CN105500344A - Three-axis robot - Google Patents
Three-axis robot Download PDFInfo
- Publication number
- CN105500344A CN105500344A CN201610034769.4A CN201610034769A CN105500344A CN 105500344 A CN105500344 A CN 105500344A CN 201610034769 A CN201610034769 A CN 201610034769A CN 105500344 A CN105500344 A CN 105500344A
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- China
- Prior art keywords
- axis
- assembly
- picking
- servomotor
- fixture block
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- Pending
Links
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 20
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a three-axis robot, which comprises a frame and also comprises: the linear guide rail is horizontally arranged on the rack along the X-axis direction; the X-axis driving assembly is arranged on the rack and used for driving the Y-axis driving assembly to move along the linear guide rail in the X-axis direction; the Y-axis driving assembly is arranged on the linear guide rail and used for driving the picking assembly to move up and down along the Y-axis direction, and the picking assembly is used for picking materials; and the two Z-axis conveying assemblies are respectively positioned on the racks below two ends of the linear guide rail and are used for respectively conveying the materials from the picking assembly in the Z-axis direction. According to the invention, through the gantry type structural design of the three-axis robot, the three-axis robot spans two sides of the production line and is matched with a vision system, so that material distribution on the production line can be realized, and material supply at any angle on the left side and the right side can be realized; the use of a set of vision system can be reduced, the control difficulty is reduced, and the occupied area is small.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of three-axis robot.
Background technology
At present, streamline has been applied in factory's every field, and a current streamline is difficult to meet productive temp requirement, therefore need pipeline to carry out material diversion, and directly streamline can be caused too complicated with streamline material diversion, and floor space is large.
Adopt common three-axis robot to solve the problem of material diversion, need configuration two three-axis robots, and each three-axis robot needs to configure a set of vision system, not only increases cost, also takies larger space.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, and provide a kind of three-axis robot, it adopts planer type structure, realizes the shunting of material on pipeline, and realizes arbitrarily angled feed.
For solving the problems of the technologies described above, the present invention adopts the basic conception of technical scheme to be:
The invention provides a kind of three-axis robot, comprising:
Frame;
Linear guides, is horizontally placed in frame along X-direction;
X-axis driven unit, is installed in frame, moves along linear guides for driving Y-axis driven unit in X-direction;
Y-axis driven unit, is placed on described linear guides, and for driving picking up assembly to move up and down along Y direction, described picking up assembly is for picking up material;
Z axis transport assembly, comprises two, lays respectively in the frame of the below at described linear guides two ends, for carrying out the transport of Z-direction respectively to the material from described picking up assembly.
Preferably, described frame is planer-type support body, and comprise crossbeam and the bracing frame being supported on crossbeam two ends, described crossbeam is for installing described X-axis driven unit and described linear guides; Support frame as described above is for installing described Z axis transport assembly.
Preferably, described picking up assembly comprises gas pawl, and described gas pawl is rotated by the first driven by servomotor, during to realize described Z axis transport assembly feed, controls feeding angles.
Preferably, described picking up assembly also comprises reductor, and described reductor connects described gas pawl and described first servomotor, described first servomotor by reductor band take offence pawl rotate.
Preferably, described picking up assembly is connected on described Y-axis driven unit by connecting plate.
Preferably, described Z axis transport assembly is provided with fixture block assembly, described fixture block assembly comprises support inner core, fixture block and backing plate, described backing plate is arranged on described Z axis transport assembly, described support inner core and described fixture block are arranged on described backing plate, wherein said support inner core is positioned at the center of described backing plate, and described fixture block is arranged on the both sides of described backing plate, to clamp the material supported on inner core.
Preferably, described Z axis transport assembly comprises Rodless cylinder.
Preferably, also comprise proximity switch, described proximity switch is arranged on the region of described fixture block assembly movement, for detecting the position of described fixture block assembly.
Preferably, described X-axis driven unit comprises the second servomotor and the first screw mandrel module, and by the first screw mandrel module described in described second driven by servomotor, and described first screw mandrel module is parallel with described linear guides.
Preferably, described Y-axis driven unit comprises the 3rd servomotor and the second screw mandrel module, and by the second screw mandrel module described in described 3rd driven by servomotor, described second screw mandrel module is vertical with described first screw mandrel module.
After adopting technique scheme, the present invention compared with prior art has following beneficial effect:
The present invention, by designing the planer type structure of three-axis robot, across in streamline both sides, coordinates the use of vision system, can realize the material diversion on pipeline, and can realize the arbitrarily angled feed in the left and right sides; Equipment can complete the work of two common three-axis robots, and can reduce the use of a set of vision system, and reduce controlling difficulty, floor space is little, completes automated job simultaneously.
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the structural representation of the three-axis robot that the embodiment of the present invention provides.
In figure:
10, X-axis driven unit; 11, the second servomotor; 12, the first screw mandrel module;
20, Y-axis driven unit; 21, the 3rd servomotor; 22, the second screw mandrel module;
30, Z axis transport assembly; 31, fixture block assembly; 32, proximity switch; 33, switch frame; 311, inner core is supported; 312, fixture block; 313, backing plate;
40, picking up assembly; 41, gas pawl; 42, the first servomotor; 43, reductor, 44, connecting plate;
50, frame; 51, crossbeam; 52, bearing; 53, support;
60, linear guides.
Detailed description of the invention
For further setting forth the present invention for the technological means reaching predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, to according to the detailed description of the invention of the present patent application, structure, feature and effect thereof, be described in detail as follows.In the following description, the not necessarily same embodiment that different " embodiment " or " embodiment " refers to.In addition, special characteristic, structure or feature in one or more embodiment can be combined by any suitable form.
Embodiment 1
As shown in Figure 1, the embodiment of the present invention 1 provides a kind of three-axis robot, comprising:
Frame 50;
Linear guides 60, is horizontally placed in frame along X-direction;
X-axis driven unit 10, is installed in frame 50, moves along linear guides 11 for driving Y-axis driven unit 20 in X-direction;
Y-axis driven unit 20, is placed on described linear guides 60, and for driving picking up assembly 40 to move up and down along Y direction, described picking up assembly 40 is for picking up material;
Z axis transport assembly 30, comprises two, lays respectively in the frame of the below at described linear guides 60 two ends, for carrying out the transport of Z-direction respectively to the material from described picking up assembly 40.
Preferably, described frame 50 is planer-type support body, and comprise crossbeam 51 and the bracing frame 52 being supported on crossbeam 51 two ends, described crossbeam 51 is for installing described X-axis driven unit 10 and described linear guides 60; Support frame as described above 52 is for installing described Z axis transport assembly 30.
The three-axis robot that the present embodiment provides, adopts planer type structure design, across in streamline both sides, coordinates the use of vision system, by the material diversion on streamline on two described Z axis transport assemblies, realizes the material diversion on pipeline; Equipment can complete the work of two common three-axis robots, and can reduce the use of a set of vision system, and reduce controlling difficulty, floor space is little, completes automated job simultaneously.
Preferably, described X-axis driven unit 10 comprises the second servomotor 11 and the first screw mandrel module 12, drives described first screw mandrel module 12 by described second servomotor 11, and described first screw mandrel module 12 is parallel with described linear guides 60.
Preferably, described Y-axis driven unit 20 comprises the 3rd servomotor 21 and the second screw mandrel module 22, drives described second screw mandrel module 22 by described 3rd servomotor 21, and described second screw mandrel module 22 is vertical with described first screw mandrel module 12.
X-axis driven unit 10 is arranged on crossbeam 51, and the two ends of crossbeam 51 are fixed on support 53, and the bottom support of support 53 is on bearing 52; Adopt servomotor to coordinate screw mandrel module can realize the accurate location of X-axis driven unit in X-direction, its repetitive positioning accuracy is ± 0.02mm; Y-axis driven unit 20 to be placed on X-axis driven unit 10 and linear guides 60, and adopt servomotor wire distribution bar module, can realize the accurate location of Y-axis driven unit 20 in Y direction, its repetitive positioning accuracy reaches ± 0.02mm.
In the present embodiment, described X-axis driven unit 10, described Y-axis driven unit 20 are not limited to servomotor and implement with the screw mandrel module mode of combining, and those skilled in the art also can replace with other conventional straight line driving mechanisms (as cylinder) accordingly.
Embodiment 2
As shown in Figure 1, the embodiment of the present invention 2 provides a kind of three-axis robot, and it is enterprising one-step optimization design on the basis of embodiment 1:
Preferably, described picking up assembly 40 comprises gas pawl 41, and described gas pawl 41 drives rotation by the first servomotor 42, during to realize described Z axis transport assembly 30 feed, controls feeding angles.The effect of described gas pawl 41 clamps material, then rotates under the driving of described first servomotor 42, and then control the feeding angles of material.
Preferably, described picking up assembly 40 also comprises reductor 43, and described reductor 43 connects described gas pawl 41 and described first servomotor 42, and described first servomotor 42 is with pawl 41 of taking offence to rotate by reductor 43.
Preferably, described picking up assembly 40 is connected on described Y-axis driven unit 20 by connecting plate 44, and the effect of described connecting plate 44 drives whole picking up assembly 40 to do rectilinear motion along Y-axis under the driving of described Y-axis driven unit 20.
The three-axis robot that the present embodiment provides, is with pawl 41 of taking offence to rotate by described first servomotor 42, and then can realizes the adjustment to feeding angles, realize material and shunt at any angle.
Embodiment 3
As shown in Figure 1, the embodiment of the present invention 3 provides a kind of three-axis robot, and it designs at the enterprising one-step optimization in basis of embodiment 1 or embodiment 2:
Preferably, described Z axis transport assembly 30 is provided with fixture block assembly 31, and described fixture block assembly 31 comprises support inner core 311, fixture block 312 and backing plate 313, wherein:
Described support inner core 311 is positioned at the center of described backing plate 313, for carrying out centralized positioning to being placed on the material supported on inner core 311;
Described fixture block 312 is arranged on the both sides of described backing plate 313, for clamping being placed on the material supported on inner core 311;
Described backing plate 313 is arranged on described Z axis transport assembly 30, and described support inner core 311 and described fixture block 312 are arranged on described backing plate 313.
Preferably, described Z axis transport assembly 30 comprises Rodless cylinder, drives described fixture block assembly 31 to move by described Rodless cylinder, realizes material diversion transport; Use Rodless cylinder can reduce the floor space of three-axis robot further.
Based on the understanding of those skilled in the art, described Z axis transport assembly also can adopt bar cylinder or other straight line driving mechanisms.
Preferably, also comprise proximity switch 32, described proximity switch 32 is arranged on the region of described fixture block assembly 31 movement, for detecting the position of described fixture block assembly 31, judging whether material transports and putting in place; After described fixture block assembly 31 carries material, move along Z axis under the driving of described Z axis transport assembly, the material on described fixture block assembly 31 or its top is when near described proximity switch 32, the position of described fixture block assembly 31 is detected by described proximity switch 32, and signal is sent to corresponding equipment, complete technique and be connected.
Preferably, described proximity switch 32 is arranged on switch frame 33, and described switch frame 33 is fixedly mounted on bearing 52, or also can be arranged on the non-athletic position of described Rodless cylinder.
Preferably, described proximity switch 32 can adopt other flip flop equipments to substitute, the touching switch of such as frame for movement, also the effect of described proximity switch can be completed, when described fixture block assembly 31 triggers touching switch, touching switch detects the position of described fixture block assembly 31 (and the material on top).
Embodiment in above-described embodiment can combine further or replace; and embodiment is only be described the preferred embodiments of the present invention; not the spirit and scope of the present invention are limited; under the prerequisite not departing from design philosophy of the present invention; the various changes and modifications that in this area, professional and technical personnel makes technical scheme of the present invention, all belong to protection scope of the present invention.
Claims (10)
1. a three-axis robot, comprises frame, it is characterized in that, also comprises:
Linear guides, is horizontally placed in frame along X-direction;
X-axis driven unit, is installed in frame, moves along linear guides for driving Y-axis driven unit in X-direction;
Y-axis driven unit, is placed on described linear guides, and for driving picking up assembly to move up and down along Y direction, described picking up assembly is for picking up material;
Z axis transport assembly, comprises two, lays respectively in the frame of the below at described linear guides two ends, for carrying out the transport of Z-direction respectively to the material from described picking up assembly.
2. three-axis robot as claimed in claim 1, it is characterized in that, described frame is planer-type support body, and comprise crossbeam and the bracing frame being supported on crossbeam two ends, described crossbeam is for installing described X-axis driven unit and described linear guides; Support frame as described above is for installing described Z axis transport assembly.
3. three-axis robot as claimed in claim 1 or 2, it is characterized in that, described picking up assembly comprises gas pawl, and described gas pawl is rotated by the first driven by servomotor, during to realize described Z axis transport assembly feed, controls feeding angles.
4. three-axis robot as claimed in claim 3, it is characterized in that, described picking up assembly also comprises reductor, and described reductor connects described gas pawl and described first servomotor, and described first servomotor is rotated by reductor band pawl of taking offence.
5. three-axis robot as claimed in claim 3, it is characterized in that, described picking up assembly is connected on described Y-axis driven unit by connecting plate.
6. three-axis robot as claimed in claim 1 or 2, it is characterized in that, described Z axis transport assembly is provided with fixture block assembly, described fixture block assembly comprises support inner core, fixture block and backing plate, described backing plate is arranged on described Z axis transport assembly, and described support inner core and described fixture block are arranged on described backing plate, and wherein said support inner core is positioned at the center of described backing plate, described fixture block is arranged on the both sides of described backing plate, to clamp the material supported on inner core.
7. three-axis robot as claimed in claim 6, it is characterized in that, described Z axis transport assembly comprises Rodless cylinder.
8. three-axis robot as claimed in claim 6, it is characterized in that, also comprise proximity switch, described proximity switch is arranged on the region of described fixture block assembly movement, for detecting the position of described fixture block assembly.
9. three-axis robot as claimed in claim 1 or 2, it is characterized in that, described X-axis driven unit comprises the second servomotor and the first screw mandrel module, and by the first screw mandrel module described in described second driven by servomotor, and described first screw mandrel module is parallel with described linear guides.
10. three-axis robot as claimed in claim 9, it is characterized in that, described Y-axis driven unit comprises the 3rd servomotor and the second screw mandrel module, and by the second screw mandrel module described in described 3rd driven by servomotor, described second screw mandrel module is vertical with described first screw mandrel module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610034769.4A CN105500344A (en) | 2016-01-19 | 2016-01-19 | Three-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610034769.4A CN105500344A (en) | 2016-01-19 | 2016-01-19 | Three-axis robot |
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| Publication Number | Publication Date |
|---|---|
