CN208496992U - A kind of selective compliance assembly robot arm's four axis arm of flapping articulation - Google Patents
A kind of selective compliance assembly robot arm's four axis arm of flapping articulation Download PDFInfo
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- CN208496992U CN208496992U CN201820931260.4U CN201820931260U CN208496992U CN 208496992 U CN208496992 U CN 208496992U CN 201820931260 U CN201820931260 U CN 201820931260U CN 208496992 U CN208496992 U CN 208496992U
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Abstract
The utility model relates to arrive machinery equipment field, specifically a kind of selective compliance assembly robot arm four axis arm of flapping articulation.The selective compliance assembly robot arm four axis arm of flapping articulation, including principal arm servo motor, rotation principal arm, auxiliary servo motor and rotation auxiliary.The utility model devises a kind of structural module of selective compliance assembly robot arm's shaft of four axis arm of flapping articulation, overall structure automation standard can be achieved to assemble it, it is mutually run using four servo motor structures, repeatable accuracy can meet current all devices required precision.The utility model patent respectively drives component with four axis arm of flapping articulation by electrical control selective compliance assembly robot arm, the various functions that arm is rotated horizontally with grabbed up and down may be implemented, it no matter is all that traditional structure can not match in excellence or beauty from operation precision and running speed, and this arm structure is succinct, it is easy to overhaul and safeguard, can has wide range of applications.
Description
Technical field
The utility model relates to arrive machinery equipment field, specifically a kind of selective compliance assembly robot arm's flapping articulation
Four axis arms.
Background technique
Selective compliance assembly robot arm is also known as SCARA (Selective Compliance Assembly Robot Arm) type
Robot is a kind of robot arm applied to assembling work.SCARA(Selective Compliance Assembly
Robot Arm, Chinese translation: selection compliance puts together machines arm) be a kind of circular cylindrical coordinate type specific type industrial machine
Device people.There are 3 rotary joints in SCARA robot, and axis is parallel to each other, is planar positioned and oriented.Another is closed
Section is linear joint, for completing end piece in the movement perpendicular to plane.The position of wrist reference point is by two rotary joints
Angular displacement φ 1 and the displacement z of φ 2 and linear joint determine, i.e. p=f (φ 1, φ 2, z), as shown in the figure.This kind of robot
Portable construction, response it is fast, such as Adept1 type SCARA robot movement velocity is up to 10m/s, than general prosthetic robot
Fast several times.It is best suited for plane positioning, the operation that vertical direction is assembled.
Current used same category of device, will such as realize pcb board level crawl function, general to watch using structure is extremely complex
Clothes lifting or easy cylinder lifting structure, above two structure market application is universal, is gone up and down using servo, accurate positioning,
But design assembly or maintenance improve and its difficulty, in addition structural area is very huge, so that equipment can not integrally scale, such as uses
Cylinder lifting, positioning accuracy generally not enough precisely, are not used in more and more accurate equipment and the speed of service also restrict
The capacity requirements of equipment
In order to solve the above-mentioned technical problem, the utility model devises a kind of selective compliance assembly robot arm's flapping articulation four
Axis arm, the selective compliance assembly robot arm is with the structural module of the shaft of four axis arm of flapping articulation, it can be achieved that overall structure
Automation standard assembles it, is mutually run using four servo motor structures, and repeatable accuracy can meet all at present
Equipment precision requirement, and overall space is reduced, the speed of service is substantially improved, and automation equipment efficiency is performed to pole
It causes.Assembly with it is easy to maintenance, be applicable at present on all horizontal capture apparatus.The utility model patent is flat by electrical control
Face revolute robot respectively drives component with four axis arm of flapping articulation, and arm may be implemented and rotate horizontally and grab up and down
No matter various functions are all that traditional structure can not match in excellence or beauty, and this arm structure is succinct from operation precision and running speed, easily
In maintenance and maintenance, can have wide range of applications.
Utility model content
In order to overcome defect present in background technique, the utility model solves technical solution used by its technical problem
It is: a kind of selective compliance assembly robot arm's four axis arm of flapping articulation, including principal arm servo motor, rotation principal arm, auxiliary servo
Motor and rotation auxiliary, it is described rotation principal arm one end lower part be equipped with principal arm servo motor, it is described rotation principal arm the other end on
Portion and one end of rotation auxiliary link together by the way that auxiliary servo motor is movable, and the other end of the rotation auxiliary passes through rotation
Shaft, which is held, is provided with lifting screw, is fixed with screw rod lift servo motor and screw rod rotary servomotor on the rotation auxiliary,
The screw rod lift servo motor is able to drive lifting screw up and down motion, and the screw rod rotary servomotor is able to drive lifting
Screw rod 360 degree rotation.
The preferred principal arm servo motor is able to drive rotation principal arm and rotates within the scope of 270 degree, the auxiliary servo
Motor is able to drive rotation auxiliary and rotates within the scope of 270 degree.
The utility model devises a kind of selective compliance assembly robot arm's four axis arm of flapping articulation, the plane articulation type machine
The device people structural module of the shaft of four axis arm of flapping articulation is, it can be achieved that overall structure automation standard carries out group to it
Dress, is mutually run, repeatable accuracy can meet current all devices required precision, and make using four servo motor structures
Overall space reduces, and the speed of service is substantially improved, automation equipment efficiency is performed to ultimate attainment.Assembly with it is easy to maintenance, can fit
For current all horizontal capture apparatus.The utility model patent is closed by electrical control selective compliance assembly robot arm with horizontal
It saves four axis arms and respectively drives component, the various functions that arm is rotated horizontally with grabbed up and down may be implemented, it is no matter smart from movement
All it is that traditional structure can not match in excellence or beauty, and this arm structure is succinct in degree and running speed, is easy to overhaul and safeguard, model can be applied
It encloses extensively.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of structural schematic diagram of the selective compliance assembly robot arm of the utility model with four axis arm of flapping articulation；
Fig. 2 is a kind of main view of the selective compliance assembly robot arm of the utility model with four axis arm of flapping articulation；
Wherein: 1, principal arm servo motor；2, principal arm is rotated；3, auxiliary servo motor；4, auxiliary is rotated；5, screw rod lifting is watched
Take motor；6, lifting screw；7, screw rod rotary servomotor；8, swivel bearing.
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.Attached drawing is simplified schematic diagram, only to show
Meaning mode illustrates the basic structure of the utility model, therefore it only shows composition related with the utility model.
Specific embodiment please refers to Fig. 1 ~ 2, and a kind of selective compliance assembly robot arm is with four axis arm of flapping articulation, including master
One end lower part of arm servo motor 1, rotation principal arm 2, auxiliary servo motor 3 and rotation auxiliary 4, the rotation principal arm 2 is equipped with master
Arm servo motor 1, the other end top of the rotation principal arm 2 and one end of rotation auxiliary 4 are movable by auxiliary servo motor 3
It links together, the other end of the rotation auxiliary 4 is provided with lifting screw 6 by swivel bearing 8, on the rotation auxiliary 4
It is fixed with screw rod lift servo motor 5 and screw rod rotary servomotor 7, the screw rod lift servo motor 5 is able to drive lifting
Screw rod) it moves up and down, the screw rod rotary servomotor 7 is able to drive 6 360 degree rotation of lifting screw, the principal arm servo horse
It is able to drive rotation principal arm 2 up to 1 to rotate within the scope of 270 degree, the auxiliary servo motor 3 is able to drive rotation auxiliary 4 270
Spend rotation in range.
The utility model devises a kind of selective compliance assembly robot arm's four axis arm of flapping articulation, the plane articulation type machine
The device people structural module of the shaft of four axis arm of flapping articulation is, it can be achieved that overall structure automation standard carries out group to it
Dress, is mutually run, repeatable accuracy can meet current all devices required precision, and make using four servo motor structures
Overall space reduces, and the speed of service is substantially improved, automation equipment efficiency is performed to ultimate attainment.Assembly with it is easy to maintenance, can fit
For current all horizontal capture apparatus.The utility model patent is closed by electrical control selective compliance assembly robot arm with horizontal
It saves four axis arms and respectively drives component, the various functions that arm is rotated horizontally with grabbed up and down may be implemented, it is no matter smart from movement
All it is that traditional structure can not match in excellence or beauty, and this arm structure is succinct in degree and running speed, is easy to overhaul and safeguard, model can be applied
It encloses extensively.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (2)
1. a kind of selective compliance assembly robot arm four axis arm of flapping articulation, including principal arm servo motor (1), rotation principal arm (2),
Auxiliary servo motor (3) and rotation auxiliary (4), it is characterised in that: one end lower part of rotation principal arm (2) is equipped with principal arm servo
Motor (1), the other end top of rotation principal arm (2) can be lived with one end of rotation auxiliary (4) by auxiliary servo motor (3)
Dynamic to link together, the other end of rotation auxiliary (4) is provided with lifting screw (6), the rotation by swivel bearing (8)
Screw rod lift servo motor (5) and screw rod rotary servomotor (7), the screw rod lift servo motor are fixed on auxiliary (4)
(5) it is able to drive lifting screw (6) up and down motion, the screw rod rotary servomotor (7) is able to drive lifting screw (6) 360
Degree rotation.
2. a kind of selective compliance assembly robot arm according to claim 1 four axis arm of flapping articulation, which is characterized in that institute
State principal arm servo motor (1) be able to drive rotation principal arm (2) rotated within the scope of 270 degree, the auxiliary servo motor (3) can
Rotation auxiliary (4) is driven to rotate within the scope of 270 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820931260.4U CN208496992U (en) | 2018-06-15 | 2018-06-15 | A kind of selective compliance assembly robot arm's four axis arm of flapping articulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820931260.4U CN208496992U (en) | 2018-06-15 | 2018-06-15 | A kind of selective compliance assembly robot arm's four axis arm of flapping articulation |
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| Publication Number | Publication Date |
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| CN208496992U true CN208496992U (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820931260.4U Active CN208496992U (en) | 2018-06-15 | 2018-06-15 | A kind of selective compliance assembly robot arm's four axis arm of flapping articulation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877815A (en) * | 2019-04-23 | 2019-06-14 | 泉州市泉港区丹艳机械有限公司 | Electrodynamic type revolute robot's mechanical clamp |
| CN110666831A (en) * | 2019-09-19 | 2020-01-10 | 东莞市本润机器人科技股份有限公司 | Lightweight multi-joint module of robot |
-
2018
- 2018-06-15 CN CN201820931260.4U patent/CN208496992U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877815A (en) * | 2019-04-23 | 2019-06-14 | 泉州市泉港区丹艳机械有限公司 | Electrodynamic type revolute robot's mechanical clamp |
| CN110666831A (en) * | 2019-09-19 | 2020-01-10 | 东莞市本润机器人科技股份有限公司 | Lightweight multi-joint module of robot |
| CN110666831B (en) * | 2019-09-19 | 2021-05-18 | 东莞市本润机器人科技股份有限公司 | Lightweight multi-joint module of robot |
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