CN104029194A - A Hybrid Industrial Robot - Google Patents

Abstract

The invention relates to a hybrid industrial robot composed of three linear motion axes X, Y and Z, one swing C axis and two rotation axes A and B. Among them, the prototype of the three linear motion axes is a cantilever type (bull head type) Cartesian coordinate manipulator. A rotating B-axis is connected to the end of the Z-axis that moves up and down linearly, and the rotating B-axis drives the swinging C-axis and the rotating A-axis below it. The shaft moves the load. Since the two rotation axes plus one swing axis are actually the three motion axes at the end of the articulated robot, the hybrid industrial robot of the present invention is composed of a three-axis Cartesian coordinate manipulator plus the three endmost motion axes of the articulated robot. The invention can realize fast and difficult material retrieving action, increase the load ratio, improve the high utilization efficiency of the injection molding machine and reduce the space required for installation.

Description

A Hybrid Industrial Robot

technical field

The invention relates to the technical field of injection molding manipulators, in particular to a hybrid industrial robot.

Background technique

Injection molding machines are often equipped with manipulators to improve production efficiency. At present, purely linear (rectangular coordinate) industrial robots can no longer meet the automation needs of the injection molding industry. There is an urgent need for a replaceable industrial robot with better mechanical properties and flexibility. Although the articulated multi-degree-of-freedom robot has advantages due to its own characteristics, it not only has high performance and good flexibility, but because of its high comprehensive cost, its stroke is limited; For complex flexible trajectory movements such as handling, if the general-purpose articulated robot structure is completely used in the injection molding industry, the cost performance is low.

The existing industrial robots or manipulators used in the injection molding industry mainly have the following shortcomings: 1) It is difficult to achieve difficult and trajectory-requiring material retrieving actions; 2) The design of the fixture is difficult and the cost of replacing the fixture is high; 3) Due to the Due to design limitations, it is difficult to carry out heavy-duty design. Even if a large load can be achieved, the load ratio is small, resulting in excessive motor power; 4) It cannot be guaranteed that the movement of the large working space and certain flexibility; 5) The injection molding machine Low utilization efficiency; 6) Small fuselage size cannot be guaranteed while increasing the depth of the working space.

Chinese patent (patent authorization announcement number: CN201728805U) discloses a five-axis servo injection molding manipulator, which can complete the task of multi-point pick-and-place, and has the characteristics of stable operation, quiet operation and wide application range. However, it seems to be stretched for tasks such as retrieving, filming, and moving, such as complex flexible trajectory movements. Therefore, it is necessary to design a new industrial robot that not only has a large-span working space, but also has high flexibility and can realize complex trajectory requirements.

Contents of the invention

The technical problem to be solved by the present invention is to provide a hybrid industrial robot, which not only has a large-span working area of a linear industrial robot, but also has the flexibility and flexibility of an articulated industrial robot, and has a high cost performance.

The present invention is achieved by providing a hybrid industrial robot, including a linear motion part and a joint motion part. The linear motion part includes an X-axis motion part, a Y-axis motion part, and a Z-axis motion part. The Y-axis motion part is installed on the X On the axis movement part, the X-axis movement part drives the Y-axis movement part to move laterally, the Z-axis movement part is installed on the Y-axis movement part, the Y-axis movement part drives the Z-axis movement part and the joint movement part to move longitudinally, and the joint movement part is installed on the On the Z-axis movement part, the Z-axis movement part drives the joint movement part to move up and down. The joint movement part includes the A-axis assembly, the B-axis assembly and the C-axis assembly. The axis rotates. The B-axis assembly is arranged at the lower end of the Z-axis moving part and can rotate around the axis of the B-axis assembly. The C-axis assembly drives the A-axis assembly to swing along the axis of the C-axis assembly. The axis of the B-axis assembly and the axis of the C-axis assembly are perpendicular to each other, and the axis of the A-axis assembly and the axis of the C-axis assembly are also kept perpendicular to each other.

