CN105522573A - High-speed truss manipulator - Google Patents
High-speed truss manipulator Download PDFInfo
- Publication number
- CN105522573A CN105522573A CN201610091469.XA CN201610091469A CN105522573A CN 105522573 A CN105522573 A CN 105522573A CN 201610091469 A CN201610091469 A CN 201610091469A CN 105522573 A CN105522573 A CN 105522573A
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- Prior art keywords
- direction track
- track
- slide block
- mounting bracket
- mechanical grip
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Classifications
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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
- B25J9/026—Gantry-type
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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
- B25J9/10—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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a high-speed truss manipulator. A first sliding block is arranged on an X-direction track on a supporting frame in a sliding mode; a Y-direction track is arranged on a second sliding block fixed to the first sliding block in a linearly reciprocated sliding mode; a Z-direction track is arranged on a third sliding block fixed to the Y-direction track in a longitudinally and linearly reciprocated sliding mode; a mechanical clamping jaw installation support is rotationally positioned at the lower end of the Z-direction track; an included angle of 135 degrees is formed between the axial direction of a rotary shaft of the mechanical clamping jaw installation support and the Z direction; first and second mechanical clamping jaws are symmetrically distributed on the two sides of the rotary shaft of the mechanical clamping jaw installation support; an included angle of 90 degrees is formed between the axial directions of the first and second mechanical clamping jaws; first, second and third drive devices are used for driving the first sliding block, the Y-direction track and the Z-direction track to move respectively; a rotary drive device is used for driving the mechanical clamping jaw installation support to rotate. The manipulator can operate stably at high speed, the vibration amplitude is small after movement is finished, the speed is high as two manipulators operate alternately, and the occupied space is small.
Description
Technical field
The present invention relates to a kind of truss manipulator, particularly a kind of high speed truss manipulator.
Background technology
Truss manipulator is that one is based upon right angle X, Y, on Z system of 3 axes basis, station adjustment is carried out to workpiece, or the full-automatic equipment of the function such as the orbiting motion realizing workpiece, it controls manipulator by industrial control unit (ICU) and completes X, Y, Union Movement between Z tri-axle, to realize a whole set of entire roboticized work flow process, it is usually used on large-sized processing equipment, traditional truss manipulator Heavy Weight, guiding accuracy is low, manipulator easy appearance in running is significantly vibrated, cause manipulator run location precision low, the speed of service is slow, manipulator mostly is one or two and realizes blocked operation along 180 degree of direction upsets, take up room large, blocked operation speed is low, more because the large weight of its volume exacerbates greatly manipulator Oscillation Amplitude, can not stop immediately after robot movement puts in place, but just stop after swinging certain hour in position, cause machining accuracy low, working (machining) efficiency is low, very large puzzlement is brought to actual production.
Summary of the invention
In order to overcome above-mentioned defect, the invention provides a kind of high speed truss manipulator, this high speed truss manipulator can at a high speed, stable operation, it is little that motion terminates after vibration amplitude, and manipulator blocked operation speed is fast, takes up room little.
The present invention in order to the technical scheme solving its technical problem and adopt is: a kind of high speed truss manipulator, if three orthogonal directions are respectively X-direction, Y-direction and Z-direction, wherein Z-direction is vertical direction, comprises bracing frame, X-direction track, Y-direction track, Z-direction track, mechanical grip mounting bracket, first, two mechanical grips, first, two, three drive units, rotating driving device and first, two, three slide blocks, described X-direction track level is installed on bracing frame upper end, first slide block can the slip of track bearing of trend be positioned on X-direction track in X direction, second slide block is fixedly installed on the first slide block, Y-direction track can slide along Y-direction linear reciprocation and be positioned on the second slide block, 3rd slide block is fixedly installed on Y-direction track, Z-direction track can slide along Z-direction linear reciprocation and be positioned on the 3rd slide block, mechanical grip mounting bracket can rotational positioning in Z-direction track lower end, axis and the Z-direction of described mechanical grip mounting bracket rotating shaft form 135 degree of angles, first, two mechanical grips are fixedly installed on mechanical grip mounting bracket respectively, and first, two mechanical grips are symmetrically distributed in the rotating shaft both sides of mechanical grip mounting bracket, and first, the axis of two mechanical grips forms 90 degree of angles, and wherein first, two, three drive units drive the first slide block respectively, Y-direction track and the motion of Z-direction rail linearity, rotating driving device driving device jaw mounting bracket rotates.
As a further improvement on the present invention, described mechanical grip mounting bracket is equilateral triangular structure of right angle, first and second mechanical grip is fixedly installed in two right-angle side institutes of equilateral triangular structure of right angle in the plane respectively, and mechanical grip mounting bracket rotating shaft is positioned at the hypotenuse institute of equilateral triangular structure of right angle in the plane.
As a further improvement on the present invention, first and second mechanical grip described and mechanical grip mounting bracket rotating shaft lay respectively on the center of place, equilateral triangular structure of right angle each limit plane.
As a further improvement on the present invention, it is the tilt stand of 135 degree of angles that described Z-direction track lower end is fixed with one with Z-direction, and mechanical grip mounting bracket rotating shaft can rotate and be installed on this tilt stand.
As a further improvement on the present invention, described rotating driving device is rotary cylinder.
As a further improvement on the present invention, described X-direction track is square structure, line slideway is equipped with on its horizontal plane He in upright side walls, the T-shaped structure of first slide block, the sidewall that first slide block two is vertical is equipped with guide pin bushing, and each guide pin bushing respectively correspondence is sheathed on the line slideway on X-direction track.
As a further improvement on the present invention, described second slide block forms some guide pin bushings, Y-direction track is provided with at least two parallel line slideways, on the line slideway of the corresponding sheathed Y-direction track of the guide pin bushing on the second slide block.
As a further improvement on the present invention, the sidewall that described at least two, Z-direction track is relative is provided with the line slideway of Z-direction, 3rd slide block is formed the U-shaped clad structure extended along Z-direction, this U-shaped clad structure is coated on outside Z-direction track, this U-shaped clad structure madial wall is formed with some guide pin bushings, and some guide pin bushing correspondences are sheathed on outside the line slideway on Z-direction orbit sidewall.
As a further improvement on the present invention, described X-direction track is square steel tube structure, and Y-direction track is low-density and high-strength aluminium sheet structure, and Z-direction track is low-density and high-strength cast aluminum type equipment structure.
As a further improvement on the present invention, first, second and third drive unit described includes servomotor, gear and tooth bar, described driven by servomotor gear rotates, wheel and rack engages, tooth bar is fixedly installed on X-direction track, Y-direction track and Z-direction track respectively, and motor respectively correspondence is installed on first, second and third slide block.
The invention has the beneficial effects as follows: the present invention is by rotating mechanical grip mounting bracket slant setting around its rotating shaft in Z-direction track lower end, achieve first, two mechanical grip 90 degree direction conversion station, mechanical grip takes up room little, the product that can be suitable for small space captures and blowing, and by arranging line slideway respectively on two orthogonal, X-direction track, guide rail is arranged line slideway arranged in parallel in the Y direction, and line slideway is set in Z-direction guide rail two opposite side walls and adopts the 3rd slide block of U-shaped clad structure to carry out covering property location to Z-direction guide rail, substantially increase the guiding accuracy of all directions guide rail, and Y-direction guide rail and Z-direction adopt low-density and high-strength cast aluminum construction, greatly reduce the weight of Y-direction guide rail and Z-direction guide rail, improve the Rigidity and strength of Y-direction guide rail and Z-direction guide rail, reduce mechanical grip large apart from beating during motion in X direction, even if the mechanical grip of high-speed cruising also can stop after moving to assigned address immediately, and enter crawl and blowing duty, that avoids it significantly to swing causing waits as long for, be conducive to realizing manipulator along X, Y, Z-direction high-speed cruising, realize efficiency operation.
Accompanying drawing explanation
Fig. 1 is the first stereogram of the present invention;
Fig. 2 is A portion enlarged drawing in Fig. 1;
Fig. 3 the second stereogram of the present invention;
Fig. 4 the 3rd stereogram of the present invention;
Fig. 5 is front view of the present invention;
Fig. 6 is top view of the present invention;
Fig. 7 is left view of the present invention.
Detailed description of the invention
Embodiment: a kind of high speed truss manipulator, if three orthogonal directions are respectively X-direction, Y-direction and Z-direction, wherein Z-direction is vertical direction, comprises bracing frame 1, X-direction track 2, Y-direction track 3, Z-direction track 4, mechanical grip mounting bracket 5, first, two mechanical grips 6, 7, first, two, three drive units, rotating driving device 8 and first, two, three slide blocks 9, 10, 11, described X-direction track 2 level is installed on bracing frame 1 upper end, first slide block 9 can the slip of track 2 bearing of trend be positioned on X-direction track 2 in X direction, second slide block 10 is fixedly installed on the first slide block 9, Y-direction track 3 can slide along Y-direction linear reciprocation and be positioned on the second slide block 10, 3rd slide block 11 is fixedly installed on Y-direction track 3, Z-direction track 4 can slide along Z-direction linear reciprocation and be positioned on the 3rd slide block 11, mechanical grip mounting bracket 5 can rotational positioning in Z-direction track lower end, axis and the Z-direction of described mechanical grip mounting bracket 5 rotating shaft form 135 degree of angles, first, two mechanical grips 6, 7 are fixedly installed on mechanical grip mounting bracket 5 respectively, and first, two mechanical grips 6, the 7 rotating shaft both sides being symmetrically distributed in mechanical grip mounting bracket 5, first, two mechanical grips 6, the axis of 7 forms 90 degree of angles, and wherein first, two, three drive units drive the first slide block 9 respectively, Y-direction track 3 and Z-direction track 4 rectilinear motion, rotating driving device 8 driving device jaw mounting bracket 5 rotates.
During work, first drive unit drives the first slide block 9 slip realize the feeding of X-direction and return, second drive unit drives Y-direction track 3 to slide along Y-direction and realizes Y-direction feeding and return, 3rd drive unit drives the lifting of Z-direction track 4 realize Z-direction feeding and return, and then realize mechanical grip mounting bracket 5 along X, Y, the arbitrary motion in Z tri-directions implements grasping manipulation to the optional position of three dimension system, during grasping manipulation, the positive and negative 90 degree of rotations of mechanical grip mounting bracket 5, realize first, two mechanical grips 6, 7 alternately arrive crawl position and two, blowing position station, realize double-mechanical jaw to operate simultaneously, greatly save crawl and blowing time, by the structure that mechanical grip mounting bracket 5 slant setting rotates in Z-direction track 4 lower end and around its rotating shaft, achieve first, two mechanical grips 6, 790 degree of direction conversion station, mechanical grip takes up room little, the product that can be suitable for small space captures and blowing, the design of this truss robot manipulator structure is ingenious, can realize at a high speed, stable operation, manipulator capture and discharge position precision high, save space and production cost.
Described mechanical grip mounting bracket 5 is equilateral triangular structure of right angle, first, two mechanical grips 6, 7 are fixedly installed in two right-angle side institutes of equilateral triangular structure of right angle in the plane respectively, mechanical grip mounting bracket 5 rotating shaft is positioned at the hypotenuse institute of equilateral triangular structure of right angle in the plane, first is facilitated by mechanical grip mounting bracket 5 is designed to equilateral triangular structure of right angle, two mechanical grips 6, the installation location of 7 and 90 degree of rotations, this structure is simple, good stability, certainly, mechanical grip mounting bracket 5 also can be other planform, as semicircular structure, loop configuration etc.
First and second mechanical grip 6,7 described and mechanical grip mounting bracket 5 rotating shaft lay respectively on the center of place, equilateral triangular structure of right angle each limit plane.
It is the tilt stand 12 of 135 degree of angles that described Z-direction track 4 lower end is fixed with one with Z-direction, and mechanical grip mounting bracket 5 rotating shaft can rotate and be installed on this tilt stand 12.
Described rotating driving device 8 is rotary cylinder, the reciprocating rotary of mechanical grip mounting bracket 5 can be realized fast by rotary cylinder, in addition also can be other structure, as driven the rotating shaft along Z-direction to rotate by motor, Z-direction rotating shaft is carried out engaged transmission by angular wheel 16 and is realized rotary driving, it passes through to have engaging tooth within the scope of certain angle angular wheel 16 can also to be designed to sector structure, realize the spacing of positive and negative corner, ensure first, two mechanical grips 6, the accurate limit of 7 rotational angles, toggle can be driven to realize the reciprocating rotary of mechanical grip mounting bracket 5 by cylinder in addition, this is all the equivalent constructions that those skilled in the art are easy to according to this patent expect.
Described X-direction track 2 is square structure, line slideway 13 is equipped with on its horizontal plane He in upright side walls, the T-shaped structure of first slide block 9, the sidewall that first slide block 9 liang is vertical is equipped with guide pin bushing 14, each guide pin bushing 14 respectively correspondence is sheathed on the line slideway 13 on X-direction track 2, 2 two orthogonal, X-direction track arranges line slideway 13 respectively, substantially increase the guiding accuracy of X-direction guide rail, reduce mechanical grip large apart from beating during motion in X direction, even if the mechanical grip of high-speed cruising also can stop after moving to assigned address immediately, after stopping, mechanical grip Oscillation Amplitude is little, can realize entering seized condition fast, substantially increase the operating efficiency of manipulator.
Described second slide block 10 forms some guide pin bushings 14, Y-direction track 3 is provided with at least two parallel line slideways 13, on the line slideway 13 of the corresponding sheathed Y-direction track 3 of the guide pin bushing 14 on the second slide block 10, substantially increase the kinematic accuracy of manipulator along Y-direction by two parallel line slideways 13.
Described Z-direction track 4 at least two relative sidewalls are provided with the line slideway 13 of Z-direction, 3rd slide block 11 is formed the U-shaped clad structure extended along Z-direction, this U-shaped clad structure is coated on outside Z-direction track 4, this U-shaped clad structure madial wall is formed with some guide pin bushings 14, some guide pin bushing 14 correspondences are sheathed on outside the line slideway 13 on Z-direction track 4 sidewall, by adopting the 3rd slide block 11 of clad structure, Z-direction track 4 is carried out coated, and line slideway 13 is set on Z-direction guide rail two at least two opposite side walls, improve the guiding accuracy of manipulator along Z-direction, be conducive to the Rigidity and strength improving Z-direction track 4, greatly reduce Oscillation Amplitude when manipulator runs, improve robot work efficiency.
Described X-direction track 2 is square steel tube structure, Y-direction track 3 is low-density and high-strength aluminium sheet structure, Z-direction track 4 is low-density and high-strength cast aluminum type equipment structure, by adopting low-density and high-strength aluminium design Y-direction track 3 and Z-direction track 4, and Z-direction track 4 is designed to the profile structure of many hollow outs, both rigidity and the intensity of Y-direction track 3 and Z-direction track 4 had effectively been improve, greatly reduce again the weight of the two, especially Z-direction track 4, greatly reduce the vibration in manipulator running, can realize stopping immediately after manipulator runs to assigned address, and enter crawl and blowing duty, that avoids it significantly to swing causing waits as long for, be conducive to realizing manipulator along X, Y, Z-direction high-speed cruising, realize efficiency operation.
Described first, two, three drive units include motor 15, gear 16 and tooth bar 17, described motor 15 driven wheel 16 rotates, gear 16 engages with tooth bar 17, tooth bar 17 is fixedly installed in X-direction track 2 respectively, on Y-direction track 3 and Z-direction track 4, motor 15 respectively correspondence is installed on first, two, three slide blocks 9, 10, on 11, manipulator moving along three mutually perpendicular directions is realized by motor 15 driven wheel 16 tooth bar 17 structure, this kind of transmission mechanism transmission accuracy is high, tooth bar 17 itself has guide function concurrently, ensure that the positional precision of robot movement, in addition also can be that other transmission mechanism is as chain wheel driving mechanism etc., this is the equivalent constructions that those skilled in the art are easy to according to this patent expect.
Claims (10)
1. a high speed truss manipulator, is characterized in that: establish three orthogonal directions to be respectively X-direction, Y-direction and Z-direction, wherein Z-direction is vertical direction, comprises bracing frame (1), X-direction track (2), Y-direction track (3), Z-direction track (4), mechanical grip mounting bracket (5), first, two mechanical grips (6, 7), first, two, three drive units, rotating driving device (8) and first, two, three slide blocks (9, 10, 11), described X-direction track level is installed on bracing frame upper end, first slide block can the slip of track bearing of trend be positioned on X-direction track in X direction, second slide block is fixedly installed on the first slide block, Y-direction track can slide along Y-direction linear reciprocation and be positioned on the second slide block, 3rd slide block is fixedly installed on Y-direction track, Z-direction track can slide along Z-direction linear reciprocation and be positioned on the 3rd slide block, mechanical grip mounting bracket can rotational positioning in Z-direction track lower end, axis and the Z-direction of described mechanical grip mounting bracket rotating shaft form 135 degree of angles, first, two mechanical grips are fixedly installed on mechanical grip mounting bracket respectively, and first, two mechanical grips are symmetrically distributed in the rotating shaft both sides of mechanical grip mounting bracket, and first, the axis of two mechanical grips forms 90 degree of angles, and wherein first, two, three drive units drive the first slide block respectively, Y-direction track and the motion of Z-direction rail linearity, rotating driving device driving device jaw mounting bracket rotates.
2. high speed truss manipulator according to claim 1, it is characterized in that: described mechanical grip mounting bracket is equilateral triangular structure of right angle, first and second mechanical grip is fixedly installed in two right-angle side institutes of equilateral triangular structure of right angle in the plane respectively, and mechanical grip mounting bracket rotating shaft is positioned at the hypotenuse institute of equilateral triangular structure of right angle in the plane.
3. high speed truss manipulator according to claim 2, is characterized in that: first and second mechanical grip described and mechanical grip mounting bracket rotating shaft lay respectively on the center of place, equilateral triangular structure of right angle each limit plane.
4. high speed truss manipulator according to claim 1, it is characterized in that: it is the tilt stand (12) of 135 degree of angles that described Z-direction track lower end is fixed with one with Z-direction, and mechanical grip mounting bracket rotating shaft can rotate and be installed on this tilt stand.
5. the high speed truss manipulator according to claim 1 or 4, is characterized in that: described rotating driving device is rotary cylinder.
6. high speed truss manipulator according to claim 1, it is characterized in that: described X-direction track is square structure, line slideway (13) is equipped with on its horizontal plane He in upright side walls, the T-shaped structure of first slide block, the sidewall that first slide block two is vertical is equipped with guide pin bushing (14), and each guide pin bushing respectively correspondence is sheathed on the line slideway on X-direction track.
7. high speed truss manipulator according to claim 1, it is characterized in that: described second slide block forms some guide pin bushings, Y-direction track is provided with at least two parallel line slideways, on the line slideway of the corresponding sheathed Y-direction track of the guide pin bushing on the second slide block.
8. high speed truss manipulator according to claim 1, it is characterized in that: the sidewall that described at least two, Z-direction track is relative is provided with the line slideway of Z-direction, 3rd slide block is formed the U-shaped clad structure extended along Z-direction, this U-shaped clad structure is coated on outside Z-direction track, this U-shaped clad structure madial wall is formed with some guide pin bushings, and some guide pin bushing correspondences are sheathed on outside the line slideway on Z-direction orbit sidewall.
9. high speed truss manipulator according to claim 1, it is characterized in that: described X-direction track is square steel tube structure, Y-direction track is low-density and high-strength aluminium sheet structure, Z-direction track is low-density and high-strength cast aluminum type equipment structure.
10. high speed truss manipulator according to claim 1, it is characterized in that: first, second and third drive unit described includes servomotor (15), gear (16) and tooth bar (17), described driven by servomotor gear rotates, wheel and rack engages, tooth bar is fixedly installed on X-direction track, Y-direction track and Z-direction track respectively, and motor respectively correspondence is installed on first, second and third slide block.
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| CN201610091469.XA CN105522573A (en) | 2016-02-19 | 2016-02-19 | High-speed truss manipulator |
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| CN201610091469.XA CN105522573A (en) | 2016-02-19 | 2016-02-19 | High-speed truss manipulator |
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