CN108908325A - A kind of vertical inverted dress compact small-sized four axis robot - Google Patents
A kind of vertical inverted dress compact small-sized four axis robot Download PDFInfo
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- CN108908325A CN108908325A CN201810921858.XA CN201810921858A CN108908325A CN 108908325 A CN108908325 A CN 108908325A CN 201810921858 A CN201810921858 A CN 201810921858A CN 108908325 A CN108908325 A CN 108908325A
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- axis
- side plate
- speed reducer
- driving assembly
- spindle motor
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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)
- Toys (AREA)
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Abstract
A kind of vertical inverted dress compact small-sized four axis robot, including pedestal, braced frame, first axle driving assembly, second axis driving assembly, third axis driving assembly, large arm and forearm, the braced frame is arranged on the upper surface of pedestal, the first axle driving assembly is arranged in pedestal, the second axis driving assembly and the setting of third axis driving assembly are on the support frame, the second axis driving assembly is connect with large arm, the third axis driving assembly is connect with forearm, the upper end of the braced frame and one end of large arm connect, and the other end of large arm is connect with forearm, the section of the braced frame is U-shaped.The present invention is arranged in pedestal by hiding first axle driving assembly, improve space utilization rate, second axis driving assembly and third axis driving assembly are arranged in braced frame, greatly reduce the transverse width of robot, and braced frame can also carry out stablizing support to large arm and forearm, this robot overall structure is stablized, and functional reliability is high.
Description
Technical field
The invention belongs to robotic technology fields, and in particular, to a kind of vertical inverted dress compact small-sized four axis robot.
Background technique
Robot is a kind of new device to grow up during mechanization, automated production.In modern production mistake
Cheng Zhong, robot are widely deployed in automatic assembly line, are fulfiled assignment in the accuracy of mechanical manual task and various environment
Ability, have vast potential for future development in all fields of national economy.Robot can imitate certain movement function of manpower and arm
Can, it is a kind of automatic pilot that object or operational instrument can be grabbed, carried by fixed routine.Robot is that occur earliest
Industrial robot, and the modern machines people occurred earliest, it can replace the heavy labor of people to realize the mechanization of production
And automation, it can operate under hostile environment to protect personal safety, thus it is widely used in machine-building, metallurgy, electronics, light
The departments such as work and atomic energy.
Industrial robot currently on the market, load weight concentrate on 3kg or more.For being less than the robot of 1kg load,
There are the deficiencies of three aspects for this type robot：
First aspect is the location arrangements of motor, and compared to the size of entire robot, two motors are formed by broad-ruler
It is very little excessive, higher requirement is proposed to the practical application condition of user；
The second aspect is the back clearance of speed reducer, and under the control of current average unit cost, the back clearance of selected speed reducer can be to machine
The end precision of people causes large effect；
It is under certain applications, due to the working space limitation of robot in the height direction, to lead to nothing in terms of third
Method avoids some barriers beside working region.
Summary of the invention
Goal of the invention：The object of the present invention is to provide a kind of vertical inverteds to fill compact small-sized four axis robot, solves small
Type industrial robot, due to the limitation of outer dimension, causes robot and other production equipment spaces during production and application
The technical issues of setting cannot match.
Technical solution：The present invention provides a kind of vertical inverteds to fill compact small-sized four axis robot, including pedestal, support frame
Frame, first axle driving assembly, the second axis driving assembly, third axis driving assembly, large arm and forearm, the braced frame setting exist
On the upper surface of pedestal, the first axle driving assembly is arranged in pedestal, the second axis driving assembly and Three-axis drive
Component is arranged on the support frame, and the second axis driving assembly is connect with large arm, and the third axis driving assembly and forearm connect
It connects, the upper end of the braced frame and one end of large arm connect, and the other end of large arm is connect with forearm, the support frame
The section of frame is U-shaped.Vertical inverted of the invention fills compact small-sized four axis robot, is set by hiding first axle driving assembly
It sets in pedestal, improves space utilization rate, the second axis driving assembly and third axis driving assembly are arranged in braced frame, greatly
The transverse width of robot is reduced greatly, and braced frame can also carry out stablizing support to large arm and forearm, this robot is whole
Body stable structure, functional reliability are high.
