CN206105852U - Many joints of level industrial robot - Google Patents

Many joints of level industrial robot Download PDF

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Publication number
CN206105852U
CN206105852U CN201621093745.8U CN201621093745U CN206105852U CN 206105852 U CN206105852 U CN 206105852U CN 201621093745 U CN201621093745 U CN 201621093745U CN 206105852 U CN206105852 U CN 206105852U
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CN
China
Prior art keywords
output shaft
servomotor
synchronizing wheel
forearm
spline housing
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Active
Application number
CN201621093745.8U
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Chinese (zh)
Inventor
王时斌
王浪
龙兴安
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Dongguan New Technology Co Ltd
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Dongguan New Technology Co Ltd
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Priority to CN201621093745.8U priority Critical patent/CN206105852U/en
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Abstract

The utility model provides a many joints of level industrial robot, it includes the DDR motor, motor seat, a motor and a brake, big arm, the forearm, a harmonic speed reducer ware, a servo motor, the integral key shaft, output shaft elevating gear, output shaft rotary device, the DDR motor is installed on motor seat, the stopper is installed on the DDR motor, the one end of big arm is installed on DDR motor output shaft, a harmonic speed reducer ware is installed to the other end of big arm, the one end of forearm is installed on a harmonic speed reducer ware, a servo motor installs on the forearm, a servo motor's an output shaft and a harmonic speed reducer ware fixed connection, output shaft elevating gear, the output shaft rotary device install on the forearm respectively, the integral key shaft is installed in output shaft elevating gear, output shaft elevating gear drive integral key shaft rises or descends, output shaft rotary device drive integral key shaft is rotatory. The utility model discloses with low costs, high speed, high accuracy, flexibility are high.

Description

A kind of horizontal articulated industry mechanical arm
Technical field
The utility model is related to technical field of automation in industry, more particularly to a kind of horizontal articulated industry mechanical arm.
Background technology
Industrial robot high speed development in recent years, factory replaces manual work using robot manipulating task in a large number.In 3C rows Industry, particularly PCBA abnormity component plug-in unit proposes new requirement to the speed and precision of robot, be badly in need of using it is a kind of it is cheap, At a high speed, the high popular industrial machine people of high accuracy, flexibility.
Industrial robot of the prior art is suffered from the drawback that:The existing horizontal articulated robot J1 arm kinds of drive are big Majority uses harmonic wave speed reducing machine+servo motor or planetary reducer+stepper motor.The speed of both kinds of drive is difficult to surmount 100 n/min, and repetitive positioning accuracy is typically larger than 0.02mm.It is difficult to meet high speed and high-precision requirement.By linear horse Orthogonal robot up to composition can reach high speed, high-precision requirement, but the high expensive of its making, and the general degree of flexibility is inclined It is low.
Utility model content
For above-mentioned prior art, technical problem to be solved in the utility model is to provide a kind of low cost, high speed, height The high horizontal articulated industry mechanical arm of precision, flexibility.
In order to solve above-mentioned technical problem, the utility model provides a kind of horizontal articulated industry mechanical arm, and it includes DDR motors, motor base, brake, large arm, forearm, first harmonic decelerator, the first servomotor, splined shaft, output shaft rotation Device, output shaft lowering or hoisting gear, the DDR motors are installed on motor base, and the brake is installed on DDR motors, described One end of large arm is installed on DDR motor output shafts, and the other end of the large arm is provided with first harmonic decelerator, the forearm One end be installed in first harmonic decelerator, first servomotor is installed on forearm, first servomotor Output shaft is fixedly connected with first harmonic decelerator, and the output shaft lowering or hoisting gear (9), output shaft rotating device (10) are pacified respectively Loaded on forearm (5), the splined shaft (8) is installed on output shaft lowering or hoisting gear (9), and the output shaft lowering or hoisting gear (9) drives Splined shaft (8) rises or falls, and output shaft rotating device (10) drives splined shaft (8) rotation.
Further improvement of the utility model is that the output shaft rotating device includes the second servomotor, servomotor Mounting seat, the first synchronizing wheel, the second synchronizing wheel, the first Timing Belt, the first spline housing, spline housing installing rack, second servo Motor is installed in servomotor mounting seat, and the servomotor mounting seat is fixedly installed on forearm, first spline housing Rotation is installed on spline housing installing rack, and the spline housing installing rack is fixedly installed on the other end of forearm, and described first is same Step wheel is fixedly installed on the second servo motor output shaft, and second synchronizing wheel is fixedly and coaxially connected with the first spline housing, institute State the first Timing Belt to be connected with the first synchronizing wheel, the second synchronizing wheel Synchronous Transmission respectively, the splined shaft is provided with helicla flute, described First spline housing inner ring is provided with the spiral lamination threaded engagement of spiral lamination, the helicla flute of the splined shaft and the first spline housing, described Splined shaft is loosened through the second synchronizing wheel.
Further improvement of the utility model is that the output shaft lowering or hoisting gear includes the 3rd servomotor, the 3rd synchronization Wheel, the 4th synchronizing wheel, the second Timing Belt, the second spline housing, second harmonic decelerator, the 3rd servomotor is installed on servo On motor mount, the firm wheel of the second harmonic decelerator is fixedly installed on the other end of forearm, the 3rd synchronizing wheel Be fixedly installed on the 3rd servo motor output shaft, the 4th synchronizing wheel, the second spline housing respectively with second harmonic decelerator Wave producer be fixedly connected, second Timing Belt is connected respectively with the 3rd synchronizing wheel, the 4th synchronizing wheel Synchronous Transmission, described Splined shaft loosens through the 4th synchronizing wheel, the wave producer of second harmonic decelerator and is slidably connected with the second spline housing.
Further improvement of the utility model is to be also equipped with buffer bar under the forearm.
Further improvement of the utility model is that the output shaft lowering or hoisting gear also includes that the first fixed cover, second are fixed Set, first fixed cover wave producer respectively with second harmonic decelerator, the second fixed cover are fixedly and coaxially connected, and described the Two spline housings are fixedly and coaxially connected with the second fixed cover.
Compared with prior art, the utility model drives large arm to rotate using DDR motors, and the first servomotor passes through first Harmonic speed reducer drives forearm to rotate, and output shaft rotating device drives splined shaft rotation, output shaft lowering or hoisting gear to drive splined shaft Rise or fall.The utility model low cost, high speed, high accuracy, flexibility are high.
Description of the drawings
Fig. 1 is stereogram of the present utility model;
Fig. 2 is the stereo unfolding figure of Fig. 1.
Each component names are as follows in figure:
1-DDR motors;
2-motor base;
3-brake;
4-large arm;
5-forearm;
6-first harmonic decelerator;
7-the first servomotor;
8-splined shaft;
9-output shaft lowering or hoisting gear;
91-the second servomotor;
92-servomotor mounting seat;
93-the first synchronizing wheel;
94-the second synchronizing wheel;
95-the first Timing Belt;
96-the first spline housing;
97-spline housing installing rack;
10-output shaft rotating device;
101-the three servomotor;
102-the three synchronizing wheel;
103-the four synchronizing wheel;
104-the second Timing Belt;
105-the second spline housing;
106-second harmonic decelerator;
107-the first fixed cover;
108-the second fixed cover;
11-buffer bar.
Specific embodiment
Below in conjunction with the accompanying drawings explanation and specific embodiment are further illustrated to the utility model.
As shown in Figure 1 to Figure 2, a kind of horizontal articulated industry mechanical arm, it includes DDR motors 1, motor base 2, brake 3rd, large arm 4, forearm 5, first harmonic decelerator 6(Harmonic speed reducer is made up of wave producer, flexbile gear, firm wheel), the first servo electricity Machine 7, splined shaft 8, output shaft rotating device 9, output shaft lowering or hoisting gear 10, the DDR motors 1 are fixedly installed on motor base 2, The brake 3 is fixedly installed on DDR motors 1, and one end of the large arm 4 is fixedly installed on the output shaft of DDR motors 1, institute The other end for stating large arm 4 is installed with first harmonic decelerator 6, and the wave producer of the first harmonic decelerator 6 fixes peace The other end loaded on large arm 4, one end of the forearm 5 is fixedly installed in the firm wheel of first harmonic decelerator 6, and described first watches Take motor 7 to be fixedly installed on forearm 5, the output shaft of first servomotor 7 and the wave producer of first harmonic decelerator 6 It is fixedly connected, the output shaft lowering or hoisting gear 9, output shaft rotating device 10 are respectively arranged on forearm 5, and the splined shaft 8 is pacified Loaded on output shaft lowering or hoisting gear 9, the output shaft lowering or hoisting gear 9 drives splined shaft 8 to rise or fall, the output shaft rotation Device 10 drives splined shaft 8 to rotate.Buffer bar 11 is also equipped with the forearm 5.The brake 3 is using without exciting electromagnet system Dynamic device.
Specifically, as shown in Figure 1 to Figure 2, the output shaft rotating device 9 includes the second servomotor 91, servomotor Mounting seat 92, the first synchronizing wheel 93, the second synchronizing wheel 94, the first Timing Belt 95, the first spline housing 96, spline housing installing rack 97, Second servomotor 91 is fixedly installed in servomotor mounting seat 92, and the servomotor mounting seat 92 is fixedly installed in On forearm 5, first spline housing 96 is rotated by bearing and is installed on spline housing installing rack 97, the spline housing installing rack 97 It is fixedly installed on the other end of forearm 5, first synchronizing wheel 93 is fixedly installed on the output shaft of the second servomotor 91, institute State the second synchronizing wheel 94 to be fixedly and coaxially connected with the first spline housing 96, first Timing Belt 95 respectively with the first synchronizing wheel 93, The Synchronous Transmission of second synchronizing wheel 94 connects, and the splined shaft 8 is provided with helicla flute, and the inner ring of the first spline housing 96 is provided with spiral The spiral lamination threaded engagement of line, the helicla flute of the splined shaft 8 and the first spline housing 96, the splined shaft 8 is loosened through second Synchronizing wheel 94.
Specifically, as shown in Figure 1 to Figure 2, the output shaft lowering or hoisting gear 10 includes that the 3rd servomotor the 101, the 3rd is same Step the 102, the 4th synchronizing wheel 103 of wheel, the second Timing Belt 104, the second spline housing 105, second harmonic decelerator 106, the described 3rd Servomotor 101 is fixedly installed in servomotor mounting seat 92, and the firm wheel of the second harmonic decelerator 106 is fixedly installed in On the other end of forearm 5, the 3rd synchronizing wheel 102 is fixedly installed on the output shaft of the 3rd servomotor 101, and the described 4th is same Step the 103, second spline housing 105 of wheel is fixedly connected respectively with the wave producer of second harmonic decelerator 106, second Timing Belt 104 are connected respectively with the 3rd synchronizing wheel 102, the Synchronous Transmission of the 4th synchronizing wheel 103, and the splined shaft 8 loosens synchronous through the 4th The wheel 103, wave producer of second harmonic decelerator 106 is simultaneously slidably connected with the second spline housing 105.The output shaft lowering or hoisting gear 10 also include the first fixed cover 107, the second fixed cover 108, first fixed cover 107 respectively with second harmonic decelerator 106 Wave producer, the second fixed cover 108 be fixedly and coaxially connected, second spline housing 105 and the second fixed cover 108 are coaxial fixed Connection.
The utility model also includes control system, and the control system is used to control DDR motors 1, brake 3, first watches Take motor 7, the second servomotor 91, the work of the 3rd servomotor 101.
Operation principle of the present utility model:The task driven large arm of DDR motors 1 is rotated, and the first servomotor 7 is humorous by first Ripple decelerator 6 drives forearm 5 to rotate;The work of second servomotor 91 is rotated and drives the first synchronizing wheel 93 to rotate together, and first is same Step wheel 93 drives the second synchronizing wheel 94 to rotate together by the first Timing Belt 95, and the second synchronizing wheel 94 drives co-axial solid simultaneously First spline housing 96 of fixed connection is rotated together, and then the first spline housing 96 is by spiral lamination and the spiral fluted spiral shell of splined shaft 8 Screwing conjunction drives splined shaft 8 to rise or fall;The work of 3rd servomotor 101 is rotated and drives the 3rd synchronizing wheel 102 to rotate together, 3rd synchronizing wheel 102 drives the 4th synchronizing wheel 103 to rotate together by the second Timing Belt 104, and the 4th synchronizing wheel 103 passes through second Harmonic speed reducer 106 drives the first fixed cover 107 to rotate, and the first fixed cover 107 drives the second spline by the second fixed cover 108 Set 105 is rotated, so as to the second spline housing 105 drives splined shaft 8 to rotate.
The utility model has the advantage of, the utility model drives large arm 4 to rotate using DDR motors 1, the first servomotor 7 drive forearm 5 to rotate by first harmonic decelerator 6, and output shaft rotating device 10 drives splined shaft 8 to rotate, output shaft lifting Device 9 drives splined shaft 8 to rise or fall.The utility model low cost, high speed, high accuracy, flexibility are high.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to Identification is of the present utility model to be embodied as being confined to these explanations.For the ordinary skill of the utility model art For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, all should be regarded To belong to protection domain of the present utility model.

Claims (5)

1. a kind of horizontal articulated industry mechanical arm, it is characterised in that:Including DDR motors (1), motor base (2), brake (3), Large arm (4), forearm (5), first harmonic decelerator (6), the first servomotor (7), splined shaft (8), output shaft lowering or hoisting gear (9) shaft rotating device (10), is exported, the DDR motors (1) are installed on motor base (2), and the brake (3) is installed on DDR On motor (1), one end of the large arm (4) is installed on DDR motors (1) output shaft, and the other end of the large arm (4) is provided with First harmonic decelerator (6), one end of the forearm (5) is installed in first harmonic decelerator (6), first servomotor (7) it is installed on forearm (5), the output shaft of first servomotor (7) is fixedly connected with first harmonic decelerator (6), institute State output shaft lowering or hoisting gear (9), output shaft rotating device (10) to be respectively arranged on forearm (5), the splined shaft (8) is installed on Output shaft lowering or hoisting gear (9), the output shaft lowering or hoisting gear (9) drives splined shaft (8) to rise or fall, the output shaft rotation Device (10) drives splined shaft (8) rotation.
2. horizontal articulated industry mechanical arm according to claim 1, it is characterised in that:The output shaft lowering or hoisting gear (9) including the second servomotor (91), servomotor mounting seat (92), the first synchronizing wheel (93), the second synchronizing wheel (94), first Timing Belt (95), the first spline housing (96), spline housing installing rack (97), second servomotor (91) is installed on servomotor In mounting seat (92), the servomotor mounting seat (92) is fixedly installed on forearm (5), and first spline housing (96) rotates It is installed on spline housing installing rack (97), the spline housing installing rack (97) is fixedly installed on the other end of forearm (5), described First synchronizing wheel (93) is fixedly installed on the second servomotor (91) output shaft, second synchronizing wheel (94) and the first spline Set (96) is fixedly and coaxially connected, and first Timing Belt (95) is synchronous with the first synchronizing wheel (93), the second synchronizing wheel (94) respectively It is connected, the splined shaft (8) is provided with helicla flute, the first spline housing (96) inner ring is provided with spiral lamination, the splined shaft (8) helicla flute and the spiral lamination threaded engagement of the first spline housing (96), the splined shaft (8) is loosened through the second synchronizing wheel (94)。
3. horizontal articulated industry mechanical arm according to claim 2, it is characterised in that:The output shaft rotating device (10) including the 3rd servomotor (101), the 3rd synchronizing wheel (102), the 4th synchronizing wheel (103), the second Timing Belt (104), Two spline housings (105), second harmonic decelerator (106), the 3rd servomotor (101) is installed on servomotor mounting seat (92) on, the firm wheel of the second harmonic decelerator (106) is fixedly installed on the other end of forearm (5), and the described 3rd is synchronous Wheel (102) is fixedly installed on the 3rd servomotor (101) output shaft, the 4th synchronizing wheel (103), the second spline housing (105) it is fixedly connected with the wave producer of second harmonic decelerator (106) respectively, second Timing Belt (104) is respectively with Three synchronizing wheels (102), the connection of the 4th synchronizing wheel (103) Synchronous Transmission, the splined shaft (8) is loosened through the 4th synchronizing wheel (103), the wave producer of second harmonic decelerator (106) and it is slidably connected with the second spline housing (105).
4. the horizontal articulated industry mechanical arm according to any one of claims 1 to 3, it is characterised in that:The forearm (5) Under be also equipped with buffer bar (11).
5. horizontal articulated industry mechanical arm according to claim 3, it is characterised in that:The output shaft rotating device (10) the first fixed cover (107), the second fixed cover (108) are also included, first fixed cover (107) subtracts respectively with second harmonic The wave producer of fast device (106), the second fixed cover (108) are fixedly and coaxially connected, and second spline housing (105) is fixed with second Set (108) is fixedly and coaxially connected.
CN201621093745.8U 2016-09-29 2016-09-29 Many joints of level industrial robot Active CN206105852U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621093745.8U CN206105852U (en) 2016-09-29 2016-09-29 Many joints of level industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621093745.8U CN206105852U (en) 2016-09-29 2016-09-29 Many joints of level industrial robot

Publications (1)

Publication Number Publication Date
CN206105852U true CN206105852U (en) 2017-04-19

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621093745.8U Active CN206105852U (en) 2016-09-29 2016-09-29 Many joints of level industrial robot

Country Status (1)

Country Link
CN (1) CN206105852U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112847320A (en) * 2021-02-23 2021-05-28 西双版纳望旺生物科技有限公司 Horizontal four-joint robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112847320A (en) * 2021-02-23 2021-05-28 西双版纳望旺生物科技有限公司 Horizontal four-joint robot

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