CN209774647U - Four-axis robot with large return arm - Google Patents
Four-axis robot with large return arm Download PDFInfo
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- CN209774647U CN209774647U CN201822250272.3U CN201822250272U CN209774647U CN 209774647 U CN209774647 U CN 209774647U CN 201822250272 U CN201822250272 U CN 201822250272U CN 209774647 U CN209774647 U CN 209774647U
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- rotating shaft
- lead screw
- driving motor
- driving
- horizontal arm
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Abstract
The utility model provides a four-axis returns arm robot greatly, its weight of guaranteeing the one end of keeping away from the front end axle of every transmission wall is less relatively, ensures the load capacity of whole robot, has promoted the year ability of carrying of large-scale press. The vertical type lead screw driving mechanism comprises a base module, wherein a main stand column is vertically arranged on the base module, a vertical rail is arranged on the front end vertical face of the main stand column, a vertically moving sleeve is clamped on the corresponding vertical rail through an up-and-down moving slider module, a first driving motor vertically arranged is arranged on the base module and connected with a lead screw input end vertically arranged, two ends of a lead screw are fixedly arranged on positioning bearings arranged in the main stand column respectively, a transmission plate is fixedly arranged at the bottom of the vertically moving sleeve and is provided with a lead screw nut corresponding to the penetrating position of the lead screw, and the lead screw is in threaded connection with the lead screw nut.
Description
Technical Field
the utility model relates to a move the technical field who carries the robot structure, specifically be a four-axis returns arm robot greatly.
Background
The existing return arm transfer robot is provided with a driving motor corresponding to a shaft at the input shaft end, namely the driving motor is arranged at the far end of a transmission arm relative to a front end shaft, so that the load of the front end shaft is increased according to the force arm, the subsequent load capacity for transfer is weakened, and the lifting of the transfer capacity of a large-scale press is not facilitated.
Disclosure of Invention
To the above problem, the utility model provides a four-axis returns arm robot greatly, its weight of guaranteeing the one end of keeping away from the front end axle of every transmission wall is less relatively, ensures the load capacity of whole robot, has promoted the load carrying ability of large-scale press.
The utility model provides a four-axis returns arm robot greatly which characterized in that: the vertical type screw rod driving mechanism comprises a base module, wherein a main upright post which is vertically arranged is arranged on the base module, a vertical rail is arranged on the front end vertical face of the main upright post, a vertically moving sleeve is clamped on the corresponding vertical rail through a vertically moving slider module, a first driving motor which is vertically arranged is arranged on the base module, the first driving motor is connected with the input end of a screw rod which is vertically arranged, two ends of the screw rod are respectively and fixedly arranged on positioning bearings which are arranged in the main upright post, a transmission plate is fixedly arranged at the bottom of the vertically moving sleeve, a screw rod nut is arranged at the position, corresponding to the penetrating position of the screw rod, of the transmission plate, the screw rod is in threaded connection with the screw rod nut, one end of a first horizontal arm in the length direction is supported at the output end of a speed reducer, the input end of the speed reducer is connected, The speed reducer is fixedly arranged at the center of the top of the vertical moving sleeve, the output end of the speed reducer is protruded on the vertical moving sleeve, the upper end of a first driving rotating shaft is vertically inserted into the other end of the first horizontal arm in the length direction, the lower end of the first driving rotating shaft is connected with one end of the second horizontal arm in the length direction, the upper end of the second rotating shaft is inserted into the other end of the second horizontal arm in the length direction, a gripper assembly is fixedly arranged at the lower end of the second rotating shaft, a third driving motor and a fourth driving motor are respectively arranged at one end of the first horizontal arm close to the main upright post, the first driving rotating shaft is a hollow shaft, a second driving rotating shaft is inserted into the hollow part of the first driving rotating shaft, both ends of the second driving rotating shaft in the vertical direction are exposed out of the corresponding end part of the first driving rotating shaft, and the upper exposed end of the second driving rotating shaft is connected with the output end of the fourth driving motor through, the lower exposed end of the second transmission rotating shaft is connected with the upper end of the second rotating shaft through a second connecting structure, and the upper end of the first driving rotating shaft is connected with the output end of the third driving motor through a third connecting structure.
it is further characterized in that:
The first connecting structure and the third connecting structure are arranged in the inner cavity of the first horizontal arm;
the second connecting structure is arranged in the inner cavity of the second horizontal arm;
The first driving motor is fixedly arranged on the motor supporting seat, the motor supporting seat is fixedly arranged on the base module, and the output end of the first driving motor is connected with the input end of the screw rod through a fourth connecting structure;
the first connecting structure, the second connecting structure, the third connecting structure and the fourth connecting structure are combined structures of a driven synchronizing wheel, a synchronous belt and a driving synchronizing wheel, and the transmission synchronization and accuracy are ensured;
the second transmission rotating shaft is positioned at the upper and lower positions of the vertical inner cavity of the first driving rotating shaft and is respectively provided with a corresponding bearing structure, so that the two rotating shafts can independently rotate and cannot generate interference;
The range of the vertical moving sleeve driven by the screw rod to move up and down is within 800 mm;
The rotation amplitude of the first horizontal arm is 0-180 degrees; the rotation range of the second horizontal arm is-60 degrees to 60 degrees; the rotation amplitude of the gripper assembly is 360 degrees;
the two sides of the main upright post are provided with parallel side plates which are convex in front, the two side plates extend to the front end face, far away from the up-down moving slider module, of the vertical moving sleeve, the front parts of the two side plates are connected through a connecting rod, the connecting rod is sleeved with a plurality of supporting bearings, and the supporting bearings are arranged close to the front end face of the vertical moving sleeve at the corresponding position, so that the vertical moving sleeve is prevented from overturning;
the third driving motor is fixedly mounted on the lower end face, close to the end of the main upright post, of the first horizontal arm, the output end of the upper portion of the third driving motor is connected with a third speed reducer, a third driving wheel is sleeved at the output end of the third speed reducer, a third driven wheel is sleeved at the upper end of the first driving rotating shaft, and the third driving wheel is connected with the third driven wheel through a third synchronous belt;
The fourth driving motor is fixedly mounted on the upper end face, close to the end of the main upright post, of the first horizontal arm, the lower output end of the fourth driving motor is connected with a fourth speed reducer, the output end of the fourth speed reducer is sleeved with a first driving wheel, the exposed end of the upper portion of the second transmission rotating shaft is sleeved with a first driven wheel, the exposed end of the lower portion of the second transmission rotating shaft is sleeved with a second driving wheel, the upper end of the second rotating shaft is sleeved with a second driven wheel, the first driving wheel is connected with the first driven wheel through a first synchronous belt, and the second driving wheel is connected with the second driven wheel through a second synchronous belt;
the hand grip assembly comprises a hand grip seat and a hand grip group, the part of the lower end of the second rotating shaft, which is exposed out of the second horizontal arm, is sleeved with the hand grip seat, and the lower end of the hand grip seat is fixedly provided with the hand grip group.
after the technical scheme is adopted, one shaft is a first horizontal arm and horizontally rotates around the vertical moving sleeve within the range of 0-180 degrees; the two shafts vertically move the sleeve to lift up and down on the main upright column within the range of 0-800 mm; the three axes are that the second horizontal arm horizontally rotates at the far end of the first horizontal arm, and the range is-60 degrees to 60 degrees; the four-axis is used for enabling a second rotating shaft to horizontally rotate at the terminal of a second horizontal arm within the range of 0-360 degrees; four servo motor/speed reducer sets of the robot are arranged beside the main upright post, so that the weight of the first horizontal arm and the second horizontal arm is reduced, the weight of one end, far away from the front end shaft, of each transmission wall is relatively small, the load capacity of the whole robot is ensured, and the transfer capacity of a large-scale press is improved.
Drawings
FIG. 1 is a schematic sectional view of the front view of the present invention;
3 FIG. 3 2 3 is 3 a 3 schematic 3 view 3 of 3 the 3 cross 3- 3 sectional 3 structure 3 A 3- 3 A 3 of 3 FIG. 3 1 3 according 3 to 3 the 3 present 3 invention 3; 3
FIG. 3 is a schematic view of the rotation range of each shaft in the top view direction according to the present invention;
FIG. 4 is a schematic view of a portion of the enlarged structure at B of FIG. 1;
the names corresponding to the sequence numbers in the figure are as follows:
the device comprises a base module 1, a main upright post 2, a vertical track 3, a vertical moving sleeve 4, an up-down moving slider module 5, a first driving motor 6, a screw rod 7, a positioning bearing 8, a transmission plate 9, a screw rod nut 10, a first horizontal arm 11, a speed reducer 12, a second driving motor 13, a first driving rotating shaft 14, a second horizontal arm 15, a second rotating shaft 16, a gripper assembly 17, a gripper seat 171, a gripper group 172, a third driving motor 18, a fourth driving motor 19, a second driving rotating shaft 20, a first connecting structure 21, a second connecting structure 22, a third connecting structure 23, a motor supporting seat 24, a fourth connecting structure 25, a bearing structure 26, a side plate 27, a connecting rod 28 and a supporting bearing 29.
Detailed Description
The utility model provides a four-axis returns arm robot greatly which characterized in that: the vertical type hydraulic drive device comprises a base module 1, wherein a main upright post 2 arranged vertically is arranged on the base module 1, a vertical rail 3 is arranged on the front end vertical surface of the main upright post 2, a vertical moving sleeve 4 is clamped on the corresponding vertical rail 3 through an up-down moving slider module 5, a first drive motor 6 arranged vertically is arranged on the base module 1, the first drive motor 6 is connected with the input end of a lead screw 7 arranged vertically, two ends of the lead screw 7 are respectively and fixedly arranged on positioning bearings 8 arranged in the main upright post 2, a transmission plate 9 is fixedly arranged at the bottom of the vertical moving sleeve 4, a lead screw nut 10 is arranged at the transmission plate 9 corresponding to the penetrating position of the lead screw 7, the lead screw 7 is in threaded connection with the lead screw nut 10, one end of a first horizontal arm 11 in the length direction is supported at the output end of a speed reducer 12, the input end of the speed reducer 12 is connected, The speed reducer 12 is fixedly arranged at the center of the top of the vertical moving sleeve 4, the output end of the speed reducer 12 is protruded from the vertical moving sleeve 4, the upper end of the first driving rotating shaft 14 is vertically inserted into the other end of the first horizontal arm 11 in the length direction, the lower end of the first driving rotating shaft 14 is connected with one end of the second horizontal arm 15 in the length direction, the upper end of the second rotating shaft 16 is inserted into the other end of the second horizontal arm 15 in the length direction, the lower end of the second rotating shaft 16 is fixedly provided with the gripper assembly 17, one end of the first horizontal arm 11 close to the main upright column 2 is respectively provided with a third driving motor 18 and a fourth driving motor 19, the first driving rotating shaft 14 is a hollow shaft, the hollow part of the first driving rotating shaft is inserted with a second driving rotating shaft 20, both ends of the second driving rotating shaft 20 in the vertical direction are exposed out of the corresponding end parts of the first driving rotating shaft 14, the upper exposed end of the second driving rotating shaft 20 is connected with, the lower exposed end of the second transmission rotating shaft 20 is connected to the upper end of the second rotating shaft 16 through a second connecting structure 22, and the upper end of the first driving rotating shaft 14 is connected to the output end of the third driving motor 18 through a third connecting structure 23.
The first connecting structure 21 and the third connecting structure 23 are both arranged in the inner cavity of the first horizontal arm 11;
The second connecting structure 22 is arranged in the inner cavity of the second horizontal arm 15;
The first driving motor 6 is fixedly arranged on the motor supporting seat 24, the motor supporting seat 24 is fixedly arranged on the base module 1, and the output end of the first driving motor 6 is connected with the input end of the screw rod 7 through a fourth connecting structure 25;
the first connecting structure 21, the second connecting structure 22, the third connecting structure 23 and the fourth connecting structure 25 are combined structures of a driven synchronizing wheel, a synchronous belt and a driving synchronizing wheel, and transmission synchronization and accuracy are guaranteed;
the second transmission rotating shaft 20 is provided with corresponding bearing structures 26 at the upper and lower positions of the vertical inner cavity of the first driving rotating shaft 14, so that the two rotating shafts can rotate independently and cannot generate interference;
the range of the vertical moving sleeve driven by the screw rod 7 to move up and down is within 800 mm;
the rotation amplitude of the first horizontal arm 11 is 0-180 degrees; the rotation range of the second horizontal arm 15 is-60 to 60 degrees; the rotation amplitude of the gripper assembly 17 is 360 °;
The two sides of the main upright post 2 are provided with parallel side plates 27 protruding forward, the two side plates 27 extend to the front end surface of the vertical moving sleeve 4 far away from the up-down moving slider module 5, the front parts of the two side plates 27 are connected through a connecting rod 28, the connecting rod 28 is sleeved with a plurality of supporting bearings 29, and the supporting bearings 29 are closely attached to the front end surface of the vertical moving sleeve 4 at the corresponding positions to ensure that the vertical moving sleeve cannot overturn;
A third driving motor 18 is fixedly arranged on the lower end face, close to the main upright post end 2, of the first horizontal arm 11, the output end of the upper part of the third driving motor 18 is connected with a third speed reducer, the output end of the third speed reducer is sleeved with a third driving wheel, the upper end of the first driving rotating shaft 14 is sleeved with a third driven wheel, and the third driving wheel is connected with the third driven wheel through a third synchronous belt;
a fourth driving motor 19 is fixedly arranged on the upper end face, close to the end of the main upright post 2, of the first horizontal arm 11, the lower output end of the fourth driving motor 19 is connected with a fourth speed reducer, the output end of the fourth speed reducer is sleeved with a first driving wheel, the exposed end of the upper part of the second transmission rotating shaft 20 is sleeved with a first driven wheel, the exposed end of the lower part of the second transmission rotating shaft 20 is sleeved with a second driving wheel, the upper end of the second rotating shaft is sleeved with a second driven wheel, the first driving wheel is connected with the first driven wheel through a first synchronous belt, and the second driving wheel is connected with the second driven wheel through a second synchronous belt;
The grip assembly 17 includes a grip seat 171 and a grip group 172, the grip seat 171 is sleeved on a portion of the lower end of the second rotating shaft 16 exposed below the second horizontal arm 15, and the grip group 172 is fixedly mounted on the lower end of the grip seat 171.
The working principle is as follows: one shaft is a first horizontal arm which horizontally rotates around the vertical moving sleeve within the range of 0-180 degrees; the two shafts vertically move the sleeve to lift up and down on the main upright column within the range of 0-800 mm; the three axes are that the second horizontal arm horizontally rotates at the far end of the first horizontal arm, and the range is-60 degrees to 60 degrees; the four-axis is used for enabling a second rotating shaft to horizontally rotate at the terminal of a second horizontal arm within the range of 0-360 degrees; four servo motor/speed reducer sets of the robot are arranged beside the main upright post, so that the weight of the first horizontal arm and the second horizontal arm is reduced, the weight of one end, far away from the front end shaft, of each transmission wall is relatively small, the load capacity of the whole robot is ensured, and the transfer capacity of a large-scale press is improved.
The detailed description of the embodiments of the present invention has been provided, but the present invention is only the preferred embodiments of the present invention, and should not be considered as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of the present invention shall fall within the scope of the present patent application.
Claims (9)
1. The utility model provides a four-axis returns arm robot greatly which characterized in that: the device comprises a base module, wherein a main upright post which is vertically arranged is arranged on the base module, a vertical track is arranged on the front vertical surface of the main upright post, a vertically moving sleeve is clamped on the corresponding vertical track through an up-and-down moving slider module, a first driving motor which is vertically arranged is arranged on the base module, the first driving motor is connected with the input end of a lead screw which is vertically arranged, two ends of the lead screw are respectively and fixedly arranged on positioning bearings which are arranged in the main upright post, a transmission plate is fixedly arranged at the bottom of the vertically moving sleeve, a lead screw nut is arranged at the transmission position of the transmission plate corresponding to the lead screw, the lead screw is in threaded connection with the lead screw nut, one end of a first horizontal arm in the length direction is supported at the output end of a speed reducer, the input end of the speed reducer is connected with a second driving motor, and the speed reducer are fixedly arranged at the center position of the, the output end of the speed reducer is protruded on the vertical moving sleeve, the upper end of a first driving rotating shaft is vertically inserted into the other end of the first horizontal arm in the length direction, the lower end of the first driving rotating shaft is connected with one end of the second horizontal arm in the length direction, the upper end of a second rotating shaft is inserted into the other end of the second horizontal arm in the length direction, the lower end of the second rotating shaft is fixedly provided with a gripper assembly, one end of the first horizontal arm close to the main upright post is respectively provided with a third driving motor and a fourth driving motor, the first driving rotating shaft is a hollow shaft, a second driving rotating shaft is inserted into the hollow part of the first driving rotating shaft, the two ends of the second driving rotating shaft in the vertical direction are exposed out of the corresponding end part of the first driving rotating shaft, and the exposed upper part of the second driving rotating shaft is connected with the output end of the fourth driving motor through a first connecting structure, the lower exposed end of the second transmission rotating shaft is connected with the upper end of the second rotating shaft through a second connecting structure, and the upper end of the first driving rotating shaft is connected with the output end of the third driving motor through a third connecting structure.
