CN209504158U - A kind of conveying robot unit - Google Patents
A kind of conveying robot unit Download PDFInfo
- Publication number
- CN209504158U CN209504158U CN201822057796.0U CN201822057796U CN209504158U CN 209504158 U CN209504158 U CN 209504158U CN 201822057796 U CN201822057796 U CN 201822057796U CN 209504158 U CN209504158 U CN 209504158U
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- China
- Prior art keywords
- load bearing
- bearing arm
- rotating device
- mounting hole
- servo motor
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Abstract
The utility model discloses a kind of conveying robot units, including pedestal, main rotating device is equipped in the pedestal, big load bearing arm is arranged in connection on the main rotating device, described big load bearing arm one end is connected with main rotating device, secondary rotating device is arranged in other end connection, small load bearing arm is equipped with above the big load bearing arm, the pair rotating device is fixedly connected with small load bearing arm, the small load bearing arm, which is equipped with, carries rotating device, the small load bearing arm, which is additionally provided with, moves up and down device for carrying the mobile carrying in rotating device position, the carrying rotating device is equipped with handbarrow, handbarrow carries out rotation by carrying rotating device, device progress upper and lower position adjustment is moved up and down by carrying, small circumference movement is carried out by secondary rotating device, big circumference movement is carried out by main rotating device.The beneficial effects of the utility model are: the apparatus structure is simple and compact, stable and reliable operation, small in size, working space is effectively saved.
Description
Technical field
A kind of the utility model mechanical automation control device technical field, and in particular to conveying robot unit.
Background technique
With the rapid development of industry, more and more duplication of labour work are replaced by mechanical device, these mechanical devices
The effect for once putting into permanent income can be brought, has the advantages that work efficiency is high, consistency is good.Mechanical device type has very
Mostly such as: planer-type, but these mechanical devices have move it is not flexible, and the disadvantages of volume big occupancy working space, so
Invent a kind of structure is simple, movement flexibly, the manipulator of compact is particularly important to meet daily industrial requirements just.
Utility model content
In order to solve the problems in the existing technology, the utility model provides a kind of structurally reasonable conveying robot
Device.
The technical solution of the utility model is as follows:
A kind of conveying robot unit, including pedestal, which is characterized in that main rotating device is equipped in the pedestal, it is described
Big load bearing arm is arranged in connection on main rotating device, and described big load bearing arm one end is connected with main rotating device, other end connection setting
Secondary rotating device, the big load bearing arm top are equipped with small load bearing arm, and the pair rotating device is fixedly connected with small load bearing arm, described
Small load bearing arm, which is equipped with, carries rotating device, and the small load bearing arm is additionally provided with for carrying the mobile carrying in rotating device position
Lower mobile device, the carrying rotating device are equipped with handbarrow, and handbarrow carries out rotation by carrying rotating device, lead to
It crosses carrying and moves up and down device progress upper and lower position adjustment, small circumference movement is carried out by secondary rotating device, passes through main rotation and fills
It sets and carries out big circumference movement.
A kind of conveying robot unit, feature are being that the carrying rotating device includes that setting is held small
The first harmonic decelerator of first servo motor and first servo motor transmission connection on load arm, setting are left in small load bearing arm
The 3rd bearing at end, the axle sleeve being arranged in 3rd bearing, the splined nut being arranged in axle sleeve and with splined nut cooperation
Splined shaft；
The handbarrow is equipped on splined shaft, and the axle sleeve is equipped with the first synchronous pulley, and described first is humorous
The output end of wave retarder is equipped with the second synchronous pulley, and second synchronous pulley and the first synchronous pulley pass through toothed belt transmission
Connection, to drive handbarrow to carry out rotation by splined shaft.
A kind of conveying robot unit, feature are being that the first servo motor and first harmonic slow down
It is equipped with the first connecting flange between device, and is fixedly connected by the first connecting flange；The small load bearing arm is equipped with first
Mounting hole, the first cushion block is equipped in first mounting hole, and the first harmonic decelerator is fixed on the first cushion block；It is described small
Load bearing arm is equipped with the 7th mounting hole, and the 3rd bearing is arranged in the 7th mounting hole；In the first harmonic decelerator
Output end is equipped with the second connecting flange, and second synchronous pulley is fixed on the second connecting flange.
