CN209408488U - Industry robot comprising acting axle construction - Google Patents
Industry robot comprising acting axle construction Download PDFInfo
- Publication number
- CN209408488U CN209408488U CN201920046443.2U CN201920046443U CN209408488U CN 209408488 U CN209408488 U CN 209408488U CN 201920046443 U CN201920046443 U CN 201920046443U CN 209408488 U CN209408488 U CN 209408488U
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- arm
- motor
- harmonic wave
- speed reducing
- wave speed
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Abstract
The utility model discloses a kind of industry robots comprising movement axle construction, including base station, first arm, second arm and movement axis, first arm is driven by the first motor and is rotated, second arm is driven by the second motor and is rotated, screw and spline groove are provided on movement axis, ut socket and harmonic wave speed reducing machine are provided on second arm, ut socket can be rotated relative to the second arm, harmonic wave speed reducing machine outer ring is mounted on the second arm, sliding sleeve is provided on harmonic wave speed reducing machine output shaft, internal spline corresponding with spline groove is provided in sliding sleeve along the vertical direction, movement axis sequentially passes through ut socket from top to bottom, harmonic wave speed reducing machine and sliding sleeve, movement axis is threadedly coupled with ut socket and matches with sliding sleeve, ut socket is connect with the third motor being arranged on the second arm, harmonic wave subtracts Fast machine is connect with the 4th motor being arranged on the second arm.
Description
Technical field
The utility model relates to a kind of industry robots comprising movement axle construction, belong to Industrial Robot Technology field.
Background technique
Multi-spindle machining hand is used to quickly operate part along the track close to plane.E.g. pick up the transmission belt of operation
On part and terminate in situation about setting in tool for the part is anti-.
SCARA(selection compliance puts together machines arm) manipulator of type is adapted for the multiaxis machine of work in the horizontal plane
Tool hand.Routinely, SCARA manipulator includes base station, and base station can for example be placed on the table, and SCARA manipulator further includes
One arm, the first arm can at least move in a rotating manner relative to base station, and the first arm front end is also equipped with can be with respect to the first arm
Second arm of rotation, last robot are further equipped with movement axis, and movement axis can receive tool, tool be, for example, grasp pincers or
Grasping tool.
Movement axis can be rotated or be moved up and down relative to the second arm, and the outer surface for acting axis includes spiral groove and longitudinal direction
Groove, sliding sleeve and ut socket are mounted on fluted shaft by means of the ball being contained in the groove of axis, ut socket it is interior
Surface is provided with spiral groove, and sliding sleeve is provided with longitudinal groove.These sleeves individually rotate, and make fluted shaft with
And therefore also enables the tool rotation that moves axially, rotate or be combined received and move up and down.
It is essentially identical for the current different manufacturers of tool weight that can be promoted of movement axis, but the tool of same weight due to
Shape, center of gravity are different, and inertia can have difference, since current sliding sleeve is that have motor by planetary reducer or speed reducer
Structure controls the synchronous pulley on sliding sleeve by synchronous belt after slowing down.Due to current planetary reducer or other deceleration mechanisms
Speed ratio is restricted, and speed ratio all will not be very big at present.And if motor fan-out capability can be limited to synchronous belt ability again, so at present
Different manufacturers SCARA robot is lower for the inertia for acting axis energy loading tool.
The rotary shaft of YAMAHA robot is driven by speed reducer in colleague, can load inertia it is larger, but again using hollow
Motor, robot body inertia is larger, and hollow motor higher cost.
Summary of the invention
The purpose of the utility model is to provide a kind of industry robots comprising movement axle construction, solve in the prior art
The small technological deficiency of the portative tool inertia of industry robot motion axis.
To solve the above problems, technical solution adopted in the utility model is: the industry machine comprising acting axle construction
People, including base station, the first arm, the second arm and movement axis, the end of the movement axis be provided with for components into
One end of the end effector of row operational motion, first arm is driven by the first motor being arranged on base station around vertical
J1 axis rotation, one end of second arm be mounted on the first arm far from base station one end and by being mounted on second
The second motor driving on arm is rotated around vertical J2 axis, is provided with screw and spline ditch on the movement axis
Slot, ut socket and harmonic wave speed reducing machine are provided on second arm, and the ut socket can turn with respect to the second arm
Dynamic, the harmonic wave speed reducing machine outer ring of the harmonic wave speed reducing machine is mounted on the second arm, and the harmonic wave of the harmonic wave speed reducing machine subtracts
It is provided with sliding sleeve on fast machine output end, is provided with along the vertical direction in the sliding sleeve corresponding with spline groove
Internal spline, the movement axis sequentially passes through ut socket, harmonic wave speed reducing machine and sliding sleeve, the movement from top to bottom
Axis and ut socket are threadedly coupled and match with sliding sleeve, the ut socket be arranged on the second arm the
The connection of three motors, the harmonic wave speed reducing machine are connect with the 4th motor being arranged on the second arm.The utility model is using humorous
Wave speed reducer, transmission speed ratio are high, larger for the inertia for acting the portative tool of axis, especially motor fan-out capability by
In limited time, the bearing capacity of the utility model can be effectively improved, the utility model uses hollow motor can compared to the prior art
It is driven using ordinary motor, overall cost can be effectively reduced.
Outer sleeve, the outer sleeve are arranged on the ut socket as a further improvement of the utility model,
It is detachably arranged on the second arm, the ut socket can rotate in outer sleeve, install on the ut socket
Have nut belt wheel, be provided with first pulley on the output shaft of the third motor, the first pulley and nut belt wheel by
First synchronizes band connection, is provided with harmonic wave speed reducing machine belt wheel, the 4th motor on the input terminal of the harmonic wave speed reducing machine
Output shaft on be provided with the second belt wheel, second belt wheel is with harmonic wave speed reducing machine belt wheel by the second synchronous band connection.This reality
V belt translation is used with novel, structure is simple, stable drive.
Width of second arm close to first arm one end is greater than another as a further improvement of the utility model,
The width of one end, one end that the third motor and the 4th motor are arranged close to the first arm and the two are along the second arm
The width direction arrangement in portion, the height of the second belt wheel of height of the first pulley.Third motor in the utility model and
4th motor makes the second arm at triangular arrangement along the width direction arrangement and close second motor, three motors of the second arm
Portion's internal structure is compact, the further rotary inertia for reducing robot body.
It as a further improvement of the utility model, further include the second arm housing, the second arm housing covers on second
On arm and the height of the one end of the second arm housing close to the first arm is greater than the height of one end far from the first arm
Degree, the movement axis upwardly penetrate through the second arm housing.The second arm housing is arranged in the utility model, by component in the second arm
Covering guarantees robot degree of protection and monnolithic case.
As a further improvement of the utility model, the side of the base station be provided in the cable support worn, it is described
The top of cable support connect at the top of the second arm housing by flexible cord pipe, second motor, third motor and the 4th horse
The cable reached from base station pass through cable support and flexible cord pipe enter the second arm housing respectively with the second motor, third motor and the
Four motors are connected.The utility model effectively can prevent cable from winding.
In conclusion the beneficial effects of the utility model are: the load inertia of the utility model is big, movement speed, acceleration
Degree is fast, and cost is lower, and robot body inertia is smaller.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the A-A cut-away view of Fig. 1.
Fig. 3 is the second arm schematic internal view in reaction the utility model.
Fig. 4 is the usage state diagram that axis is acted in the utility model.
Specific embodiment
Specific embodiment of the present utility model is described further with reference to the accompanying drawing.
Industry robot as shown in FIG. 1 to FIG. 3 comprising movement axle construction, including base station 1, the first arm 2, the second arm
Portion 3 and movement axis 41, the end of the movement axis 41 are provided with the end effector for components to be carried out with operational motion,
Movement axis 41 in the utility model can be rotated around J3 axis, and the J3 axis in the utility model is where acting the center line of axis
Vertical line, movement axis 41 can also be moved up and down along the centerline direction of movement axis 41, and the base station 1 is used for will be originally practical new
Type is whole to be placed on desktop etc., to provide support when the utility model is used for the utility model, described the
One end of one arm 2 is driven by the first motor M1 and is rotated around vertical J1 axis, one end of the first arm 2 in the utility model with
The upper surface of base station 1 is rotatablely connected, specific to be rotatablely connected the mode system prior art, the improvement of non-the utility model, this reality
It is mounted in base station 1 with the first motor M1 in novel, and the output shaft of the first motor M1 sets up and connects with the first arm 2
It connects, the first motor M1 work, the output shaft of the first motor M1 rotation drives the first arm 2 to turn on base station 1 around J1 axis
Dynamic, the output shaft and J1 axle position of the first motor M1 in the utility model is on same vertical line.
