CN111890411A - Quick assembly disassembly formula four-axis manipulator - Google Patents
Quick assembly disassembly formula four-axis manipulator Download PDFInfo
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- CN111890411A CN111890411A CN202010771204.0A CN202010771204A CN111890411A CN 111890411 A CN111890411 A CN 111890411A CN 202010771204 A CN202010771204 A CN 202010771204A CN 111890411 A CN111890411 A CN 111890411A
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- servo motor
- fixed
- shoulder joint
- wall
- quick
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to a manipulator, and particularly relates to a quick-dismounting type four-axis manipulator which comprises a shoulder joint servo motor and a fixed base, wherein the fixed base is connected with the shoulder joint servo motor through a screw, and the shoulder joint servo motor is connected with a harmonic reducer through a screw. The invention is integrated in a modular form by a shoulder joint with two degrees of freedom, an elbow joint with one degree of freedom and a wrist joint with one degree of freedom. One shoulder joint is composed of a customized harmonic reducer, a servo motor with a brake, a servo driver and the like, so that the intelligent joint is convenient and quick to disassemble under the conditions of high performance and high precision; the other shoulder joint is directly driven by a servo motor, the robot can be quickly and conveniently disassembled and assembled on the basis of realizing four-axis linkage control of the mechanical arm, and is particularly suitable for the robot education industry.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a quick-dismounting type four-shaft manipulator.
Background
The harmonic speed reduction integrated machine is a driving execution element used for driving a robot connecting rod to move at a robot joint, and is a novel special driving actuator for a robot, wherein a servo motor, a harmonic speed reducer and a driving system are integrated together.
At present, the integration level of a multi-degree-of-freedom robot in a series connection mode in the field of education industry is high, training and teaching are mainly performed aiming at the program control and path track planning direction of the robot at present, the harmonic reducer and the servo motor module are complex to disassemble and assemble, and knowledge of students in the school in the rigid contact robot industry in the aspects of learning and maintenance is difficult to establish. For this reason, new technical solutions need to be designed to solve the problem.
Disclosure of Invention
The invention aims to provide a quick-dismounting type four-shaft mechanical arm, which solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a quick dismounting type four-axis manipulator comprises a shoulder joint servo motor and a fixed base, wherein the fixed base is connected with the shoulder joint servo motor through a screw, and the shoulder joint servo motor is connected with a harmonic reducer through a screw;
the fixed plate is installed to the harmonic speed reducer upside, fixed plate and harmonic speed reducer pass through the screw-fastening, a lateral wall fixed mounting of fixed plate has two shoulder joint servo motor, synchronous pulley one is installed to the inner chamber of fixed plate, big arm is installed to the inner chamber of fixed plate, another lateral wall fixed mounting of fixed plate has elbow joint servo motor, elbow joint servo motor runs through fixed plate and big arm fixed connection, synchronous pulley one is arranged in big arm inner chamber, two shoulder joint servo motor run through fixed plate and big arm and pass through screw and key-type connection with synchronous pulley one, department fixed mounting has overspeed device tensioner in the middle of the inner wall of big arm, the opposite side inner wall of big arm is fixed with synchronous pulley two through the pivot, synchronous pulley two is connected through the hold-in range between overspeed device tensioner and the synchronous pulley one, the fixed cover of outer wall of pivot is equipped with the forearm, the outer end fixedly connected with fixed bolster of forearm, a lateral wall fixed mounting of fixed bolster has wrist joint servo motor, wrist joint servo motor's transmission shaft runs through a lateral wall and the fixedly connected with output flange of fixed bolster and forearm, the outer wall fixedly connected with support of output flange, the spacing downthehole interpolation of support has connect the water pen.
In a preferred embodiment of the present invention, the outer walls of the shoulder joint servo motor and the harmonic reducer are connected to wire connectors.
In a preferred embodiment of the present invention, the fixing plate is a U-shaped plate.
In a preferred embodiment of the present invention, the large arm and the small arm are both hollow beams.
In a preferred embodiment of the present invention, the tensioning device includes a tensioning motor and a guide wheel, the tensioning motor is fixed on the inner wall of the large arm, the guide wheel is fixed on the outer end of the tensioning motor, and the synchronous belt is wound around the outer wall of the guide wheel.
As a preferred embodiment of the invention, the second synchronous belt wheel is fixedly sleeved on the outer wall of the rotating shaft, and two ends of the rotating shaft are connected with two side walls of the large arm through bearings.
As a preferred embodiment of the present invention, the four corners of the surface of the fixing base are provided with mounting holes.
