CN108705521A - A kind of five axis truss robots - Google Patents
A kind of five axis truss robots Download PDFInfo
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- CN108705521A CN108705521A CN201810666038.0A CN201810666038A CN108705521A CN 108705521 A CN108705521 A CN 108705521A CN 201810666038 A CN201810666038 A CN 201810666038A CN 108705521 A CN108705521 A CN 108705521A
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- axis
- slide
- armshaft
- arm
- drive component
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- 210000000515 tooth Anatomy 0.000 claims description 29
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 238000003754 machining Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 16
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000002146 bilateral effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005191 phase separation Methods 0.000 description 1
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
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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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 present invention provides a kind of five axis truss robots,Including X-axis slide,The Y1 axis armshaft and Y2 axis armshafts that two are mutually parallel are fixedly connected on X-axis slide,It is respectively arranged with Y1 axis slide and Y2 axis slides on Y1 axis armshaft and Y2 axis armshafts,Y1 axis drive components drive Y1 axis slide to be slided along the axis direction of Y1 axis armshafts,Y2 axis drive components drive Y2 axis slide to be slided along the axis direction of Y2 axis armshafts,It is respectively arranged with the Z1 axis drive component mutually deviated from along X-direction and Z2 axis drive components on Y1 axis slide and Y2 axis slides,Y1 axis slide and Y2 axis slide slidably connect along two outside of X-axis using Z-direction as the Z1 axis arm of axis and Z2 axis arms,Z1 axis drive component and Z2 axis drive component control Z1 axis arm and Z2 axis arm and are slided along Z-direction respectively.The present invention provide it is a kind of it is high in machining efficiency, accuracy is high, can be moved in X-axis, Y1 axis, Y2 axis, Z1 axis and five axis of Z2 axis, realize multioperation process truss robot.
Description
Technical field
The robot that the present invention relates to a kind of on automatic production line, especially a kind of five axis truss robots, belongs to
Truss robot technical field.
Background technology
Under the big historical background that current robot is substituted, factory's work in every is all introducing various robots, totally substantially
It is divided into three classes：Independent articulated robot, truss robot, truss+articulated robot.Wherein truss robot is in Duo Tai
It is clamped, carries between lathe, extensive use in terms of processing loading and unloading.Currently, widely used 2 axis of truss robot, 3 axis modes are transported
With a small amount of truss is run using 4 axis, 5 axis modes, but two Z axis are mostly distributed in the side of Y-axis.Meanwhile two Z axis function
It only limits and captures blank material and fine fodder respectively, hand grabs that function is roughly the same to be had a single function, and can not achieve for a machine in factory
The a variety of mode of transport of people；Also accidental single Z axis arm is to realize to be equipped with the technical configuration that two kinds of paws take quick change paw, although quick change
Paw speed may be implemented comparatively fast, but there is still a need for the quick change paw times, and stability is poor.It is used based on current truss robot existing
Shape, there is not yet truss robot is equipped with double Z axis armshafts and is realized the case of the both hands function of truss robot using different paws,
Double Z axis arms are especially distributed in the mentality of designing of Y-axis both sides.
Invention content
To solve the above-mentioned problems of the prior art, present invention offer one kind is high in machining efficiency, accuracy is high, can be with five
Axis movement, realization multioperation process truss robot.
The present invention provides a kind of five axis truss robots, including is fixedly connected with two on X-axis slide, the X-axis slide
The Y1 axis armshaft and Y2 axis armshafts being mutually parallel, Y1 axis slide is respectively arranged on Y1 axis armshaft and Y2 axis armshafts and Y2 axis is slided
Seat, Y1 axis drive components drive Y1 axis slide to be slided along the axis direction of Y1 axis armshafts, and Y2 axis drive components drive Y2 axis slides
Axis direction along Y2 axis armshafts slides, and is respectively arranged on the Y1 axis slide and Y2 axis slides and mutually deviates from along X-direction
Z1 axis drive component and Z2 axis drive components, the Y1 axis slide and Y2 axis slide slidably connected with Z along the outside of X-axis two
Axis direction is the Z1 axis arm and Z2 axis arms of axis, and the Z1 axis drive component and Z2 axis drive component control Z1 axis hands respectively
Arm and Z2 axis arm are slided along Z-direction.
As a further improvement on the present invention, X-axis slide is arranged with X-axis crossbeam, and the X-axis slide is slided with X-axis crossbeam
Dynamic connection, X-axis drive component drive X-axis slide to be slided along X-direction.
As a further improvement on the present invention, it is both provided with Y1 axis sliding block and Y2 axis respectively under Y1 axis slide and Y2 axis slides
Sliding block, Y1 axis sliding block match with the sliding rail along Y1 axis armshaft axis directions on Y1 axis armshafts, Y2 axis sliding block and Y2 axis armshafts
On the sliding rail along Y2 axis armshaft axis directions match.
As a further improvement on the present invention, Y1 axis armshaft and Y2 axis armshaft have been respectively fixedly connected with Y1 in axial direction
Axis helical teeth item and Y2 axis helical teeth items, the Y1 axis drive component include Y1 axis driving motors, and the Y2 axis drive component includes Y2
Axis driving motor, the Y1 axis driving motor and Y2 axis driving motors are respectively perpendicular the work through Y1 axis slide and Y2 axis slides
Y1 axis driving gear and Y2 axis driving gear are connected on end, the Y1 axis driving gear is intermeshed with Y1 axis helical teeth items, Y2
Axis drives gear to be intermeshed with Y2 axis helical teeth items.The Y-axis type of drive is further improved the driving that can also take synchronous belt
Mode.
As a further improvement on the present invention, Z1 axis arm is fixedly connected with Z1 axis helical teeth items, Z2 axis in axial direction
Arm is fixedly connected with Z2 axis helical teeth items in axial direction, the Z1 axis drive component includes Z1 axis driving motors, the Z2
Axis drive component includes Z2 axis driving motors, and Z1 axis is connected on the working end of the Z1 axis driving motor and Z2 axis driving motors
Drive gear and Z2 axis that gear, the Z1 axis driving gear is driven to be intermeshed with Z1 axis helical teeth items, the Z2 axis drives gear
It is intermeshed with Z2 axis helical teeth items.The Z axis type of drive is further improved the type of drive that can also take synchronous belt.
As a further improvement on the present invention, X-axis drive component includes X-axis driving motor, and the X-axis driving motor is vertical
Be connected with X-axis driving gear on the working end of X-axis slide, X-axis driving gear on X-axis crossbeam in axial direction on
The X-axis helical rack intermeshing being fixedly connected.The X-axis type of drive is further improved the driving side that can also take synchronous belt
Formula.
As a further improvement on the present invention, fixture is provided on the working end that Z1 axis arm and Z2 axis arms stretch out.Two
The fixture on side identical, similar can also differ dissmilarity.
As a further improvement on the present invention, X-axis slide includes conplane sliding base plate one and sliding base plate two, and X-axis is slided
It is fixedly connected with regulating device on seat, regulating device includes latch segment one and latch segment two, bolt-through latch segment one and locking
Block two locks latch segment one and latch segment two, and sliding base plate one and sliding base plate two are fixed with latch segment one and latch segment two connect respectively
It connects.
Compared with prior art, the beneficial effects of the present invention are：
1, five axis truss robots of the invention are that Z axis drive component controls bilateral Z axis robotic arm in X-axis, Y1 axis, Y2
Axis, Z1 axis, five axis three dimensions of Z2 axis carry out multivariant movement, can control bilateral Z axis arm and be moved to required target
Operation is completed in position, and degree of freedom is high, high degree of automation, and operation flexibility ratio is high, and compared to single robot, robot arm utilizes effect
Rate can improve 2 times or more.
2, the spacing between Y-axis armshaft of the present invention can be adjusted by the bolt in regulating device, adjusted sliding base plate one and slided
The distance between seat board two, to drive Y1 axis armshaft mutually to draw close or be separated with Y2 axis armshaft, to adapt to different grippings, add
Work station interval, improves the versatility of device.
3, Z axis drive component of the invention is driven with Y-axis armshaft by way of gear and rack, increases Z axis
The shift motion of arm improves the scope of activities of device, expands the application field of device.
4, five axis truss robots of the invention are set as both sides Z axis arm, and both sides Z axis arm can independently realize difference
Work is walked, the work of different priorities is completed, first passing through Z1 axis arms to a component to be operated is clamped, and then uses Z2
Axis arm is processed, and realizes needs of the factory to robot multi-functional operation.The Z1 axis arm and Z2 axis arms of the present invention
It can be equipped with different paws, be respectively completed different operating content, as the paw of Z1 axis arms is responsible for capturing entire placement part
Pallet, Z2 axis arms are equipped with that the paw of crawl single part is responsible for single part or carry or assembly or the works such as lathe loading and unloading
Make.And same position carry out operation can reduce be moved to different processes caused by precision reduction or production efficiency reduction
Deng；Z1 axis arm and Z2 axis arm can also realize synchronous working, need to cooperate with the workpiece carried to use both sides Z axis hand to comparing
Arm, which synchronizes, to be carried, and the stability of the movement, landing that are handled upside down workpiece is increased.
5, five axis truss robots of the invention are reasonable for structure, concentrate, and the space occupied is compressed to minimum, reduces enterprise
The space cost of industry input, and improve the integrated level of equipment.
Description of the drawings
Fig. 1 is the structural schematic diagram at the upper forward direction visual angle of the five axis truss robots of the present invention；
Fig. 2 is the structural schematic diagram at the lower left direction visual angle of the five axis truss robots of the present invention；
Fig. 3 is the structural schematic diagram at the right back direction visual angle of the five axis truss robots of the present invention.
In figure：1, X-axis slide；2, Y1 axis armshaft；3, Y2 axis armshaft；4, Y1 axis slide；5, Y2 axis slide；6, Y1 axis drives
Component；7, Y2 axis drive component；8, Z1 axis drive component；9, Z2 axis drive component；10, Z1 axis arm；11, Z2 axis arm；12,
X-axis crossbeam；13, X-axis drive component；14, Y1 axis sliding block；15, Y2 axis sliding block；16, Y1 axis helical teeths item；17, Y2 axis helical teeths item；
18, Y1 axis driving motor；19, Y2 axis driving motor；20, Y1 axis drives gear；21, Y2 axis drives gear；22, Z1 axis helical teeths
Item；23, Z2 axis helical teeths item；24, Z1 axis driving motor；25, Z2 axis driving motor；26, Z1 axis drives gear；27, Z2 axis drives
Gear；28, X-axis driving motor；29, X-axis drives gear；30, X-axis helical rack；31, sliding base plate one；32, sliding base plate two；33, it locks
Tight block one；34, latch segment two；35, bolt.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give the better embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that " X-axis " of the present invention, " Y-axis ", " Z axis " are not limited to " X-axis " of literal definition, " Y
Axis ", " Z axis " orthogonal axis or are not necessarily vertical parallel axis or plane completely and belong to the present invention's two-by-two
Protection domain.
When component is referred to as " being set to " another component, it can directly on another component or there may also be
Component placed in the middle, " setting " indicate a kind of existing mode, can be connect, install, being fixedly connected, the connection sides such as activity connects
Formula.When a component is considered as " connection " another component, it can be directly to another component or may be same
When there are components placed in the middle.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes, it is not offered as being unique embodiment.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant Listed Items.
Referring to Fig. 1, Fig. 2 and Fig. 3, the present invention provides a kind of five axis truss robots, including X-axis slide 1, the X-axis are slided
It is fixedly connected with the Y1 axis armshaft 2 and Y2 axis armshaft 3 that two are mutually parallel on seat 1, distinguishes on Y1 axis armshaft 2 and Y2 axis armshaft 3
It is provided with Y1 axis slide 4 and Y2 axis slide 5, Y1 axis drive component 6 drives Y1 axis slide 4 to be slided along the axis direction of Y1 axis armshaft 2
Dynamic, Y2 axis drive component 7 drives Y2 axis slide 5 to be slided along the axis direction of Y2 axis armshaft 3, and the Y1 axis slide 4 and Y2 axis are slided
It is respectively arranged with the Z1 axis drive component 8 mutually deviated from along X-direction and Z2 axis drive component 9, the Y1 axis slide 4 on seat 5
It is slidably connected using Z-direction as the Z1 axis arm 10 of axis and Z2 axis arm 11, institute along two outside of X-axis with Y2 axis slide 5
It states Z1 axis drive component 8 and Z2 axis drive component 9 and controls Z1 axis arm 10 and Z2 axis arm 11 respectively along Z-direction sliding.
As a further improvement on the present invention, X-axis slide 1 is arranged with X-axis crossbeam 12, and the X-axis slide 1 is horizontal with X-axis
Beam 12 is slidably connected, and X-axis drive component 13 drives X-axis slide 1 to be slided along X-direction.The five axis truss robots of the present invention are Z
It is how free in X-axis, Y1 axis, Y2 axis, Z1 axis, the progress of five axis three dimensions of Z2 axis that axis drive component controls bilateral Z axis robotic arm
The movement of degree can control bilateral Z axis arm and be moved to required target location completion operation, and degree of freedom is high, high degree of automation,
It is high to operate flexibility ratio, compared to single robot, robot arm utilization ratio can improve 2 times or more.The five axis truss machines of the present invention
Device people is set as both sides Z axis arm, and both sides Z axis arm can independently realize asynchronous work, complete the work of different priorities,
Z1 axis arm 10 is first passed through to a component to be operated to be clamped, is then processed using Z2 axis arm 11, realizes work
Needs of the factory to robot multi-functional operation.The Z1 axis arm 10 and Z2 axis arm 11 of the present invention can be equipped with different paws, point
Not Wan Cheng different operating content, as paw/fixture of Z1 axis arm 10 is responsible for capturing the entire pallet for placing part, Z2 axis arms
It is that 11 paws for being equipped with crawl single parts are responsible for single part or carry or assembly or the work such as lathe loading and unloading.And same
One position carry out operation can reduce be moved to different processes caused by precision reduction or production efficiency reduction etc.；Z1 axis arms
10 and Z2 axis arm 11 can also realize synchronous working, to comparing need that the workpiece carried is cooperateed with to synchronize using both sides Z axis arm
It carries, increases the stability of the movement, landing that are handled upside down workpiece.
As a further improvement on the present invention, it is both provided with 14 He of Y1 axis sliding block respectively under Y1 axis slide 4 and Y2 axis slide 5
Y2 axis sliding block 15, Y1 axis sliding block 14 match with the sliding rail along 2 axis direction of Y1 axis armshaft on Y1 axis armshaft 2, Y2 axis sliding blocks
15 match with the sliding rail along 3 axis direction of Y2 axis armshaft on Y2 axis armshaft 3.
As a further improvement on the present invention, Y1 axis armshaft 2 and Y2 axis armshaft 3 have been respectively fixedly connected in axial direction
Y1 axis helical teeths item 16 and Y2 axis helical teeths item 17, the Y1 axis drive component 6 include Y1 axis driving motor 18, the Y2 axis driving group
Part 7 includes Y2 axis driving motor 19, and the Y1 axis driving motor 18 and Y2 axis driving motor 19 are respectively perpendicular through Y1 axis slide 4
Drive gear 20 and Y2 axis that gear 21, the Y1 axis is driven to drive gear 20 with Y1 axis is connected on the working end of Y2 axis slide 5
It is intermeshed with Y1 axis helical teeths item 16, Y2 axis drives gear 21 to be intermeshed with Y2 axis helical teeths item 17.The Z axis driving group of the present invention
Part is driven with Y-axis armshaft by way of gear and rack, is increased the shift motion of Z axis arm, is improved device
Scope of activities expands the application field of device.
As a further improvement on the present invention, Z1 axis arm 10 is fixedly connected with Z1 axis helical teeths item 22 in axial direction,
Z2 axis arm 11 is fixedly connected with Z2 axis helical teeths item 23 in axial direction, the Z1 axis drive component 8 includes Z1 axis driving electricity
Machine 24, the Z2 axis drive component 9 include Z2 axis driving motor 25, the Z1 axis driving motor 24 and Z2 axis driving motor 25
Z1 axis driving gear 26 and Z2 axis driving gear 27, the Z1 axis driving gear 26 and Z1 axis helical teeths item 22 are connected on working end
Intermeshing, the Z2 axis driving gear 27 are intermeshed with Z2 axis helical teeths item 23.
As a further improvement on the present invention, X-axis drive component 13 includes X-axis driving motor 28, the X-axis driving motor
28 extend vertically through and are connected with X-axis driving gear 29, X-axis driving gear 29 and X-axis crossbeam 12 on the working end of X-axis slide 1
On in axial direction on the X-axis helical rack 30 that is fixedly connected be intermeshed.Five axis truss robots of the invention are reasonable for structure, collect
In, the space occupied is compressed to minimum, reduces the space cost of enterprise's input, and improves the integrated level of equipment.
As a further improvement on the present invention, folder is provided on the working end that Z1 axis arm 10 and Z2 axis arm 11 stretch out
Tool.
As a further improvement on the present invention, X-axis slide 1 includes conplane sliding base plate 1 and sliding base plate 2 32, X
Regulating device is fixedly connected on axis slide 1, regulating device includes latch segment 1 and latch segment 2 34, and bolt 35 is through locking
Block 1 and latch segment 2 34 lock latch segment 1 and latch segment 2 34, and sliding base plate 1 and sliding base plate 2 32 are respectively and lock
Tight block 1 is fixedly connected with latch segment 2 34.Spacing between Y-axis armshaft of the present invention can pass through the bolt 35 in regulating device
It adjusts, the distance between sliding base plate 1 and sliding base plate 2 32 is adjusted, to drive Y1 axis armshaft 2 mutually to be drawn close with Y2 axis armshaft 3
Or phase separation improves the versatility of device to adapt to different grippings, processing stations interval.
A kind of five axis truss robot provided by the present invention is described in detail above.It is used herein specifically
Principle and implementation of the present invention are described for embodiment, and the explanation of above example is only intended to help to understand this hair
Bright method and its core concept.It should be pointed out that for those skilled in the art, not departing from the present invention
, can be with several improvements and modifications are made to the present invention under the premise of principle, these improvement and modification also fall into right of the present invention
It is required that protection domain in.
Claims (8)
1. a kind of five axis truss robots, it is characterised in that：Including being fixedly connected on X-axis slide (1), the X-axis slide (1)
Two Y1 axis armshafts (2) being mutually parallel and Y2 axis armshaft (3) are respectively arranged with Y1 on Y1 axis armshaft (2) and Y2 axis armshaft (3)
Axis slide (4) and Y2 axis slide (5), Y1 axis drive component (6) drive Y1 axis slide (4) along the axis direction of Y1 axis armshaft (2)
Sliding, Y2 axis drive component (7) drive Y2 axis slide (5) to be slided along the axis direction of Y2 axis armshaft (3), the Y1 axis slide
(4) and on Y2 axis slide (5) the Z1 axis drive component (8) mutually deviated from along X-direction and Z2 axis drive components are respectively arranged with
(9), the Y1 axis slide (4) and Y2 axis slide (5) slidably connect the Z1 axis using Z-direction as axis along two outside of X-axis
Arm (10) and Z2 axis arm (11), the Z1 axis drive component (8) and Z2 axis drive component (9) control Z1 axis arms respectively
(10) it is slided along Z-direction with Z2 axis arm (11).
2. a kind of five axis truss robot according to claim 1, it is characterised in that：The X-axis slide (1) is arranged with
X-axis crossbeam (12), the X-axis slide (1) are slidably connected with X-axis crossbeam (12), and X-axis drive component (13) drives X-axis slide (1)
It is slided along X-direction.
3. a kind of five axis truss robot according to claim 1, it is characterised in that：The Y1 axis slide (4) and Y2 axis
Be both provided with Y1 axis sliding block (14) and Y2 axis sliding block (15) under slide (5) respectively, Y1 axis sliding block (14) on Y1 axis armshaft (2)
Sliding rail along Y1 axis armshaft (2) axis direction matches, on Y2 axis sliding block (15) and Y2 axis armshaft (3) along Y2 axis armshaft (3)
The sliding rail of axis direction matches.
4. a kind of five axis truss robot according to claim 1, it is characterised in that：Y1 axis armshaft (2) and Y2 axis armshafts
(3) in axial direction on be respectively fixedly connected with Y1 axis helical teeths item (16) and Y2 axis helical teeths item (17), the Y1 axis drive component
(6) include Y1 axis driving motor (18), the Y2 axis drive component (7) includes Y2 axis driving motor (19), the Y1 axis driving
Motor (18) and Y2 axis driving motor (19) are respectively perpendicular to be connected on the working end of Y1 axis slide (4) and Y2 axis slide (5)
There is Y1 axis to drive gear (20) and Y2 axis driving gear (21), the Y1 axis driving gear (20) and Y1 axis helical teeths item (16) mutual
Engagement, Y2 axis drive gear (21) to be intermeshed with Y2 axis helical teeths item (17).
5. a kind of five axis truss robot according to claim 1, it is characterised in that：Z1 axis arm (10) is in axial direction
On be fixedly connected with Z1 axis helical teeths item (22), Z2 axis arm (11) is fixedly connected with Z2 axis helical teeths item (23) in axial direction,
The Z1 axis drive component (8) includes Z1 axis driving motor (24), and the Z2 axis drive component (9) includes Z2 axis driving motors
(25), be connected on the working end of the Z1 axis driving motor (24) and Z2 axis driving motor (25) Z1 axis driving gear (26) and
Z2 axis drives gear (27), the Z1 axis driving gear (26) to be intermeshed with Z1 axis helical teeths item (22), the Z2 axis sliding tooth
(27) are taken turns to be intermeshed with Z2 axis helical teeths item (23).
6. a kind of five axis truss robot according to claim 2, it is characterised in that：X-axis drive component (13) packet
Include X-axis driving motor (28), the X-axis driving motor (28) extends vertically through and is connected with X-axis drive on the working end of X-axis slide (1)
Moving gear (29), X-axis driving gear (29) on X-axis crossbeam (12) in axial direction on the X-axis helical rack that is fixedly connected
(30) it is intermeshed.
7. a kind of five axis truss robot according to claim 1, it is characterised in that：The Z1 axis arm (10) and Z2 axis
It is provided with fixture on the working end that arm (11) stretches out.
8. a kind of five axis truss robot according to claim 2, it is characterised in that：The X-axis slide (1) includes same
The sliding base plate one (31) and sliding base plate two (32) of plane, X-axis slide are fixedly connected with regulating device on (1), and regulating device includes
Latch segment one (33) and latch segment two (34), bolt (35) run through latch segment one (33) and latch segment two (34) by latch segment one
(33) locked with latch segment two (34), sliding base plate one (31) and sliding base plate two (32) respectively with latch segment one (33) and latch segment two
(34) it is fixedly connected.
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| CN201810666038.0A CN108705521A (en) | 2018-06-26 | 2018-06-26 | A kind of five axis truss robots |
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| CN201810666038.0A CN108705521A (en) | 2018-06-26 | 2018-06-26 | A kind of five axis truss robots |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571416A (en) * | 2018-12-24 | 2019-04-05 | 重庆世玛德智能制造有限公司 | A kind of novel four axis gantry truss robot device |
| CN110103206A (en) * | 2019-06-11 | 2019-08-09 | 湖北火爆机器人科技有限公司 | A kind of six axis truss robots |
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| CN110103206A (en) * | 2019-06-11 | 2019-08-09 | 湖北火爆机器人科技有限公司 | A kind of six axis truss robots |
| CN110103206B (en) * | 2019-06-11 | 2024-05-17 | 湖北火爆机器人科技有限公司 | Six-axis truss robot |
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