CN104985595A - A three-axis truss type robot - Google Patents
A three-axis truss type robot Download PDFInfo
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- CN104985595A CN104985595A CN201510454277.6A CN201510454277A CN104985595A CN 104985595 A CN104985595 A CN 104985595A CN 201510454277 A CN201510454277 A CN 201510454277A CN 104985595 A CN104985595 A CN 104985595A
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- crossbeam
- line rail
- longitudinal axis
- flange sheet
- footing
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Abstract
The invention provides a three-axis truss type robot. A cross beam is provided with at least two first line rails protruding from the surface of the cross beam; the first line rails are arranged on the top surface and the side surface of the cross beam. The top surface and the side surface of the cross beam are provided with the first line rails which support a carrier plate from the top surface and the side surface. Compared with the prior art in which a carrier plate is supported only from the top surface, the three-axis truss type robot has the advantages that the connecting rigidity of the carrier plate and the cross beam is greatly improved, the robot precision is improved, the reduction of robot precision caused by local deformation of the carrier plate after long-time use, and the service life of the carrier plate is prolonged.
Description
Technical field
The present invention relates to a kind of three axle gantry robots.
Background technology
Robot, as a kind of handbarrow, is used widely in production scene.Along with industrial expansion, robot is more and more universal in the application of production scene, and workpiece can be transported on lathe relevant position by robot exactly.
Robot of the prior art, be positioned at guide rail in frame and supporting plate positioning intensity low, cause robot poor rigidity, robot precision low.
Summary of the invention
A kind of three axle gantry robots provided by the invention, are intended to overcome the deficiency of robot poor rigidity in prior art.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme: a kind of three axle gantry robots, comprise base, described base is provided with frame, described frame is provided with vertical arm, described frame is fixed with the crossbeam that vertical arm is laterally slided, described crossbeam is provided with the supporting plate be slidably connected with crossbeam, described supporting plate is provided with the longitudinal axis of moving direction and beam vertical, described vertical arm is fixed on supporting plate by longitudinal axis, described longitudinal axis is slidably connected on supporting plate, described crossbeam is provided with the First Line rail that at least two protrude beam surface, described crossbeam is respectively equipped with First Line rail on the end face being positioned at crossbeam and side, described supporting plate is fixed with the first slide block coordinated with First Line rail.On the end face and side of crossbeam, arrange First Line rail respectively, supporting plate coordinates with First Line rail, substantially increases robot rigidity in the course of the work.
As preferably, described base comprises footing and column, and described column upper end is fixedly connected with frame, and described column lower end and footing are bolted.Base comprises footing and column, by making column coordinate the height that can regulate robot easily with the footing of differing heights, uses very convenient.
As preferably, described column is provided with upper flange sheet, described footing is provided with the lower flange sheet coordinated with upper flange sheet, described bolt is each passed through upper flange sheet and lower flange sheet, floor is provided with between described upper flange sheet and column, be provided with floor between described lower flange sheet and footing, described upper flange sheet and column are integral type structure, and described lower flange sheet and footing are integral type structure.
As preferably, described footing comprises vertical portion and the horizontal part vertical with vertical portion, described horizontal part and vertical portion are integral type structure, are provided with reinforcement gusset between described horizontal part and vertical portion, and described reinforcement gusset is arranged between vertical portion and horizontal part by welding manner.By arranging reinforcement gusset, substantially increasing the bonding strength of vertical portion and horizontal part, improve the stability of machine man-hour.
As preferably, described longitudinal axis comprises the body of hollow shape, and described longitudinal axis inwall being also provided with longitudinal axis is the tabular muscle of integral type structure.Longitudinal axis is the weight that hollow-core construction alleviates robot, and is provided with tabular muscle in longitudinal axis, improves the rigidity of longitudinal axis.
As preferably, described longitudinal axis is provided with the second slide block of at least two fixing vertical arm, described vertical arm is connected with the second skid, described vertical arm is provided with the second line rail coordinated with the second slide block, described second slide block is provided with the cell body coordinated with the second line rail, described second line rail has two, and every bar second line rail at least coordinates with second slide block, and two the second line rails lay respectively at the left and right both sides of vertical arm.Second line rail is arranged on vertical arm both sides, and every bar second line rail at least coordinates with second slide block, improves the connection rigidity of vertical arm and longitudinal axis, improves the precision of robot.
As preferably, be provided with the support bar of frames between described frame and base, described support bar is fixed between frame and base by welding manner.By arranging support bar, improve the rigidity of robot.
Compared with prior art, a kind of three axle gantry robots provided by the invention, tool has the following advantages: crossbeam is provided with the First Line rail that at least two protrude beam surface, and described crossbeam is respectively equipped with First Line rail on the end face being positioned at crossbeam and side; The end face of crossbeam and side are equipped with First Line rail, First Line rail supports supporting plate from end face and Liang Ge position, side, only supporting plate is supported from end face relative to prior art, substantially increase the connection rigidity of supporting plate and crossbeam, improve robot precision, after avoiding supporting plate Long-Time Service, local deformation causes robot precision to reduce, and extends the service life of supporting plate; In addition, relatively with diaxon robot of the prior art, technical scheme of the present invention to three direction freely-movables, can substantially increase degree of flexibility when workpiece transports to lathe, workpiece can be placed on the corresponding position of lathe by this three axle gantry robot exactly, easy to use.
Accompanying drawing explanation
Accompanying drawing 1 is the front view of a kind of three axle gantry robots of the present invention;
Accompanying drawing 2 is left views of a kind of three axle gantry robots of the present invention;
Accompanying drawing 3 is A place enlarged drawings in accompanying drawing 2;
Accompanying drawing 4 is B place enlarged drawings in accompanying drawing 1;
Accompanying drawing 5 is D place enlarged drawings in accompanying drawing 2;
Accompanying drawing 6 is axonometric drawings of longitudinal axis in a kind of three axle gantry robots of the present invention.
Shown in figure, 1, base, 2, frame, 3, vertical arm, 4, crossbeam, 5, supporting plate, 6, First Line rail, 7, end face, 8, side, 9, the first slide block, 10, footing, 11, column, 12, bolt, 13, upper flange sheet, 14, lower flange sheet, 15, floor, 18, vertical portion, 19, horizontal part, 20, strengthen gusset, 21, longitudinal axis, 22, body, 23, tabular muscle, the 24, second slide block, the 25, second line rail, 26, support bar.
Detailed description of the invention
Below in conjunction with accompanying drawing, a kind of three axle gantry robots of the present invention are described further.As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, shown in Fig. 6, a kind of three axle gantry robots, comprise base 1, described base 1 is provided with frame 2, described frame 2 is provided with vertical arm 3, described frame 2 is fixed with the crossbeam 4 that vertical arm 3 is laterally slided, described crossbeam 4 is provided with the supporting plate 5 be slidably connected with crossbeam 4, the supporting plate 5 described in the present invention refers to the part of sliding on crossbeam 4, namely the part realizing sliding on crossbeam 4 is coordinated with First Line rail 6, described vertical arm 3 is fixed on supporting plate 5, namely described supporting plate 5 is provided with the moving direction longitudinal axis vertical with crossbeam 4 21, described vertical arm 3 is fixed on supporting plate 5 by longitudinal axis 21, described longitudinal axis 21 is slidably connected on supporting plate 5,
See Fig. 3, described crossbeam 4 is provided with the First Line rail 6 that at least two protrude crossbeam 4 surface, described crossbeam 4 is respectively equipped with First Line rail 6 on the end face 7 being positioned at crossbeam 4 and side 8, First Line rail 6 shown in accompanying drawing 3 has three, namely the end face 7 being positioned at crossbeam 4 is provided with two First Line rails 6, the side 8 being positioned at crossbeam 4 is provided with a First Line rail 6, and this First Line rail 6 is positioned at the right flank 8 (by direction as shown) of crossbeam 4, during specific design, First Line rail 6 also can be positioned at the left surface 8 of crossbeam 4, described supporting plate 5 offers the slide block 9 coordinated with First Line rail 6, described slide block 9 is provided with the recess coordinated with First Line rail 6, certainly, the quantity of First Line rail 6 and setting position can unrestricted choice when designing, but should meet on the side 7 of crossbeam 4 and end face 8 and be equipped with First Line rail 6, to meet the support requirement of First Line rail 6 pairs of supporting plates 5,
See Fig. 1, Fig. 2, described base 1 comprises footing 10 and column 11, described column 11 upper end is fixedly connected with frame 2, described column 11 lower end is connected by bolt 12 with footing 10, described column 11 is provided with upper flange sheet 13, described footing 10 is provided with the lower flange sheet 14 coordinated with upper flange sheet 13, described bolt 12 is each passed through upper flange sheet 13 and lower flange sheet 14, floor 15 is provided with between described upper flange sheet 13 and column 11, floor 15 is provided with between described lower flange sheet 14 and footing 10, described upper flange sheet 13 is integral type structure with column 11, described lower flange sheet 14 is integral type structure with footing 10.
In order to improve the strength support intensity of footing 10 further, see Fig. 1, described footing 10 comprises vertical portion 18 and the horizontal part 19 vertical with vertical portion 18, described horizontal part 19 is integral type structure with vertical portion 18, be provided with between described horizontal part 19 and vertical portion 18 and strengthen gusset 20, described reinforcement gusset 20 is arranged between vertical portion 18 and horizontal part 19 by welding manner, described horizontal part 19 can obtain for adopting the materials such as square steel, in order to avoid horizontal part 19 is out of shape, described horizontal part 19 can also be arranged the decorative pattern protruding horizontal part 19 surface, with the intensity in the portion of improving the standard 19.
See Fig. 1, Fig. 6, described longitudinal axis 21 comprises the body 22 of hollow shape, described longitudinal axis 21 inwall being also provided with longitudinal axis 21 is the tabular muscle 23 of integral type structure, described tabular muscle 23 can horizontally set, described tabular muscle 23 also can longitudinally be arranged, described tabular muscle 23 can also be latticed setting, its objective is the rigidity in order to improve longitudinal axis 21, thus improves the precision of robot.
See Fig. 1, Fig. 2, Fig. 4, Fig. 5, vertical arm 3 needs in the course of the work, lower movement, precision during in order to improve the rigidity of vertical arm 3 and move, described longitudinal axis 21 is provided with the second slide block 24 of at least two fixing vertical arm 3, described vertical arm 3 and the second slide block 24 are slidably connected, described vertical arm 3 is provided with the second line rail 25 coordinated with the second slide block 24, described second slide block 24 is provided with the cell body coordinated with the second line rail 25, described second line rail 25 has two, every bar second line rail 25 at least coordinates with second slide block 24, article two, the second line rail 25 lays respectively at vertical arm 3 left side, right both sides, the left side at this place, right both sides are direction as shown, there are in Fig. 4 four the second slide blocks 24, and every bar second line rail 25 coordinates with two the second slide blocks 24 respectively, during specific design, under the prerequisite with four the second slide blocks 24, also a wherein second line rail 25 can be allowed to coordinate with three the second slide blocks 24, and an other second line rail 25 only coordinates with second slide block 24, but the uniformity that when considering that vertical arm 3 moves, the second slide block 24 is stressed, pay the utmost attention to the second slide block 24 to be symmetrical arranged about vertical arm 3.
In order to improve the rigidity of robot, see Fig. 2, be provided with the support bar 26 of frames 2 between described frame 2 and base 1, described support bar 26 is arranged between frame 2 and base 1 by being welded to connect.Certainly, when frame 2 is shorter, also support bar 26 can not be set.
These are only the preferred embodiment of the present invention, being intended to embody outstanding technique effect of the present invention and advantage, is not the restriction to technical scheme of the present invention.Those skilled in the art will appreciate that all amendments made based on the technology of the present invention content, change or substitute technology feature, all should be covered by the technology category of claims of the present invention opinion.
Claims (7)
1. an axle gantry robot, comprise base (1), described base (1) is provided with frame (2), described frame (2) is provided with vertical arm (3), described frame (2) is fixed with the crossbeam (4) that vertical arm (3) is laterally slided, described crossbeam (4) is provided with the supporting plate (5) be slidably connected with crossbeam (4), it is characterized in that: described supporting plate (5) is provided with the moving direction longitudinal axis (21) vertical with crossbeam (4), described vertical arm (3) is fixed on supporting plate (5) by longitudinal axis (21), described longitudinal axis (21) is slidably connected on supporting plate (5), described crossbeam (4) is provided with the First Line rail (6) that at least two protrude crossbeam (4) surface, described crossbeam (4) is respectively equipped with First Line rail (6) on the end face (7) being positioned at crossbeam (4) and side (8), described supporting plate (5) is fixed with the first slide block (9) coordinated with First Line rail (6).
2. a kind of three axle gantry robots according to claim 1, it is characterized in that: described base (1) comprises footing (10) and column (11), described column (11) upper end is fixedly connected with frame (2), and described column (11) lower end is connected by bolt (12) with footing (10).
3. a kind of three axle gantry robots according to claim 2, it is characterized in that: described column (11) is provided with upper flange sheet (13), described footing (10) is provided with the lower flange sheet (14) coordinated with upper flange sheet (13), described bolt (12) is each passed through upper flange sheet (13) and lower flange sheet (14), floor (15) is provided with between described upper flange sheet (13) and column (11), floor (15) is provided with between described lower flange sheet (14) and footing (10), described upper flange sheet (13) and column (11) are integral type structure, described lower flange sheet (14) and footing (10) are integral type structure.
4. a kind of three axle gantry robots according to claim 3, it is characterized in that: described footing (10) comprises vertical portion (18) and the horizontal part (19) vertical with vertical portion (18), described horizontal part (19) and vertical portion (18) are integral type structure, be provided with between described horizontal part (19) and vertical portion (18) and strengthen gusset (20), described reinforcement gusset (20) is arranged between vertical portion (18) and horizontal part (19) by welding manner.
5. a kind of three axle gantry robots according to claim 1, it is characterized in that: described longitudinal axis (21) comprises the body (22) of hollow shape, the tabular muscle (23) that described longitudinal axis (21) inwall to be also provided with longitudinal axis (21) be integral type structure.
6. a kind of three axle gantry robots according to claim 1, it is characterized in that: described longitudinal axis (21) is provided with second slide block (24) of at least two fixing vertical arm (3), described vertical arm (3) and the second slide block (24) are slidably connected, described vertical arm (3) is provided with the second line rail (25) coordinated with the second slide block (24), described second slide block (24) is provided with the cell body coordinated with the second line rail (25), described second line rail (25) has two, every bar second line rail (25) at least coordinates with second slide block (24), article two, the second line rail (25) lays respectively at vertical arm (3) left side, right both sides.
7. a kind of three axle gantry robots according to claim 1, it is characterized in that: the support bar (26) being provided with frames (2) between described frame (2) and base (1), described support bar (26) is fixed between frame (2) and base (1) by welding manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510454277.6A CN104985595A (en) | 2015-07-29 | 2015-07-29 | A three-axis truss type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510454277.6A CN104985595A (en) | 2015-07-29 | 2015-07-29 | A three-axis truss type robot |
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| Publication Number | Publication Date |
|---|---|
| CN104985595A true CN104985595A (en) | 2015-10-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510454277.6A Pending CN104985595A (en) | 2015-07-29 | 2015-07-29 | A three-axis truss type robot |
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| Country | Link |
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| CN (1) | CN104985595A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522573A (en) * | 2016-02-19 | 2016-04-27 | 苏州凯林捷机器人科技有限公司 | High-speed truss manipulator |
| CN109335652A (en) * | 2018-10-12 | 2019-02-15 | 珠海格力智能装备有限公司 | Conveyer |
Citations (7)
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| CN202804652U (en) * | 2012-05-30 | 2013-03-20 | 深圳市钜匠科技有限公司 | Engraving and milling machine for transverse beams for vertically mounting horizontal 'T'-shaped sliding plates and wire rails |
| DE202013101965U1 (en) * | 2013-05-06 | 2013-05-15 | Homag Holzbearbeitungssysteme Gmbh | Handling device, in particular loading device |
| CN103341854A (en) * | 2013-07-24 | 2013-10-09 | 苏州大学 | Double-shaft-controlled carrying mechanical arm |
| CN203282471U (en) * | 2013-05-29 | 2013-11-13 | 金石机器人常州有限公司 | Trussed robot with reliable guide rail performance |
| CN203343793U (en) * | 2013-06-07 | 2013-12-18 | 上海发那科机器人有限公司 | Truss walking guide rail for hoisting robot |
| CN104669239A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | Triaxial truss type high-speed servo robot |
| CN104723323A (en) * | 2015-03-30 | 2015-06-24 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung type three-axis servo manipulator |
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2015
- 2015-07-29 CN CN201510454277.6A patent/CN104985595A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202804652U (en) * | 2012-05-30 | 2013-03-20 | 深圳市钜匠科技有限公司 | Engraving and milling machine for transverse beams for vertically mounting horizontal 'T'-shaped sliding plates and wire rails |
| DE202013101965U1 (en) * | 2013-05-06 | 2013-05-15 | Homag Holzbearbeitungssysteme Gmbh | Handling device, in particular loading device |
| CN203282471U (en) * | 2013-05-29 | 2013-11-13 | 金石机器人常州有限公司 | Trussed robot with reliable guide rail performance |
| CN203343793U (en) * | 2013-06-07 | 2013-12-18 | 上海发那科机器人有限公司 | Truss walking guide rail for hoisting robot |
| CN103341854A (en) * | 2013-07-24 | 2013-10-09 | 苏州大学 | Double-shaft-controlled carrying mechanical arm |
| CN104669239A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | Triaxial truss type high-speed servo robot |
| CN104723323A (en) * | 2015-03-30 | 2015-06-24 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung type three-axis servo manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522573A (en) * | 2016-02-19 | 2016-04-27 | 苏州凯林捷机器人科技有限公司 | High-speed truss manipulator |
| CN109335652A (en) * | 2018-10-12 | 2019-02-15 | 珠海格力智能装备有限公司 | Conveyer |
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Application publication date: 20151021 |
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| RJ01 | Rejection of invention patent application after publication |