CN205766157U - A four-axis manipulator - Google Patents

Abstract

The utility model discloses a four-axis manipulator, including a body assembly, a lifting assembly, a large arm swing assembly, a small arm telescopic rotation assembly, a gripper assembly, an electric box assembly and a human-machine interface; the electric box assembly is installed on one side of the body assembly to control the entire body, the lifting assembly is installed in the body assembly to achieve up and down lifting, the large arm swing assembly is installed on the upper end of the lifting assembly, the small arm telescopic rotation assembly is installed on the large arm swing assembly, the gripper assembly is installed under the small arm telescopic rotation assembly, and rotates through the second harmonic reducer in the small arm telescopic rotation assembly. Compared with similar robots, the utility model has the advantages of higher precision, better rigidity, heavier load, longer life, easier maintenance and more stable performance.

Description

A four-axis manipulator

technical field

The utility model relates to the field of robots, in particular to a four-axis manipulator.

Background technique

The four-axis manipulator is a newly emerging manipulator between the linear coordinate manipulator and the toggle manipulator in recent years. The manipulator has low cost and moderate precision, and meets the sheet metal stamping industry and other needs of China and other developing countries. The market for the robotic handling industry.

At present, there are certain problems in the four-axis manipulators on the market:

1. The motor of the lifting component is connected with the screw rod through a synchronous belt. The motor is connected by a timing belt, which will add a transmission. There are mainly two disadvantages: A. Reduced transmission accuracy. B. Increase the maintenance cost. The synchronous belt is a consumable item. After a certain period of work, it needs to be stopped for replacement, which is time-consuming and labor-intensive.

2. For the telescopic and rotating assembly of the manipulator forearm, the transmission mode of motor + planetary reducer + synchronous belt + load end is generally used. This method has the following disadvantages: the transmission accuracy is not high, there is backlash, and the load is not high. Planetary reducers, especially those with low precision, have the disadvantages of low rigidity, large transmission backlash, and low precision. This leads to inaccurate material feeding, severe feeding vibration, and inability to send heavy products during the product transfer process.

Contents of the invention

The technical problem to be solved by the utility model is to provide a four-axis manipulator with the advantages of higher precision, better rigidity, heavier load, longer life, easier maintenance and more stable performance than similar robots.

The utility model is realized through the following technical solutions: a four-axis manipulator, including a body assembly, a lifting assembly, a big arm swing assembly, a small arm telescopic rotation assembly, a gripper assembly, an electric box assembly and a man-machine interface;

The electrical box assembly is installed on one side of the body assembly to control the entire body. The lifting assembly is installed in the body assembly to realize up and down lifting. The boom swing assembly is installed on the upper end of the lift assembly. The small arm telescopic rotation assembly is installed on the boom swing assembly. The gripper assembly is installed under the forearm telescopic rotation assembly, and rotates through the second harmonic reducer in the forearm telescopic rotation assembly.

As a preferred technical solution, the body assembly includes a machine base, a lifting servo motor, a first coupling, a first ball screw pair, a first slider, a lifting seat, a first synchronous belt, and a first harmonic reducer And the boom fixing seat, the lifting servo motor is fixed on the machine base, the lifting servo motor is connected with the screw rod through the first coupling, the screw nut is fixed on the lifting seat, and the lifting seat is movably installed on the machine base through the first slider In the slide rail opened above, the lifting servo motor drives the lifting seat to move up and down along the slide rail;

The first large arm rotating motor is fixedly installed on the lifting base, and the first large arm rotating motor is connected with the first harmonic reducer fixed on the lifting base through the first synchronous belt, and the rotation of the first large arm rotating motor drives the first harmonic The rotation of the wave reducer realizes the rotation of the boom fixing seat, and the boom swing assembly is installed on the boom fixing seat.

