CN1044691C - Driving mechanism of orthogonal three axle robert - Google Patents
Driving mechanism of orthogonal three axle robert Download PDFInfo
- Publication number
- CN1044691C CN1044691C CN94113559A CN94113559A CN1044691C CN 1044691 C CN1044691 C CN 1044691C CN 94113559 A CN94113559 A CN 94113559A CN 94113559 A CN94113559 A CN 94113559A CN 1044691 C CN1044691 C CN 1044691C
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- China
- Prior art keywords
- moving body
- orthogonal
- belt pulley
- belt
- make
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- Expired - Fee Related
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The present invention attains simplifying a device and reducing a cost by providing in series 3-axis directional power transmitting systems, providing a brake device, and forming each axis individually drivable with a single motor by selectively switching to the brake device operating or inoperating.
Description
The present invention relates to a kind of drive unit of orthogonal three axle robert, this manipulator is in main shaft chuck and Workpiece supply part and transport between part the carrying workpiece and use.
So far, all be provided with the planer-type feeding device as orthogonal three axle robert on the automatic lathe, the Workpiece supply main shaft chuck, perhaps the goods after the processing transported from main shaft chuck there, this technology all has been known.The structure of this planer-type feeding device is that the load frame of door type erectly is arranged on the pedestal of lathe, is disposing moving body on the crossbeam of this load frame, by the power drive travel wheel of motor, make this moving body along about (X-axis) direction advance; On this moving body, be provided with can (Z) direction of principal axis moves along front and back slide mass, slide before and after making this slide mass with another motor; Be provided with on this slide mass can along about the elevating lever that moves of (Y-axis) direction, make this lifter rod lifting with another motor again; Setting payload header in this elevating lever bottom, just can holding workpiece and join with load chuck set on this payload header.
Because the planer-type feeding device before this is made the structure that it is moved with different motors respectively to X-axis, Y-axis, Z axle, for the positioning accuracy that improves these motors is all used servo motor, therefore cost is higher, and the weight of Yin Mada self increases the weight of moving body, just must also make the load frame of support moving body the structure of firmer heaviness thus.
The present invention makes in order to solve the above problems, and the drive unit that provides motor of a kind of usefulness just can make the orthogonal three axle robert three shaft-driven, simple in structure, in light weight, that cost is low respectively is provided.
To achieve the above object, the present invention takes following technical scheme:
The invention provides a kind of drive unit of orthogonal three axle robert, comprise the moving body that can move, the slide mass that can move with respect to this moving body, along Z-direction with respect to the frame of advancing, along X-direction; With can be relative to this slide mass, along the lifting body that Y direction moves, it is characterized in that: it is designed to this three axial power-transmission system to connect; In each power transfer part brake apparatus is set,, just can makes each driving respectively with a motor by to the effect of brake apparatus or the conversion selectively that does not act on.
Purpose of the present invention can also following mode reach: the drive unit of described orthogonal three axle robert is characterized in that: above-mentioned power-transmission system by be arranged on X-axis, Y-axis and corresponding each moving body of Z axle on belt mechanism; With support this belt mechanism in combination with this belt mechanism, be bearing in above-mentioned moving body facing to the side on belt pulley constitute; Be that to control this belt pulley by above-mentioned brake apparatus rotating.
The drive unit of described orthogonal three axle robert is characterized in that: above-mentioned brake apparatus is made of with the brake apparatus that combines of this hook hook on the stop position that is arranged on moving body and releasing.
The drive unit of orthogonal three axle robert of the present invention comprises the moving body that can move along X-direction with respect to the frame of advancing, with respect to this moving body, the slide mass that can move along Z-direction and the lifting body that moves along Y direction with respect to this slip physical efficiency; Is this three axial transmission of power to constitute, by belt pulley and belt, to the downstream tandem drive that is arranged on the CD-ROM drive motor on the frame of advancing; On each desired location of the power transfer part of X-direction, Y direction, Z-direction, brake apparatus is set, by just making each driving respectively to the effect of this brake apparatus and the conversion selectively that does not act on; Just can drive orthogonal three axle robert with a motor that is arranged on the frame of advancing.
