CN110103206A - A kind of six axis truss robots - Google Patents
A kind of six axis truss robots Download PDFInfo
- Publication number
- CN110103206A CN110103206A CN201910499448.5A CN201910499448A CN110103206A CN 110103206 A CN110103206 A CN 110103206A CN 201910499448 A CN201910499448 A CN 201910499448A CN 110103206 A CN110103206 A CN 110103206A
- Authority
- CN
- China
- Prior art keywords
- axis
- armshaft
- slide
- arm
- helical teeth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 abstract description 11
- 238000011112 process operation Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 7
- 208000026817 47,XYY syndrome Diseases 0.000 description 6
- 238000003754 machining Methods 0.000 description 5
- 230000002146 bilateral effect Effects 0.000 description 3
- 238000013499 data model Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of six axis truss robots, including X-axis slide, the Y1 armshaft and Y2 armshaft that two are parallel to each other are fixedly connected on the X-axis slide, Y-axis slide is slidably connected on Y1 armshaft and Y2 armshaft, Y-axis driving assembly driving Y-axis slide slides along the y-axis direction, it is provided on the outside of Y1 armshaft and Y2 armshaft using z-axis direction as the Z1 axis arm of axis and Z2 axis arm, the Z1 axis driving assembly and Z2 axis driving assembly being arranged on Y-axis slide respectively drive Z1 axis arm and Z2 axis arm moves along the z-axis direction, Y3 armshaft is additionally provided between the Y1 armshaft and Y2 armshaft, Y3 armshaft side also sets up Z3 axis arm, the Z3 axis driving assembly driving Z3 axis arm being arranged on Y-axis slide moves along the z-axis direction.The present invention provide it is a kind of realize process operation is flexible, integrated level is high, can be mobile with six axis, truss robot that realize multioperation process.
Description
Technical field
The robot that the present invention relates to a kind of on automatic production line, especially a kind of six axis truss robots, belongs to
Truss robot technical field.
Background technique
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 clamps, carry between lathe, being widely applied in terms of processing loading and unloading.Currently, 2 axis are widely used in truss robot, 3 axis modes are transported
With a small amount of truss is run using 4 axis, 5 axis, 6 axis modes, but two Z axis are mostly distributed in the side of Y-axis.Meanwhile two Z axis
Function only limits and grabs blank material and fine fodder respectively, and hand grabs that function is substantially uniform to be had a single function, and can not achieve for one in factory
The a variety of mode of transport of robot；Also accidental single Z axis arm is to realize that being equipped with two kinds of grippers takes the technology of quick change gripper to configure, to the greatest extent
Pipe quick change gripper speed may be implemented comparatively fast, but there is still a need for the quick change gripper times, and stability is poor.Based on current truss robot
Use situation, there is not yet truss robot is equipped with three Z axis armshafts and is realized the both hands function of truss robot using different grippers
Case, three Z axis arms are especially distributed in the mentality of designing of Y-axis two sides.
Summary of the invention
To solve the above-mentioned problems of the prior art, the present invention provide a kind of realization process operation is flexible, integrated level is high,
It can be with the movement of six axis, realization multioperation process truss robot.
The present invention provides a kind of six axis truss robots, including X-axis slide, is fixedly connected with two on the X-axis slide
The Y1 armshaft and Y2 armshaft being parallel to each other, Y-axis slide is slidably connected on Y1 armshaft and Y2 armshaft, and Y-axis driving assembly drives Y-axis
Slide is slided along y axis direction, is provided on the outside of Y1 armshaft and Y2 armshaft using z-axis direction as the Z1 axis arm of axis and Z2 axis
Arm, the Z1 axis driving assembly being arranged on Y-axis slide and Z2 axis driving assembly respectively drive Z1 axis arm and Z2 axis arm edge
The movement of z-axis direction, is additionally provided with Y3 armshaft between the Y1 armshaft and Y2 armshaft, and Y3 armshaft side also sets up Z3 axis arm,
The Z3 axis driving assembly driving Z3 axis arm being arranged on Y-axis slide moves along the z-axis direction.
By using above-mentioned technical proposal: increasing Article 3 Z3 axis robot arm between Y1 axis and Y2 axis, Z axis drives
Three bilateral and intermediate Z axis robotic arms of dynamic component control Y-axis, in X-axis, Y1 axis, Y2 axis, Z1 axis, Z2 axis, six axis three-dimensional space of Z3
Between carry out multivariant movement, can control three Z axis arms be moved to any required target position complete clamping, carry,
Operation of feeding and discharging is processed, three Z axis robot arms can complete the operation task of different demands.
As the further setting of the present invention: Y-axis slide includes Y1 axis slide and Y2 axis slide, the Y1 axis slide and Y2
Axis slide is separately positioned, and Y1 axis slide is slided along Y1 armshaft, and Y2 axis slide is slided along Y2 armshaft.
By using above-mentioned technical proposal: Y-axis slide is set as the form of two slides, Z1 axis arm and Z2 axis arm, Z3
Axis arm independent control may be implemented Z1 axis arm and individually be moved in y-axis and z-axis, increases the flexibility of the present apparatus.
As the further setting of the present invention: being provided with Y1 axis sliding block and Y2 axis respectively under Y1 axis slide and Y2 axis slide
Sliding block, Y1 axis sliding block match with the sliding rail along Y1 armshaft axis direction on Y1 armshaft, the edge on Y2 axis sliding block and Y2 armshaft
The sliding rail of Y2 armshaft axis direction matches.
By using above-mentioned technical proposal: can guarantee slide and armshaft in the feelings being completely embedded by the way of sliding block sliding rail
Condition lower slider, and the vibration that slide slides can be reduced using sliding block sliding rail, improve the precision of robot arm process operation.
As the further setting of the present invention: Y2 axis slide is arranged on Y3 armshaft, and Y2 axis slide is by pulley along Y3 axis
Arm sliding.
By using above-mentioned technical proposal: Y2 axis slide is arranged on Y2 armshaft and Y3 armshaft, can improve Y2 axis slide
Stability.
As the further setting of the present invention: Y1 armshaft is fixedly connected with Y1 axis helical teeth item, the Y along y-axis on direction
Axis driving assembly is Y1 axis driving motor, and the Y1 axis driving motor extends vertically through and is connected with Y1 axis on the working end of Y-axis slide
Gear is driven, the Y1 axis driving gear and Y1 axis helical teeth item are intermeshed.
By using above-mentioned technical proposal: this is the first mode of operation, and Y1 is arranged in being an integral structure in Y-axis slide
On armshaft and Y2 armshaft, is only slided by Y1 axis driving motor driving Y-axis slide is whole along y-axis, realize three Z axis arms
It can guarantee the stability and working efficiency of higher operation for simple operations task along y-axis synchronizing moving.
As the further setting of the present invention: Y1 armshaft and Y2 armshaft have been respectively fixedly connected with Y1 axis along y-axis on direction
Helical rack and Y2 axis helical teeth item, the Y-axis driving assembly include Y1 axis driving motor and Y2 axis driving motor, the Y1 axis driving
Motor and Y2 axis driving motor are respectively perpendicular is connected with Y1 axis driving gear on the working end of Y1 axis slide and Y2 axis slide
Gear is driven with Y2 axis, the Y1 axis driving gear and Y1 axis helical teeth item are intermeshed, and Y2 axis drives gear and Y2 axis helical teeth item
Intermeshing.
By using above-mentioned technical proposal: this is second of mode of operation, Y-axis corresponding with the form that two separate slide
Slide is set as the form of two slides, realizes Z1 axis arm and the simultaneously operating of Z2 axis arm, Z3 axis arm independent operation, Ke Yiying
To different station operational requirements, the flexibility of the present apparatus is increased.
As the further setting of the present invention: Z1 axis arm, Z2 axis arm, Z3 axis the arm fixed company on direction along z-axis
It is connected to Z1 axis helical teeth item, Z2 axis helical teeth item and Z3 axis helical teeth item, the Z1 axis driving assembly includes Z1 axis driving motor, the Z2
Axis driving assembly includes Z2 axis driving motor, and the Z3 axis driving assembly includes Z3 axis driving motor, the Z1 axis driving motor,
Z1 axis driving gear, Z2 axis driving gear and Z3 axis is connected on the working end of Z2 axis driving motor and Z3 axis driving motor to drive
Moving gear, the Z1 axis driving gear and Z1 axis helical teeth item are intermeshed, and the Z2 axis driving gear and Z2 axis helical teeth item are mutual
Engagement, the Z3 axis driving gear and Z3 axis helical teeth item are intermeshed.
By using above-mentioned technical proposal: three Z axis arms can independently realize asynchronous work, complete three priority
Work, first passes through Z1 axis arm to operating member to one and clamps, and is then processed etc. using Z2 axis arm, then pass through
Z3 axis carries out secondary secondary process, and realization is moved to operation position, multi-step process Integration Data Model, improve process operation efficiency and
Machining accuracy.
As the further setting of the present invention: being arranged on the working end that Z1 axis arm, Z2 axis arm and Z3 axis arm stretch out
There is fixture.Different fixtures is replaced according to different operating demand is provided on Z axis arm, fixture can be clamping fixture, bore
Hole operation fixture, punch operation fixture, electrical welding operation fixture etc..
Compared with prior art, the beneficial effects of the present invention are:
1, six axis truss robots of the invention are the optimization design of five axis truss robots, are increased between Y1 axis and Y2 axis
Article 3 Z3 axis robot arm is added, Z axis driving assembly controls three bilateral and intermediate Z axis robotic arms of Y-axis, in X-axis, Y1
Axis, Y2 axis, Z1 axis, Z2 axis, six axis three-dimensional space of Z3 carry out multivariant movement, can control three Z axis arms and are moved to and appoint
Target position needed for meaning is completed clamping, is carried, processing operation of feeding and discharging, and three Z axis robot arms can complete different demands
Operation task, equipment is practical, and market prospects are good.
2, Z axis driving assembly of the invention is driven by way of gear and rack gear with Y-axis armshaft, carries workpiece
When, the workpiece weight of robot arm and load-bearing is larger, and the kind of drive of rack-and-pinion can improve Z axis robot arm along Z axis
Mobile stability guarantees the operation accuracy of the present apparatus.
3, six axis truss robots of the invention include double Y-axis load bearing arms, Z1, Z2 that double Y-axis load bearing arms two sides are arranged in
Axis arm and the Z3 axis arm being arranged among double Y-axis load bearing arms, three Z axis arms can independently realize asynchronous work, complete
At the work of three priority, Z1 axis arm is first passed through to operating member to one and is clamped, then carried out using Z2 axis arm
Processing etc., then secondary secondary process is carried out by Z3 axis, realization is moved to operation position, and multi-step process Integration Data Model improves
Process operation efficiency and machining accuracy.
4, Z1 axis arm of the invention, Z2 axis, three arm of Z3 axis arm realize two arms synchronous working, another arm simultaneously
Asynchronous work, three arms work asynchronously the mode that two ways cooperates, and can be suitble to a variety of process operation demands,
And three arm cooperatings is high in machining efficiency, and processing fine degree is high.
Detailed description of the invention
Fig. 1 is the schematic structural diagram of the first embodiment one of six axis truss robots of the invention；
Fig. 2 is the schematic structural diagram of the first embodiment two of six axis truss robots of the invention；
Fig. 3 is the schematic structural diagram of the first embodiment three of six axis truss robots of the invention；
Fig. 4 is the schematic structural diagram of the first embodiment four of six axis truss robots of the invention；
Fig. 5 is the schematic structural diagram of the first embodiment five of six axis truss robots of the invention；
Fig. 6 is the schematic structural diagram of the second embodiment one of six axis truss robots of the invention；
Fig. 7 is the schematic structural diagram of the second embodiment two of six axis truss robots of the invention.
In figure: 1, X-axis slide；2, Y1 armshaft；3, Y2 armshaft；4, Y-axis slide；5, Y-axis driving assembly；6, Z1 axis arm；
7, Z2 axis arm；8, Z1 axis driving assembly；9, Z2 axis driving assembly；10, Y3 armshaft；11, Z3 axis arm；12, Z3 axis driving group
Part；13, Y1 axis slide；14, Y2 axis slide；15, Y1 axis sliding block；16, Y2 axis sliding block；17, pulley；18, Y1 axis helical teeth item；19,
Y1 axis driving motor；20, Y1 axis drives gear；21, Y2 axis helical teeth item；22, Y2 axis driving motor；23, Y2 axis drives gear；
24, Z1 axis helical teeth item；25, Z2 axis helical teeth item；26, Z3 axis helical teeth item；27, Z1 axis driving motor；28, Z2 axis driving motor；29,
Z3 axis driving motor；30, Z1 axis drives gear；31, Z2 axis drives gear；32, Z3 axis drives gear；33, fixture.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized 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 invention, " Y-axis ", " Z axis " are not limited to " X-axis " of literal definition, " Y
Axis ", " Z axis ", two-by-two orthogonal axis or be not necessarily vertical parallel axis or plane completely belong to it is of the invention
Protection scope.
When component is referred to as " being set to " another component, it can directly on the other part or there may also be
Component placed in the middle, " setting " indicate a kind of existing mode, can be connection, install, are fixedly connected, the connection sides such as activity connection
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 "vertical", "horizontal", "left" and "right" and similar statement are
For illustrative purposes, it is not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
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 item.
It is the first embodiment of six axis truss robots of the invention, including the X-axis slide as pedestal referring to Fig. 1-5
1, the Y1 armshaft 2 and Y2 armshaft 3 that two are parallel to each other, the company of sliding on Y1 armshaft 2 and Y2 armshaft 3 are fixedly connected on X-axis slide 1
It is connected to Y-axis slide 4, is provided with Y1 axis sliding block 15 and Y2 axis sliding block 16, Y1 axis respectively under Y1 axis slide 13 and Y2 axis slide 14
The sliding rail along 2 axis direction of Y1 armshaft on sliding block 15 and Y1 armshaft 2 matches, on Y2 axis sliding block 16 and Y2 armshaft 3 along Y2
The sliding rail of 3 axis direction of armshaft matches, and Y1 armshaft 2 is fixedly connected with Y1 axis helical teeth item 18, Y-axis driving along y-axis on direction
Component 5 is Y1 axis driving motor 19, and Y1 axis driving motor 19, which extends vertically through, is connected with the driving of Y1 axis on the working end of Y-axis slide 4
Gear 20, the Y1 axis driving gear 20 and Y1 axis helical teeth item 18 are intermeshed, and when Y-axis driving assembly 5 works, driving Y-axis is sliding
Seat 4 along the y-axis direction slide by forwards/reverse.Six axis truss robots of the invention are the optimization design of five axis truss robots,
Article 3 Z3 axis robot arm is increased between Y1 axis and Y2 axis, Z axis driving assembly controls three bilateral and intermediate Z axis of Y-axis
Robotic arm carries out multivariant movement in X-axis, Y1 axis, Y2 axis, Z1 axis, Z2 axis, six axis three-dimensional space of Z3, can control three
Z axis arm is moved to any required target position and completes clamping, carries, processing operation of feeding and discharging, three Z axis robots
Arm can complete the operation task of different demands, and equipment is practical, and market prospects are good.
Specifically, being provided on the outside of Y1 armshaft 2 and Y2 armshaft 3 using z-axis direction as the Z1 axis arm 6 of axis and Z2 axis hand
Arm 7, the Z1 axis driving assembly 8 and Z2 axis driving assembly 9 being arranged on Y-axis slide 4 respectively drive Z1 axis arm 6 and Z2 axis arm
7 move along the z-axis direction, and Y3 armshaft 10 is additionally provided between Y1 armshaft 2 and Y2 armshaft 3, and 10 side of Y3 armshaft also sets up Z3 axis
Arm 11, the Z3 axis driving assembly 12 being arranged on Y-axis slide 4 drive Z3 axis arm 11 to move along the z-axis direction.
Specifically, Z1 axis arm 6, Z2 axis arm 7, Z3 axis arm 11 are fixedly connected with Z1 axis helical teeth along z-axis on direction
Item 24, Z2 axis helical teeth item 25 and Z3 axis helical teeth item 26, the Z1 axis driving assembly 8 include Z1 axis driving motor 27, the Z2 axis
Driving assembly 9 includes Z2 axis driving motor 28, and the Z3 axis driving assembly 12 includes Z3 axis driving motor 29, and the Z1 axis drives
Z1 axis driving gear 30 is connected on the working end of dynamic motor 27, Z2 axis driving motor 28 and Z3 axis driving motor 29, Z2 axis drives
Moving gear 31 and Z3 axis drive gear 32, and the Z1 axis driving gear 30 and Z1 axis helical teeth item 24 are intermeshed, and the Z2 axis drives
Moving gear 31 and Z2 axis helical teeth item 25 are intermeshed, and the Z3 axis driving gear 32 and Z3 axis helical teeth item 26 are intermeshed.This hair
Bright Z axis driving assembly is driven by way of gear and rack gear with Y axis armshaft, carry workpiece when, robot arm with
The workpiece weight of load-bearing is larger, and the kind of drive of rack-and-pinion can improve the stability that Z axis robot arm is moved along Z axis, protects
Demonstrate,prove the operation accuracy of the present apparatus.
Specifically, being provided with fixture 33 on the working end that Z1 axis arm 6, Z2 axis arm 7 and Z3 axis arm 11 stretch out.
Referring to Fig. 6-7, for second of embodiment of six axis truss robots of the invention, Y-axis slide 4 includes Y1 axis slide 13
With Y2 axis slide 14, the Y1 axis slide 13 and Y2 axis slide 14 are separately positioned, and Y1 axis slide 13 is slided along Y1 armshaft 2, Y2 axis
Slide 14 is slided along Y2 armshaft 3.
Specifically, being provided with Y1 axis sliding block 15 and Y2 axis sliding block 16, Y1 respectively under Y1 axis slide 13 and Y2 axis slide 14
The sliding rail along 2 axis direction of Y1 armshaft on axis sliding block 15 and Y1 armshaft 2 matches, the edge on Y2 axis sliding block 16 and Y2 armshaft 3
The sliding rail of 3 axis direction of Y2 armshaft matches.
Specifically, Y2 axis slide 14 is arranged on Y3 armshaft 10, Y2 axis slide 14 is slided by pulley 17 along Y3 armshaft 10.
Specifically, being provided with fixture 33 on the working end that Z1 axis arm 6, Z2 axis arm 7 and Z3 axis arm 11 stretch out.
Six axis truss robots of the invention include double Y-axis load bearing arms, Z1, Z2 axis that double Y-axis load bearing arms two sides are arranged in
Arm 7 and the Z3 axis arm 11 being arranged among double Y-axis load bearing arms, three Z axis arms can independently realize asynchronous work,
The work for completing three priority first passes through Z1 axis arm 6 to operating member to one and clamps, and then uses Z2 axis arm 7
It processes etc., then secondary secondary process is carried out by Z3 axis, realization is moved to operation position, and multi-step process Integration Data Model mentions
High process operation efficiency and machining accuracy.
Z1 axis arm 6 of the invention, Z2 axis, 11 3 arm of Z3 axis arm realize two arms synchronous working, the other hand simultaneously
The asynchronous work of arm, three arms work asynchronously the mode that two ways cooperates, and a variety of process operations can be suitble to need
It asks, and three arm cooperatings is high in machining efficiency, processing fine degree is high.
A kind of six 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, the above embodiments are only used to help 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 scope in.
Claims (8)
1. a kind of six axis truss robots, it is characterised in that: including X-axis slide (1), be fixedly connected on the X-axis slide (1)
The two Y1 armshafts (2) and Y2 armshaft (3) being parallel to each other slidably connect Y-axis slide on Y1 armshaft (2) and Y2 armshaft (3)
(4), Y-axis driving assembly (5) driving Y-axis slide (4) is slided along the y-axis direction, the setting on the outside of Y1 armshaft (2) and Y2 armshaft (3)
There is the Z1 axis driving assembly using z-axis direction as the Z1 axis arm (6) of axis and Z2 axis arm (7), being arranged on Y-axis slide (4)
(8) and Z2 axis driving assembly (9) respectively drives Z1 axis arm (6) and Z2 axis arm (7) moves along the z-axis direction, in the Y1 axis
It is additionally provided between arm (2) and Y2 armshaft (3) Y3 armshaft (10), Y3 armshaft (10) side also sets up Z3 axis arm (11), setting
Z3 axis driving assembly (12) driving Z3 axis arm (11) on Y-axis slide (4) moves along the z-axis direction.
2. a kind of six axis truss robot according to claim 1, it is characterised in that: the Y-axis slide (4) includes Y1 axis
Slide (13) and Y2 axis slide (14), the Y1 axis slide (13) and Y2 axis slide (14) are separately positioned, Y1 axis slide (13) edge
Y1 armshaft (2) sliding, Y2 axis slide (14) are slided along Y2 armshaft (3).
3. a kind of six axis truss robot according to claim 2, it is characterised in that: the Y1 axis slide (13) and Y2 axis
Y1 axis sliding block (15) and Y2 axis sliding block (16) are provided under slide (14) respectively, on Y1 axis sliding block (15) and Y1 armshaft (2)
Sliding rail along Y1 armshaft (2) axis direction matches, on Y2 axis sliding block (16) and Y2 armshaft (3) along Y2 armshaft (3) axis side
To sliding rail match.
4. a kind of six axis truss robot according to claim 2, it is characterised in that: Y2 axis slide (14) setting exists
On Y3 armshaft (10), Y2 axis slide (14) is slided by pulley (17) along Y3 armshaft (10).
5. a kind of six axis truss robot according to claim 1, it is characterised in that: the Y1 armshaft (2) is along y-axis to side
It is fixedly connected with Y1 axis helical teeth item (18) upwards, the Y-axis driving assembly (5) is Y1 axis driving motor (19), and the Y1 axis drives
Dynamic motor (19) extend vertically through and are connected with Y1 axis driving gear (20) on the working ends of Y-axis slide (4), and the Y1 axis drives gear
(20) it is intermeshed with Y1 axis helical teeth item (18).
6. a kind of six axis truss robot according to claim 1, it is characterised in that: the Y1 armshaft (2) and Y2 armshaft
(3) Y1 axis helical teeth item (18) and Y2 axis helical teeth item (21), the Y-axis driving assembly have been respectively fixedly connected on direction along y-axis
It (5) include Y1 axis driving motor (19) and Y2 axis driving motor (22), the Y1 axis driving motor (19) and Y2 axis driving motor
(22) be respectively perpendicular be connected on the working end of Y1 axis slide (13) and Y2 axis slide (14) Y1 axis driving gear (20) and
Y2 axis drives gear (23), and Y1 axis driving gear (20) and Y1 axis helical teeth item (18) are intermeshed, and Y2 axis drives gear
(23) it is intermeshed with Y2 axis helical teeth item (21).
7. a kind of six axis truss robot according to claim 2, it is characterised in that: Z1 axis arm (6), Z2 axis arm
(7), it is oblique to be fixedly connected with Z1 axis helical teeth item (24), Z2 axis helical teeth item (25) and Z3 axis along z-axis on direction for Z3 axis arm (11)
Rack gear (26), the Z1 axis driving assembly (8) include Z1 axis driving motor (27), and the Z2 axis driving assembly (9) includes Z2 axis
Driving motor (28), the Z3 axis driving assembly (12) include Z3 axis driving motor (29), the Z1 axis driving motor (27), Z2
Z1 axis driving gear (30), Z2 axis driving gear are connected on the working end of axis driving motor (28) and Z3 axis driving motor (29)
(31) it is intermeshed with Z3 axis driving gear (32), Z1 axis driving gear (30) and Z1 axis helical teeth item (24), the Z2 axis
Gear (31) and Z2 axis helical teeth item (25) are driven to be intermeshed, Z3 axis driving gear (32) and Z3 axis helical teeth item (26) are mutual
Engagement.
8. a kind of six axis truss robot according to claim 1, it is characterised in that: the Z1 axis arm (6), Z2 axis hand
Fixture (33) are provided on the working end that arm (7) and Z3 axis arm (11) stretch out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910499448.5A CN110103206B (en) | 2019-06-11 | 2019-06-11 | Six-axis truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910499448.5A CN110103206B (en) | 2019-06-11 | 2019-06-11 | Six-axis truss robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110103206A true CN110103206A (en) | 2019-08-09 |
| CN110103206B CN110103206B (en) | 2024-05-17 |
Family
ID=67494524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910499448.5A Active CN110103206B (en) | 2019-06-11 | 2019-06-11 | Six-axis truss robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110103206B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0993916A2 (en) * | 1998-10-15 | 2000-04-19 | Tecan AG | Robot gripper |
| CN103419197A (en) * | 2013-09-03 | 2013-12-04 | 常熟市惠一机电有限公司 | Transverse-moving three-axis servo manipulator |
| CN104308859A (en) * | 2014-09-19 | 2015-01-28 | 重庆交通大学 | Heavy-load precision redundant three-arm mechanical hand based on traveling crane |
| CN104440893A (en) * | 2014-11-24 | 2015-03-25 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung three-axis servo mechanical hand |
| 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 |
| CN204748622U (en) * | 2015-06-09 | 2015-11-11 | 广州市文穂塑料机械有限公司 | Five full servo manipulator devices |
| CN205870517U (en) * | 2016-06-26 | 2017-01-11 | 东莞辉科机器人自动化股份有限公司 | Forge and press unilateral cubic unit manipulator |
| CN206840075U (en) * | 2017-04-06 | 2018-01-05 | 东莞钱工智能科技有限公司 | A kind of five axis robots |
| CN207841315U (en) * | 2017-12-18 | 2018-09-11 | 深圳市杨森工业机器人股份有限公司 | Folded mould high speed cutlery box knockout machine stacker mechanism |
| CN108705521A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of five axis truss robots |
| CN208068264U (en) * | 2018-03-06 | 2018-11-09 | 西安笑宽自动化设备有限公司 | Multi-purpose machinery hand structure |
| CN208358807U (en) * | 2018-06-26 | 2019-01-11 | 湖北火爆机器人科技有限公司 | A kind of four axis truss robots |
| CN109571415A (en) * | 2018-12-24 | 2019-04-05 | 重庆世玛德智能制造有限公司 | A kind of three axis truss robot device of four station |
| CN210025288U (en) * | 2019-06-11 | 2020-02-07 | 湖北火爆机器人科技有限公司 | Six-shaft truss robot |
-
2019
- 2019-06-11 CN CN201910499448.5A patent/CN110103206B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0993916A2 (en) * | 1998-10-15 | 2000-04-19 | Tecan AG | Robot gripper |
