CN109571415A - A kind of three axis truss robot device of four station - Google Patents
A kind of three axis truss robot device of four station Download PDFInfo
- Publication number
- CN109571415A CN109571415A CN201811583359.0A CN201811583359A CN109571415A CN 109571415 A CN109571415 A CN 109571415A CN 201811583359 A CN201811583359 A CN 201811583359A CN 109571415 A CN109571415 A CN 109571415A
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- China
- Prior art keywords
- axis
- gear
- driving motor
- support base
- transmission case
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- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 230000005611 electricity Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of three axis truss robot device of four station, including support base, there is perforation on support base, guide rod is equipped in perforation, the lower end of guide rod is equipped with turntable by bearing, and the bottom of turntable has several clamping jaws；Transmission case is hinged on support base, C axis driving motor, Z axis driving motor, Z axis guide rail component and Z axis connecting plate are installed on transmission case, Z axis connecting plate is arranged on transmission case by Z axis guide rail component, there is second gear and Z axis gear in transmission case, second gear is fixedly connected with the output shaft of the C axis driving motor, and Z axis gear is fixedly connected with the output shaft of the Z axis driving motor；The Z axis connecting plate is equipped with Z axis rack gear, the Z axis gear and Z axis rack gear engagement, and the lower end of the Z axis connecting plate is fixedly connected with the turntable；C shaft gear, second gear and the engagement of C shaft gear are fixedly installed on the support base.The present invention can be realized the multistation exchange of double-station or more.
Description
Technical field
The present invention relates to a kind of three axis truss robot devices of four station, belong to material transfer equipment technical field.
Background technique
Truss manipulator is used widely as a kind of automated production tool in production scene.With the hair of industry
Exhibition, automatic truss manipulator are widely used in the every field of machine-building.It is common according to the movement number of axle of manipulator
There are two axis and three axis truss manipulators.Three conventional axis truss manipulators generally have tri- linear motion axis of X, Y, Z, manipulator
Dual-station pneumatic tilt cylinder is installed in end, to realize the fixed angle rotation of the linear motion and workpiece in three directions planar
Turn.Conventional truss manipulator cannot achieve the multistation exchange of double-station or more, cannot achieve arm end clamping jaw or tool
The seamless switching of different rotary angle.
Summary of the invention
The object of the present invention is to provide a kind of three axis truss robot devices of four station, can be realized double-station or more
Multistation exchange, realize the seamless switching of arm end clamping jaw or tool different rotary angle.
In order to solve the above technical problems, the present invention adopts the following technical scheme that:
A kind of four stations, three axis truss robot device, including support base have perforation on support base, are equipped with and lead in perforation
To bar, the lower end of guide rod is equipped with turntable by bearing, and the bottom of turntable has several clamping jaws；Transmission is hinged on support base
Case is equipped with C axis driving motor, Z axis driving motor, Z axis guide rail component and Z axis connecting plate on transmission case, and Z axis connecting plate passes through Z axis
Guide assembly is arranged on transmission case, has second gear and Z axis gear, second gear and C axis driving electricity in transmission case
The output shaft of machine is fixedly connected, and Z axis gear is fixedly connected with the output shaft of the Z axis driving motor；The Z axis connecting plate is equipped with
Z axis rack gear, the Z axis gear and Z axis rack gear engagement, the lower end of the Z axis connecting plate is fixedly connected with the turntable；It is described
C shaft gear, second gear and the engagement of C shaft gear are fixedly installed on support base.
In three axis truss robot device of a kind of four station above-mentioned, linear bearing, the guiding are equipped in the perforation
Bar passes through the linear bearing.
In three axis truss robot device of a kind of four station above-mentioned, the present apparatus further includes pillar, crossbeam, support plate and X-axis
Driving motor, crossbeam are fixed on the top of pillar, and support plate is slidably arranged on the crossbeam, and the support base is fixed on the load
On plate, the X-axis driving motor is mounted on the support plate.
In three axis truss robot device of a kind of four station above-mentioned, the crossbeam is equipped with X-axis guide rail component, the load
Plate is arranged on crossbeam by X-axis guide rail component slippage；The crossbeam is equipped with X-axis rack gear, the output of the X-axis driving motor
Axis is equipped with X-axis gear, the X-axis gear and X-axis rack gear engagement.
Compared with prior art, the present invention can be realized the multistation exchange of double-station or more, realize arm end folder
The seamless switching of pawl or tool different rotary angle.Three axis are all made of servo motor driving, and transmission uses gear or gear teeth
Item transmission, guiding use linear guide component and linear bearing, and entire truss robot manipulator structure is simple, compact, and kinematic accuracy is high,
Movement velocity is fast, stability and high reliablity, and widenable to multistation mechanism, it is more that solution conventional mechanical hand can not achieve multistation
The problem of angular movement.Especially suitable for needing the automated production occasion of multiple clamping jaw conversions, mobile knife tower pair also can be used as
The part of different station carries out different process processing, to realize the simplification production of complex working condition, saves production cost, improves
Production efficiency.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of embodiment of the invention；
Fig. 2 is the partial enlarged view of Fig. 1；
Fig. 3 is the partial sectional view of Fig. 2.
Appended drawing reference: 1-X axis driving motor, 2- support plate, 3-X spindle guide rail assembly, 4-X axis rack gear, 5- crossbeam, 6- column,
7- transmission case, 8-Z spindle guide rail assembly, 9-Z axis rack gear, 10-Z shaft gear, 11-Z axis driving motor, 12-Z axis connecting plate, 13- axis
It holds, 14- turntable, 15- clamping jaw, 16- guide rod, 17-C axis driving motor, 18- second gear, 19- support base, 20- linear axis
It holds, 21-C shaft gear.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Specific embodiment
The embodiment of the present invention 1: a kind of four stations, three axis truss robot device, including support base 19, on support base 19
With perforation, guide rod 16 is equipped in perforation, the lower end of guide rod 16 is equipped with turntable 14, the bottom of turntable 14 by bearing 13
With several clamping jaws 15；It is hinged with transmission case 7 on support base 19, C axis driving motor 17, Z axis driving electricity are installed on transmission case 7
Machine 11, Z axis guide rail component 8 and Z axis connecting plate 12, Z axis connecting plate 12 are arranged on transmission case 7 by Z axis guide rail component 8, transmission case 7
It is interior that there is 21 second gear 18 of C shaft gear and Z axis gear 10,21 second gear 18 of C shaft gear and the C axis driving motor 17
Output shaft is fixedly connected, and Z axis gear 10 is fixedly connected with the output shaft of the Z axis driving motor 11；It is set on the Z axis connecting plate 12
There are Z axis rack gear 9, the Z axis gear 10 and the Z axis rack gear 9 engagement, the lower end of the Z axis connecting plate 12 and the turntable 14 are solid
Fixed connection；C shaft gear 21 is fixedly installed on the support base 19,21 second gear 18 of C shaft gear and C shaft gear 21 engage.
Embodiment 2: a kind of four stations, three axis truss robot device, including support base 19 have perforation on support base 19,
Guide rod 16 is equipped in perforation, the lower end of guide rod 16 is equipped with turntable 14 by bearing 13, and the bottom of turntable 14 has several
Clamping jaw 15；It is hinged with transmission case 7 on support base 19, C axis driving motor 17, Z axis driving motor 11, Z axis are installed on transmission case 7
Guide assembly 8 and Z axis connecting plate 12, Z axis connecting plate 12 are arranged on transmission case 7 by Z axis guide rail component 8, have C in transmission case 7
21 second gear 18 of shaft gear and Z axis gear 10, the output shaft of 21 second gear 18 of C shaft gear and the C axis driving motor 17
It is fixedly connected, Z axis gear 10 is fixedly connected with the output shaft of the Z axis driving motor 11；The Z axis connecting plate 12 is equipped with Z axis
Rack gear 9, the Z axis gear 10 and the Z axis rack gear 9 engagement, the lower end of the Z axis connecting plate 12 and the fixed company of the turntable 14
It connects；C shaft gear 21 is fixedly installed on the support base 19,21 second gear 18 of C shaft gear and C shaft gear 21 engage.
Linear bearing 20 is equipped in the perforation, the guide rod 16 passes through the linear bearing 20.The present apparatus further includes
Column 6, crossbeam 5, support plate 2 and X-axis driving motor 1, crossbeam 5 are fixed on the top of column 6, and support plate 2 is slidably arranged in the cross
On beam 5, the support base 19 is fixed on the support plate 2, and the X-axis driving motor 1 is mounted on the support plate 2.
Embodiment 3: a kind of four stations, three axis truss robot device, including support base 19 have perforation on support base 19,
Guide rod 16 is equipped in perforation, the lower end of guide rod 16 is equipped with turntable 14 by bearing 13, and the bottom of turntable 14 has several
Clamping jaw 15；It is hinged with transmission case 7 on support base 19, C axis driving motor 17, Z axis driving motor 11, Z axis are installed on transmission case 7
Guide assembly 8 and Z axis connecting plate 12, Z axis connecting plate 12 are arranged on transmission case 7 by Z axis guide rail component 8, have C in transmission case 7
21 second gear 18 of shaft gear and Z axis gear 10, the output shaft of 21 second gear 18 of C shaft gear and the C axis driving motor 17
It is fixedly connected, Z axis gear 10 is fixedly connected with the output shaft of the Z axis driving motor 11；The Z axis connecting plate 12 is equipped with Z axis
Rack gear 9, the Z axis gear 10 and the Z axis rack gear 9 engagement, the lower end of the Z axis connecting plate 12 and the fixed company of the turntable 14
It connects；C shaft gear 21 is fixedly installed on the support base 19,21 second gear 18 of C shaft gear and C shaft gear 21 engage.
Linear bearing 20 is equipped in the perforation, the guide rod 16 passes through the linear bearing 20.The present apparatus further includes
Column 6, crossbeam 5, support plate 2 and X-axis driving motor 1, crossbeam 5 are fixed on the top of column 6, and support plate 2 is slidably arranged in the cross
On beam 5, the support base 19 is fixed on the support plate 2, and the X-axis driving motor 1 is mounted on the support plate 2.The cross
Beam 5 is equipped with X-axis guide rail component 3, and the support plate 2 is slidably arranged on crossbeam 5 by X-axis guide rail component 3；On the crossbeam 5
Equipped with X-axis rack gear 4, the output shaft of the X-axis driving motor 1 is equipped with X-axis gear, the X-axis gear and the X-axis rack gear 4
Engagement.
A kind of working principle of embodiment of the invention: four stations, the three axis truss manipulator have transverse movement X-axis,
The Z axis of vertical motion and the C axis of rotary motion, three axis have servo motor driving.Truss manipulator uses gantry structure, main
Body is made of two root posts 6 and a crossbeam 5, and 5 frame of crossbeam is in two root posts 6.3 He of X-axis guide rail component is installed on crossbeam 5
X-axis rack gear 4, support plate 2 are mounted on X-axis guide rail component 3, and X-axis driving motor 1 is mounted on support plate 2, its electricity of X-axis driving motor 1
It is engaged equipped with X-axis gear with X-axis rack gear 4 on arbor, to realize that X-axis driving motor 1 drives support plate 2 to move in the X-axis direction.
Separately there is a support base 19 to be mounted on support plate 2,19 lower end of support base, which is equipped with linear bearing 20, can make guide rod 16
Carry out precise linear movement.Equipped with a pair of of angular contact ball bearing in the middle part of support base 19, angular contact ball bearing is matched with transmission case 7 simultaneously
Conjunction can be such that transmission case 7 rotates around support base 19.19 upper end of support base is fixedly installed with 21 second gear 18 of a C shaft gear, transmission
One C axis driving motor 17 is installed on case 7,21 second gear 18 of C shaft gear, 21 second tooth of C shaft gear are installed on motor shaft
Wheel 19 is engaged with C shaft gear 21, and therefore, the rotation of 21 second gear 19 of C shaft gear can drive 7 turns of transmission case by two gears
It is dynamic.
In addition, being equipped with a Z axis driving motor 11 on transmission case 7, Z axis gear 10, transmission case 7 are installed on the motor shaft
On be also equipped with Z axis guide rail component 8, which is mounted on Z axis fishplate bar 12 simultaneously, is also equipped with Z axis on Z axis fishplate bar 12
Rack gear 9, Z axis rack gear 9 are engaged with Z axis gear 10, and Z axis fishplate bar 12 is connect with turntable 14 simultaneously, and clamping jaw 15 is housed on turntable 14, are led to
The above mechanism is crossed, Z axis driving motor 11 can drive turntable 14 and clamping jaw 15 to move up and down, guide rod 16 and Z axis guide rail group
Part 8 has guiding and positioning action, it is ensured that the accuracy and stability of movement, C axis driving motor 17 can drive transmission case 7 to drive
Turntable 14 and clamping jaw 15 rotate around guide rod 16 and support base 19, and angular contact ball bearing 13 can guarantee C axis rotary motion
Accuracy and reliability.
Claims (4)
1. a kind of three axis truss robot device of four station, which is characterized in that including support base (19), support base has on (19)
Perforation, perforation is interior to be equipped with guide rod (16), and the lower end of guide rod (16) is equipped with turntable (14) by bearing (13), turntable (14)
Bottom have several clamping jaws (15)；It is hinged on support base (19) transmission case (7), C axis driving electricity is installed on transmission case (7)
Machine (17), Z axis driving motor (11), Z axis guide rail component (8) and Z axis connecting plate (12), Z axis connecting plate (12) pass through Z axis guide rail component
(8) it is arranged on transmission case (7), there is C shaft gear (21) second gear (18) and Z axis gear (10), C axis in transmission case (7)
Gear (21) second gear (18) is fixedly connected with the output shaft of the C axis driving motor (17), Z axis gear (10) and the Z
The output shaft of axis driving motor (11) is fixedly connected；The Z axis connecting plate (12) is equipped with Z axis rack gear (9), the Z axis gear
(10) it is engaged with the Z axis rack gear (9), the lower end of the Z axis connecting plate (12) is fixedly connected with the turntable (14)；The support
It is fixedly installed with C shaft gear (21) on seat (19), C shaft gear (21) second gear (18) and C shaft gear (21) engagement.
2. three axis truss robot device of a kind of four station according to claim 1, which is characterized in that set in the perforation
Have linear bearing (20), the guide rod (16) passes through the linear bearing (20).
3. three axis truss robot device of a kind of four station according to claim 2, which is characterized in that the present apparatus further includes
Column (6), crossbeam (5), support plate (2) and X-axis driving motor (1), crossbeam (5) are fixed on the top of column (6), and support plate (2) is sliding
Dynamic to be arranged on the crossbeam (5), the support base (19) is fixed on the support plate (2), X-axis driving motor (1) peace
On the support plate (2).
4. three axis truss robot device of a kind of four station according to claim 3, which is characterized in that the crossbeam (5)
It is equipped with X-axis guide rail component (3), the support plate (2) is slidably arranged on crossbeam (5) by X-axis guide rail component (3)；The cross
Beam (5) is equipped with X-axis rack gear (4), and the output shaft of the X-axis driving motor (1) is equipped with X-axis gear, the X-axis gear and institute
State X-axis rack gear (4) engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811583359.0A CN109571415A (en) | 2018-12-24 | 2018-12-24 | A kind of three axis truss robot device of four station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811583359.0A CN109571415A (en) | 2018-12-24 | 2018-12-24 | A kind of three axis truss robot device of four station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109571415A true CN109571415A (en) | 2019-04-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811583359.0A Pending CN109571415A (en) | 2018-12-24 | 2018-12-24 | A kind of three axis truss robot device of four station |
Country Status (1)
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| CN (1) | CN109571415A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103206A (en) * | 2019-06-11 | 2019-08-09 | 湖北火爆机器人科技有限公司 | A kind of six axis truss robots |
| CN110280654A (en) * | 2019-05-31 | 2019-09-27 | 惠州市仨联自动化设备有限公司 | Vehicle cladding element punching automatic production line |
| CN111906760A (en) * | 2020-08-11 | 2020-11-10 | 安徽信息工程学院 | Two-shaft truss robot |
| CN112405500A (en) * | 2020-11-11 | 2021-02-26 | 温州职业技术学院 | Auxiliary device is used in valve installation |
| CN112499296A (en) * | 2020-12-24 | 2021-03-16 | 南京工程学院 | Truss robot system of automatic refrigerator loading and unloading vehicle |
| CN113650003A (en) * | 2021-10-20 | 2021-11-16 | 莱州结力工贸有限公司 | Manipulator for machining micro heat pipe |
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| CN102672519A (en) * | 2012-05-17 | 2012-09-19 | 马丁路德机器人（上海）有限公司 | Three-axis gantry robot |
| CN102950503A (en) * | 2012-11-01 | 2013-03-06 | 浙江神舟机器人科技有限公司 | Gantry-type high-precision automatic loading and unloading manipulator |
| CN107053136A (en) * | 2017-03-27 | 2017-08-18 | 新兴县博腾科技有限公司 | A kind of high speed truss manipulator |
| CN108621131A (en) * | 2018-04-28 | 2018-10-09 | 佛山市宾高工业设计有限公司 | A kind of tetra- axis servo manipulators of XYZR |
| CN209319773U (en) * | 2018-12-24 | 2019-08-30 | 重庆世玛德智能制造有限公司 | A kind of three axis truss robot device of four station |
-
2018
- 2018-12-24 CN CN201811583359.0A patent/CN109571415A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102672519A (en) * | 2012-05-17 | 2012-09-19 | 马丁路德机器人（上海）有限公司 | Three-axis gantry robot |
| CN102950503A (en) * | 2012-11-01 | 2013-03-06 | 浙江神舟机器人科技有限公司 | Gantry-type high-precision automatic loading and unloading manipulator |
| CN107053136A (en) * | 2017-03-27 | 2017-08-18 | 新兴县博腾科技有限公司 | A kind of high speed truss manipulator |
| CN108621131A (en) * | 2018-04-28 | 2018-10-09 | 佛山市宾高工业设计有限公司 | A kind of tetra- axis servo manipulators of XYZR |
| CN209319773U (en) * | 2018-12-24 | 2019-08-30 | 重庆世玛德智能制造有限公司 | A kind of three axis truss robot device of four station |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280654A (en) * | 2019-05-31 | 2019-09-27 | 惠州市仨联自动化设备有限公司 | Vehicle cladding element punching automatic production line |
| CN110103206A (en) * | 2019-06-11 | 2019-08-09 | 湖北火爆机器人科技有限公司 | A kind of six axis truss robots |
| CN110103206B (en) * | 2019-06-11 | 2024-05-17 | 湖北火爆机器人科技有限公司 | Six-axis truss robot |
| CN111906760A (en) * | 2020-08-11 | 2020-11-10 | 安徽信息工程学院 | Two-shaft truss robot |
| CN112405500A (en) * | 2020-11-11 | 2021-02-26 | 温州职业技术学院 | Auxiliary device is used in valve installation |
| CN112499296A (en) * | 2020-12-24 | 2021-03-16 | 南京工程学院 | Truss robot system of automatic refrigerator loading and unloading vehicle |
| CN113650003A (en) * | 2021-10-20 | 2021-11-16 | 莱州结力工贸有限公司 | Manipulator for machining micro heat pipe |
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