CN211662065U - Driving and controlling integrated control high-speed medium-load four-axis robot - Google Patents
Driving and controlling integrated control high-speed medium-load four-axis robot Download PDFInfo
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- CN211662065U CN211662065U CN202020085163.5U CN202020085163U CN211662065U CN 211662065 U CN211662065 U CN 211662065U CN 202020085163 U CN202020085163 U CN 202020085163U CN 211662065 U CN211662065 U CN 211662065U
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Abstract
The utility model belongs to the technical field of industrial robot technique and specifically relates to a drive and control integrative control high speed medium load four-axis robot, include: a base located at the bottommost portion of the robot; the one-shaft two-shaft swivel base is arranged on the base and can rotate with the base; the two-axis and three-axis large arm is arranged on the right side of the one-axis and two-axis swivel base and can rotate along with the one-axis and two-axis swivel base, and meanwhile, the two-axis and three-axis large arm can independently swing relative to the one-axis and two-axis swivel base; the three-axis and four-axis small arm is arranged on the left side of the two-axis and three-axis large arm, can rotate along with the rotation of the one-axis and two-axis swivel seat and the two-axis and three-axis large arm, and can independently swing relative to the two-axis and three-axis large arm; the four-axis hanging head is arranged at the tail end of the small arm of the three-axis and the four-axis; one end of the balance connecting rod is connected with the first-shaft and second-shaft swivel base, the middle of the balance connecting rod is assembled at the top of the second-shaft and third-shaft large arm, and the other end of the balance connecting rod is connected with the four-shaft hanging head. The utility model discloses, load capacity mainly is applicable to speed requirement very fast, goes up scenes such as unloading transport, pile up neatly, unstacking.
Description
Technical Field
The utility model relates to an industrial robot technical field specifically is a drive and control integrative control high speed medium load four-axis robot.
Background
With the increasing demand of industrial robots in the market, particularly in some long-time operations which are monotonous, frequent and repeated, or operations under dangerous and severe environments, the robot is more exposed. However, there are some problems commonly existing in the four-axis robot (four-axis palletizing robot) currently used in the market, including: the heavy-load four-axis robot is heavy in size, low in efficiency, difficult to maintain, poor in safety and the like, the small-load four-axis robot is small in loadable load, the speed of the large-load robot cannot be used in some application occasions, and the load weight of the small-load robot cannot meet the use requirement.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a drive and control integrative control high speed medium load four-axis robot to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a drive-control integrated high-speed medium-load four-axis robot comprises:
a base located at the bottommost portion of the robot;
the one-shaft two-shaft swivel base is arranged on the base and can rotate with the base;
the two-axis and three-axis large arm is arranged on the right side of the one-axis and two-axis swivel base and can rotate along with the one-axis and two-axis swivel base, and meanwhile, the two-axis and three-axis large arm can independently swing relative to the one-axis and two-axis swivel base;
the three-axis and four-axis small arm is arranged on the left side of the two-axis and three-axis large arm, can rotate along with the rotation of the one-axis and two-axis swivel seat and the two-axis and three-axis large arm, and can independently swing relative to the two-axis and three-axis large arm;
the four-axis hanging head is arranged at the tail end of the small arm of the three-axis and the four-axis;
one end of the balance connecting rod is connected with the first-shaft and second-shaft swivel base, the middle part of the balance connecting rod is assembled at the top of the second-shaft and third-shaft large arm, and the other end of the balance connecting rod is connected with the four-shaft hanging head and used for keeping the tail end of the four-shaft hanging head in a horizontal state all the time;
and the driving and controlling integrated electric box is used for controlling the robot to rotate and swing.
Further, install first servo motor and RV gear motor group on the base, this first servo motor and RV gear motor group are used for the first drive one axle two swivel mounts to rotate to controlled connection is in the integrative electronic box of drive accuse.
