CN209615516U - A kind of four axis robot of high load - Google Patents
A kind of four axis robot of high load Download PDFInfo
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- CN209615516U CN209615516U CN201920289581.3U CN201920289581U CN209615516U CN 209615516 U CN209615516 U CN 209615516U CN 201920289581 U CN201920289581 U CN 201920289581U CN 209615516 U CN209615516 U CN 209615516U
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Abstract
The utility model provides a kind of four axis robot of high load, it include: base, one axis upper and lower mould group, two axis rotating modules, three axis rotating modules and four axis rotating modules, one axis upper and lower mould group is fixed on base vertically, the output end of one axis upper and lower mould group is connected with two axis rotating modules, the two axis rotating module upper along the vertical direction in an axis upper and lower mould group can move, the output end of two axis rotating modules is connected with three axis rotating modules, two axis rotating modules are used for band dynamic triaxial rotating module and circumferentially rotate in the horizontal plane, the output end of three axis rotating modules is connected with four axis rotating modules, three axis rotating modules are for driving four axis rotating modules to circumferentially rotate in the horizontal plane, four axis rotating modules are used for workpieces processing.The setting of one axis upper and lower mould group is fixed on pedestal by the utility model, and device end is only equipped with four axis rotating modules, so that device barycentre offset reduces, supporting power is bigger, is run more stable.
Description
Technical field
The utility model relates to four axis robots of robot field more particularly to a kind of high load.
Background technique
In current industrial circle, automobile industry, electronic enterprises, construction machinery industry etc. have been used largely
Industrial robot automatic production line, industrial robot are that collection precise treatment, flexibility, intelligence, software application development etc. are advanced
It is manufactured in one, has many advantages, such as that smooth running, efficiency are higher, Y-axis is can be realized and moves up and down and horizontal spin.
A kind of SCARA robot of existing a kind of Publication No. CN201621322962.X, comprising: fixing seat, large arm, small
Arm, ball screw set composite, cable, ball screw set composite are connected to forearm；First axle harmonic wave is equipped with inside fixing seat
Speed reducer, first harmonic wave producer, first axle servo motor, first axle Serve Motor Control connect first harmonic wave and occur
Device, first axle harmonic wave speed reducing machine pass through the first rotary joint respectively and connect large arm and fixing seat with first axle servo motor flange,
Fixing seat side is bolted equipped with sealing plate；One end is equipped with the second axis harmonic wave speed reducing machine inside forearm, second harmonic wave is sent out
Raw device, the second axis servo motor, the second axis Serve Motor Control connect second harmonic wave producer, and the second axis harmonic wave speed reducing machine is logical
Cross the second rotary joint and be connected to large arm, inside forearm the other end be equipped with ball screw set composite, third axis servo motor and
4th axis servo motor.Ball screw set composite and third axis servo motor, the 4th axis servo motor are arranged at device end
End, when load excessive, the offset of device center of gravity terminad, junction load is excessive to be easy to cause machine direction to tilt, and influences to add
Work efficiency fruit now needs a kind of load capacity bigger, and using effect better four axis robot is able to solve the above problem.
Utility model content
The utility model discloses a kind of four axis robot of high load and is mentioned by undergoing technological transformation to existing mechanical hand
The four axis robots that a kind of supporting power is bigger are supplied, the scope of application is wider.
In order to solve the above technical problems, the utility model specifically adopts the following technical scheme that a kind of four axis machine of high load
People, comprising: base, an axis upper and lower mould group, two axis rotating modules, three axis rotating modules and four axis rotating modules, an axis upper and lower mould
Group is fixed on base vertically, and the output end of an axis upper and lower mould group is connected with two axis rotating modules, and the two axis rotating module can
Upper movement, the output end of two axis rotating modules are connected with three axis rotating modules, two axis along the vertical direction in an axis upper and lower mould group
Rotating module is used for band dynamic triaxial rotating module and circumferentially rotates in the horizontal plane, and the output end of three axis rotating modules is connected with four axis
Rotating module, for driving four axis rotating modules to circumferentially rotate in the horizontal plane, four axis rotating modules are used for three axis rotating modules
Workpieces processing；
One axis upper and lower mould group, comprising: column jacket, lead screw transmission mechanism, shaft coupling, guide rail and vertical drive, column jacket are solid
There is lead screw transmission mechanism in Dingan County on being arranged along the vertical direction on base, inside the column jacket, sets above lead screw transmission mechanism
It is equipped with vertical driving mechanism, the output end of vertical driving mechanism is connected by shaft coupling with lead screw transmission mechanism, screw rod transmission
The output end of mechanism is connected with two axis rotating modules, is provided with guide rail along the vertical direction at two axis rotating modules in column jacket,
Two axis rotating modules can move in the vertical direction under lead screw transmission mechanism drive along guide rail.
Compared with the existing technology, the utility model has the following beneficial effects:
The setting of one axis upper and lower mould group is fixed on pedestal by the utility model, and device end is only equipped with the rotation of four axis
Mould group, so that device barycentre offset reduces, supporting power is bigger, and operation is more stable, so that working efficiency is got higher, while this reality
It is combined with the novel multiple groups rotating module that uses, expands the range of work, applicability is stronger.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model main view；
The position Fig. 3 the utility model A-A cross-sectional view；
Label declaration: base 1, an axis upper and lower mould group 2, two axis rotating modules 3, three axis rotating modules 4, four axis rotating modules
5, column jacket 21, lead screw transmission mechanism 22, shaft coupling 23, guide rail 24, vertical drive 25, two axis support arms 31, two axis slow down
Machine 32, two axle bearings 33, three axis support arms 41, three axis speed reducers 42, three axle bearings 43, four axis support arms 51, four axis speed reducers
52, securing plate 6, fastening bolt 7.
Specific embodiment
It is described in detail the particular content of the utility model with reference to the accompanying drawings and examples.
As shown in Figure 1-3, present embodiments providing a kind of four axis robot of high load, comprising: base 1, an axis upper and lower mould
2, two axis rotating modules 3 of group, three axis rotating modules 4 and four axis rotating modules 5, an axis upper and lower mould group 2 are fixed on base 1 vertically
On, the output end of an axis upper and lower mould group 2 is connected with two axis rotating modules 3, and the two axis rotating module 3 can be in an axis upper and lower mould group
Upper movement along the vertical direction, the output end of two axis rotating modules 3 are connected with three axis rotating modules 4 on 2, and two axis rotating modules 3 are used
It is circumferentially rotated in the horizontal plane in band dynamic triaxial rotating module 4, the output end of three axis rotating modules 4 is connected with four axis rotating modules
5, three axis rotating modules 4 are for driving four axis rotating modules 5 to circumferentially rotate in the horizontal plane, and four axis rotating modules 5 are for processing
Workpiece；
It is moved in the vertical direction to realize that an axis upper and lower mould group 2 can control two axis rotating modules 3, on an axis
Lower die group 2, comprising: column jacket 21, lead screw transmission mechanism 22, shaft coupling 23, guide rail 24 and vertical drive 25, column jacket 21 are fixed
It is mounted on base 1, has a lead screw transmission mechanism 22 in setting along the vertical direction inside the column jacket 21, in lead screw transmission mechanism 22
Side is provided with vertical driving mechanism, and the output end of vertical driving mechanism is connected by shaft coupling 23 with lead screw transmission mechanism 22,
The output end of lead screw transmission mechanism 22 is connected with two axis rotating modules 3, along vertical side at close two axis rotating modules 3 in column jacket 21
To guide rail 24 is provided with, two axis rotating modules 3 can be transported in the vertical direction under the drive of lead screw transmission mechanism 22 along guide rail 24
It is dynamic；Vertical driving mechanism drives lead screw transmission mechanism 22 to rotate by shaft coupling 23, is mounted on lead screw transmission mechanism to drive
Two axis rotating modules 3 on 22 move in the vertical direction along guide rail 24, and motion profile is more steady, accurately.
In order to realize that two axis rotating modules 3 have preferably rotation and connection effect, the two axis rotating module 3, comprising:
Two axis support arms 31, two axis speed reducers 32 and two axle bearings 33, two axis support arms 31 are connect with lead screw transmission mechanism 22, and described two
Axis support arm 31 is provided with two axis speed reducers 32 and two axle bearings 33, two axle bearings 33 in one end of lead screw transmission mechanism 22
It is mounted on two axis speed reducers, 32 output, three axis rotating modules 4, the rotation of three axis are mounted on two axle bearings, 33 outer wall
Revolving die group 4 can do along the horizontal plane circumferential movement under the drive of two axis speed reducers 32；
In order to realize that three axis rotating modules 4 have preferably rotation and connection effect, the three axis rotating module 4, comprising:
Three axis support arms 41, three axis speed reducers 42 and three axle bearings 43, three axis support arms 41 are connect with two axle bearings 33, the three axis branch
Brace 41 is provided with three axis speed reducers 42 and three axle bearings 43, the installation of three axle bearings 43 in one end of two axis rotating modules 3
Four axis rotating modules 5, four axis rotating moulds are mounted on three axis speed reducers, 42 output, three axle bearings, 43 outer wall
Group 5 can do along the horizontal plane circumferential movement under the drive of three axis speed reducers 42；
In order to realize the connection effect of four axis rotating modules 5 and three axis rotating modules 4, four axis rotating modules 5, comprising: four
Axis support arm 51 and four axis speed reducers 52, four axis support arms 51 are connect with three axle bearings 43, and the four axis support arm 51 deviates from three
Four axis speed reducers 52 are provided in one end of axis rotating module 4, four axis speed reducers 52 are used for workpieces processing.
In order to obtain better fastening effect, reinforcing is provided between the two axis rotating module 3 and three axis rotating modules 4
Plate 6, described 6 one end of securing plate are fixed on right above two axle bearing 33 by fastening bolt 7, and the securing plate 6 deviates from two
One end of axle bearing 33 is fixed on right above three axis support arm 41 by fastening bolt 7, by securing plate 6 by two axle bearings
33 are connected with three axis support arms 41, increase the connective stability of two axis rotating modules 3 and three axis rotating modules 4, further
Improve load bearing effect.
The setting of one axis upper and lower mould group 2 is fixed on pedestal, and the vertical driving mechanism being mounted in column jacket 21 passes through connection
Axis device 23 drives lead screw transmission mechanism 22 to rotate, to drive two axis rotating modules, 3 edge being mounted in lead screw transmission mechanism 22
Guide rail 24 moves in the vertical direction, and three axis rotating modules 4, three axis rotating modules 4 are mounted on two axle bearings, 33 outer wall
Circumferential movement can be done along the horizontal plane under the drive of two axis speed reducers 32, and the rotation of four axis is mounted on three axle bearings, 43 outer wall
Revolving die group 5, four axis rotating modules 5 can do along the horizontal plane circumferential movement under the drive of three axis speed reducers 42, realize four axis
The Y-axis of robot moves up and down and horizontal spin.
Finally, it is stated that above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, although ginseng
The utility model is described in detail according to preferred embodiment, those skilled in the art should understand that, it can be to this
The technical solution of utility model is modified or replaced equivalently, without departing from the objective and model of technical solutions of the utility model
It encloses, should all cover in the scope of the claims of the utility model.
Claims (3)
1. a kind of four axis robot of high load characterized by comprising base, an axis upper and lower mould group, two axis rotating modules, three
Axis rotating module and four axis rotating modules, an axis upper and lower mould group are fixed on base vertically, and the output end of an axis upper and lower mould group connects
Two axis rotating modules are connected to, the two axis rotating module can upper movement along the vertical direction, the rotation of two axis in an axis upper and lower mould group
The output end of mould group is connected with three axis rotating modules, and it is circumferential in the horizontal plane that two axis rotating modules are used for band dynamic triaxial rotating module
Rotation, the output end of three axis rotating modules are connected with four axis rotating modules, and three axis rotating modules are for driving four axis rotating modules
It circumferentially rotates in the horizontal plane, four axis rotating modules are used for workpieces processing；
One axis upper and lower mould group, comprising: column jacket, lead screw transmission mechanism, shaft coupling, guide rail and vertical drive, the fixed peace of column jacket
There is lead screw transmission mechanism on being arranged along the vertical direction on base, inside the column jacket, is provided with above lead screw transmission mechanism
The output end of vertical driving mechanism, vertical driving mechanism is connected by shaft coupling with lead screw transmission mechanism, lead screw transmission mechanism
Output end be connected with two axis rotating modules, be provided with guide rail, two axis along the vertical direction at two axis rotating modules in column jacket
Rotating module can move in the vertical direction under lead screw transmission mechanism drive along guide rail.
2. according to a kind of four axis robot of high load described in claim 1, which is characterized in that two axis rotating modules, comprising: two
Axis support arm, two axis speed reducers and two axle bearings, two axis support arms are connect with lead screw transmission mechanism, and the two axis support arm deviates from
Two axis speed reducers and two axle bearings are provided in one end of lead screw transmission mechanism, two axle bearings are mounted on two axis output end of reducer
Locate, is mounted with three axis rotating modules on the two axle bearings outer wall, three axis rotating modules can be in the band of two axis speed reducers
Circumferential movement is done along the horizontal plane under dynamic；
Three axis rotating modules, comprising: three axis support arms, three axis speed reducers and three axle bearings, three axis support arms and two axle bearings connect
It connects, the three axis support arm is provided with three axis speed reducers and three axle bearings, three axle bearings in one end of two axis rotating modules
It is mounted at three axis output end of reducer, four axis rotating modules, four axis rotating moulds is mounted on the three axle bearings outer wall
Group can do along the horizontal plane circumferential movement under the drive of three axis speed reducers；
Four axis rotating modules, comprising: four axis support arms and four axis speed reducers, four axis support arms are connect with three axle bearings, and described four
Axis support arm is provided with four axis speed reducers in one end of three axis rotating modules, and four axis speed reducers are used for workpieces processing.
3. according to a kind of four axis robot of high load as claimed in claim 2, which is characterized in that the two axis rotating module and three
Be provided with securing plate between axis rotating module, described securing plate one end by fastening bolt be fixed on two axle bearings just on
Side, the securing plate are fixed on right above three axis support arms away from one end of two axle bearings by fastening bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920289581.3U CN209615516U (en) | 2019-03-07 | 2019-03-07 | A kind of four axis robot of high load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920289581.3U CN209615516U (en) | 2019-03-07 | 2019-03-07 | A kind of four axis robot of high load |
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| Publication Number | Publication Date |
|---|---|
| CN209615516U true CN209615516U (en) | 2019-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920289581.3U Active CN209615516U (en) | 2019-03-07 | 2019-03-07 | A kind of four axis robot of high load |
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| CN (1) | CN209615516U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590640A (en) * | 2020-06-09 | 2020-08-28 | 武汉臻迪智能技术有限公司 | Auxiliary mechanism for improving eccentricity of four-axis robot |
-
2019
- 2019-03-07 CN CN201920289581.3U patent/CN209615516U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590640A (en) * | 2020-06-09 | 2020-08-28 | 武汉臻迪智能技术有限公司 | Auxiliary mechanism for improving eccentricity of four-axis robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 18-21 Runke Road, Zhongxin Town, Zengcheng District, Guangzhou City, Guangdong Province 510000 Patentee after: Guangdong Xintuo Harmonic Drive Technology Co.,Ltd. Country or region after: China Address before: 523295 Danwu Tan Industrial Zone, Danwu Village, Shijie Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN XINTUO INTELLIGENT MACHINERY TECHNOLOGY CO.,LTD. Country or region before: China |