CN105171718B - Four axis robots - Google Patents

Four axis robots Download PDF

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Publication number
CN105171718B
CN105171718B CN201510599147.1A CN201510599147A CN105171718B CN 105171718 B CN105171718 B CN 105171718B CN 201510599147 A CN201510599147 A CN 201510599147A CN 105171718 B CN105171718 B CN 105171718B
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CN
China
Prior art keywords
antero posterior
posterior axis
axis
wheel
correction
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CN201510599147.1A
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Chinese (zh)
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CN105171718A (en
Inventor
李学文
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东莞三润田智能科技股份有限公司
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Priority to CN201510599147.1A priority Critical patent/CN105171718B/en
Publication of CN105171718A publication Critical patent/CN105171718A/en
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Publication of CN105171718B publication Critical patent/CN105171718B/en

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Abstract

The present invention discloses a kind of four axis robots, including rack, upper and lower axle mobile mechanism, horizontal hunting mechanism, antero posterior axis mobile mechanism, aligning gear, cantilever and arm.Upper and lower axle mobile mechanism include along rack upper and lower directions cunning in rack move up and down seat and driving move up and down seat slip drive upside down motor.Horizontal hunting mechanism is mounted on and moves up and down on seat, and horizontal hunting mechanism has the swing span swung in the horizontal plane.Antero posterior axis mobile mechanism is mounted on swing span, and cantilever arranges that the first end of cantilever is connect with antero posterior axis mobile mechanism along the front-rear direction of rack, and second end and the arm of cantilever are pivotally connected, and cantilever does movement in the front-back direction under the driving of antero posterior axis mobile mechanism.Arm has the crawl structure for pick-and-place workpiece, aligning gear is set on cantilever and arm opposing cantilevers is driven to correct, so that the crawl structure on arm does the movement of four axis and more smoothly pick-and-place workpiece, so as to improve the motion credibility and precision of four axis robots of the present invention.

Description

Four axis robots
Technical field
The present invention relates to manipulator field more particularly to a kind of four axis robots that can smoothly do four axes motion.
Background technology
With being constantly progressive for economic continuous development and science and technology, the development for enterprise provide strong economy and Technology pillar, the direction for promoting enterprise towards intelligent and highly integrated grade stride forward, and the manipulator intelligence that be exactly enterprise researched and developed It is a kind of in the product of change.
It is well known that carrying out dangerous operation to mitigate the burden of operating personnel or substitute operating personnel, all it be unable to do without The application of manipulator.The operation of replacement operating personnel is gone by manipulator, thus reaches improvement effect or protects operating personnel's Purpose, so that manipulator is widely applied in the occasion of automated production.
Wherein, for manipulator, since it is by imitating the structure of human hand and the motor function with human hand, therefore machine Tool hand is comprising numerous driving devices.And for that can do for the existing manipulator of four axes motion, due to its each driving device Set it is unreasonable, therefore there are the defects of complicated, bumpy motion and kinematic accuracy are low, so as to be unfavorable for existing machinery Hand is adapted to the high occasion of technological requirement.
Therefore, be badly in need of want a kind of simple in structure, stable movement and kinematic accuracy it is high four axis robots it is above-mentioned to overcome Defect.
Invention content
The purpose of the present invention is to provide four high axis robots of a kind of simple in structure, stable movement and kinematic accuracy.
To realize above-mentioned purpose, the present invention provides a kind of four axis robots, including rack, upper and lower axle mobile mechanism, Horizontal hunting mechanism, antero posterior axis mobile mechanism, aligning gear, cantilever and arm.The upper and lower axle mobile mechanism is included along described The upper and lower directions of rack is slidedly arranged on moving up and down in the rack and moves up and down driving upside down for seat slip described in seat and driving Motor.The horizontal hunting mechanism is mounted on described move up and down on seat, and the horizontal hunting mechanism has in the horizontal plane The swing span of swing.The antero posterior axis mobile mechanism is mounted on the swing span.Front and back of the cantilever along the rack To arrangement, the first end of the cantilever is connect with the antero posterior axis mobile mechanism, the second end of the cantilever and the arm pivot It connects, the cantilever does movement in the front-back direction under the driving of the antero posterior axis mobile mechanism.The arm has for pick-and-place The crawl structure of workpiece, the aligning gear are set on the cantilever and drive the relatively described cantilever correction of the arm.Wherein, The cantilever has the longitudinal chamber being longitudinally arranged along the cantilever, and the aligning gear includes correction driving wheel, correction driven wheel, school Positive driving motor, correction axis, correction transmission belt and the docking expansion seat docked with the second end of the cantilever, the correction is actively The wheel footpath of wheel is less than the wheel footpath of the correction driven wheel, and the correction driving wheel is located at the longitudinal direction at the first end of the cantilever Intracavitary, the correction driving motor are set in the first end of the cantilever and the correction driving wheel are driven to rotate, the docking It expands seat and offers the accommodating cavity housed for the correction driven wheel being docked and connected with the longitudinal chamber, the width of the accommodating cavity The width dimensions that size is more than the longitudinal chamber are spent, the correction driven wheel is located in the accommodating cavity, and the axis that corrects is along institute The short transverse for stating cantilever is placed through in the correction driven wheel and is assemblied on the docking expansion seat, and the correction axis One end is stretched out the docking and is expanded outside seat, and the correction transmission belt is located in the longitudinal chamber and accommodating cavity, and the correction passes Dynamic band is set around on the correction driving wheel and correction driven wheel, and the arm is mounted on the correction axis stretching docking and opens up At the position for opening up seat, the arm is pivotally connected by the correction axis with the cantilever.
Preferably, the upper and lower axle mobile mechanism also includes screw, screw, breathes out not fixture and upper and lower main shaft, the screw It is assemblied in the rack along the upper and lower directions of the rack, the motor that drives upside down drives the screw to rotate, the silk Mother set is set on the screw, and the screw is also moved up and down mounted on described in the first end of seat, and not fixture is installed for the Kazakhstan In the second end for moving up and down seat and hold the main shaft up and down, the upper and lower directions of the main shaft along the rack up and down tightly Arrangement, the horizontal hunting mechanism are mounted on the upper end of main shaft up and down.
