CN106826804A - High-performance rectangular robot - Google Patents
High-performance rectangular robot Download PDFInfo
- Publication number
- CN106826804A CN106826804A CN201710234521.7A CN201710234521A CN106826804A CN 106826804 A CN106826804 A CN 106826804A CN 201710234521 A CN201710234521 A CN 201710234521A CN 106826804 A CN106826804 A CN 106826804A
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- China
- Prior art keywords
- axis
- axle
- telescopic shaft
- decelerator
- big
- Prior art date
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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
- B25J9/10—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
-
- 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
-
- 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
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of high-performance rectangular robot, including X-axis mechanism, C axis mechanisms, Y-axis mechanism, Z-axis mechanism and B axle mechanism；The small telescopic shaft of X-axis mechanism constitutes X-axis stretching motion in company with big telescopic shaft to fixing axle；The C axles decelerator transmission control C axles revolving support of C axis mechanisms constitutes the rotary oscillation of Z-axis mechanism；The guide rail bearing of Y-axis mechanism sets Y-axis tooth bar and constitutes C axis mechanisms moving back and forth along Y-axis by the transmission control of Y-axis decelerator；The Z axis screw mandrel of Z-axis mechanism is driven by Z axis decelerator, and up and down motion of the X-axis mechanism along Z axis line slideway is constituted by the upper underdrive control of feed screw nut；The B axle decelerator of B axle mechanism is fixed on the front end of the small telescopic shaft of X-axis mechanism, controls rotary oscillation to be transferred to front end performs device by B axle decelerator and constitutes rotary oscillation of the B axle mechanism to X-axis mechanism.Have the advantages that flexibility ratio is high, positioning precision is high, speed is fast, smooth running and noise is low.
Description
Technical field
The present invention relates to a kind of high-performance rectangular robot.
Background technology
Industrial robot be collect the multidisciplinary advanced technology such as machinery, electronics, control, computer, sensor, artificial intelligence in
The important automated arm of the modern manufacturing industry of one.Since the U.S. in 1962 develop in the world First industrial robot with
Come, robot technology and products thereof have developed rapidly, it has also become flexible manufacturing system, automatic factory, computer integrated manufacturing system system
The automation tools of system.Widely used industrial robot, can not only improve the quality and quantity of product, and ensure person peace
Entirely, improve work situation, reduce labor intensity, raise labour productivity, saves material consumption and reduction production cost have
Highly important meaning.As computer, network technology, the extensive use of industrial robot is increasingly changing the mankind's
Production and life style.
Since the eighties in 20th century, Industrial Robot Technology is gradually ripe, and is promoted quickly, at present in industry
Many fields of production are applied.At present, industrial robot has a big chunk to be applied in manufacturing logistics carrying.Pole
Big promotion material flows automation, with the development of production, the performance of each side of transfer robot is obtained for very big improvement
And raising.Pneumatic manipulator is substantial amounts of to be applied to logistics transfer robot field.According to answering in terms of the mechanical structure of paw
With the difference of occasion and to the particular/special requirement of piece-holder, take the mechanical structure of diversified forms to complete the folder to workpiece
Locking measure that is tight and preventing workpiece from coming off.
At present, also there is many deficiencies in the automation of above-mentioned industrial robot, flexibility ratio, especially aspect of performance.
The content of the invention
Regarding the issue above, the present invention provides a kind of flexibility ratio is high, positioning precision is high, speed is fast, operating is flat
The steady and low high-performance rectangular robot of noise.
What the present invention was realized in：A kind of high-performance rectangular robot, including X-axis mechanism, C axis mechanisms, Y-axis mechanism, Z
Axis mechanism and B axle mechanism；X-axis mechanism includes fixing axle, big telescopic shaft and small telescopic shaft；Big telescopic shaft passes through X-axis with fixing axle
Line slideway is connected, and big telescopic shaft sets X-axis tooth bar and constitutes big telescopic shaft pair by the X-axis decelerator transmission control in fixing axle
The X-axis stretching motion I of fixing axle；Small telescopic shaft controls to constitute small stretching by the belt transmission between small telescopic shaft and big telescopic shaft
X-axis stretching motion I of the contracting axle to big telescopic shaft；C axis mechanisms include C axles base, C axles revolving support and C axle decelerators, by C axles
Decelerator transmission control C axles revolving support constitutes the rotary oscillation II of Z-axis mechanism；Y-axis mechanism includes Y-axis line slideway, guide rail
Bearing and Y-axis decelerator, guide rail bearing set Y-axis tooth bar and constitute C axis mechanisms coming along Y-axis by the transmission control of Y-axis decelerator
Backhaul dynamic III；Z-axis mechanism includes support, Z axis screw mandrel and Z axis line slideway, and support is connected on C axle revolving supports, X-axis mechanism
Fixing axle be connected with Z axis screw mandrel by the feed screw nut of Z axis screw mandrel；Z axis screw mandrel is driven by Z axis decelerator, by screw mandrel spiral shell
Female upper underdrive control constitutes up and down motion IV of the X-axis mechanism along Z axis line slideway；B axle mechanism includes B axle decelerator and preceding
End performs device, B axle decelerator is fixed on the front end of the small telescopic shaft of X-axis mechanism, controls rotary oscillation to pass by B axle decelerator
It is defeated to constitute rotary oscillation V of the B axle mechanism to X-axis mechanism to front end performs device.
The present invention, fixing axle, big telescopic shaft and small telescopic shaft are square hollow, and belt passes through the bottom side of big telescopic shaft
Hollow-out parts, the axle stand of the belt wheel of belt is provided with belt tooth plate on big telescopic shaft on the downside inside pipe wall of fixing axle, small
The downside pipe outer wall of telescopic shaft is provided with belt tooth plate, and small telescopic shaft is constituted to big flexible by belt tooth plate with engaging for belt
The flexible synchronous interaction of X-axis of axle, big telescopic shaft to fixing axle.
The present invention, the respective servomotor that X-axis decelerator, Y-axis decelerator and Z axis decelerator are controlled by operating system
Control is positive and negative then realizes stretching motion；The respective servomotor control that C axles decelerator and B axle decelerator are controlled by operating system
System is positive and negative then realizes rotary oscillation.
The present invention, the external diameter of C axle revolving supports with tooth with the output gear of the C axle decelerators on C axle bases
Axle is engaged.
The present invention, guide rail bearing uses I-steel group welding structure.
The present invention, Z axis screw mandrel uses ball screw.
The beneficial effects of the invention are as follows：
1）, five axis mechanism coordinate robot's flexibility ratios it is high, five axis mechanisms are driven using servomotor, and positioning precision is high；
2）, X-axis mechanism, Y-axis mechanism, Z-axis mechanism be section bar group welding structure, overall weight is light, compact conformation, rational in infrastructure；、
Materials facility and easy processing；Structural rigidity is high, and maximum load can reach 500Kg；
3）, X-axis mechanism, Y-axis mechanism, Z-axis mechanism be linear motion, using precise ball guide rail, movement velocity is fast, it is steady and
Noise is low；
4）, B axle mechanism and C axis mechanisms revolution use RV decelerators and revolving support, gearratio is big, and outputting torsion is big；Each axle
Stroke is big, and working range is wide, and operating environment requirements are low；
5）, front end performs device can freely change according to actual needs, expansion is strong.
The present invention, with overall weight is light, compact conformation, rational in infrastructure, overall precision is high, structural rigidity is good, flexibility ratio
The high, advantage that working range is wide, transporting velocity is fast, operation noise is small, easy to maintenance.
Example below is described with reference to the drawings that the present invention is further illustrated.
Brief description of the drawings
Fig. 1 is the main structure diagram of one embodiment of the present of invention；
Fig. 2 is the vertical view figure structure schematic representation of Fig. 1 embodiments；
Fig. 3 be Fig. 1 along P to side structure schematic view；
Fig. 4 is the A portions mplifying structure schematic diagram of Fig. 1.
In figure, 1, fixing axle；2nd, big telescopic shaft；3rd, small telescopic shaft；4th, X-axis line slideway；5th, X-axis tooth bar；6th, X-axis is slowed down
Device；7th, belt；8th, C axles base；9th, C axles revolving support；10th, C axles decelerator；11st, Y-axis line slideway；12nd, guide rail bearing；13、
Y-axis decelerator；14th, Y-axis tooth bar；15th, support；16th, Z axis screw mandrel；17th, Z axis line slideway；18th, feed screw nut；19th, Z axis slow down
Device；20th, B axle decelerator；21st, front end performs device；22nd, belt wheel；23rd, wheel shaft；24th, 25, belt tooth plate；Ith, X-axis stretching motion；
IIth, the rotary oscillation of Z-axis mechanism；IIIth, C axis mechanisms moving back and forth along Y-axis；IVth, X-axis mechanism is along the upper and lower of Z axis line slideway
Motion；Vth, rotary oscillation of the B axle mechanism to X-axis mechanism.
Specific embodiment
Referring to figs. 1 to Fig. 4, the present embodiment is a kind of high-performance rectangular robot, including X-axis mechanism, C axis mechanisms, Y-axis machine
Structure, Z-axis mechanism and B axle mechanism；X-axis mechanism includes fixing axle 1, big telescopic shaft 2 and small telescopic shaft 3；Big telescopic shaft and fixing axle
Connected by X-axis line slideway 4, big telescopic shaft sets X-axis tooth bar 5 and is driven control by the X-axis decelerator 6 in fixing axle and constitutes
X-axis stretching motion I of the big telescopic shaft to fixing axle；Small telescopic shaft is driven by the belt 7 between small telescopic shaft and big telescopic shaft
Control constitutes X-axis stretching motion I of the small telescopic shaft to big telescopic shaft；C axis mechanisms include C axles base 8, C axles revolving support 9 and C
Axle decelerator 10, the rotary oscillation II of Z-axis mechanism is made up of C axles decelerator transmission control C axle revolving supports；Y-axis mechanism includes Y
Axle line slideway 11, guide rail bearing 12 and Y-axis decelerator 13, guide rail bearing set Y-axis tooth bar 14 and are driven by Y-axis decelerator and controls
System constitutes C axis mechanisms and moves back and forth III along Y-axis；Z-axis mechanism includes support 15, Z axis screw mandrel 16 and Z axis line slideway 17, branch
Frame is connected on C axle revolving supports, and the fixing axle of X-axis mechanism is connected by the feed screw nut 18 of Z axis screw mandrel with Z axis screw mandrel；Z axis
Screw mandrel is driven by Z axis decelerator 19, and X-axis mechanism is constituted along the upper of Z axis line slideway by the upper underdrive control of feed screw nut
Lower motion IV；B axle mechanism includes B axle decelerator 20 and front end performs device 21, and B axle decelerator is fixed on the small of X-axis mechanism and stretches
The front end of contracting axle, controls rotary oscillation to be transferred to front end performs device and constitutes B axle mechanism to X-axis mechanism by B axle decelerator
Rotary oscillation V；Fixing axle 1, big telescopic shaft 2 and small telescopic shaft 3 are square hollow, and belt 7 passes through the bottom of big telescopic shaft
Side hollow-out parts, the wheel shaft 23 of the belt wheel 22 of belt is set up on big telescopic shaft, and belt is provided with the downside inside pipe wall of fixing axle
Tooth plate 24, the downside pipe outer wall of small telescopic shaft is provided with belt tooth plate 25, and small stretching is constituted by belt tooth plate with engaging for belt
X-axis flexible synchronous interaction of the axle to big telescopic shaft, big telescopic shaft to fixing axle；X-axis decelerator 6, Y-axis decelerator 13 and Z axis subtract
Fast device 19 is positive and negative by the respective Serve Motor Control that operating system is controlled then realizes stretching motion；C axles decelerator 10 and B
Axle decelerator 20 is positive and negative by the respective Serve Motor Control that operating system is controlled then realizes rotary oscillation；C axles revolving support 9
Output gear shaft of the external diameter with tooth with the C axle decelerators on C axle bases engage；Guide rail bearing 12 uses I-steel
Group welding structure；Z axis screw mandrel 16 uses ball screw.
The course of work of the invention is as follows：
X-axis stretching motion I：Operating system controls X-axis servomotor rotating, and X-axis servomotor is exported by X-axis decelerator and arrived
On X-axis pinion shaft, X-axis pinion shaft engages the big telescopic shaft stretching motion of drive with X-axis tooth bar；Small telescopic shaft leads belt
With big telescopic shaft simultaneous retractable synchronous interaction under drawing；
The rotary oscillation II of Z-axis mechanism：Operating system controls C axle servomotor rotatings, and C axles servomotor is slowed down by C axles
Device is exported on C axle pinion shafts, drives C axle revolving support outer ring rotatings, realizes the rotary oscillation of Z-axis mechanism；
C axis mechanisms move back and forth III along Y-axis：Operating system controls Y-axis servomotor rotating, and Y-axis servomotor passes through Y-axis
Decelerator output on Y-axis pinion shaft, Y-axis pinion shaft engaged with Y-axis tooth bar drive C axle bases on guide rail bearing back and forth
Motion；
X-axis mechanism along Z axis line slideway up and down motion IV：Operating system controls Z axis servomotor rotating, Z axis servo electricity
Machine drives Z axis screw mandrel by Z axis decelerator, the up and down motion of feed screw nut is converted into, so as to drive X-axis mechanism along Z axis straight line
The up and down motion of guide rail；
Rotary oscillation V of the B axle mechanism to X-axis mechanism：Gyration is transferred to front end by B axle servomotor by B axle decelerator
Performs device.
The present invention, distinguishes from structure and belongs to coordinate robot, relative to articulated type rectangular robot, simple structure,
Three linear motion axis use line slideway, gyroaxis to use revolving support and decelerator, each axle self-movement, positioning precision
High with repetitive positioning accuracy, speed is fast, smooth running and noise is low.
Claims (6)
1. a kind of high-performance rectangular robot, it is characterised in that：Including X-axis mechanism, C axis mechanisms, Y-axis mechanism, Z-axis mechanism and B
Axis mechanism；
The X-axis mechanism includes fixing axle（1）, big telescopic shaft（2）With small telescopic shaft（3）；The big telescopic shaft leads to fixing axle
Cross X-axis line slideway（4）Connection, big telescopic shaft sets X-axis tooth bar（5）And by the X-axis decelerator in fixing axle（6）Transmission control
Constitute X-axis stretching motion of the big telescopic shaft to fixing axle（Ⅰ）；The small telescopic shaft passes through between small telescopic shaft and big telescopic shaft
Belt（7）Transmission control constitutes X-axis stretching motion of the small telescopic shaft to big telescopic shaft（Ⅰ）；
The C axis mechanisms include C axle bases（8）, C axle revolving supports（9）With C axle decelerators（10）, it is driven by C axles decelerator and is controlled
C axles revolving support processed constitutes the rotary oscillation of Z-axis mechanism（Ⅱ）；
The Y-axis mechanism includes Y-axis line slideway（11）, guide rail bearing（12）With Y-axis decelerator（13）, guide rail bearing setting Y
Axle tooth bar（14）And C axis mechanisms moving back and forth along Y-axis is constituted by the transmission control of Y-axis decelerator（Ⅲ）；
The Z-axis mechanism includes support（15）, Z axis screw mandrel（16）With Z axis line slideway（17）, the support be connected to C axles return
Turn in support, the fixing axle of the X-axis mechanism passes through the feed screw nut of Z axis screw mandrel（18）It is connected with Z axis screw mandrel；The Z axis silk
Bar passes through Z axis decelerator（19）Drive, X-axis mechanism is constituted along the upper of Z axis line slideway by the upper underdrive control of feed screw nut
Lower motion（Ⅳ）；
The B axle mechanism includes B axle decelerator（20）With front end performs device（21）, the B axle decelerator is fixed on X-axis mechanism
Small telescopic shaft front end, control rotary oscillation to be transferred to front end performs device and constitute B axle mechanism to X by B axle decelerator
The rotary oscillation of axis mechanism（Ⅴ）.
2. high-performance rectangular robot according to claim 1, it is characterised in that：The fixing axle（1）, big telescopic shaft
（2）With small telescopic shaft（3）It is square hollow, the belt（7）Through the bottom side hollow-out parts of big telescopic shaft, the belt wheel of belt
（22）Wheel shaft（23）It is set up on big telescopic shaft, belt tooth plate is provided with the downside inside pipe wall of the fixing axle（24）, institute
The downside pipe outer wall for stating small telescopic shaft is provided with belt tooth plate（25）, small telescopic shaft pair is constituted by belt tooth plate with engaging for belt
The flexible synchronous interaction of X-axis of big telescopic shaft, big telescopic shaft to fixing axle.
3. high-performance rectangular robot according to claim 1 and 2, it is characterised in that：The X-axis decelerator（6）, Y-axis
Decelerator（13）With Z axis decelerator（19）Transfer to realize stretching by the respective Serve Motor Control of operating system control is positive and negative
Motion；The C axles decelerator（10）With B axle decelerator（20）By the respective Serve Motor Control rotating that operating system is controlled
And realize rotary oscillation.
4. high-performance rectangular robot according to claim 3, it is characterised in that：The C axles revolving support（9）External diameter
Output gear shaft with tooth with the C axle decelerators on C axle bases is engaged.
5. high-performance rectangular robot according to claim 4, it is characterised in that：The guide rail bearing（12）Using I-shaped
Steel group welding structure.
6. high-performance rectangular robot according to claim 5, it is characterised in that：The Z axis screw mandrel（16）Using ball
Screw mandrel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710234521.7A CN106826804A (en) | 2017-04-11 | 2017-04-11 | High-performance rectangular robot |
| PCT/CN2017/000313 WO2018187881A1 (en) | 2017-04-11 | 2017-04-24 | High-performance cartesian robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710234521.7A CN106826804A (en) | 2017-04-11 | 2017-04-11 | High-performance rectangular robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106826804A true CN106826804A (en) | 2017-06-13 |
Family
ID=59146694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710234521.7A Withdrawn CN106826804A (en) | 2017-04-11 | 2017-04-11 | High-performance rectangular robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106826804A (en) |
| WO (1) | WO2018187881A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018187881A1 (en) * | 2017-04-11 | 2018-10-18 | 巨轮智能装备股份有限公司 | High-performance cartesian robot |
| CN108942905A (en) * | 2018-09-02 | 2018-12-07 | 南京吉目希自动化科技有限公司 | A kind of cylinder machine people |
| CN111745628A (en) * | 2020-06-30 | 2020-10-09 | 西安精雕精密机械工程有限公司 | Cylindrical coordinate type three-axis long-stroke manipulator |
| CN111942894A (en) * | 2020-08-13 | 2020-11-17 | 深圳市恒茂科技有限公司 | Mechanism for taking and placing PCB products with different heights by rotating mechanical arm |
| CN113414758A (en) * | 2021-07-14 | 2021-09-21 | 青岛越疆智能科技有限公司 | Carrying mechanical arm |
| CN115256363A (en) * | 2022-08-29 | 2022-11-01 | 河南应用技术职业学院 | Modular multi-control rectangular coordinate robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0162343A1 (en) * | 1984-05-07 | 1985-11-27 | Jan Ekman | A device of the kind comprising two telescopically coordinated members |
| CN201198135Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Laneway storehouse stacking robot |
| CN202655915U (en) * | 2012-05-15 | 2013-01-09 | 马丁路德机器人（上海）有限公司 | Single drive type two-stage telescopic working table for industrial robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018187881A1 (en) * | 2017-04-11 | 2018-10-18 | 巨轮智能装备股份有限公司 | High-performance cartesian robot |
| CN108942905A (en) * | 2018-09-02 | 2018-12-07 | 南京吉目希自动化科技有限公司 | A kind of cylinder machine people |
| CN111745628A (en) * | 2020-06-30 | 2020-10-09 | 西安精雕精密机械工程有限公司 | Cylindrical coordinate type three-axis long-stroke manipulator |
| CN111942894A (en) * | 2020-08-13 | 2020-11-17 | 深圳市恒茂科技有限公司 | Mechanism for taking and placing PCB products with different heights by rotating mechanical arm |
| CN113414758A (en) * | 2021-07-14 | 2021-09-21 | 青岛越疆智能科技有限公司 | Carrying mechanical arm |
| CN115256363A (en) * | 2022-08-29 | 2022-11-01 | 河南应用技术职业学院 | Modular multi-control rectangular coordinate robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018187881A1 (en) | 2018-10-18 |
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Application publication date: 20170613 |