CN205520484U - Four -axis industrial robot - Google Patents
Four -axis industrial robot Download PDFInfo
- Publication number
- CN205520484U CN205520484U CN201620273142.XU CN201620273142U CN205520484U CN 205520484 U CN205520484 U CN 205520484U CN 201620273142 U CN201620273142 U CN 201620273142U CN 205520484 U CN205520484 U CN 205520484U
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- China
- Prior art keywords
- spline
- servomotor
- guide rail
- nut
- forearm
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- Legal status (The legal status 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 status listed.)
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model discloses a four -axis industrial robot, its characterized in that: constitute by base, speed reducer mounting flange, big arm, cable protective sheath, forearm, synchronizing wheel, hold -in range, lead screw, screw -nut, splined connection piece, slider, guide rail, spline, spline nut, integral key shaft, harmonic speed reducer machine and servo motor base and big arm between speed reducer mounting flange is equipped with, stiff end, input and the output of harmonic speed reducer machine link to each other with base, a servo motor and big arm respectively. The utility model discloses at the bottom of being equipped with bearing footstock and bearing frame, the bearing frame supports the lead screw, has guaranteed that the lead screw axiality is rotatory, be equipped with the guide rail, under the guide effect of guide rail, improved the stability that screw -nut and integral key shaft reciprocated, it is rotatory that bearing in the splined connection piece supports the integral key shaft, has improved the running accuracy of spline, the third axle of guaranteeing the robot simultaneously reciprocate with fourth rotation of axes mutual independence.
Description
Technical field
This utility model relates to industrial automation equipment, especially four shaft industrial robots, belongs to technical field.
Background technology
Along with the continuous lifting of industrial automation level, industrial robot the most slowly substitutes manually, is extracted by workpiece and shift.Industrial robot is applied on a production line, it is possible to decrease production cost, shortens the production cycle, has the most considerable economic benefit.
Industry four axle robots can extract workpiece to carry out space three-freedom and moves the rotation with one degree of freedom, many workpiece can be captured and be put；Four traditional axle SCARA robot the 3rd axles and the 4th axle use the mode of linkage, select the spline with helix, the 3rd axle servomotor and the 4th axle servomotor coordination exercise to control moving up and down and rotating of spline.With the spline small lot batch manufacture of helix, when to be used, generally require tailor-made, and expensive；, during two motor coordination motions, interfering, error is relatively big, needs the assembling of higher precision meanwhile.
Utility model content
The purpose of this utility model is the defect in order to solve above-mentioned prior art, it is provided that a kind of four shaft industrial robots stablizing motion strong, separate.
The purpose of this utility model can reach by adopting the following technical scheme that:
A kind of four shaft industrial robots; it is characterized in that: be made up of base, reductor mounting flange, large arm, cable protective sleeve, forearm, synchronization wheel, Timing Belt, screw mandrel, feed screw nut, spline contiguous block, slide block, guide rail, spline, splined nut, splined shaft, harmonic wave speed reducing machine and servomotor; equipped with reductor mounting flange between described base and large arm, fixing end, input and the outfan of first harmonic reductor is connected with base, the first servomotor and large arm respectively；Fixing end, input and the outfan of second harmonic reductor is connected with large arm, the second servomotor and forearm respectively, and the second described servomotor is fixed on forearm, and described motor mount is located at the centre of forearm；3rd servomotor is located at the upper end of motor mount, 3rd servomotor connects little synchronization takes turns, little synchronization is taken turns to be connected by Timing Belt and is synchronized greatly wheel, big synchronization takes turns connection wire rod, described spline is connected with feed screw nut, slide block by spline contiguous block, the big wheel drive screw mandrel that synchronizes rotates, so that feed screw nut moves up and down, feed screw nut drives splined shaft to move up and down；4th servomotor is located at the lower end of motor mount, and the 4th servomotor connects little synchronization takes turns, and little synchronization is taken turns to be connected by Timing Belt and synchronized greatly wheel, and connection spline is taken turns in big synchronization, and the big wheel belt that synchronizes moves spline rotation.
As a kind of preferred version, described screw mandrel is respectively arranged at two ends with bearing footstock and bearing base, and centre is provided with feed screw nut.
As a kind of preferred version, described guide rail is located on motor mount, and guide rail is provided with slide block.
As a kind of preferred version, described spline is connected with spline contiguous block by splined shaft.
