CN205129842U - Many articulated mechanism of level - Google Patents

Many articulated mechanism of level Download PDF

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Publication number
CN205129842U
CN205129842U CN201520917699.8U CN201520917699U CN205129842U CN 205129842 U CN205129842 U CN 205129842U CN 201520917699 U CN201520917699 U CN 201520917699U CN 205129842 U CN205129842 U CN 205129842U
Authority
CN
China
Prior art keywords
cantilever
axis
ball screw
splined shaft
rotating machine
Prior art date
Application number
CN201520917699.8U
Other languages
Chinese (zh)
Inventor
胡光民
Original Assignee
广东伊雪松机器人设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东伊雪松机器人设备有限公司 filed Critical 广东伊雪松机器人设备有限公司
Priority to CN201520917699.8U priority Critical patent/CN205129842U/en
Application granted granted Critical
Publication of CN205129842U publication Critical patent/CN205129842U/en

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Abstract

The utility model discloses a many articulated mechanism of level, which comprises a base, first cantilever and second cantilever, first cantilever can relative base uses on the first axle locates the base as the center rotatoryly, the second cantilever can cantilever first relatively uses on the second axis locates first cantilever as the center rotatoryly, the second cantilever is equipped with can follow the integral key shaft that the third axis moved by relative second cantilever, the second cantilever is equipped with the ball screw parallel with the integral key shaft, the last pot head of ball screw is equipped with the nut, the nut passes through the connecting plate and is connected with the upper end of integral key shaft, the lower extreme of ball screw is connected with first rotating electrical machines, the first axle, the second axis, third axis parallel of each other, the lower extreme of integral key shaft has cup jointed the cavity motor, the output of cavity motor has the wrist axle through the coupling joint. The utility model discloses a drive simple structure has improved drive efficiency, has increased terminal action precision and the transport weight of carrying out the piece.

Description

Horizontal articulated mechanism
Technical field
The utility model relates to manipulator arm art, particularly the horizontal articulated mechanical arm of one.
Background technology
Selective compliance assembly robot arm is applicable to plane positioning, vertical direction carries out assembling work, moves to take, assembles, sprays, the operation such as welding in order to complete, and such robot architecture is light, response is fast, several times faster than general prosthetic robot.It is comparatively large that existing selective compliance assembly robot arm's drives structure is complicated, complete machine takes up room, and simultaneously when driving end-effector, drive efficiency is not high, makes its carrying lighter in weight, greatly have impact on the scope of application of assembling work.
Utility model content
The purpose of this utility model to provide a kind of horizontal articulated mechanism, simplifies drives structure, improves the operation precision of executive item.
According to an aspect of the present utility model, provide a kind of horizontal articulated mechanism, comprise pedestal, first cantilever and the second cantilever, first cantilever energy opposite base is located at rotatably on pedestal centered by first axle, second cantilever can be located at rotatably on the first cantilever by relative first cantilever centered by the second axis, second cantilever is provided with the splined shaft of relative second cantilever of energy along the 3rd axial-movement, second cantilever is provided with the ball screw parallel with splined shaft, the upper end of ball screw is arranged with nut, nut is connected with the upper end of splined shaft by connecting plate, the lower end of ball screw is connected with the first electric rotating machine, first axle, second axis, 3rd axis is parallel to each other, the lower end of splined shaft is socketed with hollow motor, the output of hollow motor is connected with wrist axis by shaft coupling.
Hollow motor can be placed on splined shaft and drive splined shaft to rotate, ball screw and nut drive splined shaft along the 3rd axial-movement do worm drive under the first electric rotating machine effect simultaneously, thus realize rotation and the vertically movement of wrist axis, because splined shaft is directly connected with wrist axis by shaft coupling, eliminate reductor, make the transfer motion power of splined shaft be directly delivered to wrist axis, improve drive efficiency, add operation precision and the carrying weight of wrist axis.
In some embodiments, one end of connecting plate is provided with the draw-in groove for mounting nuts, and the upper end of splined shaft is arranged with bearing, and the other end of connecting plate is placed on bearing and fixes.Thus, splined shaft completes rotation under the support of bearing, and connecting plate by draw-in groove mounting nuts, thus drives connecting plate, bearing and splined shaft to move by nut.
In some embodiments, the first cantilever is connected to pedestal by the second electric rotating machine.Thus, the second electric rotating machine drives the first cantilever opposite base to rotate.
In some embodiments, the second cantilever is connected to the first cantilever by the 3rd electric rotating machine.Thus, the 3rd electric rotating machine drives relative first cantilever-rotating of the second cantilever.
Drives structure of the present utility model is simple, improves drive efficiency, adds operation precision and the carrying weight of end-effector.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the horizontal articulated mechanism of a kind of embodiment of the utility model;
Fig. 2 is the exploded perspective view of mechanism horizontal articulated shown in Fig. 1.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, this horizontal articulated mechanism, comprise pedestal 1, first cantilever 2 and the second cantilever 3, second electric rotating machine 4 is built-in and be fixed in pedestal 1, motor shaft and first cantilever 2 of its upper end are fixed, thus the second electric rotating machine 4 drives the first cantilever 2 to rotate centered by first axle 5 by opposite base 1.
3rd electric rotating machine 6 is built-in and be connected to the first cantilever 2 and the second cantilever 3, and motor shaft and first cantilever 2 of its lower end are fixed, thus the 3rd electric rotating machine 6 drives the second cantilever 3 can rotate centered by the second axis 7 relative to the first cantilever 2.
The external part of the second cantilever 3 passes vertically through the splined shaft 8 and ball screw 9 that be arranged in parallel, the sheathed hollow motor 10 in lower end of splined shaft 8, hollow motor 10 is built-in and be fixed on the second cantilever 3, and the output of hollow motor 10 is connected with wrist axis 12 by shaft coupling 11.The lower end of ball screw 9 connects the motor shaft of the first electric rotating machine 13, first electric rotating machine 13 is fixed on the second cantilever 3, the sheathed bearing 14 in upper end of splined shaft 8, this bearing 14 is ball bearing, the outer ring of bearing 14 is placed on and is fixed on one end of connecting plate 15, the other end of connecting plate 15 is provided with draw-in groove 16, and draw-in groove 16 is fixed for mounting nuts 17 bolt, and nut 17 is placed on the upper end of ball screw 9.First electric rotating machine 13 drives ball screw 9 to rotate, and produce worm drive with the nut 17 matched, then nut 17 moves up and down at ball screw 9, thus nut 17 drives connecting plate 15, bearing 14 and splined shaft 8 to move up and down along the 3rd axis 18, hollow motor 10 drives splined shaft 8 can rotate centered by the 3rd axis 18 relative to the second cantilever 3 simultaneously, and then realizes the rotation of wrist axis 12 and move up and down.Because splined shaft 8 is directly connected with wrist axis 12 by shaft coupling 11, eliminate reductor, make the transfer motion power of splined shaft 8 be directly delivered to wrist axis 12, improve drive efficiency, add operation precision and the carrying weight of wrist axis.
There are 3 rotary joints in this horizontal articulated mechanism, and first axle 5, second axis 7 of its correspondence, the 3rd axis 18 are parallel to each other, thus realizes planar positioning and orientation; Another joint is linear joint, is moving up and down perpendicular to plane for completing wrist axis 12.
The outside of above-mentioned splined shaft 8 and ball screw 9 is covered by guard shield 19, and guard shield 19 bolt is fixed on the second cantilever 3.Guard shield 19 and pedestal 1 are equipped with electric component 20, the electric component 20 of the two is connected by the control line being built in pipe arrangement 21, this control line connects the first electric rotating machine 13, second electric rotating machine 4, the 3rd electric rotating machine 6 and hollow motor 10, and be connected with the controller of peripheral hardware by the control module 22 of pedestal 1, thus the first electric rotating machine 13, second electric rotating machine 4, the 3rd electric rotating machine 6 and hollow motor 10 is driven to perform an action by controller.
Above-described is only embodiments more of the present utility model.For the person of ordinary skill of the art, under the prerequisite not departing from the utility model creation design, can also make some distortion and improvement, these all belong to protection domain of the present utility model.

Claims (4)

1. horizontal articulated mechanism, it is characterized in that, comprise pedestal (1), first cantilever (2) and the second cantilever (3), described first cantilever (2) can be located at rotatably on pedestal (1) by opposite base (1) centered by first axle (5), described second cantilever (3) can relative first cantilever (2) be located at rotatably on the first cantilever (2) centered by the second axis (7), described second cantilever (3) is provided with the splined shaft (8) that relative second cantilever (3) of energy is moved along the 3rd axis (18), described second cantilever (3) is provided with the ball screw (9) parallel with described splined shaft (8), the upper end of described ball screw (9) is arranged with nut (17), described nut (17) is connected by the upper end of connecting plate (15) with described splined shaft (8), the lower end of described ball screw (9) is connected with the first electric rotating machine (13), described first axle (5), second axis (7), 3rd axis (18) is parallel to each other, the lower end of described splined shaft (8) is socketed with hollow motor (10), the output of described hollow motor (10) is connected with wrist axis (12) by shaft coupling (11).
2. horizontal articulated mechanism according to claim 1, it is characterized in that, one end of described connecting plate (15) is provided with the draw-in groove (16) for mounting nuts (17), the upper end of described splined shaft (8) is arranged with bearing (14), and the other end of described connecting plate (15) is placed on bearing (14) and fixes.
3. horizontal articulated mechanism according to claim 1 and 2, is characterized in that, described first cantilever (2) is connected to pedestal (1) by the second electric rotating machine (4).
4. horizontal articulated mechanism according to claim 1 and 2, is characterized in that, described second cantilever (3) is connected to the first cantilever (2) by the 3rd electric rotating machine (6).
CN201520917699.8U 2015-11-17 2015-11-17 Many articulated mechanism of level CN205129842U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520917699.8U CN205129842U (en) 2015-11-17 2015-11-17 Many articulated mechanism of level

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520917699.8U CN205129842U (en) 2015-11-17 2015-11-17 Many articulated mechanism of level

Publications (1)

Publication Number Publication Date
CN205129842U true CN205129842U (en) 2016-04-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520917699.8U CN205129842U (en) 2015-11-17 2015-11-17 Many articulated mechanism of level

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CN (1) CN205129842U (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106078700A (en) * 2016-08-15 2016-11-09 珠海格力智能装备有限公司 Cantilever shell and there is its robot
CN106078709A (en) * 2016-07-01 2016-11-09 北京金日创科技股份有限公司 A kind of horizontal articulated robot cable assembly
CN106142066A (en) * 2016-07-26 2016-11-23 上海无线电设备研究所 A kind of modular end of lightweight directly drives planar multiple-articulation robot system
CN106142057A (en) * 2016-08-27 2016-11-23 唐火红 A kind of self-travel type both arms industrial robot device based on AGV
CN106286739A (en) * 2016-09-08 2017-01-04 珠海格力智能装备有限公司 Leading screw mounting seat and there is its robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106078709A (en) * 2016-07-01 2016-11-09 北京金日创科技股份有限公司 A kind of horizontal articulated robot cable assembly
CN106142066A (en) * 2016-07-26 2016-11-23 上海无线电设备研究所 A kind of modular end of lightweight directly drives planar multiple-articulation robot system
CN106078700A (en) * 2016-08-15 2016-11-09 珠海格力智能装备有限公司 Cantilever shell and there is its robot
CN106078700B (en) * 2016-08-15 2018-12-07 珠海格力智能装备有限公司 Cantilever shell and robot with it
CN106142057A (en) * 2016-08-27 2016-11-23 唐火红 A kind of self-travel type both arms industrial robot device based on AGV
CN106286739A (en) * 2016-09-08 2017-01-04 珠海格力智能装备有限公司 Leading screw mounting seat and there is its robot

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