A kind of conveying robot unit, feature are being that it includes that setting exists that the carrying, which moves up and down device,
The second servo motor on small load bearing arm, is arranged small the third synchronous pulley being arranged on the output shaft of the second servo motor
Sleeve, the first bearing being arranged in sleeve on load bearing arm and the ball-screw being arranged in first bearing, the ball wire
Thick stick is equipped with feed screw nut, and the feed screw nut is equipped with connecting bridge, and is connected by connecting bridge with splined shaft, the ball wire
Thick stick end is equipped with the 4th synchronous pulley, and the 4th synchronous pulley is connect with third synchronous pulley by toothed belt transmission, so that
The up and down motion of ball-screw, to drive splined shaft to move up and down by connecting bridge.
A kind of conveying robot unit, feature are being that the connecting bridge is equipped with installation through-hole, the peace
Second bearing is equipped in dress through-hole, the splined shaft is arranged in second bearing；The sleeve bottom is equipped with briquetting, and leads to
It crosses briquetting to seal sleeve, forms an entirety；The small load bearing arm is equipped with the second mounting hole, and the sleeve is arranged second
In mounting hole；It is additionally provided with third mounting hole on the small load bearing arm, is equipped with the second cushion block in the third mounting hole, described second
Servo motor is fixed on the second cushion block.
A kind of conveying robot unit, feature are being that the pair rotating device includes being arranged in small carrying
Third servo motor on arm and the second harmonic retarder being arranged on third servo motor, the third servo motor and
It is equipped with third connecting flange between two harmonic speed reducers, and is fixedly connected by third connecting flange, is set on the small load bearing arm
There is the 4th mounting hole, the second harmonic retarder is fixed on the 4th mounting hole, the output shaft of the second harmonic retarder
It is equipped with the 4th connecting flange, the big load bearing arm is equipped with the 8th mounting hole, and the 4th connecting flange setting is in the 8th peace
It fills in hole, the second harmonic retarder is fixedly connected by the 4th connecting flange with big load bearing arm, the third servo motor
Rotation drives small load bearing arm rotation, and then splined shaft is driven to carry out small circumference movement.
A kind of conveying robot unit, feature are being that the main rotating device includes being arranged in pedestal
The 4th servo motor and the third harmonic retarder that is connect with the 4th servo motor transmission, the 4th servo motor and third
It is equipped with the 5th connecting flange between harmonic speed reducer, and is fixedly connected by the 5th connecting flange, the pedestal is equipped with the 5th
Mounting hole, the 5th connecting flange are arranged in the 5th mounting hole, and the output shaft of the third harmonic retarder is equipped with the
Six connecting flanges, the big load bearing arm are equipped with the 6th mounting hole, and the 6th connecting flange is arranged in the 6th mounting hole, institute
It states the 6th connecting flange to be fixedly connected with big load bearing arm, the 4th servo motor load bearing arm can rotate greatly, and then drive flower
Big circumference movement is made in the movement of key axis.
A kind of conveying robot unit, feature are being that the small load bearing arm is equipped with outer cover, pass through outer cover
Can secondary rotating device, carrying rotating device and carrying be moved up and down device and covered.
The beneficial effects of the utility model are:
1) device is controlled by four servo motors, respectively to handbarrow carry out big circumference, small circumference, up and down and
Rotation range of motion, so that handbarrow installation is on the apparatus using more flexibly.
2) apparatus structure is simple and compact, stable and reliable operation, small in size, effectively saves working space.
Detailed description of the invention
Fig. 1 is the whole interior structural schematic diagram of the utility model；
Fig. 2 is the small load bearing arm structural schematic diagram of the utility model；
Fig. 3 is the big load bearing arm structural schematic diagram of the utility model；
Fig. 4 is the schematic diagram of base structure of the utility model；
In figure: 1- connecting bridge, 2- splined shaft, 3- second bearing, 4- ball-screw, 5- feed screw nut, 6- splined nut, 7-
Axle sleeve, 8- 3rd bearing, the first synchronous pulley of 9-, the 4th synchronous pulley of 10-, 11- briquetting, 12- sleeve, 13- first bearing,
14- third synchronous pulley, the second servo motor of 15-, the second cushion block of 16-, 17- first servo motor, 18- first harmonic slow down
Device, the second connecting flange of 19-, the second synchronous pulley of 20-, the first cushion block of 21-, the first connecting flange of 22-, 23- third servo electricity
Machine, 24- third connecting flange, 25- second harmonic retarder, the 4th connecting flange of 26-, the big load bearing arm of 27-, the small load bearing arm of 28-,
The 6th connecting flange of 29-, 30- third harmonic retarder, the 5th connecting flange of 31-, the 4th servo motor of 32-, 33- pedestal, 34-
7th mounting hole, the second mounting hole of 35-, 36- third mounting hole, the first mounting hole of 37-, the 4th mounting hole of 38-, 39- the 8th pacify
Fill hole, the 6th mounting hole of 40-, the 5th mounting hole of 41-, 42- outer cover.
Specific embodiment
Below in conjunction with Figure of description, the utility model is further described.
As shown in Figs 1-4, a kind of conveying robot unit, including connecting bridge 1, splined shaft 2, second bearing 3, ball-screw
4, feed screw nut 5, splined nut 6, axle sleeve 7,3rd bearing 8, the first synchronous pulley 9, the 4th the 4th synchronous pulley 10, briquetting
11, sleeve 12, first bearing 13, third synchronous pulley 14, the second servo motor 15, the second cushion block 16, first servo motor 17,
First harmonic decelerator 18, the second connecting flange 19, the second synchronous pulley 20, the first cushion block 21, the first connecting flange 22, third
Servo motor 23, third connecting flange 24, second harmonic retarder 25, the 4th connecting flange 26, big load bearing arm 27, small load bearing arm
28, the 6th connecting flange 29, third harmonic retarder 30, the 5th connecting flange 31, the 4th the 4th servo motor 32, pedestal 33,
7th mounting hole 34, the second mounting hole 35, third mounting hole 36, the first mounting hole 37, the 4th mounting hole 38, the 8th mounting hole
39, the 6th mounting hole 40, the 5th mounting hole 41 and outer cover 42.
Splined shaft 2 and splined nut 6 cooperate, and guarantee that splined shaft 2 can move up and down and rotate；Splined nut 6 is inserted into axis
In set 7, guarantee that 3rd bearing 8 can drive splined nut 6 to rotate；8 sets of bearing on axle sleeve 7, are then put into togerther small carrying
In the 7th mounting hole 34 on arm 28, guarantee that splined shaft 2 is fixed on small load bearing arm 28；First 9 sets of synchronous pulley is in axle sleeve 7
On, guarantee that the first synchronous pulley 9 can drive axle sleeve 7 to rotate；First servo motor 17 and first harmonic decelerator 18 are solid respectively
It is scheduled on the two sides of the first connecting flange 22, while the axis of first servo motor 17 is inserted into the input hole of first harmonic decelerator 18
Interior, i.e., guarantee first servo motor 17 and first harmonic decelerator 18 are secured together, and guarantee the rotation of first servo motor 17
Transhipment is dynamic to be input in first harmonic decelerator 18；First harmonic decelerator 18 is fixed on the first cushion block 21, the first cushion block 21
It is fixed on small load bearing arm 28 in first mounting hole 37, guarantees that first servo motor 17 has been fixed on small load bearing arm 28；Second
Connecting flange 19 is fixed on the output end in first harmonic decelerator 18, guarantees that first harmonic deceleration 18 drives the second connecting flanges
19 rotations；Second synchronous pulley 20 is fixed on 19 output shaft of the second connecting flange, guarantees that the second connecting flange 19 drives second
Synchronous pulley 20 rotates；Second synchronous pulley 20, by synchronous band connection, guarantees the second synchronous pulley 20 with the first synchronous pulley 9
The first synchronous pulley 9 is driven to rotate, the first synchronous pulley 9 drives axle sleeve 7 to rotate, and realizes that splined shaft 2 rotates.
