CN206811946U - Five shaft mechanical arms - Google Patents
Five shaft mechanical arms Download PDFInfo
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- CN206811946U CN206811946U CN201720397273.3U CN201720397273U CN206811946U CN 206811946 U CN206811946 U CN 206811946U CN 201720397273 U CN201720397273 U CN 201720397273U CN 206811946 U CN206811946 U CN 206811946U
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- axles
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Abstract
This application discloses a kind of five shaft mechanical arms, it includes Y-axis slide unit, X1 axle slide units are connected with below the Y-axis slide unit, the X1 axles slide unit and Y-axis slide unit are to vertical, X2 axle slide units are connected with below the X1 axles slide unit, the bearing of trend of the bearing of trend of the X2 axles slide unit and the X1 axles slide unit is consistent, and switching R axles, the switching R axles operably 360 ° of direction rotation about the z axis are connected with below the end of the X2 axles slide unit；The lower section of the switching R axles is also connected with X3 axle slide units, implement the technical scheme of the application, the five shaft mechanicals arm has modularization feature, can improve the efficiency on production line, so that the operation cost of enterprise reduces, so as to save valuable time for production application.
Description
Technical field
The application is related to automation processing technique field, more particularly to a kind of five shaft mechanical arms..
Background technology
Mechanical arm is suitable for the mechanical automation operation of many industrial circles, such as, automatic assembling, spray painting, carrying, weldering
The work such as connect.The quality of the performance of robotic arm directly affects production efficiency.According to the functional characteristics of robotic arm, type of drive should
Detailed classification is required for occasion and primary structure；With the development of the electronic technology such as digital servo technology, robotic arm also exists
Continue to develop.Robotic arm shows high-torque, high accuracy, is quick on the draw, minimizes, electromechanical integration, the trend such as modularization, with
The needs of adaptive technique development.
However, traditional mechanical arm can not all break away from a large amount of auxiliary members to coordinate implementation motor pattern, mechanical arm is caused
Assembling structure is extremely complex, the use of especially a large amount of spare and accessory parts, even more causes great cost to waste, in operation process
Precision controlling is also extremely difficult, directly affects operating efficiency, it is difficult to be promoted use in wider use environment.
Utility model content
The application provides a kind of improved five shaft mechanicals arm.
According to the application's in a first aspect, the application provides a kind of five shaft mechanical arms, it includes Y-axis slide unit, and the Y-axis is slided
Stroke of the platform along Y direction is 1300mm；
It is connected with X1 axle slide units below the Y-axis slide unit, the X1 axles slide unit and Y-axis slide unit are described to vertical
Stroke of the X1 axles slide unit along X-direction is 2200mm；
X2 axle slide units, the bearing of trend of the X2 axles slide unit and the X1 axles are connected with below the X1 axles slide unit
The bearing of trend of slide unit is consistent, and stroke of the X2 axles slide unit along X-direction is 2200mm；
Switching R axles are connected with below the end of the X2 axles slide unit, the switching R axles are operably square about the z axis
Rotated to 360 °；
The lower section of the switching R axles is also connected with X3 axle slide units, and the X3 axles slide unit is along the stroke of X-direction
700mm。
In five shaft mechanicals arm of the present utility model, the Y-axis slide unit includes the Y-axis body along Y direction extension, slip is set
Put the Y-axis drive mechanism on the Y-axis body and be fixed on the Y-axis towing chain mechanism of the Y-axis body side；
The Y-axis towing chain mechanism includes Y-axis drag chain metal plate, the Y-axis drag chain on the Y-axis drag chain metal plate, and Y
Axle drag chain support plate；
The Y-axis drive mechanism includes being separately positioned on two Y-axis panels of both sides above and below the Y-axis body, and connection
The Y-axis driving plate of the two Y-axis panel, reductor and servomotor are also associated with the Y-axis driving plate；
One end of the Y-axis drag chain support plate is connected with the Y-axis drag chain, the other end of the Y-axis drag chain support plate with
Y-axis panel on the upside of the Y-axis body is connected；
The side of the Y-axis body is additionally provided with the guideway that two confessions being distributed up and down Y-axis drive mechanism is slided.
