CN205766105U - A kind of five axis robot - Google Patents
A kind of five axis robot Download PDFInfo
- Publication number
- CN205766105U CN205766105U CN201620653485.9U CN201620653485U CN205766105U CN 205766105 U CN205766105 U CN 205766105U CN 201620653485 U CN201620653485 U CN 201620653485U CN 205766105 U CN205766105 U CN 205766105U
- Authority
- CN
- China
- Prior art keywords
- arm
- motor
- castor
- upper limb
- gear
- Prior art date
- 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.)
- Expired - Fee Related
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- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a kind of five axis robot.This utility model includes walk assembly and upper limb, and described walking assembly includes that castor and castor drive reducing motor；Described upper limb includes arm component, four root post guide rails, lifting motor, lifting leading screw, weight equalizer, arm upset motor and upper limb electric rotating machine；Described arm component includes fixing arm and makes a stretch of the arm.This utility model drives reducing motor to drive castor to rotate by being arranged on the castor of base, makes the mechanical hand can be easy to use with automatic moving, improves work efficiency, and the suitability making mechanical hand is the most extensive.
Description
Technical field
This utility model belongs to industrial machinery technical field, is specifically related to a kind of five axis robot.
Background technology
Along with the development of National Industrial technology, the appearance of industrial machinery significantly reduces the working strength of people, promotes
The development of the productivity.Existing mechanical hand short-distance movement uses Manual-pushing, and distance moves, and needs to use carrying fork truck, gives
Actual application brings the biggest inconvenience so that the use of mechanical hand is restricted.Existing five axis robot the most do not fill
Standby walking mechanism, on a small quantity equipped with walking mechanism mechanical hand substantially on base equipped with castor, use Manual-pushing.
Summary of the invention
The purpose of this utility model is to overcome the deficiency in prior art, it is provided that a kind of five axis robot.
For achieving the above object, this utility model is by the following technical solutions:
This utility model includes walk assembly and upper limb, and described walking assembly includes that castor and castor drive reducing motor；
Described upper limb include arm component, four root post guide rails, lifting motor, lifting leading screw, weight equalizer and arm upset motor, on
Limb electric rotating machine；Arm component includes fixing arm and makes a stretch of the arm.
Arm upset motor drives little gear, little gear and gear wheel engaged transmission by shaft coupling, the fixing peace of gear wheel
It is loaded on arm and weight equalizer, drives arm upset power transmission shaft to rotate by the rotation of gear wheel and realize turning over of whole arm
Rotating and make, arm upset power transmission shaft is connected with arm upset flange；End fine setting motor stands upside down and is installed on the end that makes a stretch of the arm,
End fine setting motor is connected with hold assembly by shaft coupling, by the rotation of end fine setting motor direct-drive hold assembly.
Arm stretches out motor and is installed in fixing arm, and arm is stretched out motor and is connected with arm elongation leading screw by shaft coupling
Driving arm elongation leading screw to rotate, arm elongation leading screw slide bushing is fixed together with making a stretch of the arm, thus is stretched by arm
Go out motor driving to make a stretch of the arm；Weight equalizer is for balancing the weight of arm gripper components.
Lifting motor makes to realize transmission between motor and lifting leading screw by shaft coupling, it is achieved arm moves up and down；Upper limb
Electric rotating machine is arranged in upper limb electric rotating machine fixed plate, and upper limb electric rotating machine fixed plate passes through upper limb electric rotating machine vertical columns
Being connected with fixed plate, upper limb electric rotating machine realizes the rotation of whole upper limb by driving upper limb rotating drive shaft to rotate.
Castor drives reducing motor to be fixedly mounted on base, and engaged transmission gear is driven by the bonded castor that is fixed on
On the output shaft of reducing motor, castor drive shaft makes gear shaft, and two ends and castor are by bonded；Controlled electronic by PLC
The operating of machine, when PLC has instruction to send, castor drives reducing motor to rotate, and drives engaged transmission pinion rotation, is passed by engagement
Moving gear, driven gear axle rotates, so that castor rotates, it is achieved moving integrally of mechanical hand, when needs are turned, controls two
End motor speed is different, realizes the turning of entirety.
This utility model beneficial effect: this utility model is driven by motor and gear engagement, final drive castor moves,
It is more convenient for using.Control castor motor rotation by PLC and can realize the long-range operation of mechanical hand, make mechanical hand can oneself
Row is mobile.This utility model has following superiority: easy to use, reduces working strength；Intermediate transmission link is few, transmission efficiency
High；The long-range operation of mechanical hand can be realized, improve automaticity.
Accompanying drawing explanation
Fig. 1 is this utility model structural representation.
Fig. 2 is that this utility model arm cross-sectional view is (by mechanical hand fixing arm and the part complete section that makes a stretch of the arm
Gained).
Fig. 3 is that this utility model bedframe cross-sectional view is (by bottom support bracket from medial axis complete section institute
).
In figure: 1, lifting motor, 2, promote leading screw, 3, column guide rail, 4, arm upset motor, 5, little gear, 6, balance
Weight, 7, fixed plate, 8, upper limb rotating drive shaft 9, upper limb electric rotating machine vertical columns, 10, upper limb electric rotating machine fixed plate,
11, upper limb electric rotating machine, 12, base, 13, castor drive reducing motor, 14, engaged transmission gear, 15, castor, 16, clamping part
Part, 17, end fine setting motor, 18, make a stretch of the arm, 19, fixing arm, 20, arm stretch out motor, 21, gear wheel, 22, arm
Elongation leading screw slide bushing, 23, arm elongation leading screw, 24, arm upset flange, 25, arm upset power transmission shaft.
Detailed description of the invention
The central scope of the present embodiment: at two motor of mechanical hand floor installation, drive pair of meshing by decelerator
Gear, then by the axle being connected with gear, drive castor to rotate.Control castor by PLC and drive the operating of reducing motor in fact
The movement that existing mechanical hand is overall.
Based on this, shown in Fig. 2, structure is connected with ball-screw, realizes the flexible of mechanical hand elongation arm.Knot shown in Fig. 3
Structure is arranged on the bottom of under(-)chassis, controls to realize movement and the turning of entirety by the rotating speed of two ends motor；Concrete knot
Structure:
Seeing Fig. 1, a kind of mechanical hand, including upper limb electric rotating machine 11 and upper limb, upper limb includes arm, four root post guide rails
3, lifting motor 1, lifting leading screw 2, weight equalizer 6 and arm upset motor 4；Arm includes fixing arm 19 and makes a stretch of the arm
18；Arm upset motor 4 drives little gear 5 by shaft coupling, then by little gear 5 and gear wheel 21 engaged transmission, canine tooth
Wheel 21 is fixedly installed on arm and weight equalizer 6, drives arm upset power transmission shaft 25 to rotate by the rotation of gear wheel 21
Realizing the rotary movement of whole arm, arm upset power transmission shaft 25 is connected with arm upset flange 24；Lifting motor 1 is by connection
Axial organ makes to realize between motor and lifting leading screw 2 transmission, and end fine setting motor 17 stands upside down and is installed on elongation arm 18 end, end
Fine setting motor 17 is connected with hold assembly 16 by shaft coupling, end fine setting motor 17 directly drive turning of hold assembly 16
Dynamic；Upper limb electric rotating machine 11 is arranged in upper limb electric rotating machine fixed plate 10, and upper limb electric rotating machine fixed plate 10 is revolved by upper limb
Rotating motor vertical columns 9 is connected with fixed plate 7, and upper limb electric rotating machine 11 rotates real by driving upper limb rotating drive shaft 8
The rotation of existing whole upper limb.
Seeing Fig. 2, arm stretches out motor 20 and is installed in fixing arm 19, and arm stretches out motor 20 by shaft coupling and hands
Arm elongation leading screw 23 connect drive arm elongation leading screw 23 rotate, arm elongation leading screw slide bushing 22 with make a stretch of the arm 18 fix
Together, thus by arm stretch out motor 20 drive make a stretch of the arm 18 from fixing arm 19 arm stretch out.
Seeing Fig. 3, castor drives reducing motor 13 to be fixedly mounted on base 12 framework, and engaged transmission gear 14 passes through key
25 are fastened on castor drives on the output shaft of reducing motor 13, and drive shaft makes gear shaft, and another two ends are passed through with castor 15
Bonded.Control castor by PLC and drive the operating of reducing motor 13, when PLC has instruction to send, electric machine rotation, drive engagement
Travelling gear 14 rotates, and is engaged by gear, and driven gear axle rotates, so that castor 16 rotates, it is achieved the entirety of mechanical hand
Mobile, when needs are turned, control two ends motor speed different, realize the turning of entirety.
