CN109591005A - A kind of puma manipulator for small item packaging - Google Patents
A kind of puma manipulator for small item packaging Download PDFInfo
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- CN109591005A CN109591005A CN201811651923.8A CN201811651923A CN109591005A CN 109591005 A CN109591005 A CN 109591005A CN 201811651923 A CN201811651923 A CN 201811651923A CN 109591005 A CN109591005 A CN 109591005A
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- arm body
- synchronizing wheel
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- 238000004806 packaging method and process Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 210000000245 forearm Anatomy 0.000 claims abstract description 40
- 210000000707 wrist Anatomy 0.000 claims abstract description 27
- 230000003028 elevating effect Effects 0.000 claims abstract description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 33
- 230000005693 optoelectronics Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000004804 winding Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000009960 carding Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of puma manipulators for small item packaging, including driving unit, pedestal, elevating mechanism rotating mechanism, big arm body, small arm body and manipulator, the rotating mechanism is fixed on the base, the elevating mechanism is mounted on rotating mechanism, it installs to elevating mechanism described big arm body one end, the other end of the big arm body is connected by connecting joint with forearm one end, the manipulator is mounted on the other end of small arm body, the driving unit includes lifting motor, forearm motor, large arm motor and wrist motor, the lifting motor is mounted on the top power output of elevating mechanism to one end of big arm body, the large arm motor is mounted on the base power output to rotating mechanism, the forearm motor is mounted on big arm body power output to connecting joint, the wrist motor is mounted on forearm Other end power output is to manipulator.At low cost, speed is fast, manipulator dynamic response capability with higher.
Description
Technical field
The present invention relates to technical field of automation equipment, refer specifically to a kind of puma manipulator for small item packaging.
Background technique
In order to improve the production efficiency, automatic technology constantly improves, and the utilization of manipulator is also more and more extensive.
But existing flapping articulation manipulator is primarily present following deficiency, is allowed to be not applied for small item packet
Dress field:
Manufacturing cost is excessively high；Using high-precision harmonic reduction；Manufacturing cost is excessively high；There are mechanical wear, equipment precisions
It is easy to lose.
It is excessively slow to execute speed: since the characteristics of harmonic wave speed reducing machine is high-precision, large speed ratio.Motor initial velocity is through excessive speed
Than later, causing final axis output speed too low, it is not able to satisfy the high speed of the automatic packaging field of small item.
Existing flapping articulation manipulator only has encoder feedback in motor output shaft, and the precision of final output axis is complete
The precision for relying on harmonic reduction is guaranteed.And the precision of harmonic wave speed reducing machine declines year by year with the abrasion accumulated over a long period, and causes
Its subsequent maintenance cost is excessively high.
In particular for the packaging of small item, small item are to belong to lightweight product, he turns round the final output of each axis
Square requires not high (speed ratio is big, and large torque exports inherently a kind of waste for it).Small item belong to low value-added production
Product, it is more sensitive to the cost of manipulator, while being also very sensitive to the operating rate of manipulator.In view of above-mentioned, city at present
The flapping articulation manipulator in face is not applicable.
Summary of the invention
The present invention is insufficient according to prior art, proposes a kind of puma manipulator for small item packaging, and low cost is high
Precision (final position closed loop), high-speed, the flapping articulation manipulator of small torque.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is as follows:
A kind of puma manipulator for small item packaging, including it is driving unit, pedestal, elevating mechanism rotating mechanism, big
Arm body, small arm body and manipulator, the rotating mechanism are fixed on the base, and the elevating mechanism is mounted on rotating mechanism
On, described big arm body one end, which is installed to the other end of elevating mechanism, the big arm body, passes through connecting joint and forearm one end
It is connected, the manipulator is mounted on the other end of small arm body, and the driving unit includes lifting motor, forearm motor, big
Arm motor and wrist motor, the lifting motor are mounted on the top power output of elevating mechanism to one end of big arm body, institute
It states large arm motor and is mounted on the base power output to rotating mechanism, the forearm motor is mounted on power output on big arm body
To connecting joint, the wrist motor is mounted on the other end power output of forearm to manipulator.
Preferably, the elevating mechanism includes mounting plate, four support posts, two the first synchronizing wheels and the first transmission
Band, four support posts structural vertical that is centrosymmetric are mounted on above rotating mechanism, and the mounting plate is fixed on four
The top of support post, the lifting motor are mounted on above mounting plate, one of them described first synchronizing wheel is mounted on lifting
The power output end of motor, another described first synchronizing wheel are mounted on rotating mechanism, and the first transmission belt solderless wrapped connection is two
In a first synchronizing wheel, one end of the big arm body is set there are four mounting hole, and it is embedding to be equipped with linear bearing in the mounting hole
Set, what four linear bearing nestings matched slips in four support posts, and first transmission belt runs through big arm body
And wherein the first transmission belt with big arm body of side are fastenedly connected.
Preferably, the rotating mechanism includes outer housing, rotating module, the second synchronizing wheel, the second transmission belt and first
Tensioning wheel, the outer housing are mounted on the base, and the rotating module, the second synchronizing wheel are mounted on the base and are located at outer housing
Interior, the both ends difference solderless wrapped connection of second transmission belt is in rotating module, the second synchronizing wheel, two the first tensioning wheel installations
It on pedestal and is crimped on the outside of the second transmission belt, the rotating mechanism is mounted on rotating module.
Preferably, the rotating module includes large-arm joint revolving part, deep groove ball bearing, fixing piece, the first taper shaft
It holds, third synchronizing wheel and plane bearing, the deep groove ball bearing, the first taper bearing peace spherical bearing match and be mounted on third
At the center of synchronizing wheel, the bottom side of the plane bearing is fixed on the base, and the fixing piece is through deep groove ball bearing, the first cone
Base upper surface, the large-arm joint revolving part and deep-groove ball are fixedly attached to after at the center of degree bearing and plane bearing
It is fixedly connected on the upside of bearing, one end solderless wrapped connection of second transmission belt is in third synchronizing wheel.
Preferably, the connecting joint includes that the second taper bearing, upper stationary part, the 4th synchronizing wheel and lower part are fixed
The other end of part, the big arm body is equipped with size same via with one end of small arm body and center line is overlapped, and described
The center line of four synchronizing wheels is overlapped with the center line of through-hole, is equipped with two second taper shafts at the center of the 4th synchronizing wheel
It holds, one end of the small arm body is fixedly connected with the second taper bearing, and the upper stationary part passes through through-hole, the second taper shaft
Hold at the center of the 4th synchronizing wheel after be fixedly connected with lower fixture, the forearm motor power drives to the 4th synchronizing wheel
Structure is identical as the structure that large arm motor power drives to third synchronizing wheel.
Preferably, the driving unit further includes driving lifting motor, forearm motor, large arm motor and wrist motor fortune
Capable robotic drive, the robotic drive input 48V direct current by relay, and the robotic drive passes through
Relay is electrically connected to lifting motor, forearm motor, large arm motor and wrist motor, and the robotic drive is equipped with several
Microcontroller serial port inputs respectively brake signal, inhales to deflate to control and take to press from both sides and examines sensor.
Preferably, the driving unit further includes optoelectronic switch input board, the bus end of the optoelectronic switch input board
It is connected with the bus end of robotic drive, the optoelectronic switch input board is equipped with several wire jumper interfaces and is separately connected lifting
It is motor zero, forearm motor zero, large arm motor zero, wrist motor zero, lifting motor limit, forearm electric machine spacing, big
Arm electric machine spacing, wrist electric machine spacing, lifting motor code device signal, forearm motor encoder signal, large arm motor encoder
Signal, wrist motor encoder signal.
Preferably, the lifting motor, forearm motor, large arm motor and wrist motor are stepper motor.
Preferably, the robotic drive is the servo-driver of model HS-RB-01A.