One end of second arm 3 is mounted on one end on the first arm 2 far from base station 1 and by being mounted on second
The second motor M2 driving on arm 3 is rotated around vertical J2 axis, and the second arm in the utility model includes lower plate, upper bottom
Plate and the connecting plate for connecting lower plate and upper plate, the lower plate is rotatably arranged on the upper surface of the first arm 2, described
Second motor M2 is detachably arranged on lower plate using bolt, and described and the second motor M2 output shaft is straight down simultaneously
And connect with the first arm 2, the second motor M2 work, the output shaft of rotation drives the second arm 3 in the first arm 1
Upper rotation.
Screw (not shown) and spline groove (not shown) are provided on the movement axis 41,
The spline groove is opened up along the length direction of movement axis, and is intersected with screw thread, i.e., between adjacent spline groove
Part movement axis on screw thread is set, the utility model is along the circumferential direction provided in screw rod multiple listens ditch along screw rod length direction
Slot can be made into movement axis 41, be provided with ut socket 44 and harmonic wave speed reducing machine 47, the harmonic wave on second arm 3
There is speed reducer 47 harmonic wave speed reducing machine output end 47b, the harmonic wave speed reducing machine output end 47b to be rotatably fixed on harmonic reduction
In the 47a of machine outer ring, harmonic wave speed reducing machine 47 also there is harmonic wave speed reducing machine input terminal 47c, the harmonic wave speed reducing machine input terminal 47c can turn
Dynamic is fixed in harmonic wave speed reducing machine outer ring 47a and harmonic wave output end of reducer 47b.Harmonic wave speed reducing machine output end 47b internal ring gear
The flexbile gear outer ring tooth engagement to extend out with harmonic wave speed reducing machine outer ring 47a, the middle part harmonic wave speed reducing machine input terminal 47c can rolling portion
It is oval, it is contacted with harmonic wave speed reducing machine outer ring 47a flexbile gear inner ring, harmonic wave speed reducing machine input terminal 47c can subtract harmonic wave when rotating
Fast machine outer ring 47a flexbile gear generates harmonic motion, so that harmonic wave speed reducing machine output end 47b be driven to rotate with certain reduction ratio.
The ut socket 44 can be rotated relative to the second arm 3, and the harmonic wave speed reducing machine outer ring 47a is mounted on second
On arm 3, sliding sleeve 43 is provided on the harmonic wave speed reducing machine output end 47b, the sliding sleeve 43 is interior along vertical
Direction is provided with internal spline corresponding with spline groove, and the movement axis 41 sequentially passes through ut socket from top to bottom
44, harmonic wave speed reducing machine 47 and sliding sleeve 43, the movement axis 41 is threadedly coupled with ut socket 44 and and sliding sleeve
43 match, and the ut socket 44 is connect with the third motor M3 being arranged on the second arm 3, and third motor M3 drives spiral shell
Mother sleeve 44 rotates, and the harmonic wave speed reducing machine input terminal 47c is connect with the 4th motor M4 being arranged on the second arm 3, institute
The 4th motor M4 task driven harmonic wave speed reducing machine 47 work stated.The transmission speed ratio of harmonic wave speed reducing machine 47 described in the utility model
More than or equal to 30, the harmonic wave speed reducing machine 47 is output on movement axis 41 after can increasing the 4th motor torsional moment.And harmonic wave
47 material of speed reducer is made of light metal alloy (for example, aluminium or magnesium alloy), to the ontology inertia of 3 end of the second arm increase compared with
It is few, robot motion velocity and acceleration can be provided.
Outer sleeve 42 is arranged on ut socket 44 described herein, the outer sleeve 42 in the utility model includes circle
The first sleeve unit and second sleeve unit of tubular, the outer diameter of the first sleeve unit are greater than the outer of second sleeve unit
The bottom end of diameter, the second sleeve unit is fixedly connected with the top of first sleeve unit, the first sleeve unit and
The internal diameter of second sleeve unit is equal and the center line of the two is overlapped, the preferred first sleeve unit of the application and second sleeve
Unit is integrally formed, and the ut socket 44 can be used bearing and be rotatably installed in first sleeve unit and second sleeve unit
It is interior, along the circumferential direction uniformly offer multiple first fixed holes on the first sleeve unit, the upper plate and
Installation through-hole and lower installation through-hole are had on lower plate, are along the circumferential direction uniformly opened on the outside of the upper installation through-hole
There is the first threaded hole, the first sleeve unit is by being inserted through the first fixed hole and being threadedly coupled with the first threaded hole
The first bolt be detachably arranged on upper plate, the bottom end of the ut socket 44 be passed down through installation through-hole and
The second threaded hole is along the circumferential direction uniformly offered in the end of the lower end of ut socket 44, it is logical in the bottom end of ut socket 44
It crosses the second nut being threadedly engaged with the second threaded hole and nut belt wheel 46 is removably installed, the movement axis 41 passes through spiral shell
46 upper and lower ends of master tape wheel.
The utility model the top harmonic wave speed reducing machine input terminal 47c end using third bolt be removably equipped with it is humorous
Wave speed reducer belt wheel 48, the movement axis 41 passes through the upper and lower ends of harmonic wave speed reducing machine belt wheel 48, described in the utility model
Sliding sleeve 43 include cylindric the first sliding unit and the second sliding unit, the outer diameter of first sliding unit is big
In the outer diameter of the second sliding unit, the top of second sliding unit is fixed with the bottom end of the first sliding unit and the two
Center line be overlapped, the internal diameter of first sliding unit and the second sliding unit is equal, and the internal spline setting is the
On the inner surface of one sliding unit and the second sliding unit, multiple second are along the circumferential direction provided on first sliding unit
Fixation hole, first sliding unit by pass through the second fixation hole and with the output end 47b screw thread of harmonic wave speed reducing machine 47
The nut of connection is detachably arranged on harmonic wave speed reducing machine 47, preferred first sliding unit of the utility model and the second sliding
Unit is integrally formed.
Third motor M3 and the 4th motor M4 in the utility model are all made of bolt and are detachably arranged on upper plate,
And the output shaft of third motor M3 and the 4th motor M4 are passed down through upper plate, are provided on the output shaft of third motor M3
First pulley 35, the first pulley 35 is connect with nut belt wheel 46 by the first synchronous belt 33, in the output of the 4th motor M4
The second belt wheel 36 is provided on axis, second belt wheel 36 is connect with harmonic wave speed reducing machine belt wheel 48 by the second synchronous belt 34, this
Second arm 3 described in utility model is greater than the width of the other end, the third horse close to the width of 2 one end of the first arm
Up to M3 and the 4th motor M4 be arranged close to the first arm 2 one end and the two along the second arm 3 width direction arrange,
The nut belt wheel 46 as described in the utility model is located at the top of harmonic wave speed reducing machine belt wheel 48, so institute in the utility model
The height for the first pulley 35 stated is greater than the height of the second belt wheel 36, to ensure that first pulley 35 and nut belt wheel are located at same height
On degree, the second belt wheel 36 is located on sustained height with harmonic wave speed reducing machine belt wheel 48.
To protect motor, the utility model is provided with the second arm housing 32, and the second arm housing 32 covers on the second arm
In portion 3 and the height of the one end of the second arm housing 32 close to the first arm 2 is greater than one end far from the first arm 2
Highly, the movement axis 41 upwardly penetrates through the second arm housing 32, and the second arm housing 32 described in the utility model includes upper
The bottom end of housing unit and lower cover shell unit, the upper cover shell unit is connect with the top of lower cover shell unit, the lower cover
Length and width at the top of shell unit is respectively greater than the length and width of upper encloser unit bottom, in upper cover shell unit bottom end under
The junction on housing unit top forms horizontal interconnecting piece, the height of the one end of the upper cover shell unit close to the first arm
Greater than the height of one end for installation action axis, when covering on the second arm housing 32 on second arm 3, the second arm housing 32
Interconnecting piece by upper plate edge support, for the second arm housing 32 is fixed, the utility model can be on upper plate
Be provided with threaded hole, be provided with connection through-hole in interconnecting piece, can be used across connection through-hole and with the threaded hole screw thread on upper plate
Second arm housing 32 is fixed on the second arm 3 by the bolt of cooperation, the length on the utility model preferred lower cover shell unit top
Degree and width are respectively greater than the length and width of bottom end, so that entire lower cover shell unit is formed big top and small bottom structure, with side
Just the second arm housing 32 is covered on the second arm 3.
The cable support 6 that the utility model is preferably worn in the side of the base station 1 is provided with, the cable branch
The top of frame 6 is connect with 32 top of the second arm housing by flexible cord pipe 7, the second motor M2, third motor M3 and the 4th horse
Up to the cable of M4 from base station 1 pass through cable support 6 and flexible cord pipe 7 enter the second arm housing 32 respectively with the second motor M2, the
Three motor M3 and the 4th motor M4 are connected, 6 inverted L-shaped of cable support described in the utility model, and vertical portion is using such as
Bolt etc. is detachably arranged on base station 1, and the horizontal component and software pipe 7 at 6 top of cable support are rotatablely connected, this is practical new
Type can be connected the water station partial turn of casing and cable support 6 in the casing of the end setting hard of wheel spool 7, and using bearing
It connects, the top of flexible cord pipe 7 described in the utility model and the second arm housing 32 is also rotatablely connected, connection type and flexible cord pipe
7 is identical with the connection type of cable support 7.
Third motor M3 work in the utility model, and when the 4th motor M4 does not work, 43 prevention of sliding sleeve movement
Axis 41 rotates, and third motor M3 drives ut socket 44 to rotate, since ut socket 44 and movement axis 41 are threadedly engaged, so spiral shell
44 drive actions axis 41 of mother sleeve moves up and down；When third motor M3 does not work, and the 4th motor M4 works, the 4th motor M4
Sliding sleeve 43 is driven to rotate, since sliding sleeve 43 and movement axis 41 are keyed, 41 turns of sliding sleeve drive actions axis
It is dynamic, and ut socket 44 at this time does not rotate, therefore acts axis 41 and also move up and down while rotation；As third motor M3 and
4th motor M4 is worked at the same time, and third motor M3 driving ut socket 44 rotates the revolving speed for making ut socket 44 and by the 4th
When the speed that the movement axis 41 of motor M4 driving rotates is identical, movement 41 opposing nut sleeve 44 of axis is not moved up and down, at this time
Movement axis 41 only rotate, and without moving up and down.
As shown in figure 4, movement 41 end of axis is connected with end flange 51, end flange 51 can fastening means 50, by with
On design, 50 mass center offset or dish of tool (i.e. the mass center of tool 50 is at a distance from the centreline space of J3 axis) L1 can be bigger,
50 inertia of end fastening means can be bigger in summary.
Not doing the part illustrated in above instructions is the prior art, or has both been able to achieve by the prior art.
And specific implementation case described in the utility model is only the preferable case study on implementation of the utility model, is not used to limit
The scope of the utility model.Equivalent changes and modifications made by i.e. all contents according to present utility model application the scope of the patents,
It all should be used as the technology scope of the utility model.
Claims (5)
1. a kind of industry robot comprising acting axle construction, it is characterised in that: including base station (1), the first arm (2), second
Arm (3) and movement axis (41), the end of the movement axis (41) are provided with the end for components to be carried out with operational motion
Actuator is held, one end of first arm (2) is driven by the first motor (M1) being arranged on base station (1) around vertical J1
Axis rotation, one end of second arm (3) are mounted on one end on the first arm (2) far from base station (1) and by installing
The second motor (M2) driving on the second arm (3) is rotated around vertical J2 axis, is provided with spiral shell on the movement axis (41)
Screw thread and spline groove are revolved, is provided with ut socket (44) and harmonic wave speed reducing machine (47) on second arm (3), it is described
Ut socket (44) can be rotated relative to the second arm (3), the harmonic wave speed reducing machine outer ring (47a) of the harmonic wave speed reducing machine (47)
It is mounted on the second arm (3), is provided with sliding sleeve on the harmonic wave speed reducing machine output end (47b) of the harmonic wave speed reducing machine (47)
Cylinder (43), the sliding sleeve (43) is interior to be provided with internal spline corresponding with spline groove along the vertical direction, described
Movement axis (41) sequentially passes through ut socket (44), harmonic wave speed reducing machine (47) and sliding sleeve (43) from top to bottom, and described is dynamic
Make axis (41) and ut socket (44) to be threadedly coupled and match with sliding sleeve (43), the ut socket (44) with set
Third motor (M3) connection on the second arm (3) is set, the harmonic wave speed reducing machine (47) and setting are on the second arm (3)
The 4th motor (M4) connection.
2. the industry robot according to claim 1 comprising movement axle construction, it is characterised in that: the ut socket
(44) it is arranged on outer sleeve (42), the outer sleeve (42) is detachably arranged on the second arm (3), the nut
Sleeve (44) can the rotation in the outer sleeve (42), be equipped with nut belt wheel (46) on the ut socket (44), described the
It is provided on the output shaft of three motors (M3) first pulley (35), the first pulley (35) and nut belt wheel (46) are by first
Synchronous belt (33) connects, and is provided with harmonic wave speed reducing machine belt wheel (48) on the input terminal of the harmonic wave speed reducing machine (47), described
It is provided with the second belt wheel (36) on the output shaft of 4th motor (M4), second belt wheel (36) and harmonic wave speed reducing machine belt wheel
(48) it is connected by the second synchronous belt (34).
3. the industry robot according to claim 2 comprising movement axle construction, it is characterised in that: second arm
(3) it is greater than the width of the other end, the third motor (M3) and the 4th motor (M4) close to the width of the first arm (2) one end
It is arranged close to one end of the first arm (2) and the two is arranged along the width direction of the second arm (3), the first band
The height for taking turns (35) is greater than the height of the second belt wheel (36).
4. the industry robot according to claim 3 comprising movement axle construction, it is characterised in that: further include the second arm cover
Shell (32), the second arm housing (32) covers on the second arm (3) and the second arm housing (32) is close to first
The height of one end of arm (2) is greater than the height of one end far from the first arm (2), and the movement axis (41) upwardly penetrates through the
Two arm housings (32).
5. the industry robot according to claim 4 comprising movement axle construction, it is characterised in that: the base station (1)
Side be provided in the cable support (6) worn, the top of the cable support (6) at the top of the second arm housing (32) by soft
Spool (7) connection, the cable of second motor (M2), third motor (M3) and the 4th motor (M4) are worn from base station (1)
Cross cable support (6) and flexible cord pipe (7) enter the second arm housing (32) respectively with the second motor (M2), third motor (M3) and the
Four motors (M4) are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920046443.2U CN209408488U (en) | 2019-01-11 | 2019-01-11 | Industry robot comprising acting axle construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920046443.2U CN209408488U (en) | 2019-01-11 | 2019-01-11 | Industry robot comprising acting axle construction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209408488U true CN209408488U (en) | 2019-09-20 |
Family
ID=67943395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920046443.2U Active CN209408488U (en) | 2019-01-11 | 2019-01-11 | Industry robot comprising acting axle construction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209408488U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551467A (en) * | 2019-01-11 | 2019-04-02 | 南京埃斯顿机器人工程有限公司 | Industry robot comprising acting axle construction |
-
2019
- 2019-01-11 CN CN201920046443.2U patent/CN209408488U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551467A (en) * | 2019-01-11 | 2019-04-02 | 南京埃斯顿机器人工程有限公司 | Industry robot comprising acting axle construction |
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