Further, above-mentioned vertical inverted fills compact small-sized four axis robot, and the braced frame includes lower plate, the
The section of side plate and the second side plate, first side plate and the second side plate is L-type, under first side plate and the second side plate
End vertical is arranged on lower plate, and the first side plate and the second side plate are arranged in parallel vertically, the interposition of the lower plate
Installed first through hole, be equipped with the second through-hole on the lower end of first side plate and the second side plate, first side plate and
The upper end of second side plate is connect with large arm, and the second axis driving assembly is arranged on the first side plate, the Three-axis drive
Component is arranged on the second side plate.By being arranged lower plate on base housing, stable support construction is formed, in lower plate
On the first through hole that opens up be convenient for the heat dissipation of the first spindle motor, pass through the first side plate and the second side plate and realize that the second axis drives
The installation of dynamic component and third axis driving assembly is simultaneously supported large arm.
Further, above-mentioned vertical inverted fills compact small-sized four axis robot, and the pedestal includes lower connecting plate, pedestal
Shell, turntable and turntable connecting plate, the turntable are arranged on lower connecting plate, the turntable connecting plate setting in base shell and
Between turntable, the lower end surface of the lower plate is arranged on the upper surface of base shell.First axle driving assembly is hidden into setting
In base shell, space utilization rate, while good appearance are improved.
Further, above-mentioned vertical inverted fills compact small-sized four axis robot, and the first axle driving assembly includes the
One spindle motor and first axle speed reducer, first spindle motor and first axle speed reducer are vertically arranged in base shell, described
The output shaft of first spindle motor is connect with first axle speed reducer, and the first axle speed reducer is connect with turntable.Pass through first axle electricity
Machine and first axle speed reducer can drive pedestal to realize 360 ° of rotations, to realize the rotation of four-degree-of-freedom robot.
Further, above-mentioned vertical inverted fills compact small-sized four axis robot, and the second axis driving assembly includes the
Two spindle motors, the second axis speed reducer, the second axis driving wheel, the second axis belt and the second axis driven wheel, second spindle motor with
The connection of second axis speed reducer, second spindle motor and the second axis speed reducer are arranged between the first side plate and the second side plate, institute
It states the second axis speed reducer to be arranged on the first side plate by motor pinboard, the motor pinboard is fixed at the first side plate
On, and motor pinboard is located at the second through hole, and the second axis speed reducer passes through the second through-hole and is fixed on motor switching
On plate, the first side plate is arranged in far from the outer of the second side plate in the second axis driving wheel, the second axis belt and the second axis driven wheel
Side, the second axis driving wheel are connect with the second axis speed reducer, and the second axis belt is set in the second axis driving wheel and second
On axis driven wheel, and the second axis driving wheel can drive the second axis driven wheel to rotate, and the second axis driven wheel is connect with large arm,
The upper end of the first side plate is arranged in the second axis driven wheel.Motor in second axis driving assembly is arranged in the first side plate
It, will be in the second axis driving assembly far between the second side plate, preventing the setting of the second spindle motor from occupying excessive space in braced frame
Main the second axis of transmission parts driving wheel, the second axis belt and the second axis driven wheel are arranged on the outside of the first side plate, while big
Arm side plate one is arranged in the first side plate interior sides, can be realized from motor-transmission component-large arm transmission, whole all around the
Side plate setting.
Further, above-mentioned vertical inverted fills compact small-sized four axis robot, and the third axis driving assembly includes the
Three spindle motors, third axis speed reducer, third axis driving wheel, third axis belt, third axis driven wheel and third axis connecting rod, described
Three spindle motors are connect with third axis speed reducer, and the third spindle motor and third axis speed reducer are arranged in the first side plate and second side
Between plate, and third spindle motor and third axis speed reducer are located at the underface of the second spindle motor and the second axis speed reducer, described
Third axis speed reducer is arranged on the second side plate by motor pinboard, and the motor pinboard is fixed at the second side plate
On, and motor pinboard is located at the second through hole, and the third axis speed reducer passes through the second through-hole and is fixed on motor switching
On plate, the second side plate is arranged in far from the outer of the first side plate in the third axis driving wheel, third axis belt and third axis driven wheel
Side, the third axis driving wheel are connect with third axis speed reducer, and the third axis belt is set in third axis driving wheel and third
On axis driven wheel, and third axis driving wheel can drive third axis driven wheel to rotate, and the third axis driven wheel and third axis connect
Bar connection, and third axis connecting rod is arranged between the first side plate and the second side plate, and the third axis driven wheel is arranged second
The upper end of side plate.Third spindle motor and third axis speed reducer are vertically arranged on the second spindle motor and the second axis speed reducer
Side only need to increase the distance between the first side plate and the second side plate, and the structure being staggeredly placed improves space utilization rate, reduce
The transverse widths of four axis robots, and third axis driving wheel, third axis belt, third axis driven wheel and the second axis are actively
Wheel, the second axis belt, the second axis driven wheel form symmetrically arranged structure, and overall structure is clear, good appearance.
Further, above-mentioned vertical inverted fills compact small-sized four axis robot, on first side plate and the second side plate
Equipped with first level support rod, the both ends of the first level support rod are arranged on the first side plate and the second side plate, described
First level support rod is equipped with back link, and the lower end of the back link is hinged with connecting rod rack, cuts with scissors on the connecting rod rack
It is connected to front rod, the forearm is equipped with the second horizontal support bar, and the connecting rod rack is set on the second horizontal support bar, institute
The both ends for stating the second horizontal support bar are arranged on forearm.Back link, front rod and the connecting rod rack of setting, which are able to maintain, to be set
Set the level that the clamping in forearm end takes object structure.
Further, above-mentioned vertical inverted fills compact small-sized four axis robot, second spindle motor, third spindle motor
It is arranged with the first spindle motor according to sequence from top to bottom, second spindle motor and third spindle motor are reversely set side by side vertically
Between the first side plate and the second side plate.
Further, above-mentioned vertical inverted fills compact small-sized four axis robot, and the large arm includes one He of large arm side plate
Large arm side plate two, the forearm include forearm side plate one and forearm side plate two, the large arm side plate one and large arm side plate two, forearm
Side plate one and forearm side plate two, the first side plate and the second side plate, the second axis driving wheel and third axis driving wheel, the second axis belt and
Third axis belt, the second axis driven wheel and third axis driven wheel are symmetrical set centered on pedestal.
Further, above-mentioned vertical inverted dress compact small-sized four axis robot, first side plate and the second side plate
Upper end is equipped with fixed connecting plate.The upper end of first side plate and the second side plate is fixed the fixed connecting plate of setting, avoids
Higher-height first side plate and the inclination of the second side plate upper end.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：Vertical inverted of the present invention, which loads, to gather
Type small-sized four axis robot, structure setting is reasonable, and easy to use, application cost is low, and adaptability is good, and has the following advantages that：
First aspect, the present invention use the motor arrangement of alternating expression, will be used to drive two motors of large arm and forearm
All be contracted in pedestal, not only reduce the size of width direction, and make it is whole compact-sized, to the live item of user
Part proposes looser requirement.
The second aspect, vertical upside-down mounting mode of the present invention combine Robot installation and roof installation
Two kinds of advantage.Wherein, vertical mounting means embodies surface-mounted convenience, is not needing to do other auxiliary moulds
In the case where, it is easily installed on ground；Handstand mounting means solves robot in certain application height sides
The problem of working up insufficient space, this upside-down mounting mode are easier robot end into some areas for having space to limit
Domain.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that vertical inverted of the present invention fills compact small-sized four axis robot；
Fig. 2 is the explosive view that vertical inverted of the present invention fills compact small-sized four axis robot.