With device with this structure, as shown in Figure 3, connecting that Z-direction is braked as the electromagnetic brake 32 of brake apparatus with to the electromagnetic brake 45 that Y direction is braked as brake apparatus, make when removing as the braking of the rotating screw pipe 33 of the brake apparatus of X-direction, just can be by the driving of CD-ROM drive motor 10, make moving body 9 and move along X-direction with respect to the frame 3 of advancing; Combine the back at the bonding pad 33a that makes rotating screw pipe 33 with hook any one in 17～20, moving body 9 be fixed on advance on the frame 3, when making electromagnetic brake 32 connect, make electromagnetic brake 45 to disconnect, make CD-ROM drive motor 10 to drive, lifting body 40 is moved along Y direction; Make bonding pad combine the back, when making electromagnetic brake 32 disconnect, make electromagnetic brake 45 to connect, make CD-ROM drive motor 10 to drive, slide mass 35 is being moved with respect to moving body 9 along Z-direction with hook any one in 17～20.
Fig. 1 is the front elevation that expression is being equipped with the whole automatic lathe of orthogonal three axle robert of the present invention and Workpiece supplier and exit conveyor,
Fig. 2 is the stereogram of the drive unit of orthogonal three axle robert of the present invention,
Fig. 3 is the schematic diagram of movements of the drive unit of expression orthogonal three axle robert of the present invention.
Below with reference to accompanying drawing one embodiment of the present of invention are described, Fig. 1 is the front elevation that is equipped with the whole automatic lathe of orthogonal three axle robert of the present invention and Workpiece supplier and exit conveyor, Fig. 2 is the stereogram of the drive unit of orthogonal three axle robert of the present invention, and Fig. 3 is the schematic diagram of movements of the drive unit of expression orthogonal three axle robert of the present invention.
Below, with reference to Fig. 1, the whole apparatus structure of the biaxial type automatic lathe that orthogonal three axle robert of the present invention is housed is described, promptly it is that lathe A is being set on pedestal 1, in the both sides of this lathe A, erectly the pillar 2,2 of the carrier of orthogonal three axle robert B is set; On the top of this pillar 2,2, laterally setting up the frame 3 of advancing, on the frame 3 of advancing, placing following moving body 9.The main shaft chuck 4,4 of lathe A is above pedestal 1 central authorities, and is outstanding from main spindle box; At the side of this main shaft chuck 4,4, capstan head 7,7 can slide and prominent rotationally establishing front and back, is provided with multiple cutting tool on the outer peripheral face of this capstan head 7,7; Make these capstan head 7,7 revolutions and choose to add the cutting tool that to use man-hour, make the main shaft gyration of clamping workpiece, capstan head 7 is all around slided, just can carry out machining.The 5th, operation board, the 6th, conveyer belt is discharged in smear metal.
In addition, workpiece feeder C is being set on the right side of lathe A, goods are being set in the left side are transporting conveyer belt D, transporting at this lathe A and workpiece feeder C and goods the orthogonal three axle robert B that can carry workpiece of the present invention is being set between the conveyer belt D.Promptly as Fig. 2, shown in Figure 3, this device of orthogonal three axle robert B laterally is erected at the top that above-mentioned advance frame 3 and workpiece feeder C and goods transport conveyer belt D, fixing the CD-ROM drive motor 10 that constitutes by servo motor at the right-hand member of the frame 3 of advancing, on the driving shaft 10a of this CD-ROM drive motor 10, fixing belt pulley 11, at frame 3 left ends of advancing, can driven pulley 12 by fulcrum supporting freely to rotate, between belt pulley 11,12, twining synchronous belt 13.
On the other hand, on the above-mentioned frame 3 of advancing, setting up the track 3a that advances, moving body 9 is made into and can moves along this track 3a (along X-direction) that advances, on three vertex positions triangular in shape of these moving body 9 front portions, belt pulley 14,15,16 can be set freely to rotate, be wrapped on these belt pulleys 14,15,16 mid portion of above-mentioned synchronous belt 13, one-tenth " Z " word shape.In the front of advancing frame 3, respectively above workpiece feeder C, main shaft chuck 4,4 top and goods transport the top of conveyer belt D, the hook 17 as brake apparatus that makes moving body 9 stop usefulness being set, 18,19,20, these hooks 17,18,19,20 form recess 17a respectively, 18a, 19a, 20a, on moving body 9, be provided with rotating screw pipe 33, it have can with above-mentioned recess 17a, 18a, 19a, the bonding pad 33a of 20a combination, usually, rotating screw pipe 33 makes bonding pad be in free state, when moving to above-mentioned hook 17,18,19, in the time of on any one position in 20, bonding pad 33a just can slip into recess 17a, 18a, 19a, 20a makes moving body 9 stop to move.Wanting to make bonding pad when this locational hook is deviate from, make 33 actions of rotating screw pipe, thereby make bonding pad 33a revolution, it is deviate from from recess, just make in conjunction with removing, if make CD-ROM drive motor 10 drive, just can make moving body 9 mobile on the frame 3 of advancing.But the interlocking portion at the track 3a that advances of moving body 9 is provided with brake apparatus, just can make the structure that it is stopped at an arbitrary position.
The belt pulley 15 of central authorities that is arranged in three belt pulleys of above-mentioned moving body 9 front portions is fixed on the gyroaxis 21, these gyroaxis 21 energy free rotaring ground supportings are on moving body 9, fixing bevel gear 22, bevel gear 23 and these bevel gear 22 engagements in the rear end of this gyroaxis 21, the free pivoting support of axle 24 energy of bevel gear 23 is on moving body 9, fixing belt pulley 25 at this other end of 24, at moving body 9 rear portions, can free pivoting support belt pulley 26, between belt pulley 25,26, twining synchronous belt 27.Make belt pulley 28,29 front and back of energy free rotaring ground supporting on moving body 9 abreast with above-mentioned belt pulley 25,26 and synchronous belt 27, between belt pulley 28,29, twining belt 30.On the gyroaxis 31 of belt pulley 29, connecting electromagnetic brake 32, the revolution of belt 30 is stopped as brake apparatus.
And, slide mass 35 can be embedded on the above-mentioned moving body 9 along fore-and-aft direction (Z axle) with being free to slide, this slide mass 35 is fixed on the above-mentioned belt 30 by underrun connecting plate 36, the 35a of interlocking portion is arranged on the front portion of slide mass 35, (Y-axis) direction can be rabbeted in the 35a of this interlocking portion with being free to slide about lifting body 40 edges, the bottom of lifting body 40 is being provided with payload header 41, load chuck 42,42 stagger mutually 90 degree positions, set to horizontal direction and vertical direction ground, by payload header 41 is turned round the mutual alignment of load chuck is changed.
To carry workpiece by the orthogonal three axle robert B of this structure, make under the occasion that moving body about 9 slides, the bonding pad 33a of rotating screw pipe 33 is in not and hook 17,18,19,20 states that combine, by making electromagnetic brake 32 actions, belt 30 just can not turn round, and slide mass 35 is become can not move forward and backward; And by making electromagnetic brake 45 actions, belt pulley 44 is fixed on the slide mass, lifting body 40 is become can not move up and down, belt pulley 38 also becomes and can not turn round simultaneously, synchronous belt 27 is become can not turn round, by the transmission of bevel gear 23,22, belt pulley 15 can not be turned round, make moving body 9 be fixed on state on the synchronous belt 13 thereby form.
When in this state CD-ROM drive motor 10 being driven, moving body 9 just can horizontally slip on the track 3a that advances, and clamp under the situation of workpiece from workpiece feeder C, and moving body 9 is moved on the position of hook 17, make bonding pad 33a combination with it, thereby moving body 9 is stopped; Will from workpiece feeder C piece-holder after, carry and it be clamped under the situation on the main shaft chuck 4, make moving body 9 move to hook 18 or link up with on 19 the position, make bonding pad 33a combination with it; To transport goods from main shaft chuck 4, it transported under the situation on the goods carrying transferring belt D, moving body 9 is moved on the position of hook 20, make bonding pad 33a combination with it; Will from a position when move another position, making 33 actions of rotating screw pipe, bonding pad 33a is withdrawed from, in conjunction with removing, moving body 9 is moved to desired position.
When need be on bonding pad 33a and the position that combines of hook, lifting body 40 is moved up and down, carry out under the occasion of work delivery, when the action of electromagnetic brake 45 being removed (making electromagnetic brake 32 actions), gyroaxis 43 just can freely turn round, belt pulley 15 also can freely turn round, when CD-ROM drive motor 10 is driven, by belt pulley 11 effects, timing belt pulley 13 is just turned round, power is passed to belt pulley 15, bevel gear 22,23, belt pulley 25, synchronous belt 27, belt pulley 38, gyroaxis 43, belt pulley 44, make synchronous belt 46 revolutions, lifting body 40 is slided up and down.And the height up and down of lifting body 40 detects by sensor, and the highest lifting position is certain, and the height that drops to regulation by stop position is controlled its down position.