3 sets of bearing on splined shaft 2, then bearing 3 is inserted into the installation through-hole of connecting bridge 1, guarantees that splined shaft 2 can be
It can both rotate, can also be moved up and down in the installation through-hole of connecting bridge 1 with connecting bridge 1；Connecting bridge 1 is fixed on lead screw spiral shell
On mother 5, guarantee that connecting bridge 1 can be moved with feed screw nut 5；Ball-screw 4 is inserted into feed screw nut 5, guarantees ball wire
Thick stick 4 makes feed screw nut 5 move up and down when rotating；13 sets of first bearing on ball-screw 4, then first bearing 13 be inserted into sleeve
In 12, briquetting 11 seals sleeve 12, forms an entirety, then whole to be inserted on small load bearing arm 28 in second mounting hole 35 admittedly,
Guarantee that ball-screw 4 is fixed on small load bearing arm 28；4th the 4th synchronous pulley 10 is fixed on 4 end of ball-screw, guarantees same
Step belt wheel can drive ball-screw 4 to rotate；The two the second servo motors 15 are fixed on the second cushion block 16, and the second cushion block 16 is solid
It is scheduled on small load bearing arm 28 in third mounting hole 36, guarantees that the two the second servo motors 15 are fixed on small load bearing arm 28；Third
Third synchronous pulley 14 is fixed on the output shaft of the second servo motor 15, guarantees that the second servo motor 15 drives third synchronous belt
14 rotation of wheel；Third synchronous pulley 14 and Toothed belt pulley 10 guarantee that third synchronous pulley 14 drives the by synchronous band connection
The rotation of four synchronous pulleys 10, the 4th synchronous pulley 10 are rotated with ball-screw 4, so that feed screw nut 5 is moved up and down, are passed through connecting bridge
1 realizes that splined shaft 2 moves up and down.
Third servo motor 23 and second harmonic retarder 25 are separately fixed at the two sides of third connecting flange 24, while
The axis of three servo motors 23 is inserted into the input hole of second harmonic retarder 25, i.e. guarantee third servo motor 23 and second is humorous
Wave retarder 25 is secured together, and in the Rotary motion input to second harmonic retarder 25 of guarantee third servo motor 23；
Second harmonic retarder 25 is fixed on small load bearing arm 28 in the 4th mounting hole 38, and it is small to guarantee that third servo motor 23 has been fixed on
On load bearing arm 28；Second harmonic retarder 25 is fixed on connecting flange 26, and connecting flange 26 is inserted into the 8th on big load bearing arm 27
In mounting hole 39, guarantee that small load bearing arm 28 is fixed on big load bearing arm 27, when third servo motor 23 rotates, big load bearing arm 27 is not
When dynamic, small load bearing arm 28 will be made to rotate, and then splined shaft 2 is driven to move.
Third harmonic retarder 30 is fixed on the 6th connecting flange 29, and the 6th connecting flange 29 is inserted on big load bearing arm 27
In 6th mounting hole 40, guarantee that harmonic speed reducer 30 is fixed on big load bearing arm 27.
4th servo motor 32 and third harmonic retarder 30 are separately fixed at the two sides of the 5th connecting flange 31, while
The axis of four servo motors 32 is inserted into the input hole of third harmonic retarder 30, i.e., the 4th servo motor 32 of guarantee and third are humorous
Wave retarder 30 is secured together, and in the Rotary motion input to third harmonic retarder 30 of the 4th servo motor 32 of guarantee；
Third harmonic retarder 30 is fixed on the 6th connecting flange 29, and the 6th connecting flange 29 is inserted into the 6th installation on big load bearing arm 27
In hole 40, guarantee that third harmonic retarder 30 can drive big load bearing arm 27 to rotate；On 5th connecting flange, 31 inserted base 33
In 5th mounting hole 41, guarantee that the 4th servo motor 32 is fixed on pedestal 33, pedestal 33 is fixed, the 4th servo motor 32
Rotation drives third harmonic retarder 30 to rotate, and rotates big load bearing arm 27, and then splined shaft 2 is driven to move.
Outer cover 42 covers on small load bearing arm 28, protects the part on small load bearing arm.
2 end of splined shaft of the manipulator will be installed handbarrow, and handbarrow and splined shaft 2 are fixed together, and carry
Tool state can be grabbed using hand, the gripping tools such as pliers depending on job specification.
Working principle:
The whole handling process of the manipulator is completed in fact under the mutual cooperation of this four motors, and spline shaft end connects
Handbarrow is connect, the movement of handbarrow is synchronous with splined shaft.First servo motor drives spline rotation to realize and copies tool rotation mechanically
Turn；Second servo motor drives ball-screw rotation, and ball-screw drives splined shaft movement to realize that handbarrow moves up and down；Flower
Key axis and ball-screw are mounted on small load bearing arm；Third servo motor drives small load bearing arm rotation to realize small load bearing arm rotation,
And then drive splined shaft movement；Small load bearing arm is mounted on big load bearing arm；4th servo motor drives big load bearing arm rotation to realize
Big load bearing arm rotation, and then drive splined shaft movement.
Claims (8)
1. a kind of conveying robot unit, including pedestal (33), which is characterized in that be equipped with main rotation in the pedestal (33) and fill
It sets, big load bearing arm (27) is arranged in connection on the main rotating device, and described big load bearing arm (27) one end is connected with main rotating device,
Secondary rotating device is arranged in other end connection, is equipped with small load bearing arm (28) above the big load bearing arm (27), the pair rotating device
It is fixedly connected with small load bearing arm (28), the small load bearing arm (28), which is equipped with, carries rotating device, and the small load bearing arm (28) is also
Equipped with device is moved up and down for carrying the mobile carrying in rotating device position, the carrying rotating device is equipped with porter
Tool, handbarrow carry out rotation by carrying rotating device, move up and down device by carrying and carry out upper and lower position adjustment, pass through
Secondary rotating device carries out small circumference movement, carries out big circumference movement by main rotating device.
2. a kind of conveying robot unit according to claim 1, feature are being, the carrying rotating device includes
The first servo motor (17) being arranged on small load bearing arm (28), the first harmonic being sequentially connected with first servo motor (17) subtract
Fast device (18), the 3rd bearing (8) that small load bearing arm left end is arranged in, the axle sleeve (7) being arranged in 3rd bearing (8), setting exist
Splined nut (6) in axle sleeve (7) and the splined shaft (2) with splined nut (6) cooperation；The handbarrow is equipped in flower
On key axis (2), the axle sleeve (7) is equipped with the first synchronous pulley (9), and the output end of the first harmonic decelerator (18) is equipped with
Second synchronous pulley (20), second synchronous pulley (20) are connect with the first synchronous pulley (9) by toothed belt transmission, thus
Handbarrow is driven to carry out rotation by splined shaft (2).
3. a kind of conveying robot unit according to claim 2, feature are being, the first servo motor (17)
The first connecting flange (22) are equipped between first harmonic decelerator (18), and pass through the first connecting flange (22) company of being fixed
It connects；The small load bearing arm (28) is equipped with the first mounting hole (37), is equipped with the first cushion block (21) in first mounting hole (37),
The first harmonic decelerator (18) is fixed on the first cushion block (21)；The small load bearing arm (28) is equipped with the 7th mounting hole
(34), 3rd bearing (8) setting is in the 7th mounting hole (34)；Output end on the first harmonic decelerator (18) is set
Have the second connecting flange (19), second synchronous pulley (20) is fixed on the second connecting flange (19).
4. a kind of conveying robot unit according to claim 1, feature are being, the carrying moves up and down device
Including the second servo motor (15) on small load bearing arm (28) is arranged, is arranged on the output shaft of the second servo motor (15)
Third synchronous pulley (14), setting are in the first bearing of sleeve (12), setting in sleeve (12) on small load bearing arm (28)
(13) and ball-screw (4) in first bearing (13) is set, the ball-screw (4) is equipped with feed screw nut (5), described
Feed screw nut (5) is equipped with connecting bridge (1), and is connected by connecting bridge (1) with splined shaft (2), ball-screw (4) end
Equipped with the 4th synchronous pulley (10), the 4th synchronous pulley (10) and third synchronous pulley (14) are connected by toothed belt transmission
It connects, so that the up and down motion of ball-screw (4), to drive splined shaft (2) to move up and down by connecting bridge (1).
5. a kind of conveying robot unit according to claim 4, feature are being, the connecting bridge (1) is equipped with
Installation through-hole is equipped with second bearing (3) in the installation through-hole, and the splined shaft (2) is arranged on second bearing (3)；
Sleeve (12) bottom is equipped with briquetting (11), and is sealed sleeve (12) by briquetting (11), forms an entirety；It is described small
Load bearing arm (28) is equipped with the second mounting hole (35), and sleeve (12) setting is in the second mounting hole (35)；The small carrying
It is additionally provided on arm (28) third mounting hole (36), is equipped with the second cushion block (16) in the third mounting hole (36), described second watches
Motor (15) is taken to be fixed on the second cushion block (16).
6. a kind of conveying robot unit according to claim 1, feature are being, the pair rotating device includes setting
The second harmonic retarder setting the third servo motor (23) on small load bearing arm (28) and being arranged on third servo motor
(25), third connecting flange (24) are equipped between the third servo motor (23) and second harmonic retarder (25), and passed through
Third connecting flange (24) is fixedly connected, and the small load bearing arm (28) is equipped with the 4th mounting hole (38), and the second harmonic subtracts
Fast device (25) is fixed on the 4th mounting hole (38), and the output shaft of the second harmonic retarder (25) is equipped with the 4th connection method
Blue (26), the big load bearing arm (27) are equipped with the 8th mounting hole (39), and the 4th connecting flange (26) setting is in the 8th peace
It filling in hole (39), the second harmonic retarder (25) is fixedly connected by the 4th connecting flange (26) with big load bearing arm (27),
Third servo motor (23) rotation drives small load bearing arm (28) rotation, and then splined shaft (2) is driven to carry out small circumference movement.
7. a kind of conveying robot unit according to claim 1, feature are being, the main rotating device includes setting
Set the third harmonic retarder of tetra- servo motor (32) of the 4th servo motor (32) Ji Yu transmission connection in pedestal (33)
(30), it is equipped with the 5th connecting flange (31) between the 4th servo motor (32) and third harmonic retarder (30), and passes through
5th connecting flange (31) is fixedly connected, and the pedestal (33) is equipped with the 5th mounting hole (41), the 5th connecting flange
(31) it is arranged in the 5th mounting hole (41), the output shaft of the third harmonic retarder (30) is equipped with the 6th connecting flange
(29), the big load bearing arm (27) is equipped with the 6th mounting hole (40), and the 6th connecting flange (29) setting is in the 6th installation
In hole (40), the 6th connecting flange (29) is fixedly connected with big load bearing arm (27), and the 4th servo motor (32) can
Big load bearing arm (27) rotation, and then splined shaft (2) movement is driven to make big circumference movement.
8. a kind of conveying robot unit according to claim 1, feature are being, set on the small load bearing arm (28)
There are outer cover (42), can secondary rotating device, carrying rotating device and carrying be moved up and down device by outer cover (42) and covered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822057796.0U CN209504158U (en) | 2018-12-07 | 2018-12-07 | A kind of conveying robot unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822057796.0U CN209504158U (en) | 2018-12-07 | 2018-12-07 | A kind of conveying robot unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209504158U true CN209504158U (en) | 2019-10-18 |
Family
ID=68193393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822057796.0U Expired - Fee Related CN209504158U (en) | 2018-12-07 | 2018-12-07 | A kind of conveying robot unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209504158U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230921A (en) * | 2020-03-04 | 2020-06-05 | 苏州海翌智能科技有限公司 | Direct-connected intelligent joint |
-
2018
- 2018-12-07 CN CN201822057796.0U patent/CN209504158U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111230921A (en) * | 2020-03-04 | 2020-06-05 | 苏州海翌智能科技有限公司 | Direct-connected intelligent joint |
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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: 20191018 Termination date: 20211207 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |