CN110154081B - Four-axis mechanical arm for 3C industry - Google Patents
Four-axis mechanical arm for 3C industry Download PDFInfo
- Publication number
- CN110154081B CN110154081B CN201910393222.7A CN201910393222A CN110154081B CN 110154081 B CN110154081 B CN 110154081B CN 201910393222 A CN201910393222 A CN 201910393222A CN 110154081 B CN110154081 B CN 110154081B
- Authority
- CN
- China
- Prior art keywords
- motor
- shaft
- speed reducer
- axis assembly
- axis
- 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.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims description 75
- 230000001360 synchronised effect Effects 0.000 claims description 70
- 239000003638 chemical reducing agent Substances 0.000 claims description 53
- 230000007246 mechanism Effects 0.000 claims description 32
- 230000009286 beneficial effect Effects 0.000 abstract description 9
- 208000032370 Secondary transmission Diseases 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 210000000245 forearm Anatomy 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 7
- 230000009467 reduction Effects 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002441 reversible 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
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a four-axis mechanical arm for 3C industry, which is characterized by comprising a serial machine structure composed of a shaft base, a two-axis assembly, a three-axis assembly and a four-axis assembly, wherein the two-axis assembly is vertically arranged on the shaft base, one end of the three-axis assembly is horizontally arranged and is rotatably connected to the two-axis assembly, one end of the four-axis assembly is horizontally arranged and is rotatably connected to one end of the three-axis assembly far away from the two-axis assembly, the three-axis assembly is internally provided with a third motor and a fourth motor, the third motor controls the four-axis assembly to rotate in the horizontal direction, and the fourth motor controls the rotation of an output shaft on the four-axis assembly through secondary transmission. The beneficial effects of the invention are as follows: the four-axis motor is combined with the three-axis motor for modularized installation, so that the space size of the arm end is reduced to a large extent, and the structure is more compact.
Description
Technical Field
The invention relates to the technical field of mechanical manufacturing, in particular to a four-axis mechanical arm for 3C industry.
Background
The 3C market is a huge market, and a large number of robots are used in the field, and scara robots are mainly used, wherein the scara robots have a high occupancy rate. The robot aims at replacing the scara robot, in the conventional 3C field, the opening and closing space of a press die is small for stamping forming of small workpieces, so that space size requirements are met for the tail end and arm unfolding of the robot, and the space limitation of the scara robot can be reflected when the robot is required to be used in a reverse hanging mode.
Disclosure of Invention
The invention aims to solve the technical problem of providing the four-axis mechanical arm for the 3C industry, which is formed by combining and modularly installing a rear motor with a three-axis motor, so that the space size of an arm end is reduced to a large extent, and the structure is more compact.
The technical scheme for solving the technical problems is as follows: the machine comprises a serial machine structure consisting of a first shaft base, a second shaft assembly, a three-shaft assembly and a four-shaft assembly, wherein the second shaft assembly is vertically arranged on the first shaft base, the first shaft base drives the second shaft assembly to slide up and down, the three-shaft assembly is horizontally arranged, one end of the three-shaft assembly is rotationally connected to the second shaft assembly, the four-shaft assembly is horizontally arranged, and one end of the four-shaft assembly is rotationally connected to one end of the three-shaft assembly far away from the second shaft assembly;
the three-shaft assembly comprises a large arm, a third motor, a fourth motor, a transmission shaft and a second speed reducer, wherein the large arm is arranged in a hollow mode, one end of the large arm is fixedly connected with the output end of the first speed reducer, the second speed reducer is arranged at the other end of the large arm, the third motor and the fourth motor are arranged in the large arm, the output end of the third motor is in transmission connection with the second speed reducer through a second synchronous pulley transmission mechanism, the transmission shaft is fixedly connected in the large arm through a support frame, the bottom end of the transmission shaft sequentially penetrates through the second synchronous pulley transmission mechanism and the second speed reducer and then stretches out of the large arm, and the output end of the fourth motor is connected with one end of the transmission shaft through the third synchronous pulley transmission mechanism;
the beneficial effects of the invention are as follows: the four-axis motor is combined with the three-axis motor for modularized installation, so that the space size of the arm end is reduced to a large extent, and the structure is more compact.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the one-shaft base comprises a base shell, a first motor, a screw and a guide rail, wherein the first motor is fixed on the bottom surface in the base shell, the screw and the guide rail are vertically arranged, two ends of the screw are arranged on the inner wall of the base shell through rotating bearings, a sliding block is connected to the screw in a threaded manner, the sliding block is in sliding connection with the guide rail, the guide rail is symmetrically arranged in a couple manner, and the output end of the first motor is in transmission connection with the screw through a first synchronous belt pulley transmission mechanism and is used for driving the screw to axially rotate;
the beneficial effects of adopting the further scheme are as follows: the lead screw guide rail sliding module is designed and installed in the inner cavity of the base shell, the Z-axis up-and-down movement is realized, the guide rail is symmetrically installed by adopting a force couple type, and the load moment generated by the movement of the arm end can be effectively counteracted, so that the rigidity of the whole machine is improved, and the vibration in the movement process is reduced.
Further, the diaxon subassembly includes lift bucket, second motor and first speed reducer, the bottom of lift bucket sets up on the slider, the top of lift bucket is provided with the lift bucket flange, the top of lift bucket flange is provided with first speed reducer, the second motor is established in the lift bucket and fix the bottom of lift bucket flange, the output of second motor with first speed reducer transmission is connected, the second motor with the junction of first speed reducer is provided with the diaxon locating piece.
The beneficial effects of adopting the further scheme are as follows: realize the rotation of Z axle, can prevent simultaneously that the drunkenness from producing between speed reducer and the motor shaft junction.
Further, four-axis subassembly includes forearm, third reduction gear, input shaft, the one end of forearm with the output fixed connection of second reduction gear, the other end of forearm is provided with the input shaft, the bottom of transmission shaft stretches into to be established in the forearm, the one end of input shaft with the bottom of transmission shaft is passed through fourth synchronous pulley drive mechanism transmission and is connected, the other end transmission of input shaft is connected with the third reduction gear, the output of third reduction gear is connected with the flange, be provided with the take-up pulley on the forearm, the hold-in range on the fourth synchronous pulley drive mechanism winds on the take-up pulley.
The beneficial effects of adopting the further scheme are as follows: the secondary transmission drives the output shaft to rotate, the space size of the arm end is reduced, and the tensioning force of the synchronous belt pulley is adjusted through the tensioning wheel mechanism, so that the secondary synchronous belt pulley transmission mechanism achieves the optimal transmission effect.
Further, the first motor is fixed on the motor support plate through a motor mounting plate, and the motor support plate is fixed on the bottom surface of the base; the third motor and the fourth motor are fixed on the large arm through motor mounting plates.
The beneficial effects of adopting the further scheme are as follows: support the motor through the motor support plate, guarantee the accuracy of motor mounted position.
Further, one end of the transmission shaft, which is close to the forearm, is provided with an output support plate, the transmission shaft is connected with the support frame and the output support plate through bearings, the output support plate is fixed in the forearm, and the input shaft is fixed in the forearm through bearings.
The beneficial effects of adopting the further scheme are as follows: the transmission shaft is supported through the support frame and the output support plate, so that the transmission shaft is prevented from shaking in the transmission process.
Further, the first speed reducer, the second speed reducer and the third speed reducer all adopt harmonic drive speed reducers.
The beneficial effects of adopting the further scheme are as follows: the speed reduction ratio is high, the backlash is small, the precision is high, and the efficiency is high.
Further, the first motor, the second motor, the third motor and the fourth motor all adopt servo motors.
The beneficial effects of adopting the further scheme are as follows: high precision, high rotating speed, strong overload capacity, stable low-speed operation, short dynamic corresponding time of acceleration and deceleration of the motor, and low heating and noise.
