CN203863672U - Lifting base device of planar joint-typed robot - Google Patents
Lifting base device of planar joint-typed robot Download PDFInfo
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- CN203863672U CN203863672U CN201320762507.1U CN201320762507U CN203863672U CN 203863672 U CN203863672 U CN 203863672U CN 201320762507 U CN201320762507 U CN 201320762507U CN 203863672 U CN203863672 U CN 203863672U
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- screw
- screw mandrel
- robot
- support
- lifting base
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Abstract
The utility model discloses a lifting base device of a planar joint-typed robot. The lifting base device of the planar joint-typed robot comprises a support, a lifting servo motor, a motor frame, a synchronous belt driving wheel, a belt, a synchronous belt driven wheel, a screw rod, a screw rod rack, an unthreaded shaft, a sliding bush, a screw rod nut, a lifting base and a support top plate. The lifting servo motor is fixedly mounted on the motor frame through a screw, and the motor frame is fixedly mounted on a support bottom plate through a screw. The lifting base device of the planar joint-typed robot is simple and stable in structure, processing and assembling are convenient, and the number of components is small; meanwhile, by means of the lifting base structure, the movable range of the robot in the vertical direction is greatly increased, and due to the weight of the lifting base part, the overall stability of the robot is improved as well.
Description
Technical field
The utility model relates to a kind of four-degree-of-freedom plane articulation type industrial robot, is specifically related to a kind of selective compliance assembly robot arm's elevating bracket device, and its elevating bracket can vertically move up and down.
Background technology
In recent ten years, robotics development is very fast, and the robot of various uses extensively obtains application in every field.Industrial Robot Technology is as the important branch of modern science and technology, and he has related to many multi-disciplinary achievements in research such as machinery, electronics, sensor, computer and artificial intelligence, has merged the advanced technology at present a lot of fields.Industrial Robot Technology also combines the multi-door most advanced and sophisticated subjects such as mechanical engineering, electrical engineering, microelectronic engineering, computer engineering, Control Engineering, bionics and artificial intelligence engineering.By the application that combines of it and computer aided design system, computer aided manufacture system, be the latest development trend of modern manufacturing industry automation.
As four-degree-of-freedom selective compliance assembly robot arm, in general, desired plane revolute robot's movable range becomes large certainly.And according to Japan, herd the SCARA model of wild foreign utility model, and the four-degree-of-freedom revolute robot of design research and development, the movable range on its vertical direction is little.
Utility model content
For the technical problem of above-mentioned existence, the purpose of this utility model is to provide a kind of novel four-degree-of-freedom selective compliance assembly robot arm elevating bracket parts, can make the range of movement on selective compliance assembly robot arm's vertical direction greatly increase.
To achieve these goals, the utility model adopts following technical scheme:
Selective compliance assembly robot arm's elevating bracket device, comprises support, lifting servomotor, motor rack, Timing Belt driving wheel, belt, Timing Belt driven pulley, screw mandrel, screw mandrel frame, optical axis, slide bushing, screw mandrel nut, elevating bracket and rack plate, described lifting servomotor is fixedly mounted on motor rack by screw, motor rack is fixedly mounted on support base plate by screw, together with the motor shaft of lifting servomotor passes through screw attachment with Timing Belt driving wheel, Timing Belt driven pulley is linked together by screw and screw mandrel bottom, screw mandrel frame is fixedly mounted on support base plate by screw, screw mandrel bottom coordinates with the angular contact ball bearing being arranged on screw mandrel frame by step, screw mandrel top coordinates with the angular contact ball bearing being arranged on rack plate by step, optical axis is arranged between the base plate and rack plate of support by step, described screw mandrel nut matches with screw mandrel, and be closely fixedly connected with elevating bracket by screw, slide bushing on optical axis is closely fixedly connected with elevating bracket by screw.
Further, the kinematic pair of described screw mandrel is its outside screw thread and the nut that matches with this screw thread, and described nut is also closely fixedly connected with by hexagon socket cap head screw with elevating bracket.Described lifting servomotor is arranged on lifting servomotor frame by hexagon socket cap head screw, lifting servo motor shaft on it is connected with Timing Belt driving wheel by base rice screw, Timing Belt driven pulley is connected with screw mandrel by base rice screw, described lifting servomotor drives Timing Belt driving wheel to rotate, described Timing Belt driven pulley drives screw mandrel to rotate, thereby drives elevating bracket to move up and down.
Described two optical axises are combined together by the stepped hole of lower step and support, described two optical axises are combined together by the stepped hole of upper step and rack plate, therefore two described optical axises are fixedly installed between support and rack plate, slide bushing on described optical axis is closely fixedly connected with elevating bracket by screw, and two optical axises of setting are the stability in order to increase elevating bracket and to move up and down.The utility model has the following advantages with respect to prior art tool: this four-degree-of-freedom selective compliance assembly robot arm elevating bracket modular construction is simply firm, and process and assemble is convenient and parts are few.Meanwhile, the pedestal structure in the utility model has increased the movable range on robot vertical direction greatly, has also improved again the stability of robot integral body due to the weight of elevating bracket part.
Accompanying drawing explanation
Fig. 1 is that the master of the utility model embodiment looks schematic diagram.
Fig. 2 is A-A place cross-sectional schematic in Fig. 1.
Fig. 3 is the perspective view of the utility model embodiment.
Fig. 4 is the use view of the utility model embodiment.
In figure: 1. support; 2. Timing Belt driven pulley; 3. screw mandrel frame; 4. Timing Belt driving wheel; 5. motor rack; 6. lifting servomotor; 7. screw mandrel nut; 8. slide bushing; 9. screw; 10. elevating bracket; 11. screw mandrels; 12. optical axises; 13. rack plates; 14-servomotor; 15-mechanical arm.
The specific embodiment
In order to understand better the utility model, with word, by reference to the accompanying drawings the utility model is further described below.
As shown in Figures 1 to 3, comprise support 1, lifting servomotor 6, motor rack 5, Timing Belt driving wheel 4, belt, Timing Belt driven pulley 2, screw mandrel 11, screw mandrel frame 3, optical axis 12, slide bushing 8, screw mandrel nut 7, elevating bracket 10 and rack plate 13, described lifting servomotor 6 is fixedly mounted on motor rack 5 by screw, motor rack 5 is fixedly mounted on support 1 base plate by screw, together with the motor shaft of lifting servomotor 6 passes through screw attachment with Timing Belt driving wheel 4, Timing Belt driven pulley 2 is linked together by screw and screw mandrel 11 bottoms, screw mandrel frame 3 is fixedly mounted on support 1 base plate by screw, screw mandrel 11 bottoms coordinate with the angular contact ball bearing being arranged on screw mandrel frame 3 by step, screw mandrel 11 tops coordinate with the angular contact ball bearing being arranged on rack plate 13 by step, optical axis 12 is arranged between the base plate and rack plate 13 of support 1 by step, described screw mandrel nut 7 matches with screw mandrel 11, and be closely fixedly connected with elevating bracket 10 by screw, slide bushing 8 on optical axis 12 is closely fixedly connected with elevating bracket 10 by screw.
As shown in Figure 2, support 1 is fixedly set on floor or table top, together with rack plate 13 passes through screw attachment with support 1, the bottom of two optical axises 12 and support 1 are arranged on by the shaft shoulder on the base plate of support 1, and the top of optical axis 12 and rack plate 13 are pressed on support 1 by the shaft shoulder; The bottom of screw mandrel 11 coordinates with the screw mandrel frame 3 that angular contact ball bearing is housed by the shaft shoulder of screw axis, screw mandrel frame 3 is closely fixedly connected with support 1 by screw, and the top of screw mandrel 11 is arranged on support 1 with the rack plate 13 that angular contact ball bearing is housed by the shaft shoulder of screw axis.
On described two optical axises 12, be separately installed with slide bushing 8, slide bushing 8 links together by screw and elevating bracket 10, screw mandrel nut 7 is installed on screw mandrel 11, screw mandrel nut 7 links together by screw and elevating bracket 10, so, elevating bracket 10, slide bushing 8 and screw mandrel nut 7 are fixed together.
Lifting servomotor 6 is closely fixedly connected with by screw with motor rack 5, motor rack 5 is closely fixedly connected with by screw with support 1, motor shaft and Timing Belt driving wheel 4 link together for transmitting rotating speed and the moment of torsion of motor shaft by base rice screw, and Timing Belt driven pulley 2 links together by base rice screw with screw mandrel 11 bottoms.So transmission process: motor shaft drives Timing Belt driving wheel 4, Timing Belt driving wheel 4 drives Timing Belt driven pulley 2 by belt, thereby screw mandrel 11 is rotated, and drives the parts on elevating bracket 10 and elevating bracket 10, servomotor 14 as shown in Figure 4 and mechanical arm 15, vertically move up and down.
Above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.All any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in the protection domain of the utility model claim.
Claims (1)
1. selective compliance assembly robot arm's elevating bracket device, it is characterized in that: comprise support (1), lifting servomotor (6), motor rack (5), Timing Belt driving wheel (4), belt, Timing Belt driven pulley (2), screw mandrel (11), screw mandrel frame (3), optical axis (12), slide bushing (8), screw mandrel nut (7), elevating bracket (10) and rack plate (13), described lifting servomotor (6) is fixedly mounted on motor rack (5) by screw, motor rack (5) is fixedly mounted on support (1) base plate by screw, together with the motor shaft of lifting servomotor (6) passes through screw attachment with Timing Belt driving wheel (4), Timing Belt driven pulley (2) is linked together by screw and screw mandrel (11) bottom, screw mandrel frame (3) is fixedly mounted on support (1) base plate by screw, screw mandrel (11) bottom coordinates with the angular contact ball bearing being arranged on screw mandrel frame (3) by step, screw mandrel (11) top coordinates with the angular contact ball bearing being arranged on rack plate (13) by step, optical axis (12) is arranged between the base plate and rack plate (13) of support (1) by step, described screw mandrel nut (7) matches with screw mandrel (11), and be closely fixedly connected with elevating bracket (10) by screw, slide bushing (8) on optical axis (12) is closely fixedly connected with elevating bracket (10) by screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320762507.1U CN203863672U (en) | 2013-11-28 | 2013-11-28 | Lifting base device of planar joint-typed robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320762507.1U CN203863672U (en) | 2013-11-28 | 2013-11-28 | Lifting base device of planar joint-typed robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203863672U true CN203863672U (en) | 2014-10-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320762507.1U Expired - Fee Related CN203863672U (en) | 2013-11-28 | 2013-11-28 | Lifting base device of planar joint-typed robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203863672U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640012A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Lifting seat device of planar joint type robot |
| CN107877505A (en) * | 2017-12-25 | 2018-04-06 | 刘汉卿 | A kind of hoisting machine people based on new energy |
-
2013
- 2013-11-28 CN CN201320762507.1U patent/CN203863672U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103640012A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Lifting seat device of planar joint type robot |
| CN107877505A (en) * | 2017-12-25 | 2018-04-06 | 刘汉卿 | A kind of hoisting machine people based on new energy |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141008 Termination date: 20141128 |
|
| EXPY | Termination of patent right or utility model |