CN104354161B - Five axis robots - Google Patents

Five axis robots Download PDF

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Publication number
CN104354161B
CN104354161B CN201410574786.8A CN201410574786A CN104354161B CN 104354161 B CN104354161 B CN 104354161B CN 201410574786 A CN201410574786 A CN 201410574786A CN 104354161 B CN104354161 B CN 104354161B
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China
Prior art keywords
seat
driving motor
screw
bearing
speed reducer
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CN201410574786.8A
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CN104354161A (en
Inventor
李学文
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Dongguan Runtitan Intelligent Polytron Technologies Inc Three
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Dongguan Runtitan Intelligent Polytron Technologies Inc Three
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Abstract

The invention discloses a kind of five axis robots, including pedestal, the supporting rack connect is vertically connected with pedestal, in the screw that the inside of support frame as described above is equipped with down-feed screw and matches, the first driving motor is equipped on the madial wall of support frame as described above, the output shaft of driving motor is equipped with the first drive pulley, first drive pulley is by belt and the first negative pulley wheel drive connection in the screw mandrel top is arranged, the rotating mechanism being connected with the screw is equipped in the outside of support frame as described above, telescoping mechanism is equipped in the top of the rotating mechanism, telescoping mechanism is equipped with switching mechanism, aligning gear is equipped in switching mechanism.The madial wall of support frame as described above is equipped with the first driving motor, there is no the first drive pulley on the output shaft of driving motor, first drive pulley is by belt and the first negative pulley wheel drive connection in the screw mandrel top is arranged, the rotating mechanism being connected with the screw is equipped in the outside of support frame as described above, the present invention can be achieved by workpiece in a plurality of directions take, put work, be conveniently operated.

Description

Five axis robots
Technical field
The present invention relates to automation equipments, and in particular to a kind of five axis robots.
Background technology
In the prior art, there are some equipment during the work time, need raw material being sent into working position or will process Product taken out from station, such as punching machine, it is generally the case that be all above-mentioned work is carried out by the way of artificial, although Equipment is equipped with safety device, but there is also industrial accident is caused due to operation error, in addition, using manually picking and placeing Material, due to working long hours, can reduce working efficiency, great work intensity.
Invention content
It is an object of the invention to:For the drawbacks described above of the prior art, a kind of five axis robots, five axis robots are provided The movement of workpiece in a plurality of directions can be completed to take, put.
A kind of five axis robots, including pedestal are provided, the supporting rack connect are vertically connected with pedestal, in support frame as described above The screw that side is equipped with down-feed screw and matches is equipped with the first driving motor, driving motor on the madial wall of support frame as described above Output shaft be equipped with the first drive pulley, the first drive pulley is by belt and being arranged the first of the screw mandrel top Negative pulley wheel is sequentially connected, and the rotating mechanism being connected with the screw, the rotation are equipped in the outside of support frame as described above Telescoping mechanism is equipped in the top of mechanism, telescoping mechanism is equipped with switching mechanism, aligning gear is equipped in switching mechanism.
In above-mentioned five axis robot, the rotating mechanism includes rotation seat, in the side of the rotation seat equipped with driving Motor, the driving motor are connected by transmission belt with the speed reducer being arranged among the rotation seat, the speed reducer Output end is connected with a rotary cylinder, and the open slot for being connected with the screw is equipped in the other side of the rotation seat; It is equipped with the connecting plate for being connected with other components at the top of the rotary cylinder.
In above-mentioned five axis robot, the telescoping mechanism includes the flexible chute being connected on the connecting plate, in institute The two sides for stating flexible chute are equipped with linear slide rail, and linear slide rail is equipped with slide, and rack is equipped in the side of the sliding slot, The slide is equipped with the driving device being meshed with the rack;The driving device includes the drive being mounted on the slide Dynamic motor, is connected to the motor the speed reducer connect, and the gear being meshed with the rack is equipped in the output shaft of the speed reducer.
In above-mentioned five axis robot, the switching mechanism includes the overturning seat being connected with the slide, is turned over described Bearing is housed in swivel base, flip-arm is housed in bearing, a bearing is fixed with positioned at the end of the flip-arm of the overturning seat side It covers, is opened on the circumferential edges of bearing cap there are one driver slot is overturn, be equipped with tumble cylinder in the end of the overturning seat, overturning The output end of cylinder is equipped with a upset pin to match with the driver slot.
In above-mentioned five axis robot, the aligning gear includes the correcting mount being mounted on the overturning seat, described The side of correcting mount is equipped with driving motor and speed reducer, and the output shaft of the speed reducer is equipped with drive pulley, further includes one A fixed block, the fixed block are equipped with belt wheel seat board, and belt wheel seat board is equipped with bearing and bearing cap, one is equipped in the bearing A negative pulley wheel, the drive pulley are connected with negative pulley wheel by driving belt, in the negative pulley wheel Coaxial sucker disk seat is housed below axis body.
It is used in five axis robots above-mentioned, adjusting seat and adjusting nut is equipped in the end of the correcting mount.
The invention has the advantages that;The madial wall of support frame as described above be equipped with the first driving motor, driving motor it is defeated There is no the first drive pulley on shaft, the first drive pulley is by belt and is arranged in the first passive of the screw mandrel top Pulley drive connects, and the rotating mechanism being connected with the screw is equipped in the outside of support frame as described above, when lead screw rotates, It can drive the movement of rotating mechanism in vertical direction, rotating mechanism that can realize movement in a circumferential direction, setting when rotating Telescoping mechanism at the top of rotating mechanism can realize the movement in horizontal direction, and the switching mechanism being arranged in telescoping mechanism can be realized The overturning of workpiece is moved, and the aligning gear being arranged in switching mechanism can make workpiece contraposition more acurrate, and the present invention can be achieved will Workpiece in a plurality of directions take, put work, be conveniently operated.
Description of the drawings
Fig. 1 is the stereogram 1 of five axis robots of the invention;
Fig. 2 is the stereogram 2 of five axis robots of the invention;
Fig. 3 is the rotational structure stereogram 1 in five axis robots shown in Fig. 1;
Fig. 4 is the rotational structure stereogram 2 in five axis robots shown in Fig. 1;
Fig. 5 is the stretching structure stereogram in five axis robots shown in Fig. 1;
Fig. 6 is the switching mechanism front view in five axis robots 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 robots shown in Fig. 1.
Specific implementation mode
It is shown in reference picture 1, Fig. 2:A kind of five axis robots of design, are equipped with pedestal 1, the support connect are vertically connected with pedestal 1 Frame 2 is set in the screw 9 that the inside of support frame as described above 2 is equipped with down-feed screw 3 and matches on the madial wall of support frame as described above 2 There are the first driving motor 10, the output shaft of the first driving motor 10 to be equipped with the first drive pulley, the first drive pulley is logical It crosses belt 11 and the first negative pulley wheel 8 drive connection in the screw mandrel top is set, be equipped in the outside of support frame as described above 2 The top of the rotating mechanism 6 being connected with the screw 9, the rotating mechanism 6 is equipped with telescoping mechanism 4, and telescoping mechanism 4 is equipped with Switching mechanism 5 is equipped with aligning gear 7 in switching mechanism 5.
With reference to shown in Fig. 2, Fig. 4:A kind of rotating mechanism being used for five axis robots is designed, rotation seat 62 is equipped with, described The side of rotation seat 62 is equipped with the second driving motor 61, and second driving motor 61 is by transmission belt 63 with setting at described turn The second speed reducer 65 among dynamic seat is connected, and the second master, quilt are respectively provided on the second driving motor 61 and the second speed reducer Dynamic belt pulley, the output end of second speed reducer 65 are connected with a rotary cylinder 66.
In the above-mentioned rotating mechanism for being used for five axis robots, it is equipped with and is used for and screw in the other side of the rotation seat 62 9 open slots 621 being connected.
In the above-mentioned rotating mechanism for being used for five axis robots, it is equipped with and is used for and telescoping mechanism at the top of the rotary cylinder The connecting plate 67 being connected.
Mechanism is mounted in five axis robots, when five axis robots are needed workpiece in circumferencial direction travelling workpiece When, the second driving motor 61 can be started, the belt pulley on the second driving motor 61 drives the belt rotation on the second speed reducer 65 Dynamic, the rotary cylinder 66 being connected with the second speed reducer 65 rotates together, to drive together with the mechanism that rotary cylinder 66 is connected The rotation in circumferentially circumferential direction is realized in rotation.
Referring to Figure 5:A kind of telescoping mechanism being used for five axis robots is designed, flexible chute 47 is equipped with, is stretched described The two sides of contracting sliding slot 47 are equipped with linear slide rail 41, and linear slide rail 41 is equipped with slide 42, is equipped in the side of the sliding slot 47 Rack 46 is equipped with the driving device being meshed with the rack 46 on the slide 47.
In the above-mentioned telescoping mechanism for being used for five axis robots, the driving device includes the be mounted on the slide Three driving motors 43, the third speed reducer 44 being connected with third driving motor 43, in the output shaft of the third speed reducer 44 Equipped with the gear 45 being meshed with the rack 46.
Mechanism is mounted in five axis robots, when five axis robots need workpiece being moved horizontally to machining position, Third driving motor 43 can be started, third driving motor 43 is rotated with moving gear 45, and gear 45 drives slide 42 along linear guides 41 are moved forward or rearward, and the telescopic shaft being connect with slide 42 is sent to specified position.
With reference to shown in Fig. 6,7,8:A kind of switching mechanism being used for five axis robots, including overturning seat 53 are designed, described Bearing 55 is housed in overturning seat 53, flip-arm 52 is housed in bearing 55, is located at the end of the flip-arm 52 of 53 side of the overturning seat Portion is fixed with a bearing cap 56, is opened on the circumferential edges of bearing cap 56 there are one driver slot 561 is overturn, in the overturning seat 53 End is equipped with tumble cylinder 54, and a upset pin 57 to match with the driver slot 561 is equipped in the output end of tumble cylinder 54, Upset pin 57 can be inserted into this driver slot 561.
In the above-mentioned switching mechanism for being used for five axis robots, sucker mounting base is connected in the front end of the flip-arm 52 51。
Mechanism is mounted in five axis robots, when workpiece, which is sucked, in sucker mounting base 51 needs overturning, starts driving Cylinder 54, the upset pin 57 being connected with driving cylinder 54 can drive the flip-arm 52 that is connected with bearing cap 56 to turn to the left or to the right It is dynamic, it may make the sucker mounting base 51 being connected with flip-arm 52 to be turned to another horizontality from a kind of horizontality, from And realize the overturning requirement of workpiece.
With reference to shown in Fig. 9, a kind of aligning gear being used for five axis robots is designed, correcting mount 73 is equipped with, in the correction The side of seat 73 is equipped with driving motor 71 and speed reducer 72, and the output shaft of the speed reducer 72 is equipped with drive pulley 74, also If there are one fixed block 79, the fixed block 79 is equipped with belt wheel seat board 712, and belt wheel seat board 712 is equipped with bearing and bearing cap 711, set that there are one negative pulley wheels 78 in the bearing, the drive pulley 74 and negative pulley wheel 78 pass through driving belt 77 are connected, and coaxial sucker disk seat 713 is housed below the axis body of the negative pulley wheel 78.
In the above-mentioned aligning gear for being used for five axis robots, it is equipped with adjusting seat 76 in the end of the correcting mount 73 and adjusts Whole nut 75, the tension for adjusting driving belt 77.
Mechanism is mounted in five axis robots, when five axis robots drive sucker disk seat 713 that workpiece is moved to processing When position, if out of alignment, driving motor 71 can be started, driving motor 71 drives belt pulley 74 to rotate, and negative pulley wheel 78 can It drives the sucker disk seat 713 coaxially connected to rotate to the left or to the right, ensures that workpiece correctly aligns.
When lead screw 3 rotates, it can drive the movement of rotating mechanism 6 in vertical direction, rotating mechanism 6 that can be realized when rotating Movement in a circumferential direction, the telescoping mechanism 4 at the top of rotating mechanism 6, which is arranged, can realize movement in horizontal direction, setting It can realize that the overturning movement of workpiece, the aligning gear 7 being arranged in switching mechanism 5 can make in the switching mechanism 5 of telescoping mechanism 4 Workpiece contraposition it is more acurrate, the present invention can be achieved by workpiece in a plurality of directions take, put work, be conveniently operated.

Claims (4)

1. a kind of five axis robots, including pedestal, the supporting rack connect is vertically connected with pedestal, it is characterised in that:In the support The screw that the inside of frame is equipped with down-feed screw and matches is equipped with the first driving motor on the madial wall of support frame as described above, drives The output shaft of dynamic motor is equipped with the first drive pulley, and the first drive pulley is by belt with setting in the screw mandrel top The first negative pulley wheel be sequentially connected, be equipped with the rotating mechanism that is connected with the screw, institute in the outside of support frame as described above It states and is equipped with telescoping mechanism in the top of rotating mechanism, telescoping mechanism is equipped with switching mechanism, and aligning gear is equipped in switching mechanism;
Wherein, the rotating mechanism includes rotation seat, driving motor is housed in the side of the rotation seat, the driving motor is logical It crosses transmission belt and is connected with the speed reducer being arranged among the rotation seat, the output end of the speed reducer is connected with a rotary cylinder It connects, the open slot for being connected with the screw is equipped in the other side of the rotation seat;It is set at the top of the rotary cylinder It is useful for the connecting plate being connected with other components;
The telescoping mechanism includes the flexible chute being connected on the connecting plate, and line is housed in the two sides of the flexible chute Property sliding rail, linear slide rail be equipped with slide, the side of the sliding slot be equipped with rack, on the slide be equipped with and the rack The driving device being meshed;The driving device includes the driving motor being mounted on the slide, is connected to the motor subtracting of connecing Fast machine is equipped with the gear being meshed with the rack in the output shaft of the speed reducer.
2. five axis robot according to claim 1, it is characterised in that;The switching mechanism includes being connected with the slide The overturning seat connect is equipped with bearing in the overturning seat, flip-arm is housed in bearing, is located at the flip-arm of the overturning seat side End be fixed with a bearing cap, opened on the circumferential edges of bearing cap there are one overturn driver slot, in the end of the overturning seat Equipped with tumble cylinder, a upset pin to match with the driver slot is equipped in the output end of tumble cylinder.
3. five axis robot according to claim 2, it is characterised in that;The aligning gear includes being mounted on the overturning Correcting mount on seat is equipped with driving motor and speed reducer in the side of the correcting mount, and the output shaft of the speed reducer is equipped with Drive pulley also includes a fixed block, and the fixed block is equipped with belt wheel seat board, and belt wheel seat board is equipped with bearing and bearing It covering, is set in the bearing there are one negative pulley wheel, the drive pulley is connected with negative pulley wheel by driving belt, Coaxial sucker disk seat is housed below the axis body of the negative pulley wheel.
4. five axis robot according to claim 3, it is characterised in that:The end of the correcting mount be equipped with adjusting seat and Adjusting nut.
CN201410574786.8A 2014-10-25 2014-10-25 Five axis robots Active CN104354161B (en)

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CN201410574786.8A CN104354161B (en) 2014-10-25 2014-10-25 Five axis robots

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Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104860058B (en) * 2015-04-27 2017-07-21 江苏新美星包装机械股份有限公司 The governor motion of gripper equipment in layer backing plate collection hair 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
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
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

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CN1411420A (en) * 1998-07-11 2003-04-16 塞米用具公司 Robots for microelectronic workpiece handling
CN202491239U (en) * 2011-12-29 2012-10-17 沈阳新松机器人自动化股份有限公司 Atmospheric double-arm manipulator
CN204278001U (en) * 2014-10-25 2015-04-22 东莞市三润田自动化设备有限公司 Five axis robot

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US5765444A (en) * 1995-07-10 1998-06-16 Kensington Laboratories, Inc. Dual end effector, multiple link robot arm system with corner reacharound and extended reach capabilities
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Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
CN1411420A (en) * 1998-07-11 2003-04-16 塞米用具公司 Robots for microelectronic workpiece handling
CN202491239U (en) * 2011-12-29 2012-10-17 沈阳新松机器人自动化股份有限公司 Atmospheric double-arm manipulator
CN204278001U (en) * 2014-10-25 2015-04-22 东莞市三润田自动化设备有限公司 Five axis robot

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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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