2. the four-axis large-arm robot of claim 1, wherein: the first connecting structure and the third connecting structure are both arranged in the inner cavity of the first horizontal arm.
3. the four-axis large-arm robot of claim 1, wherein: the second connection structure is disposed within the inner cavity of the second horizontal arm.
4. the four-axis large-arm robot of claim 1, wherein: the first driving motor is fixedly installed on the motor supporting seat, the motor supporting seat is fixedly installed on the base module, and the output end of the first driving motor is connected with the input end of the screw rod through a fourth connecting structure.
5. The four-axis large-arm robot of claim 4, wherein: the first connecting structure, the second connecting structure, the third connecting structure and the fourth connecting structure are combined structures of a driven synchronizing wheel, a synchronous belt and a driving synchronizing wheel.
6. the four-axis large-arm robot of claim 1, wherein: the two sides of the main upright post are provided with front convex parallel side plates, the two side plates extend to the front end face, far away from the up-and-down moving sliding block module, of the vertical moving sleeve, the front portions of the two side plates are connected through a connecting rod, the connecting rod is sleeved with a plurality of supporting bearings, and the supporting bearings are arranged close to the front end face of the vertical moving sleeve at the corresponding position.
7. the four-axis large-arm robot of claim 1, wherein: and the third driving motor is fixedly arranged on the lower end face of the first horizontal arm close to the end of the main upright post.
8. The four-axis large-arm robot of claim 1, wherein: and the fourth driving motor is fixedly arranged on the upper end surface of the first horizontal arm close to the end of the main upright post.
9. the four-axis large-arm robot of claim 1, wherein: the hand grip assembly comprises a hand grip seat and a hand grip group, the part of the lower end of the second rotating shaft, which is exposed out of the second horizontal arm, is sleeved with the hand grip seat, and the lower end of the hand grip seat is fixedly provided with the hand grip group.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821653357 | 2018-10-12 | ||
| CN201821653357X | 2018-10-12 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209774647U true CN209774647U (en) | 2019-12-13 |
Family
ID=66258219
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822250272.3U Active CN209774647U (en) | 2018-10-12 | 2018-12-29 | Four-axis robot with large return arm |
| CN201811633065.4A Active CN109702731B (en) | 2018-10-12 | 2018-12-29 | Stamping robot with large height difference suitable for working face |
| CN201822247520.9U Withdrawn - After Issue CN209699107U (en) | 2018-10-12 | 2018-12-29 | It is a kind of to adapt to the big pressing robot of height difference between working faces |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811633065.4A Active CN109702731B (en) | 2018-10-12 | 2018-12-29 | Stamping robot with large height difference suitable for working face |
| CN201822247520.9U Withdrawn - After Issue CN209699107U (en) | 2018-10-12 | 2018-12-29 | It is a kind of to adapt to the big pressing robot of height difference between working faces |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN209774647U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209774647U (en) * | 2018-10-12 | 2019-12-13 | 苏州神运机器人有限公司 | Four-axis robot with large return arm |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0327094A1 (en) * | 1988-02-02 | 1989-08-09 | Nokia Mechatronics Gmbh | Industrial robot |
| CN202592382U (en) * | 2012-05-07 | 2012-12-12 | 深圳市爱康电子有限公司 | Automatic mechanical gripper device |
| CN204322070U (en) * | 2014-11-13 | 2015-05-13 | 深圳大宇精雕科技有限公司 | Parallel articulated robot |
| CN106180455B (en) * | 2016-08-26 | 2018-06-01 | 苏州神运机器人有限公司 | Three axis pressing robots |
| CN107537947A (en) * | 2017-09-27 | 2018-01-05 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator device |
| CN207643129U (en) * | 2017-11-07 | 2018-07-24 | 昆山巧乐机器人有限公司 | Stamping mechanical arm |
| CN209774647U (en) * | 2018-10-12 | 2019-12-13 | 苏州神运机器人有限公司 | Four-axis robot with large return arm |
-
2018
- 2018-12-29 CN CN201822250272.3U patent/CN209774647U/en active Active
- 2018-12-29 CN CN201811633065.4A patent/CN109702731B/en active Active
- 2018-12-29 CN CN201822247520.9U patent/CN209699107U/en not_active Withdrawn - After Issue
Also Published As
| Publication number | Publication date |
|---|---|
| CN209699107U (en) | 2019-11-29 |
| CN109702731A (en) | 2019-05-03 |
| CN109702731B (en) | 2024-05-17 |
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