CN203993874U - A kind of mixed type industrial robot - Google Patents
A kind of mixed type industrial robot Download PDFInfo
- Publication number
- CN203993874U CN203993874U CN201420323156.9U CN201420323156U CN203993874U CN 203993874 U CN203993874 U CN 203993874U CN 201420323156 U CN201420323156 U CN 201420323156U CN 203993874 U CN203993874 U CN 203993874U
- Authority
- CN
- China
- Prior art keywords
- axle
- gear
- reductor
- crosswise
- pulling
- 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.)
- Withdrawn - After Issue
Links
Abstract
The utility model relate to a kind of mixed type industrial robot by X, Y, tri-linear motion axis of Z, one swing C axle and A, two rotating shafts of B form.Wherein, the original shape of three linear motion axis is cantilever style (ox head type) right angle coordinate manipulator.At upper and lower straight-line Z axis end, connect a rotation B axle, and rotation B axle drives swing C axle and the rotation A axle of its below, rotation A axle is connected in and is swung C shaft end by connecting lateral plate, and the rotation A axle of least significant end drives load movement.Because two rotating shafts add a swinging axle, be exactly three kinematic axis of articulated robot end in fact, so the utility model mixed type industrial robot is exactly to add that by three axle right angle coordinate manipulators three least significant end kinematic axis of articulated robot combine.The utility model can be realized highly difficult fast feeding action, improves duty factor, improves injection machine and utilizes high efficiency and reduce installation footprint.
Description
Technical field
The utility model relates to injection molding mechanical arm technical field, particularly a kind of mixed type industrial robot.
Background technology
Injection machine usually disposes manipulator, to enhance productivity.Simple linear (rectangular co-ordinate) industrial robot can not meet the automation demand of present Injection Industry gradually at present, is badly in need of a kind of industrial robot with better mechanical performance and flex capability that can replace.Although joint type multi-freedom robot has superiority because of the feature of itself, not only performance is high but also flexible, because its integrated cost is high, and stroke limiting; On the other hand, Injection Industry is substantially all to belong to feeding, pad pasting, the complicated flexible orbiting motion such as copy mechanically with robot, if adopt universal revolute robot's structure to apply and Injection Industry completely, cost performance is lower.
Existing Injection Industry mainly has the following disadvantages with an industrial robot or manipulator: 1) be difficult to realize highly difficult and have the feeding of track requirement to move; 2) tool design difficulty is large high with replacing fixture cost; 3) due to the restriction in end effector design, be difficult to carry out heavy duty design, allow to realize heavy load, load ratio is also less, causes power of motor excessive; 4) can not guarantee not only to meet large working space motion but also there is certain flexibility; 5) utilization ratio of injection machine is low; 6) when improving the working space degree of depth, cannot guarantee little fuselage size.
Chinese patent (license notification number: CN201728805U) disclose a kind of five axle servo injection molding manipulators, this five axles servo injection molding manipulator can complete the task that multiple spot picks and places, have stable, quiet, the feature that the scope of application is large.Yet, for feeding, pad pasting, the tasks such as flexible orbiting motion of the complexity such as copying mechanically, seem awkward.Therefore need to design a kind of large span working space that both had, possess again high degree of flexibility, can realize the brand-new industrial robot of complicated track requirement.
Utility model content
Technical problem to be solved in the utility model is, a kind of mixed type industrial robot is provided, and not only has linear industrial robot large span operation interval, and has the flexibility of joint type industrial robot and flexibility, has higher cost performance concurrently simultaneously.
The utility model is to realize like this, a kind of mixed type industrial robot is provided, comprise olinear motion part and joint motions part, olinear motion part comprises X-axis motion portion, Y-axis motion portion and Z axis motion portion, Y-axis motion portion is arranged in X-axis motion portion, X-axis motion portion drives Y-axis motion portion transverse shifting, Z axis motion portion is arranged in Y-axis motion portion, Y-axis motion portion drives Z axis motion portion and joint motions partly to vertically move, joint motions are partly arranged in Z axis motion portion, Z axis motion portion drives joint motions partly to move up and down, joint motions partly comprise A shaft assembly, B shaft assembly and C shaft assembly, A shaft assembly is arranged on the end of joint motions part and can rotates around the axis of A shaft assembly, B shaft assembly is arranged on the lower end of Z axis motion portion and can rotates around the axis of B shaft assembly, C shaft assembly drives A shaft assembly along the axis oscillating of C shaft assembly, the axis of the axis of B shaft assembly and C shaft assembly is orthogonal, the axis of A shaft assembly also keeps mutually vertical with the axis of C shaft assembly.
Further, B shaft assembly mainly comprises B axle servomotor, B axle driving gear, B axle reductor, B axle counter flange and uni-drive gear box, uni-drive gear box is fixed on the lower end of Z axis motion portion, the box house of uni-drive gear box seals and is provided with the spring oil nozzle that injects lubricating oil to inside, B axle servomotor is arranged on the top of uni-drive gear box, B axle driving gear is positioned at uni-drive gear box, B axle reductor is positioned at the bottom of uni-drive gear box, B axle counter flange is positioned at the bottom of B axle reductor, B axle servomotor is connected and is driven B axle driving gear by key, B axle driving gear is connected in the input of B axle reductor, B axle counter flange is connected with the output of B axle reductor.
Further, C shaft assembly mainly comprises C axle servomotor, C axle master gear, C axle driven gear, C through-drive axle, C axle the first bevel gear, C axle the second bevel gear, T-shaped flange, C axle bearing reductor and swing housing, swing housing mainly by connecting lateral plate, L-type flange and capping form, T-shaped flange connect is in the bottom of B axle counter flange, swing the below that housing is positioned at T-shaped flange, C axle servomotor is arranged on the top of uni-drive gear box, C axle master gear and C axle driven gear are positioned at uni-drive gear box, C through-drive axle extends in T-shaped flange from uni-drive gear box through B axle counter flange, C axle servo motor transmission C axle master gear, C axle master gear is by engaged transmission C axle driven gear, C axle driven gear drives C through-drive axle by spline fitted again, the other end of C through-drive axle is used spline joint C axle the first bevel gear again, C axle the first bevel gear and the second bevel gear engagement of C axle pass to the input of C axle bearing reductor, C axle bearing reductor is connected on T-shaped flange, connecting lateral plate is connected with the output shaft of C axle bearing reductor, connecting lateral plate drives L-type flange, capping by and the inner parts that comprise centered by the rotating shaft of C axle bearing reductor, swing.
Further, A shaft assembly mainly comprises A axle servomotor, A axle master gear, A axle driven gear, A through-drive axle, A axle the first bevel gear, A axle the second bevel gear, A shaft gear, A axle the 3rd bevel gear, A axle the 4th bevel gear, A axle bearing reductor and A axle counter flange, A axle servomotor is arranged on the top of uni-drive gear box, A axle master gear and A axle driven gear are positioned at uni-drive gear box and are positioned at C axle master gear and the top of C axle driven gear, it is interior and coaxial with C through-drive axle that A through-drive axle is arranged on C through-drive axle, A through-drive axle also extends in T-shaped flange from uni-drive gear box through B axle counter flange, A axle driven by servomotor A axle master gear, A axle master gear engaged transmission A axle driven gear, A axle driven gear and A through-drive axle adopt spline joint and drive A axle the first bevel gear, A through-drive axle and A axle the first bevel gear adopt spline joint, A axle the first bevel gear and A axle the second bevel gear engaged transmission drive two identical A shaft gears simultaneously, A shaft gear drives A axle the 3rd bevel gear by spline joint, A axle the 3rd bevel gear meshes with A axle the 4th bevel gear again, A axle the 4th bevel gear is connected on the power shaft of A axle bearing reductor, A axle counter flange is connected on the output shaft of A axle bearing reductor.