The specific works process of five axis robot: by PLC control unit, first carries out teaching to whole mechanical hand, adjusts
Whole to initial position, next startup PLC control unit sends execution order first makes the acquisition startup driving of upper limb electric rotating machine whole
The rotation of upper limb, it is achieved capture the translation of thing；Then send instruction to lifting motor and make lifting motor action, it is achieved capture thing
Move up and down；The article that different gradient is placed are captured by the action of arm upset motor；The motor that makes a stretch of the arm drives hands
Arm elongation increases crawl scope；Then the minute angle deviation produced during in rotary moving is compiled by PLC control system
Journey sends pulse command to motor, makes motor produce corresponding deflection angle, thus realizes the regulation to little deviation angle；?
Realize the mobile placement to gripper components eventually.When needs mobile manipulator arrives other positions, send life by PLC control unit
Order, makes castor drive reducing motor to obtain and starts, it is achieved short distance or the movement of distance, it is possible to control motor speed
Difference realizes the turning of mechanical hand.
It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted,
And all these modifications and variations all should belong to the protection domain of this utility model claims.
Claims (1)
1. an axis robot, it is characterised in that: include walk assembly and upper limb, described walking assembly include castor (15) and
Castor drives reducing motor (13)；Described upper limb includes arm component, four root post guide rails (3), lifting motor (1), promotes silk
Thick stick (2), weight equalizer (6) and arm upset motor (4), upper limb electric rotating machine (11)；Arm component includes fixing arm (19)
With make a stretch of the arm (18)；
Arm upset motor (4) drives little gear (5), little gear (5) and gear wheel (21) engaged transmission, canine tooth by shaft coupling
Wheel (21) is fixedly installed on arm and weight equalizer (6), drives arm to overturn power transmission shaft by the rotation of gear wheel (21)
(25) rotation realizes the rotary movement of whole arm, and arm upset power transmission shaft (25) is connected with arm upset flange (24)；End
End fine setting motor (17) stands upside down and is installed on (18) end that makes a stretch of the arm, and end fine setting motor (17) is by shaft coupling and hold assembly
(16) connect, end finely tune motor (17) and directly drive the rotation of hold assembly (16)；
Arm stretches out motor (20) and is installed in fixing arm (19), and arm is stretched out motor (20) and extended with arm by shaft coupling
Leading screw (23) connects drive arm elongation leading screw (23) and rotates, and arm elongation leading screw slide bushing (22) is solid with make a stretch of the arm (18)
It is scheduled on together, thus stretches out motor (20) driving by arm and make a stretch of the arm (18)；Weight equalizer (6) is used for balancing arm and captures
The weight of parts；
Lifting motor (1) makes to realize transmission between motor and lifting leading screw (2) by shaft coupling, it is achieved arm moves up and down；On
Limb electric rotating machine (11) is arranged on upper limb electric rotating machine fixed plate (10), and upper limb electric rotating machine fixed plate (10) is revolved by upper limb
Rotating motor vertical columns (9) is connected with fixed plate (7), and upper limb electric rotating machine (11) is by driving upper limb rotating drive shaft (8)
Rotate the rotation realizing whole upper limb；
Castor drives reducing motor (13) to be fixedly mounted on base (12), and engaged transmission gear (14) connects solid by key (26)
Being scheduled on castor and drive on the output shaft of reducing motor (13), castor drive shaft makes gear shaft, and two ends and castor (15) pass through key
Connect；Controlled the operating of motor by PLC, when PLC has instruction to send, castor drives reducing motor (13) to rotate, and drive is nibbled
Closing travelling gear (14) to rotate, by engaged transmission gear (14), driven gear axle rotates, so that castor (15) rotates, real
Moving integrally of existing mechanical hand, when needs are turned, controls two ends motor speed different, realizes the turning of entirety.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620653485.9U CN205766105U (en) | 2016-06-28 | 2016-06-28 | A kind of five axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620653485.9U CN205766105U (en) | 2016-06-28 | 2016-06-28 | A kind of five axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205766105U true CN205766105U (en) | 2016-12-07 |
Family
ID=58127710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620653485.9U Expired - Fee Related CN205766105U (en) | 2016-06-28 | 2016-06-28 | A kind of five axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205766105U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058155A (en) * | 2017-12-21 | 2018-05-22 | 连雪芳 | A kind of robot arm device for being used to replace ball grinding machine lining board |
-
2016
- 2016-06-28 CN CN201620653485.9U patent/CN205766105U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058155A (en) * | 2017-12-21 | 2018-05-22 | 连雪芳 | A kind of robot arm device for being used to replace ball grinding machine lining board |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161207 Termination date: 20190628 |