CN207447157U - Four-degree-of-freedom robot arm device - Google Patents
Four-degree-of-freedom robot arm device Download PDFInfo
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- CN207447157U CN207447157U CN201721253415.5U CN201721253415U CN207447157U CN 207447157 U CN207447157 U CN 207447157U CN 201721253415 U CN201721253415 U CN 201721253415U CN 207447157 U CN207447157 U CN 207447157U
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Abstract
A kind of four-degree-of-freedom robot arm device, including pedestal；Lifting seat upper and lower displacement driving mechanism, is arranged on pedestal；Lifting seat is arranged in lifting seat upper and lower displacement driving mechanism；Slide unit fixed seat rotary motion mechanism, is arranged on lifting seat；Slide unit fixed seat, the slide unit fixed seat are connected with slide unit fixed seat rotary motion mechanism；Reciprocating drive mechanism before and after travelling arm is arranged in slide unit fixed seat；Travelling arm is arranged on before and after the travelling arm with horizontal boom state on reciprocating drive mechanism；Mechanical paw and the mechanical paw rotary motion mechanism for making mechanical paw revolution, the mechanical paw rotary motion mechanism are arranged on travelling arm, and mechanical paw is arranged on the front end of travelling arm and is connected with mechanical paw rotary motion mechanism.It is saving of labor, time saving and laborsaving and can also ensure safety；It can ensure the adjustment for making four degree of freedom by the workpiece to be punched of mechanical paw extraction, workpiece to be punched is put into mold exactly.
Description
Technical field
The utility model belongs to automatic charging machinery technical field, and in particular to a kind of four-degree-of-freedom robot arm device.
Background technology
To the stamping forming enterprise of workpiece, material to be punched such as plate is first cut by cutter device, formed it is required or
Claim the green body of specific standard size, then green body is put into the lower die on the workbench of decompressor such as punching machine, by rushing
The work of pressure device and driving is arranged at the oil cylinder column of decompressor or the upper mold of cylinder block end and dives to lower die, forms punching press
Shaping workpiece.
At present, traditional artificial loading still follows in many panel beating enterprises and all kinds of component of machine production firms etc.
Pattern, so-called tradition feeding pattern refer to：By worker's manual extraction part to be punched and the orientation of part to be punched is adjusted, makes to wait to rush
Casting die is consistent with mold orientation, so that part to be punched is introduced mold exactly, then presses the switch of decompressor and is rushed
Pressure.This mode presence is taken a lot of work, time-consuming and laborious shortcoming, and also there are accident potential.Further, since be artificial loading,
Thus precision is difficult to ensure, such as when both the placement position of part, that is, green body to be punched and die location are incorrect, can cause work
Part is scrapped, and on the one hand causes the wasting of resources, on the other hand influences manufacturing schedule, and another direction increases work pieces process cost.
It is no lack of the technical information on four-degree-of-freedom robot arm device in disclosed Chinese patent literature, such as
CN201863204U（A kind of packaged type four-degree-of-freedom mechanical arm）、CN102528791B（It is a kind of containing extension arm and again to twist
Four-degree-of-freedheavy-load heavy-load mechanical arm）、CN104552231A（One kind has double leval jib degree of freedom controllable-mechanism type mobile mechanical arm）、
CN105232153A（Mechanical arm）And CN206078123U（A kind of robot arm device of watermelon picking machine）, etc..However not
It is limited to these patent documents enumerated and referential meaning is not had with regard to workpiece automatic charging for the stamping forming manufacturer of product,
Because the feeding of part to be punched at least needs to meet：By upper and lower adjusting apparatus adjustment be extracted part to be punched upper-lower height, by
The angle position of the circumferencial direction for the part to be punched that the adjustment of base plane rotary components is extracted is adjusted by horizontal reciprocating movement component
The front and back position for the part to be punched being extracted makes mechanical paw together with needed for the part to be punched along itself center steering extracted as it
Angle.
For above-mentioned prior art, the applicant has made beneficial design and has formd technical side described below
Case.
The content of the invention
The task of the utility model, which is to provide one kind, helps to embody saving of labor and time saving and laborsaving and ensured
Safely, be conducive to make mechanical paw realize upper and lower displacement, the angle displacement of circumferencial direction, horizontal direction move forward and backward and edge
The swing offset of its center and use the four-degree-of-freedom robot arm device for meeting automatic charging requirement.
What the task of the utility model was performed by, a kind of four-degree-of-freedom robot arm device, including a pedestal；One liter
Seat upper and lower displacement driving mechanism drops, which is arranged on the pedestal；One lifting seat, the liter
Drop seat is arranged in the lifting seat upper and lower displacement driving mechanism；One slide unit fixed seat rotary motion mechanism, the slide unit fixed seat
Rotary motion mechanism is arranged on the lifting seat；One slide unit fixed seat, the slide unit fixed seat are returned with the slide unit fixed seat
Turn driving mechanism connection；Reciprocating drive mechanism before and after one travelling arm, reciprocating drive mechanism is set before and after the travelling arm
In the slide unit fixed seat；One travelling arm, the travelling arm are arranged on before and after the travelling arm back and forth with horizontal boom state
On moving drive mechanism；One mechanical paw and one is used for the mechanical paw rotary motion mechanism for turning round mechanical paw, the machinery
Paw rotary motion mechanism is arranged on the travelling arm, and mechanical paw is arranged on the front end of travelling arm and is returned with mechanical paw
Turn driving mechanism connection.
In a specific embodiment of the utility model, on the pedestal with perpendicular to pedestal towards upper one side
The state on surface is fixed with the leading rail chair of a pedestal and a pedestal rear rail seat, on the right side of the leading rail chair of pedestal and follows
The short transverse of the leading rail chair of pedestal is fixed with a pedestal fromer rail, and on the right side of pedestal rear rail seat and after follow pedestal
The short transverse of track base is fixed with a pedestal rear rail, and the lifting seat upper and lower displacement driving mechanism is together with the lifting seat
It is slidably matched with the pedestal fromer rail and pedestal rear rail.
In another specific embodiment of the utility model, on the pedestal and with perpendicular to pedestal towards upper
The state of a side surface be fixed with a track base link plate, the track base link plate also simultaneously with the leading rail chair of the pedestal with
And the left side of the short transverse of pedestal rear rail seat is fixed, and the space between the leading rail chair of pedestal and pedestal rear rail seat is formed
For track base chamber, the lifting seat upper and lower displacement driving mechanism includes lifting seat driving motor, lifting initiative driver, lifting
Transmission belt, lifting driven transmission wheel, lifting screw and lifting sliding table, lifting seat driving motor is corresponding to the track base chamber
Position is fixed in lifting seat driving motor fixed seat, the lifting seat drive motor shaft of the lifting seat driving motor towards lower and
Through lifting seat driving motor fixed seat, lifting initiative driver is fixed in lifting seat drive motor shaft and corresponding to described
Between pedestal and lifting seat driving motor fixed seat, one end of lifting and driving band is nested on lifting initiative driver, and another
End cap is put in lifting driven transmission wheel, and the lower end of lifting screw is rotatably supported on lifting screw lower bearing support and successively
Through lifting screw lower bearing support and lifting seat driving motor fixed seat, and the upper end of lifting screw is rotatably supported at lifting
On screw rod upper branching holder, the lifting screw lower bearing support and lifting screw upper branching holder and the track base link plate direction
The one side of track base chamber is fixed, and the lower end for lifting driven transmission wheel and lifting screw is fixed, and the lifting seat driving motor is fixed
Seat is consolidated in one side of the position of the lower section corresponding to lifting screw lower bearing support equally with track base link plate towards track base chamber
Fixed, the front side of lifting sliding table is slidably matched by a pair of of lifting sliding table front-slider and the pedestal fromer rail, lifting sliding table
Rear side is slidably matched by a pair of of lifting sliding table rear slider and the pedestal rear rail, and the left side central portion of lifting sliding table and
A lifting sliding table nut is fixed in the position corresponding to the lifting screw, which matches somebody with somebody with lifting screw transmission
It closes, the top of the lifting seat and lifting sliding table is fixed.
In another specific embodiment of the utility model, the lifting seat driving motor is with rotating work(
Can servomotor, the lifting initiative driver and lifting driven transmission wheel be belt pulley, the lifting and driving band
For driving belt.
In another specific embodiment of the utility model, the belt pulley be synchronous pulley, the transmission
Belt is synchronous belt.
In the utility model there are one in specific embodiment, the lifting seat has a lifting seat chamber, described
Slide unit fixed seat rotary motion mechanism include slide unit fixed seat revolution driving motor, slide unit fixed seat revolution driving reduction box,
Gear-box, slide unit fixed seat revolution driving pinion gear, slide unit fixed seat revolution driving gear wheel and slide unit fixed seat revolution driving
Axis, slide unit fixed seat revolution driving motor are arranged on lifting seat intracavitary, which fixes with slide unit
The reduction box transmission cooperation of seat revolution driving, and by slide unit fixed seat revolution driving reduction box together with slide unit fixed seat revolution driving
Motor is fixed in lifting seat intracavitary with lifting seat, and the slide unit fixed seat revolution driving of slide unit fixed seat revolution driving reduction box is slowed down
Case axis is stretched over the top of the lifting seat top plate of lifting seat, and gear-box is fixed on lifting seat top plate, and the revolution of slide unit fixed seat is driven
Dynamic pinion gear is located in gear-box and is fixed on slide unit fixed seat revolution driving speed reduction box shaft, slide unit fixed seat revolution driving
Gear wheel is located in gear-box and is engaged with slide unit fixed seat revolution driving pinion gear, in slide unit fixed seat rotary drive shaft
Portion is rotatably arranged at by driving shaft bearing seat on gear-box, and the lower part of the slide unit fixed seat rotary drive shaft is fixed with slide unit
Seat revolution driving gear wheel is fixed, and upper end leans out driving shaft bearing seat, and the slide unit fixed seat is turned round with slide unit fixed seat
The upper end of drive shaft is fixed, and the slide unit fixed seat revolution driving motor is the servomotor with positive and negative rotating function.
In the utility model more and in a specific embodiment, reciprocating drive mechanism before and after the travelling arm
Including re-ciprocating driving motor, slide unit guide bracket, back and forth drive screw rod, nut seat slide plate and nut seat, re-ciprocating driving motor and cunning
The rear end of platform guide bracket is fixed, and the slide unit guide bracket is fixed with the slide unit fixed seat towards upper one side, reciprocal driving screw rod
Front end is rotatably supported on the front apron of slide unit guide bracket, and is supported on slide unit guide bracket with back and forth driving the rear end thereof of screw rod
It is sequentially connected on rear baffle and through rear baffle by the re-ciprocating driving motor axis of shaft coupling and re-ciprocating driving motor, nut seat
Slide plate between forward and backward baffle is fixed on corresponding to the position of the top of the length direction of slide unit guide bracket, nut seat with it is reciprocal
Driving screw flight coordinates and is slidably matched with the nut seat slide plate, and the travelling arm is fixed with the nut seat, institute
The re-ciprocating driving motor stated is fixed for the servomotor with positive and negative rotating function and with the rear baffle.
The utility model so that in a specific embodiment, the rear end of the travelling arm is fixed on a travelling arm and consolidates
Determine on frame, and the travelling arm fixed frame is fixed on travelling arm and fixes on stand, which fixes stand corresponding to the spiral shell
The position of the top of female seat slide plate is fixed with the nut seat.
