CN203726489U - Four-axis manipulator arm - Google Patents
Four-axis manipulator arm Download PDFInfo
- Publication number
- CN203726489U CN203726489U CN201420137723.1U CN201420137723U CN203726489U CN 203726489 U CN203726489 U CN 203726489U CN 201420137723 U CN201420137723 U CN 201420137723U CN 203726489 U CN203726489 U CN 203726489U
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- Prior art keywords
- axle
- motor
- pedestal
- control system
- axis
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Abstract
The utility model discloses a four-axis manipulator arm. The four-axis manipulator arm comprises a control system cabinet, a J1 axis fixed seat, a J2 axis base, a J3 axis base and a J4 axis telescopic arm. According to the four-axis manipulator arm, motors for forming action are all AC (Alternating Current) servomotors, so that the acting speed is faster; a key part adopts a harmonic speed reducer; due to the adoption of a screw and nut mechanism and a rack and pinion mechanism, the working noise is greatly lowered, and the accuracy of action is improved; meanwhile, due to relatively reasonable action parameters, the manipulator arm has better universality.
Description
Technical field
The present invention relates to Robotics field, especially relate to a kind of four shaft mechanical arms.
Background technology
Along with the popularization and application of industrial automation, mechanical arm is widely used.But mechanical arm quite a lot exists that responsiveness is slow, action is transmitted and setting accuracy is poor, noise is larger, and the irrational defect of action parameter.
Summary of the invention
The object of this invention is to provide a kind of four shaft mechanical arms, it has, and action is transmitted and setting accuracy is high, and noise is less, and comparatively reasonably feature of action parameter.Further, it also has responsiveness feature faster.
The technical solution adopted in the present invention is: four shaft mechanical arms, and described four shaft mechanical arms comprise:
---control system cupboard, this control system cupboard is fixed on ground, and the sub-inside of this system control cabinet is provided with control system, on this control system cupboard, is fixed with the first motor;
---J1 axle holder, this J1 axle holder is articulated in this control system cupboard top, the pivot that this J1 axle holder is articulated in this control system cupboard is vertical, this J1 axle holder is connected to this first motor, and this J1 axle holder has upwardly extending J1 axle horn, in this J1 axle horn, be provided with the leading screw and the vertical slideway that are parallel to each other, this leading screw is connected to one second motor, and this second motor is fixed on this J1 axle horn top;
---J2 axle pedestal, this J2 axle pedestal slides and is arranged in this vertical slideway, and this nut that J2 axle pedestal is provided with and this leading screw matches, and meanwhile, on this J2 axle pedestal, is fixed with the 3rd motor;
---J3 axle pedestal, this J3 axle pedestal is articulated on this J2 axle pedestal, the pivot that this J3 axle pedestal is articulated in this J2 axle pedestal be level to, and this J3 axle pedestal is connected to the 3rd motor, meanwhile, this J3 axle pedestal is provided with the 4th motor and power and is connected to the gear of the 4th motor;
---J4 axle telescopic arm, this J4 axle telescopic arm slides and is arranged on this J3 axle pedestal, and this tooth bar that J4 axle telescopic arm has and this gear matches.
The front end of described J4 axle telescopic arm is provided with J4 axle paw.
Between described J1 axle holder and the first motor, connect by a harmonic speed reducer.
Between described J3 axle pedestal and the 3rd motor, connect by a harmonic speed reducer.
Described the first motor, the second motor, the 3rd motor, the 4th motor are AC servomotor.
The advantage that the present invention has is: responsiveness is very fast, action is transmitted and setting accuracy is high, and noise is less, and action parameter is comparatively reasonable.The motor that four shaft mechanical arms of the present invention are used to form action all adopts AC servomotor, thereby responsiveness is very fast.According to motion characteristic, adopt harmonic speed reducer at key position, and the employing of screw-nut body, pinion and rack has all been reduced to operating noise largely, more improve operation precision.Use through reality, the controlled radius of this four shaft mechanicals arm can reach 1200mm, rotatable 340 ° of J axle holder, J2 axle pedestal and can move up and down and reach that 500mm, rotatable 180 ° of J3 axle pedestal, J4 axle telescopic arm stroke can reach 450mm, bearing a heavy burden to reach 3kg, aforementioned comparatively reasonably action parameter, makes this mechanical arm have good versatility.
Brief description of the drawings
Below in conjunction with drawings and Examples, the present invention is further described:
Fig. 1 is the front view of embodiments of the invention;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the top view of Fig. 1.
In figure: 10, J1 axle holder, 11, the first motor, 12, J2 axle support, 13, vertical slideway; 20, J2 axle pedestal, 21, the second motor, 22, leading screw; 30, J3 axle pedestal, 31, the 3rd motor, 32, horizontal slide rail; 40, J4 axle telescopic arm, 41, the 4th motor, 42, gear, 43, tooth bar; 44, J4 axle paw; 50, control system cupboard.
Detailed description of the invention
Embodiment, is shown in shown in Fig. 1 to Fig. 3: four shaft mechanical arms, comprising: J1 axle holder 10, J2 axle pedestal 20, J3 axle pedestal 30, J4 axle telescopic arm 40, control system cupboard 50.Concretely:
This control system cupboard 50 is fixed on ground, and these system control cabinet 50 inside are provided with control system (not shown on figure).Meanwhile, on this control system cupboard 50, be fixed with the first motor 11.
This J1 axle holder 10 is articulated in this control system cupboard 50 tops, and the pivot that this J1 axle holder 10 is articulated in this control system cupboard 50 is vertically, and this J1 axle holder 10 is connected to this first motor 11.,, under the drive of this first motor 11, this J1 axle holder 10 can produce rotation with a vertical axis.This J1 axle holder 10 has upwardly extending J1 axle horn 12.In this J1 axle horn 12, be provided with the leading screw 22 and the vertical slideway 13 that are parallel to each other.This leading screw 22 is connected to one second motor 21, and this second motor 21 is fixed on this J1 axle horn 12 tops., this second motor 21 drives this leading screw 22 to produce rotation.
This J2 axle pedestal 20 slides and is arranged in this vertical slideway 13, and this nut that J2 axle pedestal 20 is provided with and this leading screw 22 matches (not shown on figure).Meanwhile, on this J2 axle pedestal 20, be fixed with the 3rd motor 31.,, under the acting in conjunction of this leading screw 22 and this vertical slide rail 13, this J2 axle pedestal 20 can slide up and down and this nut can not produce rotation with respect to this J axle pedestal 20.Like this, after these leading screw 22 rotations, this nut and this leading screw 22 cooperatively interact, and form screw-nut body, then drive this J2 axle pedestal 20 to slide up and down by this nut.
This J3 axle pedestal 30 is articulated on this J2 axle pedestal 20, the pivot that this J3 axle pedestal 30 is articulated in this J2 axle pedestal 20 be level to, and this J3 axle pedestal 30 is connected to the 3rd motor 31.,, under the drive of the 3rd motor 31, this J3 axle pedestal 30 can be rotated with a horizontal direction axle.Meanwhile, this J3 axle pedestal 30 is provided with the 4th motor 41 and power and is connected to the gear 42 of the 4th motor 41., the 4th motor 41 drives this gear 42 to rotate.Such as, this gear 42 is fixed on the power output shaft of the 4th motor 41.
This J4 axle telescopic arm 40 slides and is arranged on this J3 axle pedestal 30, and this tooth bar 43 that J4 axle telescopic arm 40 has and this gear 42 matches.Such as, this J3 axle pedestal 30 is provided with horizontal slide rail 32, and what this J4 axle telescopic arm 40 slided is stuck in this horizontal slide rail 32.That is, these gear 42 and these tooth bar 43 formative gear rackworks, thus after these gear 42 rotations, drive this J4 axle telescopic arm 40 stretch out or retract by this tooth bar 43.
Further say, the front end of this J4 axle telescopic arm 40 is provided with J4 axle paw 44.
Continue to optimize, between this J1 axle holder 10 and the first motor 11, connect by a harmonic speed reducer.Between this J3 axle pedestal 30 and the 3rd motor 31, connect by a harmonic speed reducer.This first motor 11, the second motor 21, the 3rd motor 31, the 4th motor 41 are AC servomotor.
In sum, the motor that four shaft mechanical arms of the present invention are used to form action all adopts AC servomotor, thereby responsiveness is very fast.Adopt harmonic speed reducer at key position, and the employing of screw-nut body, pinion and rack has all been reduced to operating noise largely, improved operation precision.Use through reality, this four shaft mechanicals arm action parameter is comparatively reasonable, has good versatility.
The foregoing is only the preferred embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (5)
1. four shaft mechanical arms, is characterized in that: described four shaft mechanical arms comprise:
---control system cupboard (50), this control system cupboard (50) is fixed on ground, and this system control cabinet (50) inside is provided with control system, on this control system cupboard (50), is fixed with the first motor (11);
---J1 axle holder (10), this J1 axle holder (10) is articulated in this control system cupboard (50) top, the pivot that this J1 axle holder (10) is articulated in this control system cupboard (50) is vertical, this J1 axle holder (10) is connected to this first motor (11), and this J1 axle holder (10) has upwardly extending J1 axle horn (12), in this J1 axle horn (12), be provided with the leading screw (22) and the vertical slideway (13) that are parallel to each other, this leading screw (22) is connected to one second motor (21), this second motor (21) is fixed on this J1 axle horn (12) top,
---J2 axle pedestal (20), this J2 axle pedestal (20) slides and is arranged in this vertical slideway (13), and this nut that J2 axle pedestal (20) is provided with and this leading screw (22) matches, meanwhile, is fixed with the 3rd motor (31) on this J2 axle pedestal (20);
---J3 axle pedestal (30), this J3 axle pedestal (30) is articulated on this J2 axle pedestal (20), the pivot that this J3 axle pedestal (30) is articulated in this J2 axle pedestal (20) be level to, and this J3 axle pedestal (30) is connected to the 3rd motor (31), meanwhile, this J3 axle pedestal (30) is provided with the 4th motor (41) and power and is connected to the gear (42) of the 4th motor (41);
---J4 axle telescopic arm (40), this J4 axle telescopic arm (40) slides and is arranged at this J3 axle pedestal (30) above, and this tooth bar (43) that J4 axle telescopic arm (40) has and this gear (42) matches.
2. four shaft mechanical arms according to claim 1, is characterized in that: the front end of described J4 axle telescopic arm (40) is provided with J4 axle paw (44).
3. four shaft mechanical arms according to claim 1, is characterized in that: between described J1 axle holder (10) and the first motor (11), connect by a harmonic speed reducer.
4. four shaft mechanical arms according to claim 1, is characterized in that: between described J3 axle pedestal (30) and the 3rd motor (31), connect by a harmonic speed reducer.
5. according to four shaft mechanical arms described in any one in claim 1 to 4, it is characterized in that: described the first motor (11), the second motor (21), the 3rd motor (31), the 4th motor (41) are AC servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420137723.1U CN203726489U (en) | 2014-03-25 | 2014-03-25 | Four-axis manipulator arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420137723.1U CN203726489U (en) | 2014-03-25 | 2014-03-25 | Four-axis manipulator arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203726489U true CN203726489U (en) | 2014-07-23 |
Family
ID=51196594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420137723.1U Withdrawn - After Issue CN203726489U (en) | 2014-03-25 | 2014-03-25 | Four-axis manipulator arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203726489U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103862467A (en) * | 2014-03-25 | 2014-06-18 | 宁波摩科机器人科技有限公司 | Four-axis mechanical arm |
| CN104308845A (en) * | 2014-08-18 | 2015-01-28 | 昆山鑫腾顺自动化设备有限公司 | Four-shaft punching stamping and taking robot |
-
2014
- 2014-03-25 CN CN201420137723.1U patent/CN203726489U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103862467A (en) * | 2014-03-25 | 2014-06-18 | 宁波摩科机器人科技有限公司 | Four-axis mechanical arm |
| CN103862467B (en) * | 2014-03-25 | 2016-01-20 | 宁波摩科机器人科技有限公司 | Four shaft mechanical arms |
| CN104308845A (en) * | 2014-08-18 | 2015-01-28 | 昆山鑫腾顺自动化设备有限公司 | Four-shaft punching stamping and taking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140723 Effective date of abandoning: 20160120 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |