CN105171718A - Four-axis mechanical arm - Google Patents
Four-axis mechanical arm Download PDFInfo
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- CN105171718A CN105171718A CN201510599147.1A CN201510599147A CN105171718A CN 105171718 A CN105171718 A CN 105171718A CN 201510599147 A CN201510599147 A CN 201510599147A CN 105171718 A CN105171718 A CN 105171718A
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- posterior axis
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- driven pulley
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Abstract
The invention discloses a four-axis mechanical arm. The four-axis mechanical arm comprises a rack, an up-and-down axis moving mechanism, a horizontal swinging mechanism, a front-and-back axis moving mechanism, a correcting mechanism, a cantilever and an arm body. The up-and-down axis moving mechanism comprises an up-and-down moving base sliding on the rack in the vertical direction of the rack and an up-and-down drive motor driving the up-and-down moving base to slide. The horizontal swinging mechanism is installed on the up-and-down moving base. The horizontal swinging mechanism is provided with a swinging frame swinging in the horizontal plane. The front-and-back axis moving mechanism is installed on the swinging frame. The cantilever is arranged in the front and back direction of the rack. The first end of the cantilever is connected with the front-and-back axis moving mechanism, and the second end of the cantilever is connected with the arm body in a pivoted manner. The cantilever is driven by the front-and-back axis moving mechanism to move front and back. The arm body is provided with a grabbing mechanism used for grabbing and placing a workpiece. The correcting mechanism is arranged on the cantilever and drives the arm body to be corrected relative to the cantilever. The grabbing structure on the arm body does four-axis movement to more stably grab and place the workpiece, and accordingly the moving reliability and precision of the four-axis mechanical arm are improved.
Description
Technical field
The present invention relates to manipulator field, particularly relate to a kind of four axis robot doing four axes motion reposefully.
Background technology
Along with the development of economy and the continuous progress of science and technology, development for enterprise provides strong economy and technology pillar, enterprise is impelled to stride forward towards intelligent and highly integrated etc. direction, and a kind of in the manipulator intelligentized product that to be exactly enterprise research and develop.
As everyone knows, in order to alleviate the burden of operating personnel, or alternative operating personnel carry out dangerous operation, all be unable to do without the application of manipulator.Gone the operation of alternative operating personnel by manipulator, thus reach the object improving effect or protection operating personnel, therefore make manipulator be applied widely in the occasion of automated production.
Wherein, for manipulator, because it has the motor function of staff by imitating the structure of staff, therefore manipulator comprises numerous drive units.And for doing the existing machinery hand of four axes motion, because its each drive unit arranges unreasonable, therefore there is the low defect of complex structure, bumpy motion and kinematic accuracy, thus be unfavorable for that existing manipulator is adapted to the high occasion of technological requirement.
Therefore, be badly in need of wanting that a kind of structure is simple, stable movement and high four axis robot of kinematic accuracy overcome above-mentioned defect.
Summary of the invention
The object of the present invention is to provide that a kind of structure is simple, stable movement and high four axis robot of kinematic accuracy.
For realizing above-mentioned object, the invention provides a kind of four axis robot, comprising frame, upper lower shaft travel mechanism, horizontal hunting mechanism, antero posterior axis travel mechanism, aligning gear, cantilever and arm.The described upper lower shaft travel mechanism above-below direction comprised along described frame is slidedly arranged on moving up and down seat and moving up and down the drive motors up and down that seat slides described in driving in described frame.Move up and down on seat described in described horizontal hunting mechanism is arranged on, and described horizontal hunting mechanism has the swing span swung in horizontal plane.Described antero posterior axis travel mechanism is arranged on described swing span.Described cantilever is arranged along the fore-and-aft direction of described frame, and the first end of described cantilever is connected with described antero posterior axis travel mechanism, the second end of described cantilever and described arm pivot joint, and described cantilever does the movement of fore-and-aft direction under the driving of described antero posterior axis travel mechanism.Described arm has the crawl structure for pick-and-place workpiece, and described aligning gear to be located on described cantilever and to be ordered about the relatively described cantilever of described arm and corrects.
Preferably, described upper lower shaft travel mechanism also comprises screw mandrel, screw, breathe out not fixture and upper lower main axis, described screw mandrel is assemblied in described frame along the above-below direction of described frame, described upper and lower drive motors orders about described screw mandrel and rotates, described nut sleeve is located on described screw mandrel, move up and down on the first end of seat described in described screw is also arranged on, described Kazakhstan not fixture be arranged on described in move up and down seat the second end on and hold described upper lower main axis tightly, described upper lower main axis is arranged along the above-below direction of described frame, described horizontal hunting mechanism is arranged on the upper end of described upper lower main axis.
Preferably, the output shaft of described upper and lower drive motors is arranged along the above-below direction of described frame, and being connected with upper and lower intermediate transmission assembly between described upper and lower drive motors and described screw mandrel, described upper and lower intermediate transmission assembly comprises driving wheel up and down on the output shaft being arranged on described upper and lower drive motors, be arranged on the driven pulley up and down on described screw mandrel and be set around described upper and lower driving wheel and the transmission parts up and down up and down on driven pulley.
Preferably, described horizontal hunting mechanism also comprises wobble drive motor, swings reductor and swing intermediate transmission assembly, the swing transmission parts that described swing intermediate transmission assembly comprises swing driving wheel on the output shaft being arranged on described wobble drive motor, is arranged on the swing driven pulley on the power shaft of described swing reductor and is set around described swing driving wheel and swings on driven pulley, the output shaft of described swing reductor is arranged along the above-below direction of described frame, and described swing span is arranged on the output shaft of described swing reductor.
Preferably, described Kazakhstan not fixture comprises connector and Kazakhstan not clamp and the dynamic folder of Ha Fu for holding described upper lower main axis tightly, described Kazakhstan not clamp moves up and down on the second end of seat described in being fixed on across the direction of described upper lower main axis, and described Kazakhstan not clamp in the face of the side of described upper lower main axis, the not dynamic folder in described Kazakhstan is arranged along the direction across described upper lower main axis and in the face of the opposite side of described upper lower main axis, and described connector is placed through the not dynamic folder in described Kazakhstan and breathes out not clamp make the not dynamic folder in this Kazakhstan not hold described upper lower main axis tightly together with clamp with breathing out.
Preferably, described antero posterior axis travel mechanism comprises antero posterior axis driving wheel, antero posterior axis driven pulley, antero posterior axis drive motors, antero posterior axis driving-belt and antero posterior axis sliding seat, described antero posterior axis sliding seat is slidedly arranged on described swing span along the fore-and-aft direction of described frame, described antero posterior axis drive motors is arranged on described swing span, and the output shaft of described antero posterior axis drive motors is arranged along the left and right directions of described frame, described antero posterior axis driving wheel and antero posterior axis driven pulley are tandem layout along the fore-and-aft direction of described frame, described antero posterior axis driving wheel is arranged on the output shaft of described antero posterior axis drive motors, described antero posterior axis driven pulley is articulated on described swing span, and the rotary centerline of described antero posterior axis driven pulley parallels with the axial line of the output shaft of described antero posterior axis drive motors, described antero posterior axis driving-belt is arranged along the fore-and-aft direction of described frame and is set around on described antero posterior axis driving wheel and antero posterior axis driven pulley, described antero posterior axis driving-belt is also fixedly connected with described antero posterior axis sliding seat, the first end of described cantilever is arranged on described antero posterior axis sliding seat.
Preferably, described antero posterior axis travel mechanism also comprises rotation installation shaft, first breast wheel and the second breast wheel, described rotation installation shaft is articulated on described swing span, described rotation installation shaft is adjacent with described antero posterior axis driving wheel establishes, the output shaft of described rotation installation shaft and described antero posterior axis drive motors is in layout one on the other, the axial line of described rotation installation shaft parallels with the axial line of the output shaft of described antero posterior axis drive motors, described first breast wheel is arranged on one end place of described rotation installation shaft and corresponding with described antero posterior axis driving wheel, described second breast wheel is arranged on the other end place of described rotation installation shaft and corresponding with described antero posterior axis driven pulley, described antero posterior axis driving-belt comprises the first antero posterior axis driving-belt and the second antero posterior axis driving-belt, described first antero posterior axis driving-belt is set around on described antero posterior axis driving wheel and the first breast wheel, described second antero posterior axis driving-belt is set around on described second breast wheel and antero posterior axis driven pulley, described second antero posterior axis driving-belt is fixedly connected with described antero posterior axis sliding seat.
Preferably, described swing span has the mounting blocks installed for described antero posterior axis driven pulley, described mounting blocks offers the host cavity for described antero posterior axis driven pulley collecting, the two side that described host cavity is longitudinally arranged offers tipper, described tipper is tilted towards this direction away from described antero posterior axis driving wheel by below to the top of described frame, and the pivotal axis of described antero posterior axis driven pulley is placed in described tipper.
Preferably, described cantilever has the longitudinal chamber longitudinally arranged along this cantilever, described aligning gear comprises correction driving wheel, correct driven pulley, correct drive motors, axis calibration, seat is expanded in correction driving-belt and the docking of docking with the second end of described cantilever, the wheel footpath of described correction driving wheel is less than the wheel footpath of described correction driven pulley, and described correction driving wheel is positioned at longitudinal chamber at the first end place of described cantilever, the first end that described correction drive motors is located at described cantilever orders about described correction driving wheel and rotates, described docking is expanded seat and is offered the accommodating accommodating cavity of the confession described correction driven pulley that is docked and connected with described longitudinal chamber, the width dimensions of described accommodating cavity is greater than the width dimensions in described longitudinal chamber, described correction driven pulley is positioned at described accommodating cavity, described axis calibration to be placed through in described correction driven pulley along the short transverse of described cantilever and to be assemblied in described docking to be expanded on seat, and one end of described axis calibration is stretched out outside described docking expansion seat, described correction driving-belt is positioned at described longitudinal chamber and accommodating cavity, and described correction driving-belt is set around described correction driving wheel and corrects on driven pulley, described arm is arranged on described axis calibration and stretches out the position that seat is expanded in described docking, described arm is by described axis calibration and described cantilever pivot joint.
Preferably, described docking is expanded seat and is comprised docking section and expansion department, described accommodating cavity is formed in described expansion department, described longitudinal chamber is also run through described docking section and is communicated with described accommodating cavity, described docking section defines a pair and connects chamber under the running through in described longitudinal chamber, described docking section is also equipped with the first expansion tightening wheel and the second expansion tightening wheel that are positioned at described docking chamber, described first expansion tightening wheel and the second expansion tightening wheel along described cantilever longitudinally at described correction driving wheel and correct between driven pulley, and described first expansion tightening wheel along the width of described cantilever compress described correction driving-belt one outside on, described second expansion tightening wheel compresses on outside corresponding another of described correction driving-belt along the width of described cantilever, described axis calibration is assemblied in described expansion department and stretches out outside this expansion department.
Compared with prior art, move up and down on seat because horizontal hunting mechanism of the present invention is arranged on, by upper and lower drive motors order about move up and down seat slide under be driven, and horizontal hunting mechanism has the swing span swung in horizontal plane, antero posterior axis travel mechanism is arranged on swing span, drives antero posterior axis travel mechanism to swing in horizontal plane by swing span.Due to cantilever along frame fore-and-aft direction arrange and first end be connected with antero posterior axis travel mechanism, make cantilever by antero posterior axis travel mechanism order about do front and back movement, again due to the second end pivot joint of arm and cantilever and the crawl structure had for pick-and-place workpiece, aligning gear to be located on cantilever and to be ordered about arm opposing cantilevers and corrects, therefore make aligning gear and arm follow under the driving of antero posterior axis travel mechanism cantilever do movable while, arm is also corrected mechanism and corrects, so, arm is in upper lower shaft travel mechanism, horizontal hunting mechanism, antero posterior axis travel mechanism and aligning gear cooperatively interact down, realize the object of four axes motion, thus make the crawl structure on arm more steadily reliable and accurate to the pick-and-place of workpiece.Meanwhile, can realize the steady reliable movement of arm by upper lower shaft travel mechanism, horizontal hunting mechanism, antero posterior axis travel mechanism, cantilever and aligning gear, therefore, four axis robot of the present invention have stable movement, structure is simple and precision is high advantage.
Accompanying drawing explanation
Fig. 1 is the perspective view of four axis robot of the present invention.
Fig. 2 is the perspective view that the upper lower shaft travel mechanism of four axis robot of the present invention and horizontal hunting mechanism are assembled in frame.
Fig. 3 is the front view being assembled in upper lower shaft travel mechanism in frame and horizontal hunting mechanism shown in Fig. 2.
Fig. 4 is the rearview being assembled in upper lower shaft travel mechanism in frame and horizontal hunting mechanism shown in Fig. 2.
Fig. 5 is the side-looking face being assembled in upper lower shaft travel mechanism in frame and horizontal hunting mechanism shown in Fig. 2.
Fig. 6 is the perspective view that the antero posterior axis travel mechanism in four axis robot of the present invention is arranged on swing span.
Fig. 7 is the enlarged drawing of part A in Fig. 6.
Fig. 8 is the front view being arranged on the antero posterior axis travel mechanism on swing span shown in Fig. 6.
Fig. 9 is the front view that aligning gear in four axis robot of the present invention and arm are arranged on cantilever.
Figure 10 is the top view that aligning gear in four axis robot of the present invention and arm are arranged on cantilever.
Figure 11 is the perspective view after dismounting cantilever shown in Fig. 9.
Figure 12 is arm in four axis robot of the present invention and dock the solid expanded when seat fits together and tie
Structure schematic diagram.
Figure 13 is the internal structure schematic diagram of arrow B indication part in Figure 12.
Detailed description of the invention
In order to describe technology contents of the present invention, structural feature in detail, accompanying drawing is coordinated to be described further below in conjunction with embodiment.
Refer to Fig. 1, four axis robot 100 of the present invention are more excellent to be electrically connected with an existing controller (not shown), control four axis robot 100 of the present invention by existing controller to work, improve the automaticity of four axis robot 100 of the present invention further.Because controller is existing, and its structure is well known to those skilled in the art, therefore is not described in detail in this.
Wherein, four axis robot 100 of the present invention comprise frame 10, upper lower shaft travel mechanism 20, horizontal hunting mechanism 30, antero posterior axis travel mechanism 40, aligning gear 50, cantilever 60 and arm 70.Particularly, as shown in Figure 1, for preventing ambient contamination material to the pollution of four axis robot 500 of the present invention, therefore frame 10 also covers outer cover 80, and outer cover 80 surrounds the sidewall surrounding place of frame 10.
As shown in Figures 2 and 3, upper lower shaft travel mechanism 20 above-below direction comprised along frame 10 is slidedly arranged on moving up and down seat 21 and driving the drive motors up and down 22 moving up and down seat 21 and slide in frame 10, is ordered about moving up and down seat 21 and slide in frame 10 by upper and lower drive motors 22.Particularly, as shown in Fig. 2, Fig. 3 and Fig. 5, frame 10 is provided with upper/lower guide 11 along its above-below direction, accordingly, move up and down seat 21 and be provided with sliding block 211, on this, sliding block 211 is sheathed on upper/lower guide 11 slidably, more steadily reliable to make the moving up and down slip of seat 21 in frame 10; Preferably, upper/lower guide 11 is arranged in the left and right sides place of frame 10 respectively.
As shown in Figures 1 to 5, horizontal hunting mechanism 30 is arranged on and moves up and down on seat 21, and particularly, in the present embodiment, horizontal hunting mechanism 30 is mounted on the upper lower main axis 26 that the following describes.Horizontal hunting mechanism 30 has the swing span 31 swung in horizontal plane.As shown in Figure 1 and Figure 6, antero posterior axis travel mechanism 40 is arranged on swing span 31, drives antero posterior axis travel mechanism 40 to swing in horizontal plane by swing span 31.
As shown in Figure 1, cantilever 60 is arranged along the fore-and-aft direction of frame 10, and the first end of cantilever 60 is connected with antero posterior axis travel mechanism 40, orders about cantilever 60 move along the fore-and-aft direction of frame 10 by antero posterior axis travel mechanism 40.Second end of cantilever 60 and arm 70 pivot joint, and arm 70 has the crawl structure 71 for pick-and-place workpiece, makes arm 70 energy opposing cantilevers 60 rotate to reach the object of correction.Preferably, capturing structure 71 is vacuum slot structure, but not as limit.And aligning gear 50 is located on cantilever 60, and aligning gear 50 orders about arm 70 opposing cantilevers 60 corrects, and thus realizes the object of the four axes motion of arm 70.More specifically, as follows:
As shown in Figures 2 to 5, upper lower shaft travel mechanism 20 also comprises screw mandrel 23, screw 24, breathes out not fixture 25 and upper lower main axis 26.Screw mandrel 23 is assemblied in frame 10 along the above-below direction of frame 10, orders about this screw mandrel 23 rotate by upper and lower drive motors 22.Particularly, stationarity and the accuracy of screw mandrel 23 rotation is ordered about in order to improve upper and lower drive motors 22, therefore the output shaft of drive motors 22 is arranged along the above-below direction of frame 10 up and down, and be connected with upper and lower intermediate transmission assembly 27 between drive motors 22 and screw mandrel 23 up and down, this upper and lower intermediate transmission assembly 27 comprises the driving wheel up and down 271 on the output shaft being arranged on upper and lower drive motors 22, be arranged on the driven pulley up and down 272 on screw mandrel 23 and be set around the transmission parts up and down 273 on upper and lower driving wheel 271 and upper and lower driven pulley 272, make upper and lower drive motors 22 remotely can order about the object that screw mandrel 23 does easy motion, preferably, upper and lower driving wheel 271 and up and down driven pulley 272 are synchronous pulley, and accordingly, upper and lower transmission parts 273 is Timing Belt, but do not illustrate with this and be limited.Meanwhile, upper and lower drive motors 22 be arranged on the upper end of frame 10 and output shaft in layout upward, and driven pulley 272 is arranged on the top end of screw mandrel 23 up and down, arranges like this and can balance the weight moving up and down seat 21.Screw 24 is sheathed on screw mandrel 23, drives screw 24 to slide along this screw mandrel 23 by the screw mandrel 23 rotated.Screw 24 be also arranged on move up and down seat 21 first end (rear end moving up and down seat 21 namely in Fig. 2) on, breathe out not fixture 25 to be arranged on the second end (front end moving up and down seat 21 namely in Fig. 2) moving up and down seat 21 and to go up and hold lower main axis 26 tightly, more excellent is the lower end holding lower main axis 26 tightly, drives upper lower main axis 26 to do synchronous moving up and down by moving up and down seat 21 by breathing out not fixture 25.Upper lower main axis 26 is arranged along the above-below direction of frame 10, horizontal hunting mechanism 30 is arranged on the upper end of lower main axis 26, horizontal hunting mechanism 30 is driven to do upper and lower movement by upper lower main axis 26, arrange like this and can avoid the existing defect making the horizontal hunting mechanism 30 of upper lower main axis 26 upper end produce radial direction because directly ordering about upper lower main axis 26 to rotate to rock, thus improve the steady reliability that horizontal hunting mechanism 30 swings.More specifically, as shown in Fig. 2, Fig. 3 and Fig. 5, breathe out not fixture 25 and comprise connector 251 and not clamp 252 and Ha Fu move folder 253 for the Kazakhstan of holding upper lower main axis 26 tightly, breathe out not clamp 252 to be fixed on along the direction across upper lower main axis 26 and to move up and down on the second end of seat 21, and breathe out the side rear side of upper lower main axis 26 (namely in Fig. 2) of not clamp 252 in the face of upper lower main axis 26, breathe out not dynamic folder 253 and to arrange along the direction across upper lower main axis 26 and in the face of the opposite side front side of upper lower main axis 26 (namely in Fig. 2) of upper lower main axis 26.Connector 251 is more excellent is that a screw structural is to simplify its structure, and connector 251 is placed through the not dynamic folder 253 in Kazakhstan with Ha Fu clamp 252 makes the not dynamic folder 253 in this Kazakhstan hold upper lower main axis 26 tightly together with Ha Fu clamp 252, thus upper lower main axis 26 is reliably held tightly in moving up and down on seat 21.
As shown in Figures 1 to 5, horizontal hunting mechanism 30 also comprises wobble drive motor 32, swings reductor 33 and swing intermediate transmission assembly 34.Swing intermediate transmission assembly 34 to comprise swing driving wheel 341 on the output shaft being arranged on wobble drive motor 32, be arranged on the swing driven pulley (not shown) on the power shaft swinging reductor 33 and be set around the swing transmission parts 343 swinging driving wheel 341 and swing on driven pulley.Preferably, in the present embodiment, swinging driving wheel 341 and swinging driven pulley is synchronous pulley, and accordingly, swinging transmission parts 343 is Timing Belt, but not as limit.The output shaft swinging reductor 33 is arranged along the above-below direction of frame 10, swing span 31 is arranged on the output shaft of swing reductor 33, make wobble drive motor 32 by swinging driving wheel 341, swing driven pulley and swing transmission parts 343 and order about and swing reductor 33 and rotate, thus more steadily reliably drive swing span 31 in the object of horizontal rotation in surface.Particularly, in the present embodiment, the output shaft of swing reductor 33 is direct and support mounting plate 36 is fixed, and swing span 31 is arranged in support mounting plate 36 again, thus it is more reliable with fixing of swing span 31 to make to swing reductor 33; Preferably, swinging reductor 33 is be arranged in the end of the upper end of upper lower main axis 26 by mount pad 34.
As shown in Figure 6 to 8, antero posterior axis travel mechanism 40 comprises antero posterior axis driving wheel 41, antero posterior axis driven pulley 42, antero posterior axis drive motors 43, antero posterior axis driving-belt 44 and antero posterior axis sliding seat 45.Antero posterior axis sliding seat 45 is slidedly arranged on swing span 31 along the fore-and-aft direction of frame 10; Particularly, in the present embodiment, swing span 31 is provided with front and back guide rail 311 along the fore-and-aft direction of frame 10, accordingly, antero posterior axis sliding seat 45 is provided with the front and back slide block 451 coordinated with front and back guide rail 311, front and back slide block 451 is sheathed on front and back guide rail 311 slidably, to make the slide anteroposterior of antero posterior axis sliding seat 45 on swing span 31 more steadily reliable; Preferably, front and back guide rail 311 is positioned at the wall place, the left and right sides of swing span 31.Antero posterior axis drive motors 43 is arranged on swing span 31, and the output shaft of antero posterior axis drive motors 43 is arranged along the left and right directions of frame 10.Antero posterior axis driving wheel 41 and antero posterior axis driven pulley 42 are tandem layout along the fore-and-aft direction of frame 10, and antero posterior axis driving wheel 41 is arranged on the output shaft of antero posterior axis drive motors 43, antero posterior axis driven pulley 42 is articulated on swing span 31, and the rotary centerline of antero posterior axis driven pulley 42 parallels with the axial line of the output shaft of antero posterior axis drive motors 43, to meet the transmission requirement of antero posterior axis driving wheel 41 and antero posterior axis driven pulley 42.Antero posterior axis driving-belt 44 is arranged along the fore-and-aft direction of frame 10 and is set around on antero posterior axis driving wheel 41 and antero posterior axis driven pulley 42, antero posterior axis driving-belt 44 is also fixedly connected with antero posterior axis sliding seat 45, the first end of cantilever 60 is arranged on antero posterior axis sliding seat 45, preferably that cantilever 60 is fixed on antero posterior axis sliding seat 45 by breathing out not geometrical clamp 90, make antero posterior axis drive motors 43 by antero posterior axis driving wheel 41, antero posterior axis driven pulley 42 and antero posterior axis driving-belt 44 drive antero posterior axis sliding seat 45 to do stable slide anteroposterior at a distance, thus drive cantilever 60 to follow the object that antero posterior axis sliding seat 45 does slide anteroposterior together.Preferably, in the present embodiment, in order to improve