In figure：Pedestal 1, lower connecting plate 11, base shell 12, turntable 13, turntable connecting plate 14, braced frame 2, lower plate
21, first through hole 211, the first side plate 22, the second through-hole 221, the second side plate 23, first axle driving assembly 3, the first spindle motor
31, first axle speed reducer 32, the second axis driving assembly 4, the second spindle motor 41, the second axis speed reducer 42, the second axis driving wheel 43,
Second axis belt 44, the second axis driven wheel 45, third axis driving assembly 5, third spindle motor 51, third axis speed reducer 52, third
Axis driving wheel 53, third axis belt 54, third axis driven wheel 55, third axis connecting rod 56, large arm 6, large arm side plate 1, large arm side
Plate 2 62, forearm 7, forearm side plate 1, forearm side plate 2 72, motor pinboard 8, first level support rod 9, back link 91,
Connecting rod rack 92, front rod 93, the second horizontal support bar 94, fixed connecting plate 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
Vertical inverted as shown in Figure 1, 2 fills compact small-sized four axis robot, including pedestal 1, braced frame 2, first axle
Driving assembly 3, the second axis driving assembly 4, third axis driving assembly 5, large arm 6 and forearm 7, the braced frame 2 are arranged in base
On the upper surface of seat 1, the first axle driving assembly 3 is arranged in pedestal 1, and the second axis driving assembly 4 and third axis drive
Dynamic component 5 is arranged in braced frame 2, and the second axis driving assembly 4 is connect with large arm 6, the third axis driving assembly 5 and
Forearm 7 connects, and the upper end of the braced frame 2 is connect with one end of large arm 6, and the other end of large arm 6 and forearm 7 connect
It connects, the section of the braced frame 2 is U-shaped.Wherein, braced frame 2 includes lower plate 21, the first side plate 22 and the second side plate
23, the section of first side plate 22 and the second side plate 23 is L-type, and the lower end of first side plate 22 and the second side plate 23 is hung down
It is straight to be arranged on lower plate 21, and the first side plate 22 and the second side plate 23 are arranged in parallel vertically, the centre of the lower plate 21
Position is equipped with first through hole 211, is equipped with the second through-hole 221, institute on the lower end of first side plate 22 and the second side plate 23
The upper end for stating the first side plate 22 and the second side plate 23 is connect with large arm 6, and the second axis driving assembly 4 is arranged in the first side plate
On 22, the third axis driving assembly 5 is arranged on the second side plate 23.Braced frame 2 is to Support large arm 6, while by second
The element of axis driving assembly 4 and third axis driving assembly 5 is arranged in braced frame 2, forms the robot of compact overall structure.This
Outside, pedestal 1 includes lower connecting plate 11, base shell 12, turntable 13 and turntable connecting plate 14, and the turntable 13 is arranged in lower connection
On plate 11, the turntable connecting plate 14 is arranged between base shell 12 and turntable 13, and the lower end surface of the lower plate 21 is arranged
On the upper surface of base shell 12.The base 1 of setting is located at the underface of braced frame 2, therefore this four axis robot is significantly
Lateral width is shortened, when being used cooperatively with other machines equipment, installation process need to only occupy lesser area, Bu Huiyu
Other equipment interference, improves the application of robot.
The present invention realizes that the primary structure of robot motion is first axle driving assembly 3, the second axis driving assembly 4 and third
Axis driving assembly 5, above-mentioned driving assembly be respectively for specific structure, and first axle driving assembly 3 includes the first spindle motor 31 and the
One axis speed reducer 32, first spindle motor 31 and first axle speed reducer 32 are vertically arranged in base shell 12, and described first
The output shaft of spindle motor 31 is connect with first axle speed reducer 32, and the first axle speed reducer 32 is connect with turntable 13.Second axis drives
Dynamic component 4 include the second spindle motor 41, the second axis speed reducer 42, the second axis driving wheel 43, the second axis belt 44 and the second axis from
Driving wheel 45, second spindle motor 41 are connect with the second axis speed reducer 42, second spindle motor 41 and the second axis speed reducer 42
It is arranged between the first side plate 22 and the second side plate 23, the second axis speed reducer 42 is arranged by motor pinboard 8 first
On side plate 22, the motor pinboard 8 is fixed on the first side plate 22, and motor pinboard 8 is located at the second through-hole
At 221, the second axis speed reducer 42 passes through the second through-hole 221 and is fixed on motor pinboard 8, the second axis driving wheel
