CN110315311A - Feeding robot - Google Patents
Feeding robot Download PDFInfo
- Publication number
- CN110315311A CN110315311A CN201910672983.6A CN201910672983A CN110315311A CN 110315311 A CN110315311 A CN 110315311A CN 201910672983 A CN201910672983 A CN 201910672983A CN 110315311 A CN110315311 A CN 110315311A
- Authority
- CN
- China
- Prior art keywords
- support arm
- driving
- driving assembly
- feeding robot
- rotating mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- 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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- 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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- 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
- 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
Abstract
A kind of feeding robot, it include: the first rotating mechanism that spinning movement can be carried out in X-Y plane, the second rotating mechanism of spinning movement can be carried out in X-Y plane and the elevating mechanism of lifting action can be carried out on Z axis, first rotating mechanism is arranged on elevating mechanism, second rotating mechanism is arranged on the first rotating mechanism, the present invention is arranged altogether there are four part, respectively the first rotating mechanism, second rotating mechanism (is provided with clamp assemblies) on the second rotating mechanism, elevating mechanism and clamp assemblies, pass through the cooperation of aforementioned four part, enabling to present invention tool, there are four freedom degrees, flexibility of the present invention to workpiece positioning can be improved in this way.The present invention has the advantages that feeding robot architecture of the invention is simple, precision is high, applied widely, at low cost, piece-holder mode can customized as needed.
Description
Technical field
The present invention relates to assembling equipment technical fields, more specifically, in particular to a kind of feeding robot.
Background technique
In the industrial production, people are the work that simple, dull, repeated carrying or assembly are engaged in cooperating equipment production
Make, meanwhile, also to endure the harsh environments such as generated various noises and high temperature in production.It, can for this phenomenon
It replaces being accomplished manually dull duplicate work using automatic mechanical arm, i.e., is automatically loaded required workpiece using mechanical arm
Onto station, after the completion of work pieces process, mechanical arm takes out workpiece from station again.
With the continuous improvement of demand of industrial production, for the machining accuracy of mechanical arm, higher requirements are also raised,
Such as: mechanical arm can precise positioning workpiece, and like clockwork be fixed to station on；It is required that mechanical arm can be rapidly
Operation of feeding and discharging is completed, the beat of feeding robot is accelerated.
It is difficult to meet above-mentioned requirements however, reasons, the existing mechanical arm such as being limited by station clamp precision, separately
Outside, there is also structure is complicated, beat is slow, the technical problems such as at high cost for mechanical arm in the prior art.
In conclusion how to solve present in mechanical arm in the prior art that structure is complicated, operation precision is lower to be asked
Topic, becomes those skilled in the art's urgent problem to be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of structures, and simple, the higher industrial production component assembly of action control precision is used
Mechanized operation system.
To achieve the goals above, the invention provides the following technical scheme:
A kind of feeding robot, comprising: it can carry out the first rotating mechanism of spinning movement in X-Y plane, described
One rotating mechanism includes the first driving assembly, has been connected by power first support arm with first driving assembly, and described first
Arm can carry out spinning movement by the driving of first driving assembly in X-Y plane；It can be revolved in X-Y plane
The second rotating mechanism made is rotated, second rotating mechanism includes the second driving assembly, dynamic with second driving assembly
Power is connected with second support arm, and the second support arm can be revolved by the driving of second driving assembly in X-Y plane
Rotation is made, and second driving assembly is fixedly installed in the first support arm, be provided in Yu Suoshu second support arm for pair
The clamp assemblies that workpiece is clamped；The elevating mechanism of lifting action can be carried out on Z axis, the elevating mechanism includes cunning
Platform, on Yu Suoshu slide unit along Z-direction be provided with can linear slide sliding block, be provided with third driving group on Yu Suoshu slide unit
Part, the third driving assembly is connected by power with the sliding block, for driving the sliding block to move back and forth in Z-direction,
First driving assembly is fixedly installed on the sliding block.
Preferably, first driving assembly includes the first shell, and first shell includes the first case nose,
It has been engaged the first flexbile gear in the inside of first case nose, has been provided with the first rotor in the first shell of Yu Suoshu, institute
The first rotor is stated to be connected by power by the first flexible bearing with first flexbile gear and be used to drive first flexbile gear described
Rotation in first case nose is connected with the first load connecting shaft with first flexbile gear, and first shell is set to described
On sliding block, the first load connecting shaft is connected by power with the first support arm.
