CN202668233U - Three-coordinate combined type portal robot - Google Patents
Three-coordinate combined type portal robot Download PDFInfo
- Publication number
- CN202668233U CN202668233U CN 201220232845 CN201220232845U CN202668233U CN 202668233 U CN202668233 U CN 202668233U CN 201220232845 CN201220232845 CN 201220232845 CN 201220232845 U CN201220232845 U CN 201220232845U CN 202668233 U CN202668233 U CN 202668233U
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- China
- Prior art keywords
- mechanical arm
- robot
- vertical beam
- axle turntable
- portal frame
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- Expired - Lifetime
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Abstract
A three-coordinate combined type gantry robot is disclosed and the robot comprises a portal frame (1), a slide platform (2), a vertical beam (3), a grasping pawl (4), a mechanical arm (5), and a C shaft rotation platform (6). The robot is characterized in that the slide platform (2) is mounted on the portal frame (1) and can move back and forth in a horizontal direction, the vertical beam (3) is mounted on the slide platform (2), the C shaft rotation platform (6) is mounted at the side wall of the lower end of the vertical beam (3), the C shaft rotation platform (6) can rotation around the shaft line of the C shaft rotation platform, the mechanical arm (5) is mounted on the C shaft rotation platform (6) and can move in a telescoping way in the axial direction of the mechanical arm (5), and the grasping pawl (4) is mounted at the tail end of the mechanical arm (5). The three-coordinate combined type portal robot is advantageous in that the robot can move in a three dimensional stereoscopic space within a small range and the robot is favorable for small-scale product processing activity. The whole apparatus is characterized by simple structure, ease of operation, and ease of popularization.
Description
Technical field
The utility model belongs to the Machining Technology field, specifically just relates to the three-dimensional Combined 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 grasp by fixed routine; 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 grasp workpiece (or instrument), according to the shape that is grasped object, size, weight, material and job requirements 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 the position and the posture that are grasped object, and the self-movement modes such as the lifting of motion, flexible, rotation are called the free degree of manipulator.In order to grasp the object of optional position and orientation in the space, 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, and its structure is also more complicated.General special manipulator has 2～3 frees degree, control system is to finish specific action by the control to the motor of each free degree of manipulator, while receiving sensor feedack, form stable closed-loop control, the core of control system normally is made of microcontroller chips such as single-chip microcomputer or DSP, by its programming is realized the function of wanting.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, be unfavorable for promoting on a large scale applicable, and existing can be comparatively complicated in traditional multiaxis gantry robot structure of three-dimensional space motion, with high costs, it is higher to be used for the small lot batch manufacture cost.
The utility model content
The purpose of this utility model provides a kind of three-dimensional Combined gantry robot, it can move in three-dimensional space, thereby satisfies the associated working demand of many lathes, when having reduced many lathe associated working to the requirement in place, save production cost, improved production efficiency.
Technical scheme
In order to realize above-mentioned technical purpose, the utility model designs a kind of three-dimensional Combined gantry robot, comprises portal frame, slide unit, vertical beam, holds pawl, mechanical arm and C axle turntable, it is characterized in that:
Described slide unit is installed on the portal frame, but along continuous straight runs moves back and forth, vertical beam is contained on the slide unit, sidewall position, vertical beam lower end is equipped with C axle turntable, C axle turntable can be around self axis rotation, mechanical arm is contained on the C axle turntable, and machinery 5 can be along self axial stretching, and the end of mechanical arm is equipped with holds pawl.
On the described C axle turntable motor and reductor are housed, C axle turntable can rotate around self axis 180 degree,
Rely on rack-and-pinion or toothed belt transmission between described slide unit and the portal frame 1.
Described mechanical arm is connected with cylinder or hydraulic cylinder makes the mechanical arm can be along self axial stretching.
Beneficial effect
The utility model can move in the three-dimensional space among a small circle, is conducive to the processing of the product of small lot, and whole device structure is simple, and processing ease is beneficial to popularization.
Description of drawings
Accompanying drawing 1 is main apparent direction structural representation of the present utility model.
Accompanying drawing 2 is left apparent direction structural representations 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 three-dimensional Combined gantry robot, comprise portal frame 1, slide unit 2, vertical beam 3, hold pawl 4, mechanical arm 5 and C axle turntable 6, wherein, described slide unit 2 is installed on the portal frame 1, but along continuous straight runs moves back and forth, vertical beam 3 is contained on the slide unit 2, sidewall position, vertical beam 3 lower end is equipped with C axle turntable 6, C axle turntable 6 can be around self axis rotation, mechanical arm 5 is contained on the C axle turntable 6, and mechanical arm 5 can be along self axial stretching, and the end of mechanical arm 5 is equipped with holds pawl 4.