Drawings
FIG. 1 is a view of an assembly of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a diagram of a one-axis base housing assembly of the present invention;
FIG. 4 is a diagram of a two-axis assembly of the present invention;
FIG. 5 is a diagram of a triaxial assembly according to the present invention;
FIG. 6 is a diagram of a four-axis assembly of the present invention;
in the drawings, the list of components represented by the various numbers is as follows:
1. the device comprises a first shaft base, 2, a two-shaft assembly, 3, a three-shaft assembly, 4, a four-shaft assembly, 11, a base shell, 12, a first motor, 13, a screw, 14, a guide rail, 15, a sliding block, 16, a first synchronous pulley transmission mechanism, 17, a motor support plate, 21, a lifting barrel, 22, a second motor, 23, a first speed reducer, 24, a lifting barrel flange, 25, a two-shaft positioning block, 31, a large arm, 32, a third motor, 33, a fourth motor, 34, a transmission shaft, 35, a second speed reducer, 36, a second synchronous pulley transmission mechanism, 37, a support frame, 38, a third synchronous pulley transmission mechanism, 39, an output support plate, 41, a small arm, 42, a third speed reducer, 43, an input shaft, 44, a fourth synchronous pulley transmission mechanism, 45, a flange, 46 and a tensioning wheel.
Detailed Description
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; the connection can be mechanical connection or circuit connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
as shown in fig. 1-6, in this embodiment, a four-axis mechanical arm for 3C industry includes a serial machine structure composed of a first-axis base 1, a second-axis assembly 2, a third-axis assembly 3 and a fourth-axis assembly 4, the second-axis assembly 2 is vertically disposed on the first-axis base 1, a lifting barrel 21 on the second-axis assembly 2 and the first-axis assembly 1 are in multiple sealing arrangement by combining an O-type sealing ring and a Y-type sealing ring, and the first-axis base 1 drives the second-axis assembly 2 to integrally move up and down in the Z-axis direction. The triaxial subassembly 3 level sets up, and its one end rotates to be connected on diaxon subassembly 2, and the diaxon subassembly 4 level sets up, and its one end rotates to be connected on the triaxial subassembly 3 one end of keeping away from diaxon subassembly 2, and the junction of big arm 31 on the triaxial subassembly 3 and forearm 41 on the diaxon subassembly 4 adopts labyrinth seal to set up, and all adopts 0 type sealing washer to seal in the other junctions of arm, and complete machine sealing performance is better, and the protection level can reach IP67.
The one-shaft base 1 comprises a base shell 11, a first motor 12, a screw rod 13 and a guide rail 14, wherein the output end of the first motor 12 passes through a motor mounting plate and is fixed on a motor support plate 16 through the motor mounting plate, and the motor support plate 16 is fixed on the bottom surface of the base shell 11, so that the accuracy of the mounting position of the first motor 12 is ensured, and enough space is provided for the operation of the first motor 12. The lead screw 13 and the guide rail 14 are vertically arranged, two ends of the lead screw 13 are fixed on the inner wall of the base shell 11 through rotating bearings, a sliding block 15 is connected to the lead screw 13 in a threaded mode, the sliding block 15 is slidably connected with the guide rail 14, and the sliding block 15 can slide up and down in the vertical direction along the guide rail 14 under the action of the lead screw 13. The guide rail 14 is a double guide rail, and the double guide rails are symmetrically arranged in a couple type, so that the reaction moment generated by the motion of the whole arm end of the robot to the base shell 11 can be greatly reduced and counteracted. The output end of the first motor 12 is in transmission connection with the lead screw 13 through a first synchronous pulley transmission mechanism 16, and is used for driving the lead screw 13 to axially rotate, the first synchronous pulley transmission mechanism 16 comprises a first driving synchronous pulley, a first driven synchronous pulley and a first synchronous belt, the first driving synchronous pulley is arranged at the output end of the first motor 12, the first driven synchronous pulley is arranged at one end, close to the bottom surface of the base shell 11, of the lead screw 13, and the first driven synchronous pulley and the first driving synchronous pulley are connected through the first synchronous belt.