Furthermore, the B-axis assembly mainly includes the B-axis servo motor, the B-axis driving gear, the B-axis reducer, the B-axis transition flange and the transmission gearbox. The transmission gearbox is fixed at the lower end of the Z-axis moving part, and the transmission gearbox The inside of the body is sealed and equipped with a spring oil nipple that injects lubricating oil into the interior. The B-axis servo motor is set on the top of the transmission gearbox, the B-axis driving gear is located in the transmission gearbox, the B-axis reducer is located in the lower part of the transmission gearbox, and the B-axis The transition flange is located at the lower part of the B-axis reducer. The B-axis servo motor drives the B-axis drive gear through a key connection. The B-axis drive gear is connected to the input end of the B-axis reducer. The B-axis transition flange is connected to the B-axis reducer connected to the output.

Furthermore, the C-axis assembly mainly includes a C-axis servo motor, a C-axis main gear, a C-axis driven gear, a C-axis transmission shaft, a first arc-shaped bevel gear of the C-axis, a second arc-shaped bevel gear of the C-axis, and a T-shape Lan, C-axis bearing reducer and swing housing. The swing housing is mainly composed of connecting side plates, L-shaped flanges and covers. The T-shaped flange is connected to the lower part of the B-axis transition flange. Below the flange, the C-axis servo motor is set on the top of the transmission gearbox, the C-axis main gear and the C-axis driven gear are located in the transmission gearbox, and the C-axis transmission shaft passes through the B-axis transition flange and extends from the transmission gearbox to the Inside the T-shaped flange, the C-axis servo motor drives the C-axis main gear, and the C-axis main gear drives the C-axis driven gear through meshing, and the C-axis driven gear drives the C-axis transmission shaft through spline cooperation. The other end is connected to the first arc bevel gear of the C axis with a spline, and the first arc bevel gear of the C axis is meshed with the second arc bevel gear of the C axis and transmitted to the input end of the C axis bearing reducer, and the C axis bearing reducer It is connected to the T-shaped flange, and the connecting side plate is connected to the output shaft of the C-axis bearing reducer. The connecting plate drives the L-shaped flange, the cover and the parts contained in it to center on the rotating shaft of the C-axis bearing reducer. swing.

Further, the A-axis assembly mainly includes the A-axis servo motor, the A-axis main gear, the A-axis driven gear, the A-axis drive shaft, the first arc-shaped bevel gear of the A-axis, the second arc-shaped bevel gear of the A-axis, and the A-axis gear , A-axis third arc bevel gear, A-axis fourth arc bevel gear, A-axis bearing reducer and A-axis transition flange, A-axis servo motor is set on the top of the transmission gearbox, A-axis main gear and A-axis The driven gear is located in the transmission gearbox and above the C-axis main gear and the C-axis driven gear. The A-axis drive shaft is set inside the C-axis drive shaft and coaxial with the C-axis drive shaft. The A-axis drive shaft also passes through The B-axis transition flange extends from the transmission gearbox to the T-shaped flange. The A-axis servo motor drives the A-axis main gear, and the A-axis main gear meshes with the A-axis driven gear. The A-axis driven gear and the A-axis transmission shaft adopt The spline is connected and drives the first arc bevel gear of the A axis, the drive shaft of the A axis is connected with the first arc bevel gear of the A axis, and the first arc bevel gear of the A axis meshes with the second arc bevel gear of the A axis The transmission drives two identical A-axis gears at the same time. The A-axis gear drives the third arc-shaped bevel gear of the A-axis through a spline connection. The third arc-shaped bevel gear of the A-axis meshes with the fourth arc-shaped bevel gear of the A-axis. The fourth arc bevel gear is connected to the input shaft of the A-axis bearing reducer, and the A-axis transition flange is connected to the output shaft of the A-axis bearing reducer.

Further, the X-axis moving part includes an upper machine base, an X-axis traverse beam, an upper traverse slide plate, a side traverse slide plate, several traverse sliders, a traverse line rail, a traverse servo motor, a traverse reducer, a traverse helical gear, a traverse rack, Pull the servo motor, pull the reducer, pull the helical gear, pull the installation sliders and pull the line rail slider fixing plate, the X-axis horizontal beam is fixed on the top surface of the upper machine base, and the horizontal line rails are installed separately On the top surface and side of the X-axis traverse beam, the traverse rack is also installed on the top surface of the X-axis traverse beam and parallel to the traverse line rail. The traverse servo motor is installed on the upper traverse slide together with the traverse reducer. The motor is installed on the upper horizontal slide together with the drawing reducer, and several drawing installation sliders are also fixed on the upper horizontal slide through the drawing rail slider fixing plate, and the upper horizontal slide is connected with the side horizontal slide. There are several horizontal sliders fixed on the upper horizontal slide and the side horizontal slide respectively, and several horizontal sliders are respectively matched with the horizontal line rails. The horizontal servo motor drives the horizontal helical gear to rotate through the horizontal reducer, and the drawing servo motor is driven by the drawing reducer. Pull out the helical gear to rotate, and the horizontal helical gear and the horizontal rack cooperate to drive the whole body composed of the upper horizontal slide plate and the side horizontal slide plate and the parts installed on it to make a horizontal linear motion together.