Further, X-axis motion portion comprises upper frame, X-axis is walked crosswise beam, on walk crosswise slide plate, side is walked crosswise slide plate, some slide blocks of walking crosswise, walk crosswise line rail, walk crosswise servomotor, walk crosswise reductor, walk crosswise helical gear, walk crosswise tooth bar, pulling servomotor, pulling reductor, pulling helical gear, slide block and pulling line rail slide block fixed head are installed in some pullings, X-axis is walked crosswise on the end face that beam is fixed on upper frame, walk crosswise line rail and be arranged on respectively end face and the side that X-axis is walked crosswise beam, walk crosswise that tooth bar is also arranged on that X-axis is walked crosswise on the end face of beam and with to walk crosswise line rail parallel, walking crosswise servomotor is arranged on and walks crosswise on slide plate together with walking crosswise reductor, pulling servomotor is also arranged on and walks crosswise on slide plate together with pulling reductor, some pullings are installed slide block and are also fixed on and are walked crosswise on slide plate by pulling line rail slide block fixed head, on walk crosswise slide plate and walk crosswise slide plate with side again and link together, on walk crosswise slide plate and side and walk crosswise and on slide plate, be fixed with respectively some slide blocks of walking crosswise, some walk crosswise slide block respectively with walk crosswise line rail and coordinate, walking crosswise servomotor drives and to walk crosswise helical gear and rotate by walking crosswise reductor, pulling servomotor drives pulling helical gear to rotate by pulling reductor, walk crosswise helical gear with walk crosswise tooth bar coordinate to drive from above, walk crosswise slide plate and side walk crosswise integral body that slide plate forms and above make horizontal rectilinear motion together with the parts installed.
Further, Y-axis motion portion mainly comprises pulling beam, pulling line slideway, pulling helical rack, arm reductor flange, arm servomotor, arm reductor, arm helical gear, upper and lower seat group plate and some arm slide blocks, pulling line slideway is arranged on the bottom surface of pulling beam, pulling helical rack is arranged on the side of pulling beam and is parallel with pulling line slideway, pulling line slideway coordinates pulling beam is arranged in X-axis motion portion with pulling installation slide block, pulling helical rack coordinates with pulling helical gear, arm reductor flange is fixed on an end side surface of pulling beam, left surface at arm reductor flange is fixed with arm reductor and arm servomotor, right flank at arm reductor flange is fixed with some arm slide blocks, arm helical gear is also positioned at the right flank of arm reductor flange, upper and lower seat group plate is separately fixed at the front and back sides of arm reductor flange.
Further, Z axis motion portion mainly comprises active beam, driven beam, active beam line slideway, active beam helical rack, driven beam line slideway and Timing Belt, driven beam is arranged on the lateral surface of active beam, active beam is by the driven beam of toothed belt transmission, active beam line slideway and active beam helical rack are arranged on the medial surface of active beam, active beam helical rack coordinates with arm helical gear, driven beam line slideway is arranged on the another side that active beam is relative with active beam line slideway, driven beam can be along the oscilaltion of driven beam line slideway, arm servomotor is by arm helical gear and active beam helical rack transmission active beam.
Compared with prior art, mixed type industrial robot of the present utility model has the advantage of linear industrial robot and universal joint robot concurrently simultaneously, by introduce articulated robot wrist technology linear robot end, under the condition of wananty costs economy, meet high, the flexible strong demand of the modern Injection Industry free degree, quick highly difficult feeding action, the design of simplification end tool, raising duty factor, the raising injection machine of realization utilizes high efficiency and reduces installation footprint.And improving in performance basis, do not increasing under production cost prerequisite, strengthen the competitiveness in the sector of enterprise.
The utlity model has following characteristics:
(1) high degree of flexibility, can realize highly difficult feeding action;
(2) when design fixture, difficulty is low, simple, changes fixture cost low, quick;
(3) when modularized design, reliability is high, can realize complicated application, can carry out heavy duty design;
(4) can realize large working space motion;
(5) can improve injection machine utilization ratio, for example an available little model injection machine is produced bigger product;
(6) in economy, cost performance is high;
(7) by the special structural design that the type robot is carried out, be arranged on injection-moulding device, can increase the working space degree of depth, dwindle fuselage size, when injection machine is loaded and unloaded, show particularly outstandingly especially.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the utility model one preferred embodiment;
Fig. 2 is the X-axis motion portion schematic perspective view of Fig. 1 cathetus motion parts;
Fig. 3 is the Y-axis motion portion schematic perspective view of Fig. 1 cathetus motion parts;
Fig. 4 is the Z axis motion portion schematic perspective view of Fig. 1 cathetus motion parts;
Fig. 5 is the first cross section view of joint motions part in Fig. 1;
Fig. 6 is the second cross section view of joint motions part in Fig. 1.
The specific embodiment
In order to make technical problem to be solved in the utility model, technical scheme and beneficial effect clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
Please refer to shown in Fig. 1, the preferred embodiment of the utility model mixed type industrial robot, comprises olinear motion part 1 and joint motions part 7, and olinear motion part 1 is Cartesian robot.
Olinear motion part 1 comprises that the X-axis motion 2(of portion is equivalent to directions X), the Y-axis motion 3(of portion is equivalent to Y-direction) and the Z axis motion 4(of portion be equivalent to Z direction).Y-axis motion portion 3 is arranged in X-axis motion portion 2, and X-axis motion portion 2 drives Y-axis motion portion 3 transverse shiftings, and Z axis motion portion 4 is arranged in Y-axis motion portion 3, and Y-axis motion portion 3 drives Z axis motion portion 4 and joint motions part 7 to vertically move.Joint motions part 7 is arranged in Z axis motion portion 4, and Z axis motion portion 4 drives joint motions part 7 to move up and down.
Shown in Fig. 1 and Fig. 2, X-axis motion portion 2 comprise upper frame 2-1, X-axis walk crosswise beam 2-2, on walk crosswise that slide plate 2-3, side walk crosswise slide plate 2-4, somely walk crosswise slide block 2-5, walk crosswise line rail 2-6, walk crosswise servomotor 2-7, walk crosswise reductor 2-8, walk crosswise helical gear 2-9, walk crosswise tooth bar 2-10, pulling servomotor 2-11, pulling reductor 2-12, pulling helical gear 2-13, some pullings install slide block 2-14 and pulling line rail slide block fixed head 2-15.On upper frame 2-1, be provided with installing hole, be convenient to this device to be arranged on the use equipment such as injection machine.X-axis is walked crosswise on the end face that beam 2-2 is fixed on upper frame 2-1, walks crosswise line rail 2-6 and is arranged on respectively end face and the side that X-axis is walked crosswise beam 2-2, walks crosswise that tooth bar 2-10 is also arranged on that X-axis is walked crosswise on the end face of beam 2-2 and with to walk crosswise line rail 2-6 parallel.Walking crosswise servomotor 2-7 is arranged on and walks crosswise on slide plate 2-3 together with walking crosswise reductor 2-8, pulling servomotor 2-11 is also arranged on and walks crosswise slide plate 2-3 above together with pulling reductor 2-12, and some pullings are installed slide block 2-14 and are also fixed on and walked crosswise on slide plate 2-3 by pulling line rail slide block fixed head 2-15.On walk crosswise slide plate 2-3 and walk crosswise slide plate 2-4 with side again and link together, above walk crosswise slide plate 2-3 and side and walk crosswise and on slide plate 2-4, be fixed with respectively some slide block 2-5 that walk crosswise.Some walk crosswise slide block 2-5 respectively with walk crosswise line rail 2-6 and coordinate, walking crosswise servomotor 2-7 drives and to walk crosswise helical gear 2-9 and rotate by walking crosswise reductor 2-8, pulling servomotor 2-11 drives pulling helical gear 2-13 to rotate by pulling reductor 2-12, walk crosswise helical gear 2-9 with walk crosswise tooth bar 2-10 coordinate drive from above, walk crosswise slide plate 2-3 and side walk crosswise integral body that slide plate 2-4 forms and above make horizontal rectilinear motion together with the parts installed.
Shown in Fig. 1, Fig. 2 and Fig. 3, Y-axis motion portion 3 mainly comprises pulling beam 3-1, pulling line slideway 3-2, pulling helical rack 3-3, arm reductor flange 3-4, arm servomotor 3-5, arm reductor 3-6, arm helical gear 3-7, upper and lower seat group plate 3-8 and some arm slide block 3-9.Pulling line slideway 3-2 is arranged on the bottom surface of pulling beam 3-1, and pulling helical rack 3-3 is arranged on the side of pulling beam 3-1 and is parallel with pulling line slideway 3-2.Pulling line slideway 3-2 coordinates pulling beam 3-1 is arranged in X-axis motion portion 2 with pulling installation slide block 2-14, forms cantilever design.Pulling helical rack 3-3 coordinates with pulling helical gear 2-13, and arm reductor flange 3-4 is fixed on an end side surface of pulling beam 3-1, at the left surface of arm reductor flange 3-4, is fixed with arm reductor 3-6 and arm servomotor 3-5.Right flank at arm reductor flange 3-4 is fixed with some arm slide block 3-9, and arm helical gear 3-7 is also positioned at the right flank of arm reductor flange 3-4.Upper and lower seat group plate 3-8 is separately fixed at the front and back sides of arm reductor flange 3-4.
Shown in Fig. 1, Fig. 3 and Fig. 4, Z axis motion portion 4 mainly comprises active beam 4-1, driven beam 4-2, active beam line slideway 4-3, active beam helical rack 4-4, driven beam line slideway 4-5 and Timing Belt 4-6.Driven beam 4-2 is arranged on the lateral surface of active beam 4-1, and active beam 4-1 is by Timing Belt 4-6 driven transmission beam 4-2.Active beam line slideway 4-3 and active beam helical rack 4-4 are arranged on the medial surface of active beam 4-1, and active beam helical rack 4-4 coordinates with arm helical gear 3-7.Driven beam line slideway 4-5 is arranged on the another side that active beam 4-1 is relative with active beam line slideway 4-3, and driven beam 4-2 can be along driven beam line slideway 4-5 oscilaltion.Arm servomotor 3-5 passes through arm helical gear 3-7 and active beam helical rack 4-4 transmission active beam 4-1, then by Timing Belt 4-6 driven transmission beam 4-2 lifting.By the different gearratio of Timing Belt 4-6, reach the effect of driven beam 4-2 speed lifting.What adopt this active beam 4-1 and driven beam 4-2 two cuts the whole height that patterns can reduce mechanical arm greatly, has improved the dynamic operation performance of arm.Meanwhile, by having realized the effect of driven beam 4-2 speed lifting to the driving of active beam 4-1 constant speed.
Shown in Fig. 1, joint motions part 7 comprises A shaft assembly 5, B shaft assembly 6 and C shaft assembly 8.A shaft assembly 5 is arranged on the end of joint motions part 7 and can rotates around the axis of A shaft assembly 5, B shaft assembly 6 is arranged on the lower end of Z axis motion portion 4 and can rotates around the axis of B shaft assembly 6, C shaft assembly 8 drives A shaft assembly 5 axis oscillatings along C shaft assembly 8, the axis of the axis of B shaft assembly 6 and C shaft assembly 8 is orthogonal, and the axis of A shaft assembly 5 also keeps mutually vertical with the axis of C shaft assembly 8.Joint motions part 7 is arranged on the driven beam 4-2 lower surface of Z axis motion portion 4.
Shown in Fig. 1 and Fig. 6, B shaft assembly 6 mainly comprises B axle servomotor 6-1, B axle driving gear 6-2, B axle reductor 6-3, B axle counter flange 6-4 and uni-drive gear box 6-5.Uni-drive gear box 6-5 is fixed on the lower end of Z axis motion portion 4, and the box house of uni-drive gear box seals and be provided with the spring oil nozzle that injects lubricating oil to inside.B axle servomotor 6-1 is arranged on the top of uni-drive gear box 6-5.B axle driving gear 6-2 is positioned at uni-drive gear box 6-5, and B axle reductor 6-3 is positioned at the bottom of uni-drive gear box 6-5, and B axle counter flange 6-4 is positioned at the bottom of B axle reductor 6-3.B axle servomotor 6-1 is connected and is driven B axle driving gear 6-2 by key, and B axle driving gear 6-2 is connected in the input of B axle reductor 6-3, and B axle counter flange 6-4 is connected with the output of B axle reductor 6-3.
Shown in Fig. 1, Fig. 5 and Fig. 6, C shaft assembly 8 mainly comprises C axle servomotor 5-12, C axle master gear 5-13, C axle driven gear 5-14, C through-drive axle 5-15, C axle the first bevel gear 5-16, C axle the second bevel gear 5-17, T-shaped flange 5-19, C axle bearing reductor 5-18 and swings housing 5-23, swings housing 5-23 and mainly connecting lateral plate 5-20, L-type flange 5-21 and capping 5-22, consist of.T-shaped flange 5-19 is connected in the bottom of B axle counter flange 6-4, swings the below that housing 5-23 is positioned at T-shaped flange 5-19, and C axle servomotor 5-12 is arranged on the top of uni-drive gear box 6-5.C axle master gear 5-13 and C axle driven gear 5-14 are positioned at uni-drive gear box 6-5, and C through-drive axle 5-15 extends in T-shaped flange 5-19 from uni-drive gear box 6-5 through B axle counter flange 6-4.C axle servomotor 5-12 transmission C axle master gear 5-13, C axle master gear 5-13 is by engaged transmission C axle driven gear 5-14.C axle driven gear 5-14 drives C through-drive axle 5-15 by spline fitted again, and the other end of C through-drive axle 5-15 is used spline joint C axle the first bevel gear 5-16 again.C axle the first bevel gear 5-16 and the second bevel gear 5-17 engagement of C axle pass to the input of C axle bearing reductor 5-18, C axle bearing reductor 5-18 is connected on T-shaped flange 5-19, connecting lateral plate 5-20 is connected with the output shaft of C axle bearing reductor 5-18, connecting lateral plate drive L-type flange 5-21, capping 5-22 by and the inner parts that comprise centered by the rotating shaft of C axle bearing reductor 5-18, swing.
Shown in Fig. 1, Fig. 5 and Fig. 6, A shaft assembly 5 mainly comprises A axle servomotor 5-1, A axle master gear 5-2, A axle driven gear 5-3, A through-drive axle 5-4, A axle the first bevel gear 5-5, A axle the second bevel gear 5-6, A shaft gear 5-7, A axle the 3rd bevel gear 5-8, A axle the 4th bevel gear 5-9, A axle bearing reductor 5-10 and A axle counter flange 5-11.A axle servomotor 5-1 is arranged on the top of uni-drive gear box 6-5, A axle master gear 5-2 and A axle driven gear 5-3 are positioned at uni-drive gear box 6-5 and are positioned at C axle master gear 5-13 and the top of C axle driven gear 5-14, and it is interior and coaxial with C through-drive axle 5-15 that A through-drive axle 5-4 is arranged on C through-drive axle 5-15.A through-drive axle 5-4 also extends in T-shaped flange 5-19 from uni-drive gear box 6-5 through B axle counter flange 6-4, and A axle servomotor 5-1 drives A axle master gear 5-2, A axle master gear 5-2 engaged transmission A axle driven gear 5-3.A axle driven gear 5-3 and A through-drive axle 5-4 adopt spline joint and drive A axle the first bevel gear, A through-drive axle 5-4 and A axle the first bevel gear adopt spline joint, A axle the first bevel gear and A axle the second bevel gear 5-6 engaged transmission drive two identical A shaft gear 5-7 simultaneously, and A shaft gear 5-7 drives A axle the 3rd bevel gear 5-8 by spline joint.A axle the 3rd bevel gear 5-8 meshes with A axle the 4th bevel gear 5-9 again, and A axle the 4th bevel gear 5-9 is connected on the power shaft of A axle bearing reductor 5-10, and A axle counter flange 5-11 is connected on the output shaft of A axle bearing reductor 5-10.
In sum, the utility model mixed type industrial robot by X, Y, tri-linear motion axis of Z, one swing C axle and A, two rotating shafts of B form.Wherein, the original shape of three linear motion axis is cantilever style (ox head type) right angle coordinate manipulator.At upper and lower straight-line Z axis end, connect a rotation B axle, and rotation B axle drives swing C axle and the rotation A axle of its below, rotation A axle is connected in and is swung C shaft end by connecting lateral plate, and the rotation A axle of least significant end drives load movement.Because two rotating shafts add a swinging axle, be exactly three kinematic axis of articulated robot end in fact, so the utility model mixed type industrial robot is exactly to add that by three axle right angle coordinate manipulators three least significant end kinematic axis of articulated robot combine.The utility model not only has linear industrial robot large span operation interval, and has the flexibility of joint type industrial robot and the flexible new configuration of mixed type, has the not available advantage of linear industrial robot.This configuration is not simple linearity+joint, and it had both carried out particular design for Injection Industry structure, carries out optimal design from control algolithm and control system simultaneously.
The utlity model has following characteristics:
1, have the feature of large working space and high flexibility concurrently, can adapt to most of injection machine feeding task;
2, compare articulated robot, have that cost performance is high, operability good and safeguard convenience advantages of higher;
3, structural module, the standardization of height, most of part adopts Sheet Metal Part.
The utility model is through experiment and relevant simulation, and carried out object operation checking, and proved validity and the correctness of the utility model device, can be according to desired track running, and can arrive the position of requirement, there is the high and high feature of reliability of precision.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (7)
1. a mixed type industrial robot, comprise olinear motion part and joint motions part, described olinear motion part comprises X-axis motion portion, Y-axis motion portion and Z axis motion portion, described Y-axis motion portion is arranged in X-axis motion portion, described X-axis motion portion drives Y-axis motion portion transverse shifting, described Z axis motion portion is arranged in Y-axis motion portion, described Y-axis motion drive Z axis motion portion of portion and joint motions partly vertically move, described joint motions are partly arranged in Z axis motion portion, described Z axis motion portion drives joint motions partly to move up and down, it is characterized in that, described joint motions partly comprise A shaft assembly, B shaft assembly and C shaft assembly, described A shaft assembly is arranged on the end of joint motions part and can rotates around the axis of A shaft assembly, described B shaft assembly is arranged on the lower end of Z axis motion portion and can rotates around the axis of B shaft assembly, described C shaft assembly drives A shaft assembly along the axis oscillating of C shaft assembly, the axis of the axis of described B shaft assembly and C shaft assembly is orthogonal, the axis of described A shaft assembly also keeps mutually vertical with the axis of C shaft assembly.
2. mixed type industrial robot as claimed in claim 1, it is characterized in that, described B shaft assembly mainly comprises B axle servomotor, B axle driving gear, B axle reductor, B axle counter flange and uni-drive gear box, described uni-drive gear box is fixed on the lower end of Z axis motion portion, the box house of described uni-drive gear box seals and is provided with the spring oil nozzle that injects lubricating oil to inside, described B axle servomotor is arranged on the top of uni-drive gear box, described B axle driving gear is positioned at uni-drive gear box, described B axle reductor is positioned at the bottom of uni-drive gear box, described B axle counter flange is positioned at the bottom of B axle reductor, described B axle servomotor is connected and is driven B axle driving gear by key, described B axle driving gear is connected in the input of B axle reductor, described B axle counter flange is connected with the output of B axle reductor.
3. mixed type industrial robot as claimed in claim 2, it is characterized in that, described C shaft assembly mainly comprises C axle servomotor, C axle master gear, C axle driven gear, C through-drive axle, C axle the first bevel gear, C axle the second bevel gear, T-shaped flange, C axle bearing reductor and swing housing, described swing housing is mainly by connecting lateral plate, L-type flange and capping form, described T-shaped flange connect is in the bottom of B axle counter flange, described swing housing is positioned at the below of T-shaped flange, described C axle servomotor is arranged on the top of uni-drive gear box, described C axle master gear and C axle driven gear are positioned at uni-drive gear box, described C through-drive axle extends in T-shaped flange from uni-drive gear box through described B axle counter flange, described C axle servo motor transmission C axle master gear, described C axle master gear is by engaged transmission C axle driven gear, described C axle driven gear drives C through-drive axle by spline fitted again, the other end of described C through-drive axle is used spline joint C axle the first bevel gear again, described C axle the first bevel gear and the second bevel gear engagement of C axle pass to the input of C axle bearing reductor, described C axle bearing reductor is connected on T-shaped flange, described connecting lateral plate is connected with the output shaft of C axle bearing reductor, described connecting lateral plate drives L-type flange, capping by and the inner parts that comprise centered by the rotating shaft of C axle bearing reductor, swing.