The two-shaft assembly 2 comprises a lifting barrel 21, a second motor 22 and a first speed reducer 23, the bottom end of the lifting barrel 21 is fixedly connected to a sliding block of the guide rail 14 through a connecting plate, and a lifting barrel flange 24 is fixed to the top end of the lifting barrel 21 through bolts. The upper surface of the lifting barrel flange 24 is connected with the first speed reducer 23, the second motor 22 is fixed on the lower surface of the lifting barrel flange 24 through bolts, the main body of the second motor 22 is arranged in the inner cavity of the lifting barrel flange 24, the output end of the second motor 22 passes through the lifting barrel flange 24 and is connected with the working mechanism of the first speed reducer 23, a two-shaft positioning block 25 is arranged at the joint of the second motor 22 and the first speed reducer 23, and the movement between the shaft connecting parts of the first speed reducer 23 and the second motor 22 is prevented, so that the transmission relation between the first speed reducer 23 and the second motor 22 is fixed.
The triaxial assembly 3 comprises a big arm 31, a third motor 32, a fourth motor 33, a transmission shaft 34 and a second speed reducer 35, the big arm 31 is arranged in a hollow mode, the output end of the first speed reducer 23 is fixedly connected in one end, close to the biaxial assembly 2, of the big arm 31, the second speed reducer 35 is installed and fixed in one end, far away from the biaxial assembly 2, of the big arm 31, and the output end of the second speed reducer 35 extends out of the big arm 31. The third motor 32 and the fourth motor 33 are fixed to the motor mounting surface in the large arm 31 through motor mounting plates, so that the occupied space of the small arm 41 of the four-axis assembly 4 is reduced to the greatest extent. The output end of the third motor 32 is in transmission connection with the second speed reducer 35 through a second synchronous pulley transmission mechanism 36, the second synchronous pulley transmission mechanism 36 comprises a second driving synchronous pulley, a second driven synchronous pulley and a second synchronous belt, the second driving synchronous pulley is arranged at the output end of the third motor 32, the second driven synchronous pulley is arranged at the input end of the second speed reducer 35, and the second driving synchronous pulley and the second driven synchronous pulley are connected through the second synchronous belt.
The transmission shaft 34 is fixedly connected to the large arm 31 through a supporting frame 37, and the transmission shaft 34 is connected with the supporting frame 37 through a bearing. The bottom end of the transmission shaft 34 vertically passes through a second driven synchronous pulley and a second speed reducer 35 on a second synchronous pulley transmission mechanism 36 in sequence and then extends out of the large arm 31. The output end of the fourth motor 33 is connected with one end of the transmission shaft 34 through a third synchronous pulley transmission mechanism 38, the third synchronous pulley transmission mechanism 38 comprises a third driving synchronous pulley, a third driven synchronous pulley and a third synchronous belt, the third driving synchronous pulley is fixedly arranged at the output end of the fourth motor 33, the third driven synchronous pulley is fixedly arranged at the top end of the transmission shaft 34, and the third driving synchronous pulley is connected with the third driven synchronous pulley through the third synchronous belt.
The four-axis assembly 4 comprises a small arm 41, a third speed reducer 42 and an input shaft 43, wherein the small arm 41 adopts an internal rotation design, so that the movement range can be maximized, the small arm 41 can rotate inwards, the program action can be quickly executed, and the running time is shortened. The output end of the second speed reducer 35 is fixedly arranged at one end of the small arm 41 close to the triaxial assembly 3, the bottom end of the transmission shaft 34 extends into the small arm 41 and is connected to an output support plate 39 in the small arm 41 through a bearing, and the output support plate 39 is fixedly arranged in the small arm 41, so that the transmission shaft 34 is prevented from shaking in the transmission process. An input shaft 43 is vertically arranged in one end, far away from the triaxial assembly 3, of the small arm 41, an output shaft 43 is fixedly arranged on the small arm 41 through a bearing, the top end of the input shaft 43 is connected with the bottom end of the transmission shaft 34 through a fourth synchronous pulley transmission mechanism 44, the fourth synchronous pulley transmission mechanism 44 comprises a fourth driving synchronous pulley, a fourth driven synchronous pulley and a fourth synchronous belt, a fourth driving synchronous pulley second speed reducer 35 and an output support plate 39 are arranged between the fourth driving synchronous pulley and the fourth driven synchronous pulley, the fourth driven synchronous pulley is fixedly arranged at the top end of the input shaft 43, the fourth driving synchronous pulley is connected with the fourth driven synchronous pulley through the fourth synchronous belt, a tensioning wheel 46 is arranged between the fourth driving synchronous pulley and the fourth driven synchronous pulley, the fourth synchronous belt is wound on the tensioning wheel 46, the tensioning wheel 46 is arranged on the small arm 41, and the tensioning force of the fourth synchronous pulley transmission mechanism 45 is adjusted through the tensioning wheel 46, so that the fourth synchronous pulley transmission mechanism achieves the optimal transmission effect. The bottom end of the input shaft 43 is connected to the input end of the third reducer 42, and the output end of the third reducer 42 is connected to a flange 45. The fourth motor 33 and the input shaft 43 form two-stage transmission through the combination of the third synchronous pulley transmission mechanism 38, the fourth synchronous pulley transmission mechanism 44 and the transmission shaft 34, so that the occupied space of the small arm 41 of the four-shaft assembly 4 is reduced to the greatest extent.