As a preferred embodiment of the present invention, a positioning gasket is installed on the inner wall of the fixed support corresponding to the output flange.
Compared with the prior art, the invention has the following beneficial effects:
the intelligent joint is simple and compact in structure and reasonable in design, and is integrated in a modular form by two-degree-of-freedom shoulder joints, one-degree-of-freedom elbow joint and one-degree-of-freedom wrist joint, wherein one shoulder joint comprises a customized harmonic reducer, a servo motor with a brake, a servo driver and the like, so that the intelligent joint is more convenient and faster to disassemble under the conditions of high performance and high precision; the other shoulder joint is directly driven by a servo motor. The wrist joint is directly driven by the servo motor and is used for adjusting the posture of the wrist, and the wrist joint can be quickly and conveniently disassembled and assembled on the basis of realizing the 4-axis linkage control of the mechanical arm, and is particularly suitable for the robot education industry. The robot used in the education industry has the characteristics of simple installation, stable output, high structural compatibility and the like.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of an overall structure of a quick-release four-axis manipulator according to the present invention;
fig. 2 is a schematic diagram of an output end structure of a quick-assembly-disassembly four-axis manipulator according to the present invention.
In the figure: 1. a shoulder joint servo motor; 2. a fixed base; 3. a harmonic reducer; 4. a fixing plate; 5. a two-shoulder joint servo motor; 6. a synchronous belt wheel I; 7. a tensioning device; 8. a synchronous belt; 9. a second synchronous belt wheel; 10. a small arm; 11. a rotating shaft; 12. a large arm; 13. an elbow joint servo motor; 14. a wrist joint servo motor; 15. positioning the gasket; 16. an output flange; 17. a support; 18. a fountain pen; 19. and (7) fixing and supporting.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can, for example, be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. For those skilled in the art, the specific meaning of the above terms in the present invention can be understood in specific situations, the model of the electrical appliance provided in the present invention is only referred to, and different models of electrical appliances with the same function can be replaced according to the actual use situation.
Referring to fig. 1-2, the present invention provides a technical solution: a quick dismounting type four-axis manipulator comprises a shoulder joint servo motor 1 and a fixed base 2, wherein the fixed base 2 is connected with the shoulder joint servo motor 1 through a screw, and the shoulder joint servo motor 1 is connected with a harmonic reducer 3 through a screw;
the harmonic reducer 3 upside is provided with a fixing plate 4, the fixing plate 4 and the harmonic reducer 3 are fastened by screws, a lateral wall of the fixing plate 4 is fixedly provided with a two-shoulder joint servo motor 5, an inner cavity of the fixing plate 4 is provided with a synchronous pulley I6, an inner cavity of the fixing plate 4 is provided with a large arm 12, another lateral wall of the fixing plate 4 is fixedly provided with an elbow joint servo motor 13, the elbow joint servo motor 13 penetrates through the fixing plate 4 and is fixedly connected with the large arm 12, the synchronous pulley I6 is arranged in the inner cavity of the large arm 12, the two-shoulder joint servo motor 5 penetrates through the fixing plate 4 and the large arm 12 and is connected with the synchronous pulley I6 through screws and keys, the middle part of the inner wall of the large arm 12 is fixedly provided with a tensioning device 7, the other side inner wall of the large arm 12 is fixed with a synchronous pulley II 9 through a rotating shaft 11, the synchronous pulley II 9 is connected with, the outer wall of the rotating shaft 11 is fixedly sleeved with a small arm 10, the outer end of the small arm 10 is fixedly connected with a fixed support 19, a side wall of the fixed support 19 is fixedly provided with a wrist joint servo motor 14, a transmission shaft of the wrist joint servo motor 14 penetrates through the fixed support 19 and a side wall of the small arm 10 and is fixedly connected with an output flange 16, the outer wall of the output flange 16 is fixedly connected with a support 17, a fountain pen 18 is inserted in a limiting hole of the support 17, in the embodiment, as shown in fig. 1 and fig. 2, specifically, the four-axis robot comprises a shoulder joint servo motor 1, a fixed base 2, a harmonic reducer 3, a fixed plate 4, a two-shoulder joint servo motor 5, a synchronous belt wheel I6, a tensioning device 7, a synchronous belt 8, a synchronous belt wheel II 9, a small arm 10, a rotating shaft 11, a large arm 12, an elbow joint servo motor 13, a wrist joint servo motor, an output flange 16, a bracket 17, a fountain pen or a clamping jaw 18, a fixed support 19, a transition flange 20 and the like, which are shown in detail in figures 1 and 2; the fixed base 2 is connected with a shoulder joint servo motor 1 through screws, the shoulder joint servo motor 1 is connected with a harmonic reducer 3 through screws, the harmonic reducer 3 is connected with a fixed plate 4 through screws, a two-shoulder joint servo motor 5 is connected with the fixed plate 4 through screws, the two-shoulder joint servo motor 5 is connected with a synchronous pulley I6 through keys and screws, a tensioning device 7 is fixed with a large arm 12 through screws, a synchronous pulley II 9 is fixed with a rotating shaft 11 through jackscrews, the small arm 10 is fixed with the rotating shaft 11 through screws, an elbow joint servo motor 13 is fixed with the large arm 12 through screws, a wrist joint servo motor 14 is fixed with a transition flange 20 through screws, the transition flange 20 is fixed with the small arm 10 through screws, an output flange 16 is connected with a wrist joint servo motor 14 through screws and key connections, and a positioning gasket 15 limits the output flange 16 through screws, the pen holder 17 is fixed to the output flange 16 by screws, the pen or the clamping jaw 18 is fixed to the holder 17 by screws, and the fixing support 19 is fixed to the arm 10 and the transition flange 20 by screws, so as to improve the rigidity of the end structure.
