CN206154322U - Precision assembly robot - Google Patents
Precision assembly robot Download PDFInfo
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- CN206154322U CN206154322U CN201621219506.2U CN201621219506U CN206154322U CN 206154322 U CN206154322 U CN 206154322U CN 201621219506 U CN201621219506 U CN 201621219506U CN 206154322 U CN206154322 U CN 206154322U
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- forearm
- turntable
- wrist joint
- rotating shaft
- ball
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Abstract
The utility model discloses a precision assembly robot, including base, revolving stage, big arm, forearm, wrist joint, front end rotary joint and air clamper, the revolving stage rotates and installs on the base, and big arm one end is articulated with the revolving stage, and the big arm other end is articulated with forearm one end, and the forearm other end is articulated with wrist joint one end, and front end rotary joint rotates and installs at the wrist joint other end, and air clamper installs in front end rotary joint outer end, install on the base and be used for driving revolving stage pivoted revolving stage ball actuating mechanism, install on the revolving stage and be used for driving the big arm ball actuating mechanism of big arm pivoted, install on the big arm and be used for driving forearm pivoted forearm ball actuating mechanism, install on the forearm and be used for driving wrist joint pivoted wrist joint actuating mechanism, install on the wrist joint and be used for driving front end rotary joint pivoted front end joint actuating mechanism. The utility model discloses the transmission is steady, and positioning accuracy is high, and production efficiency is high, long service life, and application range is wide.
Description
Technical field
The utility model is related to a kind of robot for Full-automatic production line, more particularly to a kind of using high accuracy
The precision assembly robot of ball-screw-transmission.
Background technology
In the past few years, with fields such as the continuous development of industrial technology, welding, casting, spray painting, carrying, the assemblings of industrial circle
Conjunction has begun to use robot to substitute manual work in a large number.In addition in military affairs, marine exploration, space flight, medical treatment agricultural, forestry very
Robot, robot is also all begun to use to have become and substitute the important and requisite of manpower to service trade, show business
One of automated arm.At present, robot is mainly used in auto industry, electromechanical Electronic Industry, universal machine in industrial circle
The departments such as industry, intermetallic composite coating, casting, the commercial Application of robot is divided into four aspects, i.e. materials processing, part manufacture, produces
Product examine is tested and assembled.Because the Robot industry of China is started late, though having breakthrough in some key technologies, also lack whole
The breakthrough of body core technology, the industrial robot with Intellectual Property in China is then little.In China, Industrial Robot Market share
Major part is by import robot in occupation of in face of crucial world rival, domestic Robot industry is faced with huge pressure.
Nowadays China just strides forward from one " manufacture big country " to " manufacturing power ", and Chinese manufacturing is faced with line with international standards, participating country
The huge challenge of the border division of labor, the raising to China's industrial automation is extremely urgent, and it will be China to greatly develop Robot industry
Industrial upgrading inject new power.
We want to be competed with international rival, it is desirable to realize " bend is overtaken other vehicles ", just have to look for a breach.For entering
The shortcoming that mouth industrial robot structure is complicated, maintenance is inconvenient, price is high, such as industry of the import brand such as X cards, X rivers
Robot, its structure is considerably complicated, due to compact in design, and dismounting during maintenance is difficult, and has after recovery it is difficult to ensure that precision will
Ask, cause to dare the difficult situation that use dare not be moved, dare not tear open, dare not repair.In addition import industrial robot is expensive, tens of easily
The maintenance expense of ten thousand prices up to a million and later stage costliness, is that some medium-sized and small enterprises cannot bear pain；They have and match somebody with somebody
The strong desire of standby robot, does not but introduce the strength of the import robot of costliness.Therefore, how we are thought deeply using simple
Rational structure, produces robot that is cheap and easy to be handy and can reaching precision needed for us, in order to large area
Promote the use of.
Utility model content
The purpose of this utility model is to overcome above-mentioned deficiency of the prior art, there is provided a kind of precision assembly robot,
Its rational in infrastructure, production is simple and operates easy to maintenance, stable drive, and positioning precision is high, and production efficiency is high, long service life,
Use range is wide.
For achieving the above object, the technical solution adopted in the utility model is：A kind of precision assembly robot, its feature exists
In：Including base, turntable, large arm, forearm, wrist joint, front end rotary joint and air clamper, the turntable is rotated to be installed
On base, one end and the turntable of the large arm are hinged, and the other end of the large arm is hinged with one end of forearm, the forearm
The other end is hinged with carpal one end, and the front end rotary joint is rotatably installed in the carpal other end, the pneumatic clamps
Tight device is arranged on the outer end of front end rotary joint；Turntable ball-screw for driving turntable to rotate is installed on the base
Drive mechanism, is provided with the large arm ball screw drive mechanism for driving large arm to rotate on the turntable, pacify in the large arm
Equipped with the forearm ball screw drive mechanism for driving forearm to rotate, it is provided with the forearm for driving wrist joint to rotate
Wrist joint drive mechanism, the front end joint drive machine for driving front end rotary joint to rotate is installed on the wrist joint
Structure.
Above-mentioned precision assembly robot, it is characterised in that：The turntable ball screw drive mechanism includes the first servo
Motor, the first ball-screw, the first feed screw nut, the first nut seat, sleeve, turntable supporting plate and turntable rotating shaft, described first watches
The output shaft for taking motor is fixedly connected with one end of the first ball-screw, and first feed screw nut and the first ball-screw match
Close, first feed screw nut is fixedly mounted on the first nut seat, and first nut seat is arranged in sleeve, the sleeve
The bottom of turntable supporting plate is fixed on, the turntable supporting plate is connected by turntable rotating shaft with base rotation, and the turntable supporting plate is fixed
In the bottom of turntable, first servomotor is arranged on base.
Above-mentioned precision assembly robot, it is characterised in that：The large arm ball screw drive mechanism includes the second servo
Motor, the second ball-screw, the second feed screw nut, the second nut seat and large arm rotating shaft, the output shaft of second servomotor
It is fixedly connected with one end of the second ball-screw, second feed screw nut is engaged with the second ball-screw, described second
Thick stick nut is fixedly mounted on the second nut seat, and second nut seat is rotatably connected in large arm, and the large arm passes through large arm
Rotating shaft is rotated with turntable and is connected, and second servomotor is arranged on turntable.
Above-mentioned precision assembly robot, it is characterised in that：The forearm ball screw drive mechanism includes the 3rd servo
Motor, the 3rd ball-screw, the 3rd feed screw nut, the 3rd nut seat and forearm rotating shaft, the output shaft of the 3rd servomotor
It is fixedly connected with one end of the 3rd ball-screw, the 3rd feed screw nut is engaged with the 3rd ball-screw, described 3rd
Thick stick nut is fixedly mounted on the 3rd nut seat, and the 3rd nut seat is rotatably connected on forearm, and the forearm passes through forearm
Rotating shaft is rotated with large arm and is connected, and the 3rd servomotor is arranged in large arm.
Above-mentioned precision assembly robot, it is characterised in that：The wrist joint drive mechanism includes the 4th servomotor, little
Synchronous pulley, big synchronous pulley, tooth form synchronous belt and wrist joint rotating shaft, the small synchronous pulley is fixedly mounted on the 4th servo electricity
On the output shaft of machine, the big synchronous pulley is fixedly mounted in wrist joint rotating shaft, the small synchronous pulley and big synchronous pulley
Connect to form V belt translation by tooth form synchronous belt, the wrist joint is rotated with forearm by wrist joint rotating shaft and is connected, and the wrist is closed
Section rotating shaft is fixedly connected with wrist joint, and the 4th servomotor is arranged on forearm.
Above-mentioned precision assembly robot, it is characterised in that：The front end joint driving mechanism include the 5th servomotor,
Bearing, bearing cup and front end rotating shaft, the output shaft of the 5th servomotor is fixedly connected with one end of front end rotating shaft, it is described before
End rotating shaft is rotated with wrist joint by bearing and bearing cup and is connected, the bearing in bearing cup, the bearing cup and wrist
Arthrodesis connects, and the front end rotary joint is fixed in the rotating shaft of front end, and the 5th servomotor is arranged on wrist joint.
Above-mentioned precision assembly robot, it is characterised in that：Locking nut is threaded with the front end rotating shaft, it is described
Locking nut is positioned close to wrist joint.
Above-mentioned precision assembly robot, it is characterised in that：The air clamper be finger cylinder, the finger gas
Jaw is installed on cylinder.
The utility model has compared with prior art advantages below：
1st, the utility model is rational in infrastructure, and part kind is few, and production is simple；It is easy to operate, it is easy to maintenance.
2nd, turntable of the present utility model, large arm, forearm adopt high precision ball lead screw transmission, stable drive, transmission effect
Rate is high；Using ball-screw eliminate axial gap, improve itself rigidity, make precision assembly robot positioning precision and fixed
Bit rate is greatly improved.
3rd, wrist joint of the present utility model adopts toothed belt transmission, its transmission, compact conformation little to axle active force；Transmission is flat
Surely, noise is little；Without slippage, gearratio precisely, makes precision assembly robot stable.
4th, the utility model production efficiency is high, can five-axle linkage, various run action can be completed；The radius of clean-up is big, completes
Individual part circulation time can be less than three seconds, human body labour intensity can be greatly reduced, using substituting manpower.
5th, the utility model cost is relatively low, and cost performance is high, and use range is wide, can change front end folder according to production requirement
Tool, is applied to various parts assembling flow production lines.
6th, the utility model in precision assembly robot combinative movement its each joint action more nimbly and freely, angle
Adjust more accurate；Long service life, weares and teares little in running, can effectively reduce the production cost of robot.
7th, the utility model has been applied at present the inserting crown top of burner operation of the automatic assembly line of fluorescent tube, can be once complete
The work such as the crown top of burner are precisely inserted into the specified location gripping crown top of burner, specified location spin coating, specified location, people can be completely substituted
Work, has the advantages that action is accurate, high working efficiency, repetitive positioning accuracy are high, noise is little, and optimizes working site ring
Border, improves product qualified rate, reduces production cost.
8th, the utility model is easy to promote the use of, and many parts are all highly convenient for producing, buy, thus its production cost is very
It is low, various parts assembling flow production lines can be met again to be used, and higher positioning accuracy can be reached, can substitute very well artificial.
Below by drawings and Examples, the utility model is described in further detail.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is stereogram of the present utility model.
Fig. 3 is the installation relation schematic diagram of the utility model base, turntable and turntable ball screw drive mechanism.
Fig. 4 is the top view of Fig. 3.
Fig. 5 is the side view of Fig. 3.
Fig. 6 is the installation relation schematic diagram of the utility model turntable, large arm, forearm and large arm ball screw drive mechanism.
Fig. 7 is the installation relation schematic diagram of the utility model large arm, forearm and forearm ball screw drive mechanism.
Fig. 8 is the installation relation schematic diagram of the utility model forearm, wrist joint and wrist joint drive mechanism.
Fig. 9 is the peace of the utility model wrist joint, front end rotary joint, air clamper and front end joint driving mechanism
Dress relation schematic diagram.
Description of reference numerals:
1-base；2-turntable；3-large arm；
4-forearm；5-wrist joint；6-front end rotary joint；
7-air clamper；8-turntable ball screw drive mechanism；
8-1-the first servomotor；8-2-the first ball-screw；8-3-the first feed screw nut；
8-4-the first nut seat；8-5-sleeve；8-6-turntable supporting plate；
8-7-turntable rotating shaft；9-large arm ball screw drive mechanism；9-1-the second servomotor；
9-2-the second ball-screw；9-3-the second feed screw nut；9-4-the second nut seat；
9-5-large arm rotating shaft；10-forearm ball screw drive mechanism；The servomotors of 10-1-the 3rd；
The ball-screws of 10-2-the 3rd；The feed screw nuts of 10-3-the 3rd；The nut seats of 10-4-the 3rd；
10-5-forearm rotating shaft；11-wrist joint drive mechanism；The servomotors of 11-1-the 4th；
11-2-small synchronous pulley；11-3-tooth form synchronous belt；11-4-big synchronous pulley；
11-5-wrist joint rotating shaft；12-front end joint driving mechanism；The servomotors of 12-1-the 5th；
12-2-bearing cup；12-3-bearing；12-4-locking nut；
12-5-front end rotating shaft；13-jaw.
Specific embodiment
As depicted in figs. 1 and 2, the utility model includes base 1, turntable 2, large arm 3, forearm 4, the rotation of wrist joint 5, front end
Joint 6 and air clamper 7, the turntable 2 is rotatably installed on base 1, and one end and the turntable 2 of the large arm 3 are hinged, institute
The other end and one end of forearm 4 for stating large arm 3 is hinged, and the other end and one end of wrist joint 5 of the forearm 4 are hinged, it is described before
End rotary joint 6 is rotatably installed in the other end of wrist joint 5, and the air clamper 7 is arranged on the outer of front end rotary joint 6
End；Turntable ball screw drive mechanism 8 for driving turntable 2 to rotate is installed on the base 1, is installed on the turntable 2
There is the large arm ball screw drive mechanism 9 for driving large arm 3 to rotate, be provided with the large arm 3 for driving forearm 4 to rotate
Forearm ball screw drive mechanism 10, be provided with the forearm 4 for drive wrist joint 5 rotate wrist joint drive mechanism
11, the front end joint driving mechanism 12 for driving front end rotary joint 6 to rotate is installed on the wrist joint 5.
The precision assembly robot turntable ball screw drive mechanism 8, large arm ball screw drive mechanism 9 and forearm ball
Screw drive mechanism 10 adopts high precision ball lead screw transmission, ball-screw rotation is driven by servomotor, by rotary motion
The linear motion of feed screw nut is converted into, then drives the executive component in each joint to rotate around respective rotary shaft by feed screw nut
Certain angle.Turntable 2 can be around turntable rotating shaft 8-7 rotational angles up to 120 °, i.e., turntable 2 rotates forward about 60 °, invert about 60 °；Large arm 3
Can be around large arm rotating shaft 9-5 rotational angles up to 120 °, i.e., large arm 3 rotates forward about 60 °, rotates backward about 60 °；Forearm 4 can be around rotation
Up to 120 °, i.e., forearm 4 is rotated up about 60 ° to forearm rotating shaft 10-5 rotational angles, rotates down about 60 °.Ball-screw-transmission is put down
Surely, transmission efficiency, the ball-screw of employing eliminates axial gap, improves itself rigidity, determines precision assembly robot
Position precision and locating speed are greatly improved.Wrist joint 5 can around wrist joint rotating shaft 11-5 rotational angles up to 180 °, i.e. wrist joint upwards
About 90 ° are rotated, about 90 ° are rotated down；Front end rotary joint 6 can rotate arbitrarily angled around front end rotating shaft 12-5, and five axles are simultaneously dynamic
Make, the coordinated movement of various economic factors, precision assembly robot can be combined and produce multi-motion path, allow air clamper 7 in work half
Optional position in footpath conveniently and efficiently grips, installs workpiece.
As shown in Figures 3 to 5, the turntable ball screw drive mechanism 8 includes the first servomotor 8-1, the first ball
Leading screw 8-2, the first feed screw nut 8-3, the first nut seat 8-4, sleeve 8-5, turntable supporting plate 8-6 and turntable rotating shaft 8-7, described
The output shaft of one servomotor 8-1 is fixedly connected with one end of the first ball-screw 8-2, the first feed screw nut 8-3 and
One ball-screw 8-2 is engaged, and the first feed screw nut 8-3 is fixedly mounted on the first nut seat 8-4, first nut
Seat 8-4 is arranged in sleeve 8-5, and the sleeve 8-5 is fixed on the bottom of turntable supporting plate 8-6, and the turntable supporting plate 8-6 is by turning
Platform rotating shaft 8-7 is rotated with base 1 and is connected, and the turntable supporting plate 8-6 is fixed on the bottom of turntable 2, the first servomotor 8-1
On base 1.
In the course of the work, the first servomotor 8-1 outputs power rotates the first ball-screw 8-2, drives first
Thick stick nut 8-3 and the first nut seat 8-4 moves along a straight line along the axial direction of the first ball-screw 8-2 simultaneously, and (direction of motion is with first
The change of ball-screw 8-2 direction of rotation and change).Because the first nut seat 8-4 is located in sleeve 8-5, sleeve 8-5 is again and turntable
Supporting plate 8-6 connects, therefore while the first nut seat 8-4 moves along a straight line, drive sleeve 8-5 moves and drive turntable supporting plate
8-6 is rotated around turntable rotating shaft 8-7 clockwises or counterclockwise, reaches what is specified needed for turntable when precision assembly robot works
Position.
As shown in fig. 6, the large arm ball screw drive mechanism 9 includes the second servomotor 9-1, the second ball-screw 9-
2nd, the second feed screw nut 9-3, the second nut seat 9-4 and large arm rotating shaft 9-5, the output shaft of the second servomotor 9-1 and
One end of two ball-screw 9-2 is fixedly connected, and the second feed screw nut 9-3 is engaged with the second ball-screw 9-2, and described
Two feed screw nut 9-3 are fixedly mounted on the second nut seat 9-4, and the second nut seat 9-4 is rotatably connected in large arm 3, institute
State large arm 3 and rotated with turntable 2 by large arm rotating shaft 9-5 and be connected, the second servomotor 9-1 is arranged on turntable 2.
In the course of the work, the second servomotor 9-1 outputs power rotates the second ball-screw 9-2, drives second
Thick stick nut 9-3 and the second nut seat 9-4 moves along a straight line along the axial direction of the second ball-screw 9-2 simultaneously, and (direction of motion is with second
The change of ball-screw 9-2 direction of rotation and change).It is connected because the second nut seat 9-4 is rotated with large arm 3, therefore in the second spiral shell
While female seat 9-4 moves along a straight line, drive large arm 3 to rotate around large arm rotating shaft 9-5 clockwises or counterclockwise, reach accurate
Put together machines specified location needed for man-hour large arm.
As shown in fig. 7, the forearm ball screw drive mechanism 10 includes the 3rd servomotor 10-1, the 3rd ball-screw
10-2, the 3rd feed screw nut 10-3, the 3rd nut seat 10-4 and forearm rotating shaft 10-5, the output of the 3rd servomotor 10-1
Axle is fixedly connected with one end of the 3rd ball-screw 10-2, and the 3rd feed screw nut 10-3 and the 3rd ball-screw 10-2 matches
Close, the 3rd feed screw nut 10-3 is fixedly mounted on the 3rd nut seat 10-4, the 3rd nut seat 10-4 rotates connection
On forearm 4, the forearm 4 is rotated with large arm 3 by forearm rotating shaft 10-5 and is connected, and the 3rd servomotor 10-1 is arranged on
In large arm 3.
In the course of the work, the 3rd servomotor 10-1 outputs power rotates the 3rd ball-screw 10-2, drives the 3rd
Feed screw nut 10-3 and the 3rd nut seat 10-4 move along a straight line along the axial direction of the 3rd ball-screw 10-2 simultaneously (direction of motion with
The change of the 3rd ball-screw 10-2 direction of rotation and change).It is connected because the 3rd nut seat 10-4 is rotated with forearm 4, therefore
While 3rd nut seat 10-4 moves along a straight line, forearm 4 is driven to rotate around forearm rotating shaft 10-5 clockwises or counterclockwise,
Reach specified location needed for forearm when precision assembly robot works.
As shown in figure 8, the wrist joint drive mechanism 11 includes the 4th servomotor 11-1, small synchronous pulley 11-2, big
Synchronous pulley 11-4, tooth form synchronous belt 11-3 and wrist joint rotating shaft 11-5, the small synchronous pulley 11-2 is fixedly mounted on the 4th
On the output shaft of servomotor 11-1, the big synchronous pulley 11-4 is fixedly mounted on wrist joint rotating shaft 11-5, described little same
Step belt wheel 11-2 and big synchronous pulley 11-4 connects to form V belt translation by tooth form synchronous belt 11-3, and the wrist joint 5 passes through wrist
Rotating shaft 11-5 in joint is rotated with forearm 4 and is connected, and the wrist joint rotating shaft 11-5 is fixedly connected with wrist joint 5, the 4th servo
Motor 11-1 is arranged on forearm 4.
In the course of the work, small synchronous pulley 11-2 is driven to rotate by the 4th servomotor 11-1, then by tooth form synchronous belt
11-3 transmits power to big synchronous pulley 11-4, and big synchronous pulley 11-4 is connected by wrist joint rotating shaft 11-5 with wrist joint 5
It is integrated, when big synchronous pulley 11-4 is rotated, wrist joint 5 can be made to turn around wrist joint rotating shaft 11-5 clockwises or counterclockwise
It is dynamic, reach specified location needed for wrist joint when precision assembly robot works.The rotational angle of wrist joint 5 up to 180 °, wrist joint to
It is upper to rotate about 90 °, rotate down about 90 °.Tooth form synchronous belt 11-3 is little to wrist joint rotating shaft 11-5 active forces, compact conformation；Pass
Dynamic steady, noise is little；Without slippage, gearratio precisely, makes precision assembly robot stable.
As shown in figure 9, the front end joint driving mechanism 12 includes the 5th servomotor 12-1, bearing 12-3, bearing cup
12-2 and front end rotating shaft 12-5, the output shaft of the 5th servomotor 12-1 is fixedly connected with one end of front end rotating shaft 12-5,
The front end rotating shaft 12-5 is rotated with wrist joint 5 by bearing 12-3 and bearing cup 12-2 and is connected, and the bearing 12-3 is arranged on
In bearing cup 12-2, the bearing cup 12-2 is fixedly connected with wrist joint 5, and the front end rotary joint 6 is fixed on front end rotating shaft
On 12-5, the 5th servomotor 12-1 is arranged on wrist joint 5.
In the course of the work, the 5th servomotor 12-1 drives rotating shaft 12-5 in front end to rotate, the rotation of front end rotating shaft 12-5
Angle is unrestricted, can rotate arbitrarily angled, drives front end rotary joint 6 to rotate by front end rotating shaft 12-5.
In the present embodiment, locking nut 12-4, the locking nut 12-4 are threaded with the front end rotating shaft 12-5
It is positioned close at wrist joint 5.
As shown in figure 9, the air clamper 7 is finger cylinder, jaw 13, jaw are installed in the finger cylinder
13 according to the application scenario of precision assembly robot and can be gripped the configuration design of workpiece into multi-form, with convenient and swift
Grip, discharge workpiece or complete required movement.
Operation principle of the present utility model is：Turntable 2, large arm 3 and forearm 4 adopt high precision ball lead screw transmission, its
Stable drive, transmission efficiency, double ball-screws of employing eliminate axial gap, improve itself rigidity, make precision assembly
Robot localization precision and locating speed are improved.Wrist joint 5 adopts toothed belt transmission, and its transmission is little to axle active force, and structure is tight
Gather；Stable drive, noise is little；Without slippage, gearratio precisely, makes precision assembly robot stable.
The above, is only preferred embodiment of the present utility model, and not the utility model is imposed any restrictions, every
Above example is made any simple modification, change and equivalent structure transformation according to the utility model technical spirit, still
Belong in the protection domain of technical solutions of the utility model.
Claims (8)
1. precision assembly robot, it is characterised in that：Including base (1), turntable (2), large arm (3), forearm (4), wrist joint
(5), front end rotary joint (6) and air clamper (7), the turntable (2) is rotatably installed on base (1), the large arm
(3) one end is hinged with turntable (2), and the other end and one end of forearm (4) of the large arm (3) are hinged, the forearm (4) it is another
One end is hinged with the one end of wrist joint (5), and the front end rotary joint (6) is rotatably installed in the other end of wrist joint (5), described
Outer end of the air clamper (7) installed in front end rotary joint (6)；It is provided with the base (1) for driving turntable (2)
The turntable ball screw drive mechanism (8) of rotation, is provided with the large arm rolling for driving large arm (3) to rotate on the turntable (2)
Ballscrew drive mechanism (9), is provided with the forearm ball-screw driving machine for driving forearm (4) to rotate on the large arm (3)
Structure (10), is provided with the wrist joint drive mechanism (11) for driving wrist joint (5) to rotate on the forearm (4), the wrist is closed
Front end joint driving mechanism (12) for driving front end rotary joint (6) to rotate is installed on section (5).
2. according to the precision assembly robot described in claim 1, it is characterised in that：The turntable ball screw drive mechanism
(8) including the first servomotor (8-1), the first ball-screw (8-2), the first feed screw nut (8-3), the first nut seat (8-4),
Sleeve (8-5), turntable supporting plate (8-6) and turntable rotating shaft (8-7), the output shaft of first servomotor (8-1) and the first rolling
One end of ballscrew (8-2) is fixedly connected, and first feed screw nut (8-3) is engaged with the first ball-screw (8-2), described
First feed screw nut (8-3) is fixedly mounted on the first nut seat (8-4), and first nut seat (8-4) is arranged on sleeve (8-
5) in, the sleeve (8-5) is fixed on the bottom of turntable supporting plate (8-6), and the turntable supporting plate (8-6) passes through turntable rotating shaft (8-
7) rotate with base (1) and be connected, the turntable supporting plate (8-6) is fixed on the bottom of turntable (2), the first servomotor (8-
1) on base (1).
3. according to the precision assembly robot described in claim 1, it is characterised in that：The large arm ball screw drive mechanism
(9) including the second servomotor (9-1), the second ball-screw (9-2), the second feed screw nut (9-3), the second nut seat (9-4)
With large arm rotating shaft (9-5), the output shaft of second servomotor (9-1) and one end fixation company of the second ball-screw (9-2)
Connect, second feed screw nut (9-3) is engaged with the second ball-screw (9-2), the fixed peace of second feed screw nut (9-3)
It is mounted on the second nut seat (9-4), second nut seat (9-4) is rotatably connected in large arm (3), the large arm (3) passes through
Large arm rotating shaft (9-5) is rotated with turntable (2) and is connected, and second servomotor (9-1) is arranged on turntable (2).
4. according to the precision assembly robot described in claim 1, it is characterised in that：The forearm ball screw drive mechanism
(10) including the 3rd servomotor (10-1), the 3rd ball-screw (10-2), the 3rd feed screw nut (10-3), the 3rd nut seat
(10-4) with forearm rotating shaft (10-5), the output shaft of the 3rd servomotor (10-1) and the one of the 3rd ball-screw (10-2)
End is fixedly connected, and the 3rd feed screw nut (10-3) is engaged with the 3rd ball-screw (10-2), the 3rd feed screw nut
(10-3) it is fixedly mounted on the 3rd nut seat (10-4), the 3rd nut seat (10-4) is rotatably connected on forearm (4), institute
State forearm (4) and rotated with large arm (3) by forearm rotating shaft (10-5) and be connected, the 3rd servomotor (10-1) is arranged on large arm
(3) on.
5. according to the precision assembly robot described in claim 1, it is characterised in that：The wrist joint drive mechanism (11) includes
4th servomotor (11-1), small synchronous pulley (11-2), big synchronous pulley (11-4), tooth form synchronous belt (11-3) and wrist joint
Rotating shaft (11-5), the small synchronous pulley (11-2) is fixedly mounted on the output shaft of the 4th servomotor (11-1), described big
Synchronous pulley (11-4) is fixedly mounted in wrist joint rotating shaft (11-5), the small synchronous pulley (11-2) and big synchronous pulley
(11-4) V belt translation is formed by tooth form synchronous belt (11-3) connection, the wrist joint (5) by wrist joint rotating shaft (11-5) with
Forearm (4) rotates connection, and the wrist joint rotating shaft (11-5) is fixedly connected with wrist joint (5), the 4th servomotor (11-
1) on forearm (4).
6. according to the precision assembly robot described in claim 1, it is characterised in that：Front end joint driving mechanism (12) bag
Include the 5th servomotor (12-1), bearing (12-3), bearing cup (12-2) and front end rotating shaft (12-5), the 5th servomotor
(12-1) output shaft is fixedly connected with the one end of front end rotating shaft (12-5), and the front end rotating shaft (12-5) passes through bearing (12-3)
Rotate with wrist joint (5) with bearing cup (12-2) and be connected, the bearing (12-3) is arranged in bearing cup (12-2), the bearing
Cup (12-2) is fixedly connected with wrist joint (5), and the front end rotary joint (6) is fixed in front end rotating shaft (12-5), and described the
Five servomotors (12-1) are arranged on wrist joint (5).
7. according to the precision assembly robot described in claim 6, it is characterised in that：Screw thread connects on the front end rotating shaft (12-5)
Locking nut (12-4) is connected to, the locking nut (12-4) is positioned close to wrist joint (5) place.
8. according to the precision assembly robot described in claim 1, it is characterised in that：The air clamper (7) is finger
Cylinder, is provided with jaw (13) in the finger cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621219506.2U CN206154322U (en) | 2016-11-11 | 2016-11-11 | Precision assembly robot |
Applications Claiming Priority (1)
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| CN201621219506.2U CN206154322U (en) | 2016-11-11 | 2016-11-11 | Precision assembly robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426177A (en) * | 2016-11-11 | 2017-02-22 | 西北机器有限公司 | Robot for precise assembling |
| CN109904789A (en) * | 2018-12-29 | 2019-06-18 | 国网安徽省电力有限公司检修分公司 | A kind of ground wire hitching device |
| CN109926809A (en) * | 2019-04-22 | 2019-06-25 | 陕西北人印刷机械有限责任公司 | A kind of fixture |
| CN110039272A (en) * | 2019-03-22 | 2019-07-23 | 青岛科技大学 | A kind of equipment of automation dismantling flex cable |
-
2016
- 2016-11-11 CN CN201621219506.2U patent/CN206154322U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426177A (en) * | 2016-11-11 | 2017-02-22 | 西北机器有限公司 | Robot for precise assembling |
| CN109904789A (en) * | 2018-12-29 | 2019-06-18 | 国网安徽省电力有限公司检修分公司 | A kind of ground wire hitching device |
| CN110039272A (en) * | 2019-03-22 | 2019-07-23 | 青岛科技大学 | A kind of equipment of automation dismantling flex cable |
| CN109926809A (en) * | 2019-04-22 | 2019-06-25 | 陕西北人印刷机械有限责任公司 | A kind of fixture |
| CN109926809B (en) * | 2019-04-22 | 2021-03-05 | 陕西北人印刷机械有限责任公司 | Clamp |
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Granted publication date: 20170510 Effective date of abandoning: 20181102 |