Preferably, the first speed reducer 23, the second speed reducer 35 and the third speed reducer 42 are all harmonic speed reducers, and the speed reducer ratio is high, the backlash is small, the precision is high, and the efficiency is high.
Preferably, the first motor 12, the second motor 22, the third motor 32 and the fourth motor 33 all adopt servo motors, and the motor has high precision, high rotating speed, strong overload capacity, stable low-speed operation, short dynamic corresponding time of motor acceleration and deceleration, and low heating and noise.
Preferably, the robot arm exhibition adopts whole jacking design, and arm exhibition motion avoids interfering with the body, consequently can realize 360 degrees rotations of whole arm exhibition, can reach the stroke range and realize full coverage.
Preferably, the external cable is combined into one cable by adopting a power line and a coding line and is matched in a single-heavy-load mode, the internal cable is also configured by adopting a single cable, the damage of the robot to the cable in the moving process is reduced, and meanwhile, the assembly efficiency of an assembly staff to the whole cable is greatly improved.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The four-axis mechanical arm for the 3C industry is characterized by comprising a serial machine structure composed of a shaft base (1), a two-axis assembly (2), a three-axis assembly (3) and a four-axis assembly (4), wherein the two-axis assembly (2) is vertically arranged on the shaft base (1), the shaft base (1) drives the two-axis assembly (2) to slide up and down, one end of the three-axis assembly (3) is horizontally arranged, one end of the three-axis assembly is rotationally connected to the two-axis assembly (2), one end of the four-axis assembly (4) is horizontally arranged, and one end of the four-axis assembly is rotationally connected to one end of the three-axis assembly (3) far away from the two-axis assembly (2);
the three-shaft assembly (3) comprises a large arm (31), a third motor (32), a fourth motor (33), a transmission shaft (34) and a second speed reducer (35), wherein the large arm (31) is arranged in a hollow mode, one end of the large arm (31) is fixedly connected with the output end of the first speed reducer (23), the second speed reducer (35) is arranged at the other end of the large arm (31), the third motor (32) and the fourth motor (33) are arranged in the large arm (31), the output end of the third motor (32) is in transmission connection with the second speed reducer (35) through a second synchronous pulley transmission mechanism (36), the transmission shaft (34) is fixedly connected in the large arm (31) through a supporting frame (37), the bottom end of the transmission shaft (34) sequentially penetrates through the second synchronous pulley transmission mechanism (36) and the second speed reducer (35) and then stretches out of the large arm (31), and the output end of the fourth motor (33) is connected with one end of the transmission shaft (34) through the third synchronous pulley transmission mechanism (38);
the one-shaft base (1) comprises a base shell (11), a first motor (12), a lead screw (13) and a guide rail (14), wherein the first motor (12) is fixed on the bottom surface in the base shell (11), the lead screw (13) and the guide rail (14) are vertically arranged, two ends of the lead screw (13) are arranged on the inner wall of the base shell (11) through rotating bearings, a sliding block (15) is connected onto the lead screw (13) in a threaded manner, the sliding block (15) is in sliding connection with the guide rail (14), the guide rail (14) is symmetrically arranged in a force couple mode, and the output end of the first motor (12) is connected with the lead screw (13) through a first synchronous belt pulley transmission mechanism (16) in a transmission manner and is used for driving the lead screw (13) to axially rotate;