Preferably, second driving assembly includes second housing, and the second housing includes second housing front end,
It has been engaged the second flexbile gear in the inside of the second housing front end, the second rotor, institute are provided in Yu Suoshu second housing
The second rotor is stated to be connected by power by the second flexible bearing with second flexbile gear and be used to drive second flexbile gear described
It is rotated in second housing front end, is connected with the second load connecting shaft with second flexbile gear, the second housing is set to described
In first support arm, the second load connecting shaft is connected by power with the second support arm.
Preferably, the third driving assembly includes the roller screw being set on the slide unit and third driving electricity
Machine, the third driving motor and the roller screw are connected by power and are used to drive the roller screw in the slide unit
It is rotated, the sliding block is threadedly engaged with the roller screw；In being provided with sliding rail on the slide unit, it is arranged on the sliding block
There is the sliding slot being slidably matched with the sliding rail, the sliding rail length direction is parallel with the axis of the roller screw.
Preferably, mounting rack is provided on Yu Suoshu sliding block, first driving assembly is set on the mounting rack, institute
State the first limit that is provided with and can offset with the mounting rack, for carrying out rotary spacing to the first support arm in first support arm
Block.
Preferably, being provided in Yu Suoshu second support arm can offset with the first support arm, for the second support arm
Carry out the second limited block of rotary spacing.
Preferably, the outside mask of the first driving assembly of Yu Suoshu is equipped with the first shield；In second driving assembly
Outside mask is equipped with the second shield.
Preferably, the invention also includes component is adjusted, the adjusting component includes the 4th driving motor, Yu Suoshu the 4th
Rotary shaft is provided on driving motor；4th driving motor be set in the second support arm and with second driving group
Part ipsilateral setting in the second support arm, the 4th driving motor are set in second shield, the rotary shaft
It extend out to the outside of second shield.
Preferably, the clamp assemblies include clamping device and connect with the clamping device to drive the folder
Hold the clamping driver that device completes piece-holder movement.
Preferably, the clamping device is clamping arm, and the clamping driver is to be connected by power with the clamping arm
Pneumatic system；Or, the clamping device is vacuum chuck, the clamping driver is the vacuum connecting with the clamping device
Generator；Or, the clamping device is electromagnetic absorption device, the clamping driver is the electromagnetism connecting with the clamping device
Controller.
The present invention provides a kind of feeding robots, and in the present invention, which includes: can be in X-Y plane
Interior the first rotating mechanism for carrying out spinning movement, can carry out the second rotating mechanism and energy of spinning movement in X-Y plane
Enough elevating mechanisms that lifting action is carried out on Z axis, the first rotating mechanism are arranged on elevating mechanism, the setting of the second rotating mechanism
On the first rotating mechanism, the present invention is arranged altogether there are four part, and respectively the first rotating mechanism, the second rotating mechanism are (the
Clamp assemblies are provided on two rotating mechanisms), elevating mechanism and clamp assemblies can by the cooperation of aforementioned four part
So that there are four freedom degrees for present invention tool, flexibility of the present invention to workpiece positioning can be improved in this way.
By said structure design, the present invention is jointly controlled using the first rotating mechanism and the second rotating mechanism, energy
Enough realize the positioning of clamp assemblies unique positions in X-Y plane, elevating mechanism then can be realized its positioning on Z axis, lead to
It crosses and each mechanism is jointly controlled, driving mould group and mechanical arm transformation pose can be changed, so that clamping device moves to work
Part storeroom, then grabbing workpiece and moved workpiece is placed, to realize automatic when robot movement is to specified pose
Transport workpiece.Compared with the prior art, the advantages of the present invention are as follows: feeding robot architecture of the invention is simple, precision is high, suitable
Wide with range, at low cost, piece-holder mode can customized as needed.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.Wherein:
Fig. 1 is the appearance axonometric schematic diagram of feeding robot in the embodiment of the present invention；
Fig. 2 is the internal structure axonometric schematic diagram of feeding robot in the embodiment of the present invention；
Fig. 3 is the external structure schematic diagram of upper first driving assembly of feeding robot in the embodiment of the present invention；
Fig. 4 shows the working range schematic diagram of feeding robot of the present invention；
Description of symbols:
First driving assembly 1, first support arm 2, the second driving assembly 3, second support arm 4, slide unit 5, sliding block 6, the first shell
7, the first load connecting shaft 8, mounting rack 9, adjusting component 10.
