CN209615517U - Three axle robert arm and robot with the three axle robert arm - Google Patents
Three axle robert arm and robot with the three axle robert arm Download PDFInfo
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- CN209615517U CN209615517U CN201920302691.9U CN201920302691U CN209615517U CN 209615517 U CN209615517 U CN 209615517U CN 201920302691 U CN201920302691 U CN 201920302691U CN 209615517 U CN209615517 U CN 209615517U
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Abstract
The utility model discloses three axle robert arm and the robot with the three axle robert arm, three axle robert arm includes pedestal, lifting arm is fixedly connected at the top of the pedestal, top and bottom on the inside of the lifting arm is fixedly connected to bearing block, ball-screw is rotatably equipped on the bearing block of lifting arm inside bottom, the top of the ball-screw is fixedly installed with shaft coupling, first motor is fixedly installed at the top of the lifting arm, the output shaft of the first motor is pierced by the fixed installation of the top after the bearing block of lifting arm inside top and with shaft coupling, the outer wall of the lifting arm is slidably equipped with lifter plate, feed screw nut is fixedly connected on the inside of the lifter plate.The utility model has the advantage that structure is simple, easy to use, solves traditional three-axis robot in running, due to the not producibility of mechanical arm, so that operation is limited in scope, at this moment need the position of mobile three-axis robot very inconvenient, the bad problem of using effect.
Description
Technical field
The utility model relates to robotic technology field, specially three axle robert arm and with the three axle robert arm
Robot.
Background technique
Three-axis robot has many advantages, such as that simple structure, smooth running, efficiency are higher, is widely applied by every profession and trade, end
End will realize that vertical direction is moved up and down and spin with horizontal, so that end finger realizes the function of assembly, light-duty carrying.However it passes
The three-axis robot of system, due to the not producibility of mechanical arm, so that operation is limited in scope, at this moment needs to move in running
The position of dynamic triaxial robot is very inconvenient, and the effect used is bad.
Utility model content
The purpose of this utility model is to provide three axle robert arm and the robot with the three axle robert arm, have
Simple, the easy to use advantage of structure solves traditional three-axis robot in running, due to can not extending for mechanical arm
Property, so that operation is limited in scope, at this moment need the position of mobile three-axis robot very inconvenient, using effect is bad to ask
Topic.
To achieve the above object, the utility model provides the following technical solutions: three axle robert arm, including pedestal, described
Lifting arm is fixedly connected at the top of pedestal, the top and bottom on the inside of the lifting arm is fixedly connected to bearing block, is located at
Ball-screw is rotatably equipped on the bearing block of lifting arm inside bottom, the top of the ball-screw is fixedly installed with shaft coupling
Device, first motor is fixedly installed at the top of the lifting arm, and the output shaft of the first motor is pierced by the inside of lifting arm
Top after the bearing block at top and with shaft coupling is fixedly mounted, and the outer wall of the lifting arm is slidably equipped with lifter plate, the lifting
Feed screw nut is fixedly connected on the inside of plate, the inner wall of the feed screw nut and the outer wall of ball-screw are sequentially connected, the liter
It is fixedly connected with cursor on the outside of drop plate, rotating base is fixedly connected at the top of the cursor, the rotating base
Inner wall rolling is equipped with rotation footstock, and the intracavitary of the cursor is fixedly installed with the second motor, second motor output shaft
Top sequentially pass through cursor and rotating base and be fixedly connected with the bottom of rotation footstock, the top of the rotation footstock is solid
Surely it is connected with lower adjutage, the top slide of the lower adjutage is equipped with adjutage, close lifting on the lower adjutage
Top on the outside of arm is fixedly connected with the motor box of built-in third motor, and the inner wall at its close both ends turns on the lower adjutage
It is dynamic that rotation axis is installed, it is sequentially connected with the first synchronous belt in the rotation axis, the output shaft of the third motor and under being located at
The second synchronous belt, the bottom on the upper adjutage on the outside of close motor box are sequentially connected between the rotation axis of adjutage left end
It is fixedly connected with synchronous belt fixed plate, the synchronous belt fixed plate and the first synchronous belt are fixedly mounted.
Preferably, the lifter plate is in Contraband shape, and the inner diameter size of lifter plate is adapted with the outer diameter size of lifting arm.
Preferably, it is fixedly connected with reinforcing rib on the medial angle of the lifter plate and cursor junction, and reinforcing rib
Quantity at least two.
Preferably, be fixedly connected to sliding rail on the lower adjutage at the top of its front end and rear end, it is described on prolong
Bottom on semi-girder close to its front end and rear end offers sliding slot, and the inner wall of the sliding slot and the outer wall of sliding rail are slidably connected.
Robot, including three axle robert arm as described above.
Compared with prior art, the beneficial effects of the utility model are as follows: this is practical new, passes through lifting arm, bearing block, rolling
The cooperation of ballscrew, shaft coupling, first motor, lifter plate, feed screw nut and cursor can adjust the height at robot effect end
Degree can adjust the steering at robot effect end by the cooperation of rotating base, rotation footstock, the second motor and lower adjutage,
It is fixed by lower adjutage, upper adjutage, third motor, motor box, rotation axis, the first synchronous belt, the second synchronous belt, synchronous belt
The cooperation of plate, reinforcing rib, sliding rail and sliding slot, can adjust the length at robot effect end, and then adjust robot effect end
Job area, does not need the position of mobile robot, and then improves the efficiency of processing.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model rotating base axonometric drawing；
Fig. 2 is the structural schematic diagram that the utility model rotates footstock axonometric drawing；
Fig. 3 is the structural schematic diagram of adjutage axonometric drawing on the utility model；
Fig. 4 is the structural schematic diagram of adjutage axonometric drawing under the utility model；
Fig. 5 is the structural schematic diagram of the utility model pedestal side view；
Fig. 6 is the structural schematic diagram of the utility model pedestal partial sectional view of A-A front view along Fig. 5；
Fig. 7 is the structural schematic diagram of adjutage front view on the utility model；
Fig. 8 is the structural schematic diagram of adjutage partial sectional view of B-B side view along Fig. 7 on the utility model；
Fig. 9 is the structural schematic diagram of enlarged drawing at a in the utility model Fig. 8.
In figure: 1- pedestal, 2- lifting arm, 3- bearing block, 4- ball-screw, 5- shaft coupling, 6- first motor, 7- lifting
Plate, 8- feed screw nut, 9- cursor, 10- rotating base, 11- rotate adjutage under footstock, the second motor of 12-, 13-, on 14-
Adjutage, 15- third motor, 16- motor box, 17- rotation axis, the first synchronous belt of 18-, the second synchronous belt of 19-, 20- synchronous belt
Fixed plate, 21- reinforcing rib, 22- sliding rail, 23- sliding slot.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1 to Fig. 9 is please referred to, the utility model provides a kind of technical solution: three axle robert arm, including pedestal 1, pedestal
1 top is fixedly connected with lifting arm 2, and the top and bottom of 2 inside of lifting arm is fixedly connected to bearing block 3, is located at lifting
Ball-screw 4 is rotatably equipped on the bearing block 3 of 2 inside bottom of arm, the top of ball-screw 4 is fixedly installed with shaft coupling 5, rises
The top of drop arm 2 is fixedly installed with first motor 6, and the output shaft of first motor 6 is pierced by the bearing positioned at 2 inside top of lifting arm
It is fixedly mounted after seat 3 and with the top of shaft coupling 5, the outer wall of lifting arm 2 is slidably equipped with lifter plate 7, and the inside of lifter plate 7 is fixed to be connected
It is connected to feed screw nut 8, the inner wall of feed screw nut 8 and the outer wall of ball-screw 4 are sequentially connected, and first motor 6 drives ball-screw 4
Clockwise, side of the lifter plate 7 by the transmission effect of feed screw nut 8 and ball-screw 4 gradually along lifting arm 2 moves up, and then adjusts
The height at robot effect end is saved, the outside of lifter plate 7 is fixedly connected with cursor 9, and the top of cursor 9, which is fixedly connected with, to be turned
The inner wall rolling of dynamic pedestal 10, rotating base 10 is equipped with rotation footstock 11, and the intracavitary of cursor 9 is fixedly installed with the second motor
12, the top of 12 output shaft of the second motor, which sequentially passes through cursor 9 and rotating base 1 and fixes with the bottom of rotation footstock 11, to be connected
It connecing, the top of rotation footstock 11 is fixedly connected with lower adjutage 13, the suitable reverse of rotation footstock 11 is driven by the second motor 12,
It realizes the suitable reverse of lower adjutage 13, and then adjusts the steering at robot effect end, the top slide of lower adjutage 13 is equipped with
Upper adjutage 14, the top on lower adjutage 13 close to 2 outside of lifting arm are fixedly connected with the motor box of built-in third motor 15
16, the inner wall on lower adjutage 13 close to its both ends is rotatably equipped with rotation axis 17, is sequentially connected with first in rotation axis 17
Synchronous belt 18, the output shaft of third motor 15 and that second is sequentially connected between the rotation axis 17 of lower 13 left end of adjutage is same
Band 19 is walked, the bottom in close 16 outside of motor box is fixedly connected with synchronous belt fixed plate 20 on upper adjutage 14, and synchronous belt is fixed
Plate 20 and the first synchronous belt 18 are fixedly mounted, and are driven by third motor 15 by the second synchronous belt 19 and are located at lower adjutage
13 left end rotation axis 17 are clockwise, then drive the first synchronous belt 18 clockwise, and upper adjutage 14 is progressively towards away from motor box 16
Direction is mobile, and then adjusts the length at robot effect end.
Preferably, lifter plate 7 is in Contraband shape, and the outer diameter size of the inner diameter size of lifter plate 7 and lifting arm 2 in the present embodiment
It is adapted, so that lifter plate 7 can only be moved up closely along lifting arm 2, improves the stability of lifting.
Preferably, being fixedly connected with reinforcing rib 21 on lifter plate 7 and the medial angle of 9 junction of cursor in the present embodiment,
And the quantity at least two of reinforcing rib 21, improve the structural strength of lifter plate 7 and 9 junction of cursor.
Preferably, being fixedly connected to sliding rail at the top of its front end and rear end on lower adjutage 13 in the present embodiment
22, the bottom on upper adjutage 14 close to its front end and rear end offers sliding slot 23, the inner wall of sliding slot 23 and sliding rail 22 it is outer
Wall is slidably connected, by the cooperation of sliding slot 23 and sliding rail 22, so that the movement of upper adjutage 14 is more stable.
Fig. 1 to Fig. 9 is please referred to, the utility model provides another technical solution: robot, including the three such as above axis machines
Tool arm.
In addition to this, the three axle robert arm and the robot with the three axle robert arm further include control system (in figure
It is not shown), component of the control system for universal standard part or as known to those skilled in the art, structure and principle are all this technology
Personnel can be learnt by technical manual or be known by routine experiment method.
Working principle: the three axle robert arm and the robot with the three axle robert arm are in use, 6 band of first motor
Dynamic ball-screw 4 is clockwise, and lifter plate 7 is by the transmission effect of feed screw nut 8 and ball-screw 4 gradually along the side of lifting arm 2
It moves up, and then adjusts the height at robot effect end, the suitable reverse of rotation footstock 11 is driven by the second motor 12, is realized downward
The suitable reverse of semi-girder 13, and then the steering at robot effect end is adjusted, it is driven by third motor 15 by the second synchronous belt 19
Positioned at being located at, lower 13 left end rotation axis 17 of adjutage is clockwise, then drives the first synchronous belt 18 clockwise, upper adjutage 14 gradually court
It is mobile away from the direction of motor box 16, and then adjust the length at robot effect end, and pass through sliding slot 23 and sliding rail 22
Cooperation, so that the movement of upper adjutage 14 is more stable.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
1. three axle robert arm, it is characterised in that: including pedestal (1), be fixedly connected with lifting arm at the top of the pedestal (1)
(2), the top and bottom on the inside of the lifting arm (2) is fixedly connected to bearing block (3), is located at lifting arm (2) inside bottom
Bearing block (3) on be rotatably equipped with ball-screw (4), the top of the ball-screw (4) is fixedly installed with shaft coupling (5),
It is fixedly installed with first motor (6) at the top of the lifting arm (2), the output shaft of the first motor (6), which is pierced by, is located at lifting
The bearing block (3) of arm (2) inside top is fixedly mounted afterwards and with the top of shaft coupling (5), and the outer wall cunning of the lifting arm (2) is set
Have lifter plate (7), be fixedly connected with feed screw nut (8) on the inside of the lifter plate (7), the inner wall of the feed screw nut (8) with
The outer wall of ball-screw (4) is sequentially connected, and is fixedly connected with cursor (9), the cursor on the outside of the lifter plate (7)
(9) it being fixedly connected at the top of rotating base (10), the inner wall rolling of the rotating base (10) is equipped with rotation footstock (11),
The intracavitary of the cursor (9) is fixedly installed with the second motor (12), and the top of the second motor (12) output shaft is successively passed through
It wears cursor (9) and rotating base (1) and is fixedly connected with the bottom of rotation footstock (11), the top of rotation footstock (11)
It is fixedly connected with lower adjutage (13), the top slide of the lower adjutage (13) is equipped with adjutage (14), described downward
Top on semi-girder (13) on the outside of lifting arm (2) is fixedly connected with the motor box (16) of built-in third motor (15), described
Inner wall on lower adjutage (13) close to its both ends is rotatably equipped with rotation axis (17), is sequentially connected on the rotation axis (17)
Have the first synchronous belt (18), the output shaft of the third motor (15) be located at lower adjutage (13) left end rotation axis (17) it
Between be sequentially connected with the second synchronous belt (19), the bottom on the upper adjutage (14) on the outside of motor box (16) is fixedly connected
Have synchronous belt fixed plate (20), the synchronous belt fixed plate (20) and the first synchronous belt (18) are fixedly mounted.
2. three axle robert arm according to claim 1, it is characterised in that: the lifter plate (7) is in Contraband shape, and lifter plate
(7) inner diameter size is adapted with the outer diameter size of lifting arm (2).
3. three axle robert arm according to claim 1, it is characterised in that: the lifter plate (7) connect with cursor (9)
It is fixedly connected on the medial angle at place reinforcing rib (21), and the quantity at least two of reinforcing rib (21).
4. three axle robert arm according to claim 1, it is characterised in that: close to its front end on the lower adjutage (13)
And sliding rail (22) are fixedly connected at the top of rear end, the bottom on the upper adjutage (14) close to its front end and rear end is opened
Equipped with sliding slot (23), the outer wall of the inner wall and sliding rail (22) of the sliding slot (23) is slidably connected.
5. robot, it is characterised in that: including claim 1 to the described in any item three axle robert arms of claim 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920302691.9U CN209615517U (en) | 2019-03-11 | 2019-03-11 | Three axle robert arm and robot with the three axle robert arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920302691.9U CN209615517U (en) | 2019-03-11 | 2019-03-11 | Three axle robert arm and robot with the three axle robert arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209615517U true CN209615517U (en) | 2019-11-12 |
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ID=68456393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920302691.9U Active CN209615517U (en) | 2019-03-11 | 2019-03-11 | Three axle robert arm and robot with the three axle robert arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209615517U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319843A (en) * | 2021-06-07 | 2021-08-31 | 黑龙江阿尔萨斯科技有限公司 | Dexterous robot arm and using method thereof |
-
2019
- 2019-03-11 CN CN201920302691.9U patent/CN209615517U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319843A (en) * | 2021-06-07 | 2021-08-31 | 黑龙江阿尔萨斯科技有限公司 | Dexterous robot arm and using method thereof |
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