CN108705522A - A kind of four axis truss robots - Google Patents

Abstract

The present invention provides a kind of four axis truss robots, including X-axis slide, it is fixedly connected with Y-axis armshaft on the X-axis slide, Y-axis slide is provided on Y-axis armshaft, Y-axis drive component drives Y-axis slide to be slided along the axis direction of Y-axis armshaft, it is fixedly installed the Z1 axis drive component being away from each other and Z2 axis drive components in the Y-axis slide upper edge X-direction, both sides are slidably connected using Z-direction as the Z1 axis arm of axis and Z2 axis arms on the Y-axis slide, and the Z1 axis drive component and Z2 axis drive component control Z1 axis arm and Z2 axis arm and 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, four axis direction of Y-axis, Z1 axis and Z2 axis, realize multioperation process truss robot.

Description

A four-axis truss robot

technical field

The invention relates to a robot on an automatic production line, in particular to a four-axis truss robot, which belongs to the technical field of truss robots.

Background technique

Under the background of the current era of robot replacement, various robots are being introduced in various tasks in the factory, which can be roughly divided into three categories: independent multi-joint robots, truss robots, and truss + multi-joint robots. Among them, the truss robot is widely used in clamping, handling, processing and loading and unloading between multiple machine tools. At present, truss robots are widely used in 2-axis and 3-axis operations, and a small number of trusses are operated in 4-axis and 5-axis methods, but most of them distribute the two Z-axes on one side of the Y-axis. At the same time, the functions of the two Z-axes are limited to grabbing the rough material and the fine material separately. The hand grabbing function is roughly the same and the function is single. The gripper adopts the technical configuration of quick-change grippers. Although the speed of quick-change grippers can be achieved faster, it still takes time to change grippers quickly and has poor stability. Based on the current status of the use of truss robots, there have been no cases where truss robots are equipped with double Z-axis arms and different grippers are used to realize the two-handed function of truss robots, especially the design idea of distributing double Z-axis arms on both sides of the Y-axis.

Contents of the invention

In order to solve the above-mentioned problems in the prior art, the present invention provides a truss robot with high processing efficiency, high precision, four-axis movement and multi-operation process.

The invention provides a four-axis truss robot, which includes an X-axis slide seat, a Y-axis arm is fixedly connected to the X-axis slide seat, a Y-axis slide seat is arranged on the Y-axis arm, and a Y-axis drive assembly drives the Y-axis slide The seat slides along the axial direction of the Y-axis arm, and the Y-axis slide seat is fixedly provided with a Z1-axis drive assembly and a Z2-axis drive assembly along the X-axis direction, and the two sides of the Y-axis slide seat are slidably connected There are a Z1-axis arm and a Z2-axis arm with the Z-axis direction as the axis, and the Z1-axis driving assembly and the Z2-axis driving assembly respectively control the Z1-axis arm and the Z2-axis arm to slide along the Z-axis direction.

As a further improvement of the present invention, an X-axis crossbeam is arranged under the X-axis slide, and the X-axis slide is slidably connected with the X-axis crossbeam, and the X-axis drive assembly drives the X-axis slide to slide along the X-axis direction.

As a further improvement of the present invention, a slide block is arranged under the Y-axis slide seat, and the slide block matches the slide rail on the Y-axis arm along the axial direction of the Y-axis arm.

As a further improvement of the present invention, the Y-axis arm is fixedly connected with a Y-axis helical rack along the axial direction, and the Y-axis driving assembly includes a Y-axis driving motor, and the Y-axis driving motor vertically passes through the Y-axis sliding seat A Y-axis drive gear is connected to the working end, and the Y-axis drive gear and the Y-axis helical rack mesh with each other. The further improvement of the Y-axis driving method can also adopt the driving method of the synchronous belt.

As a further improvement of the present invention, the Z1-axis arm is fixedly connected with a Z1-axis helical rack along the axial direction, and the Z2-axis arm is fixedly connected with a Z2-axis helical rack along the axial direction. The Z1-axis driving assembly includes a Z1-axis Drive motor, the Z2 shaft drive assembly includes a Z2 shaft drive motor, the Z1 shaft drive gear and the Z2 shaft drive gear are connected to the working ends of the Z1 shaft drive motor and the Z2 shaft drive motor, and the Z1 shaft drive gear is connected to the Z1 shaft drive gear. The axial helical racks mesh with each other, and the Z2 axis driving gear and the Z2 axis helical racks mesh with each other. The further improvement of the Z-axis driving method can also adopt the driving method of the synchronous belt.

As a further improvement of the present invention, the X-axis driving assembly includes an X-axis driving motor, and the X-axis driving motor vertically penetrates through the working end of the X-axis slide seat and is connected with an X-axis driving gear, and the X-axis driving gear and the X-axis beam The X-axis helical racks fixedly connected in the axial direction and the X-axis helical racks mesh with each other. The further improvement of the X-axis driving method can also adopt the driving method of the synchronous belt.

As a further improvement of the present invention, clamps are provided on the protruding working ends of the Z1-axis arm and the Z2-axis arm. The fixtures on both sides can be the same, similar or different.

Compared with prior art, the beneficial effect of the present invention is:

1. The four-axis truss robot of the present invention is a bilateral Z-axis drive assembly that controls the arms on both sides to move with multiple degrees of freedom in the four-axis three-dimensional space of the X-axis, Y-axis, Z1-axis and Z2-axis, and can control the bilateral arms to move to The operation is completed at the required target position, with high degree of freedom, high degree of automation, and high operational flexibility. Compared with the unilateral arm, the utilization efficiency of the robot arm can be increased by more than 2 times.

2. The drive assembly of the bilateral Z-axis of the present invention and the two outer side walls of the Y-axis arm are transmitted through gears and racks, and the drive assembly of the bilateral Z-axis drives the double Z-axis arm, increasing the double Z The moving stroke of the shaft arm improves the range of motion of the device and expands the application field of the device.

3. The movement of the Z-axis arms on both sides of the present invention in the Y-axis direction is synchronous. When the Y-axis needs to be moved synchronously, the present invention has the advantages of simple structure and simplified control. The Z1-axis arms of the present invention and The Z2-axis arm can also independently realize asynchronous work and complete tasks with different priorities. A part to be operated is first clamped by the Z1-axis arm, and then processed by the Z2-axis truss robot axis arm, etc., to realize the multi-function of the robot in the factory. operational needs. The Z1-axis arm and the Z2-axis arm of the present invention can be equipped with different grippers to complete different work contents. For example, the gripper of the Z1-axis arm is responsible for grabbing the entire tray where the parts are placed, and the Z2-axis arm is equipped with grippers for grabbing individual parts. Responsible for the handling or assembly of individual parts or loading and unloading of machine tools. Moreover, operating on the same part can reduce the reduction of precision caused by moving to different processes, or the reduction of production efficiency; the Z1-axis arm and the Z2-axis arm can also work synchronously, and the dual Z-axis arms on both sides are used for workpieces that need to be transported collaboratively. Synchronous handling increases the movement and landing stability of the workpiece being transported.

4. The four-axis truss robot of the present invention has a reasonable and centralized structure, minimizes the occupied space, reduces the space cost invested by the enterprise, and improves the integration of equipment.

Description of drawings

Fig. 1 is the structural representation of the perspective view of the upper front direction of the four-axis truss robot of the present invention;

Fig. 2 is a schematic view of the structure of the four-axis truss robot of the present invention in the lower left direction;

Fig. 3 is a structural schematic view of the four-axis truss robot of the present invention from the perspective of the right rear direction.

In the figure: X-axis slide seat 1, Y-axis arm 2, Y-axis slide seat 3, Z1-axis drive assembly 4, Z2-axis drive assembly 5, Z1-axis arm 6, Z2-axis arm 7, X-axis beam 8, X-axis Drive assembly 9, slider 10, Y-axis helical rack 11, Y-axis drive motor 12, Y-axis drive gear 13, Z1-axis helical rack 14, Z2-axis helical rack 15, Z1-axis drive motor 16, Z2-axis drive Motor 17, Z1 axis drive gear 18, Z2 axis drive gear 19, X axis drive motor 20, X axis drive gear 21, X axis helical rack 22, Y axis drive assembly 23.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

It should be noted that the "X-axis", "Y-axis" and "Z-axis" of the present invention are not limited to the "X-axis", "Y-axis" and "Z-axis" defined in the text, and the axes perpendicular to each other Or axes or planes that are not necessarily completely vertical and parallel all belong to the protection scope of the present invention.

When a part is said to be "disposed on" another part, it may be directly on the other part or there may also be an intervening part, "disposed" means a manner of being, which may be connected, mounted, fixedly connected, active connected and other connection methods. When a component is said to be "connected" to another component, it may be directly connected to the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only and are not intended to represent the only embodiments.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to Fig. 1, Fig. 2 and Fig. 3, a four-axis truss robot includes an X-axis slide 1, the X-axis slide 1 is fixedly connected to a Y-axis arm 2, and the Y-axis arm 2 is provided with a Y-axis Sliding seat 3, Y-axis driving assembly 23 drives Y-axis sliding seat 3 to slide along the axis direction of Y-axis arm 2, said Y-axis sliding seat 3 is fixedly provided with a Z1-axis driving assembly 4 facing away from it along the X-axis direction and the Z2-axis drive assembly 5, the two sides of the Y-axis slide seat 3 are slidingly connected with the Z1-axis arm 6 and the Z2-axis arm 7 with the Z-axis direction as the axis, the Z1-axis drive assembly 4 and the Z2-axis drive assembly 5 Respectively control the Z1-axis arm 6 and the Z2-axis arm 7 to slide along the Z-axis direction.

As a further improvement of the present invention, an X-axis beam 8 is arranged under the X-axis slide 1, and the X-axis slide 1 is slidingly connected with the X-axis beam 8, and the X-axis driving assembly 9 drives the X-axis slide 1 along the X-axis direction. slide. The four-axis truss robot of the present invention is a double-sided Z-axis drive assembly that controls the movement of the two arms in the four-axis three-dimensional space of the X-axis, Y-axis, Z1-axis and Z2-axis to move with multiple degrees of freedom, and can control the bilateral arms to move to the desired target The position completes the operation, the degree of freedom is high, the degree of automation is high, and the operation flexibility is high. Compared with the single arm, the utilization efficiency of the robot arm can be increased by more than 2 times. The movement of the Z-axis arms on both sides of the present invention in the Y-axis direction is synchronous. When the Y-axis needs to be moved synchronously, the present invention has the advantages of simple structure and simplified control. The Z1-axis arms 6 and Z2 of the present invention The axis arm 7 can also independently realize asynchronous work, complete the work of different priorities, first clamp a part to be operated by the Z1 axis arm 6, and then use the Z2 axis truss robot axis arm for processing, etc., to realize the robot in the factory multifunctional operation needs. The Z1-axis arm 6 and the Z2-axis arm 7 of the present invention can be equipped with different grippers to complete different work content respectively. For example, the gripper/fixture of the Z1-axis arm 6 is responsible for grabbing the entire pallet where the parts are placed, and the Z2-axis arm 7 is equipped with grippers. The claw that takes a single part is responsible for the handling or assembly of a single part or the loading and unloading of a machine tool. Moreover, operating on the same part can reduce the reduction of precision caused by moving to different processes, or the reduction of production efficiency; the Z1-axis arm 6 and the Z2-axis arm 7 can also achieve synchronous work, and the double Z on both sides is used for workpieces that need to be handled more cooperatively. The axes and arms are transported synchronously, which increases the movement and landing stability of the transported workpiece.

As a further improvement of the present invention, a slide block 10 is arranged under the Y-axis slide seat 3 , and the slide block 10 matches the slide rail on the Y-axis arm 2 along the axis direction of the Y-axis arm 2 .

As a further improvement of the present invention, the Y-axis arm 2 is fixedly connected with a Y-axis helical rack 11 along the axial direction, and the Y-axis drive assembly 23 includes a Y-axis drive motor 12, and the Y-axis drive motor 12 runs through vertically. A Y-axis driving gear 13 is connected to the working end of the Y-axis sliding seat 3 , and the Y-axis driving gear 13 meshes with the Y-axis helical rack 11 . The further improvement of the Y-axis driving method can also adopt the driving method of the synchronous belt. In the present invention, the bilateral Z-axis driving assembly and the two outer side walls of the Y-axis arm are transmitted through gears and racks, and the Z-axis driving assembly drives the bilateral Z-axis arm, increasing the movement of the double Z-axis arm The stroke improves the activity range of the device and expands the application field of the device.

As a further improvement of the present invention, the Z1-axis arm 6 is fixedly connected with a Z1-axis helical rack 14 along the axial direction, and the Z2-axis arm 7 is fixedly connected with a Z2-axis helical rack 15 along the axial direction. Component 4 comprises Z1 shaft drive motor 16, and described Z2 shaft drive assembly 5 comprises Z2 shaft drive motor 17, and Z1 shaft drive gear 18 and Z2 shaft drive gear 18 are connected on the working end of Z1 shaft drive motor 16 and Z2 shaft drive motor 17. The driving gear 19, the Z1-axis driving gear 18 is in mesh with the Z1-axis helical rack 14, and the Z2-axis driving gear 19 is in mutual meshing with the Z2-axis helical rack 15. The further improvement of the Z-axis driving method can also adopt the driving method of the synchronous belt.

As a further improvement of the present invention, the X-axis drive assembly 9 includes an X-axis drive motor 20, the X-axis drive motor 20 vertically penetrates the working end of the X-axis slide 1 and is connected with an X-axis drive gear 21, and the X-axis drive The gear 21 meshes with the X-axis helical rack 22 fixedly connected in the axial direction on the X-axis crossbeam 8 . The further improvement of the X-axis driving method can also adopt the driving method of the synchronous belt. The four-axis truss robot of the present invention has a reasonable and centralized structure, minimizes the occupied space, reduces the space cost invested by the enterprise, and improves the integration degree of the equipment.

As a further improvement of the present invention, the extended working ends of the Z1-axis arm 6 and the Z2-axis arm 7 are provided with clamps. The fixtures on both sides can be the same or similar to realize the cooperative synchronous operation of the arms on both sides, or they can be different and not similar to complete different functional operations, such as different procedures of a processing process.

The four-axis truss robot provided by the present invention has been introduced in detail above. In this paper, specific examples are used to illustrate the principles and implementation modes of the present invention, and the descriptions of the above examples are only used to help understand the methods and core ideas of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (7)

1. A four-axis truss robot, characterized in that: comprising an X-axis slide (1), the X-axis slide (1) is fixedly connected to the Y-axis arm (2), and on the Y-axis arm (2) A Y-axis sliding seat (3) is provided, and the Y-axis driving assembly (23) drives the Y-axis sliding seat (3) to slide along the axial direction of the Y-axis arm (2). The Z1-axis drive assembly (4) and the Z2-axis drive assembly (5) are fixedly arranged in the axial direction, and the Z1-axis arm with the Z-axis direction as the axis is slidably connected to both sides of the Y-axis slide seat (3). (6) and the Z2-axis arm (7), the Z1-axis drive assembly (4) and the Z2-axis drive assembly (5) respectively control the Z1-axis arm (6) and the Z2-axis arm (7) to slide along the Z-axis direction. 2. A four-axis truss robot according to claim 1, characterized in that: an X-axis beam (8) is arranged under the X-axis sliding seat (1), and the X-axis sliding seat (1) is connected to the X-axis The shaft beam (8) is slidingly connected, and the X-axis drive assembly (9) drives the X-axis sliding seat (1) to slide along the X-axis direction. 3. A four-axis truss robot according to claim 1, characterized in that: a slide block (10) is arranged under the Y-axis slide seat (3), and the slide block (10) is aligned with the Y-axis shaft The slide rail along the axis direction of the Y-axis arm (2) on the arm (2) matches. 4. A four-axis truss robot according to claim 1, characterized in that: the Y-axis arm (2) is fixedly connected with a Y-axis helical rack (11) along the axial direction, and the Y-axis The drive assembly (23) includes a Y-axis drive motor (12), and the Y-axis drive motor (12) vertically runs through the working end of the Y-axis slide seat (3) and is connected with a Y-axis drive gear (13). The drive gear (13) meshes with the Y-axis helical rack (11). 5. A four-axis truss robot according to claim 1, characterized in that: the Z1-axis arm (6) is fixedly connected with the Z1-axis helical rack (14) along the axial direction, and the Z2-axis arm (7) is fixed along the axial direction. In the axial direction, a Z2-axis helical rack (15) is fixedly connected, the Z1-axis drive assembly (4) includes a Z1-axis drive motor (16), and the Z2-axis drive assembly (5) includes a Z2-axis drive motor (17 ), the working end of the Z1 shaft drive motor (16) and the Z2 shaft drive motor (17) is connected with the Z1 shaft drive gear (18) and the Z2 shaft drive gear (19), and the Z1 shaft drive gear (18) It meshes with the Z1-axis helical rack (14), and the Z2-axis driving gear (19) meshes with the Z2-axis helical rack (15). 6. A four-axis truss robot according to claim 2, characterized in that: the X-axis driving assembly (9) includes an X-axis driving motor (20), and the X-axis driving motor (20) vertically penetrates the X The working end of the shaft slide (1) is connected with an X-axis drive gear (21), and the X-axis drive gear (21) is fixedly connected with the X-axis helical gear on the X-axis beam (8) along the axial direction. The strips (22) engage each other. 7. A four-axis truss robot according to claim 1, characterized in that: the extended working ends of the Z1-axis arm (6) and the Z2-axis arm (7) are provided with clamps.