CN105397801A - Large-rectangular-coordinate robot - Google Patents

Large-rectangular-coordinate robot Download PDF

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Publication number
CN105397801A
CN105397801A CN201510875735.3A CN201510875735A CN105397801A CN 105397801 A CN105397801 A CN 105397801A CN 201510875735 A CN201510875735 A CN 201510875735A CN 105397801 A CN105397801 A CN 105397801A
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CN
China
Prior art keywords
axis
transmission
bolt
guide rail
sliding
Prior art date
Application number
CN201510875735.3A
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Chinese (zh)
Other versions
CN105397801B (en
Inventor
杨金华
杨继东
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重庆热谷机器人科技有限责任公司
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Priority to CN201510875735.3A priority Critical patent/CN105397801B/en
Publication of CN105397801A publication Critical patent/CN105397801A/en
Application granted granted Critical
Publication of CN105397801B publication Critical patent/CN105397801B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type

Abstract

The invention discloses a large-rectangular-coordinate robot. An X-axis transmission mechanism comprises an X-axis guide track, X-axis sliding pieces and an X-axis power component; a Y-axis transmission mechanism comprises a Y-axis guide track, a Y-axis sliding piece and a Y-axis power component, and the Y-axis guide track is connected between the two X-axis sliding pieces; a Z-axis transmission mechanism comprises a Z-axis profile and a Z-axis power component, a Z-axis guide track is mounted on the Z-axis profile, a sliding block is fixedly mounted on the Y-axis sliding piece and is slidably connected with the Z-axis guide track, the Z-axis power component drives the Z-axis profile to move vertically, and the lower end of the Z-axis profile is connected with a rotating head; and an R-axis transmission motor of a R-axis transmission mechanism is mounted on the rotating head, an R-axis speed reducer outputting shaft of an R-axis rotating motor is connected with a belt pulley, a rotating shaft is arranged at the upper end of a vacuum sucker mounting rack, and sleeves the rotating head, a belt pulley sleeves the rotating shaft, the two belt pulleys are connected with each other through a synchronous belt, and a plurality of vacuum suckers are mounted on the lower surface of the vacuum sucker mounting rack. Productivity and productive forces are improved.

Description

A kind of large Cartesian robot
Technical field
The present invention relates to a kind of robot, particularly the large Cartesian robot of one.
Background technology
In recent years, along with the extensive use of mechanotronics, the research and production of robot has become the emerging technology developed rapidly in high-technology field, its fast development changes the processing mode of traditional manufacture to a great extent, also promotes the develop rapidly in recent years of automation industry simultaneously.Robot can replace the mankind to complete danger, repeat scissors and paste, alleviates human labour intensity, increases productivity.
But have the product short-haul operation work of face profile still by manually completing on very factoried production line, labour intensity is large, production efficiency is low.In order to increase work efficiency, reduce costs, production line is made to develop into flexible manufacturing system, adapt to modern automation produce, for concrete production technology, utilize Robotics, design specialized robot (i.e. Cartesian robot) replaces manual working, becomes the problem that urgently will solve at present to raise labour productivity.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of large Cartesian robot, being applicable to the transport of the product with face profile.
To achieve these goals, technical scheme of the present invention is as follows: a kind of large Cartesian robot, comprise X-axis transmission mechanism, Y-axis transmission mechanism, Z-axis transmission mechanism and R shaft transmission, it is characterized in that: described X-axis transmission mechanism comprises two X-axis guide rails, is slidably connected at the X-axis sliding part on two X-axis guide rails and drives X-axis sliding part at the X-axis power part of X-axis slide on rails;
Described Y-axis transmission mechanism comprises Y-axis guide rail, is slidably connected at the Y-axis sliding part on Y-axis guide rail and drives Y-axis sliding part at the Y-axis power part of Y-axis slide on rails, and described Y-axis guide rail is connected between the X-axis sliding part on two X-axis guide rails;
Described Z-axis transmission mechanism comprises Z axis section bar, and Z axis section bar is installed Z axis guide rail, and described Y-axis sliding part fixedly mounts slide block, and described slide block is connected with Z axis slide; Also comprise the Z axis power part driving Z axis section bar to move up and down; Swivel head is connected in the lower end of Z axis section bar;
Described R shaft transmission comprises R through-drive motor, R through-drive motor is arranged on swivel head, the output shaft of the reductor of R axle electric rotating machine connects belt wheel, the upper end of vacuum cup installing rack arranges rotating shaft, this rotary sleeve is contained on swivel head, be set with belt wheel on the rotary shaft, two belt wheels are connected by Timing Belt, and the lower surface of described vacuum cup installing rack installs some vacuum cups.
Adopt such scheme, the product with face profile holds by vacuum cup, and by the motion of Z axis, X-axis, Y-axis and R axle, the position of this limit suction cup carrier, realizes the unmanned conveying of product.
In such scheme: described X-axis power part comprises the X-axis driving motor on the X-axis sliding part that is arranged on any one X-axis guide rail, the output shaft of described X-axis driving motor is connected with right angle reductor, X-axis sliding part on another X-axis guide rail also installs right angle reductor, two right angle reductors are connected by drive link, the output shaft of two right angle reductor lower ends is all set with X-axis gear, install X-axis tooth bar all along its length in the inner side of each X-axis guide rail, described X-axis gear engages with X-axis tooth bar.Like this, X-axis driving motor can drive the X-axis sliding part synchronizing moving on two X-axis guide rails simultaneously.
In such scheme: described Y-axis guide rail is two electric cylinders, two electric cylinders are installed in parallel between the X-axis sliding part on two X-axis guide rails, and described Y-axis sliding part comprises the slide carriage be arranged on each electric cylinder, and the slide carriage on two electric cylinders is connected by installing plate;
Y-axis power part comprises Y-axis driving motor, and the output shaft of Y-axis driving motor is connected with Y-axis reductor, and the output shaft of described Y-axis reductor is connected with Synchronous Transmission axle, and Synchronous Transmission axle synchronously drives the slide carriage on two electric cylinders to move on electric cylinder.By the electric cylinder synchronizing moving of an Electric Machine Control two.
In such scheme: arrange a mounting cylinder in the centre of installing plate, described Z axis section bar is through this mounting cylinder, and described slide block is arranged on the inwall of this mounting cylinder.
In such scheme: described Z axis power part comprises Z-axis transmission motor and Z axis reductor, the output shaft of described Z axis reductor is set with Z-axis transmission gear, described Z axis section bar arranges longitudinal Z-axis transmission tooth bar, and Z-axis transmission gear engages with Z-axis transmission tooth bar.Z-axis transmission driven by motor Z-axis transmission gear rotates, thus Z axis section bar can be moved up and down.
In such scheme: described X-axis guide rail is spliced by multistage short lead rail, and one end of described short lead rail arranges dovetail groove, the corresponding dovetail groove of the other end arranges projection, and this projection is inserted in the dovetail groove of adjacent short lead rail, two short lead rail is stitched together;
In the below of the end of each short lead rail, levelling device is set, institute's levelling device comprises backing plate, four angles of described backing plate arrange counter sink, in this counter sink, load square head bolt, described square head bolt reaches the below of backing plate, bolt is arranged the through hole extended in the axial direction passed for square head bolt, described square head bolt is through the through hole of bolt, the head of described bolt is positioned at below, and described bolt coat has top nut, and described square head bolt reaches the part suit lower nut outside bolt;
Attachment screw is installed near the position at four angles in the upper end of described backing plate, the head of described attachment screw is fixed in backing plate, described attachment screw is set with attaching nut, the corresponding attaching nut of lower surface of described short lead rail arranges bolt draw-in groove, and described attaching nut inserts in the bolt draw-in groove of short lead rail lower end.
Mounting means is: be placed on by backing plate on the truss steel plate of short lead rail stitching portion, truss steel plate arranges bolt hole, bolt is arranged in the bolt hole on steel plate, utilizes top nut by locked for the bolt steel plate on truss.Be placed on backing plate by Z axis guide rail, attaching nut inserts in bolt draw-in groove corresponding to short lead rail lower end.Short lead rail and backing plate are fixed.Regulated the position of square head bolt by lower nut, thus regulate short lead rail stitching portion balance and the guide precision of Z axis guide rail, regulate below steel plate, the operation of more convenient staff.
In such scheme: described attachment screw is hexagon socket cap head screw, described connection spiral shell is T-nut.Be convenient to be connected with guide rail.
In such scheme:: between the head and lower nut of bolt, pad is set.
In such scheme: described counter sink is bar hole.
Beneficial effect: the present invention adopts X-axis transmission mechanism, Y-axis transmission mechanism, Z-axis transmission mechanism and R shaft transmission four direction capture workpiece and transport, mechanization degree is high, the main Product processing production equipment with having face profile combines and finally forms production line, realizes the automation of grasp handling process, unmanned.The present invention can be applied to processing factory workshop, meets the conventional requirement with the Product transport of face profile, thus alleviates labor strength, save process time, boost productivity and productivity.Guide rail connecting method of the present invention is simple in addition, guide rail leveling device has taken into full account the specific requirement of the effect of guide rail in robot, installation site and working environment and technological process, structure is simple, action is quick, and versatility is good, and working service is convenient, cost is low, robot guide rail automatic adjustable balance in the course of the work can be effective to, improve its productivity ratio, good reliability.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the partial enlarged drawing at A place in Fig. 1.
Fig. 3 is the partial enlarged drawing at B1 place in Fig. 1.
Fig. 4 is the partial enlarged drawing at B2 place in Fig. 1.
Fig. 5 is the partial enlarged drawing at B place in Fig. 1.
Fig. 6 is top view of the present invention.
Fig. 7 is C place partial enlarged drawing in Fig. 6.
Fig. 8 is D place partial enlarged drawing in Fig. 6.
Fig. 9 is the front view of X-axis transmission mechanism.
Figure 10 is the side view of X-axis transmission mechanism.
Figure 11 is the structure chart of Y-axis transmission mechanism.
Figure 12 is the structure chart of Z-axis transmission mechanism.
Figure 13 is the partial enlarged drawing at E place in Figure 12.
Figure 14 is the top view of swivel head.
Figure 15 is the structural representation of levelling device.
Figure 16 is the front view of levelling device.
Figure 17 is the A-A sectional view of Figure 16.
Figure 18 is the B-B sectional view of Figure 16.
Figure 19 is the scheme of installation of levelling device and short lead rail.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described:
Of the present inventionly wait the relative position of the noun of locality only in representative graph all around, do not represent the absolute position of product.
Embodiment 1, as shown in figures 1-19: large Cartesian robot of the present invention is made up of X-axis transmission mechanism, Y-axis transmission mechanism, Z-axis transmission mechanism, R shaft transmission and guide rail leveling device.
The X-axis power part that X-axis transmission mechanism comprises two X-axis guide rails 1, is slidably connected at the X-axis sliding part 2 on two X-axis guide rails 1 and drives X-axis sliding part 2 to slide on X-axis guide rail 1.
X-axis guide rail 1 is spliced by multistage short lead rail 1a, arranges dovetail groove in one end of short lead rail 1a, and the corresponding dovetail groove of the other end arranges projection, and this projection is inserted in the dovetail groove of adjacent short lead rail 1a, thus is stitched together by two short lead rail 1a.
Guide rail leveling device is made up of parts such as pad 1-1, counter sink 1-2, square head bolt 1-3, bolt 1-4, top nut 1-5, lower nut 1-6, attachment screw 1-7, attaching nut 1-8, pad 1-9.
Four angles of backing plate 1-1 arrange counter sink 1-2, this counter sink 1-2 is bar hole, square head bolt 1-3 is loaded in this counter sink 1-2, the head of square head bolt 1-3 is positioned at backing plate 1-1 upper end, the threaded shank of square head bolt 1-3 reaches the below of backing plate 1-1, bolt 1-4 is arranged the through hole extended in the axial direction passed for square head bolt 1-3, square head bolt 1-3 is through the through hole of bolt 1-4, and the axis of square head bolt 1-3 and the axis of bolt 1-4 are on the same line.The head of bolt 1-4 is positioned at below, and bolt 1-4 overcoat has top nut 1-5, and square head bolt 1-3 reaches the part suit lower nut 1-6 outside bolt 1-4, between the head and lower nut 1-6 of bolt 1-4, arrange pad 1-9.
Attachment screw 1-7 is installed near the position at four angles in the upper end of backing plate 1-1, and attachment screw 1-7 is hexagon socket cap head screw, and the head of attachment screw 1-7 is fixed in backing plate 1-1, and attachment screw 1-7 is set with attaching nut 1-8.Attaching nut 1-8 is T-nut.
Levelling device is arranged on short lead rail 1a stitching portion.Backing plate 1-1 is placed on the steel plate of the truss of guide rail stitching portion, steel plate arranges bolt hole, and bolt 1-4 is contained in the bolt hole on truss steel plate, and is locked by top nut 1-5, regulated the position of square head bolt 1-3 by lower nut 1-6, thus regulate guide rail stitching portion balance and guide precision.Arrange bolt draw-in groove at the corresponding attaching nut 1-8 of the lower surface of short lead rail 1a, attaching nut 1-8 snaps in the bolt draw-in groove of short lead rail 1a lower surface, thus is fixed on backing plate 1-1 by short lead rail 1a.
The X-axis sliding part 2 be slidably connected on two X-axis guide rails is slide carriage, and a slide carriage installed by each X-axis guide rail 1.
X-axis power part comprises the X-axis driving motor 3 be arranged on any one slide carriage, the output shaft of X-axis driving motor 3 is connected with right angle reductor 4, slide carriage on another X-axis guide rail also installs right angle reductor 4, two right angle reductors 4 are connected by drive link 5, the output shaft of two right angle reductor 4 lower ends is all set with X-axis gear 6, install X-axis tooth bar 7 all along its length in the inner side of each X-axis guide rail 1, X-axis gear 6 engages with X-axis tooth bar 7.X-axis driving motor 3 starts, and the right angle reductor 4 on two slide carriages is synchronous, drives X-axis gear 6 synchronous rotary above, drives slide carriage to move forward.
The Y-axis power part that Y-axis transmission mechanism comprises Y-axis guide rail 8, is slidably connected at the Y-axis sliding part on Y-axis guide rail 8 and drives Y-axis sliding part to slide on Y-axis guide rail 8.
Y-axis guide rail 8 is two electric cylinders be arranged in parallel, and these two electric cylinders are connected between the slide carriage on two X-axis guide rails 1.
Y-axis sliding part comprises the slide carriage be arranged on each electric cylinder, and the slide carriage on two electric cylinders is connected by installing plate 9a.
Y-axis power part comprises Y-axis driving motor 10, and the output shaft of Y-axis driving motor 10 is connected with Y-axis reductor 11, and the output shaft of Y-axis reductor 11 is connected with Synchronous Transmission axle 12, and Synchronous Transmission axle synchronously drives the slide carriage on two electric cylinders to move on electric cylinder.Synchronous Transmission axle 12 is that two power transmission shafts are connected by shaft coupling.
Z-axis transmission mechanism comprises Z axis section bar 13, Z axis section bar 13 is installed Z axis guide rail 14, the centre of the installing plate 9a of Y-axis sliding part arranges a mounting cylinder 9b, Z axis section bar 13 is through this mounting cylinder 9b, at the slide block 15 that the inwall fixed installation of mounting cylinder 9b is joined with Z axis guide rail 14, slide block 15 is slidably connected on slide rail 14.
The Z axis power part driving Z axis section bar 13 to move up and down comprises Z-axis transmission motor 16 and Z axis reductor 17, the output shaft of Z axis reductor 17 is set with Z-axis transmission gear 18, Z axis section bar 13 is arranged longitudinal Z-axis transmission tooth bar 19, Z-axis transmission gear 18 engages with Z-axis transmission tooth bar 19.
Z-axis transmission motor 16 drives Z-axis transmission gear 18 to rotate, thus drives Z axis section bar 13 to move up and down.
Swivel head 21 is connected in the lower end of Z axis section bar 13.
R shaft transmission comprises R through-drive motor 20, R through-drive motor 20 is arranged on swivel head 21, the output shaft of R axle electric rotating machine 20 is connected with the power shaft of R axle reductor, the output shaft of R axle reductor connects belt wheel 22, R axle reductor is harmonic wave speed reducing machine, the upper end of vacuum cup installing rack 23 arranges rotating shaft 23a, this rotating shaft 23a is sleeved in the bearing be arranged on swivel head 21, rotating shaft 23a is set with belt wheel 22, two belt wheels 22 are connected by Timing Belt, and the lower surface of vacuum cup installing rack 23 installs some vacuum cups 24.
The present invention is not limited to above-mentioned specific embodiment, should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.In a word, all technical staff in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.

Claims (9)

1. a large Cartesian robot, comprise X-axis transmission mechanism, Y-axis transmission mechanism, Z-axis transmission mechanism and R shaft transmission, it is characterized in that: described X-axis transmission mechanism comprises two X-axis guide rails, is slidably connected at the X-axis sliding part on two X-axis guide rails and drives X-axis sliding part at the X-axis power part of X-axis slide on rails;
Described Y-axis transmission mechanism comprises Y-axis guide rail, is slidably connected at the Y-axis sliding part on Y-axis guide rail and drives Y-axis sliding part at the Y-axis power part of Y-axis slide on rails, and described Y-axis guide rail is connected between the X-axis sliding part on two X-axis guide rails;
Described Z-axis transmission mechanism comprises Z axis section bar, and Z axis section bar is installed Z axis guide rail, and described Y-axis sliding part fixedly mounts slide block, and described slide block is connected with Z axis slide; Also comprise the Z axis power part driving Z axis section bar to move up and down; Swivel head is connected in the lower end of Z axis section bar;
Described R shaft transmission comprises R through-drive motor, R through-drive motor is arranged on swivel head, the output shaft of the reductor of R axle electric rotating machine connects belt wheel, the upper end of vacuum cup installing rack arranges rotating shaft, this rotary sleeve is contained on swivel head, be set with belt wheel on the rotary shaft, two belt wheels are connected by Timing Belt, and the lower surface of described vacuum cup installing rack installs some vacuum cups.
2. a kind of large Cartesian robot according to claim 1, it is characterized in that: described X-axis power part comprises the X-axis driving motor on the X-axis sliding part that is arranged on any one X-axis guide rail, the output shaft of described X-axis driving motor is connected with right angle reductor, X-axis sliding part on another X-axis guide rail also installs right angle reductor, two right angle reductors are connected by drive link, the output shaft of two right angle reductor lower ends is all set with X-axis gear, all along its length X-axis tooth bar is installed in the inner side of each X-axis guide rail, described X-axis gear engages with X-axis tooth bar.
3. a kind of large Cartesian robot according to claim 1 or 2, it is characterized in that: described Y-axis guide rail is two electric cylinders, two electric cylinders are installed in parallel between the X-axis sliding part on two X-axis guide rails, described Y-axis sliding part comprises the slide carriage be arranged on each electric cylinder, and the slide carriage on two electric cylinders is connected by installing plate;
Y-axis power part comprises Y-axis driving motor, and the output shaft of Y-axis driving motor is connected with Y-axis reductor, and the output shaft of described Y-axis reductor is connected with Synchronous Transmission axle, and Synchronous Transmission axle synchronously drives the slide carriage on two electric cylinders to move on electric cylinder.
4. a kind of large Cartesian robot according to claim 3, it is characterized in that: arrange a mounting cylinder in the centre of installing plate, described Z axis section bar is through this mounting cylinder, and described slide block is arranged on the inwall of this mounting cylinder.
5. a kind of large Cartesian robot according to claim 4, it is characterized in that: described Z axis power part comprises Z-axis transmission motor and Z axis reductor, the output shaft of described Z axis reductor is set with Z-axis transmission gear, described Z axis section bar arranges longitudinal Z-axis transmission tooth bar, and Z-axis transmission gear engages with Z-axis transmission tooth bar.
6. a kind of large Cartesian robot according to claim 1, it is characterized in that: described X-axis guide rail is spliced by multistage short lead rail, one end of described short lead rail arranges dovetail groove, the corresponding dovetail groove of the other end arranges projection, this projection is inserted in the dovetail groove of adjacent short lead rail, two short lead rail is stitched together;
In the below of the end of each short lead rail, levelling device is set, described levelling device comprises backing plate, four angles of described backing plate arrange counter sink, in this counter sink, load square head bolt, described square head bolt reaches the below of backing plate, bolt is arranged the through hole extended in the axial direction passed for square head bolt, described square head bolt is through the through hole of bolt, the head of described bolt is positioned at below, and described bolt coat has top nut, and described square head bolt reaches the part suit lower nut outside bolt;
Attachment screw is installed near the position at four angles in the upper end of described backing plate, the head of described attachment screw is fixed in backing plate, described attachment screw is set with attaching nut, the corresponding attaching nut of lower surface of described short lead rail arranges bolt draw-in groove, and described attaching nut inserts in the bolt draw-in groove of short lead rail lower end.
7. a kind of large Cartesian robot according to claim 6, it is characterized in that: described attachment screw is hexagon socket cap head screw, described connection spiral shell is T-nut.
8. a kind of large Cartesian robot according to claim 7, is characterized in that: between the head and lower nut of bolt, arrange pad.
9. a kind of large Cartesian robot according to claim 8, is characterized in that: described counter sink is bar hole.
CN201510875735.3A 2015-12-03 2015-12-03 A kind of big Cartesian robot CN105397801B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN105397801A true CN105397801A (en) 2016-03-16
CN105397801B CN105397801B (en) 2017-07-28

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108673125A (en) * 2018-07-25 2018-10-19 东莞市松研智达工业设计有限公司 Ultra-thin gasket is taken and puts together machines people

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JP2010173815A (en) * 2009-01-30 2010-08-12 Toshiba Elevator Co Ltd Joint plate for guide rails of elevator
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108673125A (en) * 2018-07-25 2018-10-19 东莞市松研智达工业设计有限公司 Ultra-thin gasket is taken and puts together machines people

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