CN106041919A - Lifting type robot structure - Google Patents
Lifting type robot structure Download PDFInfo
- Publication number
- CN106041919A CN106041919A CN201610536352.8A CN201610536352A CN106041919A CN 106041919 A CN106041919 A CN 106041919A CN 201610536352 A CN201610536352 A CN 201610536352A CN 106041919 A CN106041919 A CN 106041919A
- Authority
- CN
- China
- Prior art keywords
- armshaft
- lift
- pedestal
- connecting cylinder
- decelerator
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of robots, in particular to a lifting type robot structure which comprises a base, a base transmission mechanism, a shaft arm mechanism, a shaft arm transmission mechanism and a connecting cylinder. The base is used for fixing the position of a lifting type robot. The base transmission mechanism is located in the base, is in mechanical transmission connection with one end of a main shaft arm, and is used for driving the shaft arm mechanism to rotate around the base. The shaft arm mechanism comprises a main shaft arm and at least one secondary shaft arm. The main shaft arm and the secondary shaft arm are sequentially connected with the end through the connecting cylinder. The connecting cylinder is vertically connected with the main shaft arm and the secondary shaft arm. The shaft arm transmission mechanism is installed between the two ends of the secondary shaft arm mechanically, is in mechanical transmission connection with the connecting cylinder and is used for driving the corresponding secondary shaft arm to rotate around the axis of the connecting cylinder. T whole robot is smaller in size, lighter, higher in structural rigidity, more attractive in appearance and better in motion performance.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of lift-on/lift-off type robot architecture.
Background technology
Making manufacturer of mostly robot of China rests on low side and copies the stage of import brand robot, and external import product
Board robot go on along uniqueness innovation road.Industrial robot itself belongs to mature technology, sets foot in industrial machine along with domestic
Device people's industry increases, it is necessary to strengthens Innovation Input and increases, and carries out innovation innovation, its is possible to gradually realize substituting import, accelerates
China's intelligent industry upgrading.
Tradition lift-on/lift-off type SCARA robot, as it is shown in figure 1, overall driving-chain is distributed as the first arm motor arrangements in machine
In people's pedestal 101, by toothed belt transmission to the first arm reductor, after slowing down, drive first arm connecting cylinder the 102, first arm
103 and with rear section fuselage move；Second arm motor arrangements, in the first arm 103, drives the second arm connecting cylinder after slowing down
104, the second arm 105 and with rear section fuselage move；This driving-chain layout will make the first shaft assembly and the second shaft assembly equal
For L-shaped cantilever design, increase fuselage weight, reduce rigidity；Secondly, the second arm motor arrangements, in the first arm 103, will make the
Two arm connecting cylinder the 104, second arms 105 and all become the load of the second arm motor with rear section fuselage, by demand the second arm electricity
Machine load capacity increases, and motor model increases, and weight and size increase, and indirectly cause demand the first arm motor load ability to increase
Add；Again, such driving-chain layout, it is not easy to the design of surface modeling structure, affects complete machine outward appearance, reduce complete machine appearance.
Summary of the invention
In view of above technical problem, the present invention proposes a kind of lift-on/lift-off type robot architecture, it is intended to pass by adjusting robot
Dong Lian motor arrangements makes robot package size less, and weight is lighter, and structural rigidity is higher, and complete machine exercise performance is more
Good.
The concrete scheme content of the present invention is as follows:
A kind of lift-on/lift-off type robot architecture, including pedestal, pedestal drive mechanism, armshaft mechanism, armshaft drive mechanism, connecting cylinder；
Described pedestal is fixed for described lift-on/lift-off type robot location；
Described pedestal drive mechanism is positioned at pedestal, and is connected with spindle arm one end machine driving, is used for driving described armshaft
Mechanism is around pedestal rotary motion；
Described armshaft mechanism includes spindle arm and at least one armshaft, is connected by connecting cylinder between described spindle arm, secondary armshaft
One end；Described connecting cylinder and spindle arm, secondary armshaft is vertical is connected；
Described armshaft drive mechanism is mechanically mounted in position between two ends of described armshaft, and connects with connecting cylinder machine driving
Connect, be used for driving corresponding secondary axes upper-arm circumference around connecting cylinder axis rotation；
Preferably, described pedestal drive mechanism includes pedestal motor, pedestal decelerator, described pedestal decelerator and pedestal motor machine
Tool connects, and described pedestal decelerator is connected with pedestal electromechanics to be specifically as follows and is connected by Timing Belt or gear engagement mechanism
Connecing, described pedestal motor can band moving base decelerator rotary motion；Described pedestal decelerator and spindle arm one end machine driving
Connect；
Described armshaft drive mechanism includes that armshaft motor, armshaft decelerator, described armshaft decelerator are connected with armshaft electromechanics
Described armshaft decelerator is connected with armshaft electromechanics to be specifically as follows and is connected by Timing Belt or gear engagement mechanism, described
Armshaft motor can drive armshaft decelerator rotary motion；Described armshaft decelerator is connected with connecting cylinder machine driving；
Preferably, described armshaft motor is installed on outside connecting cylinder, and described armshaft decelerator is by gear engagement and connecting cylinder machine
Tool is in transmission connection；
More specifically, described armshaft decelerator is planetary reduction gear or harmonic speed reducer；
Preferably, described armshaft motor is mountable in connecting cylinder, and described armshaft decelerator is by gear engagement and connecting cylinder machine
Tool is in transmission connection；
More specifically, described armshaft decelerator is planetary reduction gear or harmonic speed reducer；
Preferably, described pedestal motor is motor or servomotor；
Preferably, described armshaft motor is motor or servomotor；
Preferably, described lift-on/lift-off type robot architecture is applied to SCARA robot；
Preferably, described lift-on/lift-off type robot architecture is applied to multiple armshaft and is in the multi-axis robot of same plane motion.
Beneficial effect
The invention enables robot package size less, weight is lighter, and structural rigidity is higher, and outward appearance is more beautiful, complete machine exercise performance
More preferably.
Accompanying drawing explanation
Fig. 1 is tradition SCARA robot transmission chain layout；
Fig. 2 is lift-on/lift-off type robot transmission chain layout of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, aobvious
So, described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the reality in the present invention
Execute example, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, all belong to
In the scope of protection of the invention.
Embodiment one
As in figure 2 it is shown, a kind of lift-on/lift-off type robot architecture, including pedestal 201, pedestal drive mechanism 202, armshaft mechanism, armshaft
Drive mechanism 205, connecting cylinder 204；
Described pedestal 201 is fixed for described lift-on/lift-off type robot location；
Described armshaft mechanism includes spindle arm 203 and at least one armshaft 206, depends between described spindle arm 203, secondary armshaft 206
Secondary connect an end by connecting cylinder 204；Described connecting cylinder 204 and spindle arm 203, secondary armshaft 206 is vertical is connected；
It can be one or more that described at least one armshaft 206 is specially time armshaft 206 quantity, if secondary armshaft 206
Quantity is one, and connecting cylinder 204 is sequentially connected with by end with spindle arm 203, secondary armshaft 206 the most as shown in Figure 2；Described end
Refer to spindle arm 203, the end positions of secondary armshaft 206；If secondary armshaft 206 quantity is multiple, then if Fig. 2 spindle arm 203 is with secondary
Armshaft 206 is sequentially connected with by end, passes sequentially through end and is connected with connecting cylinder 204, be similar to main shaft between each armshaft 206
Connected mode between arm 203 and secondary armshaft 206.
Described pedestal drive mechanism 202 is positioned at pedestal 201, and is connected with spindle arm 203 one end machine driving, is used for
Drive described armshaft mechanism around pedestal 201 rotary motion；Described being in transmission connection refers to the mutual rotation of mechanically-based implementation
Connected mode.
Described pedestal drive mechanism 202 includes pedestal motor, pedestal decelerator, and described pedestal decelerator is with pedestal motor even
Connect, specifically can realize connecting and realizing transmission by Timing Belt or gear engagement connected mode；Described pedestal motor can drive base
Seat decelerator rotary motion；Described pedestal decelerator is connected with spindle arm 203 one end machine driving, and then by subtracting with pedestal
Specifically being in transmission connection of speed device realizes whole spindle arm 203 and secondary armshaft 206 that is sequentially connected with it and rotates around pedestal 201 and transport
Dynamic；
For the ease of accurately controlling the motion of described lift-on/lift-off type robot, described pedestal motor is motor or servomotor；
Described armshaft drive mechanism 205 is mechanically mounted in position between 206 two ends of described armshaft, and with connecting cylinder 204
Machine driving connects, and is used for driving corresponding armshaft 206 around connecting cylinder 204 axis rotation, described connecting cylinder 204 axis
Refer specifically to connecting cylinder 204 and be perpendicular to the axis direction of spindle arm 203 and time armshaft 206；It is time armshaft 206 by armshaft motor belt motor
Dynamic passive around connecting cylinder 204 rotary motion；
Described armshaft drive mechanism 205 includes armshaft motor, armshaft decelerator, and described armshaft decelerator is with armshaft electromechanics even
Connect, specifically can realize connecting and realizing transmission by Timing Belt or gear engagement connected mode；Described armshaft motor can band moving axis
Arm decelerator rotary motion；Described armshaft decelerator is connected with connecting cylinder 204 machine driving；
For the ease of accurately controlling the motion of described lift-on/lift-off type robot, described armshaft motor is motor or servomotor；
If secondary armshaft 206 quantity is one, it is outside that the most described armshaft drive mechanism 205 is installed on connecting cylinder 204, for ease of peace
Filling and facilitate implementation transmission, specially armshaft motor is installed on the outside lower end position of connecting cylinder, and i.e. connecting cylinder is close to secondary axes
Arm one end position；Described armshaft decelerator is connected with connecting cylinder 204 machine driving by gear engagement；
If secondary armshaft 206 quantity is multiple, the most each armshaft 206 passes sequentially through connecting cylinder 204 and is connected in series, and is similar to above