the two-shaft assembly (2) comprises a lifting barrel (21), a second motor (22) and a first speed reducer (23), wherein the bottom end of the lifting barrel (21) is arranged on the sliding block (15), a lifting barrel flange (24) is arranged at the top end of the lifting barrel (21), the first speed reducer (23) is arranged at the top end of the lifting barrel flange (24), the second motor (22) is arranged in the lifting barrel (21) and is fixed at the bottom end of the lifting barrel flange (24), the output end of the second motor (22) is in transmission connection with the first speed reducer (23), and a two-shaft positioning block (25) is arranged at the joint of the second motor (22) and the first speed reducer (23);
the four-axis assembly (4) comprises a small arm (41), a third speed reducer (42) and an input shaft (43), one end of the small arm (41) is fixedly connected with the output end of the second speed reducer (35), the other end of the small arm (41) is provided with the input shaft (43), the bottom end of a transmission shaft (34) stretches into the small arm (41), one end of the input shaft (43) is in transmission connection with the bottom end of the transmission shaft (34) through a fourth synchronous pulley transmission mechanism (44), the other end of the input shaft (43) is in transmission connection with the third speed reducer (42), the output end of the third speed reducer (42) is connected with a flange (45), a tensioning wheel (46) is arranged on the small arm (41), and a synchronous belt on the fourth synchronous pulley transmission mechanism (44) is wound on the tensioning wheel (46).
2. The four-axis mechanical arm for 3C industry according to claim 1, wherein the first motor (12) is fixed on a motor support plate (17) through a motor mounting plate, and the motor support plate (17) is fixed on the inner wall of the base housing (11); the third motor (32) and the fourth motor (33) are both fixed in the large arm (31) through motor mounting plates.
3. The four-axis mechanical arm for 3C industry according to claim 1, wherein an output support plate (39) is arranged at the bottom end of the transmission shaft (34), the transmission shaft (34) is connected with the support frame (37) and the output support plate (39) through bearings, the output support plate (39) is fixed in the small arm (41), and the input shaft (43) is fixed in the small arm (41) through bearings.
4. A four-axis mechanical arm for 3C industry according to any of claims 1 to 3, characterized in that the first decelerator (23), the second decelerator (35) and the third decelerator (42) are all harmonic decelerators.
5. A four-axis mechanical arm for 3C industry according to any of claims 1 to 3, characterized in that the first motor (12), the second motor (22), the third motor (32) and the fourth motor (33) are all servo motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910393222.7A CN110154081B (en) | 2019-05-13 | 2019-05-13 | Four-axis mechanical arm for 3C industry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910393222.7A CN110154081B (en) | 2019-05-13 | 2019-05-13 | Four-axis mechanical arm for 3C industry |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110154081A CN110154081A (en) | 2019-08-23 |
| CN110154081B true CN110154081B (en) | 2024-03-29 |
Family
ID=67634233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910393222.7A Active CN110154081B (en) | 2019-05-13 | 2019-05-13 | Four-axis mechanical arm for 3C industry |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110154081B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248028B (en) * | 2020-09-10 | 2022-04-01 | 珠海格力电器股份有限公司 | Articulated arm structure and robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR950017114A (en) * | 1993-12-27 | 1995-07-20 | 김준성 | Vertical Articulated Robot |