As a preferred technical solution, the boom swing assembly consists of a second boom rotation motor, a second coupling, a linear slide rail, a second ball screw pair, a second slider, a small arm fixing seat and a boom base Composition, the base of the boom is installed on the fixed seat of the boom;

The second boom rotating motor is fixed on the boom base, the second boom rotating motor is connected with the ball screw through the second coupling, the ball screw nut is connected with the forearm fixing seat, and the forearm fixing seat is arranged at the lower end The second slider is movably installed in the linear slide rail, and the small arm fixing seat is driven left and right by the second ball screw pair.

As a preferred technical solution, the forearm telescopic rotation assembly is mainly composed of the second harmonic reducer, the first synchronous pulley, the second synchronous pulley, the second synchronous belt, the forearm seat and the forearm rotating motor, the first A synchronous pulley is installed on the output end of the motor shaft of the forearm rotating motor, a second synchronous pulley is installed on the output end of the second harmonic reducer, and the second synchronous belt connects the first synchronous pulley and the second synchronous pulley.

As a preferred technical solution, the forearm seat is fixedly connected with the forearm fixing seat by screws.

As a preferred technical solution, the gripper assembly is installed on the lower end surface of the second harmonic reducer, and the gripper assembly is controlled by the second harmonic reducer.

The beneficial effects of the utility model are: the lifting system of the utility model is different from the synchronous belt used in similar machines to connect the lifting servo with the screw rod, but uses a coupling to directly connect the lifting servo with the screw rod Way. This transmission method reduces one transmission and improves the transmission accuracy; because the coupling has the advantages of long life and less maintenance, it also reduces maintenance costs;

In addition, the boom swing transmission system is different from the synchronous belt used in similar machines to connect the lifting servo to the screw rod, but uses a coupling to directly connect the lifting servo to the screw rod. This transmission method reduces one transmission and improves the transmission accuracy; because the coupling has the advantages of long life and less maintenance, it also reduces maintenance costs;

Finally, the planetary reducer is replaced with a harmonic reducer, and the reducer is placed in front of the load end, and the motor + synchronous belt + harmonic reducer + load end is connected. The harmonic reducer has a multi-tooth meshing structure, so it has the advantages of zero backlash, high rigidity, and high precision, thus solving the defects of low precision, backlash, and low load of similar manipulators.

Therefore, compared with similar robots, this robot has the advantages of higher precision, better rigidity, heavier load, longer life, easier maintenance and more stable performance.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is the structural representation of the body of the present utility model;

Fig. 3 is a structural schematic diagram of the large swing arm assembly of the present invention;

Fig. 4 is a schematic diagram of the forearm telescoping and rotating assembly of the present invention.

detailed description

All features disclosed in this specification, or steps in all methods or processes disclosed, may be combined in any manner, except for mutually exclusive features and/or steps.

Any feature disclosed in this specification (including any appended claims, abstract and drawings), unless expressly stated otherwise, may be replaced by alternative features which are equivalent or serve a similar purpose. That is, unless expressly stated otherwise, each feature is one example only of a series of equivalent or similar features.

As shown in Figure 1, it includes a body assembly 1, a lifting assembly 2, a boom swing assembly 3, a small arm telescopic rotation assembly 4, a grip assembly 5, an electrical box assembly 6 and a man-machine interface;

The electrical box assembly 6 is installed on one side of the body assembly 1 to control the entire body, the lifting assembly 2 is installed in the body assembly 1 to realize up and down lifting, the boom swing assembly 3 is installed on the upper end of the lifting assembly 2, and the small arm telescopic rotation assembly 4 On the boom swing assembly 3 , the gripper assembly 5 is installed under the forearm telescopic rotation assembly 4 , and rotates through the second harmonic reducer in the forearm telescopic rotation assembly 4 .

The boom swing assembly is driven by the first boom rotation motor to swing, and the small arm telescopic rotation assembly installed on the boom swing assembly can move on the boom swing assembly to complete the expansion and contraction, while the gripper assembly is through A second harmonic reducer on the jib telescoping swivel assembly controls speed and position.

As shown in Figure 2, the body assembly includes a machine base 7, a lifting servo motor 8, a first coupling 9, a first ball screw pair 10, a first slider 11, a lifting seat 12, a first synchronous belt 13, a first A harmonic reducer 14 and a boom fixing seat 15, the lifting servo motor 8 is fixed on the machine base 7, the lifting servo motor 8 is connected with the screw through the first shaft coupling 9, and the screw nut is fixed on the lifting base 12, The lifting base 12 is movably installed in the slide rail provided on the machine base 7 through the first slider 11, and the lifting servo motor drives the lifting base to move up and down along the slide rail;

The first large arm rotating motor 16 is fixedly installed on the lifting base 12, and the first large arm rotating motor 16 is connected with the first harmonic reducer 14 fixed on the lifting base 12 through the first synchronous belt 13, and the first large arm rotating motor The rotation of 16 drives the first harmonic reducer 14 to rotate to realize the rotation of the boom fixing seat, and the boom swing assembly 3 is installed on the boom fixing seat 15 .

The first large arm rotating motor 16 fixed on the lifting base 12 is connected with the first harmonic reducer 14 fixed on the lifting base 12 through the first synchronous belt 13, and the rotation of the first large arm rotating motor 16 drives the harmonic deceleration The rotation of the machine realizes the rotation of the boom fixing seat. Since the power uses a servo motor, it is easy to control the angle of the boom mount.

The lifting transmission system is different from the synchronous belt used by similar machines to connect the lifting servo to the screw rod, but uses a coupling to directly connect the lifting servo to the screw rod. This transmission method reduces one transmission and improves the transmission accuracy; because the coupling has the advantages of long life and less maintenance, it also reduces maintenance costs.

As shown in Figure 3, the boom swing assembly 3 is composed of a second boom rotating motor 17, a second coupling 18, a linear slide rail 19, a second ball screw pair 20, a second slider 21, and a small arm fixing seat. 22 and the boom base 23 are formed, and the boom base 23 is installed on the boom holder 15;

The second big arm rotating motor 17 is fixed on the big arm base 23, the second big arm rotating motor 17 is connected with the ball screw through the second coupling 18, the ball screw nut is connected with the small arm fixing seat 22, and the small arm is fixed The seat 22 is movably installed in the linear slide rail through the second slide block 21 arranged at the lower end, and the small arm fixing seat is driven left and right by the second ball screw pair.

The boom swing transmission system is different from the synchronous belt used by similar machines to connect the lifting servo to the screw rod, but uses a coupling to directly connect the lifting servo to the screw rod. This transmission method reduces one transmission and improves the transmission accuracy; because the coupling has the advantages of long life and less maintenance, it also reduces maintenance costs.

As shown in Figure 4, the forearm telescopic rotating assembly 4 is mainly rotated by the second harmonic reducer 24, the first synchronous pulley 25, the second synchronous pulley 26, the second synchronous belt 27, the forearm seat 28 and the forearm The motor 29 is composed of the first synchronous pulley 25 installed on the motor shaft output end of the forearm rotating motor 29, the second synchronous pulley 26 installed on the output end of the second harmonic reducer 24, and the second synchronous belt 27 connected to the first The timing pulley 25 and the second timing pulley 26 .

The speed and position of the delivery end of the second harmonic reducer are controlled by controlling the rotation motor of the forearm, and then the speed and position of the gripper assembly are controlled.

As shown in Figure 1, the forearm seat is fixedly connected to the forearm fixing seat through screws, the gripper assembly is installed on the lower end surface of the second harmonic reducer, and the gripper assembly is controlled by the second harmonic reducer.

The beneficial effects of the utility model are: the lifting system of the utility model is different from the synchronous belt used in similar machines to connect the lifting servo with the screw rod, but uses a coupling to directly connect the lifting servo with the screw rod Way. This transmission method reduces one transmission and improves the transmission accuracy; because the coupling has the advantages of long life and less maintenance, it also reduces maintenance costs;

In addition, the boom swing transmission system is different from the synchronous belt used in similar machines to connect the lifting servo to the screw rod, but uses a coupling to directly connect the lifting servo to the screw rod. This transmission method reduces one transmission and improves the transmission accuracy; because the coupling has the advantages of long life and less maintenance, it also reduces maintenance costs;

Finally, the planetary reducer is replaced with a harmonic reducer, and the reducer is placed in front of the load end, and the motor + synchronous belt + harmonic reducer + load end is connected. The harmonic reducer has a multi-tooth meshing structure, so it has the advantages of zero backlash, high rigidity, and high precision, thus solving the defects of low precision, backlash, and low load of similar manipulators.

Therefore, compared with similar robots, this robot has the advantages of higher precision, better rigidity, heavier load, longer life, easier maintenance and more stable performance.

The above is only a specific embodiment of the utility model, but the scope of protection of the utility model is not limited thereto, and any change or replacement that is not thought of through creative work should be covered within the scope of protection of the utility model . Therefore, the protection scope of the present utility model should be determined by the protection scope defined in the claims.

Claims (6)

1. an axis robot, it is characterised in that: include the flexible rotation of cylinder block set, lifting assembly, large arm wobble component, forearm Turn assembly, handgrip assembly, electronic box assembly and man machine interface；

Electronic box assembly is installed on cylinder block set side for controlling whole body, and lifting assembly realizes in being installed on cylinder block set Lower lifting, large arm wobble component is installed on the upper end of lifting assembly, and forearm Telescopic rotating assembly is installed on large arm wobble component, Handgrip assembly is installed under forearm Telescopic rotating assembly, is rotated by the second harmonic reductor in forearm Telescopic rotating assembly.

Four axis robot the most according to claim 1, it is characterised in that: described cylinder block set includes support, lift servo Motor, the first shaft coupling, the first ball wire bar pair, the first slide block, elevating bracket, the first Timing Belt, first harmonic reductor and big Arm fixes seat, and lift servo motor is fixed on support, and lift servo motor is connected with screw mandrel by the first shaft coupling, screw mandrel spiral shell Mother is fixed on elevating bracket, and elevating bracket is movably installed in the slide rail offered on support by the first slide block, lift servo motor Elevating bracket is driven to move up and down along slide rail；

Fixedly mounting the first large arm electric rotating machine on elevating bracket, the first large arm electric rotating machine passes through the first Timing Belt and is fixed on liter First harmonic reductor on fall seat is connected, and it is big that the rotation of the first large arm electric rotating machine drives first harmonic reductor to rotate realization Arm fixes the rotation of seat, and large arm wobble component is installed on large arm and fixes on seat.

Four axis robot the most according to claim 1, it is characterised in that: described large arm wobble component is rotated by the second large arm Motor, the second shaft coupling, line slide rail, the second ball wire bar pair, the second slide block, forearm fix seat and large arm base composition, greatly Arm floor installation is fixed on seat in large arm；

Second large arm electric rotating machine is fixed on large arm base, and the second large arm electric rotating machine passes through the second shaft coupling and ball screw Connecting, ball screw nut is fixed seat with forearm and is connected, and forearm is fixed seat and installed by being arranged at the second slide block activity of lower end In line slide rail, forearm fixes seat by driving about the second ball wire bar pair.

Four axis robot the most according to claim 1, it is characterised in that: described forearm Telescopic rotating assembly is mainly by second Harmonic wave speed reducing machine, the first synchronous pulley, the second synchronous pulley, the second Timing Belt, little arm seat and forearm electric rotating machine composition, first Synchronous pulley is installed on the motor shaft output of forearm electric rotating machine, and the second synchronous pulley is installed on the defeated of second harmonic reductor Going out end, the second Timing Belt connects the first synchronous pulley and the second synchronous pulley.

Four axis robot the most according to claim 4, it is characterised in that: described little arm seat fixes seat by screw and forearm Fixing connection.

Four axis robot the most according to claim 1, it is characterised in that: described handgrip assembly is installed on second harmonic and slows down The lower surface of machine, handgrip assembly is controlled by second harmonic reductor.