CN203566699U - Inversion four-degree-of-freedom industrial robot - Google Patents
Inversion four-degree-of-freedom industrial robot Download PDFInfo
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- CN203566699U CN203566699U CN201320710631.3U CN201320710631U CN203566699U CN 203566699 U CN203566699 U CN 203566699U CN 201320710631 U CN201320710631 U CN 201320710631U CN 203566699 U CN203566699 U CN 203566699U
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Abstract
The utility model relates to the technical field of industrial robots, in particular to an inversion four-degree-of-freedom industrial robot. The inversion four-degree-of-freedom industrial robot comprises a fixing frame, a main arm, an auxiliary arm, a main arm motor, an auxiliary arm motor and an integrated electric box. The main arm motor is inversely installed inside the fixing frame, is connected with one end of the main arm and drives the main arm to rotate. The other end of the main arm is hinged to one end of the auxiliary arm. The auxiliary arm motor is connected with the auxiliary arm and drives the auxiliary arm to rotate. An execution device capable of conducting two-dimensional motion is installed on the auxiliary arm. The main arm motor, the auxiliary arm motor and the execution device are respectively and electrically connected with the integrated electric box through connecting wires. The inversion four-degree-of-freedom industrial robot is inversely installed on a mounting rack through the fixing frame, the main arm motor can drive the main arm to rotate by 360 degrees, the auxiliary arm motor can drive the auxiliary arm to rotate by 360 degrees, and the 360-degree rotation operation is achieved. The inversion four-degree-of-freedom industrial robot is simple in structure, easy to manufacture and maintain and low in production cost; in addition, programming of the inversion four-degree-of-freedom industrial robot is easy, interconnected control is easy, and the production cycle of research and development is effectively shortened.
Description
Technical field
The utility model relates to Industrial Robot Technology field, refers in particular to a kind of upside-down mounting four-freedom degree industrial robot.
Background technology
Industrial robot is the important automated arm of modern manufacturing industry that integrates the multidisciplinary advanced technologies such as machinery, electronics, control, computer, sensor, artificial intelligence.Since the U.S. in 1962 develops in the world First industrial robot, Robotics and products thereof development is very fast, has become the automation tools of flexible manufacturing system (FMS), automatic factory (FA), computer integrated manufacturing system (CIMS).
Extensively adopt industrial robot, not only can improve the Quality and yield of product, and to guaranteeing personal safety, improve work situation, reduce labor intensity, raise labour productivity, save material and consume to reduce production costs, have very important meaning.Industrial robot key technology is two aspects: frame for movement and control system.That a outstanding industrial robot should possess is stable, light, frame for movement and have abundant Flexible Control, open modularization, fault self-diagnosis and security maintenance and the control system of the network interconnection accurately.
Four-freedom degree industrial robot of the prior art is to be generally fixed on working basic stand, and four-degree-of-freedom robot takes inner cabling mostly, cause cursor and working basic stand easily to interfere, make industrial robot cannot carry out the operation of 360 degree rotations, working range is subject to certain restrictions.And be to use relative position encoder, cause each start need to return initial point, and therefore cause potential constructive interference, make program complicated, needing professional to repeat debugging can use, and practical cost is high.
Summary of the invention
The utility model provides a kind of upside-down mounting four-freedom degree industrial robot for the problem of prior art, the main body of robot takes upside-down mounting mode to be fixed on support, take outside cabling not to be subject to the interference effect of self mechanism, realized the operation of 360 degree rotations, eliminated work blind area; Its structure and control program are simple in addition, are easy to manufacture and maintenance and interconnected control.
In order to solve the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of upside-down mounting four-freedom degree industrial robot, comprise fixed frame, principal arm, auxiliary, principal arm motor and auxiliary motor, the upside-down mounting of described principal arm motor is in fixed frame, principal arm motor is connected with one end of principal arm and drives principal arm to rotate, the other end of described principal arm and one end of auxiliary are hinged, described auxiliary motor is arranged on auxiliary, and this auxiliary motor is connected with auxiliary and drive auxiliary to rotate, and the actuating unit that can make two dimensional motion is installed on described auxiliary; On described fixed frame, be provided with integrated electronic box, described principal arm motor, auxiliary motor and actuating unit are all electrically connected with integrated electronic box.
Further, described actuating unit includes the first transmission mechanism and the second transmission mechanism, described the first transmission mechanism includes ball-screw, the first Timing Belt, the first synchronous pulley and the first servomotor, and the second transmission mechanism includes ball spline, the second Timing Belt, the second synchronous pulley and the second servomotor; Described ball-screw, ball spline, the first servomotor and the second servomotor are fixedly installed in respectively on auxiliary, described ball-screw and the first servomotor are connected with respectively the first synchronous pulley, ball spline and the second servomotor are connected with respectively the second synchronous pulley, described the first servomotor drives ball-screw rotation by the first Timing Belt, and described the second servomotor drives ball spline rotation by the second Timing Belt; Between described ball-screw and ball spline, be provided with connecting plate, one end of described connecting plate is fixedly connected with the top of ball spline, and its other end is connected with the nut of ball-screw.
As preferably, described principal arm motor, auxiliary motor, the first servomotor and the second servomotor are absolute value encoder servomotor.
Wherein, between described the first servomotor, the second servomotor and auxiliary, be provided with the bracing frame of "Ji" type, described the first servomotor, the second servomotor removably connect with the upper end of bracing frame respectively, and the bottom of support frame as described above is connected with auxiliary.
Further, be provided with the holder for back-up roller ballscrew on described auxiliary, the below of this holder is fixedly connected with auxiliary; The centre of described holder is provided with bearing, and described ball-screw is connected with holder by bearing.
Wherein, this upside-down mounting four-freedom degree industrial robot also includes principal arm reductor and auxiliary reductor, and described principal arm reductor is arranged between principal arm motor and principal arm, and described auxiliary reductor is arranged between auxiliary motor and auxiliary.
Wherein, a side of described fixed frame is provided with line outlet, in the junction of principal arm and auxiliary, is provided with line inlet port, is connected with external thread-protected tube between described line outlet and line inlet port.
Wherein, be provided with auxiliary motor cabinet between described principal arm and auxiliary, the upper end of described auxiliary motor cabinet is threaded with principal arm, and the lower end of auxiliary motor cabinet is threaded with auxiliary.
Further, on described auxiliary motor cabinet, be provided with multiple windows.
Wherein, on described auxiliary, be provided with protecting sheathing, described protecting sheathing carries out actuating unit bag in inside.
The beneficial effects of the utility model:
A kind of upside-down mounting four-freedom degree industrial robot provided by the utility model, comprise fixed frame, principal arm, auxiliary, principal arm motor, auxiliary motor and actuating unit, this robot passes through fixed frame upside-down mounting on installing rack, described principal arm motor can drive principal arm rotating 360 degrees, auxiliary motor can drive auxiliary rotating 360 degrees, the utility model has been realized the operation of 360 degree rotations, has eliminated work blind area.In addition, the utility model simplifies the structure, and is easy to manufacture and maintenance, and the low applicable medium-sized and small enterprises of production cost are used in batches; And programming of the present utility model is simple, be easy to interconnected control, can effectively shorten the research and development production cycle.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of upside-down mounting four-freedom degree industrial robot of the utility model.
Fig. 2 is the utility model internal structure schematic diagram one.
Fig. 3 is the utility model internal structure schematic diagram two.
Fig. 4 is the principal arm of a kind of upside-down mounting four-freedom degree industrial robot of the utility model and the pendulum angle schematic diagram of auxiliary.
Reference numeral in Fig. 1 to Fig. 4 comprises:
1-fixed frame, 2-principal arm, 21-principal arm motor
22-principal arm reductor, 3-auxiliary, 31-auxiliary motor
32-auxiliary reductor 4-integrated electronic box 5-ball-screw
6-ball spline, 71-the first Timing Belt the 72-the second Timing Belt
81-the first synchronous pulley 82-the second synchronous pulley the 9-the first servomotor
10-the second servomotor 11-connecting plate 12-bracing frame
13-holder, 14-line outlet, 15-line inlet port
16-external thread-protected tube 17-auxiliary motor cabinet, 18-window
19-protecting sheathing.
The specific embodiment
For the ease of those skilled in the art's understanding, below in conjunction with embodiment and accompanying drawing, the utility model is further described, the content that embodiment is mentioned is not to restriction of the present utility model.Referring to Fig. 1 to Fig. 4, below in conjunction with accompanying drawing, the utility model is described in detail.
A kind of upside-down mounting four-freedom degree industrial robot provided by the utility model, comprise fixed frame 1, principal arm 2, auxiliary 3, principal arm motor 21 and auxiliary motor 31, described principal arm motor 21 upside-down mountings are in fixed frame 1, principal arm motor 21 is connected with one end of principal arm 2 and drives principal arm 2 to rotate, one end of the other end of described principal arm 2 and auxiliary 3 is hinged, described auxiliary motor 31 is arranged on auxiliary 3, and this auxiliary motor 31 is connected with auxiliary 3 and drives auxiliary 3 to rotate, in the present embodiment, this upside-down mounting four-freedom degree industrial robot also includes principal arm reductor 22 and auxiliary reductor 32, described principal arm reductor 22 is arranged between principal arm motor 21 and principal arm 2, described auxiliary reductor 32 is arranged between auxiliary motor 31 and auxiliary 3.On described auxiliary 3, the actuating unit that can make two dimensional motion is installed; On described fixed frame 1, be provided with integrated electronic box 4, described principal arm motor 21, auxiliary motor 31 and actuating unit are all electrically connected with integrated electronic box 4 by connecting line.Further, a side of described fixed frame 1 is provided with line outlet 14, in principal arm 2 and the junction of auxiliary 3, is provided with line inlet port 15, is connected with external thread-protected tube 16 between described line outlet 14 and line inlet port 15.The various connecting lines of this industrial robot inside are all electrically connected with integrated electronic box 4, after the connecting line of the various drive units of auxiliary motor 31 and actuating unit inside is electrically connected with integrated electronic box 4 respectively, unification passes and enters external thread-protected tube 16 from line outlet 14, then from line inlet port 15, penetrate inside, realize unified cabling, reduce because the chaotic precision disturbing factor bringing of wiring; The external thread-protected tube 16 that used is in the present embodiment bellows.
Wherein, described actuating unit includes the first transmission mechanism and the second transmission mechanism, described the first transmission mechanism includes ball-screw 5, the first Timing Belt 71, the first synchronous pulley 81 and the first servomotor 9, the second transmission mechanisms and includes ball spline 6, the second Timing Belt 72, the second synchronous pulley 82 and the second servomotor 10; Described ball-screw 5, ball spline 6, the first servomotor 9 and the second servomotor 10 are fixedly installed in respectively on auxiliary 3, described ball-screw 5 and the first servomotor 9 are connected with respectively the first synchronous pulley 71, ball spline 6 and the second servomotor 10 are connected with respectively the second synchronous pulley 72, described the first servomotor 9 drives ball-screw 5 to rotate by the first Timing Belt 81, and described the second servomotor 10 drives ball spline 6 to rotate by the second Timing Belt 82; Between described ball-screw 5 and ball spline 6, be provided with connecting plate 11, one end of described connecting plate 11 is fixedly connected with the top of ball spline 6, and its other end is connected with the nut 51 of ball-screw 5.
This industrial robot is before operation, and off-line writes control program first on computers, then by program, from computer, uploads to the PLC controller of this industrial robot.After startup, PLC controller is by sending out the external servo-driver (not marking in the drawings) of each drive motors of pulse control, and each servomotor of servo driver drives rotates, and number of pulses determines that servomotor rotates step angle number.
In the utility model, as preferably, described principal arm motor 21, auxiliary motor 31, the first servomotor 9 and the second servomotor 10 are absolute value encoder servomotor.Motor encoder that the utility model adopts is 17 absolute position encoders, encoder rotating disk is carved with Gray code, thereby guarantee after calibrating far point for the first time still accurately to read at any time after power-off suddenly or external force are rotated motor, calculates the current coordinate of actuating station when front hook.
When servo-driver is sent out pulse to principal arm motor 21, principal arm motor 21 rotates and drives principal arm 2 to rotate by principal arm reductor 22, and the auxiliary 3 being arranged on principal arm 2 is also followed rotation, realizes actuating station interior Primary Location on a large scale.When servo-driver is sent out pulse to auxiliary motor 31, auxiliary motor 31 rotates and drives auxiliary 3 to rotate by auxiliary reductor 32, and the actuating unit being arranged on auxiliary 3 is realized interior final location among a small circle thereupon.
When servo-driver is sent out pulse to the first servomotor 9, the first servomotor 9 rotates and rotates by the first Timing Belt 71 driving-belt ball-screws 5, because the nut 51 of ball-screw 5 is fixedly connected with connecting plate 11, cannot rotate, thereby the straight line that rotatablely moving of ball-screw 5 changed nut 51 into is moved up and down.Connecting plate 11 is driven by nut 51, and then orders about ball spline 6 and move up and down, and realizes the accurate location of actuating station in short transverse; When servo-driver is sent out pulse to the second servomotor 10, the second servomotor 10 rotates, by the second Timing Belt 72 transmissions, drive and be fixed on ball spline 6, the below of ball spline 6 is for installing actuating station, therefore can make actuating station rotate relative to auxiliary 3, thereby realize the accurate adjustment of actuating station attitude.
The utility model adopts inverted structure and outside cabling, described principal arm motor 21 can drive principal arm 2 left-right rotation 180 to spend (rotating 360 degree), in auxiliary 3 and the junction of principal arm 2, line inlet port 15 is set in addition, auxiliary 3 is realized hollow cabling at connecting axle, auxiliary motor 31 drives auxiliary 3 left-right rotation 180 to spend (rotating 360 degree), the utility model has been realized the operation of 360 degree rotations, has eliminated the work blind area that general industry robot exists.
Wherein, between described the first servomotor 9, the second servomotor 10 and auxiliary 3, be provided with the bracing frame 12 of "Ji" type, described the first servomotor 9, the second servomotor 10 removably connect with the upper end of bracing frame 12 respectively, and the bottom of support frame as described above 12 removably connects by screw and auxiliary 3.Further, be provided with the holder 13 for back-up roller ballscrew 5 on described auxiliary 3, the below of this holder 13 is fixedly connected with auxiliary 3; The centre of described holder 3 is provided with bearing (not marking in the drawings), and described ball-screw 5 is connected with holder 3 by bearing.Because the first servomotor 9, the second servomotor 10 use respectively Timing Belt to be connected with the synchronous pulley being fixed on ball-screw 5, ball spline 6, realize the spinning movement of ball-screw 5, ball spline 6, Timing Belt passes from the below of the bracing frame 12 of "Ji" type, holder 13, simple in structure, be convenient to manufacture and installation and debugging.
Wherein, between described principal arm 2 and auxiliary 3, be provided with auxiliary motor cabinet 17, the upper end of described auxiliary motor cabinet 17 is threaded with principal arm 3, the lower end of auxiliary motor cabinet 17 is threaded with auxiliary 3, auxiliary motor cabinet 17 plays a part support and be connected, and plays auxiliary motor 31 and be arranged on the inside of auxiliary motor cabinet 17.Further, on described auxiliary motor cabinet 17, be provided with multiple windows 18, due to the first servomotor 9 and the second servomotor 10 being installed on auxiliary 3, the connecting line that enters auxiliary motor cabinet 17 from line inlet port 14 is electrically connected with the first servomotor 9 and the second servomotor 10 respectively through window 18.This makes the structure of auxiliary 3 simpler, and its weight is lighter.
Wherein, on described auxiliary 3, be provided with protecting sheathing 19, described protecting sheathing 19 carries out actuating unit bag in inside, hides frame for movement and control section on auxiliary 3, can play dustproof effect.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.
Claims (10)
1. a upside-down mounting four-freedom degree industrial robot, it is characterized in that: comprise fixed frame, principal arm, auxiliary, principal arm motor and auxiliary motor, the upside-down mounting of described principal arm motor is in fixed frame, principal arm motor is connected with one end of principal arm and drives principal arm to rotate, the other end of described principal arm and one end of auxiliary are hinged, described auxiliary motor is arranged on auxiliary, and this auxiliary motor is connected with auxiliary and drive auxiliary to rotate, and the actuating unit that can make two dimensional motion is installed on described auxiliary; On described fixed frame, be provided with integrated electronic box, described principal arm motor, auxiliary motor and actuating unit are all electrically connected with integrated electronic box.
2. a kind of upside-down mounting four-freedom degree industrial robot according to claim 1, it is characterized in that: described actuating unit includes the first transmission mechanism and the second transmission mechanism, described the first transmission mechanism includes ball-screw, the first Timing Belt, the first synchronous pulley and the first servomotor, and the second transmission mechanism includes ball spline, the second Timing Belt, the second synchronous pulley and the second servomotor; Described ball-screw, ball spline, the first servomotor and the second servomotor are fixedly installed in respectively on auxiliary, described ball-screw and the first servomotor are connected with respectively the first synchronous pulley, ball spline and the second servomotor are connected with respectively the second synchronous pulley, described the first servomotor drives ball-screw rotation by the first Timing Belt, and described the second servomotor drives ball spline rotation by the second Timing Belt; Between described ball-screw and ball spline, be provided with connecting plate, one end of described connecting plate is fixedly connected with the top of ball spline, and its other end is connected with the nut of ball-screw.
3. a kind of upside-down mounting four-freedom degree industrial robot according to claim 2, is characterized in that: described principal arm motor, auxiliary motor, the first servomotor and the second servomotor are absolute value encoder servomotor.
4. a kind of upside-down mounting four-freedom degree industrial robot according to claim 2, it is characterized in that: the bracing frame that is provided with "Ji" type between described the first servomotor, the second servomotor and auxiliary, described the first servomotor, the second servomotor removably connect with the upper end of bracing frame respectively, and the bottom of support frame as described above is connected with auxiliary.
5. a kind of upside-down mounting four-freedom degree industrial robot according to claim 2, is characterized in that: on described auxiliary, be provided with the holder for back-up roller ballscrew, the below of this holder is fixedly connected with auxiliary; The centre of described holder is provided with bearing, and described ball-screw is connected with holder by bearing.
6. a kind of upside-down mounting four-freedom degree industrial robot according to claim 1, it is characterized in that: also include principal arm reductor and auxiliary reductor, described principal arm reductor is arranged between principal arm motor and principal arm, and described auxiliary reductor is arranged between auxiliary motor and auxiliary.
7. a kind of upside-down mounting four-freedom degree industrial robot according to claim 1, it is characterized in that: a side of described fixed frame is provided with line outlet, junction at principal arm and auxiliary is provided with line inlet port, is connected with external thread-protected tube between described line outlet and line inlet port.
8. a kind of upside-down mounting four-freedom degree industrial robot according to claim 1, it is characterized in that: between described principal arm and auxiliary, be provided with auxiliary motor cabinet, the upper end of described auxiliary motor cabinet is threaded with principal arm, and the lower end of auxiliary motor cabinet is threaded with auxiliary.
9. a kind of upside-down mounting four-freedom degree industrial robot according to claim 8, is characterized in that: on described auxiliary motor cabinet, be provided with multiple windows.
10. a kind of upside-down mounting four-freedom degree industrial robot according to claim 1, is characterized in that: on described auxiliary, be provided with protecting sheathing, described protecting sheathing carries out actuating unit bag in inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320710631.3U CN203566699U (en) | 2013-11-12 | 2013-11-12 | Inversion four-degree-of-freedom industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320710631.3U CN203566699U (en) | 2013-11-12 | 2013-11-12 | Inversion four-degree-of-freedom industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN203566699U true CN203566699U (en) | 2014-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320710631.3U Expired - Fee Related CN203566699U (en) | 2013-11-12 | 2013-11-12 | Inversion four-degree-of-freedom industrial robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105872475A (en) * | 2016-05-20 | 2016-08-17 | 北京格灵深瞳信息技术有限公司 | Monitoring camera device |
| CN106041919A (en) * | 2016-07-11 | 2016-10-26 | 深圳众为兴技术股份有限公司 | Lifting type robot structure |
| JP2018134701A (en) * | 2017-02-21 | 2018-08-30 | 株式会社アイエイアイ | Scalar robot |
| CN108555888A (en) * | 2018-06-22 | 2018-09-21 | 珠海格力智能装备有限公司 | Robot |
| CN109129432A (en) * | 2017-10-27 | 2019-01-04 | 王晶红 | A kind of both arms cooperation robot |
-
2013
- 2013-11-12 CN CN201320710631.3U patent/CN203566699U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105872475A (en) * | 2016-05-20 | 2016-08-17 | 北京格灵深瞳信息技术有限公司 | Monitoring camera device |
| CN106041919A (en) * | 2016-07-11 | 2016-10-26 | 深圳众为兴技术股份有限公司 | Lifting type robot structure |
| JP2018134701A (en) * | 2017-02-21 | 2018-08-30 | 株式会社アイエイアイ | Scalar robot |
| CN109129432A (en) * | 2017-10-27 | 2019-01-04 | 王晶红 | A kind of both arms cooperation robot |
| CN108555888A (en) * | 2018-06-22 | 2018-09-21 | 珠海格力智能装备有限公司 | Robot |
| WO2019242246A1 (en) * | 2018-06-22 | 2019-12-26 | 珠海格力智能装备有限公司 | Robot |
| CN108555888B (en) * | 2018-06-22 | 2024-01-30 | 珠海格力智能装备有限公司 | Robot |
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| C14 | Grant of patent or utility model | ||
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Owner name: WEI YUHONG Free format text: FORMER OWNER: SDALED PHOTOELECTRIC TECHNOLOGY CO., LTD. Effective date: 20140828 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 523172 DONGGUAN, GUANGDONG PROVINCE TO: 644000 YIBIN, SICHUAN PROVINCE |
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| TR01 | Transfer of patent right |
Effective date of registration: 20140828 Address after: Yibin City, Sichuan province 644000 yuan Venus Cuiping District dormitory No. 13 Patentee after: Wei Yuhong Address before: 523172 Guangdong province Dongguan City Qiaotou town of Shao Gang tou Cun Fu Yuan Industrial Zone No. 16 Patentee before: Sdaled Photoelectric Technology Co., Ltd. |
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| ASS | Succession or assignment of patent right |
Owner name: DONGGUAN SHUNRU ELECTRONIC TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: WEI YUHONG Effective date: 20141030 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 644000 YIBIN, SICHUAN PROVINCE TO: 523000 DONGGUAN, GUANGDONG PROVINCE |
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| TR01 | Transfer of patent right |
Effective date of registration: 20141030 Address after: 523000 Guangdong Province, Dongguan City Wanjiang total joint prosperity community building on the third floor Patentee after: DONGGUAN SHUNRU ELECTRONIC SCIENCE & TECHNOLOGY CO., LTD. Address before: Yibin City, Sichuan province 644000 yuan Venus Cuiping District dormitory No. 13 Patentee before: Wei Yuhong |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140430 Termination date: 20171112 |