CN205085971U - Four -axis robot - Google Patents
Four -axis robot Download PDFInfo
- Publication number
- CN205085971U CN205085971U CN201520796293.9U CN201520796293U CN205085971U CN 205085971 U CN205085971 U CN 205085971U CN 201520796293 U CN201520796293 U CN 201520796293U CN 205085971 U CN205085971 U CN 205085971U
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- Prior art keywords
- axle
- shaft
- cover
- motor outer
- spindle motor
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Abstract
The utility model discloses a four -axis robot, including base and the robot, the base includes support, lower plate, electrical apparatus case, control box, three -colour alarm lamp, panel and panel fixed plate, the support include the base plate a plurality of supporting legss are installed to the below of base plate, are equipped with the lower plate in the top of base plate still install the electrical apparatus case on the base plate, the control box with electric appliance box connected is installed at the top of electrical apparatus case the top of control box is equipped with the three -colour alarm lamp, and the panel is installed to one side of electrical apparatus roof end, the panel is through setting up in the panel fixed plate and the leg joint of panel below, the robot's bottom is equipped with and is used for being connected fixed subassembly fixed plate with the panel of base a subassembly, two subassemblies, triaxial subassembly, four -axis subassembly and gripper subassemblies are installed in proper order to the top of subassembly fixed plate.
Description
Technical field
The utility model relates to robot field, specifically, is related specifically to a kind of four axle robots.
Background technology
Multi-axis robot is also known as single-shaft mechanical arm, industrial machine mechanical arm, electricity cylinder etc., with servomotor, stepper motor for the single shaft mechanical arm driven is for groundwork unit, with the robot system that ball screw, synchronous belt, rack-and-pinion are got up for the kind of drive institute framework commonly used, the arrival of any point in three-dimensional system of coordinate can be completed and follow controlled movement locus.Multi-axis robot adopts kinetic control system to realize its driving and programming Control, the movement locus such as straight line, curve be generated as multiple spot interpolation mode, operation and program mode is for guiding teach programming mode or coordinate setting mode.
The defect of existing multi-axis robot is:
1, freedom of motion is lower, there is mechanical dead angle.2, complex structure, is generally made up of control system, drive system, mechanical system, operation tool etc.3, reliability, movement velocity, precision are lower.4, applicability is inadequate, cannot long-term work, and later period maintenance is constant.
Utility model content
The purpose of this utility model is for deficiency of the prior art, provides a kind of four axle robots, to solve the problem.
The technical problem that the utility model solves can realize by the following technical solutions:
A kind of four axle robots, comprise base and robot body;
Described base comprises support, lower shoe, electric appliance box, control cabinet, three look alarm lamps, panel and panel fixed head; Comprise substrate at described support, in the below of described substrate, some feets are installed, lower shoe is provided with above substrate, also electric appliance box is installed on the substrate, the top of described electric appliance box is provided with the control cabinet be connected with electric appliance box, three look alarm lamps are provided with at the top of described control cabinet, the side on electric appliance box top is provided with panel, and described panel is connected with support by the panel fixed head being arranged at lower panels;
The bottom of described robot body is provided with the assembly fixed head for being connected and fixed with the panel of base, is provided with a shaft assembly, two shaft assemblies, three shaft assemblies, four shaft assemblies and gripper assembly above described assembly fixed head successively;
A described shaft assembly comprises an axle servomotor, a spindle motor outer cover, motor fixing plate, an axle harmonic wave speed reducing machine, an axle reductor fixed head; A described spindle motor outer cover is installed on described assembly fixed head, one axle servomotor is installed in a spindle motor outer cover, a described axle servomotor is connected and fixed by the inwall of motor fixing plate and a spindle motor outer cover, the output of a described axle servomotor is connected with an axle harmonic wave speed reducing machine, and a described axle harmonic wave speed reducing machine is connected with the top of a spindle motor outer cover by an axle reductor fixed head;
Described two shaft assemblies comprise cover, two axle joints, two axle knuckle guards, two axle harmonic wave speed reducing machines, two axle reductor fixed heads, the first locating shaft, two shaft mechanical arms and two shaft mechanical arm connecting portions at the bottom of two axle servomotors, two spindle motor outer covers, two spindle motors, described two spindle motor outer covers are installed on the top of a spindle motor outer cover, be provided with above two spindle motor outer covers at the bottom of two spindle motors and cover, in cover at the bottom of described two spindle motors, two axle servomotors are installed, the output of described two axle servomotors is connected with two axle harmonic wave speed reducing machines, it is inner that described two axle harmonic wave speed reducing machines are fixed on cover at the bottom of two spindle motors by two axle reductor fixed heads, at the bottom of described two spindle motors, the side of cover is provided with two axle knuckle guards, two axle joints are provided with in described two axle knuckle guards, the one end in described two axle joints is connected with the first locating shaft, described first locating shaft and two axle harmonic wave speed reducing machines link, two shaft mechanical arm connecting portions are provided with above two axle knuckle guards, described two shaft mechanical arm connecting portions are connected with two shaft mechanical arms,
Described three shaft assemblies comprise cover, three axle harmonic wave speed reducing machines, the second locating shaft, three axle knuckle guards, three axle joints, three shaft mechanical arm connecting portions and three shaft mechanical arms at the bottom of three axle servomotors, three spindle motor outer covers, three spindle motors, described three spindle motor outer covers are positioned at the top of two shaft mechanical arm connecting portions, be provided with above three spindle motor outer covers at the bottom of three spindle motors and cover, in cover at the bottom of described three spindle motors, three axle servomotors are installed, the output of described three axle servomotors is connected with three axle harmonic wave speed reducing machines, output and second locating shaft of described three axle harmonic wave speed reducing machines link, the outside of described second locating shaft is provided with three axle knuckle guards, three axle joints are provided with in described three axle knuckle guards, three shaft mechanical arm connecting portions are provided with above three axle knuckle guards, described three shaft mechanical arm connecting portions are connected with three shaft mechanical arms,
Described four shaft assemblies comprise cover, the 3rd locating shaft, four axle harmonic wave speed reducing machines, four axle reductor fixed heads and four axle joints at the bottom of four axle servomotors, four spindle motor outer covers, four spindle motor outer cover connecting portions, four spindle motors; Described four spindle motor outer covers are connected with three shaft mechanical arms by four spindle motor outer cover connecting portions, be provided with above four spindle motor outer covers at the bottom of four spindle motors and cover, in cover at the bottom of described four spindle motors, four axle servomotors are installed, the output shaft of four axle servomotors is connected with four axle harmonic wave speed reducing machines, four axle harmonic wave speed reducing machines are fixedly installed in cover at the bottom of four spindle motors by four axle reductor fixed heads, output shaft and the 3rd locating shaft of four axle harmonic wave speed reducing machines link, and are provided with four axle joints above cover at the bottom of four spindle motors;
Described gripper assembly comprises tilt cylinder, corner fittings, the gentle pawl of gas pawl fixed head; One end of described tilt cylinder is installed on four axle joints of four shaft assemblies, and the other end of tilt cylinder is provided with corner fittings, and described corner fittings is provided with some gas pawls, and described gas pawl is installed on corner fittings by gas pawl fixed head.
Compared with prior art, the beneficial effects of the utility model are as follows:
1, freedom of motion is high, by four axle construction, eliminates mechanical dead angle.
2, structure is simple, and flexibility is high, high speed, high accuracy.
3, can be used for rugged environment, can long-term work, convenient operation keeps in repair.
Accompanying drawing explanation
Fig. 1 is the structural representation of four axle robots described in the utility model.
Fig. 2 is the structural representation of base described in the utility model.
Fig. 3 is the structural representation of robot body described in the utility model.
Fig. 4 is the side view of robot body described in the utility model.
Fig. 5 is the structural representation of four shaft assemblies described in the utility model.
Number in the figure illustrates: base 1, robot body 2, support 3, lower shoe 4, electric appliance box 5, control cabinet 6, three look alarm lamps 7, panel 8, panel fixed head 9, one axle servomotor 10, one spindle motor outer cover 11, motor fixing plate 12, one axle harmonic wave speed reducing machine 13, one axle reductor fixed head 14, two axle servomotors 15, two spindle motor outer covers 16, 17 are covered at the bottom of two spindle motors, two axle joints 18, two axle knuckle guards 19, two axle harmonic wave speed reducing machines 20, two axle reductor fixed heads 21, first locating shaft 22, two shaft mechanical arms 23, two shaft mechanical arm connecting portions 24, three axle servomotors 25, three spindle motor outer covers 26, 27 are covered at the bottom of three spindle motors, three axle harmonic wave speed reducing machines 29, second locating shaft 30, three axle knuckle guards 31, three axle joints 32, three shaft mechanical arm connecting portions 33, three shaft mechanical arms 34, four axle servomotors 35, four spindle motor outer covers 36, four spindle motor outer cover connecting portions 37, 38 are covered at the bottom of four spindle motors, 3rd locating shaft 39, four axle harmonic wave speed reducing machines 40, four axle reductor fixed heads 41, tilt cylinder 43, corner fittings 44, gas pawl fixed head 45, gas pawl 46.
Detailed description of the invention
The technological means realized for making the utility model, creation characteristic, reaching object and effect is easy to understand, below in conjunction with detailed description of the invention, setting forth the utility model further.
See Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of four axle robots described in the utility model, comprise base 1 and robot body 2.
Described base 1 comprises support 3, lower shoe 4, electric appliance box 5, control cabinet 6, three look alarm lamp 7, panel 8 and panel fixed head 9; Comprise substrate at described support 3, in the below of described substrate, some feets are installed, lower shoe 4 is provided with above substrate, on the substrate electric appliance box 5 is also installed, the top of described electric appliance box 5 is provided with the control cabinet 6 be connected with electric appliance box 5, three look alarm lamps 7 are provided with at the top of described control cabinet 6, the side on electric appliance box 5 top is provided with panel 8, and described panel 8 is connected with support 3 by the panel fixed head 9 be arranged at below panel 8;
The bottom of described robot body 2 is provided with the assembly fixed head for being connected and fixed with the panel 8 of base 1, is provided with a shaft assembly, two shaft assemblies, three shaft assemblies, four shaft assemblies and gripper assembly above described assembly fixed head successively;
A described shaft assembly comprises axle servomotor 10, spindle motor outer cover 11, motor fixing plate 12, axle harmonic wave speed reducing machine 13 and an axle reductor fixed head 14; A described spindle motor outer cover 11 is installed on described assembly fixed head, one axle servomotor 10 is installed in a spindle motor outer cover 11, a described axle servomotor 10 is connected and fixed by the inwall of motor fixing plate 12 and a spindle motor outer cover 11, the output of a described axle servomotor 10 is connected with an axle harmonic wave speed reducing machine 13, and a described axle harmonic wave speed reducing machine 13 is connected with the top of a spindle motor outer cover 11 by an axle reductor fixed head 14;
Described two shaft assemblies comprise cover 17, two axle joint 18, two axle knuckle guard 19, two axle harmonic wave speed reducing machine 20, two axle reductor fixed head 21, first locating shaft 22, two shaft mechanical arm 23 and two shaft mechanical arm connecting portions 24 at the bottom of two axle servomotor 15, two spindle motor outer cover 16, two spindle motors, described two spindle motor outer covers 16 are installed on the top of a spindle motor outer cover 11, be provided with above two spindle motor outer covers 16 at the bottom of two spindle motors and cover 17, cover in 17 at the bottom of described two spindle motors and two axle servomotors 15 are installed, the output of described two axle servomotors 15 is connected with two axle harmonic wave speed reducing machines 20, described two axle harmonic wave speed reducing machines 20 are fixed at the bottom of two spindle motors by two axle reductor fixed heads 21 and cover 17 inside, the side of covering 17 at the bottom of described two spindle motors is provided with two axle knuckle guards 19, two axle joints 18 are provided with in described two axle knuckle guards 19, the one end in described two axle joints 18 is connected with the first locating shaft 22, described first locating shaft 22 and two axle harmonic wave speed reducing machines 20 link, two shaft mechanical arm connecting portions 24 are provided with above two axle knuckle guards 19, described two shaft mechanical arm connecting portions 24 are connected with two shaft mechanical arms 23,
Described three shaft assemblies comprise cover 27, three axle harmonic wave speed reducing machine 29, second locating shaft 30, three axle knuckle guard 31, three axle joint 32, three shaft mechanical arm connecting portion 33 and three shaft mechanical arms 34 at the bottom of three axle servomotor 25, three spindle motor outer cover 26, three spindle motors, described three spindle motor outer covers 26 are positioned at the top of two shaft mechanical arm connecting portions 24, be provided with above three spindle motor outer covers 26 at the bottom of three spindle motors and cover 27, cover in 27 at the bottom of described three spindle motors and three axle servomotors 25 are installed, the output of described three axle servomotors 25 is connected with three axle harmonic wave speed reducing machines 29, output and second locating shaft 30 of described three axle harmonic wave speed reducing machines 29 link, the outside of described second locating shaft 30 is provided with three axle knuckle guards 31, three axle joints 32 are provided with in described three axle knuckle guards 31, three shaft mechanical arm connecting portions 33 are provided with above three axle knuckle guards 31, described three shaft mechanical arm connecting portions 33 are connected with three shaft mechanical arms 34,
Described four shaft assemblies comprise cover the 38, the 3rd locating shaft 39, four axle harmonic wave speed reducing machine 40, four axle reductor fixed head 41 and four axle joints at the bottom of four axle servomotor 35, four spindle motor outer cover 36, four spindle motor outer cover connecting portion 37, four spindle motors; Described four spindle motor outer covers 36 are connected with three shaft mechanical arms 34 by four spindle motor outer cover connecting portions 37, be provided with above four spindle motor outer covers 36 at the bottom of four spindle motors and cover 38, cover in 38 at the bottom of described four spindle motors and four axle servomotors 35 are installed, the output shaft of four axle servomotors 35 is connected with four axle harmonic wave speed reducing machines 40, four axle harmonic wave speed reducing machines 40 are fixedly installed at the bottom of four spindle motors by four axle reductor fixed heads 41 and cover in 38, output shaft and the 3rd locating shaft 39 of four axle harmonic wave speed reducing machines 40 link, and are provided with four axle joints above covering 38 at the bottom of four spindle motors;
Described gripper assembly comprises tilt cylinder 43, corner fittings 42, the gentle pawl 44 of gas pawl fixed head 43; One end of described tilt cylinder 43 is installed on four axle joints of four shaft assemblies, and the other end of tilt cylinder 43 is provided with corner fittings 42, and described corner fittings 42 is provided with some gas pawls 44, and described gas pawl 44 is installed on corner fittings 42 by gas pawl fixed head 43.
More than show and describe general principle of the present utility model and principal character and of the present utility model excellent
Point.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present utility model; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (1)
1. four axle robots, is characterized in that: comprise base and robot body;
Described base comprises support, lower shoe, electric appliance box, control cabinet, three look alarm lamps, panel and panel fixed head; Comprise substrate at described support, in the below of described substrate, some feets are installed, lower shoe is provided with above substrate, also electric appliance box is installed on the substrate, the top of described electric appliance box is provided with the control cabinet be connected with electric appliance box, three look alarm lamps are provided with at the top of described control cabinet, the side on electric appliance box top is provided with panel, and described panel is connected with support by the panel fixed head being arranged at lower panels;
The bottom of described robot body is provided with the assembly fixed head for being connected and fixed with the panel of base, is provided with a shaft assembly, two shaft assemblies, three shaft assemblies, four shaft assemblies and gripper assembly above described assembly fixed head successively;
A described shaft assembly comprises an axle servomotor, a spindle motor outer cover, motor fixing plate, an axle harmonic wave speed reducing machine, an axle reductor fixed head; A described spindle motor outer cover is installed on described assembly fixed head, one axle servomotor is installed in a spindle motor outer cover, a described axle servomotor is connected and fixed by the inwall of motor fixing plate and a spindle motor outer cover, the output of a described axle servomotor is connected with an axle harmonic wave speed reducing machine, and a described axle harmonic wave speed reducing machine is connected with the top of a spindle motor outer cover by an axle reductor fixed head;
Described two shaft assemblies comprise cover, two axle joints, two axle knuckle guards, two axle harmonic wave speed reducing machines, two axle reductor fixed heads, the first locating shaft, two shaft mechanical arms and two shaft mechanical arm connecting portions at the bottom of two axle servomotors, two spindle motor outer covers, two spindle motors, described two spindle motor outer covers are installed on the top of a spindle motor outer cover, be provided with above two spindle motor outer covers at the bottom of two spindle motors and cover, in cover at the bottom of described two spindle motors, two axle servomotors are installed, the output of described two axle servomotors is connected with two axle harmonic wave speed reducing machines, it is inner that described two axle harmonic wave speed reducing machines are fixed on cover at the bottom of two spindle motors by two axle reductor fixed heads, at the bottom of described two spindle motors, the side of cover is provided with two axle knuckle guards, two axle joints are provided with in described two axle knuckle guards, the one end in described two axle joints is connected with the first locating shaft, described first locating shaft and two axle harmonic wave speed reducing machines link, two shaft mechanical arm connecting portions are provided with above two axle knuckle guards, described two shaft mechanical arm connecting portions are connected with two shaft mechanical arms,
Described three shaft assemblies comprise cover, three axle harmonic wave speed reducing machines, the second locating shaft, three axle knuckle guards, three axle joints, three shaft mechanical arm connecting portions and three shaft mechanical arms at the bottom of three axle servomotors, three spindle motor outer covers, three spindle motors, described three spindle motor outer covers are positioned at the top of two shaft mechanical arm connecting portions, be provided with above three spindle motor outer covers at the bottom of three spindle motors and cover, in cover at the bottom of described three spindle motors, three axle servomotors are installed, the output of described three axle servomotors is connected with three axle harmonic wave speed reducing machines, output and second locating shaft of described three axle harmonic wave speed reducing machines link, the outside of described second locating shaft is provided with three axle knuckle guards, three axle joints are provided with in described three axle knuckle guards, three shaft mechanical arm connecting portions are provided with above three axle knuckle guards, described three shaft mechanical arm connecting portions are connected with three shaft mechanical arms,
Described four shaft assemblies comprise cover, the 3rd locating shaft, four axle harmonic wave speed reducing machines, four axle reductor fixed heads and four axle joints at the bottom of four axle servomotors, four spindle motor outer covers, four spindle motor outer cover connecting portions, four spindle motors; Described four spindle motor outer covers are connected with three shaft mechanical arms by four spindle motor outer cover connecting portions, be provided with above four spindle motor outer covers at the bottom of four spindle motors and cover, in cover at the bottom of described four spindle motors, four axle servomotors are installed, the output shaft of four axle servomotors is connected with four axle harmonic wave speed reducing machines, four axle harmonic wave speed reducing machines are fixedly installed in cover at the bottom of four spindle motors by four axle reductor fixed heads, output shaft and the 3rd locating shaft of four axle harmonic wave speed reducing machines link, and are provided with four axle joints above cover at the bottom of four spindle motors;
Described gripper assembly comprises tilt cylinder, corner fittings, the gentle pawl of gas pawl fixed head; One end of described tilt cylinder is installed on four axle joints of four shaft assemblies, and the other end of tilt cylinder is provided with corner fittings, and described corner fittings is provided with some gas pawls, and described gas pawl is installed on corner fittings by gas pawl fixed head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520796293.9U CN205085971U (en) | 2015-10-15 | 2015-10-15 | Four -axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520796293.9U CN205085971U (en) | 2015-10-15 | 2015-10-15 | Four -axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205085971U true CN205085971U (en) | 2016-03-16 |
Family
ID=55476689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520796293.9U Withdrawn - After Issue CN205085971U (en) | 2015-10-15 | 2015-10-15 | Four -axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205085971U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215978A (en) * | 2015-10-15 | 2016-01-06 | 浙江思玛特机器人科技有限公司 | A kind of four axle robots |
-
2015
- 2015-10-15 CN CN201520796293.9U patent/CN205085971U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215978A (en) * | 2015-10-15 | 2016-01-06 | 浙江思玛特机器人科技有限公司 | A kind of four axle robots |
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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: 20160316 Effective date of abandoning: 20170322 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |