CN108705522A - A kind of four axis truss robots - Google Patents
A kind of four axis truss robots Download PDFInfo
- Publication number
- CN108705522A CN108705522A CN201810666040.8A CN201810666040A CN108705522A CN 108705522 A CN108705522 A CN 108705522A CN 201810666040 A CN201810666040 A CN 201810666040A CN 108705522 A CN108705522 A CN 108705522A
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- axis
- slide
- arm
- drive component
- armshaft
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- 210000000515 tooth Anatomy 0.000 claims description 16
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 238000003754 machining Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 14
- 230000002146 bilateral effect Effects 0.000 description 12
- 230000001360 synchronised effect Effects 0.000 description 10
- 230000009467 reduction Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 239000012141 concentrate Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of four axis truss robots, including X-axis slide, it is fixedly connected with Y-axis armshaft on the X-axis slide, Y-axis slide is provided on Y-axis armshaft, Y-axis drive component drives Y-axis slide to be slided along the axis direction of Y-axis armshaft, it is fixedly installed the Z1 axis drive component being away from each other and Z2 axis drive components in the Y-axis slide upper edge X-direction, both sides are slidably connected using Z-direction as the Z1 axis arm of axis and Z2 axis arms on the Y-axis slide, and the Z1 axis drive component and Z2 axis drive component control Z1 axis arm and Z2 axis arm and slided along Z-direction respectively.The present invention provide it is a kind of it is high in machining efficiency, accuracy is high, can be moved in X-axis, four axis direction of Y-axis, Z1 axis and Z2 axis, realize multioperation process truss robot.
Description
Technical field
The robot that the present invention relates to a kind of on automatic production line, especially a kind of four axis truss robots, belongs to
Truss robot technical field.
Background technology
Under the big historical background that current robot is substituted, factory's work in every is all introducing various robots, totally substantially
It is divided into three classes：Independent articulated robot, truss robot, truss+articulated robot.Wherein truss robot is in Duo Tai
It is clamped, carries between lathe, extensive use in terms of processing loading and unloading.Currently, widely used 2 axis of truss robot, 3 axis modes are transported
With a small amount of truss is run using 4 axis, 5 axis modes, but two Z axis are mostly distributed in the side of Y-axis.Meanwhile two Z axis function
It only limits and captures blank material and fine fodder respectively, hand grabs that function is roughly the same to be had a single function, and can not achieve for a machine in factory
The a variety of mode of transport of people；Also accidental single Z axis arm is to realize to be equipped with the technical configuration that two kinds of paws take quick change paw, although quick change
Paw speed may be implemented comparatively fast, but there is still a need for the quick change paw times, and stability is poor.It is used based on current truss robot existing
Shape, there is not yet truss robot is equipped with double Z axis armshafts and is realized the case of the both hands function of truss robot using different paws,
Double Z axis arms are especially distributed in the mentality of designing of Y-axis both sides.
Invention content
To solve the above-mentioned problems of the prior art, present invention offer one kind is high in machining efficiency, accuracy is high, can be with four
Axis movement, realization multioperation process truss robot.
The present invention provides a kind of four axis truss robots, including X-axis slide, and Y-axis axis is fixedly connected on the X-axis slide
Arm is provided with Y-axis slide on Y-axis armshaft, and Y-axis drive component drives Y-axis slide to be slided along the axis direction of Y-axis armshaft, the Y
The Z1 axis drive component being away from each other and Z2 axis drive components are fixedly installed in axis slide upper edge X-direction, on the Y-axis slide
Both sides are slidably connected using Z-direction as the Z1 axis arm of axis and Z2 axis arms, the Z1 axis drive component and the driving of Z2 axis
Component controls Z1 axis arm and Z2 axis arm and is slided along Z-direction respectively.
As a further improvement on the present invention, X-axis slide is arranged with X-axis crossbeam, and the X-axis slide is slided with X-axis crossbeam
Dynamic connection, X-axis drive component drive X-axis slide to be slided along X-direction.
As a further improvement on the present invention, Y-axis slide is arranged with sliding block, sliding block on the Y-axis armshaft along Y
The sliding rail of axis armshaft axis direction matches.
As a further improvement on the present invention, Y-axis armshaft is fixedly connected with Y-axis helical rack, the Y-axis in axial direction
Drive component includes Y-axis driving motor, and the Y-axis driving motor extends vertically through and is connected with Y-axis driving on the working end of Y-axis slide
Gear, the Y-axis driving gear are intermeshed with Y-axis helical rack.Being further improved for the Y-axis type of drive can also take synchronization
The type of drive of band.
As a further improvement on the present invention, Z1 axis arm is fixedly connected with Z1 axis helical teeth items, Z2 axis in axial direction
Arm is fixedly connected with Z2 axis helical teeth items in axial direction, the Z1 axis drive component includes Z1 axis driving motors, the Z2
Axis drive component includes Z2 axis driving motors, and Z1 axis is connected on the working end of the Z1 axis driving motor and Z2 axis driving motors
Drive gear and Z2 axis that gear, the Z1 axis driving gear is driven to be intermeshed with Z1 axis helical teeth items, the Z2 axis drives gear
It is intermeshed with Z2 axis helical teeth items.The Z axis type of drive is further improved the type of drive that can also take synchronous belt.
As a further improvement on the present invention, X-axis drive component includes X-axis driving motor, and the X-axis driving motor is vertical
Be connected with X-axis driving gear on the working end of X-axis slide, X-axis driving gear on X-axis crossbeam in axial direction on
The X-axis helical rack X-axis helical rack intermeshing being fixedly connected.Being further improved for the X-axis type of drive can also take synchronous belt
Type of drive.
As a further improvement on the present invention, fixture is provided on the working end that Z1 axis arm and Z2 axis arms stretch out.Two
The fixture on side identical, similar can also differ dissmilarity.
Compared with prior art, the beneficial effects of the present invention are：
1, four axis truss robots of the invention are that bilateral Z axis drive component controls the arm of bilateral in X-axis, Y-axis, Z1
Axis and four axis three dimensions of Z2 axis carry out multivariant movement, can control bilateral arm and be moved to required target location completion
Operation, degree of freedom is high, high degree of automation, and operation flexibility ratio is high, compares unilateral arm, and robot arm utilization ratio can improve
2 times or more.
2, the drive component of the Z axis of bilateral of the invention passes through gear and rack on the side wall in two outsides of Y-axis armshaft
It is driven, the drive component of bilateral Z axis drives double Z axis arms, increases the shift motion of double Z axis arms, improves device
Scope of activities, expand the application field of device.
3, the movement of the Z axis arm of bilateral of the present invention in the Y-axis direction is synchronous, is being needed synchronizing moving in Y-axis
When, the present invention then has the advantages that simple in structure, simplify control, and Z1 axis arm of the invention and Z2 axis arm can also be independently real
Existing asynchronous work, completes the work of different priorities, first passing through Z1 axis arms to a component to be operated is clamped, then
It is processed using Z2 axis truss robot armshafts, realizes needs of the factory to robot multi-functional operation.The Z1 of the present invention
Axis arm and Z2 axis arm can be equipped with different paws, be respectively completed different operating content, as the paw of Z1 axis arms is responsible for grabbing
Rounding place part pallet, Z2 axis arms be equipped with crawl single part paw be responsible for single part carry or assembly
Or the work such as lathe loading and unloading.And same position carry out operation can reduce be moved to different processes caused by precision reduction,
Or production efficiency reduction etc.；Z1 axis arm and Z2 axis arm can also realize synchronous working, need to cooperate with carrying to comparing
Workpiece is synchronized using the double Z axis arms in both sides and is carried, and the stability of the movement, landing that are handled upside down workpiece is increased.
4, four axis truss robots of the invention are reasonable for structure, concentrate, and the space occupied is compressed to minimum, reduces enterprise
The space cost of industry input, and improve the integrated level of equipment.
Description of the drawings
Fig. 1 is the structural schematic diagram at the upper forward direction visual angle of the four axis truss robots of the present invention；
Fig. 2 is the structural schematic diagram at the lower left direction visual angle of the four axis truss robots of the present invention；
Fig. 3 is the structural schematic diagram at the right back direction visual angle of the four axis truss robots of the present invention.
In figure：X-axis slide 1, Y-axis armshaft 2, Y-axis slide 3, Z1 axis drive component 4, Z2 axis drive component 5, Z1 axis arms
6, Z2 axis arms 7, X-axis crossbeam 8, X-axis drive component 9, sliding block 10, Y-axis helical rack 11, Y-axis driving motor 12, Y-axis sliding tooth
Wheel 13, Z1 axis helical teeths item 14, Z2 axis helical teeths item 15, Z1 axis driving motor 16, Z2 axis driving motor 17, Z1 axis drive gear 18,
Z2 axis drives gear 19, X-axis driving motor 20, X-axis to drive gear 21, X-axis helical rack 22, Y-axis drive component 23.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give the better embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that " X-axis " of the present invention, " Y-axis ", " Z axis " are not limited to " X-axis " of literal definition, " Y
Axis ", " Z axis " orthogonal axis or are not necessarily vertical parallel axis or plane completely and belong to the present invention's two-by-two
Protection domain.
When component is referred to as " being set to " another component, it can directly on another component or there may also be
Component placed in the middle, " setting " indicate a kind of existing mode, can be connect, install, being fixedly connected, the connection sides such as activity connects
Formula.When a component is considered as " connection " another component, it can be directly to another component or may be same
When there are components placed in the middle.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes, it is not offered as being unique embodiment.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant Listed Items.
Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of four axis truss robots, including X-axis slide 1 are fixed on the X-axis slide 1 to connect
Y-axis armshaft 2 is connect, Y-axis slide 3 is provided on Y-axis armshaft 2, Y-axis drive component 23 drives Y-axis slide 3 along the axis of Y-axis armshaft 2
Direction is slided, and the Z1 axis drive component 4 being away from each other and Z2 axis driving groups are fixedly installed in 3 upper edge X-direction of the Y-axis slide
Part 5, both sides are slidably connected using Z-direction as the Z1 axis arm 6 of axis and Z2 axis arm 7, the Z1 on the Y-axis slide 3
Axis drive component 4 and Z2 axis drive component 5 control Z1 axis arm 6 and Z2 axis arm 7 and are slided along Z-direction respectively.
As a further improvement on the present invention, X-axis slide 1 is arranged with X-axis crossbeam 8, the X-axis slide 1 and X-axis crossbeam
8 are slidably connected, and X-axis drive component 9 drives X-axis slide 1 to be slided along X-direction.The four axis truss robots of the present invention are bilateral Z
Axis drive component controls both hands arm and carries out multivariant movement in X-axis, Y-axis, Z1 axis and four axis three dimensions of Z2 axis, can control
Bilateral arm is moved to required target location and completes operation, and degree of freedom is high, high degree of automation, and operation flexibility ratio is high, compares
Singlehanded arm, robot arm utilization ratio can improve 2 times or more.The movement of the Z axis arm of bilateral of the present invention in the Y-axis direction is
Synchronous, when needing synchronizing moving in Y-axis, the present invention then has the advantages that simple in structure, simplify control, Z1 of the invention
Axis arm 6 and Z2 axis arm 7 can also independently realize asynchronous work, complete the work of different priorities, to be operated to one
Component, which carries out first passing through Z1 axis arm 6, to be clamped, and is then processed using Z2 axis truss robot armshafts, realizes factory
To the needs of robot multi-functional operation.The Z1 axis arm 6 and Z2 axis arm 7 of the present invention can be equipped with different paws, distinguish
It is responsible for capturing the entire pallet for placing part at different operating content, such as paw/fixture of Z1 axis arm 6, Z2 axis arm 7 is equipped with
It is that the paw of crawl single part is responsible for single part or carry or assembly or the work such as lathe loading and unloading.And at same position
Carry out operation can reduce be moved to different processes caused by precision reduction or production efficiency reduction etc.；Z1 axis arm 6 and Z2 axis
Arm 7 can also realize synchronous working, synchronize carrying using the double Z axis arms in both sides to comparing the workpiece for needing collaboration to carry, increase
The stability of the movement, landing that are handled upside down workpiece is added.
As a further improvement on the present invention, Y-axis slide 3 is arranged with sliding block 10, sliding block 10 and the Y-axis armshaft 2
On the sliding rail along 2 axis direction of Y-axis armshaft match.
As a further improvement on the present invention, Y-axis armshaft 2 is fixedly connected with Y-axis helical rack 11 in axial direction, described
Y-axis drive component 23 includes Y-axis driving motor 12, and the Y-axis driving motor 12 extends vertically through to be connected on the working end of Y-axis slide 3
It is connected to Y-axis driving gear 13, the Y-axis driving gear 13 is intermeshed with Y-axis helical rack 11.The Y-axis type of drive into one
Step improves the type of drive that can also take synchronous belt.The side of the Z axis drive component of the bilateral of the present invention and two outsides of Y-axis armshaft
It is driven by gear and rack on wall, the drive component of Z axis drives bilateral Z axis arm, increases the movement of double Z axis arms
Stroke improves the scope of activities of device, expands the application field of device.
As a further improvement on the present invention, Z1 axis arm 6 is fixedly connected with Z1 axis helical teeths item 14, Z2 in axial direction
Axis arm 7 is fixedly connected with Z2 axis helical teeths item 15 in axial direction, the Z1 axis drive component 4 includes Z1 axis driving motors
16, the Z2 axis drive component 5 includes Z2 axis driving motor 17, the work of the Z1 axis driving motor 16 and Z2 axis driving motor 17
Make to be connected with Z1 axis driving gear 18 and Z2 axis driving gear 19 on end, 14 phase of Z1 axis driving gear 18 and Z1 axis helical teeths item
Mutually engagement, the Z2 axis driving gear 19 are intermeshed with Z2 axis helical teeths item 15.Being further improved for the Z axis type of drive also may be used
Take the type of drive of synchronous belt.
As a further improvement on the present invention, X-axis drive component 9 includes X-axis driving motor 20, the X-axis driving motor
20 extend vertically through and are connected with X-axis driving gear 21 on the working end of X-axis slide 1, X-axis driving gear 21 on X-axis crossbeam 8
The X-axis helical rack X-axis helical rack 22 being fixedly connected in axial direction is intermeshed.The X-axis type of drive is further improved
Also the type of drive of synchronous belt can be taken.Four axis truss robots of the invention are reasonable for structure, concentrate, and the space occupied is compressed
To minimum, the space cost of enterprise's input is reduced, and improves the integrated level of equipment.
As a further improvement on the present invention, fixture is provided on the working end that Z1 axis arm 6 and Z2 axis arm 7 stretch out.
The fixture on both sides identical, similar can be used for realizing the cooperation collaboration simultaneously operating of bilateral arm, can also differ dissmilarity, use
To complete different function operation, such as different processes to a process.
A kind of four axis truss robot provided by the present invention is described in detail above.It is used herein specifically
Principle and implementation of the present invention are described for embodiment, and the explanation of above example is only intended to help to understand this hair
Bright method and its core concept.It should be pointed out that for those skilled in the art, not departing from the present invention
, can be with several improvements and modifications are made to the present invention under the premise of principle, these improvement and modification also fall into right of the present invention
It is required that protection domain in.
Claims (7)
1. a kind of four axis truss robots, it is characterised in that：Including X-axis slide (1), Y is fixedly connected on the X-axis slide (1)
Axis armshaft (2), Y-axis slide (3) is provided on Y-axis armshaft (2), and Y-axis drive component (23) drives Y-axis slide (3) along Y-axis armshaft
(2) axis direction slides, and the Z1 axis drive components being away from each other are fixedly installed in Y-axis slide (3) the upper edge X-direction
(4) and Z2 axis drive component (5), both sides slidably connect the Z1 axis arms using Z-direction as axis on the Y-axis slide (3)
(6) and Z2 axis arm (7), the Z1 axis drive component (4) and Z2 axis drive component (5) control Z1 axis arm (6) and Z2 respectively
Axis arm (7) is slided along Z-direction.
2. a kind of four axis truss robot according to claim 1, it is characterised in that：The X-axis slide (1) is arranged with
X-axis crossbeam (8), the X-axis slide (1) are slidably connected with X-axis crossbeam (8), and X-axis drive component (9) drives X-axis slide (1) along X
Axis direction is slided.
3. a kind of four axis truss robot according to claim 1, it is characterised in that：The Y-axis slide (3) is arranged with
Sliding block (10), sliding block (10) match with the sliding rail along Y-axis armshaft (2) axis direction on the Y-axis armshaft (2).
4. a kind of four axis truss robot according to claim 1, it is characterised in that：The Y-axis armshaft (2) is square in an axial direction
It is fixedly connected with Y-axis helical rack (11) upwards, the Y-axis drive component (23) includes Y-axis driving motor (12), and the Y-axis is driven
Dynamic motor (12) extends vertically through and is connected with Y-axis driving gear (13) on the working ends of Y-axis slide (3), and the Y-axis drives gear
(13) it is intermeshed with Y-axis helical rack (11).
5. a kind of four axis truss robot according to claim 1, it is characterised in that：Z1 axis arm (6) is in axial direction
On be fixedly connected with Z1 axis helical teeths item (14), Z2 axis arm (7) is fixedly connected with Z2 axis helical teeths item (15), institute in axial direction
It includes Z1 axis driving motor (16) to state Z1 axis drive component (4), and the Z2 axis drive component (5) includes Z2 axis driving motors
(17), be connected on the working end of the Z1 axis driving motor (16) and Z2 axis driving motor (17) Z1 axis driving gear (18) and
Z2 axis drives gear (19), the Z1 axis driving gear (18) to be intermeshed with Z1 axis helical teeths item (14), the Z2 axis sliding tooth
(19) are taken turns to be intermeshed with Z2 axis helical teeths item (15).
6. a kind of four axis truss robot according to claim 2, it is characterised in that：The X-axis drive component (9) includes
X-axis driving motor (20), the X-axis driving motor (20), which extends vertically through, is connected with X-axis driving on the working end of X-axis slide (1)
Gear (21), X-axis driving gear (21) on X-axis crossbeam (8) in axial direction on the X-axis helical rack that is fixedly connected
(22) it is intermeshed.
7. a kind of four axis truss robot according to claim 1, it is characterised in that：The Z1 axis arm (6) and Z2 axis
It is provided with fixture on the working end that arm (7) stretches out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810666040.8A CN108705522A (en) | 2018-06-26 | 2018-06-26 | A kind of four axis truss robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810666040.8A CN108705522A (en) | 2018-06-26 | 2018-06-26 | A kind of four axis truss robots |
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ID=63873176
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| CN201810666040.8A Pending CN108705522A (en) | 2018-06-26 | 2018-06-26 | A kind of four axis truss robots |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109433948A (en) * | 2018-12-19 | 2019-03-08 | 苏州神运机器人有限公司 | A kind of truss-like multi-arm robot and truss-like multistation continuous production device |
| CN110695752A (en) * | 2019-09-11 | 2020-01-17 | 东莞领杰金属精密制造科技有限公司 | Truss robot |
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