In five shaft mechanicals arm of the present utility model, the X1 axles slide unit includes the X1 shaft bodies along X-direction extension, slided
The X1 axles drive mechanism that is arranged in the X1 shaft bodies and the X1 axle towing chain mechanisms for being fixed on the X1 shaft bodies side；
The X1 axles towing chain mechanism includes X1 axle drag chains metal plate, the X1 axle drag chains on the X1 axles drag chain metal plate,
And X1 axle drag chain support plates；
The X1 axles drive mechanism includes being arranged on driving panel on the X1 axles on the upside of X1 shaft bodies, and is arranged on X1 axles
Driving panel under X1 axles below this body side surface, reductor and servomotor are also associated with driving panel on the X1 axles；
One end of the X1 axles drag chain is connected with driving panel on X1 axles, under the other end and X1 axles of the X1 axles drag chain
Driving panel is connected；
The guideway slided for driving panel on the X1 axles, the X1 axles are provided with above the side of the X1 shaft bodies
The guideway slided for driving panel under the X1 axles is provided with below the side of body.
In five shaft mechanicals arm of the present utility model, the X1 axles slide unit also includes being arranged on the X1 inside the X1 shaft bodies
Synchronous pulley mechanism, and the X1 timing belts being stretched in the X1 synchronous pulleys mechanism.
In five shaft mechanicals arm of the present utility model, the X2 axles slide unit includes the X2 shaft bodies along X-direction extension, slided
The X2 axles drive mechanism that is arranged in the X2 shaft bodies and the X2 axle towing chain mechanisms for being fixed on the X2 shaft bodies side；
The X2 axles towing chain mechanism includes X2 axle drag chains metal plate, the X2 axle drag chains on the X2 axles drag chain metal plate,
And X2 axle drag chain support plates；
The X2 axles drive mechanism includes being arranged on driving panel on the X2 axles on the upside of X2 shaft bodies, and is arranged on X2 axles
Driving panel under X2 axles below this body side surface, reductor and servomotor are also associated with driving panel on the X2 axles；
One end of the X2 axles drag chain is connected with driving panel on X2 axles, under the other end and X2 axles of the X2 axles drag chain
Driving panel is connected；
The guideway slided for driving panel on the X2 axles, the X2 axles are provided with above the side of the X2 shaft bodies
The guideway slided for driving panel under the X2 axles is provided with below the side of body.
In five shaft mechanicals arm of the present utility model, the X2 axles slide unit also includes being arranged on the X2 inside the X2 shaft bodies
Synchronous pulley mechanism, and the X2 timing belts being stretched in the X2 synchronous pulleys mechanism.
In five shaft mechanicals arm of the present utility model, the switching R axles include the polylith pinboard of splicing installation, and set
Rotary electric machine in the space that polylith pinboard surrounds, switch is provided with the rotary electric machine, and the switch is arranged on one
It is arranged in the mounting seat of rotary electric machine side.
In five shaft mechanicals arm of the present utility model, the X3 axles slide unit includes the X3 shaft bodies along the extension of X3 direction of principal axis, cunning
The dynamic X3 axles drive mechanism being arranged in the X3 shaft bodies and the X3 axle drag chain machines for being fixed on the X3 shaft bodies side
Structure；
The X3 axles towing chain mechanism includes X3 axle drag chains metal plate, the X3 axle drag chains on the X3 axles drag chain metal plate,
And X3 axle drag chain support plates；
The X3 axles drive mechanism includes being separately positioned on two X3 axial plane plates of both sides above and below the X3 shaft bodies, Yi Jilian
The X3 axle driving plates of the two X3 axial plane plates are connect, reductor and servomotor are also associated with the X3 axles driving plate；
One end of the X3 axles drag chain support plate is connected with the X3 axles drag chain, the other end of the X3 axles drag chain support plate
It is connected with the X3 axial plane plates on the upside of the X3 shaft bodies；
The side of the X3 shaft bodies is additionally provided with the guide rail that two confessions being distributed up and down X3 axles drive mechanism is slided
It is secondary.
In five shaft mechanicals arm of the present utility model, multiple through holes are offered in the X3 shaft bodies, multiple through holes are distributed in
On each side of X3 shaft bodies, length direction of multiple through holes along X3 shaft bodies on each side is evenly distributed.
In five shaft mechanicals arm of the present utility model, the shape of each through hole is in polygon.
The beneficial effect of the application is：The five shaft mechanicals arm has modularization feature, can improve the efficiency on production line, make
Obtaining the operation cost of enterprise reduces, so as to be that production application saves valuable time.
Brief description of the drawings
Fig. 1 is the structural representation of five shaft mechanical arms in an embodiment of the present utility model；
Fig. 2 is the structural representation of the Y-axis slide unit in Fig. 1；
Fig. 3 is the structural representation of the X1 axle slide units in Fig. 1；
Fig. 4 is the structural representation of the X2 axle slide units in Fig. 1；
Fig. 5 is the structural representation of the switching R axles in Fig. 1；
Fig. 6 is the structural representation of the X3 axle slide units in Fig. 1.
Embodiment
The application is described in further detail below by embodiment combination accompanying drawing.
As shown in figure 1, present embodiment discloses a kind of five shaft mechanical arms, it includes Y-axis slide unit 1, and the Y-axis slide unit is along Y
The stroke of direction of principal axis is 1300mm,
The lower section of the Y-axis slide unit 1 is connected with X1 axles slide unit 2, the X1 axles slide unit 2 and Y-axis slide unit 1 to vertical,
Stroke of the X1 axles slide unit 2 along X-direction is 2200mm；
The lower section of the X1 axles slide unit 2 is connected with X2 axles slide unit 3, the bearing of trend of the X2 axles slide unit 3 with it is described
The bearing of trend of X1 axles slide unit 2 is consistent, and stroke of the X2 axles slide unit 3 along X-direction is 2200mm；
It is connected with switching R axles 4 below the end of the X2 axles slide unit 3, the switching R axles 4 are operably about the z axis
The rotation of 360 ° of direction；
The lower section of the switching R axles 4 is also connected with X3 axles slide unit 5, stroke of the X3 axles slide unit 5 along X-direction
For 700mm.
As shown in Fig. 2 the Y-axis slide unit 1 includes the Y-axis body 11 along Y direction extension, is slidably arranged in the Y-axis
Y-axis drive mechanism on body and the Y-axis towing chain mechanism for being fixed on the Y-axis body side；
The Y-axis towing chain mechanism includes Y-axis drag chain metal plate 12, the Y-axis drag chain on the Y-axis drag chain metal plate 12
13, and Y-axis drag chain support plate 14；
The Y-axis drive mechanism includes being separately positioned on two Y-axis panels 15, Yi Jilian of both sides above and below the Y-axis body
The Y-axis driving plate 16 of the two Y-axis panel 15 is connect, reductor and servomotor are also associated with the Y-axis driving plate 16；
One end of the Y-axis drag chain support plate 14 is connected with the Y-axis drag chain 13, the Y-axis drag chain support plate 14 it is another
One end is connected with the Y-axis panel 15 of the upside of Y-axis body 11；
The side of the Y-axis body 11 is additionally provided with the guide rail that two confessions being distributed up and down Y-axis drive mechanism is slided
It is secondary.
As shown in figure 3, the X1 axles slide unit 2 includes the X1 shaft bodies 21 along X-direction extension, is slidably arranged in the X1
X1 axles drive mechanism in shaft body and the X1 axle towing chain mechanisms for being fixed on the X1 shaft bodies side；
The X1 axles towing chain mechanism includes X1 axle drag chains metal plate 22, the X1 axle drag chains on the X1 axles drag chain metal plate
23, and X1 axles drag chain support plate 24；
The X1 axles drive mechanism includes being arranged on driving panel 25 on the X1 axles on the upside of X1 shaft bodies, and is arranged on X1
Driving panel 26 under X1 axles below shaft body side, reductor and servo electricity are also associated with the X1 axles in driving panel
Machine；
One end of the X1 axles drag chain is connected with driving panel on X1 axles, under the other end and X1 axles of the X1 axles drag chain
Driving panel is connected；
The guideway slided for driving panel on the X1 axles, the X1 axles are provided with above the side of the X1 shaft bodies
The guideway slided for driving panel under the X1 axles is provided with below the side of body.