| CN105500344A true CN105500344A (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610034769.4A Pending CN105500344A (en) | 2016-01-19 | 2016-01-19 | Three-axis robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947311A (en) * | 2016-06-16 | 2016-09-21 | 上海海昌医用塑胶厂 | Intelligent flexible packaging system for medicine bottles and working method |
| CN106180455A (en) * | 2016-08-26 | 2016-12-07 | 苏州神运机器人有限公司 | Three axle pressing robot |
| CN106865209A (en) * | 2017-03-21 | 2017-06-20 | 江门市江海区凯辉光电器材厂有限公司 | The short roasting automatic turnover robot of sealing |
| CN106903698A (en) * | 2017-03-21 | 2017-06-30 | 江门市江海区凯辉光电器材厂有限公司 | The short roasting system of intelligent machine people |
| CN107838492A (en) * | 2017-10-30 | 2018-03-27 | 无锡智谷锐拓技术服务有限公司 | A kind of LED lamp aluminium base processing unit (plant) |
| CN108147121A (en) * | 2018-01-04 | 2018-06-12 | 李大德 | Crusher roll insert automatic transportation equipment |
| CN109108620A (en) * | 2018-10-15 | 2019-01-01 | 格力电器（武汉）有限公司 | air guide rubber shaft assembling device and assembling method |
| CN109138562A (en) * | 2018-05-08 | 2019-01-04 | 北京泊宝机器人科技有限公司 | Rechargeable garage charging pile automatic transporting machine people's system |
| CN110340240A (en) * | 2018-04-08 | 2019-10-18 | 昆山奥尔顿自动化科技有限公司 | A kind of large-scale 3 axis multiple-project stamping parts conveying robot |
| CN111113021A (en) * | 2019-12-23 | 2020-05-08 | 北京航天控制仪器研究所 | Coaxial component assembly guiding and positioning retaining device |
| CN112276554A (en) * | 2020-10-22 | 2021-01-29 | 珠海格力智能装备有限公司 | Robot assembling device |
| CN113292033A (en) * | 2021-05-12 | 2021-08-24 | 展一智能科技(东台)有限公司 | Filling system with conveying roller way |
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| CN205310251U (en) * | 2016-01-19 | 2016-06-15 | 珠海格力电器股份有限公司 | Three-axis robot |
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| CN2863383Y (en) * | 2005-11-23 | 2007-01-31 | 上海隆博自动化科技有限公司 | Table type robot mechanism |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947311B (en) * | 2016-06-16 | 2018-07-31 | 上海海昌医用塑胶厂 | A kind of medicine bottle intelligent flexible packaging system and working method |
| CN105947311A (en) * | 2016-06-16 | 2016-09-21 | 上海海昌医用塑胶厂 | Intelligent flexible packaging system for medicine bottles and working method |
| CN106180455A (en) * | 2016-08-26 | 2016-12-07 | 苏州神运机器人有限公司 | Three axle pressing robot |
| CN106180455B (en) * | 2016-08-26 | 2018-06-01 | 苏州神运机器人有限公司 | Three axis pressing robots |
| CN106903698B (en) * | 2017-03-21 | 2023-09-29 | 江门市江海区凯辉光电器材厂有限公司 | Short baking system of intelligent robot |
| CN106865209A (en) * | 2017-03-21 | 2017-06-20 | 江门市江海区凯辉光电器材厂有限公司 | The short roasting automatic turnover robot of sealing |
| CN106903698A (en) * | 2017-03-21 | 2017-06-30 | 江门市江海区凯辉光电器材厂有限公司 | The short roasting system of intelligent machine people |
| CN107838492A (en) * | 2017-10-30 | 2018-03-27 | 无锡智谷锐拓技术服务有限公司 | A kind of LED lamp aluminium base processing unit (plant) |
| CN108147121A (en) * | 2018-01-04 | 2018-06-12 | 李大德 | Crusher roll insert automatic transportation equipment |
| CN110340240A (en) * | 2018-04-08 | 2019-10-18 | 昆山奥尔顿自动化科技有限公司 | A kind of large-scale 3 axis multiple-project stamping parts conveying robot |
| CN109138562A (en) * | 2018-05-08 | 2019-01-04 | 北京泊宝机器人科技有限公司 | Rechargeable garage charging pile automatic transporting machine people's system |
| CN109108620A (en) * | 2018-10-15 | 2019-01-01 | 格力电器（武汉）有限公司 | air guide rubber shaft assembling device and assembling method |
| CN111113021B (en) * | 2019-12-23 | 2021-03-26 | 北京航天控制仪器研究所 | Coaxial component assembly guiding and positioning retaining device |
| CN111113021A (en) * | 2019-12-23 | 2020-05-08 | 北京航天控制仪器研究所 | Coaxial component assembly guiding and positioning retaining device |
| CN112276554A (en) * | 2020-10-22 | 2021-01-29 | 珠海格力智能装备有限公司 | Robot assembling device |
| CN112276554B (en) * | 2020-10-22 | 2022-02-08 | 珠海格力智能装备有限公司 | Robot assembling device |
| CN113292033A (en) * | 2021-05-12 | 2021-08-24 | 展一智能科技(东台)有限公司 | Filling system with conveying roller way |
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