Preferably, the output shaft for driving upside down motor is arranged along the upper and lower directions of the rack, and the drive up and down Dynamic that intermediate transmission component up and down is connected between motor and the screw, the intermediate transmission component up and down is included mounted on described It drives upside down the driving wheel up and down on the output shaft of motor, the driven wheel up and down on the screw and is set around on described Transmission parts up and down on lower driving wheel and upper and lower driven wheel.
Preferably, the horizontal hunting mechanism also comprising wobble drive motor, swing speed reducer and swings intermediate transmission group Part, the intermediate transmission component that swings include the swing driving wheel being mounted on the output shaft of the wobble drive motor, installation It is described swing speed reducer input shaft on swings driven wheel and be set around it is described swing driving wheel and swing driven wheel on Transmission parts are swung, the output shaft for swinging speed reducer arranges that the swing span is mounted on institute along the upper and lower directions of the rack It states on the output shaft for swinging speed reducer.
Preferably, not fixture includes connector and not clamp and Ha Fu are moved for holding the Kazakhstan of the main shaft up and down tightly for the Kazakhstan Folder, not clamp is fixed in the second end for moving up and down seat, and described along across the direction of the main shaft up and down for the Kazakhstan Breathing out not clamp, in face of the side of the main shaft up and down, the not dynamic folder in the Kazakhstan is along the direction arrangement across the main shaft up and down and faces The opposite side of the main shaft up and down, the connector are placed through the not dynamic folder in the Kazakhstan and breathe out not clamp and make the not dynamic folder in the Kazakhstan and breathe out Not clamp holds the main shaft up and down tightly together.
Preferably, the antero posterior axis mobile mechanism includes antero posterior axis driving wheel, antero posterior axis driven wheel, antero posterior axis driving electricity Machine, antero posterior axis transmission belt and antero posterior axis sliding seat, the front-rear direction of antero posterior axis sliding seat along the rack are slidedly arranged on described On swing span, the antero posterior axis driving motor is mounted on the swing span, and the output shaft edge of the antero posterior axis driving motor The front-rear direction of the left and right directions arrangement of the rack, the antero posterior axis driving wheel and antero posterior axis driven wheel along the rack is in one Arrangement after previous, the antero posterior axis driving wheel be mounted on the antero posterior axis driving motor output shaft on, the antero posterior axis from Driving wheel is articulated on the swing span, and the rotary centerline of the antero posterior axis driven wheel and the antero posterior axis driving motor is defeated The axial line of shaft is parallel, and the front-rear direction of antero posterior axis transmission belt along the rack is arranged and is set around the antero posterior axis On driving wheel and antero posterior axis driven wheel, the antero posterior axis transmission belt is also fixedly connected with the antero posterior axis sliding seat, the cantilever First end be mounted on the antero posterior axis sliding seat on.
Preferably, the antero posterior axis mobile mechanism further includes rotational installation axis, the first breast wheel and the second breast wheel, it is described Rotational installation axis is articulated on the swing span, and axis is adjacent with the antero posterior axis driving wheel sets for the rotational installation, the rotation The output shaft of installation axle and the antero posterior axis driving motor is in arrangement one on the other, the axial line of the rotational installation axis and institute The axial line for stating the output shaft of antero posterior axis driving motor is parallel, and first breast wheel is mounted on the one of the rotational installation axis At end and corresponding with the antero posterior axis driving wheel, second breast wheel is mounted at the other end of the rotational installation axis simultaneously Corresponding with the antero posterior axis driven wheel, the antero posterior axis transmission belt includes the first antero posterior axis transmission belt and the second antero posterior axis is driven Band, the first antero posterior axis transmission belt are set around on the antero posterior axis driving wheel and the first breast wheel, and second antero posterior axis passes Dynamic band is set around on second breast wheel and antero posterior axis driven wheel, and the second antero posterior axis transmission belt is slided with the antero posterior axis Seat is fixedly connected.
Preferably, the swing span has the mounting blocks for antero posterior axis driven wheel installation, the mounting blocks offer For the host cavity of the antero posterior axis driven wheel receiving, the two side that the host cavity is longitudinally arranged offers tipper, described Tipper is tilted by lower section to the top of the rack towards the direction far from the antero posterior axis driving wheel, and the antero posterior axis is driven The pivotal axis of wheel is placed in the tipper.
Preferably, seat is expanded in the docking includes docking section and expansion department, the accommodating cavity is formed in the expansion department, The longitudinal chamber also extends through the docking section and is connected with the accommodating cavity, and lower bound is run through in the docking section the longitudinal chamber A docking chamber is made, the docking section is also equipped with the first expansion tightening wheel and the second expansion tightening wheel that are located at the docking intracavitary, described First expansion tightening wheel and the second expansion tightening wheel are located at along the longitudinal direction of the cantilever between the correction driving wheel and correction driven wheel, and institute The width direction for stating the first expansion tightening wheel along the cantilever is compressed on an outside of the correction transmission belt, the second expansion tightening wheel edge The width direction of the cantilever is compressed on the corresponding another outside of the correction transmission belt, and the correction axis is assemblied in the expansion Portion is simultaneously stretched out outside the expansion department.
Compared with prior art, it is moved up and down on seat since the horizontal hunting mechanism of the present invention is mounted on, by driving upside down Motor is driven, and horizontal hunting mechanism has the swing span that swings in the horizontal plane driving to move up and down under seat slides, preceding Rear axle mobile mechanism is mounted on swing span, antero posterior axis mobile mechanism is driven to swing in the horizontal plane by swing span.Due to cantilever It is connect along the front-rear direction arrangement and first end of rack with antero posterior axis mobile mechanism so that cantilever is driven by antero posterior axis mobile mechanism Do front and rear movement;Again since the second end of arm and cantilever is pivotally connected and with the crawl structure for pick-and-place workpiece, corrects machine Structure is set on cantilever and arm opposing cantilevers is driven to correct, so that the driving of aligning gear and arm in antero posterior axis mobile mechanism Under while follow the cantilever to be moved forward and backward, arm is also corrected mechanism and is corrected, so, arm upper and lower axle mobile mechanism, Under horizontal hunting mechanism, antero posterior axis mobile mechanism and aligning gear cooperate, the purpose of four axes motion is realized, so as to make The crawl structure obtained on arm is more steady reliable and accurate to the pick-and-place of workpiece.Meanwhile by upper and lower axle mobile mechanism, horizontal pendulum The steady reliable movement of arm can be realized in motivation structure, antero posterior axis mobile mechanism, cantilever and aligning gear, therefore, of the invention Four axis robots have the advantages that stable movement, simple in structure and with high accuracy.
Description of the drawings
Fig. 1 is the dimensional structure diagram of four axis robots of the present invention.
Fig. 2 is that the upper and lower axle mobile mechanism of four axis robots of the present invention and horizontal hunting mechanism are assembled in standing in rack Body structure diagram.
Fig. 3 is the front view of the upper and lower axle mobile mechanism being assembled in rack and horizontal hunting mechanism shown in Fig. 2.
Fig. 4 is the rearview of the upper and lower axle mobile mechanism being assembled in rack and horizontal hunting mechanism shown in Fig. 2.
Fig. 5 is the side elevation view of the upper and lower axle mobile mechanism being assembled in rack and horizontal hunting mechanism shown in Fig. 2.
Fig. 6 is the stereochemical structure signal that the antero posterior axis mobile mechanism in four axis robots of the present invention is mounted on swing span Figure.
Fig. 7 is the enlarged drawing of part A in Fig. 6.
Fig. 8 is the front view of the antero posterior axis mobile mechanism shown in fig. 6 on swing span.
Fig. 9 is the front view of aligning gear and arm on cantilever in four axis robots of the present invention.
Figure 10 is the vertical view of aligning gear and arm on cantilever in four axis robots of the present invention.
Figure 11 is the dimensional structure diagram shown in Fig. 9 after cantilever is dismantled.
Figure 12 is that the arm in four axis robots of the present invention is tied with docking the solid expanded when seat fits together
Structure schematic diagram.
Figure 13 is the internal structure schematic diagram of arrow B meanings part in Figure 12.
Specific embodiment
For the technology contents that the present invention will be described in detail, construction feature, below in conjunction with embodiment and coordinate attached drawing make into One step explanation.
Electrically connect with an existing controller (not shown) referring to Fig. 1, four axis robots 100 of the present invention are more excellent It connects, is worked by four axis robots 100 of the existing controller control present invention, further improve four axis robots of the present invention 100 the degree of automation.Since controller is existing, and its structure is well known to those skilled in the art, therefore herein not It is described in detail again.
Wherein, four axis robots 100 of the invention include rack 10, upper and lower axle mobile mechanism 20, horizontal hunting mechanism 30, Antero posterior axis mobile mechanism 40, aligning gear 50, cantilever 60 and arm 70.Specifically, as shown in Figure 1, to prevent ambient contamination object The pollution of four axis robots 100 for the present invention that verifies, therefore the also cover upper casing 80 of rack 10, outer cover 80 surround the side wall four of rack 10 At week.
As shown in Figures 2 and 3, upper and lower axle mobile mechanism 20 includes and is slidedly arranged in rack 10 along the upper and lower directions of rack 10 It moves up and down seat 21 and what driving moved up and down the slip of seat 21 drives upside down motor 22, drive moving down by driving upside down motor 22 Dynamic seat 21 slides in rack 10.Specifically, as shown in Fig. 2, Fig. 3 and Fig. 5, rack 10 is provided with along its upper and lower directions and leads up and down Rail 11 correspondingly, moves up and down seat 21 equipped with upper sliding block 211, sliding block 211 is slidably sheathed on upper/lower guide 11 on this On, so that it is more steady reliable to move up and down slip of the seat 21 in rack 10;Preferably be, upper/lower guide 11 be respectively arranged in At the left and right sides of rack 10.
As shown in Figures 1 to 5, horizontal hunting mechanism 30 is mounted on and moves up and down on seat 21, specifically, in the present embodiment In, horizontal hunting mechanism 30 is mounted on the main shaft up and down 26 being described below.Horizontal hunting mechanism 30 has in horizontal plane The swing span 31 of interior swing.As shown in Figure 1 and Figure 6, antero posterior axis mobile mechanism 40 is mounted on swing span 31, by 31 band of swing span Dynamic antero posterior axis mobile mechanism 40 swings in the horizontal plane.
As shown in Figure 1, cantilever 60 is arranged along the front-rear direction of rack 10, first end and the antero posterior axis mobile mechanism of cantilever 60 40 connections, drive cantilever 60 to be moved along the front-rear direction of rack 10 by antero posterior axis mobile mechanism 40.The second end and hand of cantilever 60 Arm 70 is pivotally connected, and arm 70 has the crawl structure 71 for pick-and-place workpiece so that 70 energy opposing cantilevers 60 of arm rotate to reach To the purpose of correction.Preferably it is that crawl structure 71 is vacuum slot structure, and but not limited to this.And aligning gear 50 is set on On cantilever 60, and aligning gear 50 drives 70 opposing cantilevers 60 of arm to correct, thus realizes the purpose of the four axes motion of arm 70. It is more specifically, as follows:
As shown in Figures 2 to 5, upper and lower axle mobile mechanism 20 also includes screw 23, screw 24, breathes out not fixture 25 and up and down master Axis 26.The upper and lower directions of screw 23 along rack 10 is assemblied in rack 10, the screw 23 is driven to rotate by driving upside down motor 22. Specifically, it drives upside down motor 22 in order to improve and drives the stationarity and accuracy that screw 23 rotates, therefore drive upside down motor 22 Output shaft along rack 10 upper and lower directions arrange, and drive upside down be connected between motor 22 and screw 23 up and down intermediate transmission Component 27, the upper and lower intermediate transmission component 27 include be mounted on drive upside down driving wheel up and down 271 on the output shaft of motor 22, Driven wheel up and down 272 on screw 23 and the transmission up and down being set around on upper and lower driving wheel 271 and up and down driven wheel 272 Part 273 so that drive upside down the purpose that motor 22 can remotely drive screw 23 to do smooth motion;Preferably it is, up and down actively Wheel 271 and up and down driven wheel 272 are synchronous pulley, and correspondingly, upper and lower transmission parts 273 are synchronous belt, but are not exemplified as with this Limit.Meanwhile motor 22 is driven upside down mounted on the upper end of rack 10 and output shaft is in arrangement upward, and driven wheel 272 up and down Mounted on the top end of screw 23, setting in this way can balance the weight for moving up and down seat 21.Screw 24 is sheathed on screw 23, by The screw 23 of rotation drives screw 24 to be slided along the screw 23.Screw 24 is also mounted on first end (the i.e. Fig. 2 for moving up and down seat 21 In the rear end for moving up and down seat 21) on, breathe out not fixture 25 be mounted on move up and down seat 21 second end it is (i.e. upper and lower in Fig. 2 The front end of Mobile base 21) on and hold tightly up and down main shaft 26, it is more excellent be hold tightly up and down main shaft 26 lower end at, by moving up and down seat 21 Upper and lower main shaft 26 is driven to do synchronous move up and down by breathing out not fixture 25.Upper and lower upper and lower directions cloth of the main shaft 26 along rack 10 It puts, horizontal hunting mechanism 30 is mounted on the upper end of upper and lower main shaft 26, horizontal hunting mechanism 30 is driven to do by upper and lower main shaft 26 Under movement, setting in this way is avoided that the existing water made when upper and lower main shaft 26 is directly driven to rotate at upper and lower 26 upper end of main shaft Flat swing mechanism 30 generates the defects of radially shaking, so as to improve the steady reliability of the swing of horizontal hunting mechanism 30.More Body, as shown in Fig. 2, Fig. 3 and Fig. 5, breathe out not fixture 25 and include connector 251 and for holding the Kazakhstan of upper and lower main shaft 26 not clamp tightly 252 and Ha Fu moves folder 253, breathe out not clamp 252 along being fixed on the second end for moving up and down seat 21 across the direction of upper and lower main shaft 26 On, and breathe out not clamp 252 and, in face of the side of upper and lower main shaft 26 (i.e. the rear side of main shaft 26 up and down in Fig. 2), breathe out not dynamic folder 253 along horizontal stroke Step up the direction arrangement of lower main shaft 26 and in face of the opposite side (i.e. the front side of main shaft 26 up and down in Fig. 2) of upper and lower main shaft 26.Connection It is a screw structural to simplify its structure that part 251 is more excellent, and connector 251 is placed through Kazakhstan not 253 and Ha Fu of dynamic folder clamps 252 are simultaneously Making the Kazakhstan, not 253 and Ha Fu of dynamic folder clamps 252 hold main shaft 26 up and down tightly together, so as to reliably hold tightly upper and lower main shaft 26 in upper In lower mobile base 21.
As shown in Figures 1 to 5, horizontal hunting mechanism 30 also comprising wobble drive motor 32, swing speed reducer 33 and is swung Intermediate transmission component 34.It swings intermediate transmission component 34 and includes the swing active on the output shaft of wobble drive motor 32 It takes turns 341, the swing driven wheel (not shown) on the input shaft for swinging speed reducer 33 and is set around and swing driving wheel 341 And the swing transmission parts 343 on swing driven wheel.Preferably it is in the present embodiment, to swing driving wheel 341 and swing driven wheel For synchronous pulley, correspondingly, swing transmission parts 343 are synchronous belt, and but not limited to this.Swing the output shaft edge of speed reducer 33 The upper and lower directions arrangement of rack 10, swing span 31 are mounted on the output shaft for swinging speed reducer 33 so that wobble drive motor 32 Swing speed reducer 33 is driven to rotate by swinging driving wheel 341, swinging driven wheel and swinging transmission parts 343, so as to more steadily may be used The purpose rotated in the horizontal plane by area movable pendulum moving frame 31.Specifically, in the present embodiment, the output shaft of speed reducer 33 is swung It is directly fixed with support mounting plate 36, and swing span 31 is mounted on again in support mounting plate 36, is slowed down so that swinging Machine 33 and the fixation of swing span 31 are more reliable;Preferably it is that swing speed reducer 33 is to be mounted on upper and lower main shaft by mounting base 35 In the end of 26 upper end.
As shown in Figure 6 to 8, antero posterior axis mobile mechanism 40 includes antero posterior axis driving wheel 41, antero posterior axis driven wheel 42, front and rear Axis driving motor 43, antero posterior axis transmission belt 44 and antero posterior axis sliding seat 45.Front-rear direction of the antero posterior axis sliding seat 45 along rack 10 It is slidedly arranged on swing span 31;Specifically, in the present embodiment, swing span 31 is provided with front and rear guide rails along the front-rear direction of rack 10 311, correspondingly, antero posterior axis sliding seat 45 is equipped with the front and rear sliding block 451 coordinated with front and rear guide rails 311, and front and rear sliding block 451 slides Ground is sheathed in front and rear guide rails 311, so that antero posterior axis sliding seat 45 is more steady reliable in sliding back and forth on swing span 31;Compared with Excellent, front and rear guide rails 311 are located at the left and right sides wall of swing span 31.Antero posterior axis driving motor 43 is mounted on swing span 31 On, and the output shaft of antero posterior axis driving motor 43 is arranged along the left and right directions of rack 10.Antero posterior axis driving wheel 41 and antero posterior axis from The front-rear direction of driving wheel 42 along rack 10 is in arrangement one in front and one in back, and antero posterior axis driving wheel 41 is mounted on antero posterior axis driving motor On 43 output shaft, antero posterior axis driven wheel 42 is articulated on swing span 31, and the rotary centerline of antero posterior axis driven wheel 42 is with before The axial line of the output shaft of rear axle driving motor 43 is parallel, to meet the biography of antero posterior axis driving wheel 41 and antero posterior axis driven wheel 42 Defeated requirement.The front-rear direction of antero posterior axis transmission belt 44 along rack 10 is arranged and is set around antero posterior axis driving wheel 41 and antero posterior axis is driven On wheel 42, antero posterior axis transmission belt 44 is also fixedly connected with antero posterior axis sliding seat 45, and the first end of cantilever 60 is slided mounted on antero posterior axis Preferably it is that cantilever 60 is fixed on by breathing out not geometrical clamp 90 on antero posterior axis sliding seat 45 so that antero posterior axis drives on dynamic seat 45 Motor 43 drives antero posterior axis to slide at a distance by antero posterior axis driving wheel 41, antero posterior axis driven wheel 42 and antero posterior axis transmission belt 44 Seat 45, which is done, smoothly to slide back and forth, so as to drive cantilever 60 that antero posterior axis sliding seat 45 is followed to do the purpose slid back and forth together.Compared with It is excellent, in the present embodiment, in order to improve driving power of the antero posterior axis driving motor 43 to antero posterior axis sliding seat 45, thus it is front and rear Axis mobile mechanism 40 further includes rotational installation axis 46, the first breast wheel 47 and the second breast wheel 48.Rotational installation axis 46 is articulated in On swing span 31, axis 46 is adjacent with antero posterior axis driving wheel 41 sets for rotational installation, is rotatablely installed axis 46 and antero posterior axis driving motor 43 Output shaft in arrangement one on the other, be preferably that as shown in Fig. 6 and Fig. 8, it is electric that rotational installation axis 46 is located at antero posterior axis driving The underface of machine 43, to ensure the reasonability of arrangement.It is rotatablely installed the axial line of axis 46 and the output of antero posterior axis driving motor 43 The axial line of axis is parallel.First breast wheel 47 is mounted on the at one end for being rotatablely installed axis 46 and opposite with antero posterior axis driving wheel 41 Should, the second breast wheel 48 is mounted at the other end of rotational installation axis 46 and corresponding with antero posterior axis driven wheel 42.Antero posterior axis passes Dynamic band 44 includes the first antero posterior axis transmission belt 441 and the second antero posterior axis transmission belt 442, and the first antero posterior axis transmission belt 441 is set around On 41 and first breast wheel 47 of antero posterior axis driving wheel, the second antero posterior axis transmission belt 442 is set around the second breast wheel 48 and antero posterior axis On driven wheel 42, the second antero posterior axis transmission belt 442 is fixedly connected with antero posterior axis sliding seat 45, so that antero posterior axis driving motor 43 By antero posterior axis driving wheel 41, the cooperation of the first antero posterior axis transmission belt 441 and the first breast wheel 47 and the second breast wheel 48, The cooperation of 42 and second antero posterior axis transmission belt 442 of antero posterior axis driven wheel, can more reliably drive antero posterior axis sliding seat 45 swinging Slip on frame 31 so that antero posterior axis sliding seat 45 is more steady reliable and accurate in the slip on swing span 31, to improve this hair The precision of four bright axis robots 100 creates fabulous condition.For the ease of the assembly and disassembly and adjustment of antero posterior axis driven wheel 42, therefore swing Frame 31 has the mounting blocks 49 installed for antero posterior axis driven wheel 42, and mounting blocks 49 are offered for 42 receiving of antero posterior axis driven wheel Host cavity 492, the two side that host cavity 492 is longitudinally arranged offer tipper 493, tipper 493 by rack 10 lower section extremely Top is tilted towards the direction far from antero posterior axis driving wheel 41, and the pivotal axis of antero posterior axis driven wheel 42 is placed in tipper 493, from And be effectively prevented the antero posterior axis driven wheel 42 that antero posterior axis driving wheel 41 is followed to rotate together and surprisingly scurry out outside tipper 493, because And the rotation of antero posterior axis driven wheel 42 is more reliable.It is passed in order to further improve antero posterior axis driving wheel 41 and antero posterior axis driven wheel 42 Dynamic synchronism, therefore be additionally provided on swing span 31 for the Tensioning structure 493 of the second antero posterior axis of tensioner transmission belt 442.It can manage Solution, in the present embodiment, the first breast wheel 47, the second breast wheel 48, antero posterior axis driving wheel 41 and antero posterior axis driven wheel 42 It is synchronous pulley, the first antero posterior axis transmission belt 441 and the second antero posterior axis transmission belt 442 are synchronous belt, but be not exemplified as with this Limit.It will be appreciated that in other embodiments, can antero posterior axis driving motor 43 be directly driven antero posterior axis driving wheel 41, then this When antero posterior axis driving wheel 41 be to be directly installed on the output shaft of antero posterior axis driving motor 43, correspondingly, antero posterior axis transmission Band 44 is directly set around on antero posterior axis driving wheel 41 and antero posterior axis driven wheel 42.
As shown in Fig. 9 to Figure 13, cantilever 60 has the longitudinal chamber 61 being longitudinally arranged along the cantilever 60, is preferably cantilever 60 be rectangular tube or elliptical tube structure, has enough intensity under the weight for mitigating cantilever 60.And aligning gear 50 includes school Positive driving wheel 51, correction driven wheel 52, correction driving motor 53, correction axis 54, correction transmission belt 55 and with cantilever 60 second Seat 56 is expanded in the docking of end docking.The wheel footpath for correcting driving wheel 51 is less than the wheel footpath of correction driven wheel 52, and correct driving wheel 51 In the longitudinal chamber 61 at the first end of cantilever 60.It corrects driving motor 53 to be set in the first end of cantilever 60, and corrects and drive Dynamic motor 53 also drives correction driving wheel 51 to rotate;Preferably it is, to cause correction driving motor 53 defeated to correction driving wheel 51 Go out the torque of bigger, therefore correct and be additionally provided with a correction speed reducer 57 between driving motor 53 and correction driving wheel 51, preferably It is to correct speed reducer 57 and correct driving motor 53 to be vertically in line;Preferential, correction driving motor 53 is installed At the surface of correction speed reducer 57, and speed reducer 57 is corrected at the surface of cantilever 60, and correct speed reducer 57 Input shaft and correction driving motor 53 output axis connection, the output shaft of correction speed reducer 57 stretches into the longitudinal chamber 61 of cantilever 60 It is interior, and correct driving wheel 51 and be mounted on the output shaft of correction speed reducer 57.
As shown in figure 13, docking expansion seat 56 is offered supplies what correction driven wheel 52 housed with what longitudinal chamber 61 was docked and connected Accommodating cavity 561, the width dimensions of accommodating cavity 561 are more than the width dimensions of longitudinal chamber 61.Correction driven wheel 52 is located at accommodating cavity 561 Interior, the short transverse of correction axis 54 along cantilever 60 is placed through in correction driven wheel 52 and is assemblied in docking and expands on seat 56, and school One end of positive axis 54 is stretched out docking and is expanded outside seat 56.
As shown in figure 11, correction transmission belt 55 is located in longitudinal chamber 61 and accommodating cavity 561, and corrects transmission belt 55 and be set around It corrects on driving wheel 51 and correction driven wheel 52.Arm 70 is mounted on correction axis 54 and stretches out at the position of docking expansion seat 56, hand Arm 70 is pivotally connected by correcting axis 54 with cantilever 60;Preferably it is that as shown in figure 13, the lower end of correction axis 54 stretches out docking and expands seat Outside 56, so that arm 70 is located at the lower section that seat 56 is expanded in docking.Wherein, correction driving motor 53 is by correcting speed reducer 57th, correction driving wheel 51, correction driven wheel 52, correction transmission belt 55 and correction axis 54 drive 70 opposing cantilevers 60 of arm to do more flat The purpose surely moved;Again since correction driving wheel 51 is accommodated by cantilever 60, correction driven wheel 52 is expanded seat 56 by docking and is received Hold and correction transmission belt 55 is expanded seat 56 by cantilever 60 and docking and accommodated, therefore be effectively prevented ambient contamination object to them Pollution, further improve correction driving motor 53 to the calibration result of arm 70.Again due to the width dimensions of accommodating cavity 561 It is more than the wheel footpath of correction driving wheel 51 more than the width dimensions of longitudinal chamber 61 and the wheel footpath of correction driven wheel 52, therefore passes through increasing Docking is added to expand under the volume of seat 56 with regard to correction driven wheel 52 can have been housed, so as to avoid cantilever 60 because of correction driven wheel to be accommodated 52 and additionally increase the volume of cantilever 60, therefore the structure and weight of cantilever 60 are significantly simplified, so as to which more conducively cantilever 60 is transported Dynamic stability.More specifically, seat 56 is expanded in docking includes docking section 56a and expansion department 56b, accommodating cavity 561 is formed in expansion In portion 56b, and the more excellent major arc structure of circumferential profile of expansion department 56b.Longitudinal chamber 61 also extends through docking section 56a and and accommodating cavity 561 connections, docking section 56a more excellent is rectangular tube or elliptical tube structure, and docking section 56a is defined under the running through of longitudinal chamber 61 One docking chamber 562, docking section 56a are also equipped with the first expansion tightening wheel 563 and the second expansion tightening wheel 564 that are located in docking chamber 562.The One expansion tightening wheel 563 and the second expansion tightening wheel 564 are located at along the longitudinal direction of cantilever 60 between correction driving wheel 51 and correction driven wheel 52, and The width direction of first expansion tightening wheel 563 along cantilever 60 is compressed on an outside of correction transmission belt 55, and the second expansion tightening wheel 564 is along cantilever 60 width direction is compressed on the corresponding another outside of correction transmission belt 55.Correction axis 54 is assemblied in expansion department 56b and stretches out and is somebody's turn to do Outside expansion department 56b;Preferably it is that arm 70 is to be located at the underface that seat 56 is expanded in docking.
Wherein, in order to further improve correction driving wheel 51 and the synchronous precision of correction driven wheel 52, such as Figure 11 and figure Shown in 12, the first expansion tightening wheel 563 is compressed on the outside of the front of correction transmission belt 55, and the second expansion tightening wheel 564 is to compress correction transmission With 55 trailing outside, so as to which the first expansion tightening wheel 563 and the second expansion tightening wheel 564 be made to compress correction transmission belt 55 in different direction Two outsides are effectively reduced correction driving wheel 51 and correct the drive gap between driven wheel 52, so that correction driving wheel Transmission between 51 and correction driven wheel 52 is more synchronous, more steady and more accurate.Again as shown in figure 12,563 edge of the first expansion tightening wheel The width direction of cantilever 60 is faced with the second expansion tightening wheel 564, promotes the first expansion tightening wheel 563 and the second expansion tightening wheel 564 to correction The tensioner effect of transmission belt 55.Preferably it is, as in figures 9 or 11, the axial line 541 of overcorrect axis 54 and correction driving wheel The plane of 51 rotary centerline 511 is the first plane, and the first expansion tightening wheel 563 and the second expansion tightening wheel 564 are to be in the first plane Symmetrical arrangement, it is ensured that the tensioner degree suffered by 55 both sides of correction transmission belt is consistent, and transmission belt is corrected with further promoted 55 tensioner effect.Preferentially, it is smaller than or equal to correction active between the first expansion tightening wheel 563 and the second expansion tightening wheel 564 The wheel footpath of wheel 51, alternatively, the first expansion tightening wheel 563 and the second expansion tightening wheel 564 are respectively with correction driving wheel 51 flat perpendicular to first In partly overlapping arrangement, the purpose designed in this way is so that docking section 56a's is sized for for projection on the transverse plane in face As the size of cantilever 60.
With reference to attached drawing, the operation principle of four axis robots of the present invention is illustrated:First, upper and lower axle mobile mechanism 20 The motor 22 that drives upside down work, 23 turns of screw is driven by upper and lower intermediate transmission component 27 by the motor 22 that drives upside down to work It moves, then the screw 23 by rotating drives screw 24 to do upper and lower move along the screw 23;It is moved up and down since screw 24 is mounted on Seat 21 on, therefore the screw 24 moved up and down just drives move up and down seat 21 follow screw 24 do above and below movement;Again due to upper and lower Main shaft 26, which is breathed out not fixture 25 and is fixed on, to be moved up and down on seat 21, therefore during moving up and down seat 21 and moving up and down, up and down Main shaft 26, which also follows, to be moved up and down seat 21 and does upper and lower movement, then the main shaft up and down 26 by moving up and down drives horizontal hunting mechanism 30th, antero posterior axis mobile mechanism 40, aligning gear 50, cantilever 60 and arm 70 do the movement of upper and lower directions together.Then, horizontal pendulum The wobble drive motor 32 of motivation structure 30 works, by wobble drive motor 32 by swinging speed reducer 33 and swinging intermediate transmission group Part 34 drives swing span 31 to do the swing of left and right in horizontal plane, so as to drive antero posterior axis mobile mechanism 40, correction by swing span 31 Mechanism 50, cantilever 60 and arm 70 do the swing of left and right directions together;Then, the antero posterior axis driving electricity of antero posterior axis mobile mechanism 40 Machine 43 works, and is passed by the antero posterior axis driving motor 43 to work by antero posterior axis driving wheel 41, the first breast wheel 47, the first antero posterior axis Before dynamic band 441, rotational installation axis 46, the second breast wheel 48,42 and second antero posterior axis transmission belt 442 of antero posterior axis driven wheel go drive Rear axle sliding seat 45 does movement in the front-back direction, and the antero posterior axis sliding seat 45 moved by front-rear direction drives cantilever 60, correction machine Structure 50 and arm 70 do front and rear movement together;Finally, the correction driving motor 53 of aligning gear 50 works, by the correction to work Driving motor 53 drives correction axis 54 to rotate by correcting driving wheel 51, correction driven wheel 52 and correction transmission belt 55, thus by The correction axis 54 of rotation drives arm 70 to rotate and realize the correction of 70 opposing cantilevers 60 of arm in the horizontal plane, realizes arm The purpose of 70 four axes motions.It will be appreciated that drive upside down motor 22, wobble drive motor 32, antero posterior axis driving motor 43 and The job order of correction driving motor 53 is without priority, the above limitation of carry out sequence for convenience of description.
Compared with prior art, it is moved up and down on seat 21 since the horizontal hunting mechanism 30 of the present invention is mounted on, by upper and lower Driving motor 22 is driven driving to move up and down under seat 21 slides, and horizontal hunting mechanism 30 has and swings in the horizontal plane Swing span 31, antero posterior axis mobile mechanism 40 are mounted on swing span 31, and antero posterior axis mobile mechanism 40 is driven in water by swing span 31 It is swung in plane.Due to cantilever 60 along rack 10 front-rear direction arrangement and first end connect with antero posterior axis mobile mechanism 40, make Cantilever 60 is driven by antero posterior axis mobile mechanism 40 and does front and rear movement;Again due to arm 70 and cantilever 60 second end pivot joint and With the crawl structure 71 for pick-and-place workpiece, aligning gear 50 is set on cantilever 60 and drives 70 opposing cantilevers of arm, 60 school Just, so that aligning gear 50 and arm 60 followed under the driving of antero posterior axis mobile mechanism 40 cantilever 60 do be moved forward and backward it is same When, arm 70 is also corrected mechanism 50 and is corrected, so, arm 70 is in upper and lower axle mobile mechanism 20, horizontal hunting mechanism 30, preceding Under rear axle mobile mechanism 40 and aligning gear 50 4 cooperate, the purpose of four axes motion is realized, so that on arm 70 Crawl structure 71 it is more steady reliable to the pick-and-place of workpiece and precisely.Meanwhile by upper and lower axle mobile mechanism 20, horizontal pendulum motivation The steady reliable movement of arm 70 can be realized in structure 30, antero posterior axis mobile mechanism 40, cantilever 60 and aligning gear 50, therefore, this Four axis robots 100 of invention have the advantages that stable movement, simple in structure and with high accuracy.
The person of being worth noting, the short transverse of cantilever 60 refer to the upper and lower directions in Figure 11, and the width direction of cantilever 60 refers to Be front-rear direction in Figure 11.
Above disclosed is only presently preferred embodiments of the present invention, cannot limit the right of the present invention with this certainly Range, therefore equivalent variations made according to the claims of the present invention still fall within the range that the present invention is covered.

Claims (9)

1. a kind of four axis robots, including rack, upper and lower axle mobile mechanism, horizontal hunting mechanism, antero posterior axis mobile mechanism, correction Mechanism, cantilever and arm, which is characterized in that the upper and lower axle mobile mechanism includes along the upper and lower directions of the rack and is slidedly arranged on institute State moving up and down in rack the moves up and down seat slip motor that drives upside down described in seat and driving, the horizontal hunting mechanism peace It is moved up and down on seat mounted in described, and the horizontal hunting mechanism has the swing span swung in the horizontal plane, the antero posterior axis Mobile mechanism is mounted on the swing span, and the cantilever is arranged along the front-rear direction of the rack, the first end of the cantilever It is connect with the antero posterior axis mobile mechanism, the second end of the cantilever is pivotally connected with the arm, and the cantilever is in the antero posterior axis Movement in the front-back direction is done under the driving of mobile mechanism, the arm has the crawl structure for pick-and-place workpiece, the correction Mechanism is set on the cantilever and drives the relatively described cantilever correction of the arm;Wherein, the cantilever has and is indulged along the cantilever To the longitudinal chamber of arrangement, the aligning gear includes correction driving wheel, correction driven wheel, correction driving motor, correction axis, correction Seat is expanded in transmission belt and the docking docked with the second end of the cantilever, the wheel footpath of the correction driving wheel be less than the correction from The wheel footpath of driving wheel, and the correction driving wheel is located in the longitudinal chamber at the first end of the cantilever, the correction driving motor In the first end of the cantilever and the correction driving wheel is driven to rotate, the docking is expanded seat and offered and the longitudinal direction The accommodating cavity housed for the correction driven wheel that chamber is docked and connected, the width dimensions of the accommodating cavity are more than the longitudinal chamber Width dimensions, the correction driven wheel are located in the accommodating cavity, and the correction axis is placed through along the short transverse of the cantilever It in the correction driven wheel and is assemblied on the docking expansion seat, and one end of the correction axis stretches out the docking and expands seat Outside, the correction transmission belt is located in the longitudinal chamber and accommodating cavity, and the correction transmission belt is set around the correction actively On wheel and correction driven wheel, the arm is mounted on the correction axis stretching docking and expands at the position of seat, the arm It is pivotally connected by the correction axis with the cantilever.
2. four axis robot as described in claim 1, which is characterized in that the upper and lower axle mobile mechanism is also comprising screw, silk Not fixture and upper and lower main shaft, the upper and lower directions of the screw along the rack are assemblied in the rack for female, Kazakhstan, described to drive up and down Dynamic motor drives the screw to rotate, and the nut sleeve is set on the screw, and the screw is also mounted on described move up and down In the first end of seat, not fixture moves up and down in the second end of seat described in and holds the main shaft up and down, institute tightly for the Kazakhstan It states upper and lower main shaft to arrange along the upper and lower directions of the rack, the horizontal hunting mechanism is mounted on the upper end of the main shaft up and down On.
3. four axis robot as claimed in claim 2, which is characterized in that the output shaft for driving upside down motor is along the machine The upper and lower directions arrangement of frame, and described drive upside down is connected with intermediate transmission component up and down between motor and the screw, it is described Upper and lower intermediate transmission component, which includes, is mounted on the driving wheel up and down driven upside down on the output shaft of motor, mounted on the silk Driven wheel up and down on bar and the transmission parts up and down being set around on the driving wheel up and down and upper and lower driven wheel.
4. four axis robot as claimed in claim 2, which is characterized in that the horizontal hunting mechanism is also comprising wobble drive electricity Machine swings speed reducer and swings intermediate transmission component, and the swing intermediate transmission component, which includes, is mounted on wobble drive electricity Swing driving wheel on the output shaft of machine, the swing driven wheel on the input shaft for swinging speed reducer and it is set around institute State swing driving wheel and swing driven wheel on swing transmission parts, it is described swing speed reducer output shaft along the rack up and down Direction arranges that the swing span is mounted on the output shaft for swinging speed reducer.
5. four axis robot as claimed in claim 2, which is characterized in that not fixture includes connector and for holding tightly for the Kazakhstan Not clamp and Ha Fu move folder for the Kazakhstan of the main shaft up and down, and not clamp is fixed on institute along across the direction of the main shaft up and down for the Kazakhstan It states in the second end for moving up and down seat, and not for clamp in face of the side of the main shaft up and down, folder is not moved along horizontal stroke in the Kazakhstan for the Kazakhstan It is arranged across the direction of the main shaft up and down and in face of the opposite side of the main shaft up and down, the connector is placed through the Kazakhstan and not moves It presss from both sides and breathes out not clamp and the Kazakhstan is made not to move folder and breathe out not clamp and hold main shaft above and below described tightly together.
6. four axis robot as described in claim 1, which is characterized in that the antero posterior axis mobile mechanism includes antero posterior axis actively Wheel, antero posterior axis driven wheel, antero posterior axis driving motor, antero posterior axis transmission belt and antero posterior axis sliding seat, the antero posterior axis sliding seat edge The front-rear direction of the rack is slidedly arranged on the swing span, and the antero posterior axis driving motor is mounted on the swing span, and The output shaft of the antero posterior axis driving motor arranges along the left and right directions of the rack, the antero posterior axis driving wheel and antero posterior axis from Along the front-rear direction of the rack in arrangement one in front and one in back, the antero posterior axis driving wheel drives driving wheel mounted on the antero posterior axis On the output shaft of motor, the antero posterior axis driven wheel is articulated on the swing span, and in the rotation of the antero posterior axis driven wheel Heart line is parallel with the axial line of the output shaft of the antero posterior axis driving motor, and the antero posterior axis transmission belt is along before the rack Rear direction arranges and is set around on the antero posterior axis driving wheel and antero posterior axis driven wheel, the antero posterior axis transmission belt also with it is described before Rear axle sliding seat is fixedly connected, and the first end of the cantilever is mounted on the antero posterior axis sliding seat.
7. four axis robot as claimed in claim 6, which is characterized in that the antero posterior axis mobile mechanism further includes rotational installation Axis, the first breast wheel and the second breast wheel, the rotational installation axis are articulated on the swing span, the rotational installation axis and institute State that antero posterior axis driving wheel is adjacent to be set, the output shaft of the rotational installation axis and the antero posterior axis driving motor is in cloth one on the other It puts, the axial line of the rotational installation axis is parallel with the axial line of the output shaft of the antero posterior axis driving motor, and described first Breast wheel is mounted on the at one end of the rotational installation axis and, the second breast wheel peace corresponding with the antero posterior axis driving wheel At the other end of the rotational installation axis and corresponding with the antero posterior axis driven wheel, the antero posterior axis transmission belt includes the One antero posterior axis transmission belt and the second antero posterior axis transmission belt, the first antero posterior axis transmission belt be set around the antero posterior axis driving wheel and On first breast wheel, the second antero posterior axis transmission belt is set around on second breast wheel and antero posterior axis driven wheel, and described Two antero posterior axis transmission belts are fixedly connected with the antero posterior axis sliding seat.
8. four axis robot as claimed in claim 7, which is characterized in that the swing span, which has, supplies the antero posterior axis driven wheel The mounting blocks of installation, the mounting blocks offer the host cavity for the antero posterior axis driven wheel receiving, the host cavity longitudinal direction The two side of arrangement offers tipper, and the tipper is by lower section to the top of the rack towards this far from the antero posterior axis master The direction of driving wheel tilts, and the pivotal axis of the antero posterior axis driven wheel is placed in the tipper.
9. four axis robot as described in claim 1, which is characterized in that the docking expands seat and includes docking section and expansion Portion, the accommodating cavity are formed in the expansion department, and the longitudinal chamber also extends through the docking section and connected with the accommodating cavity, The docking section defines a pair under the running through of the longitudinal chamber and connects chamber, and the docking section is also equipped with being located at the docking chamber Interior the first expansion tightening wheel and the second expansion tightening wheel, first expansion tightening wheel and the second expansion tightening wheel are located at described along the longitudinal direction of the cantilever It corrects between driving wheel and correction driven wheel, and the width direction of the first expansion tightening wheel along the cantilever compresses the correction and passes On one outside of dynamic band, it is corresponding another that the width direction of the second expansion tightening wheel along the cantilever compresses the correction transmission belt On outside, the correction axis is assemblied in the expansion department and stretches out outside the expansion department.
CN201510599147.1A 2015-09-18 2015-09-18 Four axis robots CN105171718B (en)

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CN106239756A (en) * 2016-09-21 2016-12-21 东莞市晋拓自动化科技有限公司 The standby four axle robot automatic loading/unloading method and devices of automatic production line zero
CN109108955A (en) * 2018-09-28 2019-01-01 杭州金浪机电有限公司 A kind of four axis stamping mechanical arms
CN109093613A (en) * 2018-09-28 2018-12-28 杭州金浪机电有限公司 Four axis robots for absorbing material

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