Further, refering to Fig. 3, the X1 axles slide unit also includes being arranged on the X1 synchronous pulleys inside the X1 shaft bodies
Mechanism 27, and the X1 timing belts 28 being stretched in the X1 synchronous pulleys mechanism.
As shown in figure 4, the X2 axles slide unit 3 includes the X2 shaft bodies 31 along X-direction extension, is slidably arranged in the X2
X2 axles drive mechanism in shaft body and the X2 axle towing chain mechanisms for being fixed on the X2 shaft bodies side；
The X2 axles towing chain mechanism includes X2 axle drag chains metal plate 32, the X2 axles on the X2 axles drag chain metal plate 32 drag
Chain 33, and X2 axles drag chain support plate 34；
The X2 axles drive mechanism includes being arranged on driving panel 35 on the X2 axles on the upside of X2 shaft bodies, and is arranged on X2
Driving panel 36 under X2 axles below shaft body side, reductor and servo electricity are also associated with the X2 axles in driving panel
Machine；
One end of the X2 axles drag chain is connected with driving panel on X2 axles, under the other end and X2 axles of the X2 axles drag chain
Driving panel is connected；
The guideway slided for driving panel on the X2 axles, the X2 axles are provided with above the side of the X2 shaft bodies
The guideway slided for driving panel under the X2 axles is provided with below the side of body.
Further, refering to Fig. 4, the X2 axles slide unit also includes being arranged on the X2 synchronous pulleys inside the X2 shaft bodies
Mechanism 37, and the X2 timing belts being stretched in the X2 synchronous pulleys mechanism.
As shown in figure 5, the switching R axles 4 include the polylith pinboard 41 of splicing installation, and it is arranged on polylith pinboard
Rotary electric machine 42 in the space surrounded, is provided with switch 43 on the rotary electric machine, and the switch is arranged on one and is arranged on turn
In the mounting seat 44 of dynamic motor side.
As shown in fig. 6, the X3 axles slide unit 5 include the X3 shaft bodies 51 along the extension of X3 direction of principal axis, be slidably arranged in it is described
X3 axles drive mechanism in X3 shaft bodies and the X3 axle towing chain mechanisms for being fixed on the X3 shaft bodies side；
The X3 axles towing chain mechanism includes X3 axle drag chains metal plate 52, the X3 axle drag chains on the X3 axles drag chain metal plate
53, and X3 axles drag chain support plate 54；
The X3 axles drive mechanism includes being separately positioned on two X3 axial planes plates 55 of both sides above and below the X3 shaft bodies, and
The X3 axles driving plate 56 of the two X3 axial plane plates is connected, reductor and servomotor are also associated with the X3 axles driving plate；
One end of the X3 axles drag chain support plate is connected with the X3 axles drag chain, the other end of the X3 axles drag chain support plate
It is connected with the X3 axial plane plates on the upside of the X3 shaft bodies；
The side of the X3 shaft bodies is additionally provided with the guide rail that two confessions being distributed up and down X3 axles drive mechanism is slided
It is secondary.
Further, refering to Fig. 6, multiple through holes 57 are offered in the X3 shaft bodies, multiple through holes are distributed in X3 axle sheets
On each side of body, length direction of multiple through holes along X3 shaft bodies on each side is evenly distributed.Open up the mesh of through hole
The weight for being to mitigate parts so that the assembling of whole set equipment and to carry enhanced convenience laborsaving.
Further, the shape of each through hole is in polygon.In the present embodiment, the shape of each through hole is preferably
Position square or rectangular.
Above content is to combine the further description that specific embodiment is made to the application, it is impossible to assert this Shen
Specific implementation please is confined to these explanations.For the application person of an ordinary skill in the technical field, do not taking off
On the premise of conceiving from the application utility model, some simple deduction or replace can also be made.
Claims (10)
1. a kind of five shaft mechanical arms, it is characterised in that including Y-axis slide unit, the Y-axis slide unit is along the stroke of Y direction
1300mm,
It is connected with X1 axle slide units below the Y-axis slide unit, the X1 axles slide unit and Y-axis slide unit are to vertical, the X1 axles
Stroke of the slide unit along X-direction is 2200mm；
X2 axle slide units, the bearing of trend of the X2 axles slide unit and the X1 axles slide unit are connected with below the X1 axles slide unit
Bearing of trend be consistent, stroke of the X2 axles slide unit along X-direction is 2200mm；
It is connected with switching R axles below the end of the X2 axles slide unit, the switching R axles operably direction about the z axis
360 ° of rotations；
The lower section of the switching R axles is also connected with X3 axle slide units, and stroke of the X3 axles slide unit along X-direction is 700mm.
2. five shaft mechanicals arm according to claim 1, it is characterised in that the Y-axis slide unit is included along Y direction extension
Y-axis body, the Y-axis drive mechanism being slidably arranged on the Y-axis body and it is fixed on the Y-axis of the Y-axis body side and drags
Chain mechanism；
The Y-axis towing chain mechanism includes Y-axis drag chain metal plate, the Y-axis drag chain on the Y-axis drag chain metal plate, and Y-axis is dragged
Chain supporting plate；
The Y-axis drive mechanism includes being separately positioned on two Y-axis panels of both sides above and below the Y-axis body, and described in connection
The Y-axis driving plate of two Y-axis panels, reductor and servomotor are also associated with the Y-axis driving plate；
One end of the Y-axis drag chain support plate is connected with the Y-axis drag chain, the other end and the Y of the Y-axis drag chain support plate
Y-axis panel on the upside of shaft body is connected；
The side of the Y-axis body is additionally provided with the guideway that two confessions being distributed up and down Y-axis drive mechanism is slided.
3. five shaft mechanicals arm according to claim 1, it is characterised in that the X1 axles slide unit includes extending along X-direction
X1 shaft bodies, the X1 axles drive mechanism that is slidably arranged in the X1 shaft bodies and be fixed on the X1 shaft bodies side
X1 axle towing chain mechanisms；
The X1 axles towing chain mechanism includes X1 axle drag chains metal plate, the X1 axle drag chains on the X1 axles drag chain metal plate, and
X1 axle drag chain support plates；
The X1 axles drive mechanism includes being arranged on driving panel on the X1 axles on the upside of X1 shaft bodies, and is arranged on X1 shaft bodies
Driving panel under X1 axles below side, reductor and servomotor are also associated with driving panel on the X1 axles；
One end of the X1 axles drag chain is connected with driving panel on X1 axles, and the other end of the X1 axles drag chain under X1 axles with driving
Panel is connected；
The guideway slided for driving panel on the X1 axles, the X1 shaft bodies are provided with above the side of the X1 shaft bodies
Side below be provided with the guideway slided for driving panel under the X1 axles.
4. five shaft mechanicals arm according to claim 3, it is characterised in that the X1 axles slide unit also includes being arranged on the X1
X1 synchronous pulleys mechanism inside shaft body, and the X1 timing belts being stretched in the X1 synchronous pulleys mechanism.
5. five shaft mechanicals arm according to claim 1, it is characterised in that the X2 axles slide unit includes extending along X-direction
X2 shaft bodies, the X2 axles drive mechanism that is slidably arranged in the X2 shaft bodies and be fixed on the X2 shaft bodies side
X2 axle towing chain mechanisms；
The X2 axles towing chain mechanism includes X2 axle drag chains metal plate, the X2 axle drag chains on the X2 axles drag chain metal plate, and
X2 axle drag chain support plates；
The X2 axles drive mechanism includes being arranged on driving panel on the X2 axles on the upside of X2 shaft bodies, and is arranged on X2 shaft bodies
Driving panel under X2 axles below side, reductor and servomotor are also associated with driving panel on the X2 axles；
One end of the X2 axles drag chain is connected with driving panel on X2 axles, and the other end of the X2 axles drag chain under X2 axles with driving
Panel is connected；
The guideway slided for driving panel on the X2 axles, the X2 shaft bodies are provided with above the side of the X2 shaft bodies
Side below be provided with the guideway slided for driving panel under the X2 axles.
6. five shaft mechanicals arm according to claim 5, it is characterised in that the X2 axles slide unit also includes being arranged on the X2
X2 synchronous pulleys mechanism inside shaft body, and the X2 timing belts being stretched in the X2 synchronous pulleys mechanism.
7. five shaft mechanicals arm according to claim 1, it is characterised in that the switching R axles include the polylith of splicing installation
Pinboard, and the rotary electric machine being arranged in the space that polylith pinboard surrounds, switch, institute are provided with the rotary electric machine
Switch is stated to be arranged in the mounting seat of rotary electric machine side installed in one.
8. five shaft mechanicals arm according to claim 1, it is characterised in that the X3 axles slide unit includes extending along X3 direction of principal axis
X3 shaft bodies, the X3 axles drive mechanism that is slidably arranged in the X3 shaft bodies and be fixed on the X3 shaft bodies side
X3 axle towing chain mechanisms；
The X3 axles towing chain mechanism includes X3 axle drag chains metal plate, the X3 axle drag chains on the X3 axles drag chain metal plate, and
X3 axle drag chain support plates；
The X3 axles drive mechanism includes being separately positioned on two X3 axial plane plates of both sides above and below the X3 shaft bodies, and connection institute
The X3 axle driving plates of two X3 axial plane plates are stated, reductor and servomotor are also associated with the X3 axles driving plate；
One end of the X3 axles drag chain support plate is connected with the X3 axles drag chain, the other end of the X3 axles drag chain support plate and institute
The X3 axial plane plates on the upside of X3 shaft bodies are stated to be connected；
The side of the X3 shaft bodies is additionally provided with the guideway that two confessions being distributed up and down X3 axles drive mechanism is slided.
9. five shaft mechanicals arm according to claim 8, it is characterised in that multiple through holes are offered in the X3 shaft bodies,
Multiple through holes are distributed on each side of X3 shaft bodies, and length direction of multiple through holes along X3 shaft bodies on each side is equal
Even arrangement.
10. five shaft mechanicals arm according to claim 9, it is characterised in that the shape of each through hole is in polygon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720397273.3U CN206811946U (en) | 2017-04-14 | 2017-04-14 | Five shaft mechanical arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720397273.3U CN206811946U (en) | 2017-04-14 | 2017-04-14 | Five shaft mechanical arms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206811946U true CN206811946U (en) | 2017-12-29 |
Family
ID=60752241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720397273.3U Expired - Fee Related CN206811946U (en) | 2017-04-14 | 2017-04-14 | Five shaft mechanical arms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206811946U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702713A (en) * | 2018-05-04 | 2019-05-03 | 大连运明自动化技术有限公司 | A kind of straight line, rotation combined feed robot |
| CN113771009A (en) * | 2021-09-09 | 2021-12-10 | 上海载科智能科技有限公司 | High-speed long-stroke telescopic robot working arm with enhanced rotation stability |
-
2017
- 2017-04-14 CN CN201720397273.3U patent/CN206811946U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702713A (en) * | 2018-05-04 | 2019-05-03 | 大连运明自动化技术有限公司 | A kind of straight line, rotation combined feed robot |
| CN113771009A (en) * | 2021-09-09 | 2021-12-10 | 上海载科智能科技有限公司 | High-speed long-stroke telescopic robot working arm with enhanced rotation stability |
| CN113771009B (en) * | 2021-09-09 | 2023-02-03 | 上海载科智能科技有限公司 | High-speed long-stroke telescopic robot working arm with enhanced rotation stability |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171229 Termination date: 20200414 |