TWM627615U - Three-axis articulated robot - Google Patents

Abstract

This creation is a three-axis joint manipulator, including: a fixed frame, a first motor, a second motor, a third motor, a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, and a sixth pulley. The pulley, the first transmission shaft, the second transmission shaft, the first connection sleeve, the second connection sleeve, the first connection arm, the second connection arm and the third connection arm, the three-axis joint manipulator can effectively and stably Running the transmission, it can also grasp the PCB to reach multiple angles, store the power source of the two axes at the bottom end, and reach the position of the connecting arm. The structure is lightweight, has a wide range of applications, and meets the requirements of various production lines.

Description

Three-axis joint manipulator

This creation is about a three-axis joint manipulator, especially a three-axis joint manipulator used in the technical field of PCB production.

Press, with the development of industrial modernization, more and more products are produced using manipulators, such as two-axis manipulators, three-axis manipulators, four-axis manipulators and six-axis manipulators. Now manipulators have become An integral part of the existing automation industry. Although there are many types of existing manipulators, they cannot achieve predetermined work under specific requirements. Furthermore, when installing in various venues, the conventional practice is to place the power source on each segment of the connecting arm separately, which leads to the rise of the center of gravity and the poor stability, which need to be solved by those engaged in the industry.

Therefore, in view of the above problems and deficiencies, the creator collected relevant information, and after multiple evaluations and considerations, came up with the creation of this three-axis joint manipulator.

This creation is mainly for a three-axis joint manipulator, which provides a three-axis joint manipulator. The three-axis joint manipulator can drive effectively and stably, grasp the PCB to reach multiple angles, and transfer the power source of the two axes. It is stored at the bottom end, so that it can reach the position of the connecting arm, which is light in structure, has a wide range of applications and can meet the requirements of various production lines.

In order to achieve the above purpose, this work is a three-axis joint manipulator, including: Fixed frame, first motor, second motor, third motor, first pulley, second pulley, third pulley, fourth pulley, fifth pulley, sixth pulley, first drive shaft, second drive shaft, a connecting sleeve, a second connecting sleeve, a first connecting arm, a second connecting arm and a third connecting arm, the fixed end of the first motor and the fixed end of the second motor are both fixed on the fixing frame, the The fixed end of the first motor is connected with the key of the first pulley, the fixed end of the second motor is connected with the key of the second pulley, the first pulley and the third pulley are connected by belt transmission, and the second pulley is connected with the first pulley. The four pulleys are connected by belt drive, the first drive shaft passes through the third pulley, the fourth pulley and the fifth pulley, the first drive shaft is keyed to the third pulley, and the first drive shaft is connected to the third pulley. Four pulley bearings are connected, the first transmission shaft is keyed with the fifth pulley, the fifth pulley and the sixth pulley are respectively installed at both ends of the first connecting arm, between the fifth pulley and the sixth pulley Belt drive connection, the first connection sleeve is sleeved on the outside of the first transmission shaft, one end of the first connection sleeve is fixedly connected with the fourth pulley, and the other end of the first connection sleeve is connected with the first One end of the arm away from the sixth pulley is fixedly connected, one end of the second drive shaft is keyed with the sixth pulley, the other end of the second drive shaft is connected with the first connecting arm bearing, and the second connecting sleeve is sleeved On the outside of the second transmission shaft, one end of the second connecting sleeve is fixedly connected with the sixth pulley, the other end of the second connecting sleeve is fixedly connected with one end of the second connecting arm, and the third connecting arm One end of the second connecting arm is fixedly connected with one end of the second connecting arm away from the second connecting sleeve, the fixed end of the third motor is fixed in the third connecting arm, and the movable end of the third motor is bearing with the third connecting arm connect.

Preferably, a first reducer is connected between the first connecting sleeve and the first connecting arm.

Preferably, there is a second connection between the second connection sleeve and the second connection arm. reducer.

Preferably, a third reducer is arranged on the outer side of the third connecting arm, one end of the third reducer is connected with the movable end of the third motor, and the other end of the third reducer is connected with a movable manipulator.

Preferably, a first protection frame and a second protection frame are fixed on the fixing frame, the fixed end of the first motor is fixed on the first protection frame, the first pulley is located in the first protection frame, the first protection frame is The fixed ends of the two motors are fixed on the second protection frame, and the second pulley is located in the second protection frame.

Preferably, the first motor, the second motor and the third motor are all constituted by servo motors.

The main feature of this creation is to provide a three-axis joint manipulator. The three-axis joint manipulator can operate and drive effectively and stably, and can also grasp the PCB to reach multiple angles, and store the power source of the two axes at the bottom end. , The structure of reaching the position of the connecting arm is light and light, and the scope of application is wide, which can meet the requirements of various production lines.

1: Fixed frame

2: The first motor

3: The second motor

4: The third motor

5: The first pulley

6: Second pulley

7: The third pulley

8: Fourth pulley

9: Fifth pulley

10: Sixth pulley

11: The first drive shaft

12: Second drive shaft

13: The first connecting sleeve

14: Second connecting sleeve

15: The first connecting arm

16: Second connecting arm

17: The third connecting arm

18: The first reducer

19: Second reducer

20: The third reducer

21: The first protective frame

22: Second protective frame

23: Active manipulator

[Picture 1] is the three-dimensional structure diagram of the three-axis joint manipulator.

[Picture 2] is the first partial structure diagram of the three-axis joint manipulator.

[Picture 3] is the second partial structure diagram of the three-axis joint manipulator.

[Picture 4] is the third partial structure diagram of the three-axis joint manipulator.

In order to achieve the above purpose and effect, the technical means and structure used in this creation I hereby describe the preferred embodiment of this creation in detail, and its structure and function are as follows, so that I can fully understand it.

As shown in FIG. 1 to FIG. 4 , this embodiment discloses a three-axis joint manipulator, including a fixing frame 1 , a first motor 2 , a second motor 3 , a third motor 4 , a first pulley 5 , and a second pulley 6 , the third pulley 7, the fourth pulley 8, the fifth pulley 9, the sixth pulley 10, the first transmission shaft 11, the second transmission shaft 12, the first connection sleeve 13, the second connection sleeve 14, the first connection The arm 15, the second connecting arm 16 and the third connecting arm 17, the fixed end of the first motor 2 and the fixed end of the second motor 3 are fixed on the fixed frame 1, and the fixed end of the first motor 2 and The first pulley 5 is connected with a key, the fixed end of the second motor 3 is connected with the second pulley 6 with a key, the first pulley 5 and the third pulley 7 are connected by a belt drive, and the second pulley 6 is connected with the fourth pulley. The belt drive connection between the pulleys 8, the first drive shaft 11 runs through the third pulley 7, the fourth pulley 8 and the fifth pulley 9, the first drive shaft 11 is connected with the third pulley 7 by a key, the third pulley 7 A transmission shaft 11 is bearingly connected to the fourth pulley 8 , the first transmission shaft 11 is keyed to the fifth pulley 9 , and the fifth pulley 9 and the sixth pulley 10 are respectively mounted on two sides of the first connecting arm 15 . The fifth pulley 9 and the sixth pulley 10 are connected by belt transmission, the first connecting sleeve 13 is sleeved on the outside of the first transmission shaft 11, and one end of the first connecting sleeve 13 is connected to the fourth The pulley 8 is fixedly connected, the other end of the first connection sleeve 13 is fixedly connected to the end of the first connecting arm 15 away from the sixth pulley 10, and one end of the second transmission shaft 12 is keyed to the sixth pulley 10, The other end of the second transmission shaft 12 is bearingly connected to the first connecting arm 15 , the second connection sleeve 14 is sleeved on the outside of the second transmission shaft 12 , and one end of the second connection sleeve 14 is connected to the sixth connection sleeve 14 . The pulley 10 is fixedly connected, the other end of the second connection sleeve 14 is fixedly connected to one end of the second connection arm 16 , and one end of the third connection arm 17 is away from the second connection arm 16 from the second connection sleeve 14 One end of the third motor 4 is fixedly connected, the fixed end of the third motor 4 is fixed in the third connecting arm 17 , and the movable end of the third motor 4 is bearing-connected with the third connecting arm 17 .

In the first stage of operation (the first connecting arm 15 rotates), the second motor 3 works, and through the driving of the second pulley 6 and the transmission of the belt, the fourth pulley 8 rotates, thereby transmitting power to the first pulley A connecting sleeve 13 , the first connecting sleeve 13 controls the first connecting arm 15 to rotate relative to the fixing frame 1 .

In the second stage of operation (the second connecting arm 16 rotates), the first motor 2 works, through the driving of the first pulley 5 and the transmission of the belt, the third pulley 7 rotates, and then the first transmission shaft 11 rotates , drive the fifth pulley 9 to rotate, and then through the transmission of the belt, the sixth pulley 10 rotates, and once again transmits the power to the second transmission shaft 12, the second connecting sleeve 14 controls the second connecting arm 16 relative to the The first connecting arm 15 rotates.

The third stage of operation is directly started by the third motor 4 fixed on the third connecting arm 17 , and the movable end of the third motor 4 rotates to drive the components connected to the movable end of the third motor 4 to rotate , to realize all the operations of the three-axis joint manipulator.

In this embodiment, a first reducer 18 is connected between the first connecting sleeve 13 and the first connecting arm 15 , and a second reducing gear 18 is connected between the second connecting sleeve 14 and the second connecting arm 16 . Reducer 19.

The first speed reducer 18 and the second speed reducer 19 are used to decelerate the rotational speed of the motor to adapt to the production process of the printed circuit board (PCB).

In this embodiment, a third reducer 20 is disposed on the outside of the third connecting arm 17 , one end of the third reducer 20 is connected to the movable end of the third motor 4 , and the other end of the third reducer 20 is connected to the movable end of the third motor 4 . An active manipulator 23 is connected.

The third reducer 20 controls the power of the third motor 4 to decelerate to the movable manipulator 23 for use.

In this embodiment, a first protection frame 21 and a second protection frame 22 are fixed on the fixing frame 1 , the fixed end of the first motor 2 is fixed on the first protection frame 21 , and the first pulley 5 is located on the first protection frame 21 . In the first protection frame 21 , the fixed end of the second motor 3 is fixed on the second protection frame 22 , and the second pulley 6 is located in the second protection frame 22 .

The first protective frame 21 effectively protects the accurate operation of the first pulley 5 from being affected by other components of the equipment, and the second protective frame 22 effectively protects the accurate operation of the second pulley 6 from other components of the equipment.

In this embodiment, the first motor 2 , the second motor 3 and the third motor 4 are all constituted by servo motors, and the first connecting arm can be realized by the characteristics that the servo motor can control the forward rotation and the reverse rotation. 15. Forward rotation and reverse rotation of the second connecting arm 16 and the movable manipulator 23 .

The above is only a preferred embodiment of this creation, and it limits the scope of the patent of this creation. Therefore, any simple modifications and equivalent structural changes made by using the contents of the description and drawings of this creation should be similarly included in this creation. Within the scope of the patented creation, I agree to Chen Ming.

To sum up, the above-mentioned three-axis joint manipulator of this creation can indeed achieve its effect and purpose when it is used, so this creation is a creation with excellent practicality. I hope that the review committee will approve this case as soon as possible to protect the hard work of the creators. If the review committee of the Jun Bureau has any doubts, please do not hesitate to send a letter for instructions. The creators will do their best to cooperate.

1: Fixed frame

2: The first motor

3: The second motor

15: The first connecting arm

16: Second connecting arm

17: The third connecting arm

20: The third reducer

21: The first protective frame

22: Second protective frame

23: Active manipulator

Claims (6)

A three-axis joint manipulator, comprising: a fixed frame, a first motor, a second motor, a third motor, a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, a sixth pulley, a first pulley a transmission shaft, a second transmission shaft, a first connection sleeve, a second connection sleeve, a first connection arm, a second connection arm and a third connection arm, the fixed end of the first motor and the fixed end of the second motor are fixed on the fixing frame, the fixed end of the first motor is connected with the key of the first pulley, the fixed end of the second motor is connected with the key of the second pulley, the belt transmission between the first pulley and the third pulley connection, the second pulley and the fourth pulley are connected by belt drive, the first drive shaft penetrates the third pulley, the fourth pulley and the fifth pulley, and the first drive shaft is connected with the third pulley key , the first drive shaft is connected with the fourth pulley bearing, the first drive shaft is connected with the fifth pulley key, the fifth pulley and the sixth pulley are respectively installed at both ends of the first connecting arm, the first pulley The fifth pulley and the sixth pulley are connected by belt transmission, the first connecting sleeve is sleeved on the outside of the first transmission shaft, one end of the first connecting sleeve is fixedly connected with the fourth pulley, and the first connecting sleeve is The other end of the pipe is fixedly connected with the end of the first connecting arm away from the sixth pulley, one end of the second drive shaft is connected with the sixth pulley key, and the other end of the second drive shaft is connected with the first connecting arm bearing connection, the second connection sleeve is sleeved on the outside of the second transmission shaft, one end of the second connection sleeve is fixedly connected with the sixth pulley, and the other end of the second connection sleeve is connected with the second connection arm. One end is fixedly connected, one end of the third connecting arm is fixedly connected with the end of the second connecting arm away from the second connecting sleeve, the fixed end of the third motor is fixed in the third connecting arm, the third motor is The movable end is connected with the third connecting arm bearing. The three-axis joint manipulator according to claim 1, wherein a first reducer is connected between the first connection sleeve and the first connection arm. The three-axis joint manipulator according to claim 1, wherein a second reducer is connected between the second connection sleeve and the second connection arm. The three-axis joint manipulator according to claim 1, wherein a third reducer is arranged on the outer side of the third connecting arm, one end of the first main reducer is connected to the movable end of the third motor, and the third reducer The other end is connected with an active manipulator. The three-axis joint manipulator according to claim 1, wherein a first protection frame and a second protection frame are fixed on the fixed frame, the fixed end of the first motor is fixed on the first protection frame, and the first pulley Located in the first protection frame, the fixed end of the second motor is fixed on the second protection frame, and the second pulley is located in the second protection frame. The three-axis joint manipulator according to claim 1, wherein the first motor, the second motor and the third motor are all constituted by servo motors.

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