Furthermore, a second servo motor and an RV speed reducing motor set are installed on the one-shaft two-shaft swivel base and are used for driving the two-shaft three-shaft large arm to swing independently and are connected to the driving and controlling integrated electric box in a controlled mode.
Further, third servo motor and RV gear motor group are installed to triaxial four-axis forearm bottom outside, third servo motor and RV gear motor group and the terminal assembly in two-axis three-axis big arm top to rotate for two-axis three-axis big arm top, this third servo motor and RV gear motor group controlled connection are in driving and controlling integrative electronic box.
Further, four-axis hangs the head and includes that the fourth servo motor and RV gear motor group, two auxiliary connecting axles and the terminal connecting axle of support body installation on this support body, at two auxiliary connecting axle installation forearm connecting rod axles, the terminal and forearm connecting rod axle suit of triaxial four-axis forearm, fourth servo motor and RV gear motor group are controlled to be connected in driving and controlling integrative electronic box.
Further, the balance connecting rod comprises a tripod, a first balance connecting rod and a second balance connecting rod, wherein: the tripod is installed on the tripod connecting shaft on the top outside of the two-shaft three-shaft large arm, one end of the second balance connecting rod is sleeved with the tail end connecting shaft, the other end of the second balance connecting rod is sleeved with the second connecting shaft on the tripod, one end of the first balance connecting rod is sleeved with the second connecting shaft on the tripod, and the other end of the first balance connecting rod is sleeved with the two-shaft swivel base.
Further, a fixed connecting rod is installed on the right side of the one-shaft two-shaft rotating seat, a first connecting shaft is arranged at the top of the fixed connecting rod, and the other end of the first balance connecting rod is sleeved with the first connecting shaft.
Furthermore, a suction-holding control box is arranged on the three-axis four-axis small arm.
Furthermore, the corrugated pipe fixing seat is installed on the outer side of the two-axis three-axis large arm, the corrugated pipe is fixed through the corrugated pipe fixing seat, the top of the corrugated pipe is connected to the corrugated pipe fixing seat on the three-axis four-axis small arm, and the bottom of the corrugated pipe is connected to the corrugated pipe fixing seat on the one-axis two-axis rotating seat.
Further, the base, a two spool swivel mounts of one axle, fixed connecting rod, balanced connecting rod one, tripod and balanced connecting rod two adopt disappearance die casting ironware, two spool triaxial big arm, triaxial four-axis forearm and four-axis hanging head adopt gravity casting steel die cast aluminium spare.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a load four-axis robot compares with traditional four-axis pile up neatly machine people in drive accuse integrated control:
1. low cost and simple control: adopt the integrated system of huacheng drive and control in the control, adopt the integrative electronic box of drive and control, the electronic box is small, compares in practical application that current four-axis robot area is little on the market.
2. Efficiency and precision are high: the two-axis three-axis large arm and the three-axis four-axis small arm have more robot arms and the like, and the arm spread is large, so that large-range actions can be realized; the movement is flexible, and the working efficiency is higher; the precision is high, and the location is accurate, can control within 6s according to the different biggest angle cycle period of angle.
3. Convenient maintenance and high safety factor: the use and maintenance are convenient, the base and the one-shaft two-shaft swivel base are made of iron castings.
4. The application field is wide: the load capacity of the device is mainly suitable for scenes with high speed requirements, such as loading and unloading carrying, stacking, unstacking and the like.
5. And (3) complete machine wiring protection: the special corrugated pipe fixing seat is used for fixing the corrugated pipe, surface friction of parts outside the wire is prevented, and the purpose of protecting the wire is achieved, so that the wiring and wire fixing modes inside and outside the robot body are achieved.
6. The main parts are simple and convenient to disassemble and assemble and maintain.
Drawings
Fig. 1 is a schematic view of the appearance structure of the whole machine of the present invention.
Fig. 2 is an explosion diagram of the whole machine of the present invention.
Fig. 3 is a schematic view of the base of the present invention.
Fig. 4 is a schematic view of the present invention showing a single-shaft two-shaft swivel mount.
Fig. 5 is a schematic view of the two-axis three-axis large arm of the present invention.
Fig. 6 is a schematic view of the four-axis hanging head of the present invention.
Figure 7 is the utility model discloses the tripod schematic diagram.
Fig. 8 is a schematic view of the balance link of the present invention.
Fig. 9 is a schematic view of the balance link according to the present invention.
Fig. 10 is the schematic view of the three-axis and four-axis forearm of the present invention.
In the figure: 1-base, 2-one-shaft two-shaft swivel base, 3-balance connecting rod one, 4-two-shaft three-shaft large arm, 5-tripod, 6-corrugated pipe, 7- 'one absorption one holding' control box, 8-three-shaft four-shaft small arm, 9-balance connecting rod two, 10-four-shaft hanging head, 11-driving and controlling integrated electric box, 12-fixed connecting rod, 13-connecting shaft one, 14-tripod connecting shaft, 15-corrugated pipe fixing base, 17-small arm connecting rod shaft, 18-auxiliary connecting shaft, 19-tail end connecting shaft, 20-first servo motor and RV speed reducing motor group matched with it, 21-second servo motor and RV speed reducing motor group matched with it, 22-third servo motor and RV speed reducing motor group matched with it, 23-fourth servo motor and RV speed reducing motor group matched with it, 24-frame body, 26-connecting shaft II.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper/lower end", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "disposed/sleeved," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-10, the present invention provides a technical solution:
a drive-control integrated high-speed medium-load four-axis robot comprises:
a base 1 located at the bottommost part of the robot;
a one-shaft two-shaft rotating base 2 which is arranged on the base 1 and can rotate with the base 1;
the two-axis and three-axis large arm 4 is arranged on the right side of the one-axis and two-axis swivel base 2 and can rotate along with the one-axis and two-axis swivel base 2, and meanwhile, the two-axis and three-axis large arm 4 can independently swing relative to the one-axis and two-axis swivel base 2;
the three-axis and four-axis small arm 8 is arranged on the left side of the two-axis and three-axis large arm 4, can rotate along with the rotation of the one-axis and two-axis swivel base 2 and the two-axis and three-axis large arm 4, and can independently swing relative to the two-axis and three-axis large arm 4;
the four-axis hanging head 10 is arranged at the tail end of the three-axis four-axis small arm 8;
one end of the balance connecting rod is connected with the one-shaft two-shaft swivel base 2, the middle part of the balance connecting rod is assembled at the top of the two-shaft three-shaft large arm 4, and the other end of the balance connecting rod is connected with the four-shaft hanging head 10 and used for keeping the tail end of the four-shaft hanging head 10 in a horizontal state all the time;
and the driving and controlling integrated electric box 11 is used for controlling the robot to rotate and swing.
As a further improvement of this scheme, a first servo motor and a supporting RV reducer motor group 20 are installed on the base 1, and the first servo motor and the supporting RV reducer motor group 20 are used for first driving the one-shaft two-shaft swivel base 2 to rotate and are controlled to be connected to the driving and controlling integrated electric box 11.
As a further improvement of the scheme, a second servo motor and a RV reducer motor set 21 matched with the second servo motor are mounted on the one-shaft two-shaft swivel base 2, and the second servo motor and the RV reducer motor set 21 matched with the second servo motor are used for driving the two-shaft three-shaft large arm 4 to swing independently and are connected to the driving and controlling integrated electric box 11 in a controlled manner.
As a further improvement of the scheme, a third servo motor and a RV speed reduction motor set 22 matched with the third servo motor are installed on the outer side of the bottom of the triaxial four-axis small arm 8, the third servo motor and the RV speed reduction motor set 22 matched with the third servo motor are assembled with the tail end of the top of the biaxial triaxial large arm 4 and rotate relative to the top of the biaxial triaxial large arm 4, and the third servo motor and the RV speed reduction motor set 22 matched with the third servo motor are controlled and connected to the driving and controlling integrated electric box 11.
As a further improvement of this scheme, four-axis hangs head 10 includes that frame 24 installs fourth servo motor on this frame 24 and supporting RV gear motor group 23, two auxiliary connecting axle 18 and end connecting axle 19 with it, installs forearm connecting rod axle 17 at two auxiliary connecting axle 18, 8 end and forearm connecting rod axle 17 suit in the triaxial four-axis forearm, fourth servo motor and supporting RV gear motor group 23 controlled the connection in driving and controlling integrative electronic box 11 with it.
As a further improvement of the present solution, the balance connecting rod includes a tripod 5, a first balance connecting rod 3 and a second balance connecting rod 9, wherein: the tripod 5 is arranged on a tripod connecting shaft 14 on the outer side of the top end of the two-shaft three-shaft large arm 4, one end of a second balance connecting rod 9 is sleeved with a tail end connecting shaft 19, the other end of the second balance connecting rod is sleeved with a second connecting shaft 26 on the tripod 5, one end of a first balance connecting rod 3 is sleeved with a second connecting shaft 26 on the tripod 5, and the other end of the first balance connecting rod is sleeved with a second shaft swivel base 2.
As a further improvement of the scheme, a fixed connecting rod 12 is installed on the right side of the one-shaft two-shaft rotating base 2, a first connecting shaft 13 is arranged at the top of the fixed connecting rod 12, and the other end of the first balance connecting rod 3 is sleeved with the first connecting shaft 13.
As a further improvement of the scheme, a one-suction one-holding control box 7 is arranged on the three-axis four-axis small arm 8.
As a further improvement of the scheme, a corrugated pipe fixing seat 15 is installed on the outer side of the two-axis three-axis large arm 4, the corrugated pipe 6 is fixed through the corrugated pipe fixing seat 15, the top of the corrugated pipe 6 is connected to the corrugated pipe fixing seat 15 on the three-axis four-axis small arm 8, and the bottom of the corrugated pipe 6 is connected to the corrugated pipe fixing seat 15 on the one-axis two-axis swivel base 2.
The utility model discloses in: the base 1 is positioned at the bottommost part, and the one-shaft two-shaft rotating base 2 is placed on the base 1 and is driven to rotate by the first servo motor and the RV speed reduction motor set 20 matched with the first servo motor; the two-axis three-axis large arm 4 is arranged on the right side of the one-axis two-axis swivel mount 2 and rotates along with the one-axis two-axis swivel mount 2, and meanwhile, the two-axis three-axis large arm 4 can independently swing relative to the one-axis two-axis swivel mount 2 under the driving of a second servo motor and an RV speed reducing motor set 21 matched with the second servo motor; the three-axis and four-axis small arm 8 is arranged at the left side of the two-axis and three-axis large arm 4, can rotate along with the simultaneous rotation of the one-axis and two-axis swivel base part 2 and the two-axis and three-axis large arm 4, and can also independently swing relative to the two-axis and three-axis large arm 4 under the drive of a third servo motor and an RV speed reduction motor group 22 matched with the third servo motor; fixing a four-axis hanging head 10 at the tail end of a three-axis four-axis small arm 8 by using a small arm connecting rod shaft 17 and an auxiliary connecting shaft 18; the fixed connecting rod 12, the balance connecting rod I3, the tripod part 5 and the balance connecting rod II 9 are used for connecting the four-shaft hanging head 10, so that the tail end of the four-shaft hanging head 10 is always in a horizontal state; a suction-holding control box 7 is arranged on a three-axis four-axis small arm 8 and is used for preparing for tool control in subsequent expansion application; by using the corrugated pipe fixing seat 26, the corrugated pipe part 6 fixes the whole line, so that the inner and outer wiring and fixing modes of the robot body are realized.
The utility model discloses, base 1 is used for fixedly, an axle two-axis swivel mount 2 is rotary motion about for base 1, swing motion about two-axis three-axis big arm 4 is for an axle two-axis swivel mount 2, also can follow an axle two-axis swivel mount 2 and do rotary motion about, three-axis four-axis forearm 8 is upper and lower swing arm motion for two-axis three-axis big arm 4, also can follow an axle two-axis swivel mount 2 and do rotary motion about, four-axis hangs head 10 and follows an axle two-axis swivel mount 2 all the time and do rotary motion about, follow two-axis three-axis big arm 4 and do swing motion, follow three-axis four-axis forearm 8 and do swing motion. The four-axis crane head 10 can also be rotated by the fourth servo motor and the RV reducer motor set 23 matched with the fourth servo motor under the condition that other axes do not move.
The utility model discloses in, first servo motor and supporting RV gear motor group 20 and second servo motor and supporting RV gear motor group with it are 1.8kw servo motor + gear motor RV-110E combination, and third servo motor and supporting RV gear motor group 22 and fourth servo motor and supporting RV gear motor group 23 with it are 0.85kw servo motor + gear motor RV-40E combination.
The utility model discloses in, this robot appearance design wholly adopts streamlined design. As shown in fig. 3, 4, 5 and 7, the fixed connecting rod 12, the first balance connecting rod 3, the tripod 5 and the second balance connecting rod 9 are all designed by adopting an arc of an I-shaped steel structure.
The utility model discloses a material: in order to ensure the strength and the rigidity of the robot and the stable operation of the robot, a pedestal 1, a one-shaft two-shaft swivel base 2, a fixed connecting rod 12, a balance connecting rod one 3, a tripod 5 and a balance connecting rod two 9 adopt lost foam casting iron pieces; in order to reduce the weight of the whole machine, save the cost and improve the performance of the machine, the two-shaft three-shaft big arm 4, the three-shaft four-shaft small arm 8 and the four-shaft hanging head 10 adopt gravity casting steel die cast aluminum parts.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a drive and control integrative control high speed intermediate load four-axis robot which characterized in that includes:
a base (1) located at the lowermost part of the robot;
the one-axis and two-axis rotating seat (2) is arranged on the base (1) and can rotate with the base (1);
the two-axis and three-axis large arm (4) is arranged on the right side of the one-axis and two-axis rotating seat (2) and can rotate along with the one-axis and two-axis rotating seat (2), and meanwhile, the two-axis and three-axis large arm (4) can independently swing relative to the one-axis and two-axis rotating seat (2);
the three-axis and four-axis small arm (8) is arranged on the left side of the two-axis and three-axis large arm (4), can rotate along with the rotation of the one-axis and two-axis swivel base (2) and the two-axis and three-axis large arm (4), and can independently swing relative to the two-axis and three-axis large arm (4);
the four-axis hanging head (10) is arranged at the tail end of the three-axis four-axis small arm (8);
one end of the balance connecting rod is connected with the one-shaft two-shaft swivel base (2), the middle part of the balance connecting rod is assembled at the top of the two-shaft three-shaft large arm (4), and the other end of the balance connecting rod is connected with the four-shaft hanging head (10) and used for keeping the tail end of the four-shaft hanging head (10) in a horizontal state all the time;
and the driving and controlling integrated electric box (11) is used for controlling the robot to rotate and swing.
2. The drive-control integrated control high-speed medium-load four-axis robot is characterized in that a first servo motor and a RV speed reduction motor set (20) matched with the first servo motor are mounted on the base (1), the first servo motor and the RV speed reduction motor set (20) matched with the first servo motor are used for driving the one-axis two-axis rotary base (2) to rotate in a first mode, and the first servo motor and the RV speed reduction motor set are connected to a drive-control integrated electric box (11) in a controlled mode.
3. The drive-control integrated control high-speed medium-load four-axis robot as claimed in claim 1, wherein a second servo motor and a RV speed reduction motor set (21) matched with the second servo motor are mounted on the one-axis two-axis rotary base (2), and the second servo motor and the RV speed reduction motor set (21) matched with the second servo motor are used for driving the two-axis three-axis large arm (4) to swing independently and are connected to the drive-control integrated electric box (11) in a controlled manner.
4. The drive and control integrated control high-speed medium-load four-axis robot is characterized in that a third servo motor and a RV speed reducer set (22) matched with the third servo motor are mounted on the outer side of the bottom of the three-axis four-axis small arm (8), the third servo motor and the RV speed reducer set (22) matched with the third servo motor are assembled with the top end of the two-axis three-axis large arm (4) and rotate relative to the top of the two-axis three-axis large arm (4), and the third servo motor and the RV speed reducer set (22) matched with the third servo motor are controlled and connected to the drive and control integrated electronic box (11).
5. The drive and control integrated control high-speed medium-load four-axis robot is characterized in that the four-axis hanging head (10) comprises a fourth servo motor, an RV speed reduction motor set (23), two auxiliary connecting shafts (18) and a tail end connecting shaft (19), wherein a frame body (24) is arranged on the frame body (24), the two auxiliary connecting shafts (18) are provided with small arm connecting rod shafts (17), the tail ends of the three-axis four-axis small arms (8) are sleeved with the small arm connecting rod shafts (17), and the fourth servo motor and the RV speed reduction motor set (23) are connected to the drive and control integrated electric box (11) in a controlled mode.
6. The drive-control integrated high-speed medium-load four-axis robot according to claim 5, wherein the balance connecting rod comprises a tripod (5), a first balance connecting rod (3) and a second balance connecting rod (9), wherein: tripod (5) are installed on tripod connecting axle (14) in two triaxial big arm (4) top outsides, the one end and the end connecting axle (19) of two balanced connecting rod (9) cup joint, and connecting axle two (26) on tripod (5) are cup jointed to the other end, another connecting axle two (26) on tripod (5) are cup jointed to the one end of balanced connecting rod one (3), and another end cup joints on one axle two swivel bases (2).
7. The drive and control integrated control high-speed medium-load four-axis robot is characterized in that a fixed connecting rod (12) is mounted on the right side of the one-axis two-axis rotating base (2), a first connecting shaft (13) is arranged at the top of the fixed connecting rod (12), and the other end of the first balancing connecting rod (3) is sleeved with the first connecting shaft (13).
8. The drive-control integrated control high-speed medium-load four-axis robot as claimed in any one of claims 1-7, characterized in that the three-axis four-axis small arm (8) is provided with a suction-holding control box (7).
9. The drive-control integrated control high-speed medium-load four-axis robot as claimed in claim 8, wherein the bellows fixing seats (15) are arranged on the outer sides of the two-axis and three-axis large arms (4), the bellows (6) are fixed through the bellows fixing seats (15), the top of the bellows (6) is connected to the bellows fixing seats (15) on the three-axis and four-axis small arms (8), and the bottom of the bellows (6) is connected to the bellows fixing seats (15) on the one-axis and two-axis rotary base (2).
10. The drive-control integrated high-speed medium-load four-axis robot as claimed in claim 7, wherein the base (1), the one-axis two-axis rotating base (2), the fixed connecting rod (12), the first balance connecting rod (3), the tripod (5) and the second balance connecting rod (9) are made of lost foam iron casting, and the two-axis three-axis large arm (4), the three-axis four-axis small arm (8) and the four-axis hanging head (10) are made of gravity casting steel casting aluminum casting.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111195914A (en) * | 2020-01-15 | 2020-05-26 | 伯朗特机器人股份有限公司 | Driving and controlling integrated control high-speed medium-load four-axis robot |
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| CN111195914A (en) * | 2020-01-15 | 2020-05-26 | 伯朗特机器人股份有限公司 | Driving and controlling integrated control high-speed medium-load four-axis robot |
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