CN105397801B - A kind of big Cartesian robot - Google Patents
A kind of big Cartesian robot Download PDFInfo
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- CN105397801B CN105397801B CN201510875735.3A CN201510875735A CN105397801B CN 105397801 B CN105397801 B CN 105397801B CN 201510875735 A CN201510875735 A CN 201510875735A CN 105397801 B CN105397801 B CN 105397801B
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- Prior art keywords
- axis
- guide rail
- bolt
- axis guide
- sliding part
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of big Cartesian robot, X-axis transmission mechanism includes X-axis guide rail, X-axis sliding part and X-axis power part；Y-axis transmission mechanism includes Y-axis guide rail, Y-axis sliding part and Y-axis power part, and Y-axis guide rail is connected between two X-axis sliding parts；Z-axis transmission mechanism includes Z axis section bar, is installed on Z axis section bar and sliding block is fixedly mounted on Z axis guide rail, Y-axis sliding part, sliding block is slidably connected with Z axis guide rail；Also include the Z axis power part that driving Z axis section bar is moved up and down；Swivel head is connected in the lower end of Z axis section bar；The R axles driving motor of R shaft transmissions is arranged on swivel head, belt wheel is connected on the R axle speed reducer output shafts of R axle electric rotating machines, the upper end of vacuum cup mounting bracket sets rotary shaft, the rotary sleeve is on swivel head, belt wheel is set with the rotary shaft, two belt wheels are connected by timing belt, and the lower surface of vacuum cup mounting bracket installs some vacuum cups.Improve productivity ratio and productivity.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of big Cartesian robot.
Background technology
In recent years, with the extensive use of mechanotronics, the development and production of robot have turned into new and high technology and led
The emerging technology developed rapidly in domain, its fast development largely changes the processing life of traditional manufacture
Production mode, while also promoting automation industry developing rapidly in recent years.It is withered that robot can replace the mankind to complete dangerous, repetition
Dry work, mitigates human labour intensity, increases productivity.
But the product short-haul operation with face profile works still by being accomplished manually on the production line of many factories,
Labor intensity is big, low production efficiency.In order to improve operating efficiency, cost is reduced, production line is developed into flexible manufacturing system,
Modern automation production is adapted to, for specific production technology, using robot technology, design specialized robot (i.e. rectangular co-ordinate
Robot) manual working is replaced, turn into the problem of compeling highly necessary to solve at present to raise labour productivity.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention provides a kind of big Cartesian robot, is adapted to have face profile
Product transport.
To achieve these goals, technical scheme is as follows：A kind of big Cartesian robot, including X-axis are passed
Motivation structure, Y-axis transmission mechanism, Z-axis transmission mechanism and R shaft transmissions, it is characterised in that：The X-axis transmission mechanism includes two
The X that bar X-axis guide rail, the X-axis sliding part being slidably connected in two X-axis guide rails and driving X-axis sliding part are slided in X-axis guide rail
Axle power part；
The Y-axis transmission mechanism includes Y-axis guide rail, the Y-axis sliding part being slidably connected in Y-axis guide rail and driving Y-axis and slided
The Y-axis power part that moving part is slided in Y-axis guide rail, the Y-axis guide rail be connected to X-axis sliding part in two X-axis guide rails it
Between；
The Z-axis transmission mechanism includes Z axis section bar, installs fixed on Z axis guide rail, the Y-axis sliding part on Z axis section bar
Sliding block is installed, the sliding block is slidably connected with Z axis guide rail；Also include the Z axis power part that driving Z axis section bar is moved up and down；In Z
The lower end connection swivel head of spindle-type material；
The R shaft transmissions include R axle driving motors, and R axles driving motor is arranged on swivel head, R axle electric rotating machines
Reductor output shaft on connect belt wheel, the upper end of vacuum cup mounting bracket sets rotary shaft, and the rotary sleeve is mounted in rotation
On head, belt wheel is set with the rotary shaft, two belt wheels are connected by timing belt, the lower surface of the vacuum cup mounting bracket is installed
Some vacuum cups.
Using such scheme, vacuum cup holds the product with face profile, passes through Z axis, X-axis, Y-axis and R axles
Motion, the unmanned conveying of product is realized in the position of the side suction cup carrier.
In such scheme：The X-axis power part is included on the X-axis sliding part in any one X-axis guide rail
X-axis driving motor, the output shaft of the X-axis driving motor is connected with right angle reductor, the X-axis in another X-axis guide rail
Right angle reductor is also installed, two right angle reductors are connected by drive link on sliding part, two right angle reductor lower ends
X-axis gear is set with output shaft, X-axis rack, the X-axis gear are installed along its length in the inner side of each X-axis guide rail
Engaged with X-axis rack.So, X-axis driving motor can drive the X-axis sliding part synchronizing moving in two X-axis guide rails simultaneously.
In such scheme：The Y-axis guide rail is two electric cylinders, and two electric cylinders are installed in parallel in the X in two X-axis guide rails
Between axle sliding part, the slide carriage that the Y-axis sliding part is included in the slide carriage being arranged in each electric cylinders, two electric cylinders passes through installation
Plate is connected；
Y-axis power part includes Y-axis driving motor, and the output shaft of Y-axis driving motor is connected with Y-axis reductor, the Y-axis
The output shaft of reductor is connected with Synchronous Transmission axle, and Synchronous Transmission axle synchronously drives the slide carriage in two electric cylinders to be moved up in electric cylinders
It is dynamic.Pass through two electric cylinders synchronizing movings of a motor control.
In such scheme：One mounting cylinder is set in the middle of installing plate, and the Z axis section bar passes through the mounting cylinder, institute
Sliding block is stated to be arranged on the inwall of the mounting cylinder.
In such scheme：The Z axis power part includes Z-axis transmission motor and Z axis reductor, the Z axis reductor
Output shaft on be set with Z-axis transmission gear, longitudinal Z-axis transmission rack, Z-axis transmission gear and Z axis are set on the Z axis section bar
Driving rack is engaged.Z-axis transmission motor drives the rotation of Z-axis transmission gear, so that Z axis section bar can be moved up and down.
In such scheme：The X-axis guide rail is spliced by multistage short lead rail, and one end of the short lead rail sets dovetail
Groove, other end correspondence dovetail groove sets raised, and the projection is inserted in the dovetail groove of adjacent short lead rail, and two short lead rails are spliced
Come；
Levelling device is set in the lower section of the end of each short lead rail, institute's levelling device includes backing plate, the four of the backing plate
Counter sink is set on individual angle, square head bolt is loaded in the counter sink, the square head bolt is reached to be set on the lower section of backing plate, bolt
The through hole extended in the axial direction that supplier's hook bolt is passed through is put, the square head bolt passes through the through hole of bolt, the bolt
Head is located at lower section, and the bolt coat has top nut, and the square head bolt reaches the part suit lower nut outside bolt；
Attachment screw is installed in the upper end of the backing plate close to the position at four angles, and the head of the attachment screw is fixed on pad
In plate, attaching nut is set with the attachment screw, the lower surface correspondence attaching nut of the short lead rail sets bolt neck, institute
In the bolt neck for stating attaching nut's insertion short lead rail lower end.
Mounting means is：Backing plate is placed on the truss steel plate of short lead rail stitching portion, bolt hole is set on truss steel plate,
Bolt is arranged in the bolt hole on steel plate, using top nut by the locked steel plate on truss of bolt.Z axis guide rail is placed
On backing plate, in the corresponding bolt neck in attaching nut's insertion short lead rail lower end.So that short lead rail is fixed with backing plate.Pass through lower spiral shell
The position of mother's regulation square head bolt, so that the short lead rail stitching portion balance and guide precision of Z axis guide rail are adjusted, below steel plate
Regulation, is more convenient the operation of staff.
In such scheme：The attachment screw is hexagon socket cap head screw, and the attaching nut is T-nut.Just
It is connected in guide rail.
In such scheme：：Pad is set between the head of bolt and lower nut.
In such scheme：The counter sink is bar hole.
Beneficial effect：The present invention is using X-axis transmission mechanism, Y-axis transmission mechanism, Z-axis transmission mechanism and R shaft transmissions four
Individual direction is captured and transported to workpiece, and mechanization degree is high, mainly with the Product processing production equipment with face profile
Combination ultimately forms production line, realizes the automating of grasp handling process, unmanned.The present invention is applicable to processing factory's car
Between, the requirement of the conventional Product transport with face profile is met, so as to mitigate labor strength, process time is saved, carries
High production rate and productivity.The guide rail connecting method of the present invention is simple in addition, and guide rail leveling device has taken into full account guide rail in machine
The specific requirement of effect, installation site and working environment and technological process in device people, simple in construction, action is quick, general
Property it is good, working service is convenient, and cost is low, can be carried effective for the guide rail automatic adjustable balance of robot in the course of the work
Its high productivity ratio, good reliability.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the partial enlarged drawing at A in Fig. 1.
