CN109676588A - A kind of novel three axis joints manipulator - Google Patents
A kind of novel three axis joints manipulator Download PDFInfo
- Publication number
- CN109676588A CN109676588A CN201910084459.7A CN201910084459A CN109676588A CN 109676588 A CN109676588 A CN 109676588A CN 201910084459 A CN201910084459 A CN 201910084459A CN 109676588 A CN109676588 A CN 109676588A
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- China
- Prior art keywords
- belt wheel
- motor
- linking arm
- connecting sleeve
- novel
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- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 230000005611 electricity Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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 present invention discloses a kind of novel three axis joints manipulator, including fixed frame, first motor, the second motor, third motor, first pulley, the second belt wheel, third belt wheel, the 4th belt wheel, the 5th belt wheel, the 6th belt wheel, the first transmission shaft, second driving shaft, the first connecting sleeve, the second connecting sleeve, the first linking arm, the second linking arm and third linking arm.The novel three axis joints manipulator effectively can will steadily run transmission, it can also realize that crawl PCB reaches multiple angles, the power source of two axis is accommodated in lowermost end, reaches the light structure of linking arm position, it is applied widely, meet the requirement of a variety of production lines.
Description
Technical field
The present invention relates to the technical fields of PCB production, more particularly to a kind of novel three axis joints manipulator.
Background technique
With the development of modernization of industry process, more and more productions use manipulator, such as two shaft mechanicals
Hand, three axle robert, four axis robots and six axis robot, present manipulator at existing automation industry can not or
Scarce part.There are many existing manipulator, but cannot fully work under specific demand, when various places are installed,
Power, which is separately positioned on each section of linking arm, causes center of gravity to rise, and stability is poor.
Summary of the invention
It is an object of the present invention to: a kind of novel three axis joints manipulator, the novel three axis joints manipulator are provided
Transmission effectively can will be steadily run, can also realize that crawl PCB reaches multiple angles, the power source of two axis is accommodated in most
Bottom end reaches the light structure of linking arm position, applied widely, meets the requirement of a variety of production lines.
To achieve this purpose, the present invention adopts the following technical scheme: a kind of novel three axis joints manipulator, including fixed frame,
First motor, the second motor, third motor, first pulley, the second belt wheel, third belt wheel, the 4th belt wheel, the 5th belt wheel, the 6th
Belt wheel, the first transmission shaft, second driving shaft, the first connecting sleeve, the second connecting sleeve, the first linking arm, the second linking arm and
The fixing end of third linking arm, the fixing end of the first motor and second motor is each attached on the fixed frame, institute
The fixing end and the first pulley for stating first motor are keyed, and the fixing end of the second motor and second belt wheel are keyed,
Belt is sequentially connected between the first pulley and the third belt wheel, belt between second belt wheel and the 4th belt wheel
Transmission connection, first transmission shaft run through the third belt wheel, the 4th belt wheel and the 5th belt wheel, and described first passes
Moving axis and the third belt wheel are keyed, and first transmission shaft is connect with the 4th Bearing with wheel, first transmission shaft
It is keyed with the 5th belt wheel, the 5th belt wheel and the 6th belt wheel are separately mounted to the two of first linking arm
End, belt is sequentially connected between the 5th belt wheel and the 6th belt wheel, and the first connector sleeve pipe sleeve is passed described first
The outside of moving axis, one end of first connecting sleeve are fixedly connected with the 4th belt wheel, first connecting sleeve it is another
Outer one end is fixedly connected with first linking arm far from one end of the 6th belt wheel, one end of the second driving shaft and institute
The 6th belt wheel key connection is stated, the other end of the second driving shaft is connect with the first linking arm bearing, and described second connects
Female connector pipe sleeve is fixedly connected in the outside of the second driving shaft, one end of second connecting sleeve with the 6th belt wheel,
The other end of second connecting sleeve is fixedly connected with one end of second linking arm, one end of the third linking arm
It is fixedly connected with second linking arm far from one end of second connecting sleeve, the fixing end of the third motor is fixed on
In the third linking arm, the movable end of the third motor is connect with the third linking arm bearing.
As a kind of perferred technical scheme, first is connected between first connecting sleeve and first linking arm
Speed reducer.
As a kind of perferred technical scheme, second is connected between second connecting sleeve and second linking arm
Speed reducer.
As a kind of perferred technical scheme, third speed reducer, the third are provided on the outside of the third linking arm
One end of speed reducer is connect with the movable end of the third motor, and the other end of the third speed reducer is connected with mobile machine
Hand.
As a kind of perferred technical scheme, the first fender bracket and the second fender bracket are fixed on the fixed frame, it is described
The fixing end of first motor is fixed on first fender bracket, and the first pulley is located in first fender bracket, described
The fixing end of second motor is fixed on second fender bracket, and second belt wheel is located in second fender bracket.
As a kind of perferred technical scheme, the first motor, second motor and the third motor are to watch
Take motor.
The invention has the benefit that providing a kind of novel three axis joints manipulator, the novel three axis joints manipulator energy
Transmission enough effectively will be steadily run, can also realize that crawl PCB reaches multiple angles, the power source of two axis is accommodated in most bottom
End, reaches the light structure of linking arm position, applied widely, meets the requirement of a variety of production lines.
Detailed description of the invention
The present invention will be further described in detail below based on the drawings and embodiments.
Fig. 1 is the overall structure diagram of the novel three axis joints manipulator of one kind described in embodiment；
Fig. 2 is the first partial structural schematic diagram of the novel three axis joints manipulator of one kind described in embodiment；
Fig. 3 is the second partial structural diagram of the novel three axis joints manipulator of one kind described in embodiment；
Fig. 4 is the third partial structural diagram of the novel three axis joints manipulator of one kind described in embodiment.
In Fig. 1 to Fig. 4:
1, fixed frame；2, first motor；3, the second motor；4, third motor；5, first pulley；6, the second belt wheel；7, third band
Wheel；8, the 4th belt wheel；9, the 5th belt wheel；10, the 6th belt wheel；11, the first transmission shaft；12, second driving shaft；13, the first connection
Casing；14, the second connecting sleeve；15, the first linking arm；16, the second linking arm；17, third linking arm；18, the first speed reducer；
19, the second speed reducer；20, third speed reducer；21, the first fender bracket；22, the second fender bracket；23, mobile machine hand.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
As shown in Figures 1 to 4, in this present embodiment, a kind of novel three axis joints manipulator, including the 1, first electricity of fixed frame
Machine 2, the second motor 3, third motor 4, first pulley 5, the second belt wheel 6, third belt wheel 7, the 4th belt wheel 8, the 5th belt wheel 9,
Six belt wheels 10, the first transmission shaft 11, second driving shaft 12, the first connecting sleeve 13, the second connecting sleeve 14, the first linking arm
15, the second linking arm 16 and third linking arm 17, the fixing end of the first motor 2 and the fixing end of second motor 3 are equal
It is fixed on the fixed frame 1, the fixing end of the first motor 2 and the first pulley 5 are keyed, and the second motor 3 is consolidated
Fixed end and second belt wheel 6 are keyed, and belt is sequentially connected between the first pulley 5 and the third belt wheel 7, and described the
Belt is sequentially connected between two belt wheels 6 and the 4th belt wheel 8, and first transmission shaft 11 is through the third belt wheel 7, described
4th belt wheel 8 and the 5th belt wheel 9, first transmission shaft 11 are keyed with the third belt wheel 7, first transmission shaft
11 connect with 8 bearing of the 4th belt wheel, and first transmission shaft 11 is keyed with the 5th belt wheel 9, the 5th belt wheel 9
The both ends of first linking arm 15, the 5th belt wheel 9 and the 6th belt wheel are separately mounted to the 6th belt wheel 10
Belt is sequentially connected between 10,13 sets of first connecting sleeve outsides in first transmission shaft 11, first connection
One end of casing 13 is fixedly connected with the 4th belt wheel 8, and the other end of first connecting sleeve 13 and described first connects
It connects arm 15 to be fixedly connected far from one end of the 6th belt wheel 10, one end of the second driving shaft 12 and the 6th belt wheel 10
Key connection, the other end of the second driving shaft 12 are connect with 15 bearing of the first linking arm, second connecting sleeve
14 sets of outsides in the second driving shaft 12, one end of second connecting sleeve 14 and the fixed company of the 6th belt wheel 10
It connects, the other end of second connecting sleeve 14 is fixedly connected with one end of second linking arm 16, the third connection
One end of arm 17 is fixedly connected with second linking arm 16 far from one end of second connecting sleeve 14, the third motor
4 fixing end is fixed in the third linking arm 17, the movable end of the third motor 4 and 17 bearing of third linking arm
Connection.
First segment works (15 rotation work of the first linking arm), and second motor 3 works, and passes through second band
The drive of wheel 6 and the transmission of belt, the 4th belt wheel 8 rotation, and then by power transmission to first connecting sleeve 13,
First connecting sleeve 13 controls first linking arm 15 and rotates relative to the fixed frame 1.
Second segment works (16 rotation work of the second linking arm), and the first motor 2 works, and passes through the first band
The drive of wheel 5 and the transmission of belt, the third belt wheel 7 rotate, and then first transmission shaft 11 rotates, and drive described the
The rotation of five belt wheels 9, then by the transmission of belt, the 6th belt wheel 10 rotation again passes power transmission to described second
Moving axis 12, second connecting sleeve 14 control second linking arm 16 and rotate relative to first linking arm 15.
The work of third section directly starts work by the third motor 4 being fixed on the third linking arm 17, described
The movable end of third motor 4 rotates, and drives the component rotation being connect with the movable end of the third motor 4, realizes third section
Rotation.
In this present embodiment, the first speed reducer is connected between first connecting sleeve 13 and first linking arm 15
18, the second speed reducer 19 is connected between second connecting sleeve 14 and second linking arm 16.
Slowed down using first speed reducer 18 and second speed reducer 19 to the revolving speed of motor, is allowed to adapt to
In the work production procedure of PCB.
In this present embodiment, the outside of the third linking arm 17 is provided with third speed reducer 20, the third speed reducer
20 one end is connect with the movable end of the third motor 4, and the other end of the third speed reducer 20 is connected with mobile machine
Hand 23.
The third speed reducer 20 controls to be used on the dynamic retarding to the mobile machine hand 23 of the third motor 4.
In this present embodiment, the first fender bracket 21 and the second fender bracket 22, first electricity are fixed on the fixed frame 1
The fixing end of machine 2 is fixed on first fender bracket 21, and the first pulley 5 is located in first fender bracket 21, described
The fixing end of second motor 3 is fixed on second fender bracket 22, and second belt wheel 6 is located at second fender bracket 22
It is interior.
The accurate work of first pulley 5 described in first fender bracket, 21 effective protection, not by the shadow of equipment other component
It rings, the accurate work of the second belt wheel 6 described in 22 effective protection of the second fender bracket is not influenced by equipment other component.
In this present embodiment, the first motor 2, second motor 3 and the third motor 4 are servo motor.
Servo motor can control forward and reverse, realize first linking arm 15.Second linking arm 16 and
The forward and reverse of 23 three of mobile machine hand.
It is to be understood that above-mentioned specific embodiment is only that presently preferred embodiments of the present invention and institute's application technology are former
Reason, within the technical scope of the present disclosure, variation that anyone skilled in the art is readily apparent that or
Replacement, should be covered by the scope of protection of the present invention.
Claims (6)
1. a kind of novel three axis joints manipulator, which is characterized in that including fixed frame, first motor, the second motor, third electricity
Machine, first pulley, the second belt wheel, third belt wheel, the 4th belt wheel, the 5th belt wheel, the 6th belt wheel, the first transmission shaft, the second transmission
Axis, the first connecting sleeve, the second connecting sleeve, the first linking arm, the second linking arm and third linking arm, the first motor
The fixing end of fixing end and second motor is each attached on the fixed frame, the fixing end of the first motor and described the
One belt wheel key connection, the fixing end of the second motor and second belt wheel are keyed, the first pulley and the third belt wheel
Between belt transmission connection, belt is sequentially connected between second belt wheel and the 4th belt wheel, and first transmission shaft passes through
The third belt wheel, the 4th belt wheel and the 5th belt wheel are worn, first transmission shaft and the third belt wheel are keyed,
First transmission shaft is connect with the 4th Bearing with wheel, and first transmission shaft and the 5th belt wheel are keyed, described
5th belt wheel and the 6th belt wheel are separately mounted to the both ends of first linking arm, the 5th belt wheel and the 6th band
Belt is sequentially connected between wheel, and the first connector sleeve pipe sleeve is in the outside of first transmission shaft, first connecting sleeve
One end be fixedly connected with the 4th belt wheel, the other end of first connecting sleeve and first linking arm are far from institute
The one end for stating the 6th belt wheel is fixedly connected, and one end of the second driving shaft and the 6th belt wheel are keyed, and described second passes
The other end of moving axis is connect with the first linking arm bearing, and the second connector sleeve pipe sleeve is in the outer of the second driving shaft
Side, one end of second connecting sleeve are fixedly connected with the 6th belt wheel, the other end of second connecting sleeve with
One end of second linking arm is fixedly connected, and one end of the third linking arm and second linking arm are far from described second
One end of connecting sleeve is fixedly connected, and the fixing end of the third motor is fixed in the third linking arm, the third electricity
The movable end of machine is connect with the third linking arm bearing.
2. the novel three axis joints manipulator of one kind according to claim 1, which is characterized in that first connecting sleeve with
The first speed reducer is connected between first linking arm.
3. the novel three axis joints manipulator of one kind according to claim 1, which is characterized in that second connecting sleeve with
The second speed reducer is connected between second linking arm.
4. the novel three axis joints manipulator of one kind according to claim 1, which is characterized in that outside the third linking arm
Side is provided with third speed reducer, and one end of the third speed reducer is connect with the movable end of the third motor, and the third subtracts
The other end of fast machine is connected with mobile machine hand.
5. the novel three axis joints manipulator of one kind according to claim 1, which is characterized in that be fixed on the fixed frame
First fender bracket and the second fender bracket, the fixing end of the first motor are fixed on first fender bracket, the first band
Wheel is located in first fender bracket, and the fixing end of second motor is fixed on second fender bracket, second band
Wheel is located in second fender bracket.
6. the novel three axis joints manipulator of one kind according to claim 1, which is characterized in that the first motor, described
Second motor and the third motor are servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910084459.7A CN109676588A (en) | 2019-01-29 | 2019-01-29 | A kind of novel three axis joints manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910084459.7A CN109676588A (en) | 2019-01-29 | 2019-01-29 | A kind of novel three axis joints manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109676588A true CN109676588A (en) | 2019-04-26 |
Family
ID=66194941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910084459.7A Pending CN109676588A (en) | 2019-01-29 | 2019-01-29 | A kind of novel three axis joints manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109676588A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202566A (en) * | 2019-07-10 | 2019-09-06 | 昆山昊旺机械有限公司 | A kind of three axle robert arm |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07237156A (en) * | 1994-01-10 | 1995-09-12 | Tatsumo Kk | Arm structure for robot |
| JPH11309688A (en) * | 1998-04-30 | 1999-11-09 | Pentel Kk | Link arm robot |
| JP2007044839A (en) * | 2005-08-11 | 2007-02-22 | Toshiba Mach Co Ltd | Industrial robot |
| JP2011020232A (en) * | 2009-07-17 | 2011-02-03 | Toshiba Mach Co Ltd | Robot for holding object-to-be-painted and robot system for painting |
| CN205129847U (en) * | 2015-11-10 | 2016-04-06 | 东莞市信腾机器人科技有限公司 | Articulated robot |
| CN209579546U (en) * | 2019-01-29 | 2019-11-05 | 东莞市坤鹏伯爵机械设备有限公司 | A kind of novel three axis joints manipulator |
-
2019
- 2019-01-29 CN CN201910084459.7A patent/CN109676588A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07237156A (en) * | 1994-01-10 | 1995-09-12 | Tatsumo Kk | Arm structure for robot |
| JPH11309688A (en) * | 1998-04-30 | 1999-11-09 | Pentel Kk | Link arm robot |
| JP2007044839A (en) * | 2005-08-11 | 2007-02-22 | Toshiba Mach Co Ltd | Industrial robot |
| JP2011020232A (en) * | 2009-07-17 | 2011-02-03 | Toshiba Mach Co Ltd | Robot for holding object-to-be-painted and robot system for painting |
| CN205129847U (en) * | 2015-11-10 | 2016-04-06 | 东莞市信腾机器人科技有限公司 | Articulated robot |
| CN209579546U (en) * | 2019-01-29 | 2019-11-05 | 东莞市坤鹏伯爵机械设备有限公司 | A kind of novel three axis joints manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202566A (en) * | 2019-07-10 | 2019-09-06 | 昆山昊旺机械有限公司 | A kind of three axle robert arm |
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