Furthermore, the Y-axis motion part mainly includes the drawing beam, the drawing linear guide rail, the drawing helical rack, the arm reducer flange, the arm servo motor, the arm reducer, the arm helical gear, the upper and lower seat assembly plates and several arm sliders. block, the drawing linear guide rail is installed on the bottom surface of the drawing beam, the drawing helical rack is installed on the side of the drawing beam and parallel to the drawing linear guide rail, and the drawing linear guide rail cooperates with the drawing installation slider to make the drawing The beam is installed on the X-axis moving part, the helical rack and the helical gear are matched, the arm reducer flange is fixed on the side of one end of the drawing beam, and the arm reducer is fixed on the left side of the arm reducer flange As well as the arm servo motor, several arm sliders are fixed on the right side of the arm reducer flange, the arm helical gear is also located on the right side of the arm reducer flange, and the upper and lower seat assembly plates are respectively fixed on the arm reducer flange. Front and rear sides.

Further, the Z-axis moving part mainly includes the active beam, the driven beam, the linear guide rail of the active beam, the helical rack of the active beam, the linear guide rail of the driven beam and the timing belt. The driven beam is arranged on the outer surface of the active beam, and the active beam passes through the The synchronous belt drives the driven beam, the linear guide rail of the active beam and the helical rack of the active beam are arranged on the inner side of the active beam, the helical rack of the active beam cooperates with the helical gear of the arm, and the linear guide rail of the driven beam is arranged on the straight line between the active beam and the active beam. On the opposite side of the guide rail, the driven beam can move up and down along the linear guide rail of the driven beam, and the arm servo motor drives the active beam through the arm helical gear and the active beam helical rack.

Compared with the existing technology, the hybrid industrial robot of the present invention has the advantages of both linear industrial robots and universal joint robots. By introducing joint robot wrist technology at the end of the linear robot, it meets the requirements of modern injection molding under the condition of ensuring cost economy. The industry needs high degree of freedom and strong flexibility to realize fast and difficult material retrieving actions, simplify the design of end fixtures, increase the load ratio, improve the high efficiency of injection molding machine utilization and reduce the space required for installation. Moreover, on the basis of improving performance, the competitiveness of enterprises in this industry can be enhanced without increasing production costs.

The present invention has the following characteristics:

(1) High flexibility, can realize difficult retrieving action;

(2) The design of the fixture is low and simple, and the cost of replacing the fixture is low and fast;

(3) High reliability in modular design, complex applications can be realized, and heavy-duty design can be carried out;

(4) Large working space movement can be realized;

(5) It can improve the utilization efficiency of the injection molding machine, for example, a smaller size injection molding machine can be used to produce a larger size product;

(6) Economically, cost-effective;

(7) Through the special structural design of this type of robot, it can be installed on the injection molding equipment, which can increase the depth of the working space and reduce the size of the fuselage, especially when loading and unloading the injection molding machine.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of a preferred embodiment of the present invention;

Fig. 2 is a three-dimensional schematic diagram of the X-axis moving part of the linear moving part in Fig. 1;

Fig. 3 is a three-dimensional schematic diagram of the Y-axis moving part of the linear moving part in Fig. 1;

Fig. 4 is a three-dimensional schematic diagram of the Z-axis moving part of the linear moving part in Fig. 1;

Fig. 5 is a first cross-sectional view of the joint movement part in Fig. 1;

FIG. 6 is a second cross-sectional view of the articulation portion of FIG. 1 .

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Referring to FIG. 1 , a preferred embodiment of the hybrid industrial robot of the present invention includes a linear motion part 1 and a joint motion part 7 , and the linear motion part 1 is a Cartesian coordinate robot.

The linear motion part 1 includes an X-axis motion part 2 (corresponding to the X direction), a Y-axis motion part 3 (corresponding to the Y direction), and a Z-axis motion part 4 (corresponding to the Z direction). The Y-axis moving part 3 is installed on the X-axis moving part 2, the X-axis moving part 2 drives the Y-axis moving part 3 to move laterally, the Z-axis moving part 4 is installed on the Y-axis moving part 3, and the Y-axis moving part 3 drives the Z-axis The moving part 4 and the articulating part 7 move longitudinally. The joint movement part 7 is installed on the Z-axis movement part 4, and the Z-axis movement part 4 drives the joint movement part 7 to move up and down.

Please refer to Fig. 1 and Fig. 2 at the same time, the X-axis moving part 2 includes an upper machine base 2-1, an X-axis transverse beam 2-2, an upper transverse slide plate 2-3, a side transverse slide plate 2-4, and several transverse slide blocks 2-5, horizontal line rail 2-6, horizontal servo motor 2-7, horizontal reducer 2-8, horizontal helical gear 2-9, horizontal rack 2-10, drawing servo motor 2-11, drawing reducer Machine 2-12, drawing helical gear 2-13, some drawing installation slide blocks 2-14 and drawing line rail slide block fixed plate 2-15. Mounting holes are arranged on the upper machine base 2-1, which is convenient for the device to be installed on use equipment such as injection molding machines. The X-axis transverse beam 2-2 is fixed on the top surface of the upper machine base 2-1, the transverse line rails 2-6 are respectively installed on the top surface and the side of the X-axis transverse beam 2-2, and the transverse rack 2-10 is also installed On the top surface of the X-axis transverse beam 2-2 and parallel to the transverse line rail 2-6. The traverse servo motor 2-7 is installed on the upper traverse slide plate 2-3 together with the traverse reducer 2-8, and the drawing servo motor 2-11 is also installed on the upper traverse slide plate 2-3 together with the draw reducer 2-12 , some drawing and drawing installation slide blocks 2-14 are also fixed on the upper horizontal slide plate 2-3 by drawing and drawing line rail slide block fixed plate 2-15. The upper horizontal slide plate 2-3 is connected with the side horizontal slide plate 2-4 again, and some horizontal slide blocks 2-5 are respectively fixed on the upper horizontal slide plate 2-3 and the side horizontal slide plate 2-4. Several horizontal sliders 2-5 cooperate with the horizontal line rails 2-6 respectively, the horizontal servo motor 2-7 drives the horizontal helical gear 2-9 to rotate through the horizontal reducer 2-8, and the pulling servo motor 2-11 is decelerated by pulling The machine 2-12 drives the drawing helical gear 2-13 to rotate, and the horizontal helical gear 2-9 cooperates with the horizontal rack 2-10 to drive the whole body composed of the upper horizontal slide plate 2-3 and the side horizontal slide plate 2-4 and the above-installed The components make a horizontal linear motion together.

Please refer to Figure 1, Figure 2 and Figure 3 at the same time, the Y-axis moving part 3 mainly includes the drawing beam 3-1, the drawing linear guide 3-2, the drawing helical rack 3-3, and the flange of the arm reducer 3-4, arm servo motor 3-5, arm reducer 3-6, arm helical gear 3-7, upper and lower seat assembly plates 3-8 and some arm sliders 3-9. The drawing linear guide rail 3-2 is installed on the bottom surface of the drawing beam 3-1, and the drawing helical rack 3-3 is installed on the side surface of the drawing beam 3-1 and is parallel to the drawing linear guide rail 3-2. The drawing linear guide rail 3-2 cooperates with the drawing installation slider 2-14 so that the drawing beam 3-1 is installed on the X-axis moving part 2 to form a cantilever structure. The extraction helical rack 3-3 cooperates with the extraction helical gear 2-13, and the arm reducer flange 3-4 is fixed on the side of one end of the extraction beam 3-1, on the left side of the arm reducer flange 3-4 The surface is fixed with an arm reducer 3-6 and an arm servo motor 3-5. The right side of arm reducer flange 3-4 is fixed with some arm slide blocks 3-9, and arm helical gear 3-7 is also positioned at the right side of arm reducer flange 3-4. The upper and lower seat group plates 3-8 are respectively fixed on the front and rear sides of the arm reducer flange 3-4.

Please refer to Figure 1, Figure 3 and Figure 4 at the same time, the Z-axis moving part 4 mainly includes the active beam 4-1, the driven beam 4-2, the active beam linear guide 4-3, and the active beam helical rack 4-4 , Driven beam linear guide rail 4-5 and synchronous belt 4-6. The driven beam 4-2 is arranged on the outer surface of the active beam 4-1, and the active beam 4-1 drives the driven beam 4-2 through the synchronous belt 4-6. The active beam linear guide rail 4-3 and the active beam helical rack 4-4 are arranged on the inner side of the active beam 4-1, and the active beam helical rack 4-4 cooperates with the arm helical gear 3-7. The driven beam linear guide 4-5 is arranged on the opposite side of the active beam 4-1 and the active beam linear guide 4-3, and the driven beam 4-2 can move up and down along the driven beam linear guide 4-5. The arm servo motor 3-5 drives the active beam 4-1 through the arm helical gear 3-7 and the active beam helical rack 4-4, and then the driven beam 4-2 is lifted by the synchronous belt 4-6. Through the different transmission ratios of the synchronous belt 4-6, the effect of 4-2 times speed lifting of the driven beam is achieved. Adopting the double-section type of the active beam 4-1 and the driven beam 4-2 can greatly reduce the overall height of the mechanical arm and improve the dynamic operating performance of the arm. Simultaneously, by driving the active beam 4-1 at a constant speed, the effect of lifting and lowering the driven beam at 4-2 times speed is realized.

Please refer to FIG. 1 again, the articulation part 7 includes an A-axis assembly 5 , a B-axis assembly 6 and a C-axis assembly 8 . The A-axis assembly 5 is arranged at the end of the articulation part 7 and can rotate around the axis of the A-axis assembly 5, the B-axis assembly 6 is arranged at the lower end of the Z-axis moving part 4 and can rotate around the axis of the B-axis assembly 6, and the C-axis assembly 8 drives the A-axis assembly 5 to swing along the axis of the C-axis assembly 8, the axis of the B-axis assembly 6 is perpendicular to the axis of the C-axis assembly 8, and the axis of the A-axis assembly 5 and the axis of the C-axis assembly 8 also remain perpendicular to each other. The articulation part 7 is installed on the lower end surface of the driven beam 4 - 2 of the Z-axis movement part 4 .

Please refer to Figure 1 and Figure 6 at the same time, the B-axis assembly 6 mainly includes the B-axis servo motor 6-1, the B-axis driving gear 6-2, the B-axis reducer 6-3, the B-axis transition flange 6-4 and Transmission gearbox 6-5. The transmission gear case 6-5 is fixed on the lower end of the Z-axis moving part 4, and the inside of the casing of the transmission gear case is sealed and equipped with a spring grease nipple that injects lubricating oil into the inside. The B-axis servo motor 6-1 is arranged on the top of the transmission gear box 6-5. The B-axis driving gear 6-2 is located in the transmission gearbox 6-5, the B-axis reducer 6-3 is located at the bottom of the transmission gearbox 6-5, and the B-axis transition flange 6-4 is located at the bottom of the B-axis reducer 6-3. lower part. The B-axis servo motor 6-1 drives the B-axis driving gear 6-2 through a key connection, the B-axis driving gear 6-2 is connected to the input end of the B-axis reducer 6-3, and the B-axis transition flange 6-4 is connected to the B-axis The output end of shaft speed reducer 6-3 links to each other.

Please refer to Figure 1, Figure 5 and Figure 6 at the same time, the C-axis assembly 8 mainly includes a C-axis servo motor 5-12, a C-axis main gear 5-13, a C-axis driven gear 5-14, and a C-axis drive shaft 5 -15, C axis first arc bevel gear 5-16, C axis second arc bevel gear 5-17, T-shaped flange 5-19, C axis bearing reducer 5-18 and swing housing 5-23 , The swing housing 5-23 is mainly composed of a connecting side plate 5-20, an L-shaped flange 5-21 and a cover 5-22. The T-shaped flange 5-19 is connected to the lower part of the B-axis transition flange 6-4, the swing housing 5-23 is located under the T-shaped flange 5-19, and the C-axis servo motor 5-12 is arranged on the transmission gearbox 6 Top of -5. The C-axis main gear 5-13 and the C-axis driven gear 5-14 are located in the transmission gearbox 6-5, and the C-axis transmission shaft 5-15 extends from the transmission gearbox 6-5 through the B-axis transition flange 6-4 into the T-flange 5-19. The C-axis servo motor 5-12 drives the C-axis main gear 5-13, and the C-axis main gear 5-13 drives the C-axis driven gear 5-14 through meshing. C shaft driven gear 5-14 drives C shaft transmission shaft 5-15 by spline cooperation again, and the other end of C shaft transmission shaft 5-15 connects C shaft first curved bevel gear 5-16 with spline again. The first arc bevel gear 5-16 of the C axis and the second arc bevel gear 5-17 of the C axis are meshed and transmitted to the input end of the C axis bearing reducer 5-18, and the C axis bearing reducer 5-18 is connected to the T On the type flange 5-19, the connecting side plate 5-20 is connected with the output shaft of the C-axis bearing reducer 5-18, and the connecting plate drives the L-shaped flange 5-21, the cover 5-22 and the parts contained in it. The parts swing around the rotating shaft of the C-axis bearing speed reducer 5-18.

Please refer to Figure 1, Figure 5 and Figure 6 at the same time, the A-axis assembly 5 mainly includes the A-axis servo motor 5-1, the A-axis main gear 5-2, the A-axis driven gear 5-3, and the A-axis drive shaft 5 -4, A-axis first arc bevel gear 5-5, A-axis second arc bevel gear 5-6, A-axis gear 5-7, A-axis third arc bevel gear 5-8, A-axis fourth Curved bevel gear 5-9, A shaft bearing reducer 5-10 and A shaft transition flange 5-11. The A-axis servo motor 5-1 is arranged on the top of the transmission gearbox 6-5, and the A-axis main gear 5-2 and the A-axis driven gear 5-3 are located in the transmission gearbox 6-5 and located at the C-axis main gear 5-5. 13 and above the C-axis driven gear 5-14, the A-axis transmission shaft 5-4 is arranged in the C-axis transmission shaft 5-15 and is coaxial with the C-axis transmission shaft 5-15. The A-axis drive shaft 5-4 also passes through the B-axis transition flange 6-4 and extends from the transmission gearbox 6-5 to the T-shaped flange 5-19, and the A-axis servo motor 5-1 drives the A-axis main gear 5- 2. A-axis main gear 5-2 meshes with A-axis driven gear 5-3. The A-axis driven gear 5-3 and the A-axis drive shaft 5-4 are splined to drive the first arc-shaped bevel gear of the A-axis, and the A-axis drive shaft 5-4 and the A-axis first arc-shaped bevel gear are splined Connection, the first arc-shaped bevel gear of the A-axis and the second arc-shaped bevel gear 5-6 of the A-axis are meshed to drive two identical A-axis gears 5-7 at the same time, and the A-axis gear 5-7 drives the A-axis through a spline connection The third arc bevel gear 5-8. The third arc bevel gear 5-8 of the A axis meshes with the fourth arc bevel gear 5-9 of the A axis, and the fourth arc bevel gear 5-9 of the A axis is connected to the input shaft of the A axis bearing reducer 5-10 On, the A shaft transition flange 5-11 is connected on the output shaft of the A shaft bearing reducer 5-10.

In summary, the hybrid industrial robot of the present invention consists of three linear motion axes X, Y, and Z, one swing C axis, and two rotation axes A, B. Among them, the prototype of the three linear motion axes is a cantilever type (bull head type) Cartesian coordinate manipulator. A rotating B-axis is connected to the end of the Z-axis that moves up and down linearly, and the rotating B-axis drives the swinging C-axis and the rotating A-axis below it. The shaft moves the load. Since the two rotation axes plus one swing axis are actually the three motion axes at the end of the articulated robot, the hybrid industrial robot of the present invention is composed of a three-axis Cartesian coordinate manipulator plus the three endmost motion axes of the articulated robot. The invention not only has a large-span working area of the linear industrial robot, but also has a flexible and flexible hybrid new configuration of the articulated industrial robot, and has advantages that the linear industrial robot does not have. This configuration is not a simple linear + joint, it is not only specially designed for the injection molding industry from the structure, but also optimized from the control algorithm and control system.

The present invention has the following characteristics:

1. It has the characteristics of large working space and high flexibility, and can adapt to the retrieving tasks of most injection molding machines;

2. Compared with joint robots, it has the advantages of high cost performance, good operability and high maintenance convenience;

3. Highly modularized and standardized structure, most parts adopt sheet metal structural parts.

The present invention has undergone experiments and related simulations, and has carried out physical operation verification, which proves the effectiveness and correctness of the device of the present invention, can operate according to the required trajectory, and can reach the required position, and has high precision and high reliability. features.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (7)

1. a mixed type industrial robot, comprise olinear motion part and joint motions part, described olinear motion part comprises X-axis motion portion, Y-axis motion portion and Z axis motion portion, described Y-axis motion portion is arranged in X-axis motion portion, described X-axis motion portion drives Y-axis motion portion transverse shifting, described Z axis motion portion is arranged in Y-axis motion portion, described Y-axis motion drive Z axis motion portion of portion and joint motions part vertically move, described joint motions part is arranged in Z axis motion portion, described Z axis motion portion drives joint motions part to move up and down, it is characterized in that, described joint motions part comprises A shaft assembly, B shaft assembly and C shaft assembly, described A shaft assembly is arranged on the end of joint motions part and can rotates around the axis of A shaft assembly, described B shaft assembly is arranged on the lower end of Z axis motion portion and can rotates around the axis of B shaft assembly, described C shaft assembly drives the axis oscillating of A shaft assembly along C shaft assembly, the axis of the axis of described B shaft assembly and C shaft assembly is orthogonal, the axis of described A shaft assembly also keeps mutually vertical with the axis of C shaft assembly.

2. mixed type industrial robot as claimed in claim 1, it is characterized in that, described B shaft assembly mainly comprises B axle servomotor, B axle driving gear, B axle reductor, B axle counter flange and uni-drive gear box, described uni-drive gear box is fixed on the lower end of Z axis motion portion, the box house of described uni-drive gear box seals and is provided with the spring oil nozzle that injects lubricating oil to inside, described B axle servomotor is arranged on the top of uni-drive gear box, described B axle driving gear is positioned at uni-drive gear box, described B axle reductor is positioned at the bottom of uni-drive gear box, described B axle counter flange is positioned at the bottom of B axle reductor, described B axle servomotor is connected and is driven B axle driving gear by key, described B axle driving gear is connected in the input of B axle reductor, described B axle counter flange is connected with the output of B axle reductor.

3. mixed type industrial robot as claimed in claim 2, it is characterized in that, described C shaft assembly mainly comprises C axle servomotor, C axle master gear, C axle driven gear, C through-drive axle, C axle the first bevel gear, C axle the second bevel gear, T-shaped flange, C axle bearing reductor and swing housing, described swing housing is mainly by connecting lateral plate, L-type flange and capping composition, described T-shaped flange connect is in the bottom of B axle counter flange, described swing housing is positioned at the below of T-shaped flange, described C axle servomotor is arranged on the top of uni-drive gear box, described C axle master gear and C axle driven gear are positioned at uni-drive gear box, described C through-drive axle extends in T-shaped flange from uni-drive gear box through described B axle counter flange, described C axle servo motor transmission C axle master gear, described C axle master gear is by engaged transmission C axle driven gear, described C axle driven gear drives C through-drive axle by spline fitted again, the other end of described C through-drive axle is used spline joint C axle the first bevel gear again, described C axle the first bevel gear engages with C axle the second bevel gear the input that passes to C axle bearing reductor, described C axle bearing reductor is connected on T-shaped flange, described connecting lateral plate is connected with the output shaft of C axle bearing reductor, described connecting plate drives L-type flange, capping by and the inner parts that comprise centered by the rotating shaft of C axle bearing reductor, swing.

4. mixed type industrial robot as claimed in claim 3, it is characterized in that, described A shaft assembly mainly comprises A axle servomotor, A axle master gear, A axle driven gear, A through-drive axle, A axle the first bevel gear, A axle the second bevel gear, A shaft gear, A axle the 3rd bevel gear, A axle the 4th bevel gear, A axle bearing reductor and A axle counter flange, described A axle servomotor is arranged on the top of uni-drive gear box, described A axle master gear and A axle driven gear are positioned at uni-drive gear box and are positioned at C axle master gear and the top of C axle driven gear, it is interior and coaxial with C through-drive axle that described A through-drive axle is arranged on C through-drive axle, described A through-drive axle also extends in T-shaped flange from uni-drive gear box through described B axle counter flange, described A axle driven by servomotor A axle master gear, described A axle master gear engaged transmission A axle driven gear, described A axle driven gear and A through-drive axle adopt spline joint and drive A axle the first bevel gear, described A through-drive axle and A axle the first bevel gear adopt spline joint, described A axle the first bevel gear and A axle the second bevel gear engaged transmission drive two identical A shaft gears simultaneously, described A shaft gear drives A axle the 3rd bevel gear by spline joint, A axle the 3rd bevel gear engages with A axle the 4th bevel gear again, described A axle the 4th bevel gear is connected on the power shaft of A axle bearing reductor, described A axle counter flange is connected on the output shaft of A axle bearing reductor.

5. mixed type industrial robot as claimed in claim 1, it is characterized in that, described X-axis motion portion comprises upper frame, X-axis is walked crosswise beam, on walk crosswise slide plate, side is walked crosswise slide plate, some slide blocks of walking crosswise, walk crosswise line rail, walk crosswise servomotor, walk crosswise reductor, walk crosswise helical gear, walk crosswise tooth bar, pulling servomotor, pulling reductor, pulling helical gear, slide block and pulling line rail slide block fixed head are installed in some pullings, described X-axis is walked crosswise on the end face that beam is fixed on upper frame, described end face and the side of walking crosswise line rail and be arranged on respectively X-axis and walk crosswise beam, describedly walk crosswise that tooth bar is also arranged on that X-axis is walked crosswise on the end face of beam and with to walk crosswise line rail parallel, the described servomotor of walking crosswise is arranged on and walks crosswise on slide plate together with walking crosswise reductor, described pulling servomotor is also arranged on and walks crosswise on slide plate together with pulling reductor, described some pullings are installed slide block and are also fixed on and are walked crosswise on slide plate by pulling line rail slide block fixed head, on described, walking crosswise slide plate walks crosswise slide plate with side again and links together, on described, walking crosswise slide plate and side walks crosswise and on slide plate, is fixed with respectively some slide blocks of walking crosswise, described some walk crosswise slide block respectively with walk crosswise line rail and coordinate, the described servomotor of walking crosswise is walked crosswise helical gear rotation by walking crosswise reductor drive, described pulling servomotor drives pulling helical gear to rotate by pulling reductor, described walk crosswise helical gear with walk crosswise tooth bar coordinate drive walk crosswise from above that slide plate and side walk crosswise that slide plate form overall and above make horizontal rectilinear motion together with the parts installed.

6. mixed type industrial robot as claimed in claim 5, it is characterized in that, described Y-axis motion portion mainly comprises pulling beam, pulling line slideway, pulling helical rack, arm reductor flange, arm servomotor, arm reductor, arm helical gear, upper and lower seat group plate and some arm slide blocks, described pulling line slideway is arranged on the bottom surface of pulling beam, described pulling helical rack is arranged on the side of pulling beam and is parallel with pulling line slideway, described pulling line slideway coordinates pulling beam is arranged in X-axis motion portion with pulling installation slide block, described pulling helical rack coordinates with pulling helical gear, described arm reductor flange is fixed on an end side surface of pulling beam, be fixed with arm reductor and arm servomotor at the left surface of described arm reductor flange, be fixed with some arm slide blocks at the right flank of described arm reductor flange, described arm helical gear is also positioned at the right flank of arm reductor flange, described upper and lower seat group plate is separately fixed at the front and back sides of arm reductor flange.

7. mixed type industrial robot as claimed in claim 6, it is characterized in that, described Z axis motion portion mainly comprises active beam, driven beam, active beam line slideway, active beam helical rack, driven beam line slideway and Timing Belt, described driven beam is arranged on the lateral surface of active beam, described active beam is by the driven beam of toothed belt transmission, described active beam line slideway and active beam helical rack are arranged on the medial surface of active beam, described active beam helical rack coordinates with arm helical gear, described driven beam line slideway is arranged on the another side that active beam is relative with active beam line slideway, described driven beam can be along the oscilaltion of driven beam line slideway, described arm servomotor is by arm helical gear and active beam helical rack transmission active beam.