The utility model again more and in a specific embodiment, the mechanical paw rotary motion mechanism includes
Mechanical paw revolution driving motor, mechanical paw revolution driving reduction box, mechanical paw revolution driving wheel, mechanical paw revolution from
Driving wheel and mechanical paw revolution transmission belt, mechanical paw revolution driving motor coordinate with the transmission of mechanical paw revolution driving reduction box
And it is fixed by mechanical paw revolution driving reduction box together with mechanical paw revolution driving motor and the rear end of the travelling arm, it should
The mechanical paw revolution driving reduction gearbox output shaft of mechanical paw revolution driving reduction box is under, mechanical paw revolution driving wheel
It is fixed on the mechanical paw revolution driving reduction gearbox output shaft, one end of mechanical paw revolution transmission belt is nested in manipulator
On pawl revolution driving wheel, and the other end is nested on mechanical paw revolution driven wheel, and mechanical paw revolution driven wheel is arranged on
On mechanical paw revolution follower shaft, and mechanical paw revolution follower shaft is rotatably supported at institute by follower shaft bearing block
The front end of travelling arm is stated, and the lower end of mechanical paw revolution follower shaft leans out follower shaft bearing block and is stretched over travelling arm
Lower section, the mechanical paw and the mechanical paw revolution follower shaft lower end fix；The mechanical paw revolution is driven
Dynamic motor is the servomotor with positive and negative rotating function, and mechanical paw revolution driving wheel and mechanical paw revolution are driven
It takes turns as belt pulley, mechanical paw revolution transmission belt is driving belt.
The utility model again so that a specific embodiment in, the manipulator include a sucker disk seat fixed plate,
One sucker disk seat and one group of sucker, one end of sucker disk seat fixed plate towards mechanical paw revolution follower shaft are returned with mechanical paw
The lower end for turning follower shaft is fixed, and the other end of sucker disk seat fixed plate is configured to free end, sucker disk seat and sucker disk seat fixed plate
Lower section fix, one group of sucker is fixed on one side of the sucker disk seat under with the state that equidistant intervals are distributed, this group of sucker is each
With a negative inspiratory pressure pipe fitting, in a state of use, which is filled by negative pressure suction tube and negative pressure
Put connection；The belt pulley is synchronous pulley, and the driving belt is synchronous belt.
Technical solution provided by the utility model has technical effect that：Due to can be automatically extracted or be discharged by mechanical paw
Workpiece to be punched, thus emerge from saving of labor, time saving and laborsaving and can also ensure safety；Due to being driven by lifting seat upper and lower displacement
Motivation structure makes lifting seat upper and lower displacement, but due to making slide unit fixed seat together with travelling arm by slide unit fixed seat rotary motion mechanism before
Reciprocating drive mechanism realizes the adjustment of right position afterwards, due also to making slip by reciprocating drive mechanism before and after travelling arm
Arm makees the adjustment of front and back position, and then due to realizing mechanical paw along central rotation angle itself by mechanical paw rotary motion mechanism
The adjustment of degree, thus can ensure the adjustment for making four degree of freedom by the workpiece to be punched of mechanical paw extraction, by workpiece to be punched
It is put into exactly in mold.
Description of the drawings
Fig. 1 is the example structure figure of the utility model.
Specific embodiment
In order to which the technical essence of the utility model and advantageous effect is more clearly understood, applicant is below with reality
The mode for applying example elaborates, but to the description of embodiment is not the limitation to the utility model, any foundation
The made only formal but not substantive equivalent transformation of the utility model design is regarded as the utility model
Technical solution scope.
The concept of every directionality for being related to upper, lower, left, right, front and rear or directionality is all in the following description
For the location of Fig. 1 states, thus the spy to technical solution provided by the utility model cannot be understood as
It does not limit.
Fig. 1 is referred to, shows the pedestal 1 with supporting leg 15, in actual use, pedestal 1 is with punching press
Terrace is fixed in by supporting leg 15 in the state of device such as punching machine or branch is fixed on the workbench being separately equipped with；Show one liter
Seat upper and lower displacement driving mechanism 2 drops, which is arranged on foregoing pedestal 1；Show one liter
Seat 3 drops, which is arranged in foregoing lifting seat upper and lower displacement driving mechanism 2；Show a slide unit fixed seat revolution driving
Mechanism 4, the slide unit fixed seat rotary motion mechanism 4 are arranged on foregoing lifting seat 3；Show a slide unit fixed seat 5, the slide unit
Fixed seat 5 is connected with foregoing slide unit fixed seat rotary motion mechanism 4；Show reciprocating drive mechanism before and after a travelling arm
6, reciprocating drive mechanism 6 is arranged in foregoing slide unit fixed seat 5 before and after the travelling arm；Show a travelling arm 7, the slip
Arm 7 is arranged on before and after foregoing travelling arm with horizontal boom state on reciprocating drive mechanism 6；Show a mechanical paw 8
With one for making the mechanical paw rotary motion mechanism 9 that mechanical paw 8 turns round, which is arranged on
On foregoing travelling arm 7, mechanical paw 8 is arranged on the front end of travelling arm 7 and is connected with mechanical paw rotary motion mechanism 9.
Please continue to refer to Fig. 1, on foregoing pedestal 1 with perpendicular to pedestal 1 towards the state of a upper side surface and preferably
The leading 11 and one pedestal rear rail seat 12 of rail chair of one pedestal is fixed with welding manner, on the right side of the leading rail chair 11 of pedestal simultaneously
And the short transverse that follow the leading rail chair 11 of pedestal is fixed with a pedestal fromer rail by pedestal fromer rail fixing screws 1111
111, and consolidated on the right side of pedestal rear rail seat 12 and the short transverse that follows pedestal rear rail seat 12 by pedestal rear rail
Determine screw 1211 and be fixed with a pedestal rear rail 121, foregoing lifting seat upper and lower displacement driving mechanism 2 is together with foregoing lifting seat 3
It is slidably matched with foregoing pedestal fromer rail 111 and pedestal rear rail 1211.
On foregoing pedestal 1 and preferably to be consolidated perpendicular to state of the pedestal 1 towards a upper side surface with welding manner
Surely there is a track base link plate 13, which goes back rail chair 11 leading with foregoing pedestal and pedestal rear rail simultaneously
The left side of the short transverse of seat 12 is fixed, and the space between the leading rail chair 11 of pedestal and pedestal rear rail seat 12 is configured to guide rail
Seat chamber 14.
Foregoing lifting seat upper and lower displacement driving mechanism 2 includes lifting seat driving motor 21, lifting initiative driver 22, rises
Transmission belt 23, lifting driven transmission wheel 24, lifting screw 25 and lifting sliding table 26 drop, and lifting seat driving motor 21 is corresponding to before
The position for stating track base chamber 14 is fixed on lifting seat driving motor fixed seat 212 by lifting seat driving motor fixing screws 213
On, the lifting seat drive motor shaft 211 of the lifting seat driving motor 21 is towards lower and through lifting seat driving motor fixed seat
212, lifting initiative driver 22 is fixed in lifting seat drive motor shaft 211 and is driven corresponding to foregoing pedestal 1 and lifting seat
Between dynamic motor fixing seat 212, one end of lifting and driving band 23 is nested on lifting initiative driver 22, and the other end is nested with
It lifts in driven transmission wheel 24, the lower end of lifting screw 25 is rotatably supported on lifting screw lower bearing support 251 and successively
Through lifting screw lower bearing support 251 and lifting seat driving motor fixed seat 212, and the upper end of lifting screw 25 rotates twelve Earthly Branches
Hold on lifting screw upper branching holder 252, foregoing lifting screw lower bearing support 251 and lifting screw upper branching holder 252 respectively by
The one side of screw and foregoing track base link plate 13 towards track base chamber 14 is fixed, lifting driven transmission wheel 24 and lifting screw 25
Lower end fix, lift driven transmission wheel 24 and the lower end of lifting screw 25 and fix, foregoing lifting seat driving motor fixed seat 212
In the position of the lower section corresponding to lifting screw lower bearing support 251 equally with track base link plate 13 towards the one of track base chamber 14
Side is fixed（It is preferred that using welding manner）, the front side of lifting sliding table 26 passes through a pair of of lifting sliding table front-slider 261 and foregoing base
Seat fromer rail 111 is slidably matched, and the rear side of lifting sliding table 26 is by a pair of of lifting sliding table rear slider 262 with being led after foregoing pedestal
Rail 121 is slidably matched, and the left side central portion of lifting sliding table 26 and is fixed with one in the position corresponding to foregoing lifting screw 25
Lifting sliding table nut 263, the lifting sliding table nut 263 coordinate with the transmission of lifting screw 25, foregoing lifting seat 3 and lifting sliding table
26 top is fixed.
In the present embodiment, foregoing lifting seat driving motor 21 is the servomotor with positive and negative rotating function, foregoing
It is belt pulley to lift initiative driver 22 and lifting driven transmission wheel 24, and foregoing lifting and driving band 23 is driving belt.Tool
For body, foregoing belt pulley is synchronous pulley, and foregoing driving belt is synchronous belt.
When lifting seat driving motor 21 works, lifting initiative driver 22 is driven by lifting seat drive motor shaft 211, by
Lift initiative driver 22 and drive lifting and driving band 23, lifting driven transmission wheel 24 is driven by lifting and driving band 23, by lift from
Dynamic drive 24 drives lifting screw 25, and the lifting sliding table nut 263 of lifting sliding table 26 is driven by lifting screw 25, slides lifting
Platform 26 by a pair of of lifting sliding table front-slider 261 and a pair of of lifting sliding table rear slider 262 follow respectively pedestal fromer rail 111 with
And pedestal rear rail 121 slides up or down（Lift）.Since foregoing lifting seat 3 is fixed with lifting sliding table 26, thus
The also corresponding lifting of lifting seat 3 when lifting sliding table 26 slides up or down.Lifting sliding table 26 upwards or downwards depend on by sliding
In the rotation direction of lifting screw 25, and lifting screw 25 to the direction rotated clockwise or counterclockwise depending on lifting seat drives
The working condition clockwise or counterclockwise of dynamic motor 21.
As shown in the above description, 3 oscilaltion displacement of lifting seat is made by the work of lifting seat upper and lower displacement driving mechanism 2,
The foregoing slide unit fixed seat rotary motion mechanism 4 and slide unit fixed seat rotary motion mechanism 4 set with lifting seat 3 for carrier is solid
Surely reciprocating drive mechanism 6 before and after the slide unit fixed seat 5 that connects, the travelling arm set with slide unit fixed seat 5 for carrier, with cunning
Reciprocating drive mechanism 6 is the travelling arm 7 of carrier setting, take travelling arm 7 as the mechanical paw time of carrier setting before and after swing arm
Turn driving mechanism 9 and be located at 7 front end of travelling arm and with mechanical paw rotary motion mechanism 9 be sequentially connected mechanical paw
8 also corresponding upper and lower displacements realize the upper-lower height position adjustment to mechanical paw 8, the first degree of freedom tune can be summarized as to this
It is whole.
Please continue to refer to Fig. 1, foregoing lifting seat 3 has a lifting seat chamber 31, is also shown in figure by the liter of lifting seat 3
Bottom plate and foregoing 26 fixed lifting seat fixing screws 33 of lifting sliding table drop.Foregoing slide unit fixed seat rotary motion mechanism 4 wraps
Include slide unit fixed seat revolution driving motor 41, slide unit fixed seat revolution driving reduction box 42, gear-box 43, the revolution of slide unit fixed seat
Driving pinion 44, slide unit fixed seat revolution driving gear wheel 45 and slide unit fixed seat rotary drive shaft 46, slide unit fixed seat are returned
Turn driving motor 41 to be arranged in lifting seat chamber 31, the slide unit fixed seat revolution driving motor 41 and slide unit fixed seat revolution driving
The transmission cooperation of reduction box 42, and by slide unit fixed seat revolution driving reduction box 42 together with slide unit fixed seat revolution driving motor 41
It is fixed in lifting seat chamber 31 with lifting seat 3, the slide unit fixed seat revolution driving of slide unit fixed seat revolution driving reduction box 42 subtracts
Fast case axis is stretched over the top of the lifting seat top plate 32 of lifting seat 3, and gear-box 43 is fixed on lifting seat top plate 32, and slide unit is fixed
Seat revolution driving pinion gear 44 is located in gear-box 43 and is fixed on slide unit fixed seat revolution driving speed reduction box shaft, and slide unit is solid
Reservation revolution driving gear wheel 45 is located in gear-box 43 and is engaged with slide unit fixed seat revolution driving pinion gear 44, and slide unit is solid
The middle part of reservation rotary drive shaft 46 is rotatably arranged at by driving shaft bearing seat 461 on gear-box 43, the slide unit fixed seat
The lower part of rotary drive shaft 46 is fixed with slide unit fixed seat revolution driving gear wheel 45, and upper end leans out driving shaft bearing seat 461,
The upper end of foregoing slide unit fixed seat 5 and slide unit fixed seat rotary drive shaft 46 is fixed.In the present embodiment, foregoing slide unit is consolidated
Reservation revolution driving motor 41 is the servomotor with positive and negative rotating function.
When slide unit fixed seat revolution driving motor 41 works, slide unit fixed seat revolution driving reduction box 42 is driven by it, by
Slide unit fixed seat revolution driving reduction box 42 slows down and drives slide unit fixed seat by its slide unit fixed seat revolution driving speed reduction box shaft
Revolution driving pinion gear 44, since the slide unit fixed seat revolution driving pinion gear 44 is and slide unit fixed seat revolution driving gear wheel
45 are meshed, thus drive slide unit fixed seat revolution driving gear wheel 45 by it, by slide unit fixed seat revolution driving gear wheel
45 drive slide unit fixed seat rotary drive shafts 46, since foregoing slide unit fixed seat 5 is fixed with carriage saddle rotary drive shaft 46, because
And slide unit fixed seat 5 is driven in level by slide unit fixed seat rotary drive shaft 46（That is base square）Left and right revolution is realized in direction, sliding
Pedestal 5 depends on what foregoing slide unit fixed seat revolution driving motor 41 worked clockwise or counterclockwise to the left or to right-hand rotation
State.
From the preceding paragraph explanatory note, by the work of slide unit fixed seat revolution driving motor 41, make slide unit fixed seat 5,
Reciprocating drive mechanism 6, travelling arm 7, mechanical paw rotary motion mechanism 9 and mechanical paw 8 realize base before and after travelling arm
Face rotates（Also Plane Rotation can be claimed）, that is, realize and mechanical paw 8 turned round along inverse left and right, the second degree of freedom can be summarized as to this
Adjustment.
Please continue to refer to Fig. 1, reciprocating drive mechanism 6 includes re-ciprocating driving motor 61, slide unit before and after foregoing travelling arm
Guide bracket 62, reciprocal driving screw rod 63, nut seat slide plate 64 and nut seat 65, re-ciprocating driving motor 61 with after slide unit guide bracket 62
End is fixed, and the slide unit guide bracket 62 is consolidated by sliding stand guide bracket fixing screws 623 and foregoing slide unit fixed seat 5 towards upper one side
Fixed, the reciprocal front end for driving screw rod 63 rotationally supports（Pass through bearing block）On the front apron 621 of slide unit guide bracket 62, and it is reciprocal
It is supported on the rear baffle 622 of slide unit guide bracket 62 and passes through shaft coupling through rear baffle 622 with driving the rear end thereof of screw rod 63
The re-ciprocating driving motor axis of section and re-ciprocating driving motor 61 is sequentially connected, and nut seat slide plate 64 is corresponding to slide unit guide bracket 62
The position of the top of length direction is fixed by screws between forward and backward baffle 621,622, nut seat 65 and reciprocal driving screw rod
It 63 thread fittings and is slidably matched with aforementioned nut seat slide plate 64, foregoing travelling arm 7 is fixed with aforementioned nut seat 65, foregoing
Re-ciprocating driving motor 61 the servomotor with positive and negative rotating function and to be fixed with foregoing rear baffle 622.
When the re-ciprocating driving motor work of reciprocating drive mechanism 6 before and after travelling arm, by its motor shaft through foregoing
Shaft coupling drives reciprocal driving screw rod 63, by screw rod 63 is back and forth driven to drive nut seat 65（Also can claim " slide nut block "）In cunning
The slide unit guide bracket chamber of platform guide bracket 62（The u-shaped chamber of section）It inside follows nut seat slide plate 64 to move, so as to by nut seat 65
Mobile drive below the i.e. travelling arm 7 that will be described move.Nut seat 65 is still moved backward forward depending on reciprocal driving spiral shell
The rotation clockwise or counterclockwise of bar 63, and screw rod 63 is back and forth driven to rotate clockwise or counterclockwise and is driven depending on reciprocal
The working condition clockwise or counterclockwise of dynamic motor 61.
From the preceding paragraph explanatory note：By the work of reciprocating drive mechanism before and after travelling arm 6, make travelling arm 7, machine
The front and back position of tool paw rotary motion mechanism 9 and mechanical paw 8 is adjusted, and Three Degree Of Freedom tune can be summarized as to this
It is whole.
As shown in Figure 1, the rear end of foregoing travelling arm 7 is preferably fixed on one with welding manner or with fastener fixed form
On travelling arm fixed frame 71, and the travelling arm fixed frame 71 is fixed on travelling arm and fixes on stand 711, which fixes stand
The 711 position screw in the top corresponding to aforementioned nut seat slide plate 64 is fixed with aforementioned nut seat 65.
Please continue to refer to Fig. 1, foregoing mechanical paw rotary motion mechanism 9 includes mechanical paw revolution driving motor 91, machine
Tool paw revolution driving reduction box 92, mechanical paw revolution driving wheel 93, mechanical paw revolution driven wheel 94 and mechanical paw return
Turn transmission belt 95, mechanical paw revolution driving motor 91 is with the transmission of mechanical paw revolution driving reduction box 92 cooperation and by machinery
Paw revolution driving reduction box 92 is fixed together with mechanical paw revolution driving motor 91 and the rear end of foregoing travelling arm 7, the machinery
The mechanical paw revolution driving reduction gearbox output shaft of paw revolution driving reduction box 92 is under, mechanical paw revolution driving wheel 93
It is fixed on aforementioned mechanical paw revolution driving reduction gearbox output shaft, one end of mechanical paw revolution transmission belt 95 is nested in machinery
On paw revolution driving wheel 93, and the other end is nested on mechanical paw revolution driven wheel 94, mechanical paw revolution driven wheel
94 set the mechanical paw in sight that is fixed on to turn round on follower shaft 941, and mechanical paw revolution follower shaft 941 passes through driven wheel
Bearing housing 9411 is rotatably supported at the front end of foregoing travelling arm 7, and the lower end of mechanical paw revolution follower shaft 941
The lower section that follower shaft bearing block 9411 is stretched over travelling arm 7 is leant out, aforementioned mechanical paw 8 turns round driven with aforementioned mechanical paw
The lower end of wheel shaft 941 is fixed.
In the present embodiment, foregoing mechanical paw revolution driving motor 91 is the servomotor with positive and negative rotating function,
Foregoing mechanical paw revolution driving wheel 93 and mechanical paw revolution driven wheel 94 is belt pulley, and foregoing mechanical paw turns round
Transmission belt 95 is driving belt.
Aforementioned mechanical hand 8 includes a sucker disk seat fixed plate 81, a sucker disk seat 82 and one group of sucker 83, sucker disk seat fixed plate 81
It fixes, and inhales towards one end of aforementioned mechanical paw revolution follower shaft 941 and the lower end of mechanical paw revolution follower shaft 941
The other end of disk seat fixed plate 81 is configured to free end, and sucker disk seat 82 is fixed by axis 821 and the lower section of sucker disk seat fixed plate 81,
One group of sucker 83 is fixed on one side of the sucker disk seat 82 under with the state that equidistant intervals are distributed, this group of sucker 83 respectively has one
Negative inspiratory pressure pipe fitting 831, in a state of use, the negative inspiratory pressure pipe fitting 831 are filled by negative pressure suction tube and negative pressure
It puts such as vacuum pumping pump or the connection of similar device；Foregoing belt pulley is synchronous pulley, and foregoing driving belt is synchronous belt.
When mechanical paw revolution driving motor 91 works, mechanical paw revolution driving reduction box 92 is driven by it, by machine
The aforementioned mechanical paw revolution driving reduction gearbox output shaft of tool paw revolution driving reduction box 92 drives mechanical paw revolution actively
Wheel 93 turns round driving wheel 93 by mechanical paw and by mechanical paw revolution transmission belt 95 mechanical paw is driven to turn round from wheel 94, by
Mechanical paw revolution driven wheel 94 drives mechanical paw revolution follower shaft 941, is driven by mechanical paw revolution follower shaft 941
The sucker disk seat fixed plate 81 of the structural system of mechanical paw 8 is turned round（Mechanical paw revolution follower shaft 941 is essentially sucker disk seat
The centre of gyration of fixed plate 81）, by sucker disk seat fixed plate 81 one group of sucker 83 is driven through sucker disk seat 81.Sucker disk seat fixed plate 81
Gyratory directions depend on the rotation direction of mechanical paw revolution driven wheel 94, and the mechanical paw turns round the rotation side of driven wheel 94
To the state to work clockwise or counterclockwise depending on mechanical paw revolution driving motor 91.
From the preceding paragraph explanatory note：Mechanical paw 8 is made along itself by the work of mechanical paw rotary motion mechanism 9
Angle needed for heart rotation can be summarized as this four-degree-of-freedom adjustment.
It is in negative pressure suction tube under negative pressure state（Depression generator works）, negative pressure suction tube is made by negative pressure suction tube
Connector 831 generates negative pressure, and one group of sucker 83 is just in negative pressure state, so as to sticking workpiece to be punched.
In conclusion technical solution provided by the utility model compensates for the shortcoming in prior art, favorably accomplish
Invention task has faithfully fulfilled the technique effect that applicant refers in technical effect column above.
Claims (10)
1. a kind of four-degree-of-freedom robot arm device, it is characterised in that including a pedestal (1)；One lifting seat upper and lower displacement driving mechanism
(2), which is arranged on the pedestal (1)；One lifting seat (3), the lifting seat (3)
It is arranged on the lifting seat upper and lower displacement driving mechanism (2)；One slide unit fixed seat rotary motion mechanism (4), the slide unit are fixed
Seat rotary motion mechanism (4) is arranged on the lifting seat (3)；One slide unit fixed seat (5), the slide unit fixed seat (5) with it is described
Slide unit fixed seat rotary motion mechanism (4) connection；Reciprocating drive mechanism (6) before and after one travelling arm, before and after the travelling arm
Reciprocating drive mechanism (6) is arranged on the slide unit fixed seat (5)；One travelling arm (7), the travelling arm (7) are outstanding with level
Arm state is arranged on before and after the travelling arm on reciprocating drive mechanism (6)；One mechanical paw (8) and one is used to make machinery
The mechanical paw rotary motion mechanism (9) of paw (8) revolution, the mechanical paw rotary motion mechanism (9) are arranged on the slip
On arm (7), mechanical paw (8) is arranged on the front end of travelling arm (7) and is connected with mechanical paw rotary motion mechanism (9).
2. four-degree-of-freedom robot arm device according to claim 1, it is characterised in that on the pedestal (1) with perpendicular to
The state of pedestal (1) towards a upper side surface is fixed with the leading rail chair of a pedestal (11) and a pedestal rear rail seat (12),
A pedestal fromer rail is fixed on the right side of the leading rail chair of pedestal (11) and the short transverse that follows the leading rail chair of pedestal (11)
(111), it is fixed with a base on the right side of pedestal rear rail seat (12) and the short transverse that follows pedestal rear rail seat (12)
Seat rear rail (121), the lifting seat upper and lower displacement driving mechanism (2) are leading together with the lifting seat (3) and the pedestal
Rail (111) and pedestal rear rail (1211) are slidably matched.
3. four-degree-of-freedom robot arm device according to claim 2, it is characterised in that on the pedestal (1) and to hang down
Directly the state in pedestal (1) towards a upper side surface is fixed with a track base link plate (13), the track base link plate (13)
Left side also simultaneously with the leading rail chair of the pedestal (11) and the short transverse of pedestal rear rail seat (12) is fixed, and before pedestal
Space between track base (11) and pedestal rear rail seat (12) is configured to track base chamber (14), the lifting seat upper and lower displacement
Driving mechanism (2) is driven including lifting seat driving motor (21), lifting initiative driver (22), lifting and driving band (23), lifting
Drive (24), lifting screw (25) and lifting sliding table (26), lifting seat driving motor (21) is corresponding to the track base chamber
(14) position is fixed in lifting seat driving motor fixed seat (212), the lifting seat driving of the lifting seat driving motor (21)
For motor shaft (211) towards lower and through lifting seat driving motor fixed seat (212), lifting initiative driver (22) is fixed on liter
It drops in seat drive motor shaft (211) and corresponding between the pedestal (1) and lifting seat driving motor fixed seat (212), rises
One end of drop transmission belt (23) is nested on lifting initiative driver (22), and the other end is nested in lifting driven transmission wheel (24)
On, the lower end of lifting screw (25) is rotatably supported on lifting screw lower bearing support (251) and sequentially passes through lifting screw
Lower bearing support (251) and lifting seat driving motor fixed seat (212), and the upper end of lifting screw (25) is rotatably supported at liter
It drops on screw rod upper branching holder (252), the lifting screw lower bearing support (251) and lifting screw upper branching holder (252) and institute
The one side for stating track base link plate (13) towards track base chamber (14) is fixed, lifting driven transmission wheel (24) and lifting screw (25)
Lower end fix, the lifting seat driving motor fixed seat (212) is in the lower section corresponding to lifting screw lower bearing support (251)
One side of the position equally with track base link plate (13) towards track base chamber (14) is fixed, and the front side of lifting sliding table (26) passes through one
It is slidably matched to lifting sliding table front-slider (261) and the pedestal fromer rail (111), the rear side of lifting sliding table (26) passes through one
It is slidably matched to lifting sliding table rear slider (262) and the pedestal rear rail (121), and the left side central portion of lifting sliding table (26)
And a lifting sliding table nut (263), the lifting sliding table nut are fixed in the position corresponding to the lifting screw (25)
(263) coordinate with lifting screw (25) transmission, the lifting seat (3) and the top of lifting sliding table (26) are fixed.
4. four-degree-of-freedom robot arm device according to claim 3, it is characterised in that the lifting seat driving motor
(21) it is the servomotor with positive and negative rotating function, the lifting initiative driver (22) and lifting driven transmission wheel (24)
For belt pulley, the lifting and driving band (23) is driving belt.
5. four-degree-of-freedom robot arm device according to claim 4, it is characterised in that the belt pulley is synchronous pulley,
The driving belt is synchronous belt.
6. four-degree-of-freedom robot arm device according to claim 1, it is characterised in that the lifting seat (3) has one liter
Seat chamber (31) drops, and the slide unit fixed seat rotary motion mechanism (4) includes slide unit fixed seat revolution driving motor (41), slide unit
Fixed seat revolution driving reduction box (42), gear-box (43), slide unit fixed seat revolution driving pinion gear (44), slide unit fixed seat are returned
Turn drive gear wheel (45) and slide unit fixed seat rotary drive shaft (46), slide unit fixed seat revolution driving motor (41) is arranged on liter
It drops in seat chamber (31), which matches somebody with somebody with slide unit fixed seat revolution driving reduction box (42) transmission
Close, and by slide unit fixed seat revolution driving reduction box (42) together with slide unit fixed seat revolution driving motor (41) in lifting seat chamber
(31) it is fixed with lifting seat (3) in, the slide unit fixed seat revolution driving reduction box of slide unit fixed seat revolution driving reduction box (42)
Axis is stretched over the top of the lifting seat top plate (32) of lifting seat (3), and gear-box (43) is fixed on lifting seat top plate (32), slide unit
Fixed seat revolution driving pinion gear (44) is located in gear-box (43) and is fixed on slide unit fixed seat revolution driving speed reduction box shaft
On, slide unit fixed seat revolution driving gear wheel (45) be located in gear-box (43) and with slide unit fixed seat revolution driving pinion gear
(44) engage, the middle part of slide unit fixed seat rotary drive shaft (46) is rotatably arranged at gear by driving shaft bearing seat (461)
On case (43), the lower part of the slide unit fixed seat rotary drive shaft (46) and slide unit fixed seat revolution driving gear wheel (45) are fixed,
And upper end leans out driving shaft bearing seat (461), the slide unit fixed seat (5) is upper with slide unit fixed seat rotary drive shaft (46)
End is fixed, and the slide unit fixed seat revolution driving motor (41) is the servomotor with positive and negative rotating function.
7. four-degree-of-freedom robot arm device according to claim 1, it is characterised in that back and forth moved before and after the travelling arm
Dynamic driving mechanism (6) includes re-ciprocating driving motor (61), slide unit guide bracket (62), back and forth drives screw rod (63), nut seat slide plate
(64) fixed with nut seat (65), re-ciprocating driving motor (61) and the rear end of slide unit guide bracket (62), and the slide unit guide bracket (62) with
The slide unit fixed seat (5) is fixed towards upper one side, back and forth the front end of screw rod (63) is driven to be rotatably supported at slide unit guide bracket
(62) on front apron (621), and it is supported on the rear baffle of slide unit guide bracket (62) with back and forth driving the rear end thereof of screw rod (63)
(622) it is driven on and by the re-ciprocating driving motor axis of shaft coupling and re-ciprocating driving motor (61) and is connected through rear baffle (622)
It connects, nut seat slide plate (64) is fixed on forward and backward baffle in the position of the top of the length direction corresponding to slide unit guide bracket (62)
Between (621,622), nut seat (65) with reciprocal driving screw rod (63) thread fitting and with the nut seat slide plate (64)
It is slidably matched, the travelling arm (7) is fixed with the nut seat (65), and the re-ciprocating driving motor (61) is with rotating
The servomotor of function and fixed with the rear baffle (622).
8. four-degree-of-freedom robot arm device according to claim 7, it is characterised in that the rear end of the travelling arm (7) is fixed
On a travelling arm fixed frame (71), and the travelling arm fixed frame (71) is fixed on travelling arm and fixes on stand (711), the slip
It is fixed in the position of the top corresponding to the nut seat slide plate (64) and the nut seat (65) that arm fixes stand (711).
9. four-degree-of-freedom robot arm device according to claim 1, it is characterised in that the mechanical paw revolution driving
Mechanism (9) includes mechanical paw revolution driving motor (91), mechanical paw revolution driving reduction box (92), mechanical paw revolution master
Driving wheel (93), mechanical paw revolution driven wheel (94) and mechanical paw revolution transmission belt (95), mechanical paw revolution driving motor
(91) with mechanical paw revolution driving reduction box (92) transmission cooperation and by mechanical paw revolution driving reduction box (92) together with
Mechanical paw revolution driving motor (91) and the rear end of the travelling arm (7) are fixed, the mechanical paw revolution driving reduction box
(92) for mechanical paw revolution driving reduction gearbox output shaft under, mechanical paw revolution driving wheel (93) is fixed on the machinery
On paw revolution driving reduction gearbox output shaft, one end of mechanical paw revolution transmission belt (95) is nested with to be turned round actively in mechanical paw
It takes turns on (93), and the other end is nested on mechanical paw revolution driven wheel (94), mechanical paw revolution driven wheel (94) is set
On mechanical paw revolution follower shaft (941), and mechanical paw revolution follower shaft (941) passes through follower shaft bearing block
(9411) front end of the travelling arm (7) is rotatably supported at, and the lower end of mechanical paw revolution follower shaft (941) is visited
Go out the lower section that follower shaft bearing block (9411) is stretched over travelling arm (7), the mechanical paw (8) is turned round with the mechanical paw
The lower end of follower shaft (941) is fixed；The mechanical paw revolution driving motor (91) is the servo with positive and negative rotating function
Motor, mechanical paw revolution driving wheel (93) and mechanical paw turn round driven wheel (94) as belt pulley, the machine
Tool paw revolution transmission belt (95) is driving belt.
10. four-degree-of-freedom robot arm device according to claim 9, it is characterised in that the manipulator (8) includes one and inhales
Disk seat fixed plate (81), a sucker disk seat (82) and one group of sucker (83), sucker disk seat fixed plate (81) are returned towards the mechanical paw
The one end and the lower end of mechanical paw revolution follower shaft (941) for turning follower shaft (941) are fixed, and sucker disk seat fixed plate (81)
The other end be configured to free end, sucker disk seat (82) and the lower section of sucker disk seat fixed plate (81) are fixed, one group of sucker (83) with etc.
The state that distance is spaced apart is fixed on one side of the sucker disk seat (82) under, this group of sucker (83) respectively has a negative pressure suction tube
Connector (831), in a state of use, the negative inspiratory pressure pipe fitting (831) are connected by negative pressure suction tube with depression generator；
The belt pulley is synchronous pulley, and the driving belt is synchronous belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721253415.5U CN207447157U (en) | 2017-09-27 | 2017-09-27 | Four-degree-of-freedom robot arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721253415.5U CN207447157U (en) | 2017-09-27 | 2017-09-27 | Four-degree-of-freedom robot arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207447157U true CN207447157U (en) | 2018-06-05 |
Family
ID=62284445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721253415.5U Active CN207447157U (en) | 2017-09-27 | 2017-09-27 | Four-degree-of-freedom robot arm device |
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| Country | Link |
|---|---|
| CN (1) | CN207447157U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107552665A (en) * | 2017-09-27 | 2018-01-09 | 常熟凯博智能装备有限公司 | Four-degree-of-freedom robot arm device |
| CN108481313A (en) * | 2018-06-14 | 2018-09-04 | 宁海利航机电设备设计有限公司 | A kind of robot control system |
| CN113115638A (en) * | 2019-12-31 | 2021-07-16 | 季华实验室 | Intelligent tea picking robot |
-
2017
- 2017-09-27 CN CN201721253415.5U patent/CN207447157U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107552665A (en) * | 2017-09-27 | 2018-01-09 | 常熟凯博智能装备有限公司 | Four-degree-of-freedom robot arm device |
| CN108481313A (en) * | 2018-06-14 | 2018-09-04 | 宁海利航机电设备设计有限公司 | A kind of robot control system |
| CN108481313B (en) * | 2018-06-14 | 2018-12-04 | 宁海利航机电设备设计有限公司 | A kind of robot control system |
| CN113115638A (en) * | 2019-12-31 | 2021-07-16 | 季华实验室 | Intelligent tea picking robot |
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