Fig. 3 is the partial enlarged drawing at B1 in Fig. 1.
Fig. 4 is the partial enlarged drawing at B2 in Fig. 1.
Fig. 5 is the partial enlarged drawing at B in Fig. 1.
Fig. 6 is top view of the invention.
Fig. 7 is partial enlarged drawing at C in Fig. 6.
Fig. 8 is partial enlarged drawing at D 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 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 Figure 16 A-A sectional views.
Figure 18 is Figure 16 B-B sectional views.
Figure 19 is levelling device and the scheme of installation of short lead rail.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples：
The relative position all around waited in the noun of locality only representative graph of the present invention, does not indicate that the absolute position of product.
Embodiment 1, as shown in figures 1-19：The big Cartesian robot of the present invention is by X-axis transmission mechanism, Y-axis driver
Structure, Z-axis transmission mechanism, R shaft transmissions and guide rail leveling device composition.
X-axis transmission mechanism includes two X-axis guide rails 1, the X-axis sliding part 2 being slidably connected in two X-axis guide rails 1 and driven
The X-axis power part that dynamic X-axis sliding part 2 is slided in X-axis guide rail 1.
X-axis guide rail 1 is spliced by multistage short lead rail 1a, and dovetail groove, other end correspondence are set in short lead rail 1a one end
Dovetail groove sets raised, and the projection is inserted in adjacent short lead rail 1a dovetail groove, so that two short lead rail 1a be stitched together.
Guide rail leveling device is by pad 1-1, counter sink 1-2, square head bolt 1-3, bolt 1-4, top nut 1-5, lower nut
The parts such as 1-6, attachment screw 1-7, attaching nut 1-8, pad 1-9 are constituted.
It is bar hole that counter sink 1-2, counter sink 1-2 are set on backing plate 1-1 four angles, is filled in counter sink 1-2
Enter square head bolt 1-3, square head bolt 1-3 head is located at backing plate 1-1 upper ends, and square head bolt 1-3 threaded shank reaches backing plate 1-1
Lower section, the through hole extended in the axial direction for setting on bolt 1-4 supplier's hook bolt 1-3 to pass through, square head bolt 1-3 passes through spiral shell
Bolt 1-4 through hole, square head bolt 1-3 axis and bolt 1-4 axis are on the same line.Bolt 1-4 head position
In being cased with top nut 1-5 outside lower section, bolt 1-4, square head bolt 1-3 reaches the part suit lower nut 1-6 outside bolt 1-4,
Pad 1-9 is set between bolt 1-4 head and lower nut 1-6.
Attachment screw 1-7 is installed in backing plate 1-1 upper end close to the position at four angles, and attachment screw 1-7 is interior hexagonal cylindrical
Head screw, attachment screw 1-7 head is fixed in backing plate 1-1, and attaching nut 1-8 is set with attachment screw 1-7.Attaching nut
1-8 is T-nut.
Levelling device is arranged on short lead rail 1a stitching portions.Backing plate 1-1 is placed on the steel plate of the truss of guide rail stitching portion,
Bolt hole is set on steel plate, and bolt 1-4 is locked in the bolt hole on truss steel plate by top nut 1-5, passes through lower spiral shell
Female 1-6 regulation square head bolts 1-3 position, so as to adjust guide rail stitching portion balance and guide precision.In short lead rail 1a following table
Face correspondence attaching nut 1-8 sets bolt neck, and attaching nut 1-8 is caught in the bolt neck of short lead rail 1a lower surfaces, so that
Short lead rail 1a is fixed on backing plate 1-1.
The X-axis sliding part 2 being slidably connected in two X-axis guide rails is that a slide carriage is installed in slide carriage, each X-axis guide rail 1.
X-axis power part includes the X-axis driving motor 3 being arranged on any one slide carriage, the output of X-axis driving motor 3
Axle is connected with right angle reductor 4, and right angle reductor 4, two right angle reductors are also installed on the slide carriage in another X-axis guide rail
4 are connected by drive link 5, X-axis gear 6 are set with the output shaft of two lower ends of right angle reductor 4, in each X-axis guide rail 1
Inner side X-axis rack 7 is installed along its length, X-axis gear 6 is engaged with X-axis rack 7.X-axis driving motor 3 starts, and two are slipped
Right angle reductor 4 on plate is synchronous, drives the synchronous rotary of X-axis gear 6 above, and driving slide carriage is moved forward.
Y-axis transmission mechanism includes Y-axis guide rail 8, the Y-axis sliding part being slidably connected in Y-axis guide rail 8 and driving Y-axis and slided
The Y-axis power part that part is slided in Y-axis guide rail 8.
Y-axis guide rail 8 is two electric cylinders for be arrangeding in parallel, two electric cylinders be connected to slide carriage in two X-axis guide rails 1 it
Between.
The slide carriage that Y-axis sliding part is included in the slide carriage being arranged in each electric cylinders, two electric cylinders is connected by installing plate 9a.
Y-axis power part includes Y-axis driving motor 10, and the output shaft of Y-axis driving motor 10 is connected with Y-axis reductor 11, Y
The output shaft of axle reductor 11 is connected with Synchronous Transmission axle 12, and Synchronous Transmission axle synchronously drives the slide carriage in two electric cylinders in electric cylinders
Upper movement.Synchronous Transmission axle 12 is that two power transmission shafts are connected by shaft coupling.
Z-axis transmission mechanism includes Z axis section bar 13, and Z axis guide rail 14, the installing plate of Y-axis sliding part are installed on Z axis section bar 13
One mounting cylinder 9b is set in the middle of 9a, and Z axis section bar 13 passes through mounting cylinder 9b, is fixedly mounted and Z in mounting cylinder 9b inwall
The sliding block 15 that axis rail 14 is matched somebody with somebody, sliding block 15 is slidably connected on slide rail 14.
The Z axis power part that driving Z axis section bar 13 is moved up and down includes Z-axis transmission motor 16 and Z axis reductor 17, Z axis
It is set with the output shaft of reductor 17 on Z-axis transmission gear 18, Z axis section bar 13 and longitudinal Z-axis transmission rack 19 is set, Z axis is passed
Moving gear 18 is engaged with Z-axis transmission rack 19.
Z-axis transmission motor 16 drives Z-axis transmission gear 18 to rotate, so as to drive 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 transmissions include R axles driving motor 20, and R axles driving motor 20 is arranged on swivel head 21, R axle electric rotatings
The output shaft of machine 20 is connected with the input shaft of R axle reductors, and belt wheel 22 is connected on the output shaft of R axle reductors, and R axle reductors are
Harmonic wave speed reducing machine, the upper end of vacuum cup mounting bracket 23 sets rotary shaft 23a, rotary shaft 23a to be sleeved on installed in swivel head
In bearing on 21, belt wheel 22 is set with rotary shaft 23a, two belt wheels 22 are connected by timing belt, vacuum cup mounting bracket
23 lower surface installs some vacuum cups 24.
The present invention is not limited to above-mentioned specific embodiment, it will be appreciated that one of ordinary skill in the art is without creative
Work just can make many modifications and variations according to the design of the present invention.In a word, all technical staff in the art are according to this
The design of invention passes through the available technical side of logical analysis, reasoning, or a limited experiment on the basis of existing technology
Case, all should be in the protection domain being defined in the patent claims.
Claims (8)
1. a kind of big Cartesian robot, including X-axis transmission mechanism, Y-axis transmission mechanism, Z-axis transmission mechanism and R axle drivers
Structure, it is characterised in that：The X-axis transmission mechanism includes two X-axis guide rails, the X-axis being slidably connected in two X-axis guide rails and slided
The X-axis power part that part and driving X-axis sliding part are slided in X-axis guide rail；
The Y-axis transmission mechanism includes Y-axis guide rail, the Y-axis sliding part being slidably connected in Y-axis guide rail and driving Y-axis sliding part
The Y-axis power part slided in Y-axis guide rail, the Y-axis guide rail is connected between the X-axis sliding part in two X-axis guide rails；
The Z-axis transmission mechanism includes Z axis section bar, installs and is fixedly mounted on Z axis guide rail, the Y-axis sliding part on Z axis section bar
Sliding block, the sliding block is slidably connected with Z axis guide rail；Also include the Z axis power part that driving Z axis section bar is moved up and down；In Z axis type
The lower end connection swivel head of material；
The R shaft transmissions include R axle driving motors, and R axles driving motors is arranged on swivel head, and R axle electric rotating machines subtract
Belt wheel is connected on the output shaft of fast machine, the upper end of vacuum cup mounting bracket sets rotary shaft, and the rotary sleeve is mounted on swivel head,
Belt wheel is set with the rotary shaft, two belt wheels are connected by timing belt, the lower surface of the vacuum cup mounting bracket installs some
Vacuum cup；
The X-axis guide rail is spliced by multistage short lead rail, and one end of the short lead rail sets dovetail groove, other end correspondence dovetail
Groove sets raised, and the projection is inserted in the dovetail groove of adjacent short lead rail, and two short lead rails are stitched together；
Levelling device is set in the lower section of the end of each short lead rail, the levelling device includes backing plate, four of the backing plate
Counter sink is set on angle, square head bolt is loaded in the counter sink, the square head bolt is reached and set on the lower section of backing plate, bolt
The through hole extended in the axial direction that supplier's hook bolt is passed through, the square head bolt passes through the through hole of bolt, the head of the bolt
Portion is located at lower section, and the bolt coat has top nut, and the square head bolt reaches the part suit lower nut outside bolt；
Attachment screw is installed in the upper end of the backing plate close to the position at four angles, and the head of the attachment screw is fixed on backing plate
In, attaching nut is set with the attachment screw, the lower surface correspondence attaching nut of the short lead rail sets bolt neck, described
In the bolt neck of attaching nut's insertion short lead rail lower end.
2. a kind of big Cartesian robot according to claim 1, it is characterised in that：The X-axis power part includes peace
X-axis driving motor on the X-axis sliding part in any one X-axis guide rail, the output shaft and right angle of the X-axis driving motor
Reductor is connected, and right angle reductor is also installed on the X-axis sliding part in another X-axis guide rail, two right angle reductors pass through
Drive link is connected, and X-axis gear is set with the output shaft of two right angle reductor lower ends, equal in the inner side of each X-axis guide rail
X-axis rack is installed along its length, the X-axis gear is engaged with X-axis rack.
3. a kind of big Cartesian robot according to claim 1 or claim 2, it is characterised in that：The Y-axis guide rail is two electricity
Cylinder, two electric cylinders are installed in parallel between the X-axis sliding part in two X-axis guide rails, and the Y-axis sliding part includes being arranged on each
Slide carriage in slide carriage in electric cylinders, two electric cylinders is connected by installing plate；
Y-axis power part includes Y-axis driving motor, and the output shaft of Y-axis driving motor is connected with Y-axis reductor, and the Y-axis is slowed down
The output shaft of machine is connected with Synchronous Transmission axle, and Synchronous Transmission axle synchronously drives the slide carriage in two electric cylinders to be moved in electric cylinders.
4. a kind of big Cartesian robot according to claim 3, it is characterised in that：One is set in the middle of installing plate
Mounting cylinder, the Z axis section bar passes through the mounting cylinder, and the sliding block is arranged on the inwall of the mounting cylinder.
5. a kind of big Cartesian robot according to claim 4, it is characterised in that：The Z axis power part includes Z axis
It is set with Z-axis transmission gear, the Z axis section bar and sets on driving motor and Z axis reductor, the output shaft of the Z axis reductor
The Z-axis transmission rack of longitudinal direction, Z-axis transmission gear is engaged with Z-axis transmission rack.
6. a kind of big Cartesian robot according to claim 1, it is characterised in that：The attachment screw is justified for interior hexagonal
Chapiter screw, the attaching nut is T-nut.
7. a kind of big Cartesian robot according to claim 6, it is characterised in that：The head of bolt and lower nut it
Between pad is set.
8. a kind of big Cartesian robot according to claim 7, it is characterised in that：The counter sink is bar hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510875735.3A CN105397801B (en) | 2015-12-03 | 2015-12-03 | A kind of big Cartesian robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510875735.3A CN105397801B (en) | 2015-12-03 | 2015-12-03 | A kind of big Cartesian robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105397801A CN105397801A (en) | 2016-03-16 |
| CN105397801B true CN105397801B (en) | 2017-07-28 |
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ID=55463721
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510875735.3A Active CN105397801B (en) | 2015-12-03 | 2015-12-03 | A kind of big Cartesian robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105397801B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107889446B (en) * | 2017-12-21 | 2023-08-08 | 广州市五帆信息科技有限公司 | Assembly head module of high-precision desktop STM chip mounter |
| CN108673125B (en) * | 2018-07-25 | 2021-09-28 | 东莞市松研智达工业设计有限公司 | Ultrathin gasket taking and assembling robot |
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| Publication number | Publication date |
|---|---|
| CN105397801A (en) | 2016-03-16 |
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