CN207415360U - A kind of four axis robots - Google Patents
A kind of four axis robots Download PDFInfo
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- CN207415360U CN207415360U CN201721490115.9U CN201721490115U CN207415360U CN 207415360 U CN207415360 U CN 207415360U CN 201721490115 U CN201721490115 U CN 201721490115U CN 207415360 U CN207415360 U CN 207415360U
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- handgrip
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- transmission
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- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 230000000694 effects Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Abstract
The utility model provides a kind of four axis robots, and scheme is：Including rack, driving portion, driving section, handgrip, the driving portion sliding is connected in rack, the driving section is connected with driving portion, the handgrip is located at driving section away from driving portion one end, the driving section includes several transmission sections, auxiliary lifting apparatus is equipped between the transmission section, the auxiliary lifting apparatus includes the gear pair being located between adjacent two transmission sections, the pneumatic structure for acting on the last section transmission section.It can be limited effectively in transmission process due to the state for the manipulator preshoot that inertia belt comes.When machinery is hand braking, for the gear in auxiliary drive due to running out of steam, engagement pauses at a fixed position, manipulator is necessarily required to band moving gear and rotates to preshoot at this time, and gear is motionless, manipulator is subject to resistance, thus manipulator be difficult to after braking there is a situation where preshoot or after slip.
Description
Technical field
The mechanical fetching structure of the utility model design, more particularly to a kind of four axis robots.
Background technology
Manipulator is a kind of common in the industry for taking object or the supplementary structure of assembling, common are four axis robots
Deng.
At present, in industry common manipulator startup or braking using control centre output signal controlled, example
As in the actual production process, the process of driving manipulator is：Control centre sends instruction, at signal transmission to manipulator, machine
After being subject to signal at tool hand, start to be driven；After work, control centre sends instruction again, stops manipulator.But due to
Manipulator itself has certain weight, so during braking, due to inertia, also may proceed to one section of preshoot away from
From influencing the kinematic accuracy at handgrip.
Utility model content
The utility model provides one kind convenient for four axis robots, compared to the start and stop of manipulator common on the market
Journey, the course of work are more accurate.
A kind of four axis robots, including rack, driving portion, driving section, handgrip, the driving portion sliding is connected to rack
On, the driving section is connected with driving portion, and the handgrip is located at driving section away from driving portion one end, and the driving section includes several
A transmission section, the transmission are equipped with auxiliary lifting apparatus between saving, the auxiliary lifting apparatus includes being located at adjacent two transmission sections
Between gear pair, act on the last section transmission section pneumatic structure.
By using above-mentioned technical proposal, the manipulator come due to inertia belt can be limited effectively in transmission process
The state of preshoot.When machinery is hand braking, for the gear in auxiliary drive due to running out of steam, engagement pauses at a fixed bit
Place is put, manipulator is necessarily required to band moving gear and rotates to preshoot at this time, and gear is motionless, and manipulator is subject to resistance, therefore mechanical
Hand be difficult to after braking there is a situation where preshoot or after slip.
Further set：The gear pair has one-directional rotation self-locking performance.
By using above-mentioned technical proposal：Gear pair is not susceptible to rotate backward in rotation process, can stop each
Position reaches high-precision requirement.
Further set：The gear pair includes the first gear being located between adjacent two transmission sections, second gear, described
First gear and second gear are located at respectively on two transmission sections, and the first gear or second gear one side are equipped with one-directional rotation
Hinder tooth.
By using above-mentioned technical proposal：When gear stalls, one-directional rotation hinders tooth inlay card at gear so that gear
It is difficult to invert under effect of inertia.
Further set：The one-directional rotation hinders to be flexibly connected between tooth and the transmission section where it.
By using above-mentioned technical proposal：If one-directional rotation hinders tooth to be fixedly connected, in actual use, easily
It is subject to rigid shock and there is a situation where collapse tooth.
Further set：The one-directional rotation hinders to be hinged between tooth and transmission section, and the one-directional rotation hinders tooth one side
Equipped with elastic component, opposite side is equipped with stopper.
By using above-mentioned technical proposal：Elastic component one-directionally rotates the motion range for hindering tooth for providing；Stopper is used
In preventing one-directional rotation from hindering tooth counter motion, if counter motion, it is difficult to cause the limitation to gear movement.
Further set：It is described transmission section in, equipped with handgrip one section transmission section be equipped with reference axis, the reference axis with
Handgrip is mutually parallel, and the length of the reference axis is less than handgrip, and the reference axis is used to contradict platform in actual use.
By using above-mentioned technical proposal：When reference axis is in contact with platform, certain supporting role is played, compared to direct
Hanging structure does not easily cause rocking for handgrip.
Further set：The handgrip includes bar portion, and the bar portion is driven using rotating driving device, the bar portion and base
Link block is equipped between fiducial axis.