This utility model has a following beneficial effect relative to prior art:
1, at the bottom of this utility model is provided with bearing footstock and bearing block, bearing block support screw, it is ensured that screw mandrel axiality rotates；
2, this utility model is provided with guide rail, under the guide effect of guide rail, improves feed screw nut and stability that splined shaft moves up and down；
3, the bearings splined shaft in spline contiguous block of the present utility model rotates, and improves the running accuracy of spline, ensures that the 3rd axle of robot moves up and down simultaneously and rotates separate with the 4th axle.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is partial schematic diagram of the present utility model.
Fig. 3 is generalized section of the present utility model.
Wherein, 1-base, 2-reductor mounting flange, 3-first harmonic reductor, 4-the first servomotor, 5-large arm, 6-cable protective sleeve, 7-forearm, 8-the second servomotor, 9-second harmonic reductor, 10-motor mount, 11-the 3rd servomotor, 12-is little synchronizes wheel, 13-Timing Belt, 14-is big synchronizes wheel, 15-bearing footstock, 16-screw mandrel, 17-feed screw nut, 18-spline contiguous block, 19-bearing base, 20-slide block, 21-guide rail, 22-the 4th servomotor, 23-spline, 24-splined nut, 25-splined shaft.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, a kind of four shaft industrial robots are further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this utility model.
Embodiment 1:
Such as Fig. 1, Fig. 2, shown in Fig. 3, one four shaft industrial robot of the present embodiment, it is characterized in that: by base, reductor mounting flange 2, large arm 5, cable protective sleeve 6, forearm 7, synchronize wheel, Timing Belt 13, screw mandrel 16, feed screw nut 17, spline contiguous block 18, slide block 20, guide rail 21, spline 23, splined nut 24, splined shaft 25, harmonic wave speed reducing machine and servomotor are constituted, equipped with reductor mounting flange 2 between described base 1 and large arm 5, the fixing end of first harmonic reductor 3, input and outfan respectively with base 1, first servomotor 4 is connected with large arm 5；Fixing end, input and the outfan of second harmonic reductor 9 is connected with large arm the 5, second servomotor 8 and forearm 7 respectively, and the second described servomotor 8 is fixed on forearm 7, and described motor mount 10 is located at the centre of forearm 7；3rd servomotor 11 is located at the upper end of motor mount 10,3rd servomotor 11 connects little synchronization wheel 12, the little wheel 12 that synchronizes connects big synchronization wheel 14 by Timing Belt 13, big synchronization takes turns 14 connection wire rods 16, described spline 23 is connected with feed screw nut 17, slide block 20 by spline contiguous block 18, the big wheel 14 driving screw mandrel 16 that synchronizes rotates, so that feed screw nut 17 moves up and down, feed screw nut 17 drives splined shaft 25 to move up and down；4th servomotor 22 is located at the lower end of motor mount 10, and the 4th servomotor 22 connects little synchronization wheel 12, and the little wheel 12 that synchronizes connects the big wheel 14 that synchronizes, the big wheel 14 connection spline 23 that synchronizes by Timing Belt 13, and the big wheel 14 drive spline 23 that synchronizes rotates.
As it is shown in figure 1, described screw mandrel 16 is respectively arranged at two ends with at the bottom of bearing footstock 15 and bearing block 19, centre is provided with feed screw nut 17, bearing block support screw 16, it is ensured that screw mandrel 16 axiality rotates.
As in figure 2 it is shown, described guide rail 21 is located on motor mount 10, guide rail 21 is provided with slide block 20, under the guide effect of guide rail 21, improves feed screw nut 17 and stability that splined shaft 25 moves up and down.
As it is shown on figure 3, described spline 23 is connected with spline contiguous block 18 by splined shaft 25.When 4th servomotor drives splined nut to rotate, the bearings splined shaft 25 in spline contiguous block 18 rotates, and further increases the running accuracy of spline 23, ensures that the 3rd axle of robot moves up and down simultaneously and rotates separate with the 4th axle.
The above; it is only this utility model patent preferred embodiment; but the protection domain of this utility model patent is not limited thereto; any those familiar with the art is in the scope disclosed in this utility model patent; technical scheme and utility model patent thereof according to this utility model patent conceive equivalent or change in addition, broadly fall into the protection domain of this utility model patent.
Claims (4)
1. a shaft industrial robot, it is characterized in that: by base, reductor mounting flange (2), large arm (5), cable protective sleeve (6), forearm (7), synchronize wheel, Timing Belt (13), screw mandrel (16), feed screw nut (17), spline contiguous block (18), slide block (20), guide rail (21), spline (23), splined nut (24), splined shaft (25), harmonic wave speed reducing machine and servomotor are constituted, equipped with reductor mounting flange (2) between described base (1) and large arm (5), the fixing end of first harmonic reductor (3), input and outfan respectively with base (1), first servomotor (4) is connected with large arm (5)；Fixing end, input and the outfan of second harmonic reductor (9) is connected with large arm (5), the second servomotor (8) and forearm (7) respectively, described the second servomotor (8) is fixed on forearm (7), and described motor mount (10) is located at the centre of forearm (7)；3rd servomotor (11) is located at the upper end of motor mount (10), 3rd servomotor (11) connects little synchronization and takes turns (12), the little wheel (12) that synchronizes synchronizes greatly to take turns (14) by Timing Belt (13) connection, synchronize greatly to take turns (14) connection wire rod (16), described spline (23) is connected with feed screw nut (17), slide block (20) by spline contiguous block (18), synchronizing greatly to take turns (14) drives screw mandrel (16) to rotate, so that feed screw nut (17) moves up and down, feed screw nut (17) drives splined shaft (25) to move up and down；4th servomotor (22) is located at the lower end of motor mount (10), 4th servomotor (22) connects little synchronization and takes turns (12), the little wheel (12) that synchronizes synchronizes greatly to take turns (14) by Timing Belt (13) connection, synchronize greatly to take turns (14) and connect spline (23), synchronize greatly to take turns (14) and drive spline (23) to rotate.
A kind of four shaft industrial robots the most according to claim 1, it is characterised in that: described screw mandrel (16) is respectively arranged at two ends with at the bottom of bearing footstock 15 and bearing block 19, and centre is provided with feed screw nut (17).
A kind of four shaft industrial robots the most according to claim 1, it is characterised in that: described guide rail (21) is located on motor mount (10), and guide rail (21) is provided with slide block (20).
A kind of four shaft industrial robots the most according to claim 1, it is characterised in that: described spline (23) is connected with spline contiguous block (18) by splined shaft (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273142.XU CN205520484U (en) | 2016-04-05 | 2016-04-05 | Four -axis industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273142.XU CN205520484U (en) | 2016-04-05 | 2016-04-05 | Four -axis industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205520484U true CN205520484U (en) | 2016-08-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620273142.XU Expired - Fee Related CN205520484U (en) | 2016-04-05 | 2016-04-05 | Four -axis industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205520484U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322568A (en) * | 2017-07-31 | 2017-11-07 | 珠海格力节能环保制冷技术研究中心有限公司 | Ball-screw spline supporting construction and the robot with it |
| CN107336224A (en) * | 2017-01-18 | 2017-11-10 | 河北工业大学 | A kind of electric control element integrated form SCARA robots |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| CN107972020A (en) * | 2017-11-30 | 2018-05-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Horizontal articulated industrial robot |
| CN108161919A (en) * | 2017-08-24 | 2018-06-15 | 深圳汉邦自动化设备有限公司 | A kind of method and device for the SCARA robots for improving load capacity |
| CN109366487A (en) * | 2018-11-15 | 2019-02-22 | 广东工业大学 | A kind of control system about SCARA humanoid robot |
| CN113601492A (en) * | 2021-08-18 | 2021-11-05 | 珠海格力电器股份有限公司 | Robot arm assembly and robot |
-
2016
- 2016-04-05 CN CN201620273142.XU patent/CN205520484U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336224A (en) * | 2017-01-18 | 2017-11-10 | 河北工业大学 | A kind of electric control element integrated form SCARA robots |
| CN107322568A (en) * | 2017-07-31 | 2017-11-07 | 珠海格力节能环保制冷技术研究中心有限公司 | Ball-screw spline supporting construction and the robot with it |
| CN108161919A (en) * | 2017-08-24 | 2018-06-15 | 深圳汉邦自动化设备有限公司 | A kind of method and device for the SCARA robots for improving load capacity |
| CN107571251A (en) * | 2017-08-28 | 2018-01-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| CN107972020A (en) * | 2017-11-30 | 2018-05-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Horizontal articulated industrial robot |
| CN109366487A (en) * | 2018-11-15 | 2019-02-22 | 广东工业大学 | A kind of control system about SCARA humanoid robot |
| CN113601492A (en) * | 2021-08-18 | 2021-11-05 | 珠海格力电器股份有限公司 | Robot arm assembly and robot |
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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: 20160831 Termination date: 20170405 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |