CN110103213A - A kind of four shaft industrial robots - Google Patents
A kind of four shaft industrial robots Download PDFInfo
- Publication number
- CN110103213A CN110103213A CN201910384573.1A CN201910384573A CN110103213A CN 110103213 A CN110103213 A CN 110103213A CN 201910384573 A CN201910384573 A CN 201910384573A CN 110103213 A CN110103213 A CN 110103213A
- Authority
- CN
- China
- Prior art keywords
- straight line
- mould group
- line mould
- motor
- fixed cell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Four shaft industrial robots of one kind include left side brackets and right side bracket, the upper end of the left side brackets is provided with first straight line mould group, the connector being set in the first straight line mould group is provided with second straight line mould group on the connector, is provided with robot assembly in the second straight line mould group.Light load of the present invention, on the one hand guarantee that it has biggish load by setting straight line mould group, on the other hand it has higher precision, and spline and screw rod slot are provided in its connecting shaft simultaneously, it is under the cooperation of feed screw nut and splined nut, its precision can achieve 0.05mm, keep its application range wider.
Description
Technical field
The present invention relates to Industrial Robot Technology fields, more particularly, to a kind of four shaft industrial robots.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.In the small-sized people that puts together machines, " four axis SCARA robots " refers to " selectivity assembly joint robotic arm ", i.e. four axis machines
The arm segment of people is that can move freely in a geometrical plane.
But the heavier loads of existing four shaft industrial robot, keep its precision lower, four traditional axis SCARA robots
For precision generally within 0.5mm, using it has certain limitation.
Therefore, it is necessary to provide the new technical solution of one kind to overcome drawbacks described above.
Summary of the invention
The purpose of the present invention is to provide four shaft industrial robots that one kind can effectively solve above-mentioned technical problem.
For the purpose for reaching the present invention, adopt the following technical scheme that
A kind of four shaft industrial robots include left side brackets and right side bracket, and the upper end of the left side brackets is provided with the
One straight line mould group, the connector being set in the first straight line mould group are provided with second straight line mould group, institute on the connector
It states and is provided with robot assembly in second straight line mould group, the robot assembly includes cavity, to be contained in the chamber intracorporal solid
Order member, the connecting shaft being set on the fixed cell, the feed screw nut being set in the connecting shaft and splined nut,
The cavity is connect with the second straight line mould group, and the second straight line mould group is allowed to drive the cavity mobile, described
The upper and lower surface of fixed cell and the cavity is detachably connected, and spline and screw rod slot, institute are provided in the connecting shaft
Connecting shaft is stated across the fixed cell, the feed screw nut covers in the connecting shaft, and the splined nut is covered in the company
In spindle.
Further: the feed screw nut is stuck on the screw rod slot.
Further: the splined nut is stuck in the spline.
It is further: to be set to first motor on the fixed cell, the second motor, the first motor is set to institute
The top of fixed cell is stated, second motor is set to the lower part of the fixed cell.
Further: the first motor and second motor are bolted with the fixed cell.
It is further: the feed screw nut, the splined nut by synchronous pulley respectively with second motor, first
Motor connection.
Compared with prior art, the invention has the following beneficial effects: four shaft industrial robot light loads of the invention, lead to
It crosses setting straight line mould group and on the one hand guarantees that it has biggish load, on the other hand it has higher precision, and its connecting shaft
Above while it being provided with spline and screw rod slot, under the cooperation of feed screw nut and splined nut, precision be can achieve
0.05mm keeps its application range wider.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of four shaft industrial robots of the invention.
Fig. 2 is robot assembly's structural schematic diagram of four shaft industrial robots of the invention.
Fig. 3 is the partial structure diagram of four shaft industrial robots of the invention.
Fig. 4 is the connecting axle structure schematic diagram of four shaft industrial robots of the invention.
Description of symbols: 1 it is left side brackets, 2 is right side bracket, 3 is first straight line mould group, 4 is connector, 5 is the
Two straight line mould groups, 6 be robot assembly, 61 be cavity, 62 be fixed cell, 63 be first motor, 64 be the second motor, 65 be
Connecting shaft, 66 be feed screw nut, 67 be splined nut.
Specific embodiment
In the description of the present invention, it is to be understood that, term " center ", " transverse direction ", " longitudinal direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
The limitation of the scope of the present invention.When component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Clear and complete explanation is made to four shaft industrial robots of the invention below in conjunction with attached drawing.
As shown in Figures 1 to 4, four shaft industrial robots of the invention include left side brackets 1, right side bracket 2, the left side branch
It is provided with several threaded holes on frame 1 and the right side bracket 2, stud can be by the threaded hole by the left side brackets 1
With the right side bracket 2 installation to required position, the height of the left side brackets 1 is lower than the height of the right side bracket 2.It is described
The upper end of left side brackets 1 is provided with first straight line mould group 3, and the first straight line mould group 3 is connect with the left side brackets 1, described
First straight line mould group 3 and the connection type of the left side brackets 1 are preferably bolted.It is arranged in the first straight line mould group 3
There is connector 4, the connector 4 is connect with the first straight line mould group 3, and the first straight line mould group 3 is allowed to drive institute
It is mobile to state connector 4, positioning component is provided between the connector 4 and the right side bracket 2, the positioning component is guide rail
The movement for making the connector 4 stable with sliding block, the positioning component.Second straight line mould group is provided on the connector 4
5, the second straight line mould group 5 is bolted with the connector 4.
As shown in Figures 1 to 4, robot assembly 6 is provided in the second straight line mould group 5, the robot assembly 6 wraps
Include cavity 61, the fixed cell 62 being contained in the cavity 61, the first motor 63 being set on the fixed cell 62,
Two motors 64, the connecting shaft 65 being set on the fixed cell 62, the feed screw nut 66 being set in the connecting shaft 65 with
And splined nut 67.The cavity 61 is connect with the second straight line mould group 5, and the second straight line mould group 5 is driven
The cavity 61 is mobile.The upper and lower surface of the fixed cell 62 and the cavity 61 is detachably connected, preferred connection type
To snap connection.The first motor 63 and second motor 64 are bolted with the fixed cell 62, and described
One motor 63 is set to the lower part of the fixed cell 62, and second motor 64 is set to the top of the fixed cell 62.
Spline and screw rod slot are provided in the connecting shaft 65, so that the connecting shaft 65 has the work of spline and screw rod simultaneously
With the connecting shaft 65 passes through the fixed cell 62.66 sets of the feed screw nut in the connecting shaft 65, and the screw rod
Nut 66 is stuck on the screw rod slot.67 sets of the splined nut in the connecting shaft 65, and the splined nut 67 is stuck in
The spline.The feed screw nut 66, the splined nut 67 by synchronous pulley respectively with second motor 64, first
Motor 63 connects.Second motor 64 is allowed to drive the connecting shaft 65 to rotate by the feed screw nut 66, it is described
First motor 63 can drive the connecting shaft 65 to move up and down by the splined nut 67.
In order to keep the purposes, technical schemes and advantages of the embodiment of the present invention clearer, implement below in conjunction with the present invention
Technical solution in example carries out clear, complete description, it is clear that and described embodiment is section Example of the invention, and
It is not all of embodiment.
Embodiment:
First by stud, threaded hole by the left side brackets 1 and the right side bracket 2 installation to required position, then
First straight line mould group 3 can be moved forward and backward with the electronic second straight line mould group 5, the robot assembly 6, the second straight line mould
Group 5 can drive the robot assembly 6 to move left and right, and thereby may be ensured that the present invention has biggish load, and precision is more
Height, while second motor 64 can drive the connecting shaft 65 to rotate by the feed screw nut 66, the first motor
63 can drive the connecting shaft 65 to move up and down by the splined nut 67, higher into precision of the invention.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
1. a kind of four shaft industrial robots include left side brackets and right side bracket, it is characterised in that: the left side brackets it is upper
End is provided with first straight line mould group, the connector being set in the first straight line mould group, is provided with second on the connector
Straight line mould group, is provided with robot assembly in the second straight line mould group, the robot assembly include cavity, be contained in it is described
The intracorporal fixed cell of chamber, the connecting shaft being set on the fixed cell, the feed screw nut being set in the connecting shaft with
And splined nut, the cavity are connect with the second straight line mould group, the upper and lower surface of the fixed cell and the cavity can
Dismantling connection, spline and screw rod slot are provided in the connecting shaft, and the connecting shaft passes through the fixed cell, the silk
Stem nut covers in the connecting shaft, and the splined nut covers in the connecting shaft.
2. four shaft industrial robot as described in claim 1, it is characterised in that: the feed screw nut is stuck in the screw rod slot
On.
3. four shaft industrial robot as claimed in claim 2, it is characterised in that: the splined nut is stuck in the spline
On.
4. four shaft industrial robot as described in claim 1, it is characterised in that: the first electricity being set on the fixed cell
Machine, the second motor, the first motor are set to the top of the fixed cell, and second motor is set to described fixed single
The lower part of member.
5. four shaft industrial robot as claimed in claim 4, it is characterised in that: the first motor and second motor
It is bolted with the fixed cell.
6. four shaft industrial robot as claimed in claim 5, it is characterised in that: the feed screw nut, the splined nut are logical
Synchronous pulley is crossed to connect with second motor, first motor respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910384573.1A CN110103213A (en) | 2019-05-09 | 2019-05-09 | A kind of four shaft industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910384573.1A CN110103213A (en) | 2019-05-09 | 2019-05-09 | A kind of four shaft industrial robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110103213A true CN110103213A (en) | 2019-08-09 |
Family
ID=67489114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910384573.1A Pending CN110103213A (en) | 2019-05-09 | 2019-05-09 | A kind of four shaft industrial robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110103213A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800471A (en) * | 2022-04-12 | 2022-07-29 | 苏州迅亚自动化控制技术有限公司 | Multi-degree-of-freedom industrial robot with small size and high flexibility |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011064271A (en) * | 2009-09-17 | 2011-03-31 | Asmo Co Ltd | Loader device and method for conveying parts |
| CN201970315U (en) * | 2011-03-16 | 2011-09-14 | 华南理工大学广州汽车学院 | Third and fourth joint mechanisms of planar joint robot |
| CN102778890A (en) * | 2012-07-02 | 2012-11-14 | 中国工程物理研究院总体工程研究所 | Four-axis full-electric-driving geotechnical centrifugal robot |
| CN205290938U (en) * | 2015-11-30 | 2016-06-08 | 无锡艾度科技有限公司 | High efficiency robot |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| CN207014360U (en) * | 2017-02-10 | 2018-02-16 | 上海轩田工业设备有限公司 | A kind of axle transplantation device of workpiece four |
| CN207346758U (en) * | 2017-08-22 | 2018-05-11 | 恒信自动化（大连）有限公司 | Four axis transplanters |
-
2019
- 2019-05-09 CN CN201910384573.1A patent/CN110103213A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011064271A (en) * | 2009-09-17 | 2011-03-31 | Asmo Co Ltd | Loader device and method for conveying parts |
| CN201970315U (en) * | 2011-03-16 | 2011-09-14 | 华南理工大学广州汽车学院 | Third and fourth joint mechanisms of planar joint robot |
| CN102778890A (en) * | 2012-07-02 | 2012-11-14 | 中国工程物理研究院总体工程研究所 | Four-axis full-electric-driving geotechnical centrifugal robot |
| CN205290938U (en) * | 2015-11-30 | 2016-06-08 | 无锡艾度科技有限公司 | High efficiency robot |
| CN207014360U (en) * | 2017-02-10 | 2018-02-16 | 上海轩田工业设备有限公司 | A kind of axle transplantation device of workpiece four |
| CN207346758U (en) * | 2017-08-22 | 2018-05-11 | 恒信自动化（大连）有限公司 | Four axis transplanters |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800471A (en) * | 2022-04-12 | 2022-07-29 | 苏州迅亚自动化控制技术有限公司 | Multi-degree-of-freedom industrial robot with small size and high flexibility |
| CN114800471B (en) * | 2022-04-12 | 2023-08-01 | 苏州迅亚自动化控制技术有限公司 | Multi-freedom-degree industrial robot with small volume and high flexibility |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190809 |
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| RJ01 | Rejection of invention patent application after publication |