CN106181971A - Used in electronic industry lift-on/lift-off type non-blind area puts together machines people - Google Patents
Used in electronic industry lift-on/lift-off type non-blind area puts together machines people Download PDFInfo
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- CN106181971A CN106181971A CN201610766607.XA CN201610766607A CN106181971A CN 106181971 A CN106181971 A CN 106181971A CN 201610766607 A CN201610766607 A CN 201610766607A CN 106181971 A CN106181971 A CN 106181971A
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- China
- Prior art keywords
- arm body
- reductor
- lift
- spacing
- belt pulley
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of used in electronic industry lift-on/lift-off type non-blind area to put together machines people, including electric cabinet and the mechanical arm assembly being connected on electric cabinet, mechanical arm assembly has the first arm body and the second arm body, first arm body is connected on electric cabinet by the first reductor in the first drive mechanism, and simultaneously the synergism also by the first reductor and the first stopping means can carry out 360 degree relative to electric cabinet and rotates；Second arm body is by the second reductor in the second drive mechanism and connects seat and is connected on the first arm body, and simultaneously the synergism also by the second reductor and the second stopping means can carry out 360 degree relative to the first arm body and rotates；In addition; first and second reductor is both designed as hollow structure; and in first and second reductor, line steel bushing is protected in plant first and second the most respectively; both cabling it had been beneficial to; ensure that first and second protect line steel bushing when at a high speed revolution not with wall friction in first and second reductor, protection cable does not interferes with any motion.
Description
Technical field
The present invention relates to robotics, a kind of used in electronic industry lift-on/lift-off type non-blind area of concrete offer puts together machines
People.
Background technology
Industrial robot, refers to imitate staff and some holding function of arm, in order to capture by fixed routine, to carry thing
Part or the automatic pilot of operation instrument.Mechanical hand can replace the heavy labor of people to realize the mechanization of production with automatic
Change, can operate to protect personal safety under hostile environment, thus be widely used in machine-building, metallurgy, electronics, light industry and
The departments such as atomic energy.
At present, industrial machinery people there is also following deficiency in production application: (1) mechanical arm is difficult to make 360 degree of rotations
Rotate and make, and then affect the performance accuracy that robot is overall；(2) robot is walked by arranging drag chain outside it mostly
Line, wiring, this is easy to make cable interfere with moving component, and then affects the action of moving component, and by cable cloth
It is located at outside, too increases cabling difficulty.
In view of this, the special proposition present invention.
Summary of the invention
In order to overcome drawbacks described above, the invention provides a kind of used in electronic industry lift-on/lift-off type non-blind area and put together machines people, should
The mechanical arm assembly of robot can be good at realizing 360 degree of revolutions, and cabling layout is good, protection cable not with any motion
Interfere.
The present invention is to solve that its technical problem be the technical scheme is that a kind of used in electronic industry lift-on/lift-off type non-blind area
Put together machines people, and including electric cabinet and the mechanical arm assembly being connected on described electric cabinet, described mechanical arm assembly has
First arm body and the second arm body, described first arm body and the second arm body are the list structure body in lateral arrangement, wherein said
First arm body is connected on described electric cabinet by one first drive mechanism, and can also be in the drive of described first drive mechanism
Under carry out 360 degree relative to described electric cabinet and rotate；Described second arm body is connected to described first arm by one second drive mechanism
On body, and under the drive of described second drive mechanism, 360 degree can also be carried out relative to described first arm body and rotate；Additionally in institute
State and be also vertically provided with one on the second arm body in order to transmit the ball-screw of power.
As a further improvement on the present invention, described first arm body is connected to described electric cabinet by one first drive mechanism
On, and under the drive of described first drive mechanism, 360 degree of structures rotated can also be carried out relative to described electric cabinet and be: described
First drive mechanism includes the first servomotor, the first reductor, the first belt pulley set, the first synchronous belt and the first spacing dress
Putting, wherein, described first servomotor and the first reductor are all connected on described electric cabinet, and described first belt pulley set is by one
To the first belt pulley composition, the first belt pulley fixed cover respectively is located at the output shaft and described the of described first servomotor by this
On the input of one reductor, and the first belt pulley is connected by this also by described first synchronous belt drive；Described first subtracts
The outfan of speed machine is connected to the length direction side of described first arm body by described first stopping means, and described first subtracts
Speed machine also makes described first arm body can carry out 360 degree by relative described electric cabinet with the synergism of described first stopping means
Rotate.
As a further improvement on the present invention, described first stopping means includes the first protective cover, two the first spacing bases
Seat and the first spacing ball, wherein, described first protective cover positioning sleeve is located at outside described first reductor, this two first spacing base
Seat is located by connecting between length direction side and the outfan of described first reductor of described first arm body, and in each institute
State the first spacing pedestal towards being respectively formed with the first spacing raceway groove of a circular arc on the one side of described protective cover, described in two
First spacing raceway groove is also butted into a ring body structurc；Additionally at described first protective cover towards the side of described first spacing pedestal
On be also formed with notch the first stopper slot down, described first stopper slot matches with this two first spacing raceway groove, and jointly
Constitute one for housing the first limit channels of described first spacing ball.
As a further improvement on the present invention, described second arm body is arranged in the lower section of described first arm body, and described
Two arm bodies are connected on described first arm body by one second drive mechanism, and can also be in the drive of described second drive mechanism
Under carry out 360 degree of structures rotated relative to described first arm body and be: described second drive mechanism include the second servomotor, second
Reductor, the second belt pulley set, the second synchronous belt and the second stopping means, wherein, described second servomotor and second subtracts
Speed machine is all connected on described first arm body, and described second belt pulley set is made up of a pair second belt pulleys, and this is to the second belt
Take turns fixed cover respectively to be located on the output shaft of described second servomotor and the input of described second reductor, and this is to second
Belt pulley connects also by described second synchronous belt drive；The outfan of described second reductor passes through described second spacing dress
Put the length direction side being connected to described second arm body, and the collaborative work of described second reductor and described second stopping means
Rotate with also making described second arm body can carry out 360 degree relative to described first arm body.
As a further improvement on the present invention, the upper side of described second side, arm body length direction also positions setting
A connecting seat, the outfan of described second reductor is had to be connected with the described seat that is connected by described second stopping means.
As a further improvement on the present invention, described second stopping means includes the second protective cover, two the second spacing bases
Seat and the second spacing ball, wherein, described second protective cover positioning sleeve is located at outside described second reductor, this two second spacing base
Seat is located by connecting between the outfan of described second reductor and the described upper end being connected seat, and each described second spacing
Pedestal towards being respectively formed with the second spacing raceway groove of a circular arc on the one side of described second protective cover, two described second limits
Position raceway groove is also butted into a ring body structurc；Additionally on the side of described second spacing pedestal, go back shape at described second protective cover
Become to have notch the second stopper slot down, described second stopper slot to match with this two second spacing raceway groove, and collectively form one
For housing the second limit channels of described second spacing ball.
As a further improvement on the present invention, described first reductor and the second reductor are hollow structure, Qi Zhong
It is plugged with one in the cavity of described first reductor and vertically and protects line steel bushing in order to the first of cabling, at described second reductor
It is plugged with one in cavity and vertically and protects line steel bushing in order to the second of cabling.
As a further improvement on the present invention, described first reductor is all stretched out at the described first axial two ends protecting line steel bushing
Outward, and the described first upper axle head location protecting line steel bushing is plugged in the first belt pulley matched with described first reductor,
Described first lower shaft end protecting line steel bushing is connected by the length direction side of bearing with described first arm body；
The described second axial two ends protecting line steel bushing are all stretched out outside described second reductor, and described second protects line steel bushing
Axially two ends are the most respectively by length direction opposite side and the described upper end phase being connected seat of the corresponding and described first arm body of bearing
Connect.
As a further improvement on the present invention, described ball-screw includes a vertical lead screw shaft and a pair active nut,
Be formed with two sections of ball rolling grooves on the outer peripheral face of described lead screw shaft, these two sections of ball rolling grooves in arranging up and down, and these two sections
The hand of spiral of ball rolling groove is contrary, and this is screwed together in these two sections of balls by a plurality of balls the most respectively to active nut and rolls
On groove, and active nut is movably set on described second arm body by the most respectively；
Being additionally provided with the 3rd drive mechanism, described 3rd drive mechanism includes the 3rd driving motor and 4 wheel driven galvanic electricity machine, its
In, the described 3rd drives motor location to be arranged on described second arm body, and can drive actively nut rotation described in；Described
4 wheel driven galvanic electricity machine also positions and is arranged on described second arm body, and another described active nut can be driven to rotate, and described
4 wheel driven galvanic electricity machine also drives motor in synchrony to run with the described 3rd and rotation direction is contrary.
As a further improvement on the present invention, the described 3rd motor is driven can to drive the knot that described in, actively nut rotates
Structure is: described 3rd drive mechanism also includes a pair the 3rd belt pulleys and the 3rd synchronous belt, and this is to the 3rd belt pulley respectively
Fixed cover is located at described in the described 3rd output shaft and driving motor actively nut, and this to the 3rd belt pulley also by described
3rd synchronous belt drive connects；
The structure that described 4 wheel driven galvanic electricity machine can drive another described active nut to rotate is: described 3rd drive mechanism
Also including the 4th belt pulley, fixing axle, a pair the 5th belt pulleys and shaft couplings, described 4th belt pulley positioning sleeve is located at described
On the output shaft of 4 wheel driven galvanic electricity machine, described fixing axle location be arranged on described second arm body, the 5th belt pulley described in
Described shaft coupling coaxial sleeve is located on described fixing axle, and another described 5th belt pulley positioning sleeve is located at another described active nut
On, and described in described 4th belt pulley and between the 5th belt pulley and described shaft coupling and another described 5th belt pulley
Between each connected by one the 4th synchronous belt drive the most respectively.
The invention has the beneficial effects as follows: 1. by arranging the first limit between the outfan and the first arm body of the first reductor
Position device, uses the first spacing ball in this first stopping means and slides and can well realize the first arm body and carry out 360 degree and return
Turn, and when crossing position, the first stopper slot inwall collision on the first spacing ball and the first protective cover, thus form spacing guarantor
Protect；Additionally, also the edge-on wall inner surface of two first spacing raceway grooves and the edge-on wall inner surface of the first stopper slot are designed as phase
Face of tiltedly the carving structure coordinated mutually, can effectively reduce the first spacing ball and two first spacing raceway grooves and time the first stopper slot collides
Impact dynamics, improves the service life of the first stopping means；Same as above, the application also the second reductor outfan with
Connect and between seat, second stopping means identical with above-mentioned first limit device structure is set, also can be good at realizing second
Arm body carries out 360 degree of revolutions, improves the service life of the second stopping means.2. described first and second reductor is designed as hollow
Structure, and in first and second reductor, line steel bushing, the most beneficially cabling are protected in plant first and second respectively, ensure that first and second protects
Line steel bushing when at a high speed revolution not with wall friction in first and second reductor, protection cable does not interferes with any motion.
Accompanying drawing explanation
Fig. 1 is that used in electronic industry lift-on/lift-off type non-blind area of the present invention puts together machines the cross-sectional view of people；
Fig. 2 is the structure for amplifying schematic diagram in A portion shown in Fig. 1；
Fig. 3 is the structure for amplifying schematic diagram in B portion shown in Fig. 1；
Fig. 4 is the structural representation that the 3rd drive mechanism shown in Fig. 1 is assembled together with ball-screw.
In conjunction with accompanying drawing, make the following instructions:
1 electric cabinet 21 first arm body
22 second arm body 23 ball-screws
230 lead screw shaft 231 actively nut
3 first drive mechanism 30 first servomotors
31 first reductor 32 first synchronous belts
33 first stopping means 330 first protective covers
The 331 first spacing balls of spacing pedestal 332 first
333 first limit channels 4 second drive mechanisms
40 second servomotor 41 second reductors
42 second synchronous belt 43 second stopping means
The 430 second spacing pedestals of protective cover 431 second
432 second spacing ball 433 second limit channels
5 connect seat 6 first protects line steel bushing
7 second protect line steel bushing 80 the 3rd drives motor
81 4 wheel driven galvanic electricity machine 82 the 3rd synchronous belts
Axle fixed by 83 the 4th belt pulleys 84
85 the 5th belt pulley 86 shaft couplings
Detailed description of the invention
Referring to figure to a preferred embodiment of the present invention will be described in detail.
