CN203495947U - Horizontal multi-joint robot not driven by belt - Google Patents
Horizontal multi-joint robot not driven by belt Download PDFInfo
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- CN203495947U CN203495947U CN201320589420.9U CN201320589420U CN203495947U CN 203495947 U CN203495947 U CN 203495947U CN 201320589420 U CN201320589420 U CN 201320589420U CN 203495947 U CN203495947 U CN 203495947U
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Abstract
The utility model discloses a horizontal multi-joint robot not driven by a belt. A Z shaft of a pedestal (1) is equipped with a first shaft motor (2) driving a first shaft decelerator (3). A first shaft rotating arm (4) is fixedly coupled to the first shaft decelerator. The first shaft motor drives the first shaft rotating arm to rotate via the first shaft decelerator. A second shaft motor (6) and a second shaft decelerator (5) are disposed at the tail end of the first shaft rotating arm (4). The second shaft motor drives a second shaft rotating arm (13) to rotate via the second shaft decelerator. A third shaft hollow motor (9), a fourth shaft hollow motor (10) and a fourth shaft hollow decelerator (11) pass through a ball screw spline shaft (7) in a coaxial manner and are respectively fixed to an upper transverse plane and a lower transverse plane of the tail end of the second shaft rotating arm via a ball nut (8) and a ball spline sleeve (12). The horizontal multi-joint robot not driven by a belt is compact in structure, good in rigidity, high in transmission precision and rapid in response, totally has no belt structure, is free of concerns that a belt may be damaged, relax and age, and is maintenance-free for a long period of time.
Description
Technical field
The utility model relates to fields such as being widely used in electronic product industry, auto industry, plastics industry, pharmaceutical industries and food industry, in order to complete, move to take, assemble, spray, the horizontal articulated robot of the operation such as welding, also claim SCARA(Selective Compliance Assembly Robot Arm, Chinese translation: select the compliance arm that puts together machines) robot.
Background technology
The horizontal articulated robot of SCARA is a kind of industrial robot of specific type of circular cylindrical coordinate type, has three rotary joints that axis is parallel, can be at a flat in-plane moving directed.Another joint is linear joint, for completing the motion of end piece in vertical plane.It determines the coordinate of terminal with the angular displacement of rotary joint and the displacement of linear joint, have the translational degree of freedom of four axles and four freedom of motion: X, Y, Z direction and around the rotational freedom of Z axis.In X, Y-direction, have biddability, and in Z-direction, have good rigidity, large arm and forearm are two bar structures of series connection, similar people's arm, can put in limited space and carry out operation, then regains, be suitable for moving and picking and placeing object, as surface-mounted integrated circuit etc.It first and second, four axles have rotational characteristic, and the 3rd axle has Linear-moving characteristic, and third and fourth can, according to the difference of need of work, manufacture corresponding multiple different form.Existing horizontal articulated robot adopts belt transmission mostly, and long-term use easily causes the breakage, lax and aging of belt, affects the precision of robot.
Summary of the invention
The purpose of this utility model is for above-mentioned the deficiencies in the prior art part, provide a kind of compact conformation, good rigidity, life-span long, respond fast horizontal articulated non-belt drives robot.
The utility model solves the technical scheme that its technical problem adopts, a kind of horizontal articulated non-belt drives robot, comprise base and four axles with four freedoms of motion, and two bar structures of the first axle pivoted arm rotating around base Z axis and the series connection of the second axle pivoted arm, it is characterized in that: the first spindle motor 2 that drives the first axle decelerator 3 is housed on base 1Z axle, the first axle pivoted arm 4 connects firmly on the first axle decelerator 3, and the first spindle motor 2 drives the first axle pivoted arm 4 to rotate by the first axle decelerator 3; The second spindle motor 6 and the second axle decelerator 5 are arranged on the first axle pivoted arm 4 ends, and the second spindle motor 6 drives the second axle pivoted arm 13 to rotate by the second axle decelerator 5; The 3rd axle hollow motor 9 and the 4th axle hollow motor 10 and the 4th axle hollow decelerator 11 thereof, coaxially by ball-screw spline 7, be fixed on the upper and lower end face of the second axle pivoted arm 13 ends by ball nut 8 and ball spline cover 12 respectively.The 3rd axle hollow motor 9 drives ball nut 8 to rotate and realizes moving up and down of the 3rd axle.The 4th axle hollow motor 10 drives ball spline cover 12 to rotate the rotation that realizes the 4th axle by the 4th axle hollow decelerator 11.
The utlity model has following beneficial effect.
The utility model compact conformation, good rigidity, transmission accuracy is high, response is fast, and completely without belt composition, the breakage, lax and aging without worrying belt, can realize non-maintaining for a long time.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, further illustrate the utility model, but therefore the utility model is not limited among described scope of embodiments.
Fig. 1 is the structural representation of the horizontal articulated non-belt drives robot of the utility model embodiment.
In figure: 1 base, 2 first spindle motors, 3 first axle decelerators, 4 first axle pivoted arms, 5 second axle decelerators, 6 second spindle motors, 7 ball-screw splines, 8 ball nuts, 9 the 3rd axle hollow motor, 10 the 4th axle hollow motor, 11 the 4th axle hollow decelerators, 12 ball spline covers, 13 second axle pivoted arms.
The specific embodiment
Consult Fig. 1.A horizontal articulated non-belt drives robot, comprises base 1, the first axle pivoted arm 4, the second axle pivoted arm 13 and ball-screw spline 7.The first spindle motor 2 and the first axle decelerator 3 are inverted and are arranged on the Z axis of base 1 inside.The first axle pivoted arm 4 is fixed on the first axle decelerator 3, and the first spindle motor 2 drives the first axle pivoted arm 4 to rotate by decelerator 3.The second spindle motor 6 and the second axle decelerator 5 are arranged on the first axle pivoted arm 4 ends, and the second axle pivoted arm 13 is fixed on the second axle decelerator 5.The second spindle motor 6 drives the second axle pivoted arm 13 to rotate by the second axle decelerator 5.
The ball nut 8 of ball-screw spline 7 and ball spline cover 12 are coaxially fixed on the end of the second axle pivoted arm 13.The 3rd axle and the 4th spindle motor all adopt hollow motor, and the 4th axle decelerator adopts hollow decelerator.The 3rd axle hollow motor 9 and the 4th axle hollow motor 10 and the 4th axle hollow decelerator 11 thereof, coaxially by ball-screw spline 7, be fixed on the upper and lower end face of the second axle pivoted arm 13 ends by ball nut 8 and ball spline cover 12 respectively.The 3rd axle hollow motor 9 drives ball nut 8 to rotate and realizes moving up and down of ball-screw spline 7.The 4th axle hollow motor 10 drives the 4th axle hollow decelerator 11 to drive ball spline cover 12 to rotate the rotation that realizes ball-screw spline 7.
The above, it is only the utility model preferred embodiment, therefore can not limit the scope that the utility model is implemented with this, the equivalence of doing according to the utility model claim and description changes and modifies, and all should still belong in the scope that the utility model patent contains.
Claims (7)
1. a horizontal articulated non-belt drives robot, comprise base and four axles with four freedoms of motion, and two bar structures of the first axle pivoted arm rotating around base Z axis and the series connection of the second axle pivoted arm, it is characterized in that: the first spindle motor (2) that drives the first axle decelerator (3) is housed on base (1) Z axis, the first axle pivoted arm (4) connects firmly at the first axle decelerator (3) upper, and the first spindle motor (2) drives the first axle pivoted arm (4) to rotate by the first axle decelerator (3); The second spindle motor (6) and the second axle decelerator (5) are arranged on the first axle pivoted arm (4) end, and the second spindle motor (6) drives the second axle pivoted arm (13) to rotate by the second axle decelerator (5); The 3rd axle hollow motor (9) and the 4th axle hollow motor (10) and the 4th axle hollow decelerator (11) thereof, coaxial by ball-screw spline (7), by ball nut (8) and ball spline cover (12), be fixed on the upper and lower end face of the second axle pivoted arm (13) end respectively.
2. horizontal articulated non-belt drives according to claim 1 robot, is characterized in that: the first spindle motor (2) and the first axle decelerator (3) are inverted and are arranged on the inner Z axis of base (1).
3. horizontal articulated non-belt drives according to claim 1 robot, is characterized in that: the 3rd axle hollow motor (9) drives ball nut (8) to rotate and realizes moving up and down of ball-screw spline (7).
4. horizontal articulated non-belt drives according to claim 1 robot, is characterized in that: the 4th axle hollow motor (10) drives the 4th axle hollow decelerator (11) to drive ball spline cover (12) to rotate the rotation that realizes ball-screw spline (7).
5. horizontal articulated non-belt drives according to claim 1 robot, is characterized in that: the ball nut (8) of ball-screw spline (7) and ball spline cover (12) are coaxially fixed on the end of the second axle pivoted arm (13).
6. horizontal articulated non-belt drives according to claim 1 robot, is characterized in that: the 3rd axle and the 4th spindle motor all adopt hollow motor.
7. horizontal articulated non-belt drives according to claim 1 robot, is characterized in that: the 4th axle decelerator adopts hollow decelerator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320589420.9U CN203495947U (en) | 2013-09-23 | 2013-09-23 | Horizontal multi-joint robot not driven by belt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320589420.9U CN203495947U (en) | 2013-09-23 | 2013-09-23 | Horizontal multi-joint robot not driven by belt |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203495947U true CN203495947U (en) | 2014-03-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320589420.9U Expired - Lifetime CN203495947U (en) | 2013-09-23 | 2013-09-23 | Horizontal multi-joint robot not driven by belt |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203495947U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084945A (en) * | 2014-07-16 | 2014-10-08 | 王典超 | Novel multi-joint robot |
| CN104723333A (en) * | 2015-03-25 | 2015-06-24 | 苏州大学 | Integrated type two-degree-freedom mechanical arm and control system thereof |
| CN105171723A (en) * | 2015-08-31 | 2015-12-23 | 苏州大学 | Integrated two-degree-of-freedom manipulator and control system thereof |
| CN105269560A (en) * | 2015-11-03 | 2016-01-27 | 深圳市福士工业科技有限公司 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
| CN105479446A (en) * | 2016-02-04 | 2016-04-13 | 威海新北洋正棋机器人股份有限公司 | Robot |
| CN106426124A (en) * | 2016-09-18 | 2017-02-22 | 青岛海豚智能装备有限公司 | Plane joint robot with length of arms capable of being adjusted |
| CN106826800A (en) * | 2015-12-28 | 2017-06-13 | 苏州大学 | Selective compliance assembly robot arm and its control system |
| WO2019242246A1 (en) * | 2018-06-22 | 2019-12-26 | 珠海格力智能装备有限公司 | Robot |
| CN113218245A (en) * | 2021-05-26 | 2021-08-06 | 上海机电工程研究所 | Compact high-low aircraft and missile launcher thereof |
| CN114055445A (en) * | 2021-11-08 | 2022-02-18 | 珠海格力电器股份有限公司 | Cantilever structure and assembly quality |
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN109291039B (en) * | 2018-11-30 | 2023-12-19 | 埃夫特智能装备股份有限公司 | Four-joint plane robot |
-
2013
- 2013-09-23 CN CN201320589420.9U patent/CN203495947U/en not_active Expired - Lifetime
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084945A (en) * | 2014-07-16 | 2014-10-08 | 王典超 | Novel multi-joint robot |
| CN104723333A (en) * | 2015-03-25 | 2015-06-24 | 苏州大学 | Integrated type two-degree-freedom mechanical arm and control system thereof |
| CN105171723A (en) * | 2015-08-31 | 2015-12-23 | 苏州大学 | Integrated two-degree-of-freedom manipulator and control system thereof |
| CN105269560A (en) * | 2015-11-03 | 2016-01-27 | 深圳市福士工业科技有限公司 | Novel ZR shaft assembly of horizontal multi-joint manipulator |
| CN106826800A (en) * | 2015-12-28 | 2017-06-13 | 苏州大学 | Selective compliance assembly robot arm and its control system |
| CN106826801A (en) * | 2015-12-28 | 2017-06-13 | 苏州大学 | Selective compliance assembly robot arm and its control system |
| CN105479446A (en) * | 2016-02-04 | 2016-04-13 | 威海新北洋正棋机器人股份有限公司 | Robot |
| CN106426124A (en) * | 2016-09-18 | 2017-02-22 | 青岛海豚智能装备有限公司 | Plane joint robot with length of arms capable of being adjusted |
| WO2019242246A1 (en) * | 2018-06-22 | 2019-12-26 | 珠海格力智能装备有限公司 | Robot |
| CN109291039B (en) * | 2018-11-30 | 2023-12-19 | 埃夫特智能装备股份有限公司 | Four-joint plane robot |
| CN113218245A (en) * | 2021-05-26 | 2021-08-06 | 上海机电工程研究所 | Compact high-low aircraft and missile launcher thereof |
| CN114055445A (en) * | 2021-11-08 | 2022-02-18 | 珠海格力电器股份有限公司 | Cantilever structure and assembly quality |
| CN114055445B (en) * | 2021-11-08 | 2023-11-10 | 珠海格力电器股份有限公司 | Cantilever structure and assembly device |
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114454186B (en) * | 2022-01-15 | 2024-03-15 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
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Granted publication date: 20140326 |