CN104354161A - Five-shaft manipulator - Google Patents
Five-shaft manipulator Download PDFInfo
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- CN104354161A CN104354161A CN201410574786.8A CN201410574786A CN104354161A CN 104354161 A CN104354161 A CN 104354161A CN 201410574786 A CN201410574786 A CN 201410574786A CN 104354161 A CN104354161 A CN 104354161A
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Abstract
The invention discloses a five-shaft manipulator which comprises a base and a support frame vertically connected with the base, wherein a vertical screw rod and a matched screw nut are arranged on the inner side of the support frame, and a first drive motor is arranged on the inner side wall of the support frame; a first driving belt wheel is arranged on an output shaft of the drive motor and is in transmission connection with a first driven belt wheel arranged at the top end of the screw rod through a belt; a rotating mechanism connected with the screw nut is arranged on the outer side of the support frame, and a telescoping mechanism is arranged at the top of the rotating mechanism; a turnover mechanism is arranged on the telescoping mechanism, and a correcting mechanism is arranged in the turnover mechanism. With the structure, the five-shaft manipulator can realize the taking and putting operations of workpieces in multiple directions and is convenient to operate.
Description
Technical field
The present invention relates to automation equipment, be specifically related to a kind of five axis robot.
Background technology
In the prior art, there are some equipment in the course of the work, need raw material to be sent to working position and maybe the product processed is taken out from station, such as punch press, under normal circumstances, be all adopt artificial mode to carry out above-mentioned work, although be provided with safety device on equipment, but also exist because operate miss causes industrial accident, in addition, employing manually picks and places material, owing to working long hours, can reduce operating efficiency, working strength is large.
Summary of the invention
The object of the invention is to: for the above-mentioned defect of prior art, provide a kind of five axis robot, five axis robot can complete workpiece movement in a plurality of directions and take, put.
A kind of five axis robot are provided, comprise base, the bracing frame that be connected vertical with base, at the screw that the inner side of support frame as described above is provided with down-feed screw and matches, the madial wall of support frame as described above is provided with the first drive motors, the output shaft of drive motors is provided with the first drive pulley, first drive pulley is in transmission connection by belt and the first negative pulley wheel being arranged on described screw mandrel top, the rotating mechanism be connected with described screw is provided with in the outside of support frame as described above, telescoping mechanism is provided with in the top of described rotating mechanism, telescoping mechanism is provided with switching mechanism, aligning gear is provided with in switching mechanism.
In above-mentioned five axis robot, described rotating mechanism comprises rotation seat, in the side of described rotation seat, drive motors is housed, described drive motors is connected with the reductor be arranged in the middle of described rotation seat by driving-belt, the output of described reductor is connected with a rotary cylinder, is provided with the open slot for being connected with described screw at the opposite side of described rotation seat; The connecting plate for being connected with other parts is provided with at the top of described rotary cylinder.
In above-mentioned five axis robot, described telescoping mechanism comprises the flexible chute be connected on described connecting plate, in the two sides of described flexible chute, linear slide rail is housed, linear slide rail is provided with slide, be provided with tooth bar in the side of described chute, described slide is provided with the drive unit be meshed with described tooth bar; Described drive unit comprises the drive motors be arranged on described slide, the reductor be connected with motor, is provided with the gear be meshed with described tooth bar at the output shaft of described reductor.
In above-mentioned five axis robot, described switching mechanism comprises the overturning seat be connected with described slide, in described overturning seat, bearing is housed, in bearing, flip-arm is housed, the end winding support being positioned at the flip-arm of described overturning seat side has a bearing cap, the circumferential edges of bearing cap has a upset driver slot, be provided with upset cylinder in the end of described overturning seat, be provided with a upset pin matched with described driver slot at the output of upset cylinder.
In above-mentioned five axis robot, described aligning gear comprises the correcting mount be arranged on described overturning seat, in the side of described correcting mount, drive motors and reductor are housed, the output shaft of described reductor is provided with drive pulley, also comprise a fixed block, described fixed block is provided with belt wheel seat board, belt wheel seat board is provided with bearing and bearing cap, a negative pulley wheel is provided with in described bearing, described drive pulley is connected by driving belt with negative pulley wheel, below the axis body of described negative pulley wheel, coaxial sucker disk seat is housed.
Above-mentioned in five axis robot, be provided with adjusting seat and adjusting nut in the end of described correcting mount.
Tool of the present invention has the following advantages, the madial wall of support frame as described above is provided with the first drive motors, the output shaft of drive motors there is no the first drive pulley, first drive pulley is in transmission connection by belt and the first negative pulley wheel being arranged on described screw mandrel top, the rotating mechanism be connected with described screw is provided with in the outside of support frame as described above, when screw mandrel rotates, can the movement in vertical direction of driven rotary mechanism, rotating mechanism can realize movement in a circumferential direction when rotating, the telescoping mechanism being arranged on rotating mechanism top can realize the movement in horizontal direction, the upset that the switching mechanism being arranged on telescoping mechanism can realize workpiece is moved, the aligning gear be arranged in switching mechanism can make workpiece contraposition more accurate, the present invention can realize workpiece getting in a plurality of directions, to knock off work, handled easily.
Accompanying drawing explanation
Fig. 1 is the stereogram 1 of the present invention five axis robot;
Fig. 2 is the stereogram 2 of the present invention five axis robot;
Fig. 3 is the rotational structure stereogram 1 in five axis robot shown in Fig. 1;
Fig. 4 is the rotational structure stereogram 2 in five axis robot shown in Fig. 1;
Fig. 5 is the stretching structure stereogram in five axis robot shown in Fig. 1;
Fig. 6 is the switching mechanism front view in five axis robot shown in Fig. 1;
Fig. 7 is overturning seat structure top view in switching mechanism shown in Fig. 6;
Fig. 8 is the side view of Fig. 6;
Fig. 9 is the correcting structure stereogram in five axis robot shown in Fig. 1.
Detailed description of the invention
With reference to Fig. 1, shown in Fig. 2: design a kind of five axis robot, be provided with base 1, the bracing frame 2 that be connected vertical with base 1, the screw 9 being provided with down-feed screw 3 in the inner side of support frame as described above 2 and matching, the madial wall of support frame as described above 2 is provided with the first drive motors 10, the output shaft of the first drive motors 10 is provided with the first drive pulley, first drive pulley is in transmission connection by belt 11 and the first negative pulley wheel 8 being arranged on described screw mandrel top, the rotating mechanism 6 be connected with described screw 9 is provided with in the outside of support frame as described above 2, the top of described rotating mechanism 6 is provided with telescoping mechanism 4, telescoping mechanism 4 is provided with switching mechanism 5, aligning gear 7 is provided with in switching mechanism 5.
With reference to shown in Fig. 2, Fig. 4: design a kind of rotating mechanism for five axis robot, be provided with rotation seat 62, in the side of described rotation seat 62, second drive motors 61 is housed, described second drive motors 61 is connected with the second reductor 65 be arranged in the middle of described rotation seat by driving-belt 63, second drive motors 61 and the second reductor are equipped with the second active and passive belt pulley respectively, and the output of described second reductor 65 is connected with a rotary cylinder 66.
In the above-mentioned rotating mechanism for five axis robot, be provided with the open slot 621 for being connected with screw 9 at the opposite side of described rotation seat 62.
In the above-mentioned rotating mechanism for five axis robot, be provided with the connecting plate 67 for being connected with telescoping mechanism at the top of described rotary cylinder.
Mechanism is arranged in five axis robot, when five axis robot to need workpiece at circumferencial direction travelling workpiece, the second drive motors 61 can be started, belt pulley on second drive motors 61 drives the pulley rotation on the second reductor 65, rotate together with the rotary cylinder 66 that the second reductor 65 is connected, thus drive and rotate together with the mechanism that rotary cylinder 66 is connected, realize the rotation in circumferentially circumferential direction.
With reference to shown in Fig. 5: design a kind of telescoping mechanism for five axis robot, be provided with flexible chute 47, in the two sides of described flexible chute 47, linear slide rail 41 is housed, linear slide rail 41 is provided with slide 42, be provided with tooth bar 46 in the side of described chute 47, described slide 47 is provided with the drive unit be meshed with described tooth bar 46.
In the above-mentioned telescoping mechanism for five axis robot, described drive unit comprises the 3rd drive motors 43 be arranged on described slide, the 3rd reductor 44 be connected with the 3rd drive motors 43, is provided with the gear 45 be meshed with described tooth bar 46 at the output shaft of described 3rd reductor 44.
Mechanism is arranged in five axis robot, when five axis robot need workpiece level to move to machining position, the 3rd drive motors 43 can be started, 3rd drive motors 43 driven gear 45 rotates, gear 45 drives slide 42 to move forward or backward along linear guides 41, and the telescopic shaft be connected with slide 42 is delivered to the position of specifying.
With reference to shown in Fig. 6,7,8: design a kind of switching mechanism for five axis robot, comprise overturning seat 53, in described overturning seat 53, bearing 55 is housed, flip-arm 52 is housed in bearing 55, the end winding support being positioned at the flip-arm 52 of described overturning seat 53 side has a bearing cap 56, the circumferential edges of bearing cap 56 has a upset driver slot 561, upset cylinder 54 is provided with in the end of described overturning seat 53, be provided with a upset pin 57 matched with described driver slot 561 at the output of upset cylinder 54, upset pin 57 can insert in this driver slot 561.
