint Manipulator cost, four joint Manipulators of the present invention reduce the cost of level four joint Manipulator, the result of use of improvement level four joint Manipulator.
For overcoming the defect existed in prior art, the technical scheme that the present invention takes is as follows: a kind of level four joint Manipulator, comprise base, described base is rotationally connected by be rotated in deceleration device and first rotating arm, the device that is rotated in deceleration drives first rotating arm around base at horizontal rotation in surface, described first rotating arm is established ZR shaft assembly, this ZR shaft assembly terminal position establishes coupling assembling, make itself and described first rotating arm nested encryptions, and driven by the Linear transmission auxiliary structure be arranged in described first rotating arm, radial direction along described first rotating arm moves forward and backward, output precision is established in described coupling assembling lower end, this output precision runs through described first rotating arm and coupling assembling is connected with described ZR shaft assembly, under the drive unit of described ZR shaft assembly drives, in the vertical direction lifting and around output precision middle shaft rotation.
Further elaboration as to technique scheme:
In technique scheme, described Linear transmission auxiliary structure is ball screw nut transmission or ball spline transmission or toothed belt transmission is secondary or rack pinion is secondary or linear electric motors transmission structure.
In technique scheme, described ball screw nut transmission comprise line slideway, main ball screw, from ball screw and bearing block; Described main ball screw and arranging along described first rotating arm radial direction from ball screw, and described main ball screw and drive it to rotate the second drive unit to be connected; Line slideway described in two is provided with in the two sides of described first rotating arm radial direction, and line slideway described in two and described main ball screw and from ball screw keeping parallelism; The Connection Block of described coupling assembling is located in described main ball screw and described from ball screw, and is placed between two line slideways, can move along two line slideways; Described main ball screw drives the relatively described line slideway of described Connection Block to slide, thus drives described ZR shaft assembly to move along described first rotating arm radial direction.Further, described second drive unit is motor or motor.
In technique scheme, described toothed belt transmission pair comprises main synchronizing wheel, from synchronizing wheel, Timing Belt and guide rail; Described main synchronizing wheel is connected with the 3rd drive unit, the power providing described main synchronizing wheel to rotate by the 3rd drive unit; Described main synchronizing wheel is connected by Timing Belt from synchronizing wheel with described; Guide rail described in two is provided with in the two sides of described first rotating arm radial direction, the Connection Block of described coupling assembling is fixed on described Timing Belt, described Connection Block moves with described Timing Belt and moves along described first rotating arm radial direction, and described Connection Block is also flexibly connected with described guide rail, when described Connection Block moves along described first rotating arm radial direction, described Connection Block is at described slide on rails; Described 3rd drive unit drives described main synchronous axial system, thus makes described Timing Belt carry described Connection Block to move, thus drives described ZR shaft assembly to move along described first rotating arm radial direction.Further, described 3rd drive unit is motor.
In technique scheme, described ZR shaft assembly also comprises ball screw and ball spline, described ball screw and ball spline parallel join, ball spline connects described output precision, described drive unit drives ball screw to rotate, drive the ball spline that is connected with ball screw to move both vertically, described drive unit drives described ball spline to horizontally rotate, thus makes the lifting of described output precision in the vertical direction and around output precision middle shaft rotation.Further, described drive unit is reducing motor.
In technique scheme, described in the device that is rotated in deceleration be harmonic wave speed reducing machine or planetary reducer.
In technique scheme, described first rotating arm mates described output precision and run through position and be also provided with dust-proof belt.
Beneficial effect of the present invention is: one is, four joint Manipulator first arms of the present invention connect base by a set of harmonic speed reducer mechanism (or mechanism of planetary reduction gear), as rotary motion arm, decrease the number of units of harmonic wave speed reducing machine, save and produce and design cost; Two are, arrange ZR shaft assembly, and are driven by the linear transmission pair in rotary motion arm, realize moving linearly on rotary motion arm, substituting previous level four joint second arm, avoiding the problem of the first rotating arm end rigidity deficiency of drawing because adopting Rotation Arm, manipulator stability of rotation; Three are, horizontally rotate and the motion of rectilinear translation, and substitute original both arms and rotate superposition, moving region is constant, and design is simplified, and process for machining and manufacturing simplifies, and cost is low, and resultant motion is simple; Four are, linear transmission pair adopts multiple transmission, and mate different demands, the scope of application is wide.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is the structural representation that the present invention adopts toothed belt transmission pair.
Fig. 3 is the generalized section that the present invention adopts ball screw nut transmission, and a figure is the front cross-sectional view of first rotating arm, and b figure is the crosscut profile of first rotating arm.
Fig. 4 is robot work area schematic of the present invention.
1. bases in figure, be 2. rotated in deceleration device, 3. first rotating arm, 4.ZR shaft assembly, 5. output precision, 6. coupling assembling, 7. line slideway, 8. from synchronizing wheel, 9. Timing Belt, 10. Connection Block, 11. main synchronizing wheels, 12. the 3rd drive units, 13. guide rails, 14. second drive units, 15. from ball screw, 16. main ball screws, 17. bearing blocks.
Detailed description of the invention
In order to make, object of the present invention, technical scheme and advantage are clearer and brighter to be understood, below in conjunction with drawings and Examples, the present invention is further detailed explanation.
Fig. 1-4 illustrates specific embodiments of the invention, with reference to accompanying drawing 1-4, a kind of level four joint Manipulator, comprise base 1, described base 1 is rotationally connected with first rotating arm 3 by the device 2 that is rotated in deceleration, the device 2 that is rotated in deceleration drives first rotating arm 3 around base 1 at horizontal rotation in surface, described first rotating arm 3 establishes ZR shaft assembly 4, this ZR shaft assembly 4 terminal position establishes coupling assembling 6, make itself and described first rotating arm 3 nested encryptions, and driven by the Linear transmission auxiliary structure be arranged in described first rotating arm 3, radial direction along described first rotating arm 3 moves forward and backward, output precision 5 is established in described coupling assembling 6 lower end, this output precision 5 runs through described first rotating arm 3 and coupling assembling 6 is connected with described ZR shaft assembly 4, under the drive unit of described ZR shaft assembly 4 drives, in the vertical direction lifting and around output precision 5 middle shaft rotation, described first rotating arm 3 mates described output precision 5 to run through position and be also provided with dust-proof belt.It should be noted that, so-called output precision 5 refers to a connecting axle, connects the instrument for different functions, as electric screwdriver, flatiron, handgrip etc. by this output precision 5.
With reference to accompanying drawing 4, the device 2 that is rotated in deceleration drives first rotating arm 3 to rotate, and its initial position of scope one that first rotating arm 3 acts on is axle, 140 ° clockwise or can be rotated counterclockwise, and ZR shaft assembly 4 drives the working range of output precision 5 with base 1 center for the center of circle, radius is in the region of 800MM ~ 1600MM.Certainly, this region can also ratio expand.
Wherein, described Linear transmission auxiliary structure includes ball screw nut transmission, ball spline transmission, Timing Belt 9 transmission, rack pinion is secondary, linear electric motors transmission structure is wherein a kind of; Multiple Linear transmission auxiliary structure is set, adapts to different demands.
Wherein, with reference to accompanying drawing 3, described ball screw nut transmission comprise line slideway 7, main ball screw 16, from ball screw 15 and bearing block 17; Described main ball screw 16 and arranging along described first rotating arm 3 radial direction from ball screw 15, and described main ball screw 16 and drive it to rotate the second drive unit 14 to be connected; Be provided with line slideway 7 described in two in the two sides of described first rotating arm 3 radial direction, and line slideway 7 described in two is with described main ball screw 16 and from ball screw 15 keeping parallelism; The Connection Block 10 of described coupling assembling 6 is located in described main ball screw 16 and described from ball screw 15, and is placed between two line slideways 7, can move along two line slideways 7; Described main ball screw 16 drives the relatively described line slideway 7 of described Connection Block 10 to slide, thus drives described ZR shaft assembly 4 to move along described first rotating arm 3 radial direction; And described second drive unit 14 preferably motor or motor.
Wherein, with reference to accompanying drawing 2, described Timing Belt 9 transmission comprises main synchronizing wheel 11, from synchronizing wheel 8, Timing Belt 9 and guide rail 13; Described main synchronizing wheel 11 is connected with the 3rd drive unit 12, the power providing described main synchronizing wheel 11 to rotate by the 3rd drive unit 12; Described main synchronizing wheel 11 is connected by Timing Belt 9 from synchronizing wheel 8 with described; Guide rail 13 described in two is provided with in the two sides of described first rotating arm 3 radial direction, the Connection Block 10 of described coupling assembling 6 is fixed on described Timing Belt 9, described Connection Block 10 moves with described Timing Belt 9 and moves along described first rotating arm 3 radial direction, and described Connection Block 10 is also flexibly connected with described guide rail 13, when described Connection Block 10 moves along described first rotating arm 3 radial direction, described Connection Block 10 slides on described guide rail 13; Described 3rd drive unit 12 drives described main synchronizing wheel 11 to rotate, thus makes described Timing Belt 9 carry described Connection Block 10 to move, thus drives described ZR shaft assembly 4 to move along described first rotating arm 3 radial direction, and described 3rd drive unit 12 is motor.
Wherein, described ZR shaft assembly 4 also comprises ball screw and ball spline, described ball screw and ball spline parallel join, ball spline connects described output precision 5, described drive unit drives ball screw to rotate, drive the ball spline that is connected with ball screw to move both vertically, described drive unit drives described ball spline to horizontally rotate, thus makes the lifting of described output precision 5 in the vertical direction and around output precision 5 middle shaft rotation; Described drive unit is reducing motor.
Wherein, device 2 is rotated in deceleration described in for harmonic wave speed reducing machine or planetary reducer.
The above not imposes any restrictions technical scope of the present invention, all above embodiment is done according to the technology of the present invention essence any amendment, equivalent variations and modification, all still belong in the scope of this novel technical scheme.
Claims (10)
1. level four joint Manipulator, it is characterized in that: comprise base, described base is rotationally connected by be rotated in deceleration device and first rotating arm, the device that is rotated in deceleration drives first rotating arm around base at horizontal rotation in surface, described first rotating arm is established ZR shaft assembly, this ZR shaft assembly terminal position establishes coupling assembling, make itself and described first rotating arm nested encryptions, and driven by the Linear transmission auxiliary structure be arranged in described first rotating arm, radial direction along described first rotating arm moves forward and backward, output precision is established in described coupling assembling lower end, this output precision runs through described first rotating arm and coupling assembling is connected with described ZR shaft assembly, under the drive unit of described ZR shaft assembly drives, in the vertical direction lifting and around output precision middle shaft rotation.
2. a kind of level four joint Manipulator according to claim 1, is characterized in that: described Linear transmission auxiliary structure is ball screw nut transmission or ball spline transmission or toothed belt transmission is secondary or rack pinion is secondary or linear electric motors transmission structure.
3. a kind of level four joint Manipulator according to claim 2, is characterized in that: described ball screw nut transmission comprise line slideway, main ball screw, from ball screw and bearing block; Described main ball screw and arranging along described first rotating arm radial direction from ball screw, and described main ball screw and drive it to rotate the second drive unit to be connected; Line slideway described in two is provided with in the two sides of described first rotating arm radial direction, and line slideway described in two and described main ball screw and from ball screw keeping parallelism; The Connection Block of described coupling assembling is located in described main ball screw and described from ball screw, and is placed between two line slideways, can move along two line slideways; Described main ball screw drives the relatively described line slideway of described Connection Block to slide, thus drives described ZR shaft assembly to move along described first rotating arm radial direction.
4. a kind of level four joint Manipulator according to claim 3, is characterized in that: described second drive unit is motor or motor.
5. a kind of level four joint Manipulator according to claim 2, is characterized in that: described toothed belt transmission pair comprises main synchronizing wheel, from synchronizing wheel, Timing Belt and guide rail; Described main synchronizing wheel is connected with the 3rd drive unit, the power providing described main synchronizing wheel to rotate by the 3rd drive unit; Described main synchronizing wheel is connected by Timing Belt from synchronizing wheel with described; Guide rail described in two is provided with in the two sides of described first rotating arm radial direction, the Connection Block of described coupling assembling is fixed on described Timing Belt, described Connection Block moves with described Timing Belt and moves along described first rotating arm radial direction, and described Connection Block is also flexibly connected with described guide rail, when described Connection Block moves along described first rotating arm radial direction, described Connection Block is at described slide on rails; Described 3rd drive unit drives described main synchronous axial system, thus makes described Timing Belt carry described Connection Block to move, thus drives described ZR shaft assembly to move along described first rotating arm radial direction.
6. a kind of level four joint Manipulator according to claim 5, is characterized in that: described 3rd drive unit is motor.
7. a kind of level four joint Manipulator according to claim 1, it is characterized in that: described ZR shaft assembly also comprises ball screw and ball spline, described ball screw and ball spline parallel join, ball spline connects described output precision, described drive unit drives ball screw to rotate, the ball spline be connected with ball screw is driven to move both vertically, described drive unit drives described ball spline to horizontally rotate, thus make described output precision in the vertical direction be elevated and around output precision middle shaft rotation.
8. a kind of level four joint Manipulator according to claim 1, is characterized in that: described drive unit is reducing motor.
9. a kind of level four joint Manipulator according to claim 1-8 any one, is characterized in that: described in the device that is rotated in deceleration be harmonic wave speed reducing machine or planetary reducer.
10. a kind of level four joint Manipulator according to claim 1-8 any one, is characterized in that: described first rotating arm mates described output precision and run through position and be also provided with dust-proof belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510734876.3A CN105269561A (en) | 2015-11-03 | 2015-11-03 | Horizontal four-joint manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510734876.3A CN105269561A (en) | 2015-11-03 | 2015-11-03 | Horizontal four-joint manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN105269561A true CN105269561A (en) | 2016-01-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510734876.3A Pending CN105269561A (en) | 2015-11-03 | 2015-11-03 | Horizontal four-joint manipulator |
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| CN (1) | CN105269561A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685322A (en) * | 2017-09-28 | 2018-02-13 | 李从宾 | A kind of manipulator of multiple degrees of freedom industrial robot |
| CN108312132A (en) * | 2018-04-25 | 2018-07-24 | 阜阳盛东智能制造技术研发有限公司 | A kind of multi-joint mechanical arm |
| CN109093594A (en) * | 2018-10-19 | 2018-12-28 | 斯图加特航空自动化（青岛）有限公司 | Annular planer-type robot moving system |
| CN109760024A (en) * | 2019-03-05 | 2019-05-17 | 长沙迈迪克智能科技有限公司 | Rotary bell manipulator based on the application of blood station intelligence freezer |
| CN109873525A (en) * | 2018-08-07 | 2019-06-11 | 安徽御流包装机械有限公司 | A kind of pushing meanss |
| CN110975714A (en) * | 2019-11-08 | 2020-04-10 | 深圳市万臣科技有限公司 | double-ZR module |
| CN112013945A (en) * | 2020-08-27 | 2020-12-01 | 武汉理工大学 | Device and method for automatically testing noise of air compressor |
| CN112045667A (en) * | 2020-09-01 | 2020-12-08 | 冯超 | Mechanical arm device for machine manufacturing based on stable steering technology |
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| CN107685322A (en) * | 2017-09-28 | 2018-02-13 | 李从宾 | A kind of manipulator of multiple degrees of freedom industrial robot |
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| CN109760024A (en) * | 2019-03-05 | 2019-05-17 | 长沙迈迪克智能科技有限公司 | Rotary bell manipulator based on the application of blood station intelligence freezer |
| CN110975714A (en) * | 2019-11-08 | 2020-04-10 | 深圳市万臣科技有限公司 | double-ZR module |
| CN110975714B (en) * | 2019-11-08 | 2022-04-22 | 深圳市大肯科技有限公司 | double-ZR module |
| CN112013945A (en) * | 2020-08-27 | 2020-12-01 | 武汉理工大学 | Device and method for automatically testing noise of air compressor |
| CN112045667A (en) * | 2020-09-01 | 2020-12-08 | 冯超 | Mechanical arm device for machine manufacturing based on stable steering technology |
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Application publication date: 20160127 |