CN105983962A - Brake device for horizontal multi-joint robot linear shaft - Google Patents
Brake device for horizontal multi-joint robot linear shaft Download PDFInfo
- Publication number
- CN105983962A CN105983962A CN201610494449.7A CN201610494449A CN105983962A CN 105983962 A CN105983962 A CN 105983962A CN 201610494449 A CN201610494449 A CN 201610494449A CN 105983962 A CN105983962 A CN 105983962A
- Authority
- CN
- China
- Prior art keywords
- lead screw
- screw shaft
- brake
- upper arm
- linear axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a brake device for a horizontal multi-joint robot linear shaft. The brake device comprises a base. A lower arm and an upper arm which rotate oppositely are arranged on the base. A lead screw shaft is connected to the upper arm. The top end of the lead screw shaft is sleeved with a nut. A brake mechanism is arranged at the end, far away from the nut, of the lead screw shaft. A motor is arranged above the upper arm through a motor mounting seat and connected with the middle of the lead screw shaft through a transmission mechanism. According to the brake device, a brake is separated from the motor, the lead screw shaft is driven by the motor to rotate, the brake mechanism is located at the end of the lead screw shaft, braking of the linear shaft is achieved through the external band-type brake, the cost is lowered, and maintenance is facilitated.
Description
Technical field
The present invention relates to a kind of horizontal articulated robot, particularly relate to a kind of horizontal articulated robot straight
The brake apparatus of bobbin.
Background technology
Existing level articulated robot the 3rd axle is linear axis, and is positioned at vertical direction.Without braking
Measure, after robot power-off, this linear axis, at Action of Gravity Field, has the trend moving downward, and may bump against this
Body or peripheral equipment, cause damage.Join brake for this this linear axis servomotor multiselect, but band is made
The motor open market of dynamic device uses less, and price is a lot, and additionally brake is easily worn part, once
Damaging, needing to change whole motor, maintenance workload is big, and cost is high.
Content of the invention
The invention aims to solve horizontal articulated robot linear axis braking in prior art existing
Defect, the brake apparatus of a kind of horizontal articulated robot linear axis is provided.
To achieve these goals, the technical solution used in the present invention is:
The brake apparatus of a kind of horizontal articulated robot linear axis, including base, being provided with on base can phase
To the underarm rotating and upper arm, described upper arm is connected with lead screw shaft, the sheathed nut in top of lead screw shaft, institute
The one end stating lead screw shaft away from described nut is provided with arrestment mechanism, and motor mount is passed through in the top of described upper arm
Being provided with motor, motor is connected with the middle part of described lead screw shaft by transmission mechanism.
The brake apparatus of above-mentioned a kind of horizontal articulated robot linear axis, described transmission mechanism includes fixing
It at the first belt wheel of the output shaft end of described motor, is set in outside described lead screw shaft and fixes with lead screw shaft
The second belt wheel connecting, the first belt wheel and the second belt wheel are connected by belt.
The brake apparatus of above-mentioned a kind of horizontal articulated robot linear axis, described arrestment mechanism includes fixing
It at the brake rotor of described lead screw shaft end, is set in outside brake rotor and is fixed under described upper arm
The brake stator of side.
The brake apparatus of above-mentioned a kind of horizontal articulated robot linear axis, described brake rotor is by tightly
Determining screw to be fixed in lead screw shaft, brake stator is arranged on upper arm by hexagon socket cap head screw.
The brake apparatus of above-mentioned a kind of horizontal articulated robot linear axis, described brake stator and braking
The outside of device rotor is provided with the sealing shroud being connected with described upper arm.
The brake apparatus of above-mentioned a kind of horizontal articulated robot linear axis, described nut connects wrist method
Blue.
The invention have the benefit that the brake of this device and motor are provided separately, by motor belt motor movable wire
Thick stick axle rotates, and the end that arrestment mechanism is positioned at lead screw shaft uses external band-type brake to realize the braking of linear axis, no
But reduce cost, and be easy to safeguard.
Brief description
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is the A district enlarged drawing in Fig. 1；
Fig. 3 is the B district enlarged drawing in Fig. 1.
Detailed description of the invention
As shown in Figure 1 to Figure 3, the brake apparatus of a kind of horizontal articulated robot linear axis, including base
1, base 1 is provided with relatively turnable underarm 2 and upper arm 3, upper arm 3 is connected with lead screw shaft 4,
The sheathed nut in top 5 of lead screw shaft 4, nut 8 connects wrist flange 9, and lead screw shaft 4 is away from nut 5
One end is provided with arrestment mechanism 6, and the top of upper arm 3 is provided with motor 7 by motor mount, and motor 7 leads to
The middle part crossing transmission mechanism 8 with lead screw shaft 4 is connected.
Transmission mechanism 8 includes the first belt wheel 81 being fixed on the output shaft end of motor 7, is set in lead screw shaft
Outside 4 and fixing, with lead screw shaft 4, the second belt wheel 82 being connected, the first belt wheel 81 and the second belt wheel 82 pass through
Belt 83 connects.
Arrestment mechanism 6 includes the brake rotor 61 being fixed on lead screw shaft 4 end, is set in brake rotor
Outside 61 and be fixed on brake stator 62 on the downside of upper arm 3, brake rotor 61 passes through holding screw 63
Being fixed in lead screw shaft 4, brake stator 62 is arranged on upper arm 3 by hexagon socket cap head screw 64
On, the outside of brake stator 62 and brake rotor 61 is provided with the sealing shroud 65 being connected with upper arm 3.
When powering up, owing to not producing holding torque, motor between brake rotor 61 and brake stator 62
After axle rotates, drive the first belt wheel 81 to rotate, and drive the second belt wheel 82 and lead screw shaft 4 by belt 83
Rotating, during power-off, brake stator 62 produces holding torque to brake rotor 61, makes lead screw shaft 4 not
Can rotate, thus prevent nut 5 to slide under gravity, if manipulator is in use, brake
Assembly is damaged, and can directly change brake, need not dismantle and change motor 7, and above structure designs
Realize the braking of linear axis by using external band-type brake, not only reduce cost, and be easy to safeguard.
The present invention is not limited to above-mentioned preferred forms, and anyone can draw it under the enlightenment of the present invention
His various forms of products, no matter but in its shape or structure, make any change, every have and the application
Technical scheme as same or like, all falls within protection scope of the present invention.
Claims (6)
1. a brake apparatus for horizontal articulated robot linear axis, including base, being provided with on base can
Underarm and upper arm in relative rotation, described upper arm is connected with lead screw shaft, the sheathed nut in top of lead screw shaft,
It is characterized in that, described lead screw shaft is provided with arrestment mechanism, the top of described upper arm away from one end of described nut
Motor mount is provided with motor, and motor is connected with the middle part of described lead screw shaft by transmission mechanism.
2. the brake apparatus of a kind of horizontal articulated robot according to claim 1 linear axis, it is special
Levying and being, described transmission mechanism includes the first belt wheel being fixed on the output shaft end of described motor, is set in
Fixing the second belt wheel being connected outside described lead screw shaft and with lead screw shaft, the first belt wheel and the second belt wheel pass through skin
Band connects.
3. the brake apparatus of a kind of horizontal articulated robot according to claim 1 and 2 linear axis,
It is characterized in that, described arrestment mechanism includes the brake rotor being fixed on described lead screw shaft end, is set in
Outside brake rotor and be fixed on brake stator on the downside of described upper arm.
4. the brake apparatus of a kind of horizontal articulated robot according to claim 3 linear axis, it is special
Levying and being, described brake rotor is fixed in lead screw shaft by holding screw, and brake stator passes through interior six
Angle fillister head screw is arranged on upper arm.
5. the brake apparatus of a kind of horizontal articulated robot according to claim 3 linear axis, it is special
Levying and being, the outside of described brake stator and brake rotor is provided with the sealing shroud being connected with described upper arm.
6. the brake apparatus of a kind of horizontal articulated robot according to claim 1 linear axis, it is special
Levying and being, described nut connects wrist flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610494449.7A CN105983962A (en) | 2016-06-29 | 2016-06-29 | Brake device for horizontal multi-joint robot linear shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610494449.7A CN105983962A (en) | 2016-06-29 | 2016-06-29 | Brake device for horizontal multi-joint robot linear shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105983962A true CN105983962A (en) | 2016-10-05 |
Family
ID=57044754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610494449.7A Pending CN105983962A (en) | 2016-06-29 | 2016-06-29 | Brake device for horizontal multi-joint robot linear shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105983962A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053139A (en) * | 2017-04-11 | 2017-08-18 | 沈阳翰和科技工程有限公司 | A kind of automatic braking type truss manipulator |
| CN109861448A (en) * | 2019-01-24 | 2019-06-07 | 沈阳新松机器人自动化股份有限公司 | A kind of small high-torque horizontal rotation promotion motor |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6068442A (en) * | 1997-05-12 | 2000-05-30 | Flemmer; Rory C. | SCARA robot and articulator |
| CN101664925A (en) * | 2008-09-01 | 2010-03-10 | 精工爱普生株式会社 | horizontal articulated robot |
| CN101843959A (en) * | 2010-06-03 | 2010-09-29 | 李元科 | Escape device for high-rise buildings |
| CN102896641A (en) * | 2011-07-25 | 2013-01-30 | 雅马哈发动机株式会社 | Scara robot |
| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| CN203804767U (en) * | 2014-04-21 | 2014-09-03 | 北京市电加工研究所 | Manual and automatic integrated vertical shaft of ultra-hard cutter grinding machine |
| CN104924299A (en) * | 2015-07-09 | 2015-09-23 | 中国电子科技集团公司第二十一研究所 | SCARA mechanical arm group suitable for narrow movement space |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN105232153A (en) * | 2015-09-08 | 2016-01-13 | 微创（上海）医疗机器人有限公司 | Mechanical arm |
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN205852799U (en) * | 2016-06-29 | 2017-01-04 | 无锡市展望自动化贸易有限公司 | A kind of brake unit of horizontal articulated robot linear axis |
-
2016
- 2016-06-29 CN CN201610494449.7A patent/CN105983962A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6068442A (en) * | 1997-05-12 | 2000-05-30 | Flemmer; Rory C. | SCARA robot and articulator |
| CN101664925A (en) * | 2008-09-01 | 2010-03-10 | 精工爱普生株式会社 | horizontal articulated robot |
| CN101843959A (en) * | 2010-06-03 | 2010-09-29 | 李元科 | Escape device for high-rise buildings |
| CN102896641A (en) * | 2011-07-25 | 2013-01-30 | 雅马哈发动机株式会社 | Scara robot |
| CN203003891U (en) * | 2012-10-30 | 2013-06-19 | 南通通用机械制造有限公司 | Economical selective compliance assembly robot arm (SCARA) robot |
| CN203804767U (en) * | 2014-04-21 | 2014-09-03 | 北京市电加工研究所 | Manual and automatic integrated vertical shaft of ultra-hard cutter grinding machine |
| CN104924299A (en) * | 2015-07-09 | 2015-09-23 | 中国电子科技集团公司第二十一研究所 | SCARA mechanical arm group suitable for narrow movement space |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN105232153A (en) * | 2015-09-08 | 2016-01-13 | 微创（上海）医疗机器人有限公司 | Mechanical arm |
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN205852799U (en) * | 2016-06-29 | 2017-01-04 | 无锡市展望自动化贸易有限公司 | A kind of brake unit of horizontal articulated robot linear axis |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053139A (en) * | 2017-04-11 | 2017-08-18 | 沈阳翰和科技工程有限公司 | A kind of automatic braking type truss manipulator |
| CN109861448A (en) * | 2019-01-24 | 2019-06-07 | 沈阳新松机器人自动化股份有限公司 | A kind of small high-torque horizontal rotation promotion motor |
| CN109861448B (en) * | 2019-01-24 | 2021-04-13 | 沈阳新松机器人自动化股份有限公司 | Small-size high-torque horizontal rotation lifting motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161005 |