When need be under the occasion of 42 handing-over of main shaft chuck 4,4 and load chuck workpiece, be necessary to make slide mass 35 front and back to slide, bonding pad 33a is combined with hook 18 or 19, under the state that moving body 9 is fixed, the action of electromagnetic brake 32 is removed, make electromagnetic brake 45 actions, at this moment, belt 30 just can freely turn round, and slide mass 35 can be slided front and back, and, when being fixed on lifting body 40 on the slide mass 35, belt pulley 38 also just can not turn round, and along with the revolution of synchronous belt 27, slide mass 35 is just slided by front and back.Therefore, when making CD-ROM drive motor 10 drive, make synchronous belt 13 revolutions, by belt pulley 15, bevel gear 22,23, belt pulley 24 effects, synchronous belt 27 is just turned round, and is slided in slide mass 35 front and back.The position of sliding in the front and back of this slide mass 35 is detected by above-mentioned sensor too, and the distance ground of its regulation of sliding is controlled.
As above said, electromagnetic brake 32,45 is connected, by the driving of CD-ROM drive motor 10, can make moving body 9 along about (X-axis) move; On any one position of hook 17-20, bonding pad 33a is combined with the recess 17a-20a that links up with 17-20, make moving body 9 fix and make electromagnetic brake 32 connections, electromagnetic brake 45 is disconnected, when CD-ROM drive motor 10 is driven, just can make lifting body 40 liftings (promptly moving) along Y direction; Under the state that moving body 9 is fixed, electromagnetic brake 32 is disconnected, electromagnetic brake 45 is connected, when CD-ROM drive motor 10 is driven, just can make slide mass 35 front and back slips (promptly moving) along Z-direction.
Because the present invention has above-mentioned structure, thereby following effect is arranged.That is, just can make three drivings respectively with a CD-ROM drive motor, with former three servo motors of usefulness three shaft-driven structures be compared, can make advance frame and moving body weight saving, can make simple in structurely, cost reduces; In addition because be with servo motor in the past, move it by ball-screw, and the present invention just can be driven by synchronous belt, thereby weight is alleviated more.
Claims (3)
1, a kind of drive unit of orthogonal three axle robert comprises the moving body that can move with respect to the frame of advancing, along X-direction, the slide mass that can move with respect to this moving body, along Z-direction; With can be relative to this slide mass, along the lifting body that Y direction moves, it is characterized in that: it is designed to this three axial power-transmission system to connect; In each power transfer part brake apparatus is set,, just can makes each driving respectively with a motor by to the effect of brake apparatus or the conversion selectively that does not act on.
2, the drive unit of orthogonal three axle robert as claimed in claim 1 is characterized in that: above-mentioned power-transmission system by be arranged on X-axis, Y-axis and corresponding each moving body of Z axle on belt mechanism; With support this belt mechanism in combination with this belt mechanism, be bearing in above-mentioned moving body facing to the side on belt pulley constitute; Be that to control this belt pulley by above-mentioned brake apparatus rotating.
3, the drive unit of orthogonal three axle robert as claimed in claim 1 or 2 is characterized in that: above-mentioned brake apparatus is made of with the brake apparatus that combines of this hook hook on the stop position that is arranged on moving body and releasing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP326406/93 | 1993-12-24 | ||
| JP5326406A JPH07178683A (en) | 1993-12-24 | 1993-12-24 | Driving device for orthogonal three-axis robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1129623A CN1129623A (en) | 1996-08-28 |
| CN1044691C true CN1044691C (en) | 1999-08-18 |
Family
ID=18187441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN94113559A Expired - Fee Related CN1044691C (en) | 1993-12-24 | 1994-12-24 | Driving mechanism of orthogonal three axle robert |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JPH07178683A (en) |
| KR (1) | KR100234957B1 (en) |
| CN (1) | CN1044691C (en) |
| TW (1) | TW269660B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659413A (en) * | 2012-09-14 | 2014-03-26 | 珠海格力电器股份有限公司 | Translational mechanism and transplant mechanical arm with the same |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6657449B2 (en) * | 2000-12-21 | 2003-12-02 | Hansaem Digitec Co., Ltd. | Test pin unit for PCB test device and feeding device of the same |
| JP4898178B2 (en) * | 2005-09-30 | 2012-03-14 | Ｎｋｅ株式会社 | Multi-axis movable transfer device |
| JP4793186B2 (en) | 2006-09-07 | 2011-10-12 | 日本精工株式会社 | 3-axis drive |
| CN102909600B (en) * | 2012-10-31 | 2015-05-06 | 苏州凯蒂亚半导体制造设备有限公司 | Cantilever servo manipulator |
| CN104670850B (en) * | 2013-11-27 | 2017-08-25 | 深圳职业技术学院 | Feedway and its loader robot, system of processing for transmitting blank |
| JP6411910B2 (en) * | 2015-02-13 | 2018-10-24 | 高松機械工業株式会社 | Drive mechanism |
| KR101667303B1 (en) * | 2016-07-29 | 2016-10-18 | 주식회사 로보스타 | Robot |
| CN106743577B (en) * | 2017-01-17 | 2018-11-30 | 浙江优通自动化技术有限公司 | A kind of three-freedom mechanical arm device and manipulator plateform system |
| CN107139006A (en) * | 2017-06-21 | 2017-09-08 | 北京精雕科技集团有限公司 | A kind of automatic loading/unloading lathe of machine outside fix |
| CN114309240B (en) * | 2022-01-23 | 2024-06-11 | 东莞六淳智能科技股份有限公司 | Automatic punching equipment |
| KR20230154642A (en) | 2022-05-02 | 2023-11-09 | 한국표준과학연구원 | Drive module and multi-axis orthogonal robot using same |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4352615A (en) * | 1978-05-19 | 1982-10-05 | Lns Sa | Feeder for automatic lathe |
| US4458566A (en) * | 1980-04-22 | 1984-07-10 | Ikegai Tekko Kabushiki Kaisha | Flexible loader apparatus for machine tools and method for use thereof |
| US4650234A (en) * | 1985-10-31 | 1987-03-17 | Blatt L Douglas | Transfer boom assembly for workpieces |
| US5153973A (en) * | 1990-11-01 | 1992-10-13 | Kitamura Machinery Co., Ltd. | Work changer |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62234674A (en) * | 1986-04-02 | 1987-10-14 | Daihatsu Motor Co Ltd | Controlling method for positioning of multi-axis robot |
| JPH05104462A (en) * | 1991-10-14 | 1993-04-27 | Canon Inc | Two rectangular shaft type moving device |
-
1993
- 1993-12-24 JP JP5326406A patent/JPH07178683A/en active Pending
-
1994
- 1994-11-02 TW TW083110098A patent/TW269660B/zh active
- 1994-12-14 KR KR1019940034120A patent/KR100234957B1/en not_active IP Right Cessation
- 1994-12-24 CN CN94113559A patent/CN1044691C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4352615A (en) * | 1978-05-19 | 1982-10-05 | Lns Sa | Feeder for automatic lathe |
| US4458566A (en) * | 1980-04-22 | 1984-07-10 | Ikegai Tekko Kabushiki Kaisha | Flexible loader apparatus for machine tools and method for use thereof |
| US4650234A (en) * | 1985-10-31 | 1987-03-17 | Blatt L Douglas | Transfer boom assembly for workpieces |
| US5153973A (en) * | 1990-11-01 | 1992-10-13 | Kitamura Machinery Co., Ltd. | Work changer |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659413A (en) * | 2012-09-14 | 2014-03-26 | 珠海格力电器股份有限公司 | Translational mechanism and transplant mechanical arm with the same |
| CN103659413B (en) * | 2012-09-14 | 2016-03-23 | 珠海格力电器股份有限公司 | A kind of translation mechanism and there is its transplanting machine hand |
Also Published As
| Publication number | Publication date |
|---|---|
| TW269660B (en) | 1996-02-01 |
| KR950017116A (en) | 1995-07-20 |
| CN1129623A (en) | 1996-08-28 |
| JPH07178683A (en) | 1995-07-18 |
| KR100234957B1 (en) | 2000-04-01 |
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