The present invention have the characteristics that it is following and the utility model has the advantages that
By adopting the above technical scheme, at low cost, the cost that synchronous pulley combines ways of deceleration is far below harmonic wave speed reducing machine, fits
It is used together in low value-added small item sorting packaging；Speed is fast, due to not having the large speed ratio harmonic wave speed reducing machine using market, end
Hold output shaft that there is speedy carding process ability, therefore, manipulator of the invention dynamic response capability with higher；Power motor is adopted
With stepper motor, manufacturing cost can be further decreased, is allowed to be more suitable for small item packaging field.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is another viewing angle constructions schematic diagram of Fig. 1；
Fig. 3 is that the mechanism of elevating mechanism in Fig. 1 is intended to；
Fig. 4 is the structural schematic diagram of large-arm joint transmission mechanism in Fig. 1；
Fig. 5 is assembling schematic diagram in Fig. 4；
Fig. 6 is the structural schematic diagram of forearm rotating mechanism in Fig. 1；
Fig. 7 is the schematic illustration of driving unit in the present invention.
In figure, 1- lifting motor, 2- forearm motor, the big arm body of 3-, the small arm body of 4-, 5- wrist motor, 6- elevator
Structure, 7- rotating mechanism, 8- manipulator, 9- pedestal, 10- connecting joint, 11- large arm motor, the first transmission belt of 12-, 13- first are same
Walk wheel, 14- support post, 15- mounting plate, 16- linear bearing nesting, 17- outer housing, 18- rotating module, 19- first tensioning
Wheel, the second synchronizing wheel of 20-, the second transmission belt of 21-, 22- large-arm joint revolving part, 23- deep groove ball bearing, 24- fixing piece, 25-
First taper bearing, 26- third synchronizing wheel, 27- plane bearing, 28- mounting hole, the second taper of 29- bearing, the top 30- are fixed
Part, the 4th synchronizing wheel of 31-, 32- lower fixture.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
The present invention provides a kind of puma manipulators 8 for small item packaging, and as depicted in figs. 1 and 2, including driving is single
Member, pedestal 9,6 rotating mechanism 7 of elevating mechanism, big arm body 3, small arm body 4 and manipulator 8, the rotating mechanism 7 are fixed on
On pedestal 9, the elevating mechanism 6 is mounted on rotating mechanism 7, and described big 3 one end of arm body is installed to elevating mechanism 6, described
The other end of big arm body 3 is connected by connecting joint 10 with forearm one end, and the manipulator 8 is mounted on small arm body 4
The other end, the driving unit include lifting motor 1, forearm motor 2, large arm motor 11 and wrist motor 5, the lifting motor
1 is mounted on the top power output of elevating mechanism 6 to one end of big arm body 3, and the large arm motor 11 is mounted on pedestal 9 and moves
Power is exported to rotating mechanism 7, and the forearm motor 2 is mounted on big arm body 3 power output to connecting joint 10, the wrist
Motor 5 is mounted on the other end power output of forearm to manipulator 8, the lifting motor 1, forearm motor 2,11 and of large arm motor
Wrist motor 5 is stepper motor.8 driver of manipulator is the servo-driver of model HS-RB-01A.
The further setting of the present invention, as shown in figure 3, the elevating mechanism 6 includes 15, four support posts of mounting plate
14, two the first synchronizing wheels 13 and the first transmission belt 12, four support posts 14 structural vertical that is centrosymmetric are mounted on
7 top of rotating mechanism, the mounting plate 15 are fixed on the top of four support posts 14, and the lifting motor 1 is mounted on installation
The top of plate 15, one of them first synchronizing wheel 13 are mounted on the power output end of lifting motor 1, another is described first same
Step wheel 13 is mounted on rotating mechanism 7, and 12 solderless wrapped connection of the first transmission belt is in two the first synchronizing wheels 13, the big arm body
3 one end is set there are four mounting hole 28, is equipped with linear bearing nesting 16 in the mounting hole 28, four linear bearings are embedding
What set 16 matched slip in four support posts 14, first transmission belt 12 through big arm body 3 and wherein side
First transmission belt 12 is fastenedly connected with big arm body 3.
The further setting of the present invention, as shown in figure 4, the rotating mechanism 7 includes outer housing 17, rotating module 18, the
Two synchronizing wheels 20, the second transmission belt 21 and the first tensioning wheel 19, the outer housing 17 are mounted on pedestal 9, the rotating module
18, the second synchronizing wheel 20 is mounted on pedestal 9 and is located in outer housing 17, and the both ends difference solderless wrapped connection of second transmission belt 21 exists
On rotating module 18, the second synchronizing wheel 20, two first tensioning wheels 19 are mounted on pedestal 9 and are crimped on the second transmission belt
21 outsides, the rotating mechanism 7 are mounted on rotating module 18.
The further setting of the present invention, as shown in figure 5, the rotating module 18 includes large-arm joint revolving part 22, zanjon
Ball bearing 23, fixing piece 24, the first taper bearing 25, third synchronizing wheel 26 and plane bearing 27, the deep groove ball bearing 23,
One taper bearing 25 and plane bearing 27, which match, to be mounted at the center of third synchronizing wheel 26, the bottom side of the plane bearing 27
It is fixed on pedestal 9, the fixing piece 24 is at the center of deep groove ball bearing 23, the first taper bearing 25 and plane bearing 27
After be fixedly attached to 9 upper surface of pedestal, be fixedly connected on the upside of the large-arm joint revolving part 22 and deep groove ball bearing 23, institute
One end solderless wrapped connection of the second transmission belt 21 is stated in third synchronizing wheel 26.
Specifically, the speed ratio of transmission is 1:5, the second synchronizing wheel 20 is the zero clearance tooth form of S5M, improves transmission accuracy.The
Three synchronizing wheels 26 are fixed on manipulator mounting base by zanjon bearing, taper bearing, plane bearing.Can both it guarantee in this way
The precision of rotation center, the consistent property of volume production, while also ensuring transmission rigidity.Synchronizing wheel is added using the technique of five class precisions
Work, it is ensured that the linear precision of transmission.
The further setting of the present invention, as shown in fig. 6, the connecting joint 10 is solid including the second taper bearing 29, top
Determine part 3024, the 4th synchronizing wheel 31 and lower fixture 3224, the other end of the big arm body 3 and one end of small arm body 4
It is equipped with size same via and center line is overlapped, the center line of the 4th synchronizing wheel 31 is overlapped with the center line of through-hole, institute
It states and two second taper bearings 29 is installed at the center of the 4th synchronizing wheel 31, one end of the small arm body 4 and the second taper shaft
It holds 29 to be fixedly connected, the upper stationary part 3024 passes through at the center of through-hole, the second taper bearing 29 and the 4th synchronizing wheel 31
It is fixedly connected afterwards with lower fixture 3224, forearm motor 2 power transmission to the 4th synchronizing wheel, 31 structure and large arm motor
The structure of 11 power transmissions to third synchronizing wheel 26 is identical.
It should be understood that big arm body and small arm body are made of upper and lower support plate, then by boring up and down
Degree bearing is fixed on big arm body.It may insure the precision of the rotation center of small arm body and the consistency of volume production in this way.
The further setting of the present invention, as shown in fig. 7, the driving unit further includes driving lifting motor 1, forearm motor
2,8 driver of manipulator that large arm motor 11 and wrist motor 5 are run, 8 driver of manipulator input 48V by relay
Direct current, 8 driver of manipulator are electrically connected to lifting motor 1, forearm motor 2, large arm motor 11 and wrist by relay
Portion's motor 5,8 driver of manipulator be equipped with several microcontroller serial ports input respectively has brake signal, inhale deflate control and
Folder is taken to examine sensor.The driving unit further includes optoelectronic switch input board, the bus end of the optoelectronic switch input board with
The bus end of 8 driver of manipulator is connected, and the optoelectronic switch input board is equipped with several wire jumper interfaces and is separately connected lifting
1 zero-bit of motor, 2 zero-bit of forearm motor, 11 zero-bit of large arm motor, 5 zero-bit of wrist motor, the limit of lifting motor 1, forearm motor 2
It is limit, the limit of large arm motor 11, the limit of wrist motor 5,1 code device signal of lifting motor, 2 code device signal of forearm motor, big
11 code device signal of arm motor, 5 code device signal of wrist motor.
Specifically, 19 absolute value encoders of each joint terminal shaft installation, the final position closed loop of stroke, with
High-precision repetitive positioning accuracy；Using the counter electromotive force of motor, can be measured in real time on the basis of no torsion sensor
The torque output characteristic curve of motor feels the ability of feedback with power, and when encountering collision, manipulator can be immediately
Stop, avoiding personnel's industrial injury or equipment damage；Using electric machine operating characteristic curve, each movement week can be calculated in real time
The execution time of phase realizes the function of dynamic crawl sorting convenient for cooperating with vision system
Effect of the invention:
1, it realizes and is accurately positioned, 0.05 millimeter of repetitive positioning accuracy；
2, using the characteristic curve of motor, the time of each movement beat can be calculated in real time online, without
By closed-loop control, iterate, Approach by inchmeal.This has the requirement greatly reduced to the operational capability of CPU.
3, using counter electromotive force, the load torque of motor is calculated in real time.It, can be timely when manipulator encounters collision
It detects, and hard stop, avoids casualties and equipment damage.
4, there are a variety of expansible IO, various gas nozzles, handgrip can be driven, and detect feedback signal.
Workflow of the invention is as follows:
1) it is powered on and initialized, self-test；
2) it waits and sending instructions under trajectory calculation machine:
A, small change bit instruction: after manipulator receives instruction, each joint is allowed to revert to electrical null position automatically.
In execution, real-time detection motor operating state.(winding short circuit, open circuit detection；Temperature detection, torque detection etc.)
B, fetching instruction: then manipulator automatic running to target position executes grasping movement.In execution, real-time detection
Motor operating state.(winding short circuit, open circuit detection；Temperature detection, torque detection etc.)
C, instruction: manipulator automatic running to target position is put, then executes and puts movement.In execution, real-time detection
Motor operating state.(winding short circuit, open circuit detection；Temperature detection, torque detection etc.)
D, transition instructs: arm end handgrip state remains unchanged, automatic running to target position.In execution, in real time
Detect motor operating state.(winding short circuit, open circuit detection；Temperature detection, torque detection etc.)
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out including component, are still fallen in protection scope of the present invention.
Claims (8)
1. a kind of puma manipulator for small item packaging, which is characterized in that including driving unit, pedestal, elevating mechanism rotation
Rotation mechanism, big arm body, small arm body and manipulator, the rotating mechanism are fixed on the base, and the elevating mechanism is mounted on
On rotating mechanism, described big arm body one end install the other end to elevating mechanism, the big arm body by connecting joint with
Forearm one end is connected, and the manipulator is mounted on the other end of small arm body, and the driving unit includes lifting motor, forearm
Motor, large arm motor and wrist motor, the lifting motor are mounted on the top power output of elevating mechanism to big arm body
One end, the large arm motor are mounted on the base power output to rotating mechanism, and the forearm motor is mounted on big arm body
Power output is to connecting joint, and the wrist motor is mounted on the other end power output of forearm to manipulator, and the driving is single
Member further includes the robotic drive for driving lifting motor, forearm motor, large arm motor and wrist motor operation, the manipulator
Driver inputs 48V direct current by relay, and the robotic drive is electrically connected to lifting motor, forearm by relay
Motor, large arm motor and wrist motor, the robotic drive, which is equipped with several microcontroller serial ports and inputs respectively, has brake to believe
Number, inhale deflate control and take folder examine sensor.
2. the puma manipulator according to claim 1 for small item packaging, which is characterized in that the elevating mechanism packet
Include mounting plate, four support posts, two the first synchronizing wheels and the first transmission belt, four support posts are centrosymmetric knot
Structure is vertically installed above rotating mechanism, and the mounting plate is fixed on the top of four support posts, the lifting motor installation
Side, one of them first synchronizing wheel are mounted on the power output end of lifting motor on a mounting board, another described first
Synchronizing wheel is mounted on rotating mechanism, and the first transmission belt solderless wrapped connection is in two the first synchronizing wheels, and the one of the big arm body
Mounting hole there are four setting is held, linear bearing nesting is installed in the mounting hole, what four linear bearing nestings matched
Slip in four support posts, first transmission belt through big arm body and wherein the first transmission belt of side and large arm sheet
Body is fastenedly connected.
3. the puma manipulator according to claim 2 for small item packaging, which is characterized in that the rotating mechanism packet
Outer housing, rotating module, the second synchronizing wheel, the second transmission belt and the first tensioning wheel are included, the outer housing is mounted on the base, institute
State rotating module, the second synchronizing wheel is mounted on the base and is located in outer housing, the both ends difference solderless wrapped connection of second transmission belt
In rotating module, the second synchronizing wheel, two first tensioning wheels are mounted on the base and are crimped on the outside of the second transmission belt,
The rotating mechanism is mounted on rotating module.
4. the puma manipulator according to claim 3 for small item packaging, which is characterized in that the rotating module packet
Include large-arm joint revolving part, deep groove ball bearing, fixing piece, the first taper bearing, third synchronizing wheel and plane bearing, the zanjon
Ball bearing, the first taper bearing peace spherical bearing are matched and are mounted at the center of third synchronizing wheel, the bottom of the plane bearing
Side is fixed on the base, and the fixing piece is fixed after running through at the center of deep groove ball bearing, the first taper bearing peace spherical bearing
It is connected to base upper surface, is fixedly connected on the upside of the large-arm joint revolving part and deep groove ball bearing, second transmission
One end solderless wrapped connection of band is in third synchronizing wheel.
5. the puma manipulator according to claim 2 for small item packaging, which is characterized in that the connecting joint packet
Include the second taper bearing, upper stationary part, the 4th synchronizing wheel and lower fixture, the other end and forearm sheet of the big arm body
One end of body is equipped with size same via and center line is overlapped, the center line of the 4th synchronizing wheel and the center line weight of through-hole
It closes, two second taper bearings, one end of the small arm body and the second taper shaft is installed at the center of the 4th synchronizing wheel
It holds and is fixedly connected, the upper stationary part is solid with lower part after passing through at the center of through-hole, the second taper bearing and the 4th synchronizing wheel
Determine part to be fixedly connected, the forearm motor power drives to the 4th synchronous wheel construction, and with large arm motor power to drive to third synchronous
The structure of wheel is identical.
6. the puma manipulator according to claim 1 for small item packaging, which is characterized in that the driving unit is also
Including optoelectronic switch input board, the bus end of the optoelectronic switch input board is connected with the bus end of robotic drive, institute
It states optoelectronic switch input board and is separately connected lifting motor zero-bit, forearm motor zero, large arm motor equipped with several wire jumper interfaces
Zero-bit, wrist motor zero, lifting motor limit, forearm electric machine spacing, large arm electric machine spacing, wrist electric machine spacing, lifting electricity
Machine code device signal, forearm motor encoder signal, large arm motor encoder signal, wrist motor encoder signal.
7. the puma manipulator according to claim 1 for small item packaging, which is characterized in that the lifting motor,
Forearm motor, large arm motor and wrist motor are stepper motor.
8. the puma manipulator according to claim 1 for small item packaging, which is characterized in that the robot drives
Device is the servo-driver of model HS-RB-01A.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811651923.8A CN109591005A (en) | 2018-12-31 | 2018-12-31 | A kind of puma manipulator for small item packaging |
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| CN201811651923.8A CN109591005A (en) | 2018-12-31 | 2018-12-31 | A kind of puma manipulator for small item packaging |
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