CN201366596Y - Multi-axis linkage mechanism - Google Patents

Multi-axis linkage mechanism Download PDF

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Publication number
CN201366596Y
CN201366596Y CNU2009201301301U CN200920130130U CN201366596Y CN 201366596 Y CN201366596 Y CN 201366596Y CN U2009201301301 U CNU2009201301301 U CN U2009201301301U CN 200920130130 U CN200920130130 U CN 200920130130U CN 201366596 Y CN201366596 Y CN 201366596Y
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CN
China
Prior art keywords
axis
dynamical
slide rail
welding
axle
Prior art date
Application number
CNU2009201301301U
Other languages
Chinese (zh)
Inventor
张海勇
缑元林
Original Assignee
深圳市新沧海机械有限公司
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Application filed by 深圳市新沧海机械有限公司 filed Critical 深圳市新沧海机械有限公司
Priority to CNU2009201301301U priority Critical patent/CN201366596Y/en
Application granted granted Critical
Publication of CN201366596Y publication Critical patent/CN201366596Y/en

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Abstract

The utility model relates to a multi-axis linkage mechanism. The multi-shaft linkage mechanism comprises an X-axis power system, a Y-axis power system, a Z-axis power system, an A-axis rotating mechanism and a working end. The A-axis rotating mechanism rotates winding around a rotating axis A, and the A-axis rotating mechanism is arranged on the Y-axis power system. The X-axis power system, the Y-axis power system, the Z-axis power system and the A-axis rotating mechanism can drive the working end to reach any position in space. With the characteristics of low cost and particularly low maintenance cost, the multi-shaft linkage mechanism is beneficial for market popularization; moreover, the multi-axis linkage mechanism has the advantages that the multi-axis linkage mechanism has good universality, leads high precision of repeated positioning, and is suitable for being used on occasions with high requirements for precision.

Description

A kind of multi-axes synchronous mechanism
Technical field
The utility model relates to multi-axes synchronous mechanism, relates in particular to a kind of multi-axes synchronous mechanism that uses three shaft mechanical systems.
Background technology
The following dual mode of the general employing of existing solder technology: special welding machine and six prosthetic robots.Special welding machine is owing to being that welding work pieces design at specific is made, so its versatility is relatively poor.A general special welding machine can only carry out welding processing at a kind of spare part.And six prosthetic robots are because it adopts is flexible process technology, so all drawbacks of the special plane that overcomes fully, but it involves great expense, technology and competency profiling to operating personnel are very high, the general engineer and the operating personnel that all will be equipped with a specialty, and the maintenance cost in its later stage is higher.
Summary of the invention
In order to overcome six prosthetic robot cost height of tradition, the maintenance cost costliness, be unfavorable for that shortcoming and the special welding machine versatility popularized in market are poor, it is high and be not suitable for the problem that the higher occasion of precision requires not have the shortcoming of flexible machining functions and soldering appliance positioning accuracy thereof, and the utility model provides a kind of multi-axes synchronous mechanism.
The technical scheme that the prior art problem that solves the utility model is adopted is for providing a kind of multi-axes synchronous mechanism.Described multi-axes synchronous mechanism comprises X-axis dynamical system, Y-axis dynamical system, Z axle dynamical system, around the A axle rotating mechanism and the working end of rotating shaft A axle rotation;
Wherein, described X-axis dynamical system comprises: first servomotor, first shaft coupling, first ball screw and first linear slide rail, under the effect of described first servomotor, drive described first ball screw by described first shaft coupling and move in the X-axis direction along described first linear slide rail;
Described Z axle dynamical system comprises: second servomotor, second shaft coupling, second ball screw and second linear slide rail, under the effect of described second servomotor, drive described second ball screw by described second shaft coupling and move along Z-direction along described second linear slide rail;
Described Y-axis dynamical system comprises: the 3rd servomotor, the 3rd shaft coupling, the 3rd ball screw and trilinear slide rail, under the effect of described the 3rd servomotor, drive described the 3rd ball screw by described the 3rd shaft coupling and move along Y direction along described trilinear slide rail;
Described A axle rotating mechanism is arranged on the described Y-axis dynamical system and can drives the direction rotation of working end around rotating shaft A.
According to an optimal technical scheme of the present utility model: described A axle rotating mechanism is arranged in the draw-in groove of described second linear slide rail, and can move relative to described second linear slide rail.
According to an optimal technical scheme of the present utility model: described working end is welding system, application device or the manipulator that is used to lift part.
According to an optimal technical scheme of the present utility model: described welding system comprises welding gun.
According to an optimal technical scheme of the present utility model: described welding system also comprises wire-feed motor and welding wire, when described welding gun motion, by described wire-feed motor welding wire is transferred to welding gun, by described welding gun predetermined welding position is welded.
According to an optimal technical scheme of the present utility model: described multi-axes synchronous mechanism further comprises base plate, described X-axis dynamical system, described Y-axis dynamical system and described Z axle dynamical system are installed on the described base plate, wherein, described X-axis dynamical system and described Y-axis dynamical system are installed on the surface of described base plate, and described Z axle dynamical system intersects perpendicular to the surface of described base plate and with described X-axis dynamical system and described Y-axis dynamical system.
The utility model multi-axes synchronous mechanism has the following advantages: one, overcome six prosthetic robot cost height of tradition, the maintenance cost costliness, be unfavorable for the shortcoming that market is popularized, so multi-axes synchronous mechanism cost of the present utility model is low, maintenance cost is little, popularize thereby be beneficial to market; Its two, it is poor to have solved the special welding machine versatility, does not have the shortcoming of flexible machining functions, so multi-axes synchronous mechanism of the present utility model has good versatility.Its three, the repetitive positioning accuracy height is applicable to the occasion that some are higher to required precision.
Description of drawings
A kind of multi-axes synchronous mechanism front view of Fig. 1 the utility model;
A kind of multi-axes synchronous mechanism side view of Fig. 2 the utility model.
The specific embodiment
Multi-axes synchronous mechanism of the present utility model further described and illustrated below in conjunction with accompanying drawing:
Among the figure: first servomotor, 1, the first shaft coupling, 2, the first ball screws, 3, the first linear slide rails 4, base plate 5, second servomotor, 6, the second shaft couplings, 7, the second ball screws, 8, the second linear slide rails 9, the 3rd servomotor 10, the three shaft couplings 11, the three ball screws 12, the trilinear slide rails 13; A axle rotating mechanism 14, welding gun 15, wire-feed motor 16.
See also a kind of multi-axes synchronous mechanism front view of Fig. 1 the utility model and a kind of multi-axes synchronous mechanism side view of Fig. 2 the utility model.As shown in FIG., described multi-axes synchronous mechanism comprise X-axis dynamical system, Y-axis dynamical system, Z axle dynamical system, around the A axle rotating mechanism 14 and the working end of rotating shaft A axle rotation;
Wherein, described X-axis dynamical system comprises: first servomotor 1, first shaft coupling 2, first ball screw 3 and first linear slide rail 4, under the effect of described first servomotor 1, drive described first ball screw 3 by described first shaft coupling 2 and move in the X-axis direction along described first linear slide rail 4;
Described Z axle dynamical system comprises: second servomotor 6, second shaft coupling 7, second ball screw 8 and second linear slide rail 9, under the effect of described second servomotor 6, drive described second ball screw 8 by described second shaft coupling 7 and move along Z-direction along described second linear slide rail 9;
Described Y-axis dynamical system comprises: the 3rd servomotor 10, the 3rd shaft coupling 11, the 3rd ball screw 12 and trilinear slide rail 13, under the effect of described the 3rd servomotor 10, drive described the 3rd ball screw 12 by described the 3rd shaft coupling 11 and move along Y direction along described trilinear slide rail 13;
Described A axle rotating mechanism 14 is arranged on the described Y-axis dynamical system and can drives the direction rotation of working end around rotating shaft A.
Described X-axis dynamical system, Y-axis dynamical system, Z axle dynamical system and described A axle rotating mechanism 14 can collaborative works, drive described working end flexible motion together, arrive any position in space, and activity freely.
In optimal technical scheme of the present utility model: described A axle rotating mechanism 14 is arranged on the described Y-axis dynamical system, and particularly, described A axle rotating mechanism 14 is arranged in the draw-in groove of described second linear slide rail 9, and can move relative to described second linear slide rail 9.
In optimal technical scheme of the present utility model: described working end is welding system, application device or the manipulator that is used to lift part, more preferably, described welding system comprises welding gun 15, described welding system also comprises wire-feed motor 16 and welding wire, when described welding gun 15 moves, by described wire-feed motor 16 welding wire is transferred to welding gun 15, weld by 15 pairs of predetermined welding positions of described welding gun.Described multi-axes synchronous mechanism further comprises base plate 5, described X-axis dynamical system, described Y-axis dynamical system and described Z axle dynamical system are installed on the described base plate 5, wherein, described X-axis dynamical system and described Y-axis dynamical system are installed on the surface of described base plate 5, and described Z axle dynamical system intersects perpendicular to the surface of described base plate 5 and with described X-axis dynamical system and described Y-axis dynamical system.
The utility model multi-axes synchronous mechanism has the following advantages: one, overcome six prosthetic robot cost height of tradition, the maintenance cost costliness, be unfavorable for the shortcoming that market is popularized, so multi-axes synchronous mechanism cost of the present utility model is low, maintenance cost is little, popularize thereby be beneficial to market; Its two, it is poor to have solved the special welding machine versatility, does not have the shortcoming of flexible machining functions, so multi-axes synchronous mechanism of the present utility model has good versatility.Its three, the repetitive positioning accuracy height is applicable to the occasion that some are higher to required precision.
Above content be in conjunction with concrete optimal technical scheme to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.

Claims (6)

1. multi-axes synchronous mechanism is characterized in that: described multi-axes synchronous mechanism comprises X-axis dynamical system, Y-axis dynamical system, Z axle dynamical system, around the A axle rotating mechanism (14) and the working end of rotating shaft A axle rotation;
Wherein, described X-axis dynamical system comprises: first servomotor (1), first shaft coupling (2), first ball screw (3) and first linear slide rail (4), under the effect of described first servomotor (1), drive described first ball screw (3) by described first shaft coupling (2) and move in the X-axis direction along described first linear slide rail (4);
Described Z axle dynamical system comprises: second servomotor (6), second shaft coupling (7), second ball screw (8) and second linear slide rail (9), under the effect of described second servomotor (1), drive described second ball screw (8) by described second shaft coupling (7) and move along the Z direction along described second linear slide rail (9);
Described Y-axis dynamical system comprises: the 3rd servomotor (10), the 3rd shaft coupling (11), the 3rd ball screw (12) and trilinear slide rail (13), under the effect of described the 3rd servomotor (10), drive described the 3rd ball screw (12) by described the 3rd shaft coupling (11) and move along Y direction along described trilinear slide rail (13);
Described A axle rotating mechanism (14) is arranged on the described Y-axis dynamical system and can drives the direction rotation of described working end around rotating shaft A.
2. according to the described multi-axes synchronous mechanism of claim 1, it is characterized in that: described A axle rotating mechanism (14) is arranged in the draw-in groove of described second linear slide rail (9), and can move relative to described second linear slide rail (9).
3. according to the described multi-axes synchronous mechanism of claim 1, it is characterized in that: described working end is welding system, application device or the manipulator that is used to lift part.
4. multi-axes synchronous mechanism according to claim 3 is characterized in that: described welding system comprises welding gun (15).
5. multi-axes synchronous mechanism according to claim 4, it is characterized in that: described welding system also comprises wire-feed motor (16) and welding wire, when described welding gun (15) moves, by described wire-feed motor (16) welding wire is transferred to welding gun (15), predetermined welding position is welded by described welding gun (15).
6. multi-axes synchronous mechanism according to claim 1, it is characterized in that: described multi-axes synchronous mechanism further comprises base plate (5), described X-axis dynamical system, described Y-axis dynamical system and described Z axle dynamical system are installed on the described base plate (5), wherein, described X-axis dynamical system and described Y-axis dynamical system are installed on the surface of described base plate (5), and described Z axle dynamical system intersects perpendicular to the surface of described base plate (5) and with described X-axis dynamical system and described Y-axis dynamical system.
CNU2009201301301U 2009-02-09 2009-02-09 Multi-axis linkage mechanism CN201366596Y (en)

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101898279A (en) * 2010-07-30 2010-12-01 倪金土 Automatic welding machine
CN102152035A (en) * 2011-03-05 2011-08-17 烟台新科钢结构有限公司 Corrugated web H-beam automatic welding and cutting machine
WO2013056425A1 (en) * 2011-10-18 2013-04-25 中联重科股份有限公司 Control method and controller for automatic welding device
CN104353932A (en) * 2014-10-27 2015-02-18 无锡华联精工机械有限公司 Cross moving mechanism for laser cutting machine
CN104368890A (en) * 2014-11-18 2015-02-25 苏州赛腾精密电子有限公司 Automatic tin soldering machine
CN104400188A (en) * 2014-10-27 2015-03-11 南京理工大学泰州科技学院 Three-dimensional automatic welding system and welding control method thereof
CN104816112A (en) * 2015-03-27 2015-08-05 於正华 Five-axis linkage numerically-controlled mechanical hand welding machine
CN104985368A (en) * 2015-07-17 2015-10-21 柳州海特迪桢瑟汽车部件有限公司 Multi-degree-of-freedom linked welding device
CN105014197A (en) * 2014-04-21 2015-11-04 唐山市金格瑞金属制品有限公司 Automatic welding device for radiator
CN106078033A (en) * 2016-08-09 2016-11-09 山东省计算中心(国家超级计算济南中心) A kind of six-axle five-linkage welder
CN106695232A (en) * 2017-01-19 2017-05-24 常熟市中恒自动化设备有限公司 Glass mold clamping and positioning device of automatic glass mold welding machine
CN106695208A (en) * 2017-01-19 2017-05-24 常熟市中恒自动化设备有限公司 Welding gun station adjusting device for glass mold automatic welding machine
CN107971665A (en) * 2017-11-09 2018-05-01 江苏新光数控技术有限公司 A kind of welding manipulator with quick cooling function
CN108723660A (en) * 2018-06-08 2018-11-02 钱浩 A kind of welding gun is with two to mobile control cage
CN110640356A (en) * 2019-09-16 2020-01-03 冯民荣 Automatic socket metal cap welding equipment
CN111421817A (en) * 2020-02-29 2020-07-17 湖南大学 Multi-axis photocuring 3D micro-nano machining equipment and method

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101898279A (en) * 2010-07-30 2010-12-01 倪金土 Automatic welding machine
CN102152035A (en) * 2011-03-05 2011-08-17 烟台新科钢结构有限公司 Corrugated web H-beam automatic welding and cutting machine
WO2013056425A1 (en) * 2011-10-18 2013-04-25 中联重科股份有限公司 Control method and controller for automatic welding device
CN105014197A (en) * 2014-04-21 2015-11-04 唐山市金格瑞金属制品有限公司 Automatic welding device for radiator
CN104400188A (en) * 2014-10-27 2015-03-11 南京理工大学泰州科技学院 Three-dimensional automatic welding system and welding control method thereof
CN104353932A (en) * 2014-10-27 2015-02-18 无锡华联精工机械有限公司 Cross moving mechanism for laser cutting machine
CN104368890A (en) * 2014-11-18 2015-02-25 苏州赛腾精密电子有限公司 Automatic tin soldering machine
CN104816112A (en) * 2015-03-27 2015-08-05 於正华 Five-axis linkage numerically-controlled mechanical hand welding machine
CN104985368A (en) * 2015-07-17 2015-10-21 柳州海特迪桢瑟汽车部件有限公司 Multi-degree-of-freedom linked welding device
CN106078033A (en) * 2016-08-09 2016-11-09 山东省计算中心(国家超级计算济南中心) A kind of six-axle five-linkage welder
CN106695232A (en) * 2017-01-19 2017-05-24 常熟市中恒自动化设备有限公司 Glass mold clamping and positioning device of automatic glass mold welding machine
CN106695208A (en) * 2017-01-19 2017-05-24 常熟市中恒自动化设备有限公司 Welding gun station adjusting device for glass mold automatic welding machine
CN106695208B (en) * 2017-01-19 2018-01-26 太平洋纺织机械(常熟)有限公司 The welding gun station adjusting apparatus of glass mold automatic welding machine
CN107971665A (en) * 2017-11-09 2018-05-01 江苏新光数控技术有限公司 A kind of welding manipulator with quick cooling function
CN108723660A (en) * 2018-06-08 2018-11-02 钱浩 A kind of welding gun is with two to mobile control cage
CN110640356A (en) * 2019-09-16 2020-01-03 冯民荣 Automatic socket metal cap welding equipment
CN111421817A (en) * 2020-02-29 2020-07-17 湖南大学 Multi-axis photocuring 3D micro-nano machining equipment and method

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C14 Grant of patent or utility model
CP02 Change in the address of a patent holder

Address after: 518107, A, building 9, Shishan Industrial Zone, village community, Gongming office, Guangming District, Shenzhen

Patentee after: Shenzhen New Canghai Machinery Co., Ltd.

Address before: 518112, Shenzhen, Guangdong Province, Buji Town, Ma Ling Industrial Zone, the first building

Patentee before: Shenzhen New Canghai Machinery Co., Ltd.

C56 Change in the name or address of the patentee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20091223

Termination date: 20130209

C17 Cessation of patent right