By using above-mentioned technical proposal：Link block is used to limit the relative position between bar portion and reference axis.
Further set：The pneumatic structure includes source of the gas, tracheae, and described tracheae one end is connected with source of the gas, and the other end connects
It is connected at the transmission section equipped with handgrip, accommodating chamber is set at the handgrip, the handgrip, which is stretched out at accommodating chamber, is arranged to elastic portion
Position.
Further set：The tracheae is connected with accommodating chamber, and movable plate, the activity plate are equipped in the accommodating chamber
It is moved back and forth in accommodating chamber, wherein extreme position is to contact on reference axis at one.
By using above-mentioned technical proposal：Movable plate can be to contradict respectively there are two state during the motion
On reference axis and depart from reference axis, contradict when on reference axis, the rotation of gear can be limited.
Further set：Between the reference axis and handgrip using gear transmission structure drive, it is described activity plate towards
Reference axis is arranged to concavo-convex on one side.
By using above-mentioned technical proposal：Concaveconvex structure can be preferably bonded the shape of gear, to block gear, make
It is braked.
Description of the drawings
Fig. 1 is to be used to embody integrally-built view in embodiment 1；
Fig. 2 is four axis robot internal structure schematic diagram in embodiment 1；
Fig. 3 is four axis robot internal structure schematic diagram in embodiment 1；
Fig. 4 is the partial view for being used to embody gear pair drive mechanism in embodiment 1.
In figure：1st, driving portion；2nd, driving section；3rd, handgrip；4th, transmission section；5th, auxiliary lifting apparatus；51st, gear pair；52nd, gas
Laminated structure；511st, first gear；512nd, second gear；513rd, one-directional rotation hinders tooth；514th, elastic component；515th, stopper；6、
Reference axis；7th, rotating driving device；521st, source of the gas；522nd, tracheae.
Specific embodiment
It is described in further detail below in conjunction with attached drawing is new to the utility model.
Wherein identical parts are presented with like reference characters.It should be noted that word used in the following description
Language "front", "rear", "left", "right", "up" and "down" refer to the direction in attached drawing, word " bottom surface " and " top surface ", " interior " and
" outer " is referred respectively to towards or away from the direction of particular elements geometric center.
A kind of four axis robots, including rack, driving portion 1, driving section 2, handgrip 3, rack is to stand on the " u "-shaped branch on ground
Frame, top are horizontal bars.The sliding of driving portion 1 is connected in rack, is moved in horizontal bars partial slip.Driving section 2 with
Driving portion 1 is connected, and handgrip 3 is located at driving section 2 away from 1 one end of driving portion.The principal shape of handgrip 3 is long rod, is referred in handgrip 3
Earthward one end is removably connected with clamping jaw.
Driving section 2 uses connecting rod principle, including several transmission sections 4, joins end to end between these transmission sections 4.Adjacent
Auxiliary lifting apparatus 5 is equipped between transmission section 4, auxiliary lifting apparatus 5 includes saving the gear pair between 4 positioned at adjacent two transmissions
51st, the pneumatic structure 52 of the last section transmission section 4 is acted on.
For the ease of gear pair in pause, it is small to sway forwards and backwards amplitude, by gear pair 51 be arranged to have one-directional rotation from
Lock property.Gear pair 51 includes being driven first gears 511, the second gear 512 saved between 4 positioned at adjacent two, first gear 511,
Second gear 512 is intermeshed.First gear 511 and second gear 512 are located at two transmissions and save on 4 respectively, first tooth
Wheel 511 or 512 one side of second gear are equipped with one-directional rotation and hinder tooth 513.The one-directional rotation hinders tooth 513 and the biography where it
It is flexibly connected between dynamic section 4.
One-directional rotation hinders to be hinged between tooth 513 and transmission section 4, and one-directional rotation hinders tooth 513 to be arranged to top as circular arc
The direct rod shape of shape, arc head are directed toward gear.One-directional rotation hinders 513 one side of tooth to be equipped with elastic component 514, and elastic component 514 uses bullet
Spring, opposite side are equipped with stopper 515, and both ends of the spring, which is respectively fixedly connected, to be hindered in one-directional rotation on tooth 513 and stopper.In these biographies
In dynamic section 4, the section transmission section 4 equipped with handgrip 3 is equipped with reference axis 6, and the reference axis 6 is mutually parallel with handgrip 3, the base
The length of fiducial axis 6 is less than handgrip 3, and reference axis 6 is used to contradict platform in actual use.
Handgrip 3 includes bar portion, and bar portion is vertically arranged, and bar portion is driven using rotating driving device 7, and rotating driving device uses
Motor.Link block is equipped between the bar portion and reference axis 6.Pneumatic structure 52 includes source of the gas 521, tracheae 522, the tracheae
522 one end are connected with source of the gas 521, and the other end is connected at the transmission section 4 equipped with handgrip 3, and accommodating chamber is set at the handgrip 3,
The handgrip 3, which is stretched out at accommodating chamber, is arranged to elastic position.The tracheae 522 is connected with accommodating chamber, is equipped in the accommodating chamber
Movable plate, the activity plate moves back and forth in accommodating chamber, wherein extreme position is to contact on reference axis 6 at one.
Four axis robot according to claim 9 uses gear transmission structure between the reference axis 6 and handgrip 3
It drives, the activity plate is arranged to concavo-convex on one side towards reference axis 6.
The above embodiments are only the explanation new to the utility model, are not the limit new to the utility model
System, those skilled in the art can as needed make the present embodiment no creative contribution after this specification is read
Modification, but as long as all being protected in the new right of the utility model be subject to Patent Law.
Claims (10)
1. a kind of four axis robots, including rack, driving portion（1）, driving section（2）, handgrip（3）, the driving portion（1）Sliding connects
It is connected in rack, the driving section（2）With driving portion（1）It is connected, the handgrip（3）Positioned at driving section（2）Away from driving portion（1）
One end, it is characterised in that：The driving section（2）Including several transmission sections（4）, the transmission section（4）Between be equipped with auxiliary carry
Rise device（5）, the auxiliary lifting apparatus（5）Including being located at adjacent two transmissions section（4）Between gear pair（51）, act on most
One section transmission section of end（4）Pneumatic structure（52）.
2. four axis robot according to claim 1, it is characterised in that：The gear pair（51）With one-directional rotation self-locking
Property.
3. four axis robot according to claim 2, it is characterised in that：The gear pair（51）It is passed including being located at adjacent two
Dynamic section（4）Between first gear（511）, second gear（512）, the first gear（511）And second gear（512）Respectively
Positioned at two transmission sections（4）On, the first gear（511）Or second gear（512）One side is equipped with one-directional rotation and hinders tooth
（513）.
4. four axis robot according to claim 3, it is characterised in that：The one-directional rotation hinders tooth（513）With its institute
Transmission section（4）Between be flexibly connected.
5. four axis robot according to claim 4, it is characterised in that：The one-directional rotation hinders tooth（513）With transmission
Section（4）Between it is hinged, the one-directional rotation hinders tooth（513）One side is equipped with elastic component（514）, opposite side is equipped with stopper
（515）.
6. four axis robot according to claim 5, it is characterised in that：The transmission section（4）In, equipped with handgrip（3）'s
One section transmission section（4）It is equipped with reference axis（6）, the reference axis（6）With handgrip（3）It is mutually parallel, the reference axis（6）Length
Degree is less than handgrip（3）, the reference axis（6）It is used to contradict platform in actual use.
7. four axis robot according to claim 6, it is characterised in that：The handgrip（3）Including bar portion, the bar portion is adopted
Use rotating driving device（7）It drives, the bar portion and reference axis（6）Between be equipped with link block.
8. four axis robot according to claim 7, it is characterised in that：The pneumatic structure（52）Including source of the gas（521）、
Tracheae（522）, the tracheae（522）One end and source of the gas（521）It is connected, the other end is connected to equipped with handgrip（3）Transmission section（4）
Place, the handgrip（3）Place sets accommodating chamber, the handgrip（3）It stretches out at accommodating chamber and is arranged to elastic position.
9. four axis robot according to claim 8, it is characterised in that：The tracheae（522）It is connected with accommodating chamber, it is described
Movable plate is equipped in accommodating chamber, the activity plate moves back and forth in accommodating chamber, wherein extreme position is to contact at one
Reference axis（6）On.
10. four axis robot according to claim 9, it is characterised in that：The reference axis（6）With handgrip（3）Between adopt
It is driven with gear transmission structure, the activity plate is towards reference axis（6）Be arranged to concavo-convex on one side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721490115.9U CN207415360U (en) | 2017-11-09 | 2017-11-09 | A kind of four axis robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721490115.9U CN207415360U (en) | 2017-11-09 | 2017-11-09 | A kind of four axis robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207415360U true CN207415360U (en) | 2018-05-29 |
Family
ID=62308529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721490115.9U Expired - Fee Related CN207415360U (en) | 2017-11-09 | 2017-11-09 | A kind of four axis robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207415360U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877498A (en) * | 2017-11-09 | 2018-04-06 | 无锡百禾工业机器人有限公司 | A kind of four axis robots |
-
2017
- 2017-11-09 CN CN201721490115.9U patent/CN207415360U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877498A (en) * | 2017-11-09 | 2018-04-06 | 无锡百禾工业机器人有限公司 | A kind of four axis robots |
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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 |
Granted publication date: 20180529 |