Specific embodiment
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.The explanation of each example through the invention
Mode, which provides, to be not intended to limit the present invention.In fact, those skilled in the art will be clear that, the scope of the present invention or essence are not being departed from
In the case where mind, it can modify in the present invention and modification.For example, being illustrated or described as the spy of a part of one embodiment
Sign can be used for another embodiment, to generate another embodiment.Thus, it may be desirable to which the present invention includes to be included into appended power
Such modifications and variations in the range of benefit requirement and its equivalent.
In the description of the present invention, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the present invention rather than require the present invention that must be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.Term used in the present invention " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected,
It may be a detachable connection；It can be directly connected, can also be indirectly connected by intermediate member, for the common of this field
For technical staff, the concrete meaning of above-mentioned term can be understood as the case may be.
Please refer to figs. 1 to 4, wherein the appearance axis that Fig. 1 shows the embodiment of feeding robot of the present invention measures meaning
Figure；Fig. 2 shows the internal structure axonometric schematic diagrams (part) of the embodiment of feeding robot of the present invention；Fig. 3 shows this hair
The motor integrating structural schematic diagram of the embodiment of bright feeding robot；Fig. 4 shows the embodiment of feeding robot of the present invention
Working range.
The present invention provides a kind of feeding robot, for realizing in machining, the space orientation and assembly of part.
In the present invention, which includes following component part:
First part, the first rotating mechanism that spinning movement can be carried out in X-Y plane
Feeding robot provided by the invention needs to be installed on rack or other fixed frames, with the peace of feeding robot
Dress face is that X-Y plane constructs a virtual three-dimensional coordinate, and based on the virtual three-dimensional coordinate, the structure of the first rotating mechanism is such as
Under: include the first driving assembly 1, has been connected by power first support arm 2 with the first driving assembly 1, first support arm 2 is driven by first
The driving of dynamic component 1 can carry out spinning movement in X-Y plane.
First driving assembly 1 includes the first shell 7, and the first shell 7 includes the first case nose, before the first shell
The inside at end has been engaged the first flexbile gear, and in being provided with the first rotor in the first shell 7, the first rotor passes through the first flexible shaft
It holds and is connected by power and is used for that the first flexbile gear is driven to rotate in the first case nose with the first flexbile gear, be connected with the first flexbile gear
First load connecting shaft 8, the first shell 7 are set on sliding block 6, and the first load connecting shaft 8 is connected by power with first support arm 2.
Second part, the second rotating mechanism that spinning movement can be carried out in X-Y plane
Second rotating mechanism includes the second driving assembly 3, has been connected by power second support arm 4 with the second driving assembly 3, the
Two support arms 4 can carry out spinning movement by the driving of the second driving assembly 3 in X-Y plane, and the fixation of the second driving assembly 3 is set
It is placed in first support arm 2, in being provided with the clamp assemblies for being clamped to workpiece in second support arm 4.
Second driving assembly 3 includes second housing, and second housing includes second housing front end, in second housing front end
Inside be engaged the second flexbile gear, in being provided with the second rotor in second housing, the second rotor passes through the second flexible bearing
It is connected by power with the second flexbile gear and is used to that the second flexbile gear to be driven to rotate in second housing front end, be connected with the with the second flexbile gear
Two load connecting shafts, second housing are set in first support arm 2, and the second load connecting shaft is connected by power with second support arm 4.
Second rotating mechanism is arranged on the first rotating mechanism, by the cooperation of two rotating mechanisms, can be realized in X-Y
The positioning of any position in plane.
Part III, the elevating mechanism that lifting action can be carried out on Z axis
Elevating mechanism includes slide unit 5, on slide unit 5 along Z-direction be provided with can linear slide sliding block 6, in slide unit 5
On be provided with third driving assembly, third driving assembly is connected by power with sliding block 6, past for driving sliding block 6 to carry out in Z-direction
Multiple movement, the first driving assembly 1 are fixedly installed on sliding block 6.
Specifically, third driving assembly includes the roller screw being set on slide unit 5 and third driving motor, third
Driving motor is connected by power with roller screw and is used to that roller screw to be driven to be rotated on slide unit 5, sliding block 6 and roller bearing silk
Thick stick is threadedly engaged；In being provided with sliding rail on slide unit 5, the sliding slot being slidably matched with sliding rail, sliding rail length direction are provided on sliding block 6
It is parallel with the axis of roller screw.
Third driving motor is fixedly installed relative to slide unit 5, passes through belt drive system either gear train assembly
It is connected by power with roller screw, roller screw rotates on slide unit 5, and sliding block 6, sliding block 6 and roller bearing silk are arranged on roller screw
Thick stick is threadedly engaged, and can be converted into moving along a straight line by the rotary motion of roller screw.
For the ease of the installation of the first driving assembly 1, the present invention is in being provided with mounting rack 9, the first driving assembly on sliding block 6
1 is set on mounting rack 9.Specifically, mounting rack 9 is designed using metal component structure, and bottom is provided with heavy-duty connector, is used
It is effectively protected in cable and the offer of equipment connector, to promote the reliability of electric connection system.
It can be seen from the above, first support arm 2 and second support arm 4 can be rotated in X-Y plane, in order to first support arm 2
And the rotation of second support arm 4 is limited, the invention proposes following structure optimizations: can be in being provided in first support arm 2
The first limited block that mounting rack 9 offsets, limited for the rotation to first support arm 2；It can be in being provided in second support arm 4
The second limited block that first support arm 2 offsets, limited for the rotation to second support arm 4.
In different field, the working environment of component assembly is also had nothing in common with each other, such as working environment humidity is larger, either
Working environment fugitive dust is more.In order to improve adaptability of the invention, influence of the moist and dust to electronic equipment, this hair are reduced
The bright outside mask in the first driving assembly 1 is equipped with the first shield with dustproof and waterproof function；In the outer of the second driving assembly 3
Side cover is equipped with the second shield with dustproof and waterproof function.
It should be noted that: the first shield and the second shield are based on protecting, during installation, can be with
Rubber seal is set at installation gap, to improve the protective capacities of shield.If the electronic equipment inside shield has
Part-structure needs that the outside for arriving shield is arranged, then the connector with sealing performance can also be arranged on shield to guarantee
Leakproofness.
In the present invention, all motors and cable are protected to prevent dust and moisture-proof, and piece-holder mode can
Customized as needed.
Specifically, elevating mechanism includes slide unit 5, and linear guide is provided on slide unit 5, built-in in 5 inside of slide unit
Servo motor, and roller screw and the sliding block 6 with roller screw cooperation are installed on slide unit 5.It is driven and is rolled by servo motor
The rotation of axial filament thick stick, converts rotary motion to the linear motion of sliding block 6, the first rotating mechanism is mounted on sliding block 6, to realize
The movement of mechanical arm in the vertical direction.
The present invention is provided with limited block in first support arm 2 and second support arm 4, i.e., in first support arm 2 and second
It is provided with position-limitting pin in such a way that screw thread is installed on support arm 4, by limited block to first support arm 2 and second support arm 4
Rotation is limited, so that the rotation angle range of first support arm 2 and second support arm 4 is ± 130 °, limited block is arranged
Purpose be prevent from colliding straight line mould group or other component.
Part IV, the clamp assemblies for carrying out mechanical grip to workpiece
Clamp assemblies are used to carry out workpiece mechanization clamping, and what cooperation clamp assemblies used also adjusts component 10.
Specifically, adjusting component 10 includes the 4th driving motor, in being provided with rotary shaft on the 4th driving motor；4th
Driving motor is set in second support arm 4 and the ipsilateral setting in second support arm 4 with the second driving assembly 3, the 4th driving motor
It is set in the second shield, rotary shaft extend out to the outside of the second shield.
Clamp assemblies are arranged in second support arm 4, and clamp assemblies include clamping device and connect use with clamping device
To drive clamping device to complete the clamping driver of piece-holder movement.
In an embodiment of the invention, clamping device is clamping arm, and clamping driver is dynamic with clamping arm
The pneumatic system of power connection, clamping arm includes one or more turning joint, and pneumatic system includes cylinder, cylinder with
Turning joint connection is driven by the cylinder turning joint movement to realize piece-holder and decontrol.
In yet another embodiment of the present invention, clamping device is vacuum chuck, and clamping driver is and clamping device
The vacuum generator connected by vacuum line, after vacuum chuck is contacted with workpiece, vacuum generator starting, vacuum chuck can
Workpiece is adsorbed, after vacuum generator is out of service, vacuum chuck loses the adsorption capacity to workpiece, so that workpiece be decontroled.
In another embodiment of the present invention, clamping device is electromagnetic absorption device, and clamping driver is to fill with clamping
Set the electromagnetic controller of connection.Electromagnetic absorption device can produce magnetic force, attract metal (mainly steel work using magnetic force
Part) workpiece.
The clamp assemblies that the present invention is arranged are mainly used for realizing piece-holder, in a specific embodiment party of the invention
In formula, pneumatic system includes gas source, solenoid valve (control function), and using solenoid valve control air-flow pusher cylinder, cylinder is driven
Turning joint in turn clamps workpiece, to realize that workpiece is sent into station or takes out the purpose of station.
In other embodiments of the invention, solenoid valve can need to be appropriately modified according to clamping, for example, according to
When vacuum suction mode, solenoid valve can be replaced with vacuum generator；When according to electromagnetic adsorption mode, solenoid valve is replaced with
Magnechuck.Further, it is the speed for increasing feeding robot charge, mitigates robot weight, using lighter weight, body
Smaller, the higher motor integrating of precision of product, motor integrating are one kind by servo motor, harmonic speed reducer, encoder and brake
Equal kernel components are by the highly integrated modular product being integrated of certain way.Harmonic wave subtracts on motor integrating provided by the invention
Fast device is harmonic speed reducer mark using fixed flexbile gear, the mode of steel wheel output, reduction ratio.
Component 10 is adjusted to be set in second support arm 4, for realizing the adjustment of workpiece posture in the Z-axis direction.
In an embodiment of the invention, clamp assemblies include air pipe interface component, in air pipe structure mouth component
Outlet side be provided with solenoid valve, be connected with cylinder with solenoid valve, cylinder is provided with can carry out expanding-contracting action in the Z-axis direction
Cylinder axis, cylinder are set in second support arm 4.
By said structure design, the present invention is arranged altogether there are four part, respectively the first rotating mechanism, the second whirler
Structure (clamp assemblies are provided on the second rotating mechanism), elevating mechanism and clamp assemblies, pass through the association of aforementioned four part
Make, enabling to present invention tool, there are four freedom degrees, and flexibility of the present invention to workpiece positioning can be improved in this way.
By the operation of whole electronic equipments in the controller control present invention, to change driving mould group and mechanical arm transformation
Pose so that end clamp moves at Workpiece storage, then grabbing workpiece and is moved, to robot movement to specified pose
When, workpiece is placed, to realize automatic transport workpiece.Compared with the prior art, the advantages of the present invention are as follows: feeding of the invention
Robot architecture is simple, precision is high, applied widely, at low cost, and piece-holder mode can customized as needed.
It, can be according to the ratio of human arm, suitably to big forearm arm to make feeding robot that there is the bigger scope of application
Length is modified, such as: large arm 350mm, the forearm 250mm method of salary distribution can be used in the exhibition of 600mm arm；The exhibition of 800mm arm can be used big
Arm 450mm, forearm 350mm method of salary distribution etc..
The above is only a preferred embodiment of the present invention, is not intended to restrict the invention, and comes for those skilled in the art
It says, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any modification, equivalent
Replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of feeding robot characterized by comprising
The first rotating mechanism of spinning movement can be carried out in X-Y plane, first rotating mechanism includes the first driving
Component (1) has been connected by power first support arm (2) with first driving assembly, and the first support arm drives by described first
The driving of component can carry out spinning movement in X-Y plane；
The second rotating mechanism of spinning movement can be carried out in X-Y plane, second rotating mechanism includes the second driving
Component (3) has been connected by power second support arm (4) with second driving assembly, and the second support arm drives by described second
The driving of component can carry out spinning movement in X-Y plane, and second driving assembly is fixedly installed on the first support arm
On, the clamp assemblies for being clamped to workpiece are provided in Yu Suoshu second support arm；
It can carry out the elevating mechanism of lifting action on Z axis, the elevating mechanism includes slide unit (5), on Yu Suoshu slide unit
Along Z-direction be provided with can linear slide sliding block (6), third driving assembly is provided on Yu Suoshu slide unit, the third is driven
Dynamic component is connected by power with the sliding block, for driving the sliding block to move back and forth in Z-direction, first driving group
Part is fixedly installed on the sliding block.
2. feeding robot according to claim 1, which is characterized in that
First driving assembly includes the first shell (7), and first shell includes the first case nose, Yu Suoshu
The inside of one case nose has been engaged the first flexbile gear, is provided with the first rotor in the first shell of Yu Suoshu, and described first turn
Son is connected by power by the first flexible bearing and first flexbile gear and is used to drive first flexbile gear in first shell
It is rotated in front end, is connected with the first load connecting shaft (8) with first flexbile gear, first shell is set to the sliding block
On, the first load connecting shaft is connected by power with the first support arm.
3. feeding robot according to claim 1, which is characterized in that
Second driving assembly includes second housing, and the second housing includes second housing front end, Yu Suoshu second
The inside of case nose has been engaged the second flexbile gear, and the second rotor, second rotor are provided in Yu Suoshu second housing
It is connected by power by the second flexible bearing and second flexbile gear and is used to drive second flexbile gear before the second housing
Rotation, is connected with the second load connecting shaft with second flexbile gear in end, and the second housing is set in the first support arm,
The second load connecting shaft is connected by power with the second support arm.
4. feeding robot according to claim 1, which is characterized in that
The third driving assembly includes the roller screw being set on the slide unit and third driving motor, the third
Driving motor is connected by power with the roller screw and is used to that the roller screw to be driven to be rotated on the slide unit, institute
Sliding block is stated to be threadedly engaged with the roller screw；
In being provided with sliding rail on the slide unit, the sliding slot being slidably matched with the sliding rail, the sliding rail are provided on the sliding block
Length direction is parallel with the axis of the roller screw.
5. feeding robot according to claim 1, which is characterized in that
In being provided on the sliding block mounting rack (9), first driving assembly is set on the mounting rack, and described first
The first limited block that can be offseted with the mounting rack, for carrying out rotary spacing to the first support arm is provided on arm.
6. feeding robot according to claim 1, which is characterized in that
It can offset with the first support arm, in being provided in the second support arm for carrying out rotary spacing to the second support arm
The second limited block.
7. feeding robot according to claim 1, which is characterized in that
The first shield is equipped in the outside mask of first driving assembly；
The second shield is equipped in the outside mask of second driving assembly.
8. feeding robot according to claim 7, which is characterized in that
It further include adjusting component (10), the adjusting component includes the 4th driving motor, is set on the 4th driving motor of Yu Suoshu
It is equipped with rotary shaft；
4th driving motor is set in the second support arm and with second driving assembly in the second support arm
Ipsilateral setting, the 4th driving motor are set in second shield, and the rotary shaft extend out to second protection
The outside of cover.
9. feeding robot according to any one of claims 1 to 8, which is characterized in that
The clamp assemblies include clamping device and are connect with the clamping device to drive the clamping device to complete
The clamping driver of piece-holder movement.
10. feeding robot according to claim 9, which is characterized in that
The clamping device is clamping arm, and the clamping driver is the pneumatic system being connected by power with the clamping arm；
Or, the clamping device is vacuum chuck, the clamping driver is the vacuum generator connecting with the clamping device；
Or, the clamping device is electromagnetic absorption device, the clamping driver is the electromagnetism control connecting with the clamping device
Device processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910672983.6A CN110315311A (en) | 2019-07-24 | 2019-07-24 | Feeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910672983.6A CN110315311A (en) | 2019-07-24 | 2019-07-24 | Feeding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110315311A true CN110315311A (en) | 2019-10-11 |
Family
ID=68124500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910672983.6A Pending CN110315311A (en) | 2019-07-24 | 2019-07-24 | Feeding robot |
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| Country | Link |
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| CN (1) | CN110315311A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113199287A (en) * | 2021-04-30 | 2021-08-03 | 贵州工程应用技术学院 | Feeding robot |
Citations (9)
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