| CN103419197A (en) * | 2013-09-03 | 2013-12-04 | 常熟市惠一机电有限公司 | Transverse-moving three-axis servo manipulator |
| CN104308859A (en) * | 2014-09-19 | 2015-01-28 | 重庆交通大学 | Heavy-load precision redundant three-arm mechanical hand based on traveling crane |
| CN104440893A (en) * | 2014-11-24 | 2015-03-25 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung three-axis servo mechanical hand |
| 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 |
| CN204748622U (en) * | 2015-06-09 | 2015-11-11 | 广州市文穂塑料机械有限公司 | Five full servo manipulator devices |
| CN205870517U (en) * | 2016-06-26 | 2017-01-11 | 东莞辉科机器人自动化股份有限公司 | Forge and press unilateral cubic unit manipulator |
| CN206840075U (en) * | 2017-04-06 | 2018-01-05 | 东莞钱工智能科技有限公司 | A kind of five axis robots |
| CN207841315U (en) * | 2017-12-18 | 2018-09-11 | 深圳市杨森工业机器人股份有限公司 | Folded mould high speed cutlery box knockout machine stacker mechanism |
| CN208068264U (en) * | 2018-03-06 | 2018-11-09 | 西安笑宽自动化设备有限公司 | Multi-purpose machinery hand structure |
| CN108705521A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of five axis truss robots |
| CN208358807U (en) * | 2018-06-26 | 2019-01-11 | 湖北火爆机器人科技有限公司 | A kind of four axis truss robots |
| CN109571415A (en) * | 2018-12-24 | 2019-04-05 | 重庆世玛德智能制造有限公司 | A kind of three axis truss robot device of four station |
| CN210025288U (en) * | 2019-06-11 | 2020-02-07 | 湖北火爆机器人科技有限公司 | Six-shaft truss robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110103206B (en) | 2024-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101430047B1 (en) | Saddle for gantry roader and the gantry roader using the same | |
| CN109877807A (en) | One kind (2PRU-PUR)-PP five-axle linkage series-parallel robot | |
| CN208358807U (en) | A kind of four axis truss robots | |
| CN103753355A (en) | Multi-axis linkage device capable of realizing five-surface machining | |
| CN104354029B (en) | Five-axis linkage blade processing machine tool with automatic workpiece clamping function and clamping method of five-axis linkage blade processing machine tool | |
| CN110053026B (en) | Five-freedom-degree series-parallel robot for workpiece machining | |
| CN111152245A (en) | Robotized intelligent tool system | |
| CN108436540B (en) | Workpiece positioning mechanism and automatic processing machine tool | |
| CN108705522A (en) | A kind of four axis truss robots | |
| CN108705521A (en) | A kind of five axis truss robots | |
| CN208358806U (en) | A kind of five axis truss robots | |
| CN110103206A (en) | A kind of six axis truss robots | |
| CN210232173U (en) | Workstation is paid to screw lock based on triaxial robot | |
| CN210025288U (en) | Six-shaft truss robot | |
| CN114523464A (en) | Five-freedom-degree series-parallel hybrid robot | |
| CN110116400A (en) | A kind of PRS-PRU-PUR parallel institution | |
| CN107598906B (en) | Robot capable of running at high speed | |
| CN104801988A (en) | Novel numerical control machine tool with multi-axial machining function | |
| CN208005237U (en) | Workpiece locating mechanism and automated processing machine tool | |
| CN209887586U (en) | (2PRU-PUR) -PP five-axis linkage hybrid robot | |
| CN218575507U (en) | Intelligent welding and polishing integrated workstation | |
| CN117047484B (en) | Gesture station and processing equipment are transferred in part processing | |
| CN205889152U (en) | Integral robot work station | |
| CN211594002U (en) | Move and carry device and have this spraying equipment who moves and carry device | |
| CN109335546A (en) | More origin track array drive systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |