CN105522572B - The shaft industrial robot of compact three - Google Patents
The shaft industrial robot of compact three Download PDFInfo
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- CN105522572B CN105522572B CN201610076552.XA CN201610076552A CN105522572B CN 105522572 B CN105522572 B CN 105522572B CN 201610076552 A CN201610076552 A CN 201610076552A CN 105522572 B CN105522572 B CN 105522572B
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- 230000007246 mechanism Effects 0.000 claims description 12
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- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000000007 visual effect Effects 0.000 description 13
- 238000012423 maintenance Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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Abstract
The present invention relates to a kind of industrial robot, more particularly to a kind of industrial robot with three degree of freedom.The shaft industrial robot of compact three, including：Support, Y-axis slide unit, Z axis slide unit, X-axis turntable, the Y-axis base of the Y-axis slide unit are fixed on the support, and the Z axis base of the Z axis slide unit is fixed on the Y-axis slide plate of the Y-axis slide unit, and the X-axis turntable is fixed on the Z axis slide plate of the Z axis slide unit.The direction of motion of the Y-axis slide plate is parallel with the Y-axis of cartesian coordinate system, and the direction of motion of the Z axis slide plate is parallel with the Z axis of the cartesian coordinate system, and the X-axis workbench of the X-axis turntable rotates around the X-axis of the cartesian coordinate system.It is compact-sized, floor space is small, cost is low, frictional resistance is small, noiseless, high transmission accuracy the invention provides a kind of shaft industrial robot of compact three.
Description
Technical field
The present invention relates to a kind of industrial robot, more particularly to a kind of industrial robot with three degree of freedom.
Background technology
Industrial robot refers to some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry thing
The automatic pilot of part or operation instrument.It can realize the mechanization of production and automation, energy instead of the heavy labor of people
Operated under hostile environment to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and atomic energy
Deng department.
Industrial robot is mainly made up of hand, motion and control system three parts.Hand is for grasping work
The part of part (or instrument), there is various structures shape according to by the shape of grasping object, size, weight, material and job requirements
Formula, such as clamp-type, holding type and absorbent-type.Motion, hand is set to complete various rotations (swing), mobile or compound motion
To realize defined action, change by the position of grasping object and posture.Motion such as lifts, stretched, rotating at the independent fortune
The free degree of flowing mode, referred to as industrial robot.Control system is the control by the motor to each free degree of industrial robot
System, to complete specific action.
Existing articulated type industrial robot or Cartesian robot, it is often bulky, be required for occupying it is very big
The work place of production, for some professional equipments, the work-yard of robot is the major issue having to take into account that.
Therefore, it is necessary to the compact industrial robot of development structure, for realizing the transport operation of workpiece on streamline, also
Technological transformation cost input can be greatly reduced.
The content of the invention
It is an object of the invention to provide a kind of shaft industrial robot of compact three, for realizing the crawl of workpiece and turning
Move；It is compact-sized, floor space is small, cost is low the invention provides a kind of shaft industrial robot of compact three；The present invention provides
A kind of shaft industrial robot of compact three is using line slideway as driving member, and frictional resistance is small, noiseless, transmission accuracy
It is high.
To achieve the above object, the invention discloses a kind of shaft industrial robot of compact three, including：Support, Y-axis are slided
Platform, Z axis slide unit, X-axis turntable, the Y-axis base of the Y-axis slide unit are fixed on the support, the Z axis base of the Z axis slide unit
It is fixed on the Y-axis slide plate of the Y-axis slide unit, the X-axis turntable is fixed on the Z axis slide plate of the Z axis slide unit；
The direction of motion of the Y-axis slide plate is parallel with the Y-axis of cartesian coordinate system, the direction of motion of the Z axis slide plate and
The Z axis of the cartesian coordinate system is parallel, and the X-axis workbench of the X-axis turntable rotates around the X-axis of the cartesian coordinate system；
The Y-axis slide unit includes：Y-axis base, Y-axis leading screw, Y-axis nut, y-axis motor, Y-axis synchronous belt drive mechanism, Y-axis
Supporting plate, Y-axis guide rail, Y-axis sliding block, Y-axis slide plate, the Y-axis base are fixed on the support, the Y-axis supporting plate, Y-axis
Guide rail is fixed on the Y-axis base, and the Y-axis leading screw is movably connected on the Y-axis supporting plate, and the Y-axis nut is flexibly connected
In the Y-axis leading screw, the Y-axis leading screw connects the output shaft of the y-axis motor, institute by the Y-axis synchronous belt drive mechanism
State y-axis motor and be fixed on the Y-axis supporting plate；One end of the Y-axis slide plate is fixed on the Y-axis nut, the Y-axis slide plate
The other end is fixed on the Z axis slide unit, and the middle part of the Y-axis slide plate is fixed on the Y-axis sliding block, and the Y-axis sliding block is lived
It is dynamic to be connected to the Y-axis guide rail；
The Z axis slide unit includes：Z axis base, Z axis leading screw, Z axis motor, Z axis synchronous belt drive mechanism, Z axis supporting plate,
Z axis guide rail, Z axis sliding block, Z axis slide plate, Z axis nut, the Z axis base are fixed on the Y-axis slide plate, and the Z axis base is vertical
In the Y-axis slide plate；The Z axis supporting plate, Z axis guide rail are fixed on the Z axis base, and the Z axis leading screw is movably connected on institute
Z axis supporting plate is stated, the Z axis nut is movably connected on the Z axis leading screw；The Z axis leading screw passes through the Z axis toothed belt transmission
Mechanism is connected to the output shaft of the Z axis motor, and the Z axis motor is fixed on the Z axis supporting plate；The one of the Z axis slide plate
End is fixed on the Z axis nut, and the other end of the Z axis slide plate is fixed on the X-axis turntable, the pars intermedia of the Z axis slide plate
Position is fixed on the Z axis sliding block, and the Z axis sliding block is fixed on the Z axis guide rail.
Preferably, the X-axis turntable includes：X-axis motor, X-axis workbench, rotating disk, X-axis sensor, the X-axis motor are consolidated
It is connected on the Z axis slide plate, the X-axis workbench is fixed on the output shaft of the X-axis motor, and the rotating disk is fixed on described
On the other end of output shaft of X-axis motor, the X-axis sensor is fixed on the Z axis slide plate, the rotating disk and the X-axis
Sensor matches.
Preferably, the Y-axis slide unit includes：Y-axis sensor, sensor block, the Y-axis that is connected on the Y-axis base pass
Sensor, be connected the sensor block on the Y-axis nut, and the Y-axis sensor and the sensor block match.
Preferably, the Z axis slide unit includes：Z axis sensor, Z axis sensor block, be connected the Z axis on the Z axis base
Sensor, be connected the Z axis sensor block on the Z axis nut, and the Z axis sensor and the Z axis sensor block match.
Compared with conventional art, the shaft industrial robot of compact three of the present invention has following positive role and beneficial effect：
The shaft industrial robot of compact three of the present invention, the end effector of robot are fixed on the X-axis workbench, are used
In the operation such as crawl of the execution to workpiece and transfer.The shaft industrial robot of compact three of the present invention possesses three degree of freedom, i.e. edge
The Y-axis of the cartesian coordinate system, Z axis is mobile, turns about the X axis.The shaft industrial robot of compact three of the present invention passes through cleverly
Structure configures, and realizes the compact design of robot, reduces the floor space of robot, and realizes and flexibly, quickly transport
Dynamic effect.
The Y-axis base of the Y-axis slide unit is fixed on the support, and the Z axis base of the Z axis slide unit is fixed on the Y
On the Y-axis slide plate of axle slide unit, the X-axis turntable is fixed on the Z axis slide plate of the Z axis slide unit.Three degree of freedom is：The Y
The direction of motion of axle slide plate is parallel with the Y-axis of cartesian coordinate system, the direction of motion and the cartesian coordinate of the Z axis slide plate
The Z axis of system is parallel, and the X axles workbench of the X-axis turntable rotates around the X-axis of the cartesian coordinate system.
The Y-axis slide unit, Z axis slide unit, configured using single screw, it is more in traditional robot technology to be matched somebody with somebody using double lead-screw
Put.The slide unit structure of single screw configuration reduces leading screw quantity, reduces floor space.
One end of the Y-axis slide plate is fixed on the Y-axis nut, and the other end of the Y-axis slide plate is fixed on the Z axis and slided
Platform, the middle part of the Y-axis slide plate are fixed on the Y-axis sliding block, and the Y-axis sliding block is movably connected on the Y-axis guide rail.Institute
State Y-axis slide plate to arrange using symmetrical structure, the Y-axis sliding block is fixed in the middle part of the axle slide plate, in the Y-axis
The Y-axis nut and Z axis slide unit is respectively fixedly connected in the both sides of sliding block, is located at the both sides of the Y-axis sliding block respectively due to loading, described
Y-axis slide plate, the stress of Y-axis sliding block are good, are advantageous to the permanent service life of the Y-axis sliding block and Y-axis guide rail.
The Y-axis leading screw has larger visual angle in the operation visual field, becomes the maintenance to the Y-axis leading screw and maintenance
Obtain very convenient.In traditional slide unit, because leading screw is positioned at the centre position of two guide rails so that leading screw only has less area
It is sudden and violent to leak the difficulty in operating under the visual field, substantially increasing and safeguarding and overhauling.Big field area, be advantageous to the behaviour of operator
Make.
As a same reason.One end of the Z axis slide plate is fixed on the Z axis nut, and the other end of the Z axis slide plate is fixed on
The X-axis turntable, the middle part of the Z axis slide plate are fixed on the Z axis sliding block, and the Z axis sliding block is fixed on the Z axis and led
Rail.The Z axis slide plate is arranged using symmetrical structure, and the Z axis sliding block is fixed in the middle part of the Z axles slide plate,
The Z axles nut and X-axis turntable is respectively fixedly connected in the both sides of the Z axis sliding block, due to loading respectively positioned at the Z axis sliding block
Both sides, the Z axis slide plate, the stress of Z axle sliding blocks are good, are advantageous to the permanent use of the Z axis sliding block and Z axis guide rail
Life-span.
The Z axis leading screw has larger visual angle in the operation visual field, becomes the maintenance to the Z axis leading screw and maintenance
Obtain very convenient.In traditional slide unit, because leading screw is positioned at the centre position of two guide rails so that leading screw only has less area
It is sudden and violent to leak the difficulty in operating under the visual field, substantially increasing and safeguarding and overhauling.Big field area, be advantageous to the behaviour of operator
Make.
It will be become more fully apparent by following description and with reference to accompanying drawing, the shaft industrial robot of compact three of the present invention, this
A little accompanying drawings are used to explain embodiments of the invention.
Brief description of the drawings
Fig. 1 is the structural representation of the shaft industrial robot of compact three of the present invention；
Fig. 2,3 are structural representation of the shaft industrial robot of compact three of the present invention under another visual angle.
1 support, 2Y axles slide unit, 3Z axles slide unit, 4X axles turntable, 5Y axles base, 6Y axial filaments thick stick, 7Y axles nut, 8Y axles sensing
Device, 9Y spindle motors, 10Y axles synchronous belt drive mechanism, 11Y axles supporting plate, 12 sensor blocks, 13Y axis rails, 14Y axles sliding block, 15Y
Axle slide plate, 16 coordinate systems, 17Z axles base, 18Z axial filaments thick stick, 19Z axle sensors, 20Z spindle motors, 21Z axle toothed belt transmission machines
Structure, 22Z axles supporting plate, 23Z axles sensor block, 24Z axis rails, 25Z axles sliding block, 26Z axles slide plate, 27X spindle motors, 28X axle works
Make platform, 29 rotating disks, 30X axle sensors, 31Z axle nuts.
Embodiment
Embodiments of the invention are described with reference now to accompanying drawing, similar element numbers represent similar element in accompanying drawing.Such as
Upper described, the invention provides a kind of shaft industrial robot of compact three, for realizing the crawl and transfer of workpiece, structure is tight
Gather, floor space is small, cost is low.
A kind of shaft industrial robot of compact three, including：Support 1, Y-axis slide unit 2, Z axis slide unit 3, X-axis turntable 4, the Y
The Y-axis base 5 of axle slide unit 2 is fixed on the support 1, and the Z axis base 17 of the Z axis slide unit 3 is fixed on the Y-axis slide unit 2
Y-axis slide plate 15 on, the X-axis turntable 4 is fixed on the Z axis slide plate 26 of the Z axis slide unit 3；
The direction of motion of the Y-axis slide plate 15 is parallel with the Y-axis of cartesian coordinate system 16, the motion of the Z axis slide plate 26
Direction is parallel with the Z axis of the cartesian coordinate system 16, and the X-axis workbench 28 of the X-axis turntable 4 is around the cartesian coordinate system
16 X-axis rotates；
The Y-axis slide unit 2 includes：Y-axis base 5, Y-axis leading screw 6, Y-axis nut 7, y-axis motor 9, Y axle toothed belt transmission machines
Structure 10, Y-axis supporting plate 11, Y-axis guide rail 13, Y-axis sliding block 14, Y-axis slide plate 15, the Y-axis base 5 are fixed on the support 1,
The Y-axis supporting plate 11, Y-axis guide rail 13 are fixed on the Y-axis base 5, and the Y-axis leading screw 6 is movably connected on the Y-axis support
Plate 11, the Y-axis nut 7 are movably connected on the Y-axis leading screw 6, and the Y-axis leading screw 6 passes through the Y-axis synchronous belt drive mechanism
The output shaft of the 10 connection y-axis motors 9, the y-axis motor 9 are fixed on the Y-axis supporting plate 11；The Y-axis slide plate 15
One end is fixed on the Y-axis nut 7, and the other end of the Y-axis slide plate 15 is fixed on the Z axis slide unit 3, the Y-axis slide plate 15
Middle part be fixed on the Y-axis sliding block 14, the Y-axis sliding block 14 is movably connected on the Y-axis guide rail 13；
The Z axis slide unit 3 includes：Z axis base 17, Z axis leading screw 18, Z axis motor 20, Z axis synchronous belt drive mechanism 21, Z
Axle supporting plate 22, Z axis guide rail 24, Z axis sliding block 25, Z axis slide plate 26, Z axis nut 31, the Z axis base 17 are fixed on the Y-axis
Slide plate 15, the Z axis base 17 is perpendicular to the Y-axis slide plate 15；The Z axis supporting plate 22, Z axis guide rail 24 are fixed on the Z
Axle base 17, the Z axial filaments thick stick 18 are movably connected on the Z axis supporting plate 22, and the Z axis nut 31 is movably connected on the Z
Axial filament thick stick 18；The Z axis leading screw 18 is connected to the output shaft of the Z axis motor 20 by the Z axis synchronous belt drive mechanism 21,
The Z axis motor 20 is fixed on the Z axis supporting plate 22；One end of the Z axis slide plate 26 is fixed on the Z axis nut 31, institute
The other end for stating Z axis slide plate 26 is fixed on the X-axis turntable 4, and the middle part of the Z axis slide plate 26 is fixed on the Z axis and slided
Block 25, the Z axis sliding block 25 are fixed on the Z axis guide rail 24.
More specifically, the X-axis turntable 4 includes：X-axis motor 27, X-axis workbench 28, rotating disk 29, X axle sensors 30,
The X-axis motor 27 is fixed on the Z axis slide plate 26, and the X-axis workbench 28 is fixed on the output of the X-axis motor 27
On axle, the rotating disk 29 is fixed on the other end of output shaft of the X-axis motor 27, and the X-axis sensor 30 is fixed on
The Z axis slide plate 26, the rotating disk 29 and the X-axis sensor 30 match.
More specifically, the Y-axis slide unit 2 includes：Y-axis sensor 8, sensor block 12, be connected institute on the Y-axis base 5
Y-axis sensor 8 is stated, be connected the sensor block 12 on the Y-axis nut 7, Y axle sensors 8 and the sensor block 12 phase
Matching.
More specifically, the Z axis slide unit 3 includes：Z axis sensor 19, Z axis sensor block 23, on the Z axles base 17
Be connected the Z axis sensor 19, and be connected the Z axis sensor block 23, the Z axis sensor 19 and institute on the Z axis nut 31
Z axis sensor block 23 is stated to match.
See Fig. 1 to 3, be next described in detail each step of the shaft industrial robot of compact three of the present invention the course of work and
Operation principle：
The shaft industrial robot of compact three of the present invention, the end effector of robot are fixed on the X-axis workbench 28,
For performing the operations such as crawl and transfer to workpiece.The shaft industrial robot of compact three of the present invention possesses three degree of freedom, i.e.,
Move, turn about the X axis along the Y-axis of the cartesian coordinate system 16, Z axis.The shaft industrial robot of compact three of the present invention passes through skilful
Wonderful structure configuration, the compact design of robot is realized, reduces the floor space of robot, and realized flexibly, quickly
Movement effects.
The Y-axis base 5 of the Y-axis slide unit 2 is fixed on the support 1, and the Z axles base 17 of the Z axis slide unit 3 is connected
In on the Y-axis slide plate 15 of the Y-axis slide unit 2, the X-axis turntable 4 is fixed on the Z axis slide plate 26 of the Z axis slide unit 3.Three
The free degree is：The direction of motion of the Y-axis slide plate 15 is parallel with the Y-axis of cartesian coordinate system 16, the motion of the Z axis slide plate 26
Direction is parallel with the Z axis of the cartesian coordinate system 16, and the X-axis workbench 28 of the X-axis turntable 4 is around the cartesian coordinate system
16 X-axis rotates.
The Y-axis slide unit 2, Z axis slide unit 3, configured using single screw, it is more in traditional robot technology to be matched somebody with somebody using double lead-screw
Put.The slide unit structure of single screw configuration reduces leading screw quantity, reduces floor space.
One end of the Y-axis slide plate 15 is fixed on the Y-axis nut 7, and the other end of the Y-axis slide plate 15 is fixed on described
Z axis slide unit 3, the middle part of the Y-axis slide plate 15 are fixed on the Y-axis sliding block 14, and the Y-axis sliding block 14 is movably connected on institute
State Y-axis guide rail 13.The Y-axis slide plate 15 is arranged using symmetrical structure, and institute is fixed in the middle part of the axle slide plate 15
Y-axis sliding block 14 is stated, the Y-axis nut 7 and Z axis slide unit 3 are respectively fixedly connected in the both sides of the Y-axis sliding block 14, because load is distinguished
Positioned at the both sides of the Y-axis sliding block 14, the Y-axis slide plate 15, the stress of Y-axis sliding block 14 are good, are advantageous to the Y-axis
The permanent service life of sliding block 14 and Y-axis guide rail 13.
The Y-axis leading screw 6 has larger visual angle in the operation visual field, makes the maintenance and maintenance to the Y-axis leading screw 6
Become very convenient.In traditional slide unit, because leading screw is positioned at the centre position of two guide rails so that leading screw only has less face
Product is sudden and violent to leak the difficulty in operating under the visual field, substantially increasing and safeguarding and overhauling.Big field area, be advantageous to the behaviour of operator
Make.
As a same reason.One end of the Z axis slide plate 26 is fixed on the Z axis nut 31, the Z axis slide plate 26 it is another
End is fixed on the X-axis turntable 4, and the middle part of the Z axis slide plate 26 is fixed on the Z axles sliding block 25, the Z axis sliding block
25 are fixed on the Z axis guide rail 24.The Z axis slide plate 26 is arranged using symmetrical structure, in the pars intermedia of the Z axis slide plate 26
Position is fixed on the Z axis sliding block 25, and the Z axis nut 31 and X-axis turntable 4 are respectively fixedly connected in the both sides of the Z axis sliding block 25,
It is located at the both sides of the Z axis sliding block 25 respectively due to loading, the Z axis slide plate 26, the stress of Z axis sliding block 25 are good, have
Beneficial to the Z axis sliding block 25 and the permanent service life of Z axis guide rail 24.
The Z axis leading screw 18 has larger visual angle in the operation visual field, make maintenance to the Z axis leading screw 18 and
Maintenance becomes very convenient.In traditional slide unit, because leading screw is positioned at the centre position of two guide rails so that leading screw only has smaller
Area leak cruelly in operating under the visual field, substantially increase safeguard and maintenance difficulty.Big field area, is advantageous to operator
Operation.
Finally it is pointed out that above example is only the more representational example of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, there can also be many deformations.Any letter that every technical spirit according to the present invention is made to above example
Single modification, equivalent variations and modification, are considered as belonging to protection scope of the present invention.
Claims (1)
1. a kind of shaft industrial robot of compact three, it is characterised in that composition is as follows：Including：Support, Y-axis slide unit, Z axis slide unit, X
Axle turntable, the Y-axis base of the Y-axis slide unit are fixed on the support, and the Z axis base of the Z axis slide unit is fixed on the Y-axis
On the Y-axis slide plate of slide unit, the X-axis turntable is fixed on the Z axis slide plate of the Z axis slide unit；
The direction of motion of the Y-axis slide plate is parallel with the Y-axis of cartesian coordinate system, the direction of motion of the Z axis slide plate and described
The Z axis of cartesian coordinate system is parallel, and the X-axis workbench of the X-axis turntable rotates around the X-axis of the cartesian coordinate system；
The Y-axis slide unit includes：Y-axis base, Y-axis leading screw, Y-axis nut, y-axis motor, Y-axis synchronous belt drive mechanism, Y-axis support
Plate, Y-axis guide rail, Y-axis sliding block, Y-axis slide plate, the Y-axis base are fixed on the support, the Y-axis supporting plate, Y-axis guide rail
The Y-axis base is fixed on, the Y-axis leading screw is movably connected on the Y-axis supporting plate, and the Y-axis nut is movably connected on institute
Y-axis leading screw is stated, the Y-axis leading screw connects the output shaft of the y-axis motor, the Y-axis by the Y-axis synchronous belt drive mechanism
Motor is fixed on the Y-axis supporting plate；One end of the Y-axis slide plate is fixed on the Y-axis nut, the Y-axis slide plate
The other end is fixed on the Z axis slide unit, and the middle part of the Y-axis slide plate is fixed on the Y-axis sliding block, and the Y-axis sliding block is lived
It is dynamic to be connected to the Y-axis guide rail；
The Z axis slide unit includes：Z axis base, Z axis leading screw, Z axis motor, Z axis synchronous belt drive mechanism, Z axis supporting plate, Z axis are led
Rail, Z axis sliding block, Z axis slide plate, Z axis nut, the Z axis base are fixed on the Y-axis slide plate, and the Z axis base is perpendicular to described
Y-axis slide plate；The Z axis supporting plate, Z axis guide rail are fixed on the Z axis base, and the Z axis leading screw is movably connected on the Z axis branch
Fagging, the Z axis nut are movably connected on the Z axis leading screw；The Z axis leading screw is connected by the Z axis synchronous belt drive mechanism
The output shaft of the Z axis motor is connected to, the Z axis motor is fixed on the Z axis supporting plate；One end of the Z axis slide plate is connected
In the Z axis nut, the other end of the Z axis slide plate is fixed on the X-axis turntable, and the middle part of the Z axis slide plate is connected
In the Z axis sliding block, the Z axis sliding block is fixed on the Z axis guide rail；
The X-axis turntable includes：X-axis motor, X-axis workbench, rotating disk, X-axis sensor, the X-axis motor are fixed on the Z axis
On slide plate, the X-axis workbench is fixed on the output shaft of the X-axis motor, and the rotating disk is fixed on the another of the X-axis motor
On the output shaft of outer one end, the X-axis sensor is fixed on the Z axis slide plate, the rotating disk and the X-axis sensor phase
Match somebody with somebody；
The Y-axis slide unit also includes：Y-axis sensor, sensor block, be connected the Y-axis sensor on the Y-axis base, in institute
The sensor block that is connected on Y-axis nut is stated, the Y-axis sensor and the sensor block match；
The Z axis slide unit also includes：Z axis sensor, Z axis sensor block, be connected the Z axis sensor on the Z axis base,
Be connected the Z axis sensor block on the Z axis nut, and the Z axis sensor and the Z axis sensor block match；
Wherein, the Y-axis slide plate is arranged using symmetrical structure, and the Y-axis is fixed in the middle part of the axle slide plate and is slided
Block, the Y-axis nut and Z axis slide unit are respectively fixedly connected in the both sides of the Y-axis sliding block；The Z axis slide plate uses symmetrical structure
Arrangement, the Z axis sliding block is fixed in the middle part of the Z axis slide plate, is respectively fixedly connected in the both sides of the Z axis sliding block described
Z axis nut and X-axis turntable.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610076552.XA CN105522572B (en) | 2016-02-03 | 2016-02-03 | The shaft industrial robot of compact three |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610076552.XA CN105522572B (en) | 2016-02-03 | 2016-02-03 | The shaft industrial robot of compact three |
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| CN105522572A CN105522572A (en) | 2016-04-27 |
| CN105522572B true CN105522572B (en) | 2018-02-06 |
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| CN109350007B (en) * | 2018-12-18 | 2024-05-24 | 重庆远视科技有限公司 | Follow-up window and optometry device |
| CN109512381B (en) * | 2018-12-18 | 2021-06-08 | 重庆远视科技有限公司 | Three-dimensional motion positioning device and optometry device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4063781B2 (en) * | 2004-03-04 | 2008-03-19 | 株式会社ラインワークス | Transport device |
| CN202357166U (en) * | 2011-11-25 | 2012-08-01 | 惠州Tcl移动通信有限公司 | Two-dimensional intelligent motion platform |
| CN202952108U (en) * | 2012-11-01 | 2013-05-29 | 浙江神舟机器人科技有限公司 | Triaxial moving mechanical arm |
| CN203993881U (en) * | 2014-06-18 | 2014-12-10 | 宁波伟立机器人科技有限公司 | A kind of novel five degree of freedom manipulator |
| CN104259741B (en) * | 2014-09-12 | 2016-07-20 | 苏州石丸英合精密机械有限公司 | The rotary machine hands left/right movement device of rotor automatic assembling machine |
| CN104875198B (en) * | 2015-05-14 | 2017-07-25 | 上海巩睿电气科技有限公司 | Rectangular co-ordinate six-joint robot |
| CN205325673U (en) * | 2016-02-03 | 2016-06-22 | 余晓娜 | Compact triaxial industrial robot |
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Effective date of registration: 20190515 Address after: Room 101, Building B8, Zhongguancun Software Park, Xinwu District, Wuxi City, Jiangsu Province Patentee after: Jiangsu Dobron Robot Co.,Ltd. Address before: 325000 No. 25 Guandu Garden Road, Tangxia Town, Ruian City, Wenzhou City, Zhejiang Province Patentee before: Yu Xiaona |
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Granted publication date: 20180206 |