CN105710875A - Five-axis robot - Google Patents
Five-axis robot Download PDFInfo
- Publication number
- CN105710875A CN105710875A CN201610206833.2A CN201610206833A CN105710875A CN 105710875 A CN105710875 A CN 105710875A CN 201610206833 A CN201610206833 A CN 201610206833A CN 105710875 A CN105710875 A CN 105710875A
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- axis
- axle
- main body
- drives
- reductor
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a five-axis robot which comprises a robot platform and a robot body. The robot platform comprises a horizontal adjusting seat, a lower bottom plate and an electric cabinet. The robot body is arranged on the upper portion of the electric cabinet and fixed by the horizontal adjusting seat, and the robot body comprises a Z-axis main body fixed to the horizontal adjusting seat, an X-axis main body fixed to the Z-axis main body, a Y-axis main body fixed to the X-axis main body, an R-axis main body fixed to the Y-axis main body, a J-axis main body fixed to the R-axis main body and claws. The five-axis robot provided by the invention is high in universality and operation efficiency, and various complex operations can be completed through programming of a five-axis moving mechanism.
Description
Technical field
The invention belongs to automatic field, be specifically related to a kind of wu-zhi-shan pig.
Background technology
Rising along with human cost, tradition workforce capital production cost rises rapidly, increasing enterprise starts to introduce industrial robot and replaces and manually reduce cost, but existing industrial robot poor universality, working performance is low, it is impossible to completes the shortcomings such as complex job and governs the large-scale application of industrial robot.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of wu-zhi-shan pig, this wu-zhi-shan pig highly versatile, working performance is high, can pass through the programming to five-shaft movement mechanism, complete various complex job.For reaching above-mentioned purpose, technical scheme is as follows: a kind of wu-zhi-shan pig, including robot platform and robot body；
Described robot platform includes horizontal adjustment seat, lower shoe, electric cabinet；Described horizontal adjustment seat is fixed on described lower shoe, described lower shoe is fixed with some spikes for regulating level, described electric cabinet and described horizontal adjustment seat are fixed by adjusting rod, are fixed with the aviation plug for being electrically connected and air pressure three linked piece at described electric cabinet side；
Described robot body is arranged on described electric cabinet and fixes above through described horizontal adjustment seat, and described robot body includes X-axis main body, Y-axis main body, Z axis main body, R axle main body, J axle main body and paw；Described Z axis main body is vertically arranged on described horizontal adjustment seat, described Z axis main body includes Z axis and drives locking servomotor, Z axis drives synchronizing wheel, the driven synchronizing wheel of Z axis, Z axis drives screw mandrel, described Z axis drives screw mandrel one end and described Z axis to drive synchronizing wheel to connect, the other end and described Z axis drive locking servomotor to connect, described Z axis drives synchronizing wheel and the driven synchronizing wheel of described Z axis to be connected by belt can synchronous axial system, screw mandrel two ends are driven to be respectively arranged with Z axis upper limit sensor and Z axis lower limit sensor at described Z axis, the described Z axis direction of motion is additionally provided with Z axis stroke detection sheet, the Z axis null pick-up also including being arranged in Z axis motion portion being correspondingly arranged with described Z axis stroke detection sheet；
Described X-axis main body is fixed in described Z axis main body and can horizontally rotate around fixing axle, described X-axis main body includes X-axis and drives servo motor, X-axis reductor, X-axis stroke detection sheet, described X-axis drives servo motor to be arranged in described Z axis motion portion and be connected with described X-axis reductor, described X-axis reductor drives described X-axis main body around moving in a circle, described X-axis reductor rotating shaft is provided with X-axis stroke detection sheet, the X-axis null pick-up also including being arranged in X-axis main body matched with described X-axis stroke detection sheet；
Described Y-axis main body is connected with described X-axis main body, described Y-axis main body includes Y-axis screw mandrel, Y-axis shaft coupling, Y-axis guide rail, Y-axis drives servo motor, described Y-axis drives servo motor to be connected by described Y-axis shaft coupling is fixing with described Y-axis screw mandrel, described Y-axis guide rail is parallel with described Y-axis screw mandrel, and it is symmetricly set on described Y-axis screw mandrel both sides, described Y-axis main body does rectilinear motion along described Y-axis guide rail, described Y-axis screw mandrel front end is provided with limit sensor before Y-axis, rear end is provided with limit sensor after Y-axis, described Y-axis bulk motion direction is additionally provided with Y-axis stroke detection sheet, the Y-axis zero testing sensor also including being arranged in Y-axis motion portion matched with described Y-axis stroke detection sheet；
Described R axle main body is arranged in described Y-axis main body, described R axle main body includes R axle and drives synchronizing wheel, R axle to drive servo motor, the driven synchronizing wheel of R axle, R axle reductor, described R axle drives synchronizing wheel to drive servo motor to be connected with described R axle, described R axle drives synchronizing wheel and the described driven synchronizing wheel of R axle to be connected by belt can synchronous axial system, the described driven synchronizing wheel of R axle is connected with described R axle reductor, described R axle drives R axle reductor described in servo motor driven to move in a circle
Described J axle main body is arranged in described R axle main body rotating shaft, described J axle main body includes J axle reductor, J axle drives servo motor, described J axle drives servo motor to be fixed in described R axle reductor rotating shaft, described J axle reductor and described J axle drive servo motor to match, described J axle reductor rotation section is provided with J axle stroke detection sheet, the J axle zero testing sensor that also include be arranged on J axle fixed part on corresponding with described J axle stroke detection sheet；
Described paw is fixed on described J axle reductor rotation section, and described paw includes paw support and the some vacuum cups being fixed on described paw support, and described vacuum cup is symmetricly set on described paw support both sides, and in the same plane.
Preferably, also including hanging ring screw, described hanging ring screw is symmetricly set on described robot body both sides.
The invention has the beneficial effects as follows:
1. wu-zhi-shan pig provided by the invention can pass through to change the mechanical mechanism being connected with R axle reductor, completes various operation, and versatility is extremely strong.
2. owing to adopting the mode of five-axle linkage, can being 5-axis movement by decomposition of movement, can perform simultaneously or perform by setting interval, improve operational efficiency, reduce the waiting time, working performance be substantially improved.
3. can do respectively due to wu-zhi-shan pig up and down, front and back, rotate, wave and flip-flop movement, can by having programmed various complex job action.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, the accompanying drawing used required in the description of embodiment technology will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is robot body's structural representation
Fig. 2 is J axle main body partial enlarged drawing
Fig. 3 is R axle main body partial enlarged drawing
Fig. 4 is robot body's left view
Fig. 5 is Y-axis main body sectional view
Fig. 6 is robot body's forward sight semi-cutaway
Fig. 7 is robot body's rearview
Fig. 8 is robot body's left view semi-cutaway
Fig. 9 is paw structural representation
Wherein, 1 is limit sensor before Y-axis, 2 is Y-axis screw mandrel, 3 is limit sensor after Y-axis, 4 is Y-axis stroke detection sheet, 5 is Y-axis null pick-up, 6 is Y-axis shaft coupling, 7 drive servo motor for Y-axis, 8 is R axle stroke detection sheet, 9 is R axle null pick-up, 10 is electric cabinet, 11 is display lamp, 12 is R axle main body, 13 is paw, 14 is Y-axis main body, 15 is Z axis main body, 16 is robot body, 17 is robot platform, 18 is X-axis null pick-up, 19 is drag chain, 20 is X-axis stroke detection sheet, 21 is Z axis upper limit sensor, 22 drive synchronizing wheel for X-axis, 23 is Z axis null pick-up, 25 is Z axis stroke detection sheet, 26 is Z axis lower limit sensor, 27 drive screw mandrel for Z axis, 28 drive synchronizing wheel for Z axis, 29 is the driven synchronizing wheel of Z axis, 33 is X-axis, 34 is aviation plug, 35 is pneumatic triple part, 36 is robot water Heibei provincial opera bed rearrangement, 37 is vacuum cup, 38 is hanging ring screw, 39 is the driven synchronizing wheel of Z axis, 40 drive synchronizing wheel for R axle, 41 drive servo motor for R axle, 42 is the driven synchronizing wheel of R axle, 43 is R axle reductor, 44 is X-axis reductor, 45 drive servo motor for X-axis, 46 drive locking servo motor for Z axis, 47 is Z axis guide rail, 48 is Y-axis guide rail, 49 is paw support, 50 is a spike, 51 is lower shoe；52 is J axle main body, and 53 drive servo motor for J axle, and 54 is gas separating seat, and 55 is J axle reductor, and 56 is J axle null pick-up, and 57 is J axle stroke detection sheet；
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Embodiment
As shown in figs 1-9, a kind of wu-zhi-shan pig disclosed in the present embodiment disclosed in the present embodiment, including robot platform and robot body；
Robot platform includes horizontal adjustment seat 17, lower shoe 51, electric cabinet 10；Horizontal adjustment seat 17 is fixed on lower shoe 51, is fixed with some spikes 50 for regulating level on lower shoe 51, and electric cabinet 10 and horizontal adjustment seat 17 are fixed by adjusting rod；
Robot body is arranged on electric cabinet 10 and fixes above through horizontal adjustment seat 17, and robot body includes X-axis main body 33, Y-axis main body 14, Z axis main body 15, R axle main body 12, J axle main body 52 and paw 13；
Z axis main body 15 is vertically arranged on horizontal adjustment seat 17, Z axis main body 15 includes Z axis and drives locking servomotor 46, Z axis drives synchronizing wheel 28, the driven synchronizing wheel 29 of Z axis, Z axis drives screw mandrel 27, Z axis drives screw mandrel 27 one end and Z axis to drive synchronizing wheel 28 to connect, the other end and Z axis drive locking servomotor 46 to connect, Z axis drives synchronizing wheel 28 and the driven synchronizing wheel of Z axis 29 to be connected by belt can synchronous axial system, screw mandrel 27 two ends are driven to be respectively arranged with Z axis upper limit sensor 21 and Z axis lower limit sensor 26 at Z axis, the Z axis direction of motion is additionally provided with Z axis stroke detection sheet 25, the Z axis null pick-up 23 also including being arranged in Z axis motion portion being correspondingly arranged with Z axis stroke detection sheet 25；
X-axis main body 33 is fixed in Z axis main body 15 and can horizontally rotate around fixing axle, X-axis main body 33 includes X-axis and drives servo motor 45, X-axis reductor 44, X-axis stroke detection sheet 20, X-axis drives servo motor 45 to be arranged in Z axis motion portion and be connected with X-axis reductor 44, X-axis reductor 44 drives X-axis main body 33 around moving in a circle, X-axis reductor 44 rotating shaft is provided with X-axis stroke detection sheet 20, the X-axis null pick-up 18 also including being arranged in X-axis main body 33 matched with X-axis stroke detection sheet 20；
Y-axis main body 14 is connected with X-axis main body 33, Y-axis main body 14 includes Y-axis screw mandrel 2, Y-axis shaft coupling 6, Y-axis guide rail 48, Y-axis drives servo motor 7, Y-axis drives servo motor 7 to be connected by Y-axis shaft coupling 6 is fixing with Y-axis screw mandrel 2, Y-axis guide rail 48 is parallel with Y-axis screw mandrel 2, and it is symmetricly set on Y-axis screw mandrel 2 both sides, Y-axis main body 14 does rectilinear motion along Y-axis guide rail, Y-axis screw mandrel 2 front end is provided with limit sensor 1 before Y-axis, rear end is provided with limit sensor 3 after Y-axis, Y-axis main body 14 direction of motion is additionally provided with Y-axis stroke detection sheet 4, the Y-axis zero testing sensor 5 also including being arranged in Y-axis motion portion matched with Y-axis stroke detection sheet 4；
R axle main body 12 is arranged in Y-axis main body 14, R axle main body 12 includes R axle and drives synchronizing wheel 40, R axle drives servo motor 41, the driven synchronizing wheel 39 of R axle, R axle reductor 43, R axle drives synchronizing wheel 40 to drive servo motor 41 to be connected with R axle, R axle drives synchronizing wheel 40 and the driven synchronizing wheel 39 of R axle to be connected by belt can synchronous axial system, the driven synchronizing wheel 39 of R axle is connected with R axle reductor 43, R axle drives servo motor 41 to drive R axle reductor 43 to move in a circle around the shaft, R axle reductor 43 rotation section is provided with R axle stroke detection sheet 8, the R axle zero testing sensor 9 that also include be arranged on R axle fixed part on corresponding with R axle stroke detection sheet 8；
J axle main body 52 is arranged in R axle main body 12 rotating shaft, J axle main body 52 includes J axle reductor 55, J axle drives servo motor 53, J axle drives servo motor 53 to be fixed in R axle reductor 55 rotating shaft, J axle reductor 55 and J axle drive servo motor 53 to match, J axle reductor 55 rotation section is provided with J axle stroke detection sheet 57, the J axle zero testing sensor 56 that also include be arranged on J axle fixed part on corresponding with J axle stroke detection sheet 57；
Paw 13 is fixed on J axle reductor 55 rotation section, and paw 13 includes paw support 49 and the some vacuum cups 37 being fixed on paw support 49, and vacuum cup 37 is symmetricly set on paw support 49 both sides, and in the same plane.
Additionally, robot body's lateral symmetry is provided with hanging ring screw 38, it is beneficial to equipment carrying.
The wu-zhi-shan pig that the present embodiment provides can pass through to change the mechanical mechanism being connected with J axle reductor, completes various operation, and versatility is extremely strong.Owing to adopting the mode of five-axle linkage, can being 5-axis movement by decomposition of movement, can perform simultaneously or perform by setting interval, improve operational efficiency, reduce the waiting time, working performance be substantially improved.Can do respectively due to wu-zhi-shan pig up and down, front and back, rotate, wave and flip-flop movement, can by having programmed various complex job action.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.The multiple amendment of these embodiments be will be apparent from for those skilled in the art, and generic principles defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (2)
1. a wu-zhi-shan pig, it is characterised in that: include robot platform and robot body；
Described robot platform includes horizontal adjustment seat, lower shoe, electric cabinet；Described horizontal adjustment seat is fixed on described lower shoe, described lower shoe is fixed with some spikes for regulating level, described electric cabinet and described horizontal adjustment seat are fixed by adjusting rod, are fixed with the aviation plug for being electrically connected and air pressure three linked piece at described electric cabinet side；
Described robot body is arranged on described electric cabinet and fixes above through described horizontal adjustment seat, and described robot body includes X-axis main body, Y-axis main body, Z axis main body, R axle main body, J axle main body and paw；Described Z axis main body is vertically arranged on described horizontal adjustment seat, described Z axis main body includes Z axis and drives locking servomotor, Z axis drives synchronizing wheel, the driven synchronizing wheel of Z axis, Z axis drives screw mandrel, described Z axis drives screw mandrel one end and described Z axis to drive synchronizing wheel to connect, the other end and described Z axis drive locking servomotor to connect, described Z axis drives synchronizing wheel and the driven synchronizing wheel of described Z axis to be connected by belt can synchronous axial system, screw mandrel two ends are driven to be respectively arranged with Z axis upper limit sensor and Z axis lower limit sensor at described Z axis, the described Z axis direction of motion is additionally provided with Z axis stroke detection sheet, the Z axis null pick-up also including being arranged in Z axis motion portion being correspondingly arranged with described Z axis stroke detection sheet；
Described X-axis main body is fixed in described Z axis main body and can horizontally rotate around fixing axle, described X-axis main body includes X-axis and drives servo motor, X-axis reductor, X-axis stroke detection sheet, described X-axis drives servo motor to be arranged in described Z axis motion portion and be connected with described X-axis reductor, described X-axis reductor drives described X-axis main body around moving in a circle, described X-axis reductor rotating shaft is provided with X-axis stroke detection sheet, the X-axis null pick-up also including being arranged in X-axis main body matched with described X-axis stroke detection sheet；
Described Y-axis main body is connected with described X-axis main body, described Y-axis main body includes Y-axis screw mandrel, Y-axis shaft coupling, Y-axis guide rail, Y-axis drives servo motor, described Y-axis drives servo motor to be connected by described Y-axis shaft coupling is fixing with described Y-axis screw mandrel, described Y-axis guide rail is parallel with described Y-axis screw mandrel, and it is symmetricly set on described Y-axis screw mandrel both sides, described Y-axis main body does rectilinear motion along described Y-axis guide rail, described Y-axis screw mandrel front end is provided with limit sensor before Y-axis, rear end is provided with limit sensor after Y-axis, described Y-axis bulk motion direction is additionally provided with Y-axis stroke detection sheet, the Y-axis zero testing sensor also including being arranged in Y-axis motion portion matched with described Y-axis stroke detection sheet；
Described R axle main body is arranged in described Y-axis main body, described R axle main body includes R axle and drives synchronizing wheel, R axle to drive servo motor, the driven synchronizing wheel of R axle, R axle reductor, described R axle drives synchronizing wheel to drive servo motor to be connected with described R axle, described R axle drives synchronizing wheel and the described driven synchronizing wheel of R axle to be connected by belt can synchronous axial system, the described driven synchronizing wheel of R axle is connected with described R axle reductor, described R axle drives R axle reductor described in servo motor driven to move in a circle
Described J axle main body is arranged in described R axle main body rotating shaft, described J axle main body includes J axle reductor, J axle drives servo motor, described J axle drives servo motor to be fixed in described R axle reductor rotating shaft, described J axle reductor and described J axle drive servo motor to match, described J axle reductor rotation section is provided with J axle stroke detection sheet, the J axle zero testing sensor that also include be arranged on J axle fixed part on corresponding with described J axle stroke detection sheet；
Described paw is fixed on described J axle reductor rotation section, and described paw includes paw support and the some vacuum cups being fixed on described paw support, and described vacuum cup is symmetricly set on described paw support both sides, and in the same plane.
2. a kind of wu-zhi-shan pig according to claim 1, it is characterised in that: also including hanging ring screw, described hanging ring screw is symmetricly set on described robot body both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206833.2A CN105710875B (en) | 2016-04-05 | 2016-04-05 | A kind of wu-zhi-shan pig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206833.2A CN105710875B (en) | 2016-04-05 | 2016-04-05 | A kind of wu-zhi-shan pig |
Publications (2)
| Publication Number | Publication Date |
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| CN105710875A true CN105710875A (en) | 2016-06-29 |
| CN105710875B CN105710875B (en) | 2018-03-13 |
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| CN201610206833.2A Active CN105710875B (en) | 2016-04-05 | 2016-04-05 | A kind of wu-zhi-shan pig |
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| CN106002961A (en) * | 2016-07-25 | 2016-10-12 | 昆山威创自动化科技有限公司 | Horizontal moving type five-shaft manipulator |
| CN107598950A (en) * | 2017-10-12 | 2018-01-19 | 上海松盛机器人系统有限公司 | A kind of dynamic lithium battery fixture |
| CN109142369A (en) * | 2018-07-23 | 2019-01-04 | 杭州慧知连科技有限公司 | A kind of chemical fiber spinning cake appearance delection device |
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| CN205630634U (en) * | 2016-04-05 | 2016-10-12 | 苏州盟川自动化科技有限公司 | Five robots |
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| CN102233577A (en) * | 2010-04-21 | 2011-11-09 | 株式会社安川电机 | Horizontal articulated robot and substrate transfer system provided with the same |
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| CN107598950A (en) * | 2017-10-12 | 2018-01-19 | 上海松盛机器人系统有限公司 | A kind of dynamic lithium battery fixture |
| CN109142369A (en) * | 2018-07-23 | 2019-01-04 | 杭州慧知连科技有限公司 | A kind of chemical fiber spinning cake appearance delection device |
| CN109142369B (en) * | 2018-07-23 | 2021-07-13 | 杭州慧知连科技有限公司 | Chemical fiber spinning cake appearance detection device |
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| Publication number | Publication date |
|---|---|
| CN105710875B (en) | 2018-03-13 |
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