On the described C axle turntable 6 motor and reductor are housed, C axle turntable 6 can be around self axis 180 degree rotation.
Rely on rack-and-pinion or toothed belt transmission between described slide unit 2 and the portal frame 1.
Described mechanical arm 5 is connected with cylinder or hydraulic cylinder makes the mechanical arm can be along self axial stretching.
But slide unit 2 along continuous straight runs motion on portal frame 1, slide unit 2 and portal frame 1 be by the rack-and-pinion transmission, also toothed belt transmission; C axle turntable 6 is directly joined reductor with motor and is driven and can rotate around C axle 180 degree.Mechanical arm 5 adopts cylinder or Driven by Hydraulic Cylinder to hold pawl (4) in the end installation of mechanical arm 5 along self axial stretching, is used for grabbing workpiece.This invention is simple in structure, easily manufactured, can move in the three-dimensional space among a small circle, is conducive to the processing of the product of small lot, and whole device structure is simple, and processing ease is beneficial to popularization.
Claims (4)
1. three-dimensional Combined gantry robot, comprise portal frame (1), slide unit (2), vertical beam (3), hold pawl (4), mechanical arm (5) and C axle turntable (6), it is characterized in that: described slide unit (2) is installed on the portal frame (1), but along continuous straight runs moves back and forth, vertical beam (3) is contained on the slide unit (2), sidewall position, vertical beam (3) lower end is equipped with C axle turntable (6), C axle turntable (6) can be around self axis rotation, mechanical arm (5) is contained on the C axle turntable (6), mechanical arm (5) can be along self axial stretching, and the end of mechanical arm (5) is equipped with holds pawl (4).
2. a kind of three-dimensional Combined gantry as claimed in claim 1 robot is characterized in that: on the described C axle turntable (6) motor and reductor are housed, C axle turntable (6) can be around self axis 180 degree rotation,
3. a kind of three-dimensional Combined gantry as claimed in claim 1 robot is characterized in that: rely on rack-and-pinion or toothed belt transmission between described slide unit (2) and the portal frame (1).
4. a kind of three-dimensional Combined gantry as claimed in claim 1 robot is characterized in that: described mechanical arm (5) is connected with cylinder or hydraulic cylinder makes the mechanical arm can be along self axial stretching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220232845 CN202668233U (en) | 2012-05-17 | 2012-05-17 | Three-coordinate combined type portal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220232845 CN202668233U (en) | 2012-05-17 | 2012-05-17 | Three-coordinate combined type portal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202668233U true CN202668233U (en) | 2013-01-16 |
Family
ID=47489166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220232845 Expired - Lifetime CN202668233U (en) | 2012-05-17 | 2012-05-17 | Three-coordinate combined type portal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202668233U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426123A (en) * | 2016-08-31 | 2017-02-22 | 宁波伟立机器人科技有限公司 | M-shaped longitudinal traveling mechanical hand and application method thereof |
| CN107651238A (en) * | 2017-10-25 | 2018-02-02 | 安徽海思达机器人有限公司 | Rotation boxing device for cylindric material |
| CN113538929A (en) * | 2021-07-06 | 2021-10-22 | 湖南车路协同智能科技有限公司 | Highway traffic safety early warning system and method based on vehicle-road cooperation |
-
2012
- 2012-05-17 CN CN 201220232845 patent/CN202668233U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426123A (en) * | 2016-08-31 | 2017-02-22 | 宁波伟立机器人科技有限公司 | M-shaped longitudinal traveling mechanical hand and application method thereof |
| CN106426123B (en) * | 2016-08-31 | 2020-01-31 | 宁波伟立机器人科技有限公司 | M-type longitudinal-moving manipulator and using method thereof |
| CN107651238A (en) * | 2017-10-25 | 2018-02-02 | 安徽海思达机器人有限公司 | Rotation boxing device for cylindric material |
| CN113538929A (en) * | 2021-07-06 | 2021-10-22 | 湖南车路协同智能科技有限公司 | Highway traffic safety early warning system and method based on vehicle-road cooperation |
| CN113538929B (en) * | 2021-07-06 | 2022-04-08 | 湖南车路协同智能科技有限公司 | Highway traffic safety early warning system and method based on vehicle-road cooperation |
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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: 20150520 |
|
| 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: 20150520 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 | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130116 |