Embodiment 1:
A kind of used in electronic industry lift-on/lift-off type non-blind area puts together machines people, including electric cabinet 1 be connected on described electric cabinet 1
Mechanical arm assembly, described mechanical arm assembly has the first arm body 21 and the second arm body 22, described first arm body 21 and
Two arm bodies 22 are the list structure body in lateral arrangement, and wherein said first arm body 21 is connected by one first drive mechanism 3
On described electric cabinet 1, and under the drive of described first drive mechanism 3,360 degree of rotations can also be carried out by the most described electric cabinet 1
Turn；Described second arm body 22 is connected on described first arm body 21 by one second drive mechanism 4, and can also be described second
Carry out 360 degree relative to described first arm body 21 under the drive of drive mechanism 4 to rotate；Additionally the most vertical on described second arm body 22
It is provided with one in order to transmit the ball-screw 23 of power.
In the present embodiment, described first arm body 21 is connected on described electric cabinet 1 by one first drive mechanism 3, and
Can also carry out 360 degree of structures rotated relative to described electric cabinet 1 under the drive of described first drive mechanism 3 is: described
One drive mechanism 3 includes first servomotor the 30, first reductor the 31, first belt pulley set, the first synchronous belt 32 and first
Stopping means 33, wherein, described first servomotor 30 and the first reductor 31 are all connected on described electric cabinet 1, and described
One belt pulley set is made up of a pair first belt pulleys, and the first belt pulley fixed cover respectively is located at described first servomotor 30 by this
Output shaft and described first reductor 31 input on, and this to the first belt pulley also by described first synchronous belt 32
It is in transmission connection；The outfan of described first reductor 31 is connected to described first arm body 21 by described first stopping means 33
Length direction side, and the synergism of described first reductor 31 and described first stopping means 33 also makes described first arm
Body 21 can carry out 360 degree relative to described electric cabinet 1 and rotate.
Preferably, described first stopping means 33 includes 330, two the first spacing pedestals 331 and first of the first protective cover
Spacing ball 332, wherein, described first protective cover 330 positioning sleeve is located at outside described first reductor 31, this two first spacing base
Seat 331 is located by connecting between the length direction side of described first arm body 21 and the outfan of described first reductor 31, i.e.
All length direction sides with described first arm body 21, the side of this two first spacing pedestal 331 are located by connecting, this two first limit
Opposite side all outfans with described first reductor 31 of position pedestal 331 are located by connecting, and at each described first spacing base
Seat 331 towards being respectively formed with the first spacing raceway groove of a circular arc on the one side of described protective cover 330, two described first limits
Position raceway groove is also butted into a ring body structurc, can avoid the stuck and unexpected abrasion of the second spacing ball；Additionally protect described first
Cover 330 is towards being also formed with notch the first stopper slot down on the side of described first spacing pedestal 331, described first spacing
Groove matches with this two first spacing raceway groove, and it is spacing logical for housing the first of described first spacing ball 332 to collectively form one
Road 333.The the first spacing ball slip used in the first stopping means 33 can realize the first arm body 360 degree revolution, and in mistake
During position, the first stopper slot inwall collision on the first spacing ball and the first protective cover, thus form position limitation protection；Additionally, also
Be designed as the edge-on wall inner surface of two first spacing raceway grooves and the edge-on wall inner surface of the first stopper slot cooperating is oblique
Carve face structure, can effectively reduce impact dynamics when the first spacing ball and two first spacing raceway grooves and the collision of the first stopper slot,
Improve the service life of the first stopping means.
In the present embodiment, described second arm body 22 is arranged in the lower section of described first arm body 21, and described second arm body
22 are connected on described first arm body 21 by one second drive mechanism 4, and can also be in the drive of described second drive mechanism 4
Under carry out 360 degree of structures rotated relative to described first arm body 21 and be: described second drive mechanism 4 includes the second servomotor
40, second reductor the 41, second belt pulley set, the second synchronous belt 42 and the second stopping means 43, wherein, described second servo
Motor 40 and the second reductor 41 are all connected on described first arm body 21, and described second belt pulley set is by a pair second belt pulleys
Composition, this output shaft that the second belt pulley fixed cover respectively is located at described second servomotor 40 and described second reductor 41
Input on, and the second belt pulley is in transmission connection by this also by described second synchronous belt 42；Described second reductor 41
Outfan be connected to the length direction side of described second arm body 22 by described second stopping means 43, and described second subtracts
Speed machine 41 also makes the described second arm body 22 can relative described first arm body with the synergism of described second stopping means 43
21 carry out 360 degree of rotations.
Preferably, on the upper side of described second arm body 22 length direction side, also location is provided with a connecting seat 5, institute
The outfan stating the second reductor 41 is connected with the described seat 5 that is connected by described second stopping means 43, and i.e. second drives machine
Structure 4 carries out 360 degree of rotations by the band seat 5 that is dynamically connected, and then realizes driving the second arm body 22 to carry out 360 degree of rotations.
Preferably, described second stopping means 43 includes 430, two the second spacing pedestals 431 and second of the second protective cover
Spacing ball 432, wherein, described second protective cover 430 positioning sleeve is located at outside described second reductor 41, this two second spacing base
Seat 431 is located by connecting between the outfan of described second reductor 41 and the described upper end being connected seat 5, and i.e. this is two second spacing
The side of pedestal 431 all outfans with described second reductor 41 are located by connecting, the opposite side of this two second spacing pedestal 431
All it is located by connecting with the described upper end being connected seat 5, and at each described second spacing pedestal 431 towards described second protective cover
Respectively being formed with the second spacing raceway groove of a circular arc on the one side of 430, two described second spacing raceway grooves are also butted into a ring
Body structure, can avoid the stuck and unexpected abrasion of the second spacing ball；Additionally at described second protective cover 430 towards described second limit
Notch the second stopper slot down, described second stopper slot and this two second position-limited groove it is also formed with on the side of position pedestal 431
Road matches, and collectively forms one for housing the second limit channels 433 of described second spacing ball 432.Use second spacing
The second spacing ball in device 43 slides and can realize the second arm body 360 degree revolution, and when mistake position, the second spacing ball and
The second stopper slot inwall collision on second protective cover of high rigidity, thus form position limitation protection；Additionally, it is also spacing by two second
The edge-on wall inner surface of raceway groove and the edge-on wall inner surface of the second stopper slot are designed as face of tiltedly the carving structure cooperated, can
Effectively reduce impact dynamics when the second spacing ball and two second spacing raceway grooves and the collision of the second stopper slot, improve the second limit
The service life of position device.
In the present embodiment, described first reductor 31 and the second reductor 41 are hollow structure, wherein described
It is plugged with one in the cavity of one reductor 31 and vertically and protects line steel bushing 6 in order to the first of cabling, at described second reductor 41
It is plugged with one in cavity and vertically and protects line steel bushing 7 in order to the second of cabling.Described first and second reductor is designed as hollow knot
Structure, and in first and second reductor, line steel bushing, the most beneficially cabling are protected in plant first and second respectively, ensure that first and second protects line
Steel bushing when at a high speed revolution not with wall friction in first and second reductor, protection cable does not interferes with any motion.
Preferably, the described first axial two ends protecting line steel bushing 6 are all stretched out outside described first reductor 31, and described first
The upper axle head location protecting line steel bushing 6 is plugged in the first belt pulley matched with described first reductor, and described first protects line
The lower shaft end of steel bushing 6 is connected by the length direction side of bearing with described first arm body 21；
The described second axial two ends protecting line steel bushing 7 are all stretched out outside described second reductor 41, and described second protects line steel
The axial two ends of set 7 are the most respectively by the length direction opposite side of the corresponding and described first arm body 21 of bearing with described be connected seat 5
Upper end be connected.
In the present embodiment, described ball-screw 23 includes a vertical lead screw shaft 230 and a pair active nut 231, institute
State and on the outer peripheral face of lead screw shaft 230, be formed with two sections of ball rolling grooves, these two sections of ball rolling grooves in arranging up and down, and these two sections
The hand of spiral of ball rolling groove is contrary, and this is respectively screwed together in this two sections of balls by a plurality of balls respectively to active nut 231
On rolling groove, and active nut 231 is movably set on described second arm body 22 by the most respectively；
Being additionally provided with the 3rd drive mechanism, described 3rd drive mechanism includes the 3rd driving motor 80 and 4 wheel driven galvanic electricity machine
81, wherein, the described 3rd drives motor 80 location to be arranged on described second arm body 22, and can drive active nut described in
231 rotate；Described 4 wheel driven galvanic electricity machine 81 also positions and is arranged on described second arm body 22, and can drive another described active
Nut 231 rotates, and described 4 wheel driven galvanic electricity machine 81 also drives motor 80 to run simultaneously and rotation direction phase with the described 3rd
Instead.Third and fourth drives motor in synchrony to run and rotation direction is contrary, can realize the balancing out motions on lead screw shaft circumferencial direction,
The most remaining axially-movable.
Preferably, the described 3rd motor 80 is driven can to drive described in one the structure that actively nut 231 rotates to be: described the
Three drive mechanisms also include a pair the 3rd belt pulleys and the 3rd synchronous belt 82, and the 3rd belt pulley fixed cover respectively is located at by this
Actively nut 231 described in described 3rd output shaft and driving motor 80, and this to the 3rd belt pulley also by the described 3rd
Synchronous belt 82 is in transmission connection；
The structure that described 4 wheel driven galvanic electricity machine 81 can drive another described active nut 231 to rotate is: the described 3rd drives
Motivation structure also includes the 4th belt pulley 83, fixing axle 84, a pair the 5th belt pulleys 85 and shaft coupling 86, described 4th belt pulley
83 positioning sleeves are located on the output shaft of described 4 wheel driven galvanic electricity machine 81, and described fixing axle 84 location is arranged at described second arm body 22
On, described in one, the 5th belt pulley 85 is located on described fixing axle 84 with described shaft coupling 86 coaxial sleeve, another described 5th belt
Take turns 85 positioning sleeves to be located on another described active nut 231, and the 5th belt pulley 85 described in described 4th belt pulley 83 and it
Between and described shaft coupling 86 and another described 5th belt pulley 85 between each the most respectively by one the 4th synchronous belt drive the most even
Connect.The most in this application, first, second, third and fourth servomotor adnexa is each provided with cable switching device such that it is able to reduces and wears
Cross first and second cable protecting line steel bushing, beneficially cabling.
Claims (10)
1. used in electronic industry lift-on/lift-off type non-blind area puts together machines a people, including electric cabinet (1) be connected to described electric cabinet (1)
On mechanical arm assembly, it is characterised in that: described mechanical arm assembly has the first arm body (21) and the second arm body (22), institute
Stating the first arm body (21) and the second arm body (22) is the list structure body in lateral arrangement, wherein said first arm body (21) leads to
Cross one first drive mechanism (3) to be connected on described electric cabinet (1), and can also be in the drive of described first drive mechanism (3)
Under carry out 360 degree relative to described electric cabinet (1) and rotate；Described second arm body (22) is connected to by one second drive mechanism (4)
On described first arm body (21), and can also under the drive of described second drive mechanism (4) the most described first arm body (21)
Carry out 360 degree of rotations；Additionally on described second arm body (22), also it is vertically provided with one in order to transmit the ball-screw of power
(23)。
Used in electronic industry lift-on/lift-off type non-blind area the most according to claim 1 puts together machines people, it is characterised in that: described first
Arm body (21) is connected on described electric cabinet (1) by one first drive mechanism (3), and can also be in described first drive mechanism
(3) carrying out 360 degree of structures rotated relative to described electric cabinet (1) under drive is: described first drive mechanism (3) includes first
Servomotor (30), the first reductor (31), the first belt pulley set, the first synchronous belt (32) and the first stopping means (33),
Wherein, described first servomotor (30) and the first reductor (31) are all connected on described electric cabinet (1), described first belt
Wheels are made up of a pair first belt pulleys, and the first belt pulley fixed cover respectively is located at the defeated of described first servomotor (30) by this
On the input of shaft and described first reductor (31), and this to the first belt pulley also by described first synchronous belt (32)
It is in transmission connection；The outfan of described first reductor (31) is connected to described first arm body by described first stopping means (33)
(21) length direction side, and the synergism of described first reductor (31) and described first stopping means (33) also makes
Described first arm body (21) can carry out 360 degree relative to described electric cabinet (1) and rotate.
Used in electronic industry lift-on/lift-off type non-blind area the most according to claim 2 puts together machines people, it is characterised in that: described first
Stopping means (33) includes the first protective cover (330), two the first spacing pedestals (331) and the first spacing ball (332), its
In, described first protective cover (330) positioning sleeve is located at described first reductor (31) outward, and this two first spacing pedestal (331) is fixed
Position is connected between length direction side and the outfan of described first reductor (31) of described first arm body (21), and often
First spacing pedestal (331) described in one is towards the first limit being respectively formed with a circular arc on the one side of described protective cover (330)
Position raceway groove, two described first spacing raceway grooves are also butted into a ring body structurc；Additionally described first protective cover (330) towards institute
State and on the side of the first spacing pedestal (331), be also formed with notch the first stopper slot down, described first stopper slot with this two
First spacing raceway groove matches, and collectively forms one for housing the first limit channels of described first spacing ball (332)
(333)。
Used in electronic industry lift-on/lift-off type non-blind area the most according to claim 2 puts together machines people, it is characterised in that: described second
Arm body (22) is arranged in the lower section of described first arm body (21), and described second arm body (22) is by one second drive mechanism (4)
Be connected on described first arm body (21), and can also under the drive of described second drive mechanism (4) the most described first arm
Body (21) carries out the structure of 360 degree of rotations: described second drive mechanism (4) includes the second servomotor (40), the second deceleration
Machine (41), the second belt pulley set, the second synchronous belt (42) and the second stopping means (43), wherein, described second servomotor
(40) and the second reductor (41) is all connected on described first arm body (21), and described second belt pulley set is by a pair second belts
Wheel composition, this output shaft and described second that the second belt pulley fixed cover respectively is located at described second servomotor (40) slows down
On the input of machine (41), and the second belt pulley is in transmission connection by this also by described second synchronous belt (42)；Described second
The outfan of reductor (41) is connected to the length direction one of described second arm body (22) by described second stopping means (43)
Side, and the synergism of described second reductor (41) and described second stopping means (43) also makes described second arm body (22)
360 degree can be carried out relative to described first arm body (21) to rotate.
Used in electronic industry lift-on/lift-off type non-blind area the most according to claim 4 puts together machines people, it is characterised in that: described
On the upper side of two arm body (22) length direction sides, also location is provided with a connecting seat (5), described second reductor (41)
Outfan is connected with the described seat (5) that is connected by described second stopping means (43).
Used in electronic industry lift-on/lift-off type non-blind area the most according to claim 5 puts together machines people, it is characterised in that: described second
Stopping means (43) includes the second protective cover (430), two the second spacing pedestals (431) and the second spacing ball (432), its
In, described second protective cover (430) positioning sleeve is located at described second reductor (41) outward, and this two second spacing pedestal (431) is fixed
Position is connected between the outfan of described second reductor (41) and the described upper end being connected seat (5), and each described second
Spacing pedestal (431) towards being respectively formed with the second spacing raceway groove of a circular arc on the one side of described second protective cover (430),
Two described second spacing raceway grooves are also butted into a ring body structurc；Additionally described second protective cover (430) towards described second
Notch the second stopper slot down, described second stopper slot and this two second limit it is also formed with on the side of spacing pedestal (431)
Position raceway groove matches, and collectively forms one for housing second limit channels (433) of described second spacing ball (432).
Used in electronic industry lift-on/lift-off type non-blind area the most according to claim 4 puts together machines people, it is characterised in that: described first
Reductor (31) and the second reductor (41) are hollow structure, are wherein plugged with in the cavity of described first reductor (31)
One vertically and protects line steel bushing (6) in order to the first of cabling, is plugged with one the most also in the cavity of described second reductor (41)
Line steel bushing (7) is protected in order to the second of cabling.
Used in electronic industry lift-on/lift-off type non-blind area the most according to claim 7 puts together machines people, it is characterised in that: described first
Described first reductor (31) is all stretched out outward in the axial two ends protecting line steel bushing (6), and the described first upper axle head protecting line steel bushing (6)
Location is plugged in the first belt pulley matched with described first reductor, and the described first lower shaft end protecting line steel bushing (6) is led to
Cross bearing to be connected with the length direction side of described first arm body (21)；
Described second reductor (41) is all stretched out outward in the described second axial two ends protecting line steel bushing (7), and described second protects line steel
The axial two ends of set (7) are the most respectively by the length direction opposite side of the corresponding and described first arm body (21) of bearing with described be connected
The upper end of seat (5) is connected.
Used in electronic industry lift-on/lift-off type non-blind area the most according to claim 1 puts together machines people, it is characterised in that: described ball
Leading screw (23) includes a vertical lead screw shaft (230) and a pair active nut (231), on the outer peripheral face of described lead screw shaft (230)
Being formed with two sections of ball rolling grooves, these two sections of ball rolling grooves are in arranging up and down, and the hand of spiral of these two sections of ball rolling grooves
On the contrary, active nut (231) is respectively screwed together on these two sections of ball rolling grooves by respectively by a plurality of balls, and this is to actively
Nut (231) is movably set on described second arm body (22) the most respectively；
Being additionally provided with the 3rd drive mechanism, described 3rd drive mechanism includes the 3rd driving motor (80) and 4 wheel driven galvanic electricity machine
(81), wherein, the described 3rd drives motor (80) location to be arranged on described second arm body (22), and can drive described in one main
Dynamic nut (231) rotates；Described 4 wheel driven galvanic electricity machine (81) also positions and is arranged on described second arm body (22), and can drive
Another described active nut (231) rotates, and described 4 wheel driven galvanic electricity machine (81) also drives motor (80) Tong Bu with the described 3rd
Run and rotation direction is contrary.
Used in electronic industry lift-on/lift-off type non-blind area the most according to claim 9 puts together machines people, it is characterised in that: described
Three structures driving motor (80) that active nut (231) described in can be driven to rotate are: described 3rd drive mechanism also includes
Having a pair the 3rd belt pulleys and the 3rd synchronous belt (82), the 3rd belt pulley fixed cover respectively is located at the described 3rd and is driven electricity by this
Actively nut (231) described in the output shaft and of machine (80), and this to the 3rd belt pulley also by described 3rd synchronous belt
(82) it is in transmission connection；
The structure that described 4 wheel driven galvanic electricity machine (81) can drive another described active nut (231) to rotate is: the described 3rd drives
Motivation structure also includes the 4th belt pulley (83), fixing axle (84), a pair the 5th belt pulleys (85) and shaft coupling (86), and described the
Four belt pulleys (83) positioning sleeve is located on the output shaft of described 4 wheel driven galvanic electricity machine (81), and described fixing axle (84) location is arranged at
On described second arm body (22), the 5th belt pulley (85) described in one and described shaft coupling (86) coaxial sleeve are located at described fixing axle
(84), on, another described 5th belt pulley (85) positioning sleeve is located on another described active nut (231), and described 4th belt
Wheel (83) with described in one between the 5th belt pulley (85) and described shaft coupling (86) and another described 5th belt pulley (85) it
Between each connected by one the 4th synchronous belt drive the most respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766607.XA CN106181971B (en) | 2016-08-30 | 2016-08-30 | Used in electronic industry lift-on/lift-off type non-blind area puts together machines people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766607.XA CN106181971B (en) | 2016-08-30 | 2016-08-30 | Used in electronic industry lift-on/lift-off type non-blind area puts together machines people |
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| CN106181971B CN106181971B (en) | 2018-08-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500963A (en) * | 2018-06-22 | 2018-09-07 | 珠海格力智能装备有限公司 | Wire structures and robot with it |
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| Publication number | Publication date |
|---|---|
| CN106181971B (en) | 2018-08-03 |
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