43, the second axis belt 44 and the second axis driven wheel 45 are arranged in outside of first side plate 22 far from the second side plate 23, and described second
Axis driving wheel 43 is connect with the second axis speed reducer 42, the second axis belt 44 be set in the second axis driving wheel 43 and the second axis from
On driving wheel 45, and the second axis driving wheel 43 can drive the second axis driven wheel 45 to rotate, the second axis driven wheel 45 and large arm 6
The upper end of the first side plate 22 is arranged in connection, the second axis driven wheel 45.Third axis driving assembly 5 includes third spindle motor
51, third axis speed reducer 52, third axis driving wheel 53, third axis belt 54, third axis driven wheel 55 and third axis connecting rod 56, institute
It states third spindle motor 51 to connect with third axis speed reducer 52, the third spindle motor 51 and third axis speed reducer 52 are arranged first
Between side plate 22 and the second side plate 23, and third spindle motor 51 and third axis speed reducer 52 are located at the second spindle motor 41 and second
The underface of axis speed reducer 42, the third axis speed reducer 52 are arranged on the second side plate 23 by motor pinboard 8, the electricity
Machine pinboard 8 is fixed on the second side plate 23, and motor pinboard 8 is located at the second through-hole 221, the third axis
Speed reducer 52 passes through the second through-hole 221 and is fixed on motor pinboard 8, the third axis driving wheel 53,54 and of third axis belt
Outside of second side plate 23 far from the first side plate 22, the third axis driving wheel 53 and third axis is arranged in third axis driven wheel 55
Speed reducer 52 connects, and the third axis belt 54 is set on third axis driving wheel 53 and third axis driven wheel 55, and third
Axis driving wheel 53 can drive third axis driven wheel 55 to rotate, and the third axis driven wheel 55 is connect with third axis connecting rod 56, and
Third axis connecting rod 56 is arranged between the first side plate 22 and the second side plate 23, and the third axis driven wheel 55 is arranged in the second side plate
23 upper end.Above-mentioned second spindle motor 41, third spindle motor 51 and the first spindle motor 31 are arranged according to sequence from top to bottom,
Second spindle motor 41 and third spindle motor 51 are reversely disposed in parallel between the first side plate 22 and the second side plate 23 vertically.It is logical
Crossing the second spindle motor 41 being staggered and third spindle motor 51 reduces whole machine so that robot architecture is more compact
The outer dimension of people.
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 9, described first
The both ends of horizontal support bar 9 are arranged on the first side plate 22 and the second side plate 23, after the first level support rod 9 is equipped with
Connecting rod 91, the lower end of the back link 91 are hinged with connecting rod rack 92, front rod 93, institute are hinged on the connecting rod rack 92
Forearm 7 is stated equipped with the second horizontal support bar 94, the connecting rod rack 92 is set on the second horizontal support bar 94, and described second
The both ends of horizontal support bar 94 are arranged on forearm 7.
In addition, large arm 6 includes large arm side plate 1 and large arm side plate 2 62, the forearm 7 includes one 71 He of forearm side plate
Forearm side plate 2 72, the large arm side plate 1 and large arm side plate 2 62, forearm side plate 1 and forearm side plate 2 72, the first side
Plate 22 and the second side plate 23, the second axis driving wheel 43 and third axis driving wheel 53, the second axis belt 44 and third axis belt 54,
Two axis driven wheels 45 and third axis driven wheel 55 are symmetrical set centered on pedestal 1.It is arranged by symmetrical structure, is protected
Whole robot stable structure, while good appearance are demonstrate,proved, clear in structure to be illustrated, easy to repair and inspection.
In order to keep the stability of the first side plate 22 and the second side plate 23, in the upper end of the first side plate 22 and the second side plate 23
Portion is equipped with fixed connecting plate 10.
The concrete operating principle of vertical inverted dress of the invention compact small-sized four axis robot is：
First spindle motor 31 and first axle speed reducer 32 drive pedestal 1 to rotate, and realize 360 ° of rotations of four axis robots；Second axis
Motor 41 and the second axis speed reducer 42 drive the rotation of the second axis driving wheel 43, and the second axis driving wheel 43 passes through 44 band of the second axis belt
Dynamic second axis driven wheel 45 rotation, so that the large arm 6 connecting with the second axis driven wheel 45 be driven to rotate；Third spindle motor 51 and
Three axis speed reducers 52 drive third axis driving wheel 53 rotate, third axis driving wheel 53 by third axis belt 54 drive third axis from
Driving wheel 55 rotate, third axis driven wheel 55 drive third axis connecting rod 56 rotate, thus drive connect with third axis connecting rod 56 it is small
Arm 7 rotates.
In robot use process of the present invention, first axle driving assembly 3, the second axis driving assembly 4 and third axis driving group
Part 5 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 vertical inverted fills compact small-sized four axis robot, it is characterised in that：Including pedestal（1）, braced frame（2）,
One axis driving assembly（3）, the second axis driving assembly（4）, third axis driving assembly（5）, large arm（6）And forearm（7）, the support
Frame（2）It is arranged in pedestal（1）Upper surface on, the first axle driving assembly（3）It is arranged in pedestal（1）It is interior, described second
Axis driving assembly（4）With third axis driving assembly（5）It is arranged in braced frame（2）On, the second axis driving assembly（4）With it is big
Arm（6）Connection, the third axis driving assembly（5）With forearm（7）Connection, the braced frame（2）Upper end and large arm（6）
One end connection, and large arm（6）The other end and forearm（7）Connection, the braced frame（2）Section be it is U-shaped.
2. vertical inverted according to claim 1 fills compact small-sized four axis robot, it is characterised in that：The braced frame
（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）'s
Section is L-type, first side plate（22）With the second side plate（23）Lower end be vertically set on lower plate（21）On, and the
Side plate（22）With the second side plate（23）It is arranged in parallel vertically, the lower plate（21）Middle position be equipped with first through hole
（211）, first side plate（22）With the second side plate（23）Lower end on be equipped with the second through-hole（221）, first side
Plate（22）With the second side plate（23）Upper end and large arm（6）Connection, the second axis driving assembly（4）It is arranged in the first side plate
（22）On, the third axis driving assembly（5）It is arranged in the second side plate（23）On.
3. vertical inverted according to claim 2 fills compact small-sized four axis robot, it is characterised in that：The pedestal（1）
Including lower connecting plate（11）, base shell（12）, turntable（13）With turntable connecting plate（14）, the turntable（13）It is arranged in lower company
Fishplate bar（11）On, the turntable connecting plate（14）It is arranged in base shell（12）And turntable（13）Between, the lower plate（21）
Lower end surface be arranged in base shell（12）Upper surface on.
4. vertical inverted according to claim 2 fills compact small-sized four axis robot, it is characterised in that：The first axle is driven
Dynamic component（3）Including the first spindle motor（31）With first axle speed reducer（32）, first spindle motor（31）Slow down with first axle
Machine（32）It is vertically arranged in base shell（12）It is interior, first spindle motor（31）Output shaft and first axle speed reducer（32）Even
It connects, the first axle speed reducer（32）With turntable（13）Connection.
5. vertical inverted according to claim 4 fills compact small-sized four axis robot, it is characterised in that：Second axis drives
Dynamic component（4）Including the second spindle motor（41）, the second axis speed reducer（42）, the second axis driving wheel（43）, the second axis belt（44）
With the second axis driven wheel（45）, second spindle motor（41）With the second axis speed reducer（42）Connection, second spindle motor
（41）With the second axis speed reducer（42）It is arranged in the first side plate（22）With the second side plate（23）Between, the second axis speed reducer
（42）Pass through motor pinboard（8）It is arranged in the first side plate（22）On, the motor pinboard（8）It is fixed at the first side plate
（22）On, and motor pinboard（8）It is located at the second through-hole（221）Place, the second axis speed reducer（42）It is logical across second
Hole（221）It is fixed on motor pinboard（8）On, the second axis driving wheel（43）, the second axis belt（44）It is driven with the second axis
Wheel（45）It is arranged in the first side plate（22）Far from the second side plate（23）Outside, the second axis driving wheel（43）Subtract with the second axis
Fast machine（42）Connection, the second axis belt（44）It is set in the second axis driving wheel（43）With the second axis driven wheel（45）On, and
And the second axis driving wheel（43）The second axis driven wheel can be driven（45）Rotation, the second axis driven wheel（45）With large arm（6）Even
It connects, the second axis driven wheel（45）It is arranged in the first side plate（22）Upper end.
