CN108908324A - A kind of compact belt driven type small-sized four axis robot - Google Patents
A kind of compact belt driven type small-sized four axis robot Download PDFInfo
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- CN108908324A CN108908324A CN201810921157.6A CN201810921157A CN108908324A CN 108908324 A CN108908324 A CN 108908324A CN 201810921157 A CN201810921157 A CN 201810921157A CN 108908324 A CN108908324 A CN 108908324A
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
A kind of compact belt driven type small-sized four axis robot, including pedestal, support plate, large arm, forearm, first axle driving assembly, the second axis driving assembly and third axis driving assembly, the first axle driving assembly setting is on the supporting plate, the connection of the upper end of the large arm and support plate, the second axis driving assembly and third axis driving assembly are arranged in support plate, and the second axis driving assembly is connect with large arm, and the third axis driving assembly is connect with forearm.Second axis driving assembly and third axis driving assembly are arranged in support plate the present invention, pass through being staggered for first axle driving assembly, the second axis driving assembly and third axis driving assembly, by the way that the width of support plate is widened, achieve the effect that accommodate first axle driving assembly, the second axis driving assembly and third axis driving assembly, it greatly reduces relative to traditional small scale robot due to motor peripheral hardware the space occupied, so that robot compact overall structure, good appearance.
Description
Technical field
The invention belongs to robotic technology fields, and in particular, to a kind of small-sized four axis machine of compact belt driven type
People.
Background technique
In modern industry field or in other daily work lifes, the application of mechanical arm or robot is more and more general
And and via industrially using gradually developing into daily life.
Small-sized industrial robot currently on the market, end load weight concentrate on 3-10kg, and such robot is main
It applies in automobile and the field 3C.And it is less than the subdivision field of 1kg for end load weight, it only exists be supplied to machine in the market
The consumer level products of people fan, there are the deficiencies of three aspects for the robot of this type：
First aspect is that the opened loop control of motor causes the precision of robot end to be millimeter rank, is difficult to meet industrial occasions
Application requirement.
The second aspect is the back clearance of speed reducer, under the limitation of consumer level products average unit cost, the back of selected speed reducer
Gap can the end precision to robot cause large effect.
It is the location arrangements of motor in terms of third, compared to the size of entire robot, two motors are formed by width
It spends oversized, higher requirement is proposed to the practical application place of user.
For small scale robot, the requirement for size but comes higher, and consumer is desirable to using compact-sized,
Robot small in size, can not only greatly improve the good appearance degree of robot, while save space, convenient for storage.
Summary of the invention
Goal of the invention：The object of the present invention is to provide a kind of compact belt driven type small-sized four axis robots, solve
Small scale robot saves space, so that robot is easily installed since the technical issues of occupying larger width is arranged in motor.
Technical solution：The present invention provides a kind of compact belt driven type small-sized four axis robots, including pedestal, support
Plate, large arm, forearm, first axle driving assembly, the second axis driving assembly and third axis driving assembly, the first axle driving assembly
It is arranged on the supporting plate, and first axle driving assembly is connect with pedestal, the upper end connection of the large arm and support plate is described
The connection of the upper end of forearm and large arm, the second axis driving assembly and third axis driving assembly are arranged in support plate, and
Second axis driving assembly is connect with large arm, and the third axis driving assembly is connect with forearm.Compact belt transmission of the invention
Second axis driving assembly and third axis driving assembly are arranged in support plate, are driven by first axle by formula small-sized four axis robot
Being staggered for component, the second axis driving assembly and third axis driving assembly is moved, by widening the width of support plate, reaches appearance
The effect of first axle driving assembly, the second axis driving assembly and third axis driving assembly is received, relative to traditional small scale robot
It greatly reduces due to motor peripheral hardware the space occupied, so that robot compact overall structure, good appearance.
Further, above-mentioned compact belt driven type small-sized four axis robot, the support plate include lower plate,
Side plate and the second side plate, first side plate and the second side plate are vertically set on the two sides of lower plate, the first axle driving
Component is arranged on lower plate, and the second axis driving assembly is arranged on the first side plate, the third axis driving assembly setting
On the second side plate, the second axis driving assembly and third axis driving assembly are between the first side plate and the second side plate.If
Lower plate, the first side plate and the second side plate set, formation can accommodate first axle driving assembly, the second axis driving assembly and third axis
First axle driving assembly, the second axis driving assembly and third axis driving assembly are staggered wherein by the cavity of driving assembly,
So that robot monnolithic case is simple and beautiful.
Further, above-mentioned compact belt driven type small-sized four axis robot, the first axle driving assembly include
First spindle motor, first axle driving wheel, first axle belt, first axle driven wheel and turntable, it is logical that the lower plate is equipped with first
Hole, first spindle motor are fixed on lower plate by pinboard, and the pinboard is set at first through hole, and described first
Spindle motor is connect with first axle driving wheel, and the first axle belt is set in the outer wall of first axle driving wheel and first axle driven wheel
On, and first axle driving wheel by first axle belt can drive first axle driven wheel rotate, the first axle driven wheel with turn
Disk connection.First spindle motor is passed through first through hole to connect with first axle driving wheel, first axle driving wheel passes through first axle belt
The rotation of first axle driven wheel is driven, to be further driven to turntable rotation, enables large arm and forearm in 360 ° of range inward turnings
Turn.
Further, above-mentioned compact belt driven type small-sized four axis robot, the second axis driving assembly include
Second spindle motor, the second axis driving wheel, the second axis level-one belt, the second axis level-one driven wheel, the second axis second belt and second
Axis second level driven wheel, second spindle motor are fixed on lower plate, and the second spindle motor is located at the first side plate and second side
Between plate, the output end of second spindle motor is arranged towards the first side plate, and the second axis driving wheel and the second spindle motor connect
It connects, the second axis level-one belt is set on the bull wheel of the second axis driving wheel and the second axis level-one driven wheel, and the second axis
Driving wheel can drive the second axis level-one driven wheel to rotate, and the second axis second belt is set in the small of the second axis level-one driven wheel
On wheel and the second axis second level driven wheel, and the second axis level-one driven wheel can drive the second axis second level driven wheel to rotate.By second
Spindle motor is arranged between the first side plate and the second side plate, and the second axis driving wheel, the second axis level-one belt, the second axis level-one are driven
Wheel, the second axis second belt and the second axis second level driven wheel are arranged in the second side plate side, reduce and the second spindle motor is arranged
Space on the outside of the second side plate is driven by multi-stage, belt wheel, realizes the purpose of driving large arm rotation.
Further, above-mentioned compact belt driven type small-sized four axis robot, the third axis driving assembly include
Third spindle motor, third axis driving wheel, third axis level-one belt, third axis level-one driven wheel, third axis second belt and third
Axis second level driven wheel, the third spindle motor are fixed on lower plate, and third spindle motor is located at the first side plate and second side
Between plate, the output end of the third spindle motor is arranged towards the second side plate, and second spindle motor and third spindle motor are reversed
It is disposed in parallel between the first side plate and the second side plate, the third axis driving wheel is connect with third spindle motor, the third axis
Level-one belt is set on the bull wheel of third axis driving wheel and third axis level-one driven wheel, and third axis driving wheel can drive
The rotation of three axis level-one driven wheels, the third axis second belt are set in the steamboat and third axis second level of third axis level-one driven wheel
On driven wheel, and third axis level-one driven wheel can drive third axis second level driven wheel to rotate.By third spindle motor side by side with
The setting of two spindle motors, third axis driving wheel, third axis level-one belt, third axis level-one driven wheel, third axis second belt and the
Three axis second level driven wheels are arranged close to the side of the first side plate, reduce the sky that third spindle motor is arranged on the outside of the first side plate
Between, by Multistage belt drive variable, realize the purpose of driving forearm rotation, the first spindle motor, the second spindle motor and third spindle motor
On center line in lower plate, and the second spindle motor and third spindle motor are staggered, and greatly reduce motor occupancy
Space, so that this robot compact overall structure.
Further, above-mentioned compact belt driven type small-sized four axis robot, on the third axis second level driven wheel
Equipped with the second axis connecting rod one, the second axis connecting rod one is equipped with the second axis connecting rod two, and the second axis connecting rod one and the second axis
Connecting rod two is hinged, and the second axis connecting rod two is connect with forearm.The the second axis connecting rod one and the second axis connecting rod two being arranged pass through the
The driving of two axis driving assemblies is moved, so that forearm be driven to rotate around with the hinge joint of large arm.
Further, above-mentioned compact belt driven type small-sized four axis robot, first side plate and the second side plate
It is equipped with first level support rod, the both ends of the first level support rod are separately positioned on the first side plate and the second side plate
On, the first level support rod is equipped with lower link, and the lower end of the lower link is set in the outer of first level support rod
On wall, the upper end of the lower link is hinged with connecting rod rack, and the large arm is equipped with the second horizontal support bar, the connecting rod branch
Frame is set on the second horizontal support bar, is hinged with upper connecting rod on the connecting rod rack.The lower link of setting, connecting rod rack and on
The robot that connecting rod is used to that forearm end to be kept to be arranged takes the holding of object structure horizontal.
Further, above-mentioned compact belt driven type small-sized four axis robot, first side plate and the second side plate
The both sides of the edge of lower plate are vertically set on, and the center line of the first side plate and the following bottom plate of the second side plate is symmetrical axial symmetry
Setting, the output end of first spindle motor is arranged in downward vertically on the center line of lower plate, second spindle motor and the
Three spindle motors are reversely disposed in parallel between the first side plate and the second side plate, and the second spindle motor and third spindle motor level are set
It sets on lower plate.The set-up mode of above-mentioned first spindle motor, the second spindle motor and third spindle motor ensure that the of small area
In side plate and the second side plate space, the first spindle motor, the second spindle motor and third spindle motor, and transmission knot can be accommodated
Structure greatly reduces the occupancy in space, so that compact overall structure.
Further, above-mentioned compact belt driven type small-sized four axis robot, first side plate and the second side plate
Upper end be equipped with Step Shaft, the Step Shaft connect with the second axis second level driven wheel and third axis second level driven wheel respectively.If
Second axis second level driven wheel and third axis second level driven wheel are separately positioned on the first side plate and the second side plate by the Step Shaft set.
Further, above-mentioned compact belt driven type small-sized four axis robot, the large arm includes large arm side plate one
With large arm side plate two, the forearm includes forearm side plate one and forearm side plate two, and the large arm side plate one and large arm side plate two are flat
Row setting, the forearm side plate one and forearm side plate two are arranged in parallel, the large arm side plate one and large arm side plate two, forearm side plate
One group of connecting rod is equipped between one and forearm side plate two.By connecting rod by large arm side plate one and large arm side plate two, forearm side plate
One and forearm side plate two be connected as overall structure, increase intensity.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：Compact belt of the present invention passes
Dynamic formula small-sized four axis robot, it is reasonable in design, it has the following advantages that：
First aspect, the present invention use the stepper motor with encoder to do closed-loop control, and use with subdivision function
The motor driver of energy, greatly enhances the kinematic accuracy of robot.
The second aspect, the present invention give full play to the small advantage of synchronous belt back clearance, are subtracted by the realization of multistage toothed belt transmission
The function of fast torque increase in the comparable situation of cost, reduces speed reducer back clearance bring instead of current speed reducer scheme
End precision problem.
In terms of third, the present invention uses the motor arrangement of alternating expression, and three motors are all dexterously contracted in base
In seat, the size of width direction is not only reduced, and makes whole compact-sized, the field condition of user is proposed more
Loose requirement.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of small-sized four axis of compact belt driven type of the present invention robot；
Fig. 2 is the explosive view one of small-sized four axis of compact belt driven type of the present invention robot；
Fig. 3 is the explosive view two of small-sized four axis of compact belt driven type of the present invention robot.
In figure：Pedestal 1, support plate 2, lower plate 21, first through hole 211, the first side plate 22, the second side plate 23, large arm 3,
Large arm side plate 1, large arm side plate 2 32, forearm 4, forearm side plate 1, forearm side plate 2 42, first axle driving assembly 5,
One spindle motor 51, first axle driving wheel 52, first axle belt 53, first axle driven wheel 54, turntable 55, pinboard 56, the second axis
Driving assembly 6, the second spindle motor 61, the second axis driving wheel 62, the second axis level-one belt 63, the second axis level-one driven wheel 64,
Two axis second belts 65, the second axis second level driven wheel 66, third axis driving assembly 7, third spindle motor 71, third axis driving wheel
72, third axis level-one belt 73, third axis level-one driven wheel 74, third axis second belt 75, third axis second level driven wheel 76,
Two axis connecting rods 1, the second axis connecting rod 2 78, first level support rod 8, lower link 81, connecting rod rack 82, second are horizontally-supported
Bar 83, upper connecting rod 84, Step Shaft 9, connecting rod 10.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", " clockwise ", " inverse
The orientation or positional relationship of the instructions such as hour hands " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description originally
Invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
It is a or more than two, unless otherwise restricted clearly.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Embodiment
Compact belt driven type small-sized four axis robot as shown in Figs. 1-3, including pedestal 1, support plate 2, large arm 3,
Forearm 4, first axle driving assembly 5, the second axis driving assembly 6 and third axis driving assembly 7, the first axle driving assembly 5 are set
It sets in support plate 2, and first axle driving assembly 5 is connect with pedestal 1, the large arm 3 is connect with the upper end of support plate 2,
The forearm 4 is connect with the upper end of large arm 3, and the second axis driving assembly 6 and third axis driving assembly 7 are arranged in support plate
In 2, and the second axis driving assembly 6 is connect with large arm 3, and the third axis driving assembly 7 is connect with forearm 4.Wherein, support plate
2 include lower plate 21, the first side plate 22 and the second side plate 23, and first side plate 22 and the second side plate 23 are vertically set on bottom
The two sides of plate 21, the first axle driving assembly 5 are arranged on lower plate 21, and the second axis driving assembly 6 is arranged first
On side plate 22, the third axis driving assembly 7 is arranged on the second side plate 23, and the second axis driving assembly 6 and third axis drive
Dynamic component 7 is between the first side plate 22 and the second side plate 23.First axle driving assembly 5 of the invention, the second axis driving assembly 6
Specific structure with third axis driving assembly 7 is respectively：First axle driving assembly 5 includes the first spindle motor 51, first axle active
Wheel 52, first axle belt 53, first axle driven wheel 54 and turntable 55, the lower plate 21 are equipped with first through hole 211, and described the
One spindle motor 51 is fixed on lower plate 21 by pinboard 56, and the pinboard 56 is set at first through hole 211, and described the
One spindle motor 51 is connect with first axle driving wheel 52, the first axle belt 53 be set in first axle driving wheel 52 and first axle from
On the outer wall of driving wheel 54, and first axle driving wheel 52 can drive first axle driven wheel 54 to rotate by first axle belt 53, institute
First axle driven wheel 54 is stated to connect with turntable 55.Second axis driving assembly 6 include the second spindle motor 61, the second axis driving wheel 62,
Second axis level-one belt 63, the second axis level-one driven wheel 64, the second axis second belt 65 and the second axis second level driven wheel 66, it is described
Second spindle motor 61 is fixed on lower plate 21, and the second spindle motor 61 is between the first side plate 22 and the second side plate 23,
The output end of second spindle motor 61 is arranged towards the first side plate 22, and the second axis driving wheel 62 and the second spindle motor 61 connect
It connecing, the second axis level-one belt 63 is set on the bull wheel of the second axis driving wheel 62 and the second axis level-one driven wheel 64, and
Second axis driving wheel 62 can drive the second axis level-one driven wheel 64 to rotate, and the second axis second belt 65 is set in the second axis one
On the steamboat and the second axis second level driven wheel 66 of grade driven wheel 64, and the second axis level-one driven wheel 64 can drive the second axis second level
Driven wheel 66 rotates.Third axis driving assembly 7 include third spindle motor 71, third axis driving wheel 72, third axis level-one belt 73,
Third axis level-one driven wheel 74, third axis second belt 75 and third axis second level driven wheel 76, the third spindle motor 71 are fixed
On lower plate 21, and third spindle motor 71 is between the first side plate 22 and the second side plate 23, the third spindle motor 71
Output end be arranged towards the second side plate 23, second spindle motor 61 and third spindle motor 71 are reversely disposed in parallel in the first side
Between plate 22 and the second side plate 23, the third axis driving wheel 72 is connect with third spindle motor 71, the third axis level-one belt
73 are set on the bull wheel of third axis driving wheel 72 and third axis level-one driven wheel 74, and third axis driving wheel 72 can drive
The rotation of three axis level-one driven wheels 74, the third axis second belt 75 are set in the steamboat and third of third axis level-one driven wheel 74
On axis second level driven wheel 76, and third axis level-one driven wheel 74 can drive third axis second level driven wheel 76 to rotate.Also, third
Axis second level driven wheel 76 is equipped with the second axis connecting rod 1, and the second axis connecting rod 1 is equipped with the second axis connecting rod 2 78, and
And second axis connecting rod 1 and the second axis connecting rod 2 78 it is hinged, the second axis connecting rod 2 78 is connect with forearm 4.Second be arranged
Axis connecting rod 1 and the second axis connecting rod 2 78 are the link mechanisms for driving forearm.
The present invention is four axis robots, is equipped in the end of forearm and takes object structure（It omits and is not shown in figure）, need to protect
The level of end is held, specific structure is, the first side plate 22 and the second side plate 23 are equipped with first level support rod 8, described first
The both ends of horizontal support bar 8 are separately positioned on the first side plate 22 and the second side plate 23, are set on the first level support rod 8
Have lower link 81, the lower end of the lower link 81 is set on the outer wall of first level support rod 8, the lower link 81 it is upper
End is hinged with connecting rod rack 82, and the large arm 3 is equipped with the second horizontal support bar 83, and the connecting rod rack 82 is set in second
On horizontal support bar 83, upper connecting rod 84 is hinged on the connecting rod rack 82.Lower link 81 is hinged through the hinge to the first side plate
22, connecting rod rack 82 is hinged through the hinge to large arm 3, and upper connecting rod 84 is hinged through the hinge to end, this set link mechanism be for
Guarantee that the end that forearm 4 is arranged in takes object structure to remain horizontal.
The present invention achievees the purpose that compact design, the first spindle motor 51, the second axis to reduce the size of whole robot
Motor 61 and third spindle motor 71 are designed specifically to：First side plate 22 and the second side plate 23 are vertically set on the two of lower plate 21
Side edge, and the first side plate 22 and the second side plate 23 are symmetrical arranged by symmetry axis of the center line of lower plate 21, described first
The output end of spindle motor 51 is arranged in downward vertically on the center line of lower plate 21, second spindle motor 61 and third spindle motor
71 are reversely disposed in parallel between the first side plate 22 and the second side plate 23, and the second spindle motor 61 and third spindle motor 71 are horizontal
It is arranged on lower plate 21.Second axis driving assembly 6 and third axis driving assembly 7 form mirror image in support plate 2.
In order to which the second axis second level driven wheel 66 and third axis second level driven wheel 76 are supported, the first side plate 22 and second
The upper end of side plate 23 is equipped with Step Shaft 9, and the Step Shaft 9 is driven with the second axis second level driven wheel 66 and third axis second level respectively
76 connection of wheel.
In addition, large arm 3 of the invention includes large arm side plate 1 and large arm side plate 2 32, the forearm 4 includes forearm side
Plate 1 and forearm side plate 2 42, the large arm side plate 1 and large arm side plate 2 32 are arranged in parallel, the forearm side plate 1
It is arranged in parallel with forearm side plate 2 42, the large arm side plate 1 and large arm side plate 2 32, forearm side plate 1 and forearm side plate
One group of connecting rod 10 is equipped between 2 42.
The concrete operating principle of compact belt driven type small-sized four axis robot of the invention is：
First spindle motor 51 drives first axle driving wheel 52 to rotate, and first axle driving wheel 52 drives first by first axle belt 53
Axis driven wheel 54 rotates, to realize the first axle rotation of four axis robots；Second spindle motor 61 drives the second axis driving wheel
62 rotations, the second axis driving wheel 62 drive the rotation of the second axis level-one driven wheel 64, the second axis one by the second axis level-one belt 63
Grade driven wheel 64 drives the rotation of the second axis second level driven wheel 66 by the second axis second belt 65；Third spindle motor 71 drives third
Axis driving wheel 72 rotates, and third axis driving wheel 72 drives third axis level-one driven wheel 74 to rotate by third axis level-one belt 73,
Third axis level-one driven wheel 74 drives third axis second level driven wheel 76 to rotate by third axis second belt 75；Wherein, above-mentioned logical
Multistage belt drive variable is crossed, can either guarantee the rotation of large arm and forearm, while reducing speed reducer back clearance bring end precision
Problem.
In robot use process of the present invention, first axle driving assembly 5, the second axis driving assembly 6 and third axis driving group
Part 7 works independently, non-interference, ensure that and robot stabilized reliably completes various movements.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the invention
Protection scope.
Claims (10)
1. a kind of compact belt driven type small-sized four axis robot, it is characterised in that：Including pedestal（1）, support plate（2）, it is big
Arm（3）, forearm（4）, first axle driving assembly（5）, the second axis driving assembly（6）With third axis driving assembly（7）, described first
Axis driving assembly（5）It is arranged in support plate（2）On, and first axle driving assembly（5）With pedestal（1）Connection, the large arm（3）
With support plate（2）Upper end connection, the forearm（4）With large arm（3）Upper end connection, the second axis driving assembly
（6）With third axis driving assembly（7）It is arranged in support plate（2）It is interior, and the second axis driving assembly（6）With large arm（3）Connection, institute
State third axis driving assembly（7）With forearm（4）Connection.
2. small-sized four axis of compact belt driven type according to claim 1 robot, it is characterised in that：The support plate
（2）Including lower plate（21）, the first side plate（22）With the second side plate（23）, first side plate（22）With the second side plate（23）It hangs down
It is straight to be arranged in lower plate（21）Two sides, the first axle driving assembly（5）It is arranged in lower plate（21）On, second axis drives
Dynamic component（6）It is arranged in the first side plate（22）On, the third axis driving assembly（7）It is arranged in the second side plate（23）On, it is described
Second axis driving assembly（6）With third axis driving assembly（7）Positioned at the first side plate（22）With the second side plate（23）Between.
3. small-sized four axis of compact belt driven type according to claim 2 robot, it is characterised in that：The first axle
Driving assembly（5）Including the first spindle motor（51）, first axle driving wheel（52）, first axle belt（53）, first axle driven wheel
（54）And turntable（55）, the lower plate（21）It is equipped with first through hole（211）, first spindle motor（51）Pass through pinboard
（56）It is fixed on lower plate（21）On, the pinboard（56）It is set to first through hole（211）Place, first spindle motor（51）
With first axle driving wheel（52）Connection, the first axle belt（53）It is set in first axle driving wheel（52）With first axle driven wheel
（54）Outer wall on, and first axle driving wheel（52）Pass through first axle belt（53）First axle driven wheel can be driven（54）Turn
It is dynamic, the first axle driven wheel（54）With turntable（55）Connection.
4. small-sized four axis of compact belt driven type according to claim 3 robot, it is characterised in that：Second axis
Driving assembly（6）Including the second spindle motor（61）, the second axis driving wheel（62）, the second axis level-one belt（63）, the second axis level-one
Driven wheel（64）, the second axis second belt（65）With the second axis second level driven wheel（66）, second spindle motor（61）It is fixed on
Lower plate（21）On, and the second spindle motor（61）Positioned at the first side plate（22）With the second side plate（23）Between, second axis
Motor（61）Output end towards the first side plate（22）Setting, the second axis driving wheel（62）With the second spindle motor（61）Even
It connects, the second axis level-one belt（63）It is set in the second axis driving wheel（62）With the second axis level-one driven wheel（64）Bull wheel
On, and the second axis driving wheel（62）The second axis level-one driven wheel can be driven（64）Rotation, the second axis second belt（65）
It is set in the second axis level-one driven wheel（64）Steamboat and the second axis second level driven wheel（66）On, and the second axis level-one driven wheel
（64）The second axis second level driven wheel can be driven（66）Rotation.
5. small-sized four axis of compact belt driven type according to claim 4 robot, it is characterised in that：The third axis
Driving assembly（7）Including third spindle motor（71）, third axis driving wheel（72）, third axis level-one belt（73）, third axis level-one
Driven wheel（74）, third axis second belt（75）With third axis second level driven wheel（76）, the third spindle motor（71）It is fixed on
Lower plate（21）On, and third spindle motor（71）Positioned at the first side plate（22）With the second side plate（23）Between, the third axis
Motor（71）Output end towards the second side plate（23）Setting, second spindle motor（61）With third spindle motor（71）Reversely simultaneously
Column are arranged in the first side plate（22）With the second side plate（23）Between, the third axis driving wheel（72）With third spindle motor（71）Even
It connects, the third axis level-one belt（73）It is set in third axis driving wheel（72）With third axis level-one driven wheel（74）Bull wheel
On, and third axis driving wheel（72）Third axis level-one driven wheel can be driven（74）Rotation, the third axis second belt（75）
It is set in third axis level-one driven wheel（74）Steamboat and third axis second level driven wheel（76）On, and third axis level-one driven wheel
（74）Third axis second level driven wheel can be driven（76）Rotation.
6. small-sized four axis of compact belt driven type according to claim 5 robot, it is characterised in that：The third axis
Second level driven wheel（76）It is equipped with the second axis connecting rod one（77）, the second axis connecting rod one（77）It is equipped with the second axis connecting rod two
（78）, and the second axis connecting rod one（77）With the second axis connecting rod two（78）Hingedly, the second axis connecting rod two（78）With forearm（4）
Connection.
7. small-sized four axis of compact belt driven type according to claim 2 robot, it is characterised in that：First side
Plate（22）With the second side plate（23）It is equipped with first level support rod（8）, the first level support rod（8）Both ends difference
It is arranged in the first side plate（22）With the second side plate（23）On, the first level support rod（8）It is equipped with lower link（81）, described
Lower link（81）Lower end be set in first level support rod（8）Outer wall on, the lower link（81）Upper end it is hinged
There is connecting rod rack（82）, the large arm（3）It is equipped with the second horizontal support bar（83）, the connecting rod rack（82）It is set in second
Horizontal support bar（83）On, the connecting rod rack（82）On be hinged with upper connecting rod（84）.
8. small-sized four axis of compact belt driven type according to claim 5 robot, it is characterised in that：First side
Plate（22）With the second side plate（23）It is vertically set on lower plate（21）Both sides of the edge, and the first side plate（22）With the second side plate
（23）With lower plate（21）Center line for symmetry axis be symmetrical arranged, first spindle motor（51）Output end set downward vertically
It sets in lower plate（21）Center line on, second spindle motor（61）With third spindle motor（71）Reversely it is disposed in parallel in first
Side plate（22）With the second side plate（23）Between, and the second spindle motor（61）With third spindle motor（71）It is horizontally set on lower plate
（21）On.
9. small-sized four axis of compact belt driven type according to claim 8 robot, it is characterised in that：First side
Plate（22）With the second side plate（23）Upper end be equipped with Step Shaft（9）, the Step Shaft（9）Respectively with the second axis second level driven wheel
（66）With third axis second level driven wheel（76）Connection.
10. small-sized four axis of compact belt driven type according to claim 1 robot, it is characterised in that：The large arm
（3）Including large arm side plate one（31）With large arm side plate two（32）, the forearm（4）Including forearm side plate one（41）With forearm side plate
Two（42）, the large arm side plate one（31）With large arm side plate two（32）It is arranged in parallel, the forearm side plate one（41）With forearm side
Plate two（42）It is arranged in parallel, the large arm side plate one（31）With large arm side plate two（32）, forearm side plate one（41）With forearm side plate
Two（42）Between be equipped with one group of connecting rod（10）.
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| CN201810921157.6A CN108908324A (en) | 2018-08-14 | 2018-08-14 | A kind of compact belt driven type small-sized four axis robot |
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|---|---|---|---|
| CN201810921157.6A CN108908324A (en) | 2018-08-14 | 2018-08-14 | A kind of compact belt driven type small-sized four axis robot |
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| CN108908324A true CN108908324A (en) | 2018-11-30 |
Family
ID=64405594
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| CN110328659A (en) * | 2019-08-07 | 2019-10-15 | 浩科机器人（苏州）有限公司 | A kind of compact belt transmission four axis robot of sealed type small-sized |
| CN110340910A (en) * | 2019-06-28 | 2019-10-18 | 浩科机器人（苏州）有限公司 | A kind of small-sized static load balance belt drive tool arm |
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| CN114851216A (en) * | 2022-04-18 | 2022-08-05 | 湖南宁庆航空航天智能装备有限公司 | Multi freedom reclaimer manipulator |
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