In the above-mentioned switching mechanism for five axis robot, be connected with sucker mount pad 51 in the front end of described flip-arm 52.
Mechanism is arranged in five axis robot, when sucker mount pad 51 hold workpiece need upset time, start and drive cylinder 54, the flip-arm 52 that to be connected with bearing cap 56 can be driven to rotate to the left or to the right with driving the upset pin 57 that is connected of cylinder 54, the sucker mount pad 51 be connected with flip-arm 52 can be made to be turned to another level from a kind of level, thus to realize the upset requirement of workpiece.
With reference to shown in Fig. 9, design a kind of aligning gear for five axis robot, be provided with correcting mount 73, in the side of described correcting mount 73, drive motors 71 and reductor 72 are housed, the output shaft of described reductor 72 is provided with drive pulley 74, also be provided with a fixed block 79, described fixed block 79 is provided with belt wheel seat board 712, belt wheel seat board 712 is provided with bearing and bearing cap 711, a negative pulley wheel 78 is provided with in described bearing, described drive pulley 74 is connected by driving belt 77 with negative pulley wheel 78, below the axis body of described negative pulley wheel 78, coaxial sucker disk seat 713 is housed.
In the above-mentioned aligning gear for five axis robot, be provided with adjusting seat 76 and adjusting nut 75 in the end of described correcting mount 73, for adjusting the tension force of driving belt 77.
Mechanism is arranged in five axis robot, when five axis robot drive sucker disk seats 713 by workpiece movable to machining position time, if malposition, drive motors 71 can be started, drive motors 71 drives belt pulley 74 to rotate, negative pulley wheel 78 can drive the sucker disk seat 713 that be connected coaxial with it to rotate to the left or to the right, ensures the correct contraposition of workpiece.
When screw mandrel 3 rotates, can driven rotary mechanism 6 movement in vertical direction, movement in a circumferential direction can be realized when rotating mechanism 6 rotates, the telescoping mechanism 4 being arranged on rotating mechanism 6 top can realize the movement in horizontal direction, the upset that the switching mechanism 5 being arranged on telescoping mechanism 4 can realize workpiece is moved, the aligning gear 7 be arranged in switching mechanism 5 can make workpiece contraposition more accurate, the present invention can realize by workpiece in a plurality of directions take, put work, handled easily.
Claims (6)
1. an axis robot, comprise base, the bracing frame that be connected vertical with base, it is characterized in that: the screw being provided with down-feed screw in the inner side of support frame as described above and matching, the madial wall of support frame as described above is provided with the first drive motors, the output shaft of drive motors is provided with the first drive pulley, first drive pulley is in transmission connection by belt and the first negative pulley wheel being arranged on described screw mandrel top, the rotating mechanism be connected with described screw is provided with in the outside of support frame as described above, telescoping mechanism is provided with in the top of described rotating mechanism, telescoping mechanism is provided with switching mechanism, aligning gear is provided with in switching mechanism.
2. five axis robot according to claim 1, is characterized in that; Described rotating mechanism comprises rotation seat, in the side of described rotation seat, drive motors is housed, described drive motors is connected with the reductor be arranged in the middle of described rotation seat by driving-belt, the output of described reductor is connected with a rotary cylinder, is provided with the open slot for being connected with described screw at the opposite side of described rotation seat; The connecting plate for being connected with other parts is provided with at the top of described rotary cylinder.
3. five axis robot according to claim 2, is characterized in that; Described telescoping mechanism comprises the flexible chute be connected on described connecting plate, in the two sides of described flexible chute, linear slide rail is housed, linear slide rail is provided with slide, is provided with tooth bar in the side of described chute, and described slide is provided with the drive unit be meshed with described tooth bar; Described drive unit comprises the drive motors be arranged on described slide, the reductor be connected with motor, is provided with the gear be meshed with described tooth bar at the output shaft of described reductor.
4. five axis robot according to claim 3, is characterized in that; Described switching mechanism comprises the overturning seat be connected with described slide, in described overturning seat, bearing is housed, in bearing, flip-arm is housed, the end winding support being positioned at the flip-arm of described overturning seat side has a bearing cap, the circumferential edges of bearing cap has a upset driver slot, be provided with upset cylinder in the end of described overturning seat, be provided with a upset pin matched with described driver slot at the output of upset cylinder.
5. five axis robot according to claim 4, is characterized in that; Described aligning gear comprises the correcting mount be arranged on described overturning seat, in the side of described correcting mount, drive motors and reductor are housed, the output shaft of described reductor is provided with drive pulley, also draw together a fixed block, described fixed block is provided with belt wheel seat board, belt wheel seat board is provided with bearing and bearing cap, a negative pulley wheel is provided with in described bearing, described drive pulley is connected by driving belt with negative pulley wheel, below the axis body of described negative pulley wheel, coaxial sucker disk seat is housed.
6. according to claim 5 for five axis robot, it is characterized in that: be provided with adjusting seat and adjusting nut in the end of described correcting mount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410574786.8A CN104354161B (en) | 2014-10-25 | 2014-10-25 | Five axis robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410574786.8A CN104354161B (en) | 2014-10-25 | 2014-10-25 | Five axis robots |
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| Publication Number | Publication Date |
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| CN104354161A true CN104354161A (en) | 2015-02-18 |
| CN104354161B CN104354161B (en) | 2018-08-10 |
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| CN201410574786.8A Active CN104354161B (en) | 2014-10-25 | 2014-10-25 | Five axis robots |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104860058A (en) * | 2015-04-27 | 2015-08-26 | 江苏新美星包装机械股份有限公司 | Adjusting mechanism of hand grab device in laminated base plate centralized transferring machine |
| CN105173811A (en) * | 2015-08-13 | 2015-12-23 | 广东长天精密设备科技有限公司 | Overturning and correction mechanism of backlight source module laminator |
| CN105710875A (en) * | 2016-04-05 | 2016-06-29 | 苏州盟川自动化科技有限公司 | Five-axis robot |
| CN105751050A (en) * | 2016-03-17 | 2016-07-13 | 温州智元知识产权管理有限公司 | Polishing equipment aiming at metal shell edge |
| CN108544252A (en) * | 2018-04-04 | 2018-09-18 | 湖州旭源电气科技有限公司 | One kind processing turnover device for auto parts and components |
| CN108928483A (en) * | 2018-07-17 | 2018-12-04 | 桂林电子科技大学 | A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm |
| CN115200561A (en) * | 2022-08-11 | 2022-10-18 | 枣庄高新建设集团有限公司 | Hydrological monitoring equipment for environmental protection engineering |
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| CN1411420A (en) * | 1998-07-11 | 2003-04-16 | 塞米用具公司 | Robots for microelectronic workpiece handling |
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| WO1997002933A1 (en) * | 1995-07-10 | 1997-01-30 | Kensington Laboratories, Inc. | Dual end effector, multiple link robot arm system with corner reacharound and extended reach capabilities |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104860058A (en) * | 2015-04-27 | 2015-08-26 | 江苏新美星包装机械股份有限公司 | Adjusting mechanism of hand grab device in laminated base plate centralized transferring machine |
| CN105173811A (en) * | 2015-08-13 | 2015-12-23 | 广东长天精密设备科技有限公司 | Overturning and correction mechanism of backlight source module laminator |
| CN105751050A (en) * | 2016-03-17 | 2016-07-13 | 温州智元知识产权管理有限公司 | Polishing equipment aiming at metal shell edge |
| CN105710875A (en) * | 2016-04-05 | 2016-06-29 | 苏州盟川自动化科技有限公司 | Five-axis robot |
| CN105710875B (en) * | 2016-04-05 | 2018-03-13 | 苏州盟川自动化科技有限公司 | A kind of wu-zhi-shan pig |
| CN108544252A (en) * | 2018-04-04 | 2018-09-18 | 湖州旭源电气科技有限公司 | One kind processing turnover device for auto parts and components |
| CN108928483A (en) * | 2018-07-17 | 2018-12-04 | 桂林电子科技大学 | A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm |
| CN115200561A (en) * | 2022-08-11 | 2022-10-18 | 枣庄高新建设集团有限公司 | Hydrological monitoring equipment for environmental protection engineering |
| CN115200561B (en) * | 2022-08-11 | 2024-01-30 | 枣庄高新建设集团有限公司 | Hydrologic monitoring equipment for environmental engineering |
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| CN104354161B (en) | 2018-08-10 |
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Address after: 523000 Guangdong city of Dongguan Province Town Green Lake Industrial Park West Foxconn nishiura Industrial Park 2 Building No. 2 Applicant after: Dongguan runtitan intelligent Polytron Technologies Inc three Address before: Dongguan City, Guangdong Province town 523000 Qing Xia Cun Xia Wu Road No. 68 Applicant before: Dongguan Sanruntian Automation Devices Co., Ltd. |
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Address after: 523000 Room 101, No.39, Dali Xinxing 1st Road, Qingxi Town, Dongguan City, Guangdong Province Patentee after: Dongguan sanruntian Intelligent Technology Co.,Ltd. Address before: 523000 No.2, building 2, Honghai Xipu Industrial Park, west section of Qinghu Industrial Park, Qingxi Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN SANNIAN INTELLIGENT TECHNOLOGY Co.,Ltd. |