CN114393604A - Four-axis mechanical arm and control method thereof - Google Patents
Four-axis mechanical arm and control method thereof Download PDFInfo
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- CN114393604A CN114393604A CN202210179237.5A CN202210179237A CN114393604A CN 114393604 A CN114393604 A CN 114393604A CN 202210179237 A CN202210179237 A CN 202210179237A CN 114393604 A CN114393604 A CN 114393604A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 185
- 230000001360 synchronised effect Effects 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 239000004035 construction material Substances 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 10
- 230000006872 improvement Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 6
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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Abstract
The invention relates to a four-axis mechanical arm and a control method thereof, wherein the four-axis mechanical arm comprises: a first shaft arm mechanism arranged vertically; the second shaft arm mechanism is vertically movably connected to the first shaft arm mechanism; the third shaft arm is connected to the second shaft arm mechanism through a third shaft arm connecting shaft; the first synchronous belt connects the rotating shaft of the third shaft arm driving motor and the first synchronous wheel, and is used for driving the third shaft arm connecting shaft and the third shaft arm to rotate along the horizontal direction; the inner ring of the first ball bearing mechanism is sleeved on the periphery of the third shaft arm connecting shaft, and the outer ring of the first ball bearing mechanism is fixedly connected to the second shaft arm mechanism; and the fourth shaft arm mechanism is horizontally arranged and is rotationally connected to the third shaft arm mechanism, and the rotary clamping jaw is used for clamping a product to be conveyed. Through above-mentioned technical scheme, can solve four-axis arm and rotate that reaction rate is slow, the problem that the construction material is with high costs.
Description
Technical Field
The invention relates to the technical field, in particular to a four-axis mechanical arm and a control method thereof.
Background
With the development of manufacturing, automation devices are used in more and more fields. The occurrence of the mechanical arm can not only improve the efficiency and the product quality, but also reduce the cost of the aromatic power. Therefore, robotic arms have become a core competitiveness in the manufacturing industry.
In present standard four-axis arm, the controller adopts the industrial control computer, and corresponding driving motor power is big, the size that corresponds the mechanism is also big to lead to whole equipment mechanism size huge, the installation to place the corresponding requirement of space also for big space, the whole consumptive material of equipment and price are obviously higher simultaneously. In addition, the four-axis mechanical arm of the large-size mechanism has long operation time, low reaction speed, low stability and large acting force during working.
Disclosure of Invention
In order to solve at least one of the technical problems, the invention provides a four-axis mechanical arm and a control method thereof, and the four-axis mechanical arm is used for solving the problems that the rotation reaction speed of the four-axis mechanical arm is low and the structural material cost is high in the prior art.
In order to achieve the above object, the present invention provides a four-axis robot arm, comprising:
a first shaft arm mechanism arranged vertically;
the second shaft arm mechanism is movably connected to the first shaft arm mechanism and used for moving upwards or downwards along the vertical direction;
the third shaft arm mechanism is horizontally arranged and comprises a third shaft arm, a third shaft arm connecting shaft, a third shaft arm driving motor, a first synchronizing wheel, a first synchronizing belt and a first ball bearing mechanism; the third shaft arm is connected to the second shaft arm mechanism through the third shaft arm connecting shaft; the first synchronous belt is used for connecting a rotating shaft of the third shaft arm driving motor with the first synchronous wheel and driving the third shaft arm connecting shaft and the third shaft arm to rotate clockwise or anticlockwise along the horizontal direction; the inner ring of the first ball bearing mechanism is sleeved on the periphery of the third shaft arm connecting shaft, and the outer ring of the first ball bearing mechanism is fixedly connected to the second shaft arm mechanism;
the horizontal fourth shaft arm mechanism is connected to the third shaft arm mechanism in a rotating mode; fourth shaft arm mechanism includes rotatory clamping jaw, locates fourth shaft arm mechanism's lower surface for press from both sides and get and treat the transport product.
Further, the fourth shaft arm mechanism further comprises a fourth shaft arm, a fourth shaft arm connecting shaft, a fourth shaft arm driving motor, a second synchronizing wheel, a second synchronizing belt and a second ball bearing mechanism;
the fourth shaft arm is connected to the third shaft arm mechanism through the fourth shaft arm connecting shaft; the second synchronous wheel is fixedly sleeved on the periphery of the fourth shaft arm connecting shaft, the fourth shaft arm driving motor is arranged on the third shaft arm mechanism, and the second synchronous belt connects a rotating shaft of the fourth shaft arm driving motor with the second synchronous wheel and is used for driving the fourth shaft arm connecting shaft and the fourth shaft arm to rotate clockwise or anticlockwise along the horizontal direction;
the inner ring of the second ball bearing mechanism is sleeved on the periphery of the fourth shaft arm connecting shaft, and the outer ring of the second ball bearing mechanism is fixedly connected to the third shaft arm mechanism.
Further, the first shaft arm mechanism comprises a transmission screw rod and a screw rod driving motor, and the first end of the transmission screw rod is connected with a rotating shaft of the screw rod driving motor; the second shaft arm mechanism is vertically movably connected to the first shaft arm mechanism through the transmission lead screw.
Furthermore, the first shaft arm mechanism further comprises a bearing seat, and the second end of the transmission lead screw is fixedly connected to the bearing seat.
Further, the second shaft arm mechanism comprises a U-shaped support frame, and the U-shaped support frame is horizontally arranged, and the opening of the U-shaped support frame faces the third shaft arm mechanism; the third shaft arm driving motor is arranged in the hollow part of the U-shaped support frame; two sides of the U-shaped support frame are provided with symmetrical third shaft arm mounting holes, and two ends of the third shaft arm connecting shaft penetrate through the third shaft arm mounting holes; the first ball bearing mechanism comprises two ball bearings which are respectively connected to two ends of the third shaft arm connecting shaft.
Further, the four-axis mechanical arm further comprises a base, and the first axis arm mechanism is vertically connected to the base; the base comprises a locking piece and is used for being fixedly connected with the workbench.
Further, the four-axis arm still includes trapezoidal support, locates the rear side of first arm mechanism, and connect in on the base.
Further, the four-axis mechanical arm further comprises a control integrated circuit machine table; the base also comprises a machine base used for installing the control integrated circuit machine.
The invention also provides a control method of the four-axis mechanical arm, which is based on the four-axis mechanical arm, and comprises the following steps:
setting a material clamping position point of the rotary clamping jaw;
and simultaneously sending a pulse control command to the first shaft arm mechanism, the second shaft arm mechanism, the third shaft arm mechanism and the fourth shaft arm mechanism, so that the first shaft arm mechanism, the second shaft arm mechanism, the third shaft arm mechanism and the fourth shaft arm mechanism can simultaneously carry out vector motion to drive the rotary clamping jaw to reach the material clamping position point.
Further, the method further comprises the steps of:
and each motor is inching controlled through a single chip microcomputer main control device and an external display screen interface button.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the four-shaft mechanical arm comprises a first shaft arm mechanism, a second shaft arm mechanism, a third shaft arm mechanism and a fourth shaft arm mechanism which are connected in sequence; the first shaft arm mechanism is vertically arranged, and the second shaft arm mechanism, the third shaft arm mechanism and the fourth shaft arm mechanism are horizontally arranged;
after the four-axis mechanical arm is provided with the material clamping position point, the second axis arm mechanism can vertically move along the first axis arm mechanism and is used for driving the rotary clamping jaw on the fourth axis arm mechanism to reach the height of the material clamping position point, namely driving the rotary clamping jaw to realize the displacement in the Z axis direction relative to the material clamping position point;
in the third shaft arm mechanism, a third shaft arm connecting shaft, a first synchronizing wheel, a first synchronizing belt and a rotating shaft of a third shaft arm driving motor are sequentially connected, and the third shaft arm driving motor is arranged in the second shaft arm mechanism, so that the third shaft arm mechanism is driven by the motor to rotate clockwise or anticlockwise along the horizontal direction, namely, the rotating clamping jaw is driven, and the displacement in the X-axis direction and the Y-axis direction is realized relative to a material clamping position point;
meanwhile, a first ball bearing mechanism is further sleeved on the third shaft arm connecting shaft; the first ball bearing mechanism may comprise one or more ball bearings; the third shaft arm connecting shaft and the second shaft arm mechanism are connected through the first ball bearing mechanism, so that the third shaft arm connecting shaft can flexibly and quickly rotate and the rotating friction force is small;
the fourth shaft arm mechanism is also rotationally connected to the third shaft arm mechanism and can also rotate clockwise or anticlockwise along the horizontal direction, namely the rotary clamping jaw is driven to realize displacement in the X-axis and Y-axis directions relative to the material clamping position point, so that the rotary clamping jaw can clamp a product to be conveyed conveniently;
from this, through mechanisms such as motor, ball bearing, the four-axis arm can rotate the operation fast in a flexible way, and its reaction rate is fast, simple structure, stability are strong, during operation effort is little to can greatly promote the work efficiency of four-axis arm, reduce equipment cost.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural view of a top view angle of a four-axis robot arm according to an embodiment of the present invention;
FIG. 2 is a top view of a four-axis robot arm in accordance with an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a four-axis robot arm according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a connection structure of the second and third arm mechanisms according to an embodiment of the present invention;
fig. 5 is a schematic view of a connection structure of the third and fourth axis arm mechanisms according to an embodiment of the present invention.
The specification reference numbers indicate:
1. a first axle arm mechanism; 11. a drive screw; 2. a second shaft arm mechanism; 3. a third axis arm mechanism; 31. a third shaft arm; 32. a third shaft arm connecting shaft; 33. a third axis arm drive motor; 34. a first synchronizing wheel; 35. a first synchronization belt; 36. a first ball bearing mechanism; 4. a fourth axis arm mechanism; 41. a fourth shaft arm; 42. a fourth shaft arm connecting shaft; 43. a fourth shaft arm driving motor; 44. a second synchronizing wheel; 45. a second synchronous belt; 46. a second ball bearing mechanism; 47. rotating the clamping jaw; 5. a base; 6. a trapezoidal bracket; 7. controlling the integrated circuit machine.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in 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 obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1 to 5, an embodiment of the present invention provides a four-axis robot arm, including:
a first shaft arm mechanism 1 vertically arranged;
the second shaft arm mechanism 2 is horizontally arranged and movably connected to the first shaft arm mechanism 1 and used for upwards or downwards displacing along the vertical direction;
the third shaft arm mechanism 3 is horizontally arranged and comprises a third shaft arm 31, a third shaft arm connecting shaft 32, a third shaft arm driving motor 33, a first synchronous wheel 34, a first synchronous belt 35 and a first ball bearing mechanism 36; the third shaft arm 31 is connected to the second shaft arm mechanism 2 through a third shaft arm connecting shaft 32; the first synchronizing wheel 34 is fixedly sleeved on the periphery of the third shaft arm connecting shaft 32, the third shaft arm driving motor 33 is arranged in the second shaft arm mechanism 2, and the first synchronizing belt 35 connects a rotating shaft of the third shaft arm driving motor 33 and the first synchronizing wheel 34 to each other and is used for driving the third shaft arm connecting shaft 32 and the third shaft arm 31 to rotate clockwise or anticlockwise along the horizontal direction; the inner ring of the first ball bearing mechanism 36 is sleeved on the periphery of the third shaft arm connecting shaft 32, and the outer ring is fixedly connected to the second shaft arm mechanism 2;
the fourth shaft arm mechanism 4 is horizontally arranged and is rotationally connected to the third shaft arm mechanism 3; fourth shaft arm mechanism 4 includes rotating clamping jaw 47, locates the 4 lower surfaces of fourth shaft arm mechanism for press from both sides and get and treat the transport product.
In a specific embodiment, the four-axis mechanical arm comprises a first axis arm mechanism 1, a second axis arm mechanism 2, a third axis arm mechanism 3 and a fourth axis arm mechanism 4 which are connected in sequence; the first shaft arm mechanism 1 is vertically arranged, and the second shaft arm mechanism 2, the third shaft arm mechanism 3 and the fourth shaft arm mechanism 4 are horizontally arranged;
after the four-axis mechanical arm is arranged to complete the material clamping position point, the second axis arm mechanism 2 can vertically move along the first axis arm mechanism 1, and is used for driving the rotating clamping jaw 47 on the fourth axis arm mechanism 4 to reach the height of the material clamping position point, namely driving the rotating clamping jaw 47 to realize the displacement in the Z axis direction relative to the material clamping position point;
in the third shaft arm mechanism 3, the third shaft arm 31, the third shaft arm connecting shaft 32, the first synchronizing wheel 34, the first synchronizing belt 35 and the rotating shaft of the third shaft arm driving motor 33 are sequentially connected, and the third shaft arm driving motor 33 is arranged in the second shaft arm mechanism 2, so that the third shaft arm mechanism 3 is driven by the motor to rotate clockwise or anticlockwise along the horizontal direction, namely, the rotating clamping jaw 47 is driven, and the displacement in the X-axis and Y-axis directions is realized relative to a material clamping position point;
meanwhile, a first ball bearing mechanism 36 is further sleeved on the third shaft arm connecting shaft 32; the first ball bearing mechanism 36 may include one or more ball bearings; the third shaft arm connecting shaft 32 and the second shaft arm mechanism 2 are connected through the first ball bearing mechanism 36, so that the third shaft arm connecting shaft 32 can flexibly and quickly rotate and the rotating friction force is small;
the fourth shaft arm mechanism 4 is also rotationally connected to the third shaft arm mechanism 3 and can also rotate clockwise or anticlockwise along the horizontal direction, namely, the rotary clamping jaw 47 is driven to realize displacement in the X-axis and Y-axis directions relative to the material clamping position point, so that the rotary clamping jaw 47 can clamp a product to be conveyed conveniently;
from this, through mechanisms such as motor, ball bearing, the four-axis arm can rotate the operation fast in a flexible way, and its reaction rate is fast, simple structure, stability are strong, during operation effort is little to can greatly promote the work efficiency of four-axis arm, reduce equipment cost.
In practical use, the four-axis simple mechanical arm has wide application range, less operation time and less mechanical arm extension process, higher reaction speed and operation efficiency, and can carry out moving and carrying operation of any position point in a three-dimensional space;
in addition, the device has high stability, small acting force, long-time, fault-free and safe operation and lower cost, and can meet the cost accounting requirement of enterprises.
As a further improvement of the embodiment of the present invention, the fourth shaft arm mechanism 4 further includes a fourth shaft arm 41, a fourth shaft arm connecting shaft 42, a fourth shaft arm driving motor 43, a second synchronizing wheel 44, a second synchronizing belt 45, and a second ball bearing mechanism 46;
the fourth shaft arm 41 is connected to the third shaft arm mechanism 3 through a fourth shaft arm connecting shaft 42; the second synchronous wheel 44 is fixedly sleeved on the periphery of the fourth shaft arm connecting shaft 42, the fourth shaft arm driving motor 43 is arranged on the third shaft arm mechanism 3, and the second synchronous belt 45 connects the rotating shaft of the fourth shaft arm driving motor 43 with the second synchronous wheel 44 for driving the fourth shaft arm connecting shaft 42 and the fourth shaft arm 41 to rotate clockwise or anticlockwise along the horizontal direction;
the inner ring of the second ball bearing mechanism 46 is sleeved on the periphery of the fourth shaft arm connecting shaft 42, and the outer ring is fixedly connected to the third shaft arm mechanism 3.
As shown in fig. 5, in a preferred embodiment, the connection manner of the fourth and third arm mechanisms 4 and 3 may be the same as the connection manner of the third and second arm mechanisms 3 and 2;
namely, the rotating shafts of the fourth shaft arm 41, the fourth shaft arm connecting shaft 42, the second synchronizing wheel 44, the second synchronizing belt 45 and the fourth shaft arm driving motor 43 are sequentially connected, and the fourth shaft arm driving motor 43 is arranged on the third shaft arm mechanism 3, so that the fourth shaft arm mechanism 4 is driven by the motor to rotate clockwise or anticlockwise along the horizontal direction, namely, the rotating clamping jaw 47 is driven, and displacement in the directions of the X axis and the Y axis is realized relative to a material clamping position point;
meanwhile, a second ball bearing mechanism 46 is further sleeved on the fourth shaft arm connecting shaft 42; the second ball bearing mechanism 46 may include one or more ball bearings; the fourth shaft arm connecting shaft 42 and the third shaft arm mechanism 3 are connected through a second ball bearing mechanism 46, so that the fourth shaft arm connecting shaft 42 can flexibly and quickly rotate and the rotating friction force is small;
therefore, the fourth shaft arm mechanism 4 and the third shaft arm mechanism 3 can flexibly and quickly rotate to drive the rotating clamping jaw 47 to realize the displacement in the X-axis and Y-axis directions relative to the material clamping position point, and the rotating clamping jaw 47 can quickly reach the material clamping position point to perform clamping operation;
simultaneously, each mechanism simple structure, stability are strong, the during operation effort is little to can greatly promote four-axis arm's work efficiency, reduce equipment cost.
As a further improvement of an embodiment of the present invention, the first axis arm mechanism 1 includes a transmission screw 11 and a screw driving motor, wherein a first end of the transmission screw 11 is connected with a rotating shaft of the screw driving motor; the second arm mechanism 2 is vertically movably connected to the first arm mechanism 1 through a drive screw.
As a further improvement of an embodiment of the present invention, the first arm mechanism 1 further includes a bearing seat, and the second end of the drive screw 11 is fixedly connected to the bearing seat.
In the preferred embodiment, as shown in fig. 3, the second arm mechanism 2 is movable in the vertical direction by the driving action of the driving screw 11, so as to drive the rotating jaw 47 to perform Z-axis displacement relative to the material clamping position.
Wherein, the one end of drive screw 11 links to each other with the motor, and the other end is then fixed on the bearing frame to drive screw 11 can rotate in a flexible way, in order to promote whole operating speed.
As a further improvement of an embodiment of the present invention, the second arm mechanism 2 includes a U-shaped support frame, the U-shaped support frame is horizontally disposed, and an opening of the U-shaped support frame faces the third arm mechanism 3; the third shaft arm driving motor 33 is arranged in the hollow part of the U-shaped support frame; symmetrical third shaft arm mounting holes are formed in the two sides of the U-shaped support frame, and two ends of a third shaft arm connecting shaft 32 penetrate through the third shaft arm mounting holes; the first ball bearing mechanism 36 includes two ball bearings, which are respectively connected to both ends of the third shaft-arm connecting shaft 32.
As shown in fig. 4, in a preferred embodiment, the body structure of the second arm mechanism 2 is a horizontally arranged U-shaped support frame, the bottom of the U-shaped support frame is connected with the transmission screw 11, and the opening is used for connecting the third arm mechanism 3;
therefore, the third axle arm mechanism 3 is clamped and connected in the U-shaped support frame, and with the help of the first ball bearing mechanism 36, the third axle arm mechanism 3 can flexibly and rapidly rotate, so that the overall operation speed is improved.
As a further improvement of an embodiment of the present invention, the four-axis mechanical arm further includes a base 5, and the first axis mechanism 1 is vertically connected to the base 5; the base 5 comprises a locking member for fixed connection with the table.
As a further improvement of the embodiment of the present invention, the four-axis mechanical arm further includes a trapezoidal bracket 6 disposed at the rear side of the first axis mechanism 1 and connected to the base 5.
In the preferred embodiment, the four-axis arm is integrally fixed on a thick base plate, and the thick plate can be fixedly locked on one side of the workbench, so that the machining positions of the four-axis arm are fixed accurately and are not easy to deviate when a product is clamped and conveyed.
The preferred, the equipment overall structure shape of four-axis arm is trapezoidal design, and 1 rear side in first arm mechanism can set up trapezoidal support 6 for it is whole to stably connect and support the four-axis arm, prevents the skew of focus.
As a further improvement of an embodiment of the present invention, the four-axis mechanical arm further includes a control integrated circuit board 7; the base 5 further comprises a machine base for mounting a control integrated circuit machine 7.
In a preferred embodiment, the interior of the four-axis mechanical arm equipment can be controlled by an integrated circuit device or a single chip microcomputer, a simple logic circuit can be arranged to be matched with a standard electric control element, and the action and the advancing distance of each axis arm are controlled by a motor;
the control integrated circuit machine 7 can be arranged on one side of the four shaft arms in parallel, so that the operation personnel can conveniently regulate and control the four shaft arms.
In summary, the four-axis mechanical arm provided by the embodiment of the invention uses the structures of the clamping jaw, the motor rotating shaft, the belt, the screw rod and the like, so that the manufacturing cost of the whole equipment can be greatly reduced;
meanwhile, the joint driving motors for controlling the displacement of the clamping jaws are low in power and torsion, so that the materials are not damaged, the conditions of collision, flying and the like cannot occur, and the overall safety of the equipment is high; moreover, even if a person touches the device by hand in the process of rapid movement, the device does not cause production damage to the human body, and can ensure production safety to a great extent.
In addition, in order to avoid damage or artificial damage of a product to be carried caused by collision of the four-axis mechanical arm, a related sensing device or an alarm device can be arranged on the four-axis mechanical arm; for example, a torque state is monitored through a motor induction device, or a stress state is measured by installing a stress sensor, so that whether bad actions such as collision or impact exist is monitored; if so, an alarm can be given out through the alarm device to inform the operator to control in time so as to avoid adverse production events.
In practical use, the movable range of each mechanical arm is not limited; when reserving sufficient length, or length nimble adjustable with each guide rail work piece in the four-axis arm, the arm front can form sufficient extension cubical space for carry the operation to the not unidimensional product of treating transport, thereby can greatly promote equipment commonality, enlarge application range.
Example two:
the invention further provides a control method of the four-axis mechanical arm, which is based on the four-axis mechanical arm, and comprises the following steps:
setting a material clamping position point of the rotating clamping jaw 47;
and simultaneously sending a pulse control command to the first shaft arm mechanism 1, the second shaft arm mechanism 2, the third shaft arm mechanism 3 and the fourth shaft arm mechanism 4, so that the four mechanisms simultaneously carry out vector motion to drive the rotary clamping jaw 47 to reach a material clamping position point.
In a specific embodiment, when the information of the arrival position point of the mechanical arm tail end point (i.e. the information of the clamping point of the clamping jaw) is set, the four shaft arms of the four-shaft mechanical arm can simultaneously run in a pulse control mode to perform vector motion, so that the four shaft arms can arrive at the clamping position point in the shortest and fastest path, and the rotating clamping jaw 47 can grasp and carry the product as soon as possible.
As a further improvement of another embodiment of the present invention, the method further comprises the steps of:
and each motor is inching controlled through a single chip microcomputer main control device and an external display screen interface button.
In a preferred embodiment, in the four-axis mechanical arm, each motor rotating shaft executing part can independently operate through inching control, the motor rotates accurately, and personnel control is convenient.
It is to be noted that the above description is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a four-axis arm which characterized in that includes:
a first shaft arm mechanism (1) arranged vertically;
the second shaft arm mechanism (2) is horizontally arranged and movably connected to the first shaft arm mechanism (1) and is used for upwards or downwards displacing along the vertical direction;
the third shaft arm mechanism (3) is horizontally arranged and comprises a third shaft arm (31), a third shaft arm connecting shaft (32), a third shaft arm driving motor (33), a first synchronizing wheel (34), a first synchronizing belt (35) and a first ball bearing mechanism (36); the third shaft arm (31) is connected to the second shaft arm mechanism (2) through the third shaft arm connecting shaft (32); the first synchronizing wheel (34) is fixedly sleeved on the periphery of the third shaft arm connecting shaft (32), the third shaft arm driving motor (33) is arranged in the second shaft arm mechanism (2), and a rotating shaft of the third shaft arm driving motor (33) is connected with the first synchronizing wheel (34) through a first synchronizing belt (35) and is used for driving the third shaft arm connecting shaft (32) and the third shaft arm (31) to rotate clockwise or anticlockwise along the horizontal direction; the inner ring of the first ball bearing mechanism (36) is sleeved on the periphery of the third shaft arm connecting shaft (32), and the outer ring of the first ball bearing mechanism is fixedly connected to the second shaft arm mechanism (2);
the fourth shaft arm mechanism (4) is horizontally arranged and is rotationally connected to the third shaft arm mechanism (3); fourth shaft arm mechanism (4) are located including rotatory clamping jaw (47) the lower surface of fourth shaft arm mechanism (4) for the clamp is got and is waited to carry the product.
2. The four-axis robot arm according to claim 1, wherein the fourth axis arm mechanism (4) further comprises a fourth axis arm (41), a fourth axis arm connecting shaft (42), a fourth axis arm driving motor (43), a second synchronizing wheel (44), a second synchronizing belt (45), a second ball bearing mechanism (46);
the fourth shaft arm (41) is connected to the third shaft arm mechanism (3) through the fourth shaft arm connecting shaft (42); the second synchronous wheel (44) is fixedly sleeved on the periphery of the fourth shaft arm connecting shaft (42), the fourth shaft arm driving motor (43) is arranged on the third shaft arm mechanism (3), and the second synchronous belt (45) connects a rotating shaft of the fourth shaft arm driving motor (43) with the second synchronous wheel (44) and is used for driving the fourth shaft arm connecting shaft (42) and the fourth shaft arm (41) to rotate clockwise or anticlockwise along the horizontal direction;
the inner ring of the second ball bearing mechanism (46) is sleeved on the periphery of the fourth shaft arm connecting shaft (42), and the outer ring of the second ball bearing mechanism is fixedly connected to the third shaft arm mechanism (3).
3. The four-axis mechanical arm of claim 1 or 2, wherein the first axis arm mechanism (1) comprises a transmission screw (11) and a screw driving motor, and a first end of the transmission screw (11) is connected with a rotating shaft of the screw driving motor; the second shaft arm mechanism (2) is connected to the first shaft arm mechanism (1) in a vertically movable manner through the transmission lead screw (11).
4. Four-axis robot arm according to claim 3, characterized in that the first arm mechanism (1) further comprises a bearing block, to which the second end of the drive screw (11) is fixedly connected.
5. Four-axis robot arm according to claim 1, characterized in that the second arm mechanism (2) comprises a U-shaped support frame arranged horizontally, with the opening facing the third arm mechanism (3); the third shaft arm driving motor (33) is arranged in the hollow part of the U-shaped support frame; symmetrical third shaft arm mounting holes are formed in two sides of the U-shaped support frame, and two ends of the third shaft arm connecting shaft (32) penetrate through the third shaft arm mounting holes; the first ball bearing mechanism (36) includes two ball bearings connected to both ends of the third shaft arm connecting shaft (32), respectively.
6. The four-axis robot arm according to claim 1, further comprising a base (5), wherein the first axis arm mechanism (1) is vertically connected to the base (5); the base (5) comprises a locking piece and is fixedly connected with the workbench.
7. Four-axis robot arm, according to claim 6, characterized in that it further comprises a trapezoidal support (6) located at the rear side of the first arm mechanism (1) and connected to the base (5).
8. The four-axis robot arm of claim 6, further comprising a control IC table (7); the base (5) further comprises a machine base used for installing the control integrated circuit machine (7).
9. A four-axis robot arm control method, based on the four-axis robot arm of any of claims 1-8, the method comprising the steps of:
setting a material clamping position point of the rotary clamping jaw (47);
and simultaneously sending a pulse control command to the first shaft arm mechanism (1), the second shaft arm mechanism (2), the third shaft arm mechanism (3) and the fourth shaft arm mechanism (4) to enable the four mechanisms to simultaneously carry out vector motion so as to drive the rotary clamping jaw (47) to reach the material clamping position point.
10. The control method of the four-axis robot arm of claim 9, further comprising the steps of:
and each motor is inching controlled through a single chip microcomputer main control device and an external display screen interface button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210179237.5A CN114393604A (en) | 2022-02-25 | 2022-02-25 | Four-axis mechanical arm and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210179237.5A CN114393604A (en) | 2022-02-25 | 2022-02-25 | Four-axis mechanical arm and control method thereof |
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| CN114393604A true CN114393604A (en) | 2022-04-26 |
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| CN202210179237.5A Pending CN114393604A (en) | 2022-02-25 | 2022-02-25 | Four-axis mechanical arm and control method thereof |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206869878U (en) * | 2017-04-07 | 2018-01-12 | 东莞市广智自动化设备有限公司 | A kind of axle robot of small space tailored version level four |
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| CN207534805U (en) * | 2017-12-12 | 2018-06-26 | 慧灵科技（深圳）有限公司 | A kind of four axis robot of high performance level joint |
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| US20180354136A1 (en) * | 2017-06-09 | 2018-12-13 | Precise Automation, Inc. | Collaborative robot |
| CN214055268U (en) * | 2020-11-12 | 2021-08-27 | 西安码垛科技有限公司 | Horizontal joint manipulator |
| CN215037627U (en) * | 2021-04-16 | 2021-12-07 | 北方工业大学 | Plane four-joint mechanical arm |
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| JPH07241787A (en) * | 1994-03-03 | 1995-09-19 | Fanuc Ltd | Balancer for industrial robot |
| CN206869878U (en) * | 2017-04-07 | 2018-01-12 | 东莞市广智自动化设备有限公司 | A kind of axle robot of small space tailored version level four |
| US20180354136A1 (en) * | 2017-06-09 | 2018-12-13 | Precise Automation, Inc. | Collaborative robot |
| CN107803829A (en) * | 2017-12-12 | 2018-03-16 | 慧灵科技（深圳）有限公司 | A kind of flat articulated mechanical arm of novel and multifunctional straight expelling water |
| CN207534805U (en) * | 2017-12-12 | 2018-06-26 | 慧灵科技（深圳）有限公司 | A kind of four axis robot of high performance level joint |
| CN108312132A (en) * | 2018-04-25 | 2018-07-24 | 阜阳盛东智能制造技术研发有限公司 | A kind of multi-joint mechanical arm |
| CN214055268U (en) * | 2020-11-12 | 2021-08-27 | 西安码垛科技有限公司 | Horizontal joint manipulator |
| CN215037627U (en) * | 2021-04-16 | 2021-12-07 | 北方工业大学 | Plane four-joint mechanical arm |
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