the driving power of antero posterior axis drive motors 43 pairs of antero posterior axis sliding seats 45, therefore antero posterior axis travel mechanism 40 also comprises rotation installation shaft 46, first breast wheel 47 and the second breast wheel 48.Rotating installation shaft 46 is articulated on swing span 31, rotate that installation shaft 46 is adjacent with antero posterior axis driving wheel 41 establishes, rotate the output shaft of installation shaft 46 and antero posterior axis drive motors 43 in layout one on the other, be preferably, as shown in Fig. 6 and Fig. 8, rotating installation shaft 46 is positioned at immediately below antero posterior axis drive motors 43, to guarantee the reasonability of arranging.The axial line rotating installation shaft 46 parallels with the axial line of the output shaft of antero posterior axis drive motors 43.First breast wheel 47 is arranged on and rotates one end place of installation shaft 46 and corresponding with antero posterior axis driving wheel 41, and the second breast wheel 48 is arranged on the other end place that rotates installation shaft 46 and corresponding with antero posterior axis driven pulley 42.Antero posterior axis driving-belt 44 comprises the first antero posterior axis driving-belt 441 and the second antero posterior axis driving-belt 442, first antero posterior axis driving-belt 441 is set around on antero posterior axis driving wheel 41 and the first breast wheel 47, second antero posterior axis driving-belt 442 is set around on the second breast wheel 48 and antero posterior axis driven pulley 42, second antero posterior axis driving-belt 442 is fixedly connected with antero posterior axis sliding seat 45, to make antero posterior axis drive motors 43 by antero posterior axis driving wheel 41, the cooperation of the first antero posterior axis driving-belt 441 and the first breast wheel 47, and second breast wheel 48, the cooperation of antero posterior axis driven pulley 42 and the second antero posterior axis driving-belt 442, the slip of antero posterior axis sliding seat 45 on swing span 31 can be ordered about more reliably, make the slip of antero posterior axis sliding seat 45 on swing span 31 more steadily reliable and accurate, for the precision improving four axis robot 100 of the present invention creates fabulous condition.For the ease of mounting or dismounting and the adjustment of antero posterior axis driven shaft 42, therefore swing span 31 has the mounting blocks 49 installed for antero posterior axis driven pulley 42, mounting blocks 49 offers the host cavity 492 of accommodating for antero posterior axis driven pulley 42, the two side that host cavity 492 is longitudinally arranged offers tipper 493, tipper 493 is tilted towards this direction away from antero posterior axis driving wheel 41 by below to the top of frame 10, the pivotal axis of antero posterior axis driven pulley 42 is placed in tipper 493, thus effectively prevent from following that antero posterior axis driven pulley 42 that antero posterior axis driving wheel 41 rotates together is unexpected scurries out outside tipper 493, thus the rotation of antero posterior axis driven pulley 42 is more reliable.In order to improve the synchronism of antero posterior axis driving wheel 41 and antero posterior axis driven pulley 42 transmission further, therefore swing span 31 is also provided with the Tensioning structure 493 for tensioner second antero posterior axis driving-belt 442.Will be understood that, in the present embodiment, first breast wheel 47, second breast wheel 48, antero posterior axis driving wheel 41 and antero posterior axis driving wheel 42 are synchronous pulley, and the first antero posterior axis driving-belt 441 and the second antero posterior axis driving-belt 442 are Timing Belt, but do not illustrate with this and be limited.Will be understood that, in other embodiments, can by antero posterior axis drive motors 43 Direct driver antero posterior axis driving wheel 41, then antero posterior axis driving wheel 41 is now directly installed on the output shaft of antero posterior axis drive motors 43, accordingly, antero posterior axis driving-belt 44 is directly set around on antero posterior axis driving wheel 41 and antero posterior axis driven pulley 42.
As shown in Fig. 9 to Figure 13, cantilever 60 has the longitudinal chamber 61 longitudinally arranged along this cantilever 60, and preferably, cantilever 60 is rectangular tube or elliptical tube structure, under the weight alleviating cantilever 60, have enough intensity.And aligning gear 50 comprises and corrects driving wheel 51, corrects driven pulley 52, corrects drive motors 53, axis calibration 54, corrects driving-belt 55 and seat 56 is expanded in the docking of docking with the second end of cantilever 60.The wheel footpath correcting driving wheel 51 is less than the wheel footpath correcting driven pulley 52, and corrects longitudinal chamber 61 that driving wheel 51 is positioned at the first end place of cantilever 60.Correct drive motors 53 be located on the first end of cantilever 60, and correct drive motors 53 also order about correct driving wheel 51 rotate; Be preferably, for making to correct drive motors 53, larger moment of torsion is exported to correction driving wheel 51, therefore be also provided with a correction reductor 57 between correction drive motors 53 and correction driving wheel 51, preferably, correction reductor 57 and correction drive motors 53 are vertically in line; Preferential is, correct drive motors 53 and be arranged on place directly over correction reductor 57, and correct reductor 57 be arranged on directly over cantilever 60 locate, and the power shaft correcting reductor 57 is connected with the output shaft correcting drive motors 53, correct the output shaft of reductor 57 to stretch in longitudinal chamber 61 of cantilever 60, and correct driving wheel 51 be arranged on correct reductor 57 output shaft on.
As shown in figure 13, docking expansion seat 56 offers supplying of being docked and connected with longitudinal chamber 61 and corrects the accommodating accommodating cavity of driven pulley 52 561, and the width dimensions of accommodating cavity 561 is greater than the width dimensions in longitudinal chamber 61.Correct driven pulley 52 and be positioned at accommodating cavity 561, axis calibration 54 is placed through to correct in driven pulley 52 and be assemblied in docking along the short transverse of cantilever 60 and expands on seat 56, and one end of axis calibration 54 is stretched out docking and expanded outside seat 56.
As shown in figure 11, correct driving-belt 55 and be positioned at longitudinal chamber 61 and accommodating cavity 561, and correction driving-belt 55 is set around correction driving wheel 51 and corrects on driven pulley 52.Arm 70 is arranged on axis calibration 54 and stretches out the position that seat 56 is expanded in docking, and arm 60 is by axis calibration 54 and cantilever 60 pivot joint; Preferably, as shown in figure 13, the lower end of axis calibration 51 is stretched out docking and is expanded outside seat 56, thus makes arm 70 be positioned at the below of docking expansion seat 56.Wherein, correction drive motors 53 drives arm 70 opposing cantilevers 70 to do the object of more easy motion by correcting reductor 57, correction driving wheel 51, correction driven pulley 52, correction driven belt 55 and axis calibration 54; Again due to correct driving wheel 51 accommodate by cantilever 60, correct driven pulley 52 by docking expand seat 56 accommodate, and correct driving-belt 54 by cantilever 60 and docking expand seat 56 accommodate, therefore effectively prevent ambient contamination thing to their pollution, improve the calibration result correcting drive motors 53 pairs of arms 70 further.Again because the width dimensions of accommodating cavity 561 is greater than the width dimensions in longitudinal chamber 61, and the wheel footpath correcting driven pulley 52 is greater than the wheel footpath correcting driving wheel 51, therefore expand the volume of seat 56 by increasing docking under just can be accommodating correction driven pulley 52, thus avoid cantilever 60 additionally to increase the volume of cantilever 60 because correction driven pulley 52 will be accommodated, therefore significantly simplify structure and the weight of cantilever 60, thus be more conducive to the stability of cantilever 60 motion.More specifically, docking is expanded seat 56 and is comprised docking section 56a and expansion department 56b, and accommodating cavity 561 is formed in expansion department 56a, and the circumferential profile major arc structure of expansion department 56a.Longitudinal chamber 61 is also run through docking section 56a and is communicated with accommodating cavity 561, docking section 56a is more excellent is rectangular tube or elliptical tube structure, and docking section 56a defines and connects chamber 562 for a pair under the running through in longitudinal chamber 61, docking section 56a is also equipped with the first expansion tightening wheel 563 and the second expansion tightening wheel 564 being positioned at docking chamber 562.First expansion tightening wheel 563 and the second expansion tightening wheel 564 longitudinally correcting driving wheel 51 and correcting between driven pulley 52 along cantilever 60, and the first expansion tightening wheel 563 along the width of cantilever 60 compress correct driving-belt 55 one outside on, the second expansion tightening wheel 564 along the width of cantilever 60 compress correct driving-belt 55 correspondence another outside on.Axis calibration 54 is assemblied in expansion department 56b and stretches out outside this expansion department 56b; Preferably, arm 70 is positioned at immediately below docking expansion seat 56.
Wherein, in order to improve the synchronous precision correcting driving wheel 51 and correct driven pulley 52 further, as shown in FIG. 11 and 12, first expansion tightening wheel 563 be compress correct driving-belt 55 front outside, second expansion tightening wheel 564 compresses the trailing outside correcting driving-belt 55, thus the first expansion tightening wheel 563 and the second expansion tightening wheel 564 are compressed in different direction correct driving-belt 55 two outside, effectively reduce the drive gap correcting driving wheel 51 and correct between driven pulley 52, therefore make to correct driving wheel 51 more synchronous with the transmission corrected between driven pulley 52, more steadily and more accurate.Again as shown in figure 12, the first expansion tightening wheel 563 faces along the width of cantilever 60 and the second expansion tightening wheel 564, promotes the first expansion tightening wheel 563 and the second expansion tightening wheel 564 to the tensioner effect correcting driving-belt 55.Be preferably, as in figures 9 or 11, the plane of the axial line 541 of overcorrect axle 54 and the rotary centerline 511 of correction driving wheel 51 is the first plane, first expansion tightening wheel 563 and the second expansion tightening wheel 564 are with the first plane layout symmetrically, guarantee that the tensioner degree corrected suffered by driving-belt 55 both sides is consistent, to promote the tensioner effect correcting driving-belt 55 further.Preferentially, spacing between first expansion tightening wheel 563 and the second expansion tightening wheel 564 is less than or equal to the wheel footpath correcting driving wheel 51, or, first expansion tightening wheel 563 and the second expansion tightening wheel 564 be partly overlapping layout with the correction projection of driving wheel 51 on the transverse plane perpendicular to the first plane respectively, the object designed like this be the size of docking section 56a is done the same with the size of cantilever 60.
By reference to the accompanying drawings, the operation principle of four axis robot of the present invention is described: first, the drive motors up and down 22 of upper lower shaft travel mechanism 20 works, drive screw mandrel 23 to rotate by the drive motors up and down 22 worked by upper and lower intermediate transmission assembly 27, then drive screw 24 to do upper and lower movement along this screw mandrel 23 by the screw mandrel 23 rotated; Move up and down on seat 21 because screw 24 is arranged on, therefore the screw 24 moved up and down just drives and moves up and down seat 21 and follow screw 24 and do upper and lower movement; Breathed out not fixture 25 due to upper lower main axis 26 to be again fixed on and to move up and down on seat 21, therefore move up and down in process moving up and down seat 21, upper lower main axis 26 is also followed and is moved up and down seat 21 and do upper and lower movement, then drives horizontal hunting mechanism 30, antero posterior axis travel mechanism 40, aligning gear 50, cantilever 60 and arm 70 to do the movement of above-below direction together by the upper lower main axis 26 moved up and down.Then, the wobble drive motor 32 of horizontal hunting mechanism 30 works, drive swing span 31 to do the swing of left and right at horizontal plane by wobble drive motor 32 by swinging reductor 33 and swinging intermediate transmission assembly 34, thus drive antero posterior axis travel mechanism 40, aligning gear 50, cantilever 60 and arm 70 to do the swing of left and right directions together by swing span 31; Then, the antero posterior axis drive motors 43 of antero posterior axis travel mechanism 40 works, gone to drive antero posterior axis sliding seat 45 to do the movement of fore-and-aft direction by antero posterior axis driving wheel 41, first breast wheel 47, first antero posterior axis driving-belt 441, rotation installation shaft 46, second breast wheel 48, antero posterior axis driven pulley 42 and the second antero posterior axis driving-belt 442 by the antero posterior axis drive motors 43 worked, drive cantilever 60, aligning gear 50 and arm 70 to do the movement of front and back together by the antero posterior axis sliding seat 45 of fore-and-aft direction movement; Finally, the correction drive motors 53 of aligning gear 50 works, axis calibration 54 is driven to rotate by the correction drive motors 53 worked by correcting driving wheel 51, correcting driven pulley 52 and correcting driving-belt 55, thus drive arm 70 to realize the correction of this arm 70 opposing cantilevers 60 at horizontal rotation in surface by the correction 54 of rotating, realize the object of arm 70 four axes motion.Will be understood that, the job order of upper and lower drive motors 22, wobble drive motor 32, antero posterior axis drive motors 43 and correction drive motors 53 is not successively, carries out restriction sequentially for convenience of description above.
Compared with prior art, move up and down on seat 21 because horizontal hunting mechanism 30 of the present invention is arranged on, be driven ordering about to move up and down under seat 21 slides by upper and lower drive motors 22, and horizontal hunting mechanism 30 has the swing span 31 swung in horizontal plane, antero posterior axis travel mechanism 40 is arranged on swing span 31, drives antero posterior axis travel mechanism 40 to swing in horizontal plane by swing span 31.Due to cantilever 60 along frame 10 fore-and-aft direction arrange and first end be connected with antero posterior axis travel mechanism 40, make cantilever 60 by antero posterior axis travel mechanism 40 order about do front and back movement, again due to the second end pivot joint of arm 70 and cantilever 60 and the crawl structure 71 had for pick-and-place workpiece, aligning gear 50 to be located on cantilever 60 and to be ordered about arm 70 opposing cantilevers 60 and corrects, therefore make aligning gear 50 and arm 60 follow under the driving of antero posterior axis travel mechanism 40 cantilever 60 do movable while, arm 70 is also corrected mechanism 50 and corrects, so, arm 70 is in upper lower shaft travel mechanism 20, horizontal hunting mechanism 30, antero posterior axis travel mechanism 40 and aligning gear 50 4 cooperatively interact down, realize the object of four axes motion, thus make the pick-and-place of the crawl structure 71 pairs of workpiece on arm 70 more steadily reliable and accurate.Simultaneously, the steady reliable movement of arm 70 can be realized by upper lower shaft travel mechanism 20, horizontal hunting mechanism 30, antero posterior axis travel mechanism 40, cantilever 60 and aligning gear 50, therefore, four axis robot 100 of the present invention have stable movement, structure is simple and precision is high advantage.
The person of meriting attention, the short transverse of cantilever 60 refers to the above-below direction in Figure 11, and the width of cantilever 60 refers to the fore-and-aft direction in Figure 11.
Above disclosedly be only preferred embodiment of the present invention, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the claims in the present invention are done, still belong to the scope that the present invention is contained.
Claims (10)
1. an axis robot, comprise frame, upper lower shaft travel mechanism, horizontal hunting mechanism, antero posterior axis travel mechanism, aligning gear, cantilever and arm, it is characterized in that, the described upper lower shaft travel mechanism above-below direction comprised along described frame is slidedly arranged on moving up and down seat and moving up and down the drive motors up and down that seat slides described in driving in described frame, move up and down on seat described in described horizontal hunting mechanism is arranged on, and described horizontal hunting mechanism has the swing span swung in horizontal plane, described antero posterior axis travel mechanism is arranged on described swing span, described cantilever is arranged along the fore-and-aft direction of described frame, the first end of described cantilever is connected with described antero posterior axis travel mechanism, second end of described cantilever and described arm pivot joint, described cantilever does the movement of fore-and-aft direction under the driving of described antero posterior axis travel mechanism, described arm has the crawl structure for pick-and-place workpiece, described aligning gear to be located on described cantilever and to be ordered about the relatively described cantilever of described arm and corrects.
2. four axis robot as claimed in claim 1, it is characterized in that, described upper lower shaft travel mechanism also comprises screw mandrel, screw, breathe out not fixture and upper lower main axis, described screw mandrel is assemblied in described frame along the above-below direction of described frame, described upper and lower drive motors orders about described screw mandrel and rotates, described nut sleeve is located on described screw mandrel, move up and down on the first end of seat described in described screw is also arranged on, described Kazakhstan not fixture be arranged on described in move up and down seat the second end on and hold described upper lower main axis tightly, described upper lower main axis is arranged along the above-below direction of described frame, described horizontal hunting mechanism is arranged on the upper end of described upper lower main axis.
3. four axis robot as claimed in claim 2, it is characterized in that, the output shaft of described upper and lower drive motors is arranged along the above-below direction of described frame, and being connected with upper and lower intermediate transmission assembly between described upper and lower drive motors and described screw mandrel, described upper and lower intermediate transmission assembly comprises driving wheel up and down on the output shaft being arranged on described upper and lower drive motors, be arranged on the driven pulley up and down on described screw mandrel and be set around described upper and lower driving wheel and the transmission parts up and down up and down on driven pulley.
4. four axis robot as claimed in claim 2, it is characterized in that, described horizontal hunting mechanism also comprises wobble drive motor, swing reductor and swing intermediate transmission assembly, described swing intermediate transmission assembly comprises the swing driving wheel on the output shaft being arranged on described wobble drive motor, the swing transmission parts being arranged on the swing driven pulley on the power shaft of described swing reductor and being set around described swing driving wheel and swinging on driven pulley, the output shaft of described swing reductor is arranged along the above-below direction of described frame, described swing span is arranged on the output shaft of described swing reductor.
5. four axis robot as claimed in claim 2, it is characterized in that, described Kazakhstan not fixture comprises connector and Kazakhstan not clamp and the dynamic folder of Ha Fu for holding described upper lower main axis tightly, described Kazakhstan not clamp moves up and down on the second end of seat described in being fixed on across the direction of described upper lower main axis, and described Kazakhstan not clamp in the face of the side of described upper lower main axis, the not dynamic folder in described Kazakhstan is arranged along the direction across described upper lower main axis and in the face of the opposite side of described upper lower main axis, described connector is placed through the not dynamic folder in described Kazakhstan and breathes out not clamp make the not dynamic folder in this Kazakhstan not hold described upper lower main axis tightly together with clamp with breathing out.
6. four axis robot as claimed in claim 1, it is characterized in that, described antero posterior axis travel mechanism comprises antero posterior axis driving wheel, antero posterior axis driven pulley, antero posterior axis drive motors, antero posterior axis driving-belt and antero posterior axis sliding seat, described antero posterior axis sliding seat is slidedly arranged on described swing span along the fore-and-aft direction of described frame, described antero posterior axis drive motors is arranged on described swing span, and the output shaft of described antero posterior axis drive motors is arranged along the left and right directions of described frame, described antero posterior axis driving wheel and antero posterior axis driven pulley are tandem layout along the fore-and-aft direction of described frame, described antero posterior axis driving wheel is arranged on the output shaft of described antero posterior axis drive motors, described antero posterior axis driven pulley is articulated on described swing span, and the rotary centerline of described antero posterior axis driven pulley parallels with the axial line of the output shaft of described antero posterior axis drive motors, described antero posterior axis driving-belt is arranged along the fore-and-aft direction of described frame and is set around on described antero posterior axis driving wheel and antero posterior axis driven pulley, described antero posterior axis driving-belt is also fixedly connected with described antero posterior axis sliding seat, the first end of described cantilever is arranged on described antero posterior axis sliding seat.
7. four axis robot as claimed in claim 6, it is characterized in that, described antero posterior axis travel mechanism also comprises rotation installation shaft, first breast wheel and the second breast wheel, described rotation installation shaft is articulated on described swing span, described rotation installation shaft is adjacent with described antero posterior axis driving wheel establishes, the output shaft of described rotation installation shaft and described antero posterior axis drive motors is in layout one on the other, the axial line of described rotation installation shaft parallels with the axial line of the output shaft of described antero posterior axis drive motors, described first breast wheel is arranged on one end place of described rotation installation shaft and corresponding with described antero posterior axis driving wheel, described second breast wheel is arranged on the other end place of described rotation installation shaft and corresponding with described antero posterior axis driven pulley, described antero posterior axis driving-belt comprises the first antero posterior axis driving-belt and the second antero posterior axis driving-belt, described first antero posterior axis driving-belt is set around on described antero posterior axis driving wheel and the first breast wheel, described second antero posterior axis driving-belt is set around on described second breast wheel and antero posterior axis driven pulley, described second antero posterior axis driving-belt is fixedly connected with described antero posterior axis sliding seat.
8. four axis robot as claimed in claim 7, it is characterized in that, described swing span has the mounting blocks installed for described antero posterior axis driven pulley, described mounting blocks offers the host cavity for described antero posterior axis driven pulley collecting, the two side that described host cavity is longitudinally arranged offers tipper, described tipper is tilted towards this direction away from described antero posterior axis driving wheel by below to the top of described frame, and the pivotal axis of described antero posterior axis driven pulley is placed in described tipper.
9. four axis robot as claimed in claim 1, it is characterized in that, described cantilever has the longitudinal chamber longitudinally arranged along this cantilever, described aligning gear comprises correction driving wheel, correct driven pulley, correct drive motors, axis calibration, seat is expanded in correction driving-belt and the docking of docking with the second end of described cantilever, the wheel footpath of described correction driving wheel is less than the wheel footpath of described correction driven pulley, and described correction driving wheel is positioned at longitudinal chamber at the first end place of described cantilever, the first end that described correction drive motors is located at described cantilever orders about described correction driving wheel and rotates, described docking is expanded seat and is offered the accommodating accommodating cavity of the confession described correction driven pulley that is docked and connected with described longitudinal chamber, the width dimensions of described accommodating cavity is greater than the width dimensions in described longitudinal chamber, described correction driven pulley is positioned at described accommodating cavity, described axis calibration to be placed through in described correction driven pulley along the short transverse of described cantilever and to be assemblied in described docking to be expanded on seat, and one end of described axis calibration is stretched out outside described docking expansion seat, described correction driving-belt is positioned at described longitudinal chamber and accommodating cavity, and described correction driving-belt is set around described correction driving wheel and corrects on driven pulley, described arm is arranged on described axis calibration and stretches out the position that seat is expanded in described docking, described arm is by described axis calibration and described cantilever pivot joint.
10. four axis robot as claimed in claim 9, it is characterized in that, described docking is expanded seat and is comprised docking section and expansion department, described accommodating cavity is formed in described expansion department, described longitudinal chamber is also run through described docking section and is communicated with described accommodating cavity, described docking section defines a pair and connects chamber under the running through in described longitudinal chamber, described docking section is also equipped with the first expansion tightening wheel and the second expansion tightening wheel that are positioned at described docking chamber, described first expansion tightening wheel and the second expansion tightening wheel along described cantilever longitudinally at described correction driving wheel and correct between driven pulley, and described first expansion tightening wheel along the width of described cantilever compress described correction driving-belt one outside on, described second expansion tightening wheel compresses on outside corresponding another of described correction driving-belt along the width of described cantilever, described axis calibration is assemblied in described expansion department and stretches out outside this expansion department.
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| CN105171718B (en) | 2018-07-06 |
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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: 523660 Guangdong city of Dongguan Province Town Green Lake Industrial Park West Foxconn nishiura Industrial Park 2 Building No. 2 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. |