CN206925852U - A kind of plane articulation robot - Google Patents
A kind of plane articulation robot Download PDFInfo
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- CN206925852U CN206925852U CN201720780037.XU CN201720780037U CN206925852U CN 206925852 U CN206925852 U CN 206925852U CN 201720780037 U CN201720780037 U CN 201720780037U CN 206925852 U CN206925852 U CN 206925852U
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- bearing
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Abstract
A kind of plane articulation robot, wherein, first servomotor is arranged in first harmonic decelerator, connecting shaft lower end and first harmonic decelerator output axis connection, first bearing seat is arranged on base top surface, large arm is arranged in connecting shaft by screw, second bearing seat is arranged in large arm, rotary shaft upper end is arranged on forearm by screw, second servomotor is arranged on second harmonic decelerator, second harmonic decelerator is arranged on forearm, end cap is connected with second harmonic reducer output shaft, riser is arranged on forearm, line slideway is arranged on riser, sliding block is arranged on line slideway, Mobile Slide is arranged on sliding block, top chock is arranged on riser, nut is arranged on leading screw, driven pulley is arranged on leading screw top, movable plate is arranged on the bottom surface of top chock.The utility model, which retains, to be improved its rigidity and reduces production cost while should having performance, make application more extensive.
Description
Technical field
Robotic technology field is the utility model is related to, specifically, more particularly to a kind of plane articulation robot.
Background technology
At present, Scara manipulators are widely used in the production and processing of every field, but the Scara machineries of commercial type
Hand is mostly four axles, and cost is higher, rigid deficiency etc., and most manufacturing enterprises are not required to the 4th axle and can expired in use
Sufficient production requirement, so will result in the wasting of resources.
Utility model content
Technical problem to be solved in the utility model is to be directed to above-mentioned deficiency of the prior art, disclosed a kind of flat
Face articulated robot, it, which retains, improves its rigidity and reduces production cost while should having performance, make application more extensive.
Technical scheme is used by the utility model solves its technical problem：A kind of plane articulation robot, including the
One servomotor, first shaft coupling, the first locking nut, clutch shaft bearing, first harmonic decelerator, base, connector, first axle
Bearing, transparent cover, connecting shaft, large arm, rotary shaft, second shaft coupling, end cap, the second locking nut, second bearing, second bearing
Seat, the second servomotor, second harmonic decelerator, forearm, 3rd bearing, step, leading screw, nut, Mobile Slide, cunning
Block, top chock, driven pulley, synchronous cog belt, driving pulley, movable plate, the 3rd servomotor, line slideway and riser；
First servomotor is arranged in first harmonic decelerator, and the first harmonic decelerator is arranged on connector, described
Connecting shaft both ends are arranged in first bearing seat by clutch shaft bearing respectively, and the connecting shaft lower end passes through first shaft coupling and the
One harmonic speed reducer exports axis connection, and first locking nut is arranged in connecting shaft and the first locking nut top is withstood on down
Hold on clutch shaft bearing, the first bearing seat is arranged on base top surface by screw, and the transparent cover is arranged on first bearing seat
Upper and transparent cover bottom is withstood on the clutch shaft bearing of upper end, and the large arm is arranged in connecting shaft by screw, the second bearing seat
It is arranged on by screw in large arm, the rotary shaft upper and lower ends are arranged in second bearing seat by second bearing, and described the
The installation of two locking nuts is on the rotary shaft and the second locking nut top surface is withstood in the second bearing of lower end, and the end cap passes through screw
On the bottom surface of second bearing seat, the rotary shaft upper end is arranged on forearm by screw, second servomotor
On second harmonic decelerator, the second harmonic decelerator is arranged on forearm, and the end cap passes through second shaft coupling
It is connected with second harmonic reducer output shaft, the riser is fixedly mounted on forearm, and the line slideway is arranged on riser,
The sliding block is arranged on line slideway, and the Mobile Slide is arranged on sliding block, and the leading screw lower end is pacified by 3rd bearing
On step, the step is arranged on riser, and the leading screw upper end is arranged on upper bearing (metal) by 3rd bearing
On seat, the top chock is arranged on riser, and the nut is arranged on leading screw and nut is arranged on Mobile Slide, described
Driven pulley is arranged on leading screw top, and the movable plate is arranged on the bottom surface of top chock, the 3rd servomotor installation
On movable plate, the driving pulley is arranged on the output shaft of the 3rd servomotor, and the synchronous cog belt is arranged on actively
On belt wheel and driven pulley.
As a kind of preferred embodiment of the present utility model, the end cap passes through screw by axle and disk composition and axle
It is fixed on disk.
As a kind of preferred embodiment of the present utility model, reinforcement is installed between the forearm and riser.
As a kind of preferred embodiment of the present utility model, reinforcement is installed between the top chock and riser.
For floor installation of the present utility model on workbench, motor is installed on chassis interior, reduces rotary inertia, optimization
Structure, to reduce the complexity of structure, modularized design principle is used to the structure design of big forearm.First servo of large arm
The first harmonic decelerator of motor upper end is connected with connector by bolt, first harmonic decelerator is fixed on connector,
First servomotor is located in base, reduces rotary inertia；First harmonic decelerator is connected by first shaft coupling and connecting shaft
Connect, to realize the rotation of large arm；Clutch shaft bearing is installed in first bearing seat, and clutch shaft bearing upper end above has transparent cover to fix,
There is the shaft shoulder lower end, and there is the shaft shoulder clutch shaft bearing upper end below, and bearing outer ring is withstood in lower end by connector；Other first bearing seat
Base top is bolted on, it is achieved thereby that the revolution of large arm.
Robot forearm second harmonic decelerator is arranged on forearm, be bolted with rotary shaft together with, therefore the
After two servomotor output torques, the second servo motor shaft is limited by bottom projecting shaft fixation and can not rotated, so as to which motor is overall
Opposite direction is rotated, and bottom projecting shaft is bolted in second bearing seat, and second bearing seat is fixed in large arm, so as to
Drive the rotation of forearm.
The axle of robot the 3rd is driven the rotation of leading screw by the 3rd servomotor by synchronous cog belt, so as to drive mobile cunning
Platform is realized along the line slideway on riser and moved up and down.
The utility model has advantages below compared with prior art：(1) axis mechanism of two joint three, two joint can use
High-quality import harmonic wave speed reducing machine, the 3rd axle uses screw mandrel slide rail transmission mechanism, more rigid to carry larger torque；(2)
The Mobile Slide of three axles can install various device (such as mechanical paw, screw locking machine head, scolding tin head, dispensings according to different demands
Head etc.) it is suitable to the production needs of every profession and trade；(3) cost is lower than the four universal axles in market；It can in batches use and be revolved without Z axis
The occasion turned, it is cost-effective, it is adapted to batch to promote.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the present utility model.
Description of reference numerals：
1：First servomotor, 2：First shaft coupling, 3：First locking nut, 4：Clutch shaft bearing, 5：First harmonic slows down
Device, 6：Base, 7：Connector, 8：First bearing seat, 9：Transparent cover, 10：Connecting shaft, 11：Large arm, 12：Rotary shaft, 13：Second
Axle device, 14：End cap, 15：Second locking nut, 16：Second bearing, 17：Second bearing seat, 18：Second servomotor, 19：The
Two harmonic speed reducers, 20：Forearm, 21：3rd bearing, 22：Step, 23：Leading screw, 24：Nut, 25：Mobile Slide, 26：
Sliding block, 27：Top chock, 28：Driven pulley, 29：Synchronous cog belt, 30：Driving pulley, 31：Movable plate, 32：3rd servo
Motor, 33：Line slideway, 34：Riser.
Embodiment
Below in conjunction with the accompanying drawings and embodiment describes the utility model embodiment：
It should be noted that the structure illustrated in this specification institute accompanying drawing, ratio, size etc., only coordinating explanation
Content disclosed in book, so that those skilled in the art understands and reads, it is enforceable to be not limited to the utility model
Qualifications, the modification of any structure, the change of proportionate relationship or the adjustment of size, can be generated not influenceing the utility model
The effect of and the purpose that can reach under, all should still fall and obtain the scope that can cover in the technology contents disclosed in the utility model
It is interior.
Meanwhile cited such as " on ", " under " in this specification, "left", "right", the term of " centre " and " one ", also
Only understanding for ease of narration, and be not used to limit the enforceable scope of the utility model, the change of its relativeness or tune
It is whole, in the case where changing technology contents without essence, when being also considered as the enforceable category of the utility model.
As shown in figure 1, it illustrates specific embodiment of the present utility model；As illustrated, disclosed in the utility model
A kind of plane articulation robot, including the first servomotor 1, first shaft coupling 2, the first locking nut 3, clutch shaft bearing 4, first
Harmonic speed reducer 5, base 6, connector 7, first bearing seat 8, transparent cover 9, connecting shaft 10, large arm 11, rotary shaft 12, the second shaft coupling
Device 13, end cap 14, the second locking nut 15, second bearing 16, second bearing seat 17, the second servomotor 18, second harmonic subtract
Fast device 19, forearm 20,3rd bearing 21, step 22, leading screw 23, nut 24, Mobile Slide 25, sliding block 26, top chock
27th, driven pulley 28, synchronous cog belt 29, driving pulley 30, movable plate 31, the 3rd servomotor 32, line slideway 33 and vertical
Plate 34；First servomotor 1 is arranged in first harmonic decelerator 5, and the first harmonic decelerator 5 is arranged on connector
On 7, the both ends of connecting shaft 10 are arranged in first bearing seat 8 by clutch shaft bearing 4 respectively, and the lower end of connecting shaft 10 passes through
First shaft coupling 2 and first harmonic decelerator 5 export axis connection, and first locking nut 3 is arranged in connecting shaft 10 and the
The top of one locking nut 3 is withstood on lower end clutch shaft bearing 4, and the first bearing seat 8 is arranged on the top surface of base 6 by screw,
The transparent cover 9 is arranged in first bearing seat 8 and the bottom of transparent cover 9 is withstood on upper end clutch shaft bearing 4, and the large arm 11 passes through screw
In connecting shaft 10, the second bearing seat 17 is arranged in large arm 11 by screw, the upper and lower ends of rotary shaft 12
It is arranged on by second bearing 16 in second bearing seat 17, second locking nut 15 is arranged in rotary shaft 12 and the second lock
The tight top surface of nut 15 is withstood in lower end second bearing 16, and the end cap 14 is arranged on the bottom surface of second bearing seat 17 by screw
On, the upper end of rotary shaft 12 is arranged on forearm 20 by screw, and second servomotor 18 subtracts installed in second harmonic
On fast device 19, the second harmonic decelerator 19 is arranged on forearm 20, and the end cap 14 passes through second shaft coupling 13 and second
Harmonic speed reducer 19 exports axis connection, and the riser 34 is fixedly mounted on forearm 20, and the line slideway 33 is arranged on riser
On 34, the sliding block 26 is arranged on line slideway 33, and the Mobile Slide 25 is arranged on sliding block 26, the lower end of leading screw 23
It is arranged on by 3rd bearing 21 on step 22, the step 22 is arranged on riser 34, the upper end of leading screw 23
It is arranged on by 3rd bearing 21 on top chock 27, the top chock 27 is arranged on riser 34, and the nut 24 is installed
On leading screw 23 and nut 24 is arranged on Mobile Slide 25, and the driven pulley 28 is arranged on the top of leading screw 23, the movement
Plate 31 is arranged on the bottom surface of top chock 27, and the 3rd servomotor 32 is arranged on movable plate 31, the driving pulley
30 are arranged on the output shaft of the 3rd servomotor 32, and the synchronous cog belt 29 is arranged on driving pulley 30 and driven pulley 28
On.
Preferably, the end cap 14 is fixed by screws on disk by axle and disk composition and axle.Reduce end cap
14 manufacturing cost, reduce the difficulty of processing of end cap 14.
Preferably, reinforcement is installed between the forearm 20 and riser 34.The stability and rigidity of riser 34 are improved,
Improve its rigidity.
Preferably, reinforcement is installed between the top chock 27 and riser 34.Improve the stabilization of top chock 34
Property and rigidity, improve its rigidity.
The utility model preferred embodiment is explained in detail above in conjunction with accompanying drawing, but the utility model is not limited to
Above-mentioned embodiment, in those of ordinary skill in the art's possessed knowledge, the utility model can also not departed from
Made a variety of changes on the premise of objective.
Many other changes and remodeling can be made by not departing from spirit and scope of the present utility model.It should be appreciated that this reality
Specific embodiment is not limited to new, the scope of the utility model is defined by the following claims.
Claims (4)
- A kind of 1. plane articulation robot, it is characterised in that：Including the first servomotor, first shaft coupling, the first locking nut, Clutch shaft bearing, first harmonic decelerator, base, connector, first bearing seat, transparent cover, connecting shaft, large arm, rotary shaft, second Axle device, end cap, the second locking nut, second bearing, second bearing seat, the second servomotor, second harmonic decelerator, forearm, 3rd bearing, step, leading screw, nut, Mobile Slide, sliding block, top chock, driven pulley, synchronous cog belt, main belt Wheel, movable plate, the 3rd servomotor, line slideway and riser；First servomotor is arranged in first harmonic decelerator, The first harmonic decelerator is arranged on connector, and the connecting shaft both ends are arranged on clutch shaft bearing by clutch shaft bearing respectively In seat, the connecting shaft lower end exports axis connection, first locking nut by first shaft coupling and first harmonic decelerator In connecting shaft and the first locking nut top is withstood on the clutch shaft bearing of lower end, and the first bearing seat is installed by screw On base top surface, the transparent cover is arranged in first bearing seat and transparent cover bottom is withstood on the clutch shaft bearing of upper end, the large arm It is arranged on by screw in connecting shaft, the second bearing seat is arranged in large arm by screw, the rotary shaft upper and lower ends It is arranged on by second bearing in second bearing seat, second locking nut installation is on the rotary shaft and the second locking nut top Face is withstood in the second bearing of lower end, and the end cap is arranged on by screw on the bottom surface of second bearing seat, the rotary shaft upper end It is arranged on by screw on forearm, second servomotor is arranged on second harmonic decelerator, and the second harmonic slows down Device is arranged on forearm, and the end cap is connected by second shaft coupling with second harmonic reducer output shaft, and the riser is fixed On forearm, the line slideway is arranged on riser, and the sliding block is arranged on line slideway, the Mobile Slide peace On sliding block, the leading screw lower end is arranged on step by 3rd bearing, and the step is arranged on riser, The leading screw upper end is arranged on top chock by 3rd bearing, and the top chock is arranged on riser, the nut peace On leading screw and nut is arranged on Mobile Slide, and the driven pulley is arranged on leading screw top, and the movable plate is arranged on On the bottom surface of top chock, the 3rd servomotor is arranged on movable plate, and the driving pulley is arranged on the 3rd servo electricity On the output shaft of machine, the synchronous cog belt is arranged on driving pulley and driven pulley.
- A kind of 2. plane articulation robot as claimed in claim 1, it is characterised in that：The end cap is made up of axle and disk And axle is fixed by screws on disk.
- A kind of 3. plane articulation robot as claimed in claim 1, it is characterised in that：Installed between the forearm and riser There is reinforcement.
- A kind of 4. plane articulation robot as claimed in claim 1, it is characterised in that：Pacify between the top chock and riser Equipped with reinforcement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720780037.XU CN206925852U (en) | 2017-06-29 | 2017-06-29 | A kind of plane articulation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720780037.XU CN206925852U (en) | 2017-06-29 | 2017-06-29 | A kind of plane articulation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206925852U true CN206925852U (en) | 2018-01-26 |
Family
ID=61354187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720780037.XU Expired - Fee Related CN206925852U (en) | 2017-06-29 | 2017-06-29 | A kind of plane articulation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206925852U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216156A (en) * | 2020-01-20 | 2020-06-02 | 常州机电职业技术学院 | Rotary connecting device of robot tail end actuating mechanism |
-
2017
- 2017-06-29 CN CN201720780037.XU patent/CN206925852U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216156A (en) * | 2020-01-20 | 2020-06-02 | 常州机电职业技术学院 | Rotary connecting device of robot tail end actuating mechanism |
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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: 20180126 Termination date: 20190629 |