| JP2000237988A (en) * | 1999-02-17 | 2000-09-05 | Mitsubishi Electric Corp | Arm driving mechanism of robot device |
| JP2007044839A (en) * | 2005-08-11 | 2007-02-22 | Toshiba Mach Co Ltd | Industrial robot |
| CN103707296A (en) * | 2013-12-31 | 2014-04-09 | 哈尔滨工业大学 | Four-shaft mechanical arm for grabbing sheet metal parts |
| CN104308832A (en) * | 2014-10-23 | 2015-01-28 | 重庆华数机器人有限公司 | Four-axis swing-arm articulated robot |
| CN204414106U (en) * | 2015-01-27 | 2015-06-24 | 重庆华数机器人有限公司 | A kind of four axle swing arm articulated robots |
| CN204976630U (en) * | 2015-07-24 | 2016-01-20 | 沈阳通用机器人技术股份有限公司 | Horizontal joint robot of four -axis |
| CN210233092U (en) * | 2019-05-13 | 2020-04-03 | 重庆智能机器人研究院 | 3C industrial four-axis arm |
-
2019
- 2019-05-13 CN CN201910393222.7A patent/CN110154081B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR950017114A (en) * | 1993-12-27 | 1995-07-20 | 김준성 | Vertical Articulated Robot |
| JP2000237988A (en) * | 1999-02-17 | 2000-09-05 | Mitsubishi Electric Corp | Arm driving mechanism of robot device |
| JP2007044839A (en) * | 2005-08-11 | 2007-02-22 | Toshiba Mach Co Ltd | Industrial robot |
| CN103707296A (en) * | 2013-12-31 | 2014-04-09 | 哈尔滨工业大学 | Four-shaft mechanical arm for grabbing sheet metal parts |
| CN104308832A (en) * | 2014-10-23 | 2015-01-28 | 重庆华数机器人有限公司 | Four-axis swing-arm articulated robot |
| CN204414106U (en) * | 2015-01-27 | 2015-06-24 | 重庆华数机器人有限公司 | A kind of four axle swing arm articulated robots |
| CN204976630U (en) * | 2015-07-24 | 2016-01-20 | 沈阳通用机器人技术股份有限公司 | Horizontal joint robot of four -axis |
| CN210233092U (en) * | 2019-05-13 | 2020-04-03 | 重庆智能机器人研究院 | 3C industrial four-axis arm |
Non-Patent Citations (1)
| Title |
|---|
| 四自由度水平关节装配机器人结构优化设计;杨颖鹏;庄照波;马芸慧;袁玉荣;;南方农机(03);67-68 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110154081A (en) | 2019-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100562410C (en) | A kind of planar multiple-articulation robot | |
| CN203697006U (en) | Intelligent five-shaft manipulator | |
| CN103737587A (en) | Intelligent five-shaft manipulator | |
| CN103978482A (en) | Quasi-SCARA (Selective Compliance Assembly Robot Arm) industrial robot | |
| CN105014688A (en) | Multifunctional integrated mechanical arm with variable redundant DOF (degree of freedom) arm length | |
| CN111975744B (en) | Multi-dimensional expansion robot | |
| CN103252683A (en) | Five-freedom-degree parallel-serial numerically-controlled machine tool | |
| CN212953024U (en) | Wafer carrying manipulator | |
| CN110154081B (en) | Four-axis mechanical arm for 3C industry | |
| CN210233092U (en) | 3C industrial four-axis arm | |
| CN103302661B (en) | Fully-decoupled one-movement two-rotation and three-degree-of-freedom parallel mechanism | |
| CN104985592A (en) | Five-axis linkage robot | |
| CN215092287U (en) | Driving device for table placement | |
| CN214560904U (en) | Horizontal articulated robot | |
| CN111842688B (en) | High-speed carrying device | |
| JP2003275978A (en) | Scara robot | |
| CN209319370U (en) | A kind of Twin-shaft machinery positioner device | |
| CN212635739U (en) | SCARA robot | |
| CN210879639U (en) | Four-degree-of-freedom hybrid robot | |
| CN200970769Y (en) | Plane multi-joint robot | |
| CN210218593U (en) | Space-saving mechanism for improving speed reduction efficiency | |
| CN112894878A (en) | High-speed heavy-load mechanical arm | |
| CN215701705U (en) | Six-freedom-degree heavy-load cylindrical coordinate robot | |
| CN209615516U (en) | A kind of four axis robot of high load | |
| CN112757271A (en) | Plane joint four-axis arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |