CN204893985U - Horizontal articulated robot structure - Google Patents
Horizontal articulated robot structure Download PDFInfo
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- CN204893985U CN204893985U CN201520550385.9U CN201520550385U CN204893985U CN 204893985 U CN204893985 U CN 204893985U CN 201520550385 U CN201520550385 U CN 201520550385U CN 204893985 U CN204893985 U CN 204893985U
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Abstract
The utility model relates to an industrial robot technical field especially relates to a horizontal articulated robot structure, including actuating mechanism and control mechanism, actuating mechanism includes vertical lift unit and horizontal rotation unit, the vertical lift unit with the horizontal rotation unit connection is located horizontal rotation unit rear end is with control the horizontal rotation unit is in the position of vertical direction, control mechanism set up in vertical lift unit one side, with the vertical lift unit with horizontal rotation unit electricity is connected, with right actuating mechanism sending control signal. Because horizontal rotation unit front end no longer carries the vertical lift unit, has lightened the weight of robot front end self, has improved the motion rigidity of bearing force of robot and front end, has reduced the overall dimension of robot front end, make the robot front end can enter into less space, the horizontal rotation unit of robot front end no longer relies on special swivelling movement decelerator, has reduced production manufacturing cost.
Description
Technical field
The utility model relates to Industrial Robot Technology field, particularly relates to a kind of horizontal articulated robot architecture.
Background technology
At present along with the fast development that modern automation is produced, industrial robot is more and more widely used in all trades and professions.Wherein horizontal articulated industrial robot is with economical, quick and famous.Existing horizontal articulated industrial robot structure, the unit of control machine person joint front end vertical lift is arranged at the front end of the unit that horizontal direction is rotated, and is adopt special rotational alignment ball-screw to realize the change in location of joint of robot front end in the vertical direction.Such composite design, cause oversize for robot front end, robot own load is excessive, is unfavorable for the problem of robot work activities etc.
Therefore, for above deficiency, need to provide a kind of horizontal articulated robot architecture.
Utility model content
(1) technical problem that will solve
The technical problems to be solved in the utility model is that the front end of the mechanism solving control articulation level azimuthal rotational motion in existing level articulated robot structure is also provided with the mechanism controlling vertical lift, therefore joint of robot front end is oversize, own load is overweight, causes the not enough problem with being unfavorable for robot work activities of joint of robot motion rigidity.
(2) technical scheme
In order to solve the problems of the technologies described above, the utility model provides a kind of horizontal articulated robot architecture, comprise executing agency and controlling organization, described executing agency comprises vertical lift unit and horizontally rotates unit, described vertical lift unit is connected with the described unit that horizontally rotates, unit rear end is horizontally rotated described in being positioned at, the position of unit at vertical direction is horizontally rotated described in controlling, described controlling organization is arranged at described vertical lift unit side, be electrically connected with described vertical lift unit and the described unit that horizontally rotates, with to described vertical lift unit with describedly horizontally rotate unit emissioning controling signal.
Wherein, described vertical lift unit comprises servomotor and ball-screw, and described ball-screw is vertically arranged, and described servomotor is connected with the upper end of described ball-screw, and the lower end of described ball-screw is connected with the described unit that horizontally rotates.
Wherein, the described unit that horizontally rotates comprises the first movement arm, one end of described first movement arm is provided with the first axle module controlling described first movement arm own rotation in the horizontal direction, and one end that described first movement arm is provided with described first axle module is connected with the lower end of described ball-screw, the other end is provided with the second axle module carrying out own rotation at horizontal plane.
Wherein, described in horizontally rotate unit and also comprise the second movement arm, one end of described second movement arm is connected by described second axle module with described first movement arm, and the other end of described second movement arm is provided with the 3rd axle module carrying out own rotation at horizontal plane.
Wherein, described first axle module comprises servomotor and decelerator, and described controlling organization is electrically connected with described servomotor, and described servomotor is connected with described decelerator, to drive the rotation in the horizontal direction of described first movement arm.
Wherein, described second axle module comprises servomotor and decelerator, and described controlling organization is electrically connected with described servomotor, and described servomotor is connected with described decelerator, to drive the rotation in the horizontal direction of described second movement arm.
Wherein, one end that described first movement arm is provided with described first axle module is connected by linkage unit with one end of described ball-screw.
Wherein, described controlling organization is control cabinet.
(3) beneficial effect
Technique scheme tool of the present utility model has the following advantages: the horizontal articulated robot architecture that the utility model provides, the front end horizontally rotating unit that under the in the vertical direction of control machine person joint front end, the vertical lift unit of movement is in rotary moving with the horizontal plane of control machine person joint is separated, be placed on the structure change of the rear end horizontally rotating unit, by prior art, the lifting that independent vertical lift unit changes level of control rotary unit entirety into be set horizontally rotating unit front end.Because vertical lift unit is no longer carried in the front end horizontally rotating unit, therefore alleviate the weight of robot front end self; Improve robot load capacity; Improve the motion rigidity of robot front end; Reduce the appearance and size of robot front end, make robot front end can enter into less space; Be separated with vertical lift unit owing to horizontally rotating unit, therefore the unit that horizontally rotates of robot front end no longer relies on special deceleration device in rotary moving, reduces manufacturing cost simultaneously.
The technical characteristic of the technical problem solved except the utility model described above, the technical scheme of formation and have the technical characteristic of these technical schemes to bring advantage except, the advantage that other technologies feature of the present utility model and these technical characteristics bring, will further illustrate by reference to the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the horizontal articulated robot mechanism schematic diagram of the utility model embodiment.
In figure: 1: the first axle module; 2: the second axle modules; 3: vertical lift unit; 4: the three axle modules; 5: control cabinet; 6: the first movement arms; 7: the second movement arms.
Detailed description of the invention
For making the object of the utility model embodiment, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the utility model embodiment, technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is a part of embodiment of the present utility model, instead of whole embodiments.Based on the embodiment in the utility model, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of the utility model protection.
As shown in Figure 1, the horizontal articulated robot architecture of the one that the utility model embodiment provides, comprise executing agency and controlling organization, executing agency comprises vertical lift unit 3 and horizontally rotates unit, vertical lift unit 3 with horizontally rotate unit and be connected, be positioned at and horizontally rotate unit rear end, with the position of level of control rotary unit at vertical direction, controlling organization is arranged at vertical lift unit 3 side, with vertical lift unit 3 with horizontally rotate unit and be electrically connected, with to vertical lift unit 3 with horizontally rotate unit emissioning controling signal.By in prior art, the lifting that independent lowering or hoisting gear changes level of control rotary unit entirety into is set horizontally rotating unit front end.The front end horizontally rotating unit that under the in the vertical direction of control machine person joint front end, the vertical lift unit 3 of movement is in rotary moving with the horizontal plane of control machine person joint is separated, be placed on the structure change of the rear end horizontally rotating unit, alleviate the weight of robot front end self, improve robot load capacity, improve the motion rigidity of robot front end, reduce the appearance and size of robot front end, make robot front end can enter into less space; The unit that horizontally rotates of robot front end no longer relies on special deceleration device in rotary moving simultaneously, only needs general decelerator and leading screw just can realize corresponding function, reduces manufacturing cost.
Wherein, vertical lift unit 3 comprises servomotor and ball-screw, ball-screw is vertically arranged, servomotor is connected with the upper end of ball-screw, control ball screw turns, the lower end of ball-screw with horizontally rotate unit and be connected, level of control rotary unit position in vertical direction, horizontally rotate unit and comprise the first movement arm 6, one end of second movement arm 7 first movement arm 6 is provided with the first axle module 1 of control first movement arm 6 own rotation in the horizontal direction, and one end that the first movement arm 6 is provided with the first axle module 1 is connected with the lower end of ball-screw, the rotation of ball-screw drives the first movement arm 6 to move up and down in the direction perpendicular to horizontal plane, the other end of the first movement arm 6 is provided with the second axle module 2 carrying out own rotation at horizontal plane, one end of second movement arm 7 is connected by the second axle module 2 with the first movement arm 6, second movement arm 7 can be followed the rotation of the first movement arm 6 and rotate, also own rotation is in the horizontal direction carried out under the drive can carrying out own rotation at the second axle module 2 at horizontal plane, the other end of the second movement arm 7 is provided with the 3rd axle module 4 carrying out own rotation at horizontal plane.First axle module 1 comprises servomotor and decelerator, controlling organization is electrically connected with servomotor, with to servomotor emissioning controling signal, servomotor is connected with decelerator, to drive the rotation in the horizontal direction of the first movement arm, second axle module 2 comprises servomotor and decelerator, controlling organization is electrically connected with servomotor, with to servomotor emissioning controling signal, servomotor is connected with decelerator, to drive the rotation in the horizontal direction of the second movement arm, other workpieces can be installed by the 3rd axle module 4 place, can realize the own rotation of other workpieces.
Further, one end that first movement arm 6 is provided with the first axle module 1 is connected by linkage unit with the lower end of ball-screw, linkage unit in the vertical direction is driven to move up and down during ball screw turns, linkage unit drives the first movement arm 6 and the first axle module 1 vertical lift, when vertical lift unit 3 controls the first movement arm 6 vertical lift, linkage unit can control the first movement arm 6, and holding position is constant in the horizontal direction, first axle module 1 drives the first movement arm 6 to rotate in the horizontal direction, first movement arm 6 relatively rotates with linkage unit, when the first axle module 1 controls the rotation in the horizontal direction of the first movement arm 6, it is constant that linkage unit can control the first movement arm 6 in the vertical direction holding position.Linkage unit can select connection bracket.
Controlling organization is preferably control cabinet 5, to vertical lift unit 3 and the first axle module 1, second axle module 2 and the 3rd axle module 4 emissioning controling signal that horizontally rotate unit, and the motion state of control machine person joint.
In sum, the horizontal articulated robot architecture that the utility model provides, the front end horizontally rotating unit in rotary moving with the horizontal plane of control machine person joint for the vertical lift unit of movement under the in the vertical direction of control machine person joint front end is separated, be placed on the rear end horizontally rotating unit, alleviate the weight of robot front end self, improve robot load capacity, improve the motion rigidity of robot front end, reduce the appearance and size of robot front end, make robot front end can enter into less space; The unit that horizontally rotates of robot front end no longer relies on special deceleration device in rotary moving simultaneously, only needs general decelerator and leading screw just can realize corresponding function, reduces manufacturing cost.。
Last it is noted that above embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (8)
1. a horizontal articulated robot architecture, comprise executing agency and controlling organization, it is characterized in that: described executing agency comprises vertical lift unit and horizontally rotates unit, described vertical lift unit is connected with the described unit that horizontally rotates, unit rear end is horizontally rotated described in being positioned at, the position of unit at vertical direction is horizontally rotated described in controlling, described controlling organization is arranged at described vertical lift unit side, be electrically connected with described vertical lift unit and the described unit that horizontally rotates, with to described vertical lift unit with describedly horizontally rotate unit emissioning controling signal.
2. horizontal articulated robot architecture according to claim 1, it is characterized in that: described vertical lift unit comprises servomotor and ball-screw, described ball-screw is vertically arranged, described servomotor is connected with the upper end of described ball-screw, and the lower end of described ball-screw is connected with the described unit that horizontally rotates.
3. horizontal articulated robot architecture according to claim 2, it is characterized in that: described in horizontally rotate unit and comprise the first movement arm, one end of described first movement arm is provided with the first axle module controlling described first movement arm own rotation in the horizontal direction, and one end that described first movement arm is provided with described first axle module is connected with the lower end of described ball-screw, the other end is provided with the second axle module carrying out own rotation at horizontal plane.
4. horizontal articulated robot architecture according to claim 3, it is characterized in that: described in horizontally rotate unit and also comprise the second movement arm, one end of described second movement arm is connected by described second axle module with described first movement arm, and the other end of described second movement arm is provided with the 3rd axle module carrying out own rotation at horizontal plane.
5. horizontal articulated robot architecture according to claim 4, it is characterized in that: described first axle module comprises servomotor and decelerator, described controlling organization is electrically connected with described servomotor, described servomotor is connected with described decelerator, to drive the rotation in the horizontal direction of described first movement arm.
6. horizontal articulated robot architecture according to claim 4, it is characterized in that: described second axle module comprises servomotor and decelerator, described controlling organization is electrically connected with described servomotor, described servomotor is connected with described decelerator, to drive the rotation in the horizontal direction of described second movement arm.
7. horizontal articulated robot architecture according to claim 3, is characterized in that: one end that described first movement arm is provided with described first axle module is connected by linkage unit with one end of described ball-screw.
8. the horizontal articulated robot architecture according to any one of claim 1-7, is characterized in that: described controlling organization is control cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520550385.9U CN204893985U (en) | 2015-07-27 | 2015-07-27 | Horizontal articulated robot structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520550385.9U CN204893985U (en) | 2015-07-27 | 2015-07-27 | Horizontal articulated robot structure |
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| CN204893985U true CN204893985U (en) | 2015-12-23 |
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| CN201520550385.9U Active CN204893985U (en) | 2015-07-27 | 2015-07-27 | Horizontal articulated robot structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| CN105522574A (en) * | 2016-01-25 | 2016-04-27 | 巨轮（广州）智能技术研究院有限公司 | Four-freedom-degree planar joint robot |
| CN106078710A (en) * | 2016-07-06 | 2016-11-09 | 英华达（上海）科技有限公司 | The multi-axis robot of multitask application |
| CN106181982A (en) * | 2016-08-09 | 2016-12-07 | 英华达（上海）科技有限公司 | multi-axis robot |
-
2015
- 2015-07-27 CN CN201520550385.9U patent/CN204893985U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| CN105522574A (en) * | 2016-01-25 | 2016-04-27 | 巨轮（广州）智能技术研究院有限公司 | Four-freedom-degree planar joint robot |
| CN106078710A (en) * | 2016-07-06 | 2016-11-09 | 英华达（上海）科技有限公司 | The multi-axis robot of multitask application |
| CN106078710B (en) * | 2016-07-06 | 2018-03-06 | 英华达（上海）科技有限公司 | The multi-axis robot of multitask application |
| CN106181982A (en) * | 2016-08-09 | 2016-12-07 | 英华达（上海）科技有限公司 | multi-axis robot |
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Address after: 710000 No. 16, Shanglinyuan Third Road, high tech Zone, Xi'an, Shaanxi Patentee after: Shaanxi nobet Automation Technology Co.,Ltd. Address before: 710077 No. 70 Jinye Road, Xi'an High-tech Zone, Shaanxi Province Patentee before: SHAANXI OBOTR AUTOMATION TECHNOLOGY CO.,LTD. |