CN202668223U - Three-axis type gantry robot - Google Patents
Three-axis type gantry robot Download PDFInfo
- Publication number
- CN202668223U CN202668223U CN 201220227664 CN201220227664U CN202668223U CN 202668223 U CN202668223 U CN 202668223U CN 201220227664 CN201220227664 CN 201220227664 CN 201220227664 U CN201220227664 U CN 201220227664U CN 202668223 U CN202668223 U CN 202668223U
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- assembly
- tooth bar
- slide block
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Abstract
Provided is a three-axis type gantry robot including a column, an X axis assembly is arranged on the column, a Y axis assembly is arranged on the X axis assembly, and one side of the Y axis assembly is provided with a Z axis assembly. The X axis assembly is capable of moving back and forth along the horizontal direction, the Y axis assembly is capable of moving back and forth in the direction vertical to the horizontal direction, the Z axis assembly is capable of moving up and down in the direction vertical to the horizontal direction, and the lower end of the Z axis assembly is provided with a claw hand. The gantry robot moving in a 3D space can be realized through the cooperation of a gear and a slide block, and the driving of a motor, thus, the associated working of a plurality of machine tools can be satisfied, the requirements on places where the plurality of machine tools perform associated working can be reduced, the production cost is reduced, the production efficiency is improved, furthermore, the entire equipment is simple in structure, easy in operation, and is in favor of wide popularization.
Description
Technical field
The utility model belongs to the machining equipment technical field, specifically just relates to the triple axle gantry robot in a kind of automated production process.
Background technology
Along with industrial expansion; automation equipment has been widely used in the various production fields; a kind of some holding function that can imitate staff and arm is arranged in the automated production process; in order to get by the fixed routine pawl; the automatic pilot of carrying object or operation tool is called manipulator; manipulator is the industrial robot that occurs the earliest; also be the modern machines people who occurs the earliest; it can replace people's mechanization and the automation of heavy work to realize producing; can under hostile environment, operate with the protection personal safety, thereby be widely used in machine-building; metallurgical; electronics; the department such as light industry and atomic energy.Manipulator mainly is comprised of hand, motion and control system three parts.Hand is the parts that pawl is held workpiece (or instrument), according to shape, size, weight, material and the job requirements of being held object by pawl the various structures form is arranged, such as clamp-type, holding type and absorbent-type etc.Motion makes hand finish various rotations (swing), mobile or compound motion and realizes the action of stipulating changing position and the posture of being held object by pawl, and the self-movement modes such as the lifting of motion, flexible, rotation are called the free degree of manipulator.Get the object of optional position and orientation in the space for pawl, 6 frees degree need be arranged, the free degree is the key parameter of manipulator design, the free degree is more, and the flexibility of manipulator is larger, and versatility is wider, its structure is also more complicated, and general special manipulator has 2～3 frees degree.Control system is by the control to the motor of each free degree of manipulator, finishes specific action, and the receiving sensor feedack forms stable closed-loop control simultaneously.The core of control system normally is made of microcontroller chips such as single-chip microcomputer or DSP, realizes the function of wanting by it is programmed.
Industrial robot major part on the market is the revolute robot now, this type of robot is applicable among a small circle regional operation, expensive, cost is higher, and existing two-axis gantry robot, can only move at two dimensional surface, can't move at three-dimensional space, only be suitable for the separate unit lathe, when needs cooperate many lathe associated working, then require the center of many lathes point-blank, this has proposed very big requirement to workplace and Installing machine tool, is unfavorable for promoting applicable on a large scale.
The utility model content
The purpose of this utility model provides a kind of triple axle gantry robot, it can move in three-dimensional space, thereby satisfies the associated working of many lathes, when having reduced many lathe associated working to the requirement in place, reduce production cost, improved production efficiency.
Technical scheme
In order to realize above-mentioned technical purpose, the utility model designs a kind of triple axle gantry robot, and it comprises column, and the X-axis assembly is housed on the described column, and the Y-axis assembly is housed on the X-axis assembly, and Y-axis assembly one side is equipped with the Z axis assembly;
But described X-axis assembly along continuous straight runs moves around;
Described Y-axis assembly can be along moving forward and backward perpendicular to horizontal direction;
Described Z axis assembly can be along moving up and down perpendicular to horizontal direction;
Cleft hand is equipped with in described Z axis assembly lower end.
Further, described X-axis assembly comprises the X-axis crossbeam, the X-axis crossbeam is fixed on the column, and X-axis line rail is fixed on the X-axis beam surface upper, and the X-axis tooth bar is fixed on the tooth bar mounting blocks of X-axis beam surface upper, the tooth bar mounting blocks is positioned at X-axis line rail middle part, the X-axis slide block is contained on the X-axis line rail, and the X-axis workbench is housed on the X-axis slide block, and the X-axis motor is housed on the X-axis workbench, the X-axis gear is housed, X-axis gear and the engagement of X-axis tooth bar on the X-axis motor output shaft.
Further, described Y-axis assembly comprises the Y-axis slide block, the Y-axis slide block is contained on the X-axis workbench, Y-axis line rail is housed on the Y-axis slide block, on the Y-axis line rail Y-axis crossbeam is housed fixedly, the Y-axis tooth bar is housed on the Y-axis crossbeam, the Y-axis motor is fixed on the X-axis workbench, the Y-axis gear is housed, Y-axis gear and the engagement of Y-axis tooth bar on the Y-axis motor output shaft.
Further, described Z axis assembly comprises the Z axis slide block, Z axis slide block one end is fixed on the Z axis workbench, the other end is contained on the z axis rail, and the Z axis workbench is contained on Y-axis crossbeam one side, and the Z axis motor is housed on the Z axis workbench, the Z axis gear is housed on the Z axis motor output shaft, Z axis gear and the engagement of Z axis tooth bar, the Z axis tooth bar is fixed on the Z axis vertical beam, and the z axis rail is housed on the Z axis vertical beam.
Beneficial effect
The utility model utilizes the cooperation of gear and slide block, drive by motor, realize that the gantry robot moves in three-dimensional three-dimensional space, thereby satisfy the associated working of many lathes, to the requirement in place, reduce production cost when having reduced many lathe associated working, improved production efficiency, whole device structure is simple, processing ease.Be beneficial on a large scale and promote.
Description of drawings
Accompanying drawing 1 is front view of the present utility model.
Accompanying drawing 2 is left views of the present utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is described further.
Shown in attached Fig. 1 and 2, a kind of triple axle gantry robot, it comprises column 1, wherein, on the described column 1 X-axis assembly 2 is housed, and Y-axis assembly 3 is housed on the X-axis assembly 2, Y-axis assembly 3 one sides are equipped with Z axis assembly 4;
But described X-axis assembly 2 along continuous straight runs move around;
Described Y-axis assembly 3 can be along moving forward and backward perpendicular to horizontal direction;
Described Z axis assembly 4 can be along moving up and down perpendicular to horizontal direction;
Described X-axis assembly 2 comprises X-axis crossbeam 201, X-axis crossbeam 201 is fixed on the column 1, X-axis line rail 202 is fixed on X-axis crossbeam 201 upper surfaces, X-axis tooth bar 203 is fixed on the tooth bar mounting blocks 204 of X-axis crossbeam 201 upper surfaces, tooth bar mounting blocks 204 is positioned at X-axis line rail 202 middle parts, X-axis slide block 205 is contained on the X-axis line rail 202, X-axis workbench 206 is housed on the X-axis slide block 205, X-axis motor 207 is housed on the X-axis workbench 206, on X-axis motor 207 output shafts X-axis gear 208 is housed, X-axis gear 208 and 203 engagements of X-axis tooth bar.
Described Y-axis assembly 3 comprises Y-axis slide block 301, Y-axis slide block 301 is contained on the X-axis workbench 206, Y-axis line rail 302 is housed on the Y-axis slide block 301, on the Y-axis line rail 302 Y-axis crossbeam 303 is housed fixedly, Y-axis tooth bar 304 is housed on the Y-axis crossbeam 303, Y-axis motor 305 is fixed on the X-axis workbench 206, on Y-axis motor 305 output shafts Y-axis gear 306 is housed, Y- axis gear 306 and 304 engagements of Y-axis tooth bar.
Described Z axis assembly 4 comprises Z axis slide block 401, Z axis slide block 401 1 ends are fixed on the Z axis workbench 402, the other end is contained on the z axis rail 407, Z axis workbench 402 is contained on Y-axis crossbeam 303 1 sides, Z axis motor 403 is housed on the Z axis workbench 402, on Z axis motor 403 output shafts Z axis gear 404 is housed, Z axis gear 404 and 405 engagements of Z axis tooth bar, Z axis tooth bar 405 is fixed on the Z axis vertical beam 406, and z axis rail 407 is housed on the Z axis vertical beam 406.
The utility model triple axle gantry robot X-axis crossbeam 201 is fixed on the column 1, the span of the height of column 1 and column 1 is determined according to demand, X-axis line rail 202 and X-axis tooth bar 203 are fixed on the X-axis crossbeam 201, X-axis slide block 205 links to each other with X-axis workbench 206, X-axis motor 207 is fixed on the X-axis workbench 206, and X-axis motor 207 output shafts are connected with X-axis gear 208, control X-axis motor 207, by the rack-and-pinion transmission, namely controlled X-axis workbench 206 moves in X-direction; Y-axis slide block 301 is fixed on the X-axis workbench 206, Y-axis line rail 302 is fixed on the Y-axis crossbeam 303, Y-axis tooth bar 304 is fixed on the Y-axis crossbeam 303, Y-axis motor 305 is fixed on the X-axis workbench 206, Y-axis motor 305 output shafts link to each other with Y-axis gear 306, control Y-axis motor 305 by the rack-and-pinion transmission, can be controlled Y-axis crossbeam 303 in the motion of Y direction; Z axis slide block 401 is fixed on the Z axis workbench 402, z axis rail 407 is fixed on the Z axis vertical beam 406, Z axis tooth bar 405 is fixed on the Z axis vertical beam 406, Z axis motor 403 is fixed on the Z axis workbench 402, Z axis motor 403 output shafts link to each other with Z axis gear 404, control Z axis motor 403 by the rack-and-pinion transmission, can be controlled Z axis vertical beam 406 in the motion of Z-direction.At Z axis vertical beam 406 ends, different cleft hand 5 can be installed according to demand, be used for pawl and get object, by SERVO CONTROL, object can be realized point-to-point conveying in certain 3D region.
The utility model utilizes the cooperation of gear and slide block, drive by motor, realize that the gantry robot moves in three-dimensional three-dimensional space, thereby satisfy the associated working of many lathes, to the requirement in place, reduce production cost when having reduced many lathe associated working, improved production efficiency, whole device structure is simple, processing ease.Be beneficial on a large scale and promote.
Claims (4)
1. triple axle gantry robot, it comprises column (1), it is characterized in that: X-axis assembly (2) is housed on the described column (1), Y-axis assembly (3) is housed on the X-axis assembly (2), Y-axis assembly (3) one sides are equipped with Z axis assembly (4);
Described X-axis assembly (2) but along continuous straight runs move around;
Described Y-axis assembly (3) can be along moving forward and backward perpendicular to horizontal direction;
Described Z axis assembly (4) can be along moving up and down perpendicular to horizontal direction;
Cleft hand (5) is equipped with in described Z axis assembly (4) lower end.
2. a kind of triple axle gantry robot as claimed in claim 1, it is characterized in that: described X-axis assembly (2) comprises X-axis crossbeam (201), X-axis crossbeam (201) is fixed on the column (1), X-axis line rail (202) is fixed on X-axis crossbeam (201) upper surface, X-axis tooth bar (203) is fixed on the tooth bar mounting blocks (204) of X-axis crossbeam (201) upper surface, tooth bar mounting blocks (204) is positioned at X-axis line rail (202) middle part, X-axis slide block (205) is contained on the X-axis line rail (202), X-axis workbench (206) is housed on the X-axis slide block (205), X-axis motor (207) is housed on the X-axis workbench (206), on X-axis motor (207) output shaft X-axis gear (208) is housed, X-axis gear (208) and X-axis tooth bar (203) engagement.
3. a kind of triple axle gantry robot as claimed in claim 1, it is characterized in that: described Y-axis assembly (3) comprises Y-axis slide block (301), Y-axis slide block (301) is contained on the X-axis workbench (206), Y-axis line rail (302) is housed on the Y-axis slide block (301), the upper Y-axis crossbeam (303) that fixedly is equipped with of Y-axis line rail (302), Y-axis tooth bar (304) is housed on the Y-axis crossbeam (303), Y-axis motor (305) is fixed on the X-axis workbench (206), on Y-axis motor (305) output shaft Y-axis gear (306) is housed, Y-axis gear (306) and Y-axis tooth bar (304) engagement.
4. a kind of triple axle gantry robot as claimed in claim 1, it is characterized in that: described Z axis assembly (4) comprises Z axis slide block (401), Z axis slide block (401) one ends are fixed on the Z axis workbench (402), the other end is contained on the z axis rail (407), Z axis workbench (402) is contained on Y-axis crossbeam (303) one sides, Z axis motor (403) is housed on the Z axis workbench (402), on Z axis motor (403) output shaft Z axis gear (404) is housed, Z axis gear (404) and Z axis tooth bar (405) engagement, Z axis tooth bar (405) is fixed on the Z axis vertical beam (406), and z axis rail (407) is housed on the Z axis vertical beam (406).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220227664 CN202668223U (en) | 2012-05-17 | 2012-05-17 | Three-axis type gantry robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220227664 CN202668223U (en) | 2012-05-17 | 2012-05-17 | Three-axis type gantry robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202668223U true CN202668223U (en) | 2013-01-16 |
Family
ID=47489156
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220227664 Expired - Lifetime CN202668223U (en) | 2012-05-17 | 2012-05-17 | Three-axis type gantry robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202668223U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672519A (en) * | 2012-05-17 | 2012-09-19 | 马丁路德机器人（上海）有限公司 | Three-axis gantry robot |
| CN103921158A (en) * | 2014-03-24 | 2014-07-16 | 西北工业大学 | Robot-based automatic feeding and discharging system |
| CN104440892A (en) * | 2013-09-22 | 2015-03-25 | 上海宝钢工业技术服务有限公司 | Automatic sample loading mechanical arm for three-dimensional space of tensile testing machine |
| CN105415360A (en) * | 2015-10-30 | 2016-03-23 | 中信戴卡股份有限公司 | Bar material mechanical carrying device |
-
2012
- 2012-05-17 CN CN 201220227664 patent/CN202668223U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672519A (en) * | 2012-05-17 | 2012-09-19 | 马丁路德机器人（上海）有限公司 | Three-axis gantry robot |
| CN104440892A (en) * | 2013-09-22 | 2015-03-25 | 上海宝钢工业技术服务有限公司 | Automatic sample loading mechanical arm for three-dimensional space of tensile testing machine |
| CN103921158A (en) * | 2014-03-24 | 2014-07-16 | 西北工业大学 | Robot-based automatic feeding and discharging system |
| CN105415360A (en) * | 2015-10-30 | 2016-03-23 | 中信戴卡股份有限公司 | Bar material mechanical carrying device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: ZHIYOU ROBOT (SHANGHAI) CO., LTD. Free format text: FORMER OWNER: MARTIN LORD ROBOT (SHANGHAI) CO., LTD. Effective date: 20150519 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 201899 JIADING, SHANGHAI TO: 200131 PUDONG NEW AREA, SHANGHAI |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20150519 Address after: 200131 Shanghai city Chinese (Shanghai) Free Trade Zone No. 399 North Road, building 2, 376 foot position Patentee after: Ideal robot (Shanghai) Co., Ltd. Address before: 201899, room 7, building 333, 1210 Chengbei Road, Shanghai, Jiading District Patentee before: Martin Luther Robotics (Shanghai) Co., Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20130116 |
|
| CX01 | Expiry of patent term |