6. vertical inverted according to claim 5 fills compact small-sized four axis robot, it is characterised in that：The third axis drives
Dynamic component（5）Including third spindle motor（51）, third axis speed reducer（52）, third axis driving wheel（53）, third axis belt（54）,
Third axis driven wheel（55）With third axis connecting rod（56）, the third spindle motor（51）With third axis speed reducer（52）Connection, institute
State third spindle motor（51）With third axis speed reducer（52）It is arranged in the first side plate（22）With the second side plate（23）Between, and the
Three spindle motors（51）With third axis speed reducer（52）Positioned at the second spindle motor（41）With the second axis speed reducer（42）Underface, institute
State third axis speed reducer（52）Pass through motor pinboard（8）It is arranged in the second side plate（23）On, the motor pinboard（8）It is fixed
It is arranged in the second side plate（23）On, and motor pinboard（8）It is located at the second through-hole（221）Place, the third axis speed reducer
（52）Across the second through-hole（221）It is fixed on motor pinboard（8）On, the third axis driving wheel（53）, third axis belt
（54）With third axis driven wheel（55）It is arranged in the second side plate（23）Far from the first side plate（22）Outside, the third axis is actively
Wheel（53）With third axis speed reducer（52）Connection, the third axis belt（54）It is set in third axis driving wheel（53）With third axis
Driven wheel（55）On, and third axis driving wheel（53）Third axis driven wheel can be driven（55）Rotation, the third axis driven wheel
（55）With third axis connecting rod（56）Connection, and third axis connecting rod（56）It is arranged in the first side plate（22）With the second side plate（23）It
Between, the third axis driven wheel（55）It is arranged in the second side plate（23）Upper end.
7. vertical inverted according to claim 2 fills compact small-sized four axis robot, it is characterised in that：First side plate
（22）With the second side plate（23）It is equipped with first level support rod（9）, the first level support rod（9）Both ends setting exist
First side plate（22）With the second side plate（23）On, the first level support rod（9）It is equipped with back link（91）, the back link
（91）Lower end be hinged with connecting rod rack（92）, the connecting rod rack（92）On be hinged with front rod（93）, the forearm（7）
It is equipped with the second horizontal support bar（94）, the connecting rod rack（92）It is set in the second horizontal support bar（94）On, described second
Horizontal support bar（94）Both ends be arranged in forearm（7）On.
8. vertical inverted according to claim 6 fills compact small-sized four axis robot, it is characterised in that：The second axis electricity
Machine（41）, third spindle motor（51）With the first spindle motor（31）According to sequence setting from top to bottom, second spindle motor
（41）With third spindle motor（51）It is reversely disposed in parallel in the first side plate vertically（22）With the second side plate（23）Between.
9. vertical inverted according to claim 8 fills compact small-sized four axis robot, it is characterised in that：The large arm（6）
Including large arm side plate one（61）With large arm side plate two（62）, the forearm（7）Including forearm side plate one（71）With forearm side plate two
（72）, the large arm side plate one（61）With large arm side plate two（62）, forearm side plate one（71）With forearm side plate two（72）, the first side
Plate（22）With the second side plate（23）, the second axis driving wheel（43）With third axis driving wheel（53）, the second axis belt（44）And third
Axis belt（54）, the second axis driven wheel（45）With third axis driven wheel（55）With pedestal（1）Centered on be symmetrical set.
10. vertical inverted according to claim 8 fills compact small-sized four axis robot, it is characterised in that：First side
Plate（22）With the second side plate（23）Upper end be equipped with fixed connecting plate（10）.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810921858.XA CN108908325A (en) | 2018-08-14 | 2018-08-14 | A kind of vertical inverted dress compact small-sized four axis robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810921858.XA CN108908325A (en) | 2018-08-14 | 2018-08-14 | A kind of vertical inverted dress compact small-sized four axis robot |
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| CN108908325A true CN108908325A (en) | 2018-11-30 |
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| CN201810921858.XA Pending CN108908325A (en) | 2018-08-14 | 2018-08-14 | A kind of vertical inverted dress compact small-sized four axis robot |
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| CN109795574A (en) * | 2019-01-11 | 2019-05-24 | 浩科机器人（苏州）有限公司 | A kind of compact wheel machine leg mobile robot |
| 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 |
| CN114080301A (en) * | 2019-07-31 | 2022-02-22 | X开发有限责任公司 | Independently translating coaxial robotic arm and sensing housing |
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Application publication date: 20181130 |