Referring to fig. 1 in this embodiment, the outer walls of the shoulder joint servo motor 1 and the harmonic reducer 3 are both connected with wire connectors, and in particular, are conveniently connected with an external power supply.
Referring to fig. 1 in the present embodiment, the fixing plate 4 is a U-shaped plate, which is particularly convenient for connecting with the large arm 12.
In the embodiment, referring to fig. 1, the large arm 12 and the small arm 10 are both hollow beams.
In this embodiment, referring to fig. 1, the tensioning device 7 includes a tensioning motor and a guide wheel, the tensioning motor is fixed on the inner wall of the large arm 12, the guide wheel is fixed on the outer end of the tensioning motor, and the synchronous belt 8 is wound around the outer wall of the guide wheel, specifically, the synchronous belt 8 can be tensioned.
Referring to fig. 1 in this embodiment, the second synchronous pulley 9 is fixedly sleeved on an outer wall of a rotating shaft 11, and two ends of the rotating shaft 11 are connected with two side walls of a large arm 12 through bearings, specifically, the small arm 10 can rotate along with the rotating shaft 11.
Referring to fig. 1 in this embodiment, the four corners of the surface of the fixing base 2 are respectively provided with a mounting hole, which is convenient for mounting.
In this embodiment, referring to fig. 2, a positioning gasket 15 is installed on the inner wall of the fixed support 19 corresponding to the output flange 16, and specifically, the output flange 16 can be limited.
It should be noted that, the components included in the quick-detachable four-axis manipulator of the present invention are all universal standard components or components known to those skilled in the art, the structure and principle of the components are known to those skilled in the art through technical manuals or through conventional experimental methods, at the idle position of the device, all the electric devices, which refer to power elements, electric devices, adaptive monitoring computers and power supplies, are connected through wires, and the specific connection means refers to the following working principle, in which the electric devices complete the electric connection in sequence, and the detailed connection means is a known technology in the art, and the following mainly describes the working principle and process without describing the electric control, and when the quick-detachable four-axis manipulator is used, the 4-axis robot decelerates through the harmonic reducer 3 after the shoulder joint servo motor 1 starts, and transmits the power to the fixing plate 4 to make the fixing plate 4 rotate, this is the movement of the first joint of the robot; when the elbow joint servo motor 13 is started, the big arm 12 is driven to rotate, and the motion is the motion of a second joint of the robot; when the two-shoulder joint servo motor 5 is started, the first synchronous belt pulley 6 is driven to rotate, the first synchronous belt pulley 6 is driven to transmit power to the second synchronous belt pulley 9 through the synchronous belt 8, the second synchronous belt pulley 9 drives the rotating shaft 11 to rotate, the rotating shaft 11 drives the small arm 10 to rotate, the third joint of the robot moves, the wrist joint servo motor 14 is started to drive the output flange 16 to rotate, the output flange 16 rotates to adjust the posture of the fountain pen or the clamping jaw 18, and the pen point direction of the fountain pen or the clamping jaw 18 is always vertical and downward.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides a quick assembly disassembly formula four-axis manipulator, includes a shoulder joint servo motor (1) and unable adjustment base (2), its characterized in that: the fixed base (2) is connected with a shoulder joint servo motor (1) through a screw, and the shoulder joint servo motor (1) is connected with a harmonic reducer (3) through a screw;
fixed plate (4) is installed to harmonic speed reducer ware (3) upside, fixed plate (4) and harmonic speed reducer ware (3) pass through the screw-up, a lateral wall fixed mounting of fixed plate (4) has two shoulder joint servo motor (5), synchronous pulley (6) are installed to the inner chamber of fixed plate (4), big arm (12) is installed to the inner chamber of fixed plate (4), another lateral wall fixed mounting of fixed plate (4) has elbow joint servo motor (13), elbow joint servo motor (13) run through fixed plate (4) and with big arm (12) fixed connection, big arm (12) inner chamber is arranged in to synchronous pulley (6), two shoulder joint servo motor (5) run through fixed plate (4) and big arm (12) and pass through screw and key-type connection with synchronous pulley (6), department fixed mounting has overspeed device (7) in the middle of the inner wall of big arm (12), the opposite side inner wall of big arm (12) is fixed with synchronous pulley two (9) through pivot (11), be connected through hold-in range (8) between synchronous pulley two (9) and overspeed device tensioner (7) and synchronous pulley (6), the fixed cover of outer wall of pivot (11) is equipped with forearm (10), the outer end fixedly connected with fixed stay (19) of forearm (10), a lateral wall fixed mounting of fixed stay (19) has wrist joint servo motor (14), a lateral wall and the fixedly connected with output flange (16) that fixed stay (19) and forearm (10) are run through to the transmission shaft of wrist joint servo motor (14), the outer wall fixedly connected with support (17) of output flange (16), the spacing downthehole interpolation of support (17) has water pen (18).
2. The quick-release four-axis manipulator of claim 1, wherein: and the outer walls of the shoulder joint servo motor (1) and the harmonic reducer (3) are connected with wire connectors.
3. The quick-release four-axis manipulator of claim 1, wherein: the fixing plate (4) is a U-shaped plate.
4. The quick-release four-axis manipulator of claim 1, wherein: the large arm (12) and the small arm (10) are both hollow beams.
5. The quick-release four-axis manipulator of claim 1, wherein: the tensioning device (7) comprises a tensioning motor and a guide wheel, the tensioning motor is fixed on the inner wall of the large arm (12), the wire guide wheel is fixed at the outer end of the tensioning motor, and the synchronous belt (8) is wound on the outer wall of the guide wheel.
6. The quick-release four-axis manipulator of claim 1, wherein: the synchronous belt wheel II (9) is fixedly sleeved on the outer wall of the rotating shaft (11), and two ends of the rotating shaft (11) are connected with two side walls of the large arm (12) through bearings.
7. The quick-release four-axis manipulator of claim 1, wherein: and mounting holes are formed in four corners of the surface of the fixed base (2).
8. The quick-release four-axis manipulator of claim 1, wherein:
and a positioning gasket (15) is arranged on the inner wall of the fixed support (19) corresponding to the output flange (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010771204.0A CN111890411A (en) | 2020-08-03 | 2020-08-03 | Quick assembly disassembly formula four-axis manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010771204.0A CN111890411A (en) | 2020-08-03 | 2020-08-03 | Quick assembly disassembly formula four-axis manipulator |
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| CN111890411A true CN111890411A (en) | 2020-11-06 |
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| CN202010771204.0A Pending CN111890411A (en) | 2020-08-03 | 2020-08-03 | Quick assembly disassembly formula four-axis manipulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664868A (en) * | 2021-08-23 | 2021-11-19 | 中国北方车辆研究所 | Belt-driven 3-joint 5-degree-of-freedom mechanical arm |
| CN114833805A (en) * | 2022-07-01 | 2022-08-02 | 深圳市华澄实业有限公司 | Adjustable manipulator |
| CN117863227A (en) * | 2024-03-11 | 2024-04-12 | 湖南深拓智能设备股份有限公司 | Four-axis robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2654293Y (en) * | 2003-11-10 | 2004-11-10 | 重庆大学 | Writing robot |
| DE202004012584U1 (en) * | 2004-08-10 | 2005-01-05 | Zf Friedrichshafen Ag | A robotic arm for instructional purposes has an exposed assembly including additional linked arms driven by toothed belts in several degrees of freedom |
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| CN113664868A (en) * | 2021-08-23 | 2021-11-19 | 中国北方车辆研究所 | Belt-driven 3-joint 5-degree-of-freedom mechanical arm |
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