CN207915457U - A kind of robot and four axis robots - Google Patents
A kind of robot and four axis robots Download PDFInfo
- Publication number
- CN207915457U CN207915457U CN201820317235.7U CN201820317235U CN207915457U CN 207915457 U CN207915457 U CN 207915457U CN 201820317235 U CN201820317235 U CN 201820317235U CN 207915457 U CN207915457 U CN 207915457U
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- power source
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Abstract
The utility model is related to a kind of robot and a kind of four axis robots.Robot includes the driving mechanism that working beam and drive working beam do vertical movement and spin motion, driving mechanism includes vertical driving mechanism and spin driving mechanism, vertical driving mechanism includes the second power source, the down-feed screw being connect with the second power source output terminal, the vertical splined shaft being connect by link block with one end of down-feed screw, the lower end of vertical splined shaft is connect with working beam, the driving mechanism that spins includes the first power source, the driving member being connect with the first power source output terminal, the spline wheel being connect with driving member output end, the inner circle of spline wheel is engaged with vertical splined shaft.The utility model is by the way of being respectively set vertical driving mechanism and spin driving mechanism, pass through common lead screw and spline, belt transmission, the vertical movement up and down and spin motion of mechanical hand end are realized, it is simple in structure, at low cost, be conducive to the popularization and application of robotic arm.
Description
Technical field
The utility model is related to a kind of robot, it is specifically related to a kind of robot and using the four of this robot
Axis robot.
Background technology
The selection compliance arm that puts together machines is generally four axis robots, has simple in structure, smooth running, efficiency higher
The advantages that, by every profession and trade extensive use, end will realize that Y-axis moves up and down and level spins so that end finger realizes dress
Match, the function of light-duty carrying, in the prior art, this key function is depended on using compound lead screw, special hollow motor
To realize.The technical disadvantages combined using compound lead screw and hollow motor are of high cost, complex process, long processing time.
When production operation on the assembly line applied to some low cost products, if the robot cost selected is excessively high, it is unfavorable for promoting and answers
With.
Utility model content
The purpose of this utility model is that overcome the deficiencies of existing technologies, and a kind of robot and a kind of four axis are provided
Robot reduces the manufacturing cost of robotic arm.
To achieve the above object, the utility model uses following technical scheme：
A kind of robot, including working beam and drive working beam do the driving mechanism of vertical movement and spin motion, drive
Motivation structure includes vertical driving mechanism and spin driving mechanism, and vertical driving mechanism includes the second power source and the second power source
The down-feed screw of output end connection, the vertical splined shaft being connect by link block with one end of down-feed screw, vertical splined shaft
Lower end is connect with working beam, spin driving mechanism include the first power source, the driving member being connect with the first power source output terminal, and
The spline wheel of driving member output end connection, the inner circle of spline wheel are engaged with vertical splined shaft.
Further, driving member is driving belt.
Further, link block is zigzag, the upper cross-beam connection down-feed screw upper end of zigzag, lower crossbeam connection
The upper end of vertical splined shaft.
Further, the first power source is first servo motor, and the second power source is the second servo motor.
The invention also discloses a kind of four axis robots, including engine base, large arm, forearm, one end of large arm passes through the
Four bearings are mounted on engine base, and the rotation axis horizontal of the other end of large arm by the 4th power source drive around fourth bearing is swung,
And one end of forearm is mounted on by 3rd bearing on the other end of large arm, the other end of forearm by third power source drive around
The rotation axis horizontal of 3rd bearing is swung, and robot is equipped on forearm, and robot includes working beam and drive working beam
The driving mechanism of vertical movement and spin motion is done, driving mechanism includes vertical driving mechanism and spin driving mechanism, vertical drive
Motivation structure includes that one end of the second power source, the down-feed screw being connect with the second power source output terminal and down-feed screw passes through company
Connect the vertical splined shaft of block connection, the lower end of vertical splined shaft connect with working beam, the driving mechanism that spins including the first power source,
The driving member being connect with the first power source output terminal, the spline wheel being connect with driving member output end, the inner circle of spline wheel with it is vertical
Splined shaft engages, and spline wheel is mounted on by first bearing on the other end of forearm.
Further, the first power source, the second power source, third power source are fixed on forearm.
Further, driving member is driving belt.
Further, link block is zigzag, the upper cross-beam connection down-feed screw upper end of zigzag, the lower section of zigzag
Crossbeam connects the upper end of vertical splined shaft.
Further, the first power source is first servo motor, and the second power source is the second servo motor, third power source
For third servo motor, the 4th power source is the 4th servo motor.
The utility model, which is compared with the prior art, to be had an advantageous effect in that：The utility model uses and vertical drive is respectively set
The mode of motivation structure and spin driving mechanism realizes the upper of mechanical hand end by common lead screw and spline, belt transmission
Lower vertical movement and spin motion, it is simple in structure, at low cost, be conducive to the popularization and application of robotic arm.
Description of the drawings
Fig. 1 is the structure chart of specific implementation mode；
Fig. 2 is to remove the internal structure chart one after shell in Fig. 1；
Fig. 3 is to remove the internal structure chart two after shell and electric wire in Fig. 1.
Specific implementation mode
In order to more fully understand the technology contents of the utility model, with reference to specific embodiment to the skill of the utility model
Art scheme is described further and illustrates.
Four axis robot of the present embodiment includes working beam 1, first servo motor 21, the second servo motor as shown in Figs. 1-3
22, third servo motor 23, the 4th servo motor 24, spline wheel 3, belt 4, down-feed screw 5, electric wire 6, forearm 7, large arm 8, machine
Seat 9, control panel 10, zigzag link block 11, vertical splined shaft 12, shell 13.
One end of large arm 8 is mounted on 9 upper end of engine base by fourth bearing, and the 4th servo motor 24 is fixed in engine base 9, band
Dynamic large arm 8 is swung along the rotation center of fourth bearing.One end of forearm 7 is mounted on the other end of large arm 8 by 3rd bearing, the
Three servo motors 23, which are fixed on, drives forearm 7 to be swung along the rotation center of 3rd bearing on forearm 7.Vertical splined shaft 12 is vertically pacified
Mounted in the other end of forearm 7, the lower end of vertical splined shaft 12 is working beam 1, and vertical splined shaft 12 may be implemented vertically to transport
Dynamic and spin motion (described below), there are three the rotary joint of horizontal plane movement, three rotations for robot tool entire in this way
The axle center in joint be fourth bearing rotation center, 3rd bearing rotation in, vertical splined shaft.
It in order to realize that the upper and lower of working beam 1 vertically moves, is fixed on forearm 7 equipped with the second servo motor 22, second watches
The output end for taking motor 22 is fixedly connected with down-feed screw 5, and the output end of down-feed screw 5 is connected through a screw thread zigzag connection again
One end of block 11, the other end of zigzag link block 11 reconnect the upper end of vertical splined shaft 12, in this way when the second servo motor 22
When rotation, vertical splined shaft 12, working beam 1 can be driven to move up and down by lead screw 11, link block 12.
In order to realize the horizontal spin of working beam 1, it is equipped with spline wheel 3, spline wheel 3 is mounted on forearm 7 by first bearing
On, the inner ring of spline wheel 3 is engaged with vertical splined shaft 12, outer ring tightening skin band 4, and belt 4 by be fixed on forearm 7 first
Motor 21 drives.In this way when first motor 21 rotates, vertical splined shaft 12,1 water of working beam are driven by belt 4, spline wheel 3
It is flat to have rotated.
Since first servo motor 21, the second servo motor 22, third servo motor 23 are all mounted on forearm 7, structure
It is compact, these internal structures can be wired up by shell 13 so that total is simple and beautiful.The control of this three motors
Wiring board 10 processed is also mounted in shell 13, is connect with the circuit in engine base 9 by electric wire 6.It is respectively installed in engine base 9 and shell 13
There is fan, with heat dissipation.
The technology contents set forth above that the utility model is only further illustrated with embodiment, in order to which reader is easier to manage
Solution, but the embodiment for not representing the utility model is only limitted to this, and any technology done according to the utility model extends or creates again
It makes, is protected by the utility model.
Claims (9)
1. a kind of robot, which is characterized in that it includes working beam and working beam is driven to do vertical movement and spin motion
Driving mechanism, the driving mechanism include vertical driving mechanism and spin driving mechanism, and the vertical driving mechanism includes second
Power source, the down-feed screw being connect with the second power source output terminal, connect by link block with one end of down-feed screw it is vertical
The lower end of splined shaft, the vertical splined shaft is connect with working beam, and the spin driving mechanism includes the first power source and first
The driving member of power source output terminal connection, the spline wheel being connect with driving member output end, the inner circle of the spline wheel and vertical flower
Key axis engages.
2. robot as described in claim 1, which is characterized in that the driving member is driving belt.
3. robot as claimed in claim 2, which is characterized in that the link block is zigzag, and the top of zigzag is horizontal
Beam connects down-feed screw upper end, and lower crossbeam connects the upper end of vertical splined shaft.
4. robot as claimed any one in claims 1 to 3, which is characterized in that first power source is watched for first
Motor is taken, second power source is the second servo motor.
5. one end of a kind of four axis robots, including engine base, large arm, forearm, the large arm is mounted on engine base by fourth bearing
On, the rotation axis horizontal of the other end of the large arm by the 4th power source drive around fourth bearing is swung, and the forearm
One end is mounted on by 3rd bearing on the other end of large arm, and the other end of the forearm is by third power source drive around third
The rotation axis horizontal of bearing is swung, which is characterized in that robot is equipped on the forearm, the robot includes work
Bar and drive working beam do the driving mechanism of vertical movement and spin motion, and the driving mechanism includes vertical driving mechanism and oneself
Revolve driving mechanism, the vertical driving mechanism include the second power source, the down-feed screw being connect with the second power source output terminal, and
The lower end of the vertical splined shaft that one end of down-feed screw is connected by link block, the vertical splined shaft is connect with working beam, institute
Spin driving mechanism is stated to include the first power source, the driving member connecting with the first power source output terminal, with driving member output end connect
The inner circle of the spline wheel connect, the spline wheel is engaged with vertical splined shaft, and the spline wheel is mounted on forearm by first bearing
The other end on.
6. four axis as claimed in claim 5 robot, which is characterized in that first power source, the second power source, third are dynamic
Power source is fixed on forearm.
7. four axis as claimed in claim 5 robot, which is characterized in that the driving member is driving belt.
8. four axis as claimed in claim 7 robot, which is characterized in that the link block is zigzag, the top of zigzag
Crossbeam connects down-feed screw upper end, and the lower crossbeam of zigzag connects the upper end of vertical splined shaft.
9. the four axis robots as described in any one of claim 5 to 8, which is characterized in that first power source is the
One servo motor, second power source be the second servo motor, the third power source be third servo motor, the described 4th
Power source is the 4th servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820317235.7U CN207915457U (en) | 2018-03-08 | 2018-03-08 | A kind of robot and four axis robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820317235.7U CN207915457U (en) | 2018-03-08 | 2018-03-08 | A kind of robot and four axis robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207915457U true CN207915457U (en) | 2018-09-28 |
Family
ID=63597536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820317235.7U Expired - Fee Related CN207915457U (en) | 2018-03-08 | 2018-03-08 | A kind of robot and four axis robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207915457U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571442A (en) * | 2019-01-11 | 2019-04-05 | 珠海格力电器股份有限公司 | Connecting device and have its drive mechanism and robot |
| CN109676616A (en) * | 2018-12-05 | 2019-04-26 | 诺伯特智能装置(山东)有限公司 | A kind of four shaft multifunctional machine people |
-
2018
- 2018-03-08 CN CN201820317235.7U patent/CN207915457U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676616A (en) * | 2018-12-05 | 2019-04-26 | 诺伯特智能装置(山东)有限公司 | A kind of four shaft multifunctional machine people |
| CN109571442A (en) * | 2019-01-11 | 2019-04-05 | 珠海格力电器股份有限公司 | Connecting device and have its drive mechanism and robot |
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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: 20180928 Termination date: 20210308 |
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| CF01 | Termination of patent right due to non-payment of annual fee |