Spindle arm 203 and time armshaft 206 connected mode, described armshaft drive mechanism 205 is positioned at the outside lower end of connecting cylinder 204, for ease of
Installing and facilitate implementation transmission, specially armshaft motor is installed on the outside lower end position of connecting cylinder, i.e. near armshaft driver
The position of the secondary armshaft 206 that structure 205 is installed；Remaining aspect is identical with the scheme that time armshaft 206 quantity is；
This driving-chain location mode, firstly because secondary armshaft motor position between secondary armshaft 206 both ends, and then eliminate
The connecting cylinder of spindle arm 203, so that the size relative decrease of described lift-on/lift-off type robot overall structure in the vertical direction,
Improve the rigidity on vertical direction；Secondly, secondary armshaft 206 armshaft motor is installed on position between time armshaft 206 both ends, makes
Obtain time armshaft 206 connecting cylinder and be pertaining only to the load of spindle arm 203 pedestal motor, be not belonging to the load of time armshaft 206 armshaft motor,
Hence in so that secondary armshaft 206 armshaft motor model reduces；Due to secondary armshaft 206 armshaft motor postposition, i.e. it is in time armshaft two ends
Position between portion, need to increase the model of spindle arm 203 pedestal motor, but pedestal motor is fixed on described lift-on/lift-off type robot base
In, not with described lift-on/lift-off type robot primary axes's arm 203 mass motion, not only therefore increase pedestal motor model will not reduce described in hang
The dynamic performance of Zhuan Shi robot complete machine, makes complete machine exercise performance increase on the contrary.Again, this driving-chain layout so that described
The more compact exquisiteness of lift-on/lift-off type robot architecture, it is simple to structural modality design, outward appearance is also more easy to design and is more easy to attractive.
Embodiment two
With embodiment one, embodiment two differs primarily in that described armshaft drive mechanism 205 is mountable in connecting cylinder, such as Fig. 2
In illustrated position shown in 207, described armshaft decelerator is connected with connecting cylinder machine driving by gear engagement, so that secondary armshaft
Around connecting cylinder rotary motion；Described armshaft decelerator is planetary reduction gear or harmonic speed reducer.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
The detailed description of the invention of the present invention is confined to these explanations.General technical staff of the technical field of the invention is come
Say, make some equivalents without departing from the inventive concept of the premise and substitute or substantially deform, and performance or purposes are identical, all
Should be regarded as the scope of patent protection that the present invention is determined by the claims submitted to.
Claims (9)
1. a lift-on/lift-off type robot architecture, it is characterised in that: include pedestal, pedestal drive mechanism, armshaft mechanism, armshaft transmission
Mechanism, connecting cylinder；
Described pedestal is fixed for described lift-on/lift-off type robot location；
Described pedestal drive mechanism is positioned at pedestal, and is connected with spindle arm one end machine driving, is used for driving described armshaft
Mechanism is around pedestal rotary motion；
Described armshaft mechanism includes spindle arm and at least one armshaft, passes sequentially through connecting cylinder between described spindle arm, secondary armshaft
Connect an end；Described connecting cylinder and spindle arm, secondary armshaft is vertical is connected；
Described armshaft drive mechanism is mechanically mounted in position between two ends of described armshaft, and connects with connecting cylinder machine driving
Connect, be used for driving corresponding secondary axes upper-arm circumference around connecting cylinder axis rotation.
2. lift-on/lift-off type robot architecture as claimed in claim 1, it is characterised in that: described pedestal drive mechanism includes pedestal electricity
Machine, pedestal decelerator, described pedestal decelerator is connected with pedestal electromechanics, and described pedestal motor can the rotation of band moving base decelerator
Transhipment is dynamic；Described pedestal decelerator is connected with spindle arm one end machine driving；
Described armshaft drive mechanism includes that armshaft motor, armshaft decelerator, described armshaft decelerator are connected with armshaft electromechanics,
Described armshaft motor can drive armshaft decelerator rotary motion；Described armshaft decelerator is connected with connecting cylinder machine driving.
3. lift-on/lift-off type robot architecture as claimed in claim 2, it is characterised in that: described armshaft motor is installed on outside connecting cylinder
Portion, described armshaft decelerator is connected with connecting cylinder machine driving by gear engagement.
4. lift-on/lift-off type robot architecture as claimed in claim 2, it is characterised in that: described armshaft motor is mountable to connecting cylinder
In, described armshaft decelerator is connected with connecting cylinder machine driving by gear engagement.
5. as claimed in claim 3 lift-on/lift-off type robot architecture, it is characterised in that: described armshaft decelerator be planetary reduction gear or
Harmonic speed reducer.
6. as claimed in claim 4 lift-on/lift-off type robot architecture, it is characterised in that: described armshaft decelerator be planetary reduction gear or
Harmonic speed reducer.
7. lift-on/lift-off type robot architecture as described in Claims 2 or 3 or 4 or 5 or 6, it is characterised in that: described pedestal motor is step
Entering motor or servomotor, described armshaft motor is motor or servomotor.
8. lift-on/lift-off type robot architecture as described in claim 1 or 2 or 3 or 4 or 5 or 6, it is characterised in that: described lift-on/lift-off type machine
Device people's structure is applied to SCARA robot.
9. lift-on/lift-off type robot architecture as described in claim 1 or 2 or 3 or 4 or 5 or 6, it is characterised in that: described lift-on/lift-off type machine
Device people's structure is applied to multiple armshaft and is in the multi-axis robot of same plane motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610536352.8A CN106041919A (en) | 2016-07-11 | 2016-07-11 | Lifting type robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610536352.8A CN106041919A (en) | 2016-07-11 | 2016-07-11 | Lifting type robot structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106041919A true CN106041919A (en) | 2016-10-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610536352.8A Pending CN106041919A (en) | 2016-07-11 | 2016-07-11 | Lifting type robot structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN106041919A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129433A (en) * | 2017-10-27 | 2019-01-04 | 王晶红 | A kind of horizontal articulated SCARA type cooperation lifting machine people |
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| EP1552911A1 (en) * | 2004-01-09 | 2005-07-13 | Seiko Epson Corporation | Horizontal multiple articulation type robot |
| CN202805196U (en) * | 2012-09-27 | 2013-03-20 | 深圳众为兴技术股份有限公司 | Combined type industrial robot |
| CN103079775A (en) * | 2010-09-03 | 2013-05-01 | 三菱电机株式会社 | Ceiling-mounted scara robot |
| CN203566699U (en) * | 2013-11-12 | 2014-04-30 | 东莞市实达光电科技有限公司 | Inversion four-degree-of-freedom industrial robot |
| CN104823272A (en) * | 2012-11-30 | 2015-08-05 | 应用材料公司 | Multi-axis robot apparatus with unequal length forearms, electronic device manufacturing systems, and methods for transporting substrates in electronic device manufacturing |
| EP2942160A2 (en) * | 2014-05-07 | 2015-11-11 | Seiko Epson Corporation | Robot |
| CN105082120A (en) * | 2014-05-07 | 2015-11-25 | 精工爱普生株式会社 | Ceiling mounted robot |
-
2016
- 2016-07-11 CN CN201610536352.8A patent/CN106041919A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1552911A1 (en) * | 2004-01-09 | 2005-07-13 | Seiko Epson Corporation | Horizontal multiple articulation type robot |
| CN103079775A (en) * | 2010-09-03 | 2013-05-01 | 三菱电机株式会社 | Ceiling-mounted scara robot |
| CN202805196U (en) * | 2012-09-27 | 2013-03-20 | 深圳众为兴技术股份有限公司 | Combined type industrial robot |
| CN104823272A (en) * | 2012-11-30 | 2015-08-05 | 应用材料公司 | Multi-axis robot apparatus with unequal length forearms, electronic device manufacturing systems, and methods for transporting substrates in electronic device manufacturing |
| CN203566699U (en) * | 2013-11-12 | 2014-04-30 | 东莞市实达光电科技有限公司 | Inversion four-degree-of-freedom industrial robot |
| EP2942160A2 (en) * | 2014-05-07 | 2015-11-11 | Seiko Epson Corporation | Robot |
| CN105082120A (en) * | 2014-05-07 | 2015-11-25 | 精工爱普生株式会社 | Ceiling mounted robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129433A (en) * | 2017-10-27 | 2019-01-04 | 王晶红 | A kind of horizontal articulated SCARA type cooperation lifting machine people |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161026 |
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| RJ01 | Rejection of invention patent application after publication |