4. mixed type industrial robot as claimed in claim 3, it is characterized in that, described A shaft assembly mainly comprises A axle servomotor, A axle master gear, A axle driven gear, A through-drive axle, A axle the first bevel gear, A axle the second bevel gear, A shaft gear, A axle the 3rd bevel gear, A axle the 4th bevel gear, A axle bearing reductor and A axle counter flange, described A axle servomotor is arranged on the top of uni-drive gear box, described A axle master gear and A axle driven gear are positioned at uni-drive gear box and are positioned at C axle master gear and the top of C axle driven gear, it is interior and coaxial with C through-drive axle that described A through-drive axle is arranged on C through-drive axle, described A through-drive axle also extends in T-shaped flange from uni-drive gear box through described B axle counter flange, described A axle driven by servomotor A axle master gear, described A axle master gear engaged transmission A axle driven gear, described A axle driven gear and A through-drive axle adopt spline joint and drive A axle the first bevel gear, described A through-drive axle and A axle the first bevel gear adopt spline joint, described A axle the first bevel gear and A axle the second bevel gear engaged transmission drive two identical A shaft gears simultaneously, described A shaft gear drives A axle the 3rd bevel gear by spline joint, A axle the 3rd bevel gear meshes with A axle the 4th bevel gear again, described A axle the 4th bevel gear is connected on the power shaft of A axle bearing reductor, described A axle counter flange is connected on the output shaft of A axle bearing reductor.
5. mixed type industrial robot as claimed in claim 1, it is characterized in that, described X-axis motion portion comprises upper frame, X-axis is walked crosswise beam, on walk crosswise slide plate, side is walked crosswise slide plate, some slide blocks of walking crosswise, walk crosswise line rail, walk crosswise servomotor, walk crosswise reductor, walk crosswise helical gear, walk crosswise tooth bar, pulling servomotor, pulling reductor, pulling helical gear, slide block and pulling line rail slide block fixed head are installed in some pullings, described X-axis is walked crosswise on the end face that beam is fixed on upper frame, the described line rail of walking crosswise is arranged on respectively end face and the side that X-axis is walked crosswise beam, describedly walk crosswise that tooth bar is also arranged on that X-axis is walked crosswise on the end face of beam and with to walk crosswise line rail parallel, the described servomotor of walking crosswise is arranged on and walks crosswise on slide plate together with walking crosswise reductor, described pulling servomotor is also arranged on and walks crosswise on slide plate together with pulling reductor, described some pullings are installed slide block and are also fixed on and are walked crosswise on slide plate by pulling line rail slide block fixed head, on described, walking crosswise slide plate walks crosswise slide plate with side again and links together, on described, walking crosswise slide plate and side walks crosswise and on slide plate, is fixed with respectively some slide blocks of walking crosswise, described some walk crosswise slide block respectively with walk crosswise line rail and coordinate, the described servomotor of walking crosswise drives and to walk crosswise helical gear and rotate by walking crosswise reductor, described pulling servomotor drives pulling helical gear to rotate by pulling reductor, described walk crosswise helical gear with walk crosswise tooth bar coordinate to drive from above, walk crosswise slide plate and side walk crosswise integral body that slide plate forms and above make horizontal rectilinear motion together with the parts installed.
6. mixed type industrial robot as claimed in claim 5, it is characterized in that, described Y-axis motion portion mainly comprises pulling beam, pulling line slideway, pulling helical rack, arm reductor flange, arm servomotor, arm reductor, arm helical gear, upper and lower seat group plate and some arm slide blocks, described pulling line slideway is arranged on the bottom surface of pulling beam, described pulling helical rack is arranged on the side of pulling beam and is parallel with pulling line slideway, described pulling line slideway coordinates pulling beam is arranged in X-axis motion portion with pulling installation slide block, described pulling helical rack coordinates with pulling helical gear, described arm reductor flange is fixed on an end side surface of pulling beam, left surface at described arm reductor flange is fixed with arm reductor and arm servomotor, right flank at described arm reductor flange is fixed with some arm slide blocks, described arm helical gear is also positioned at the right flank of arm reductor flange, described upper and lower seat group plate is separately fixed at the front and back sides of arm reductor flange.
7. mixed type industrial robot as claimed in claim 6, it is characterized in that, described Z axis motion portion mainly comprises active beam, driven beam, active beam line slideway, active beam helical rack, driven beam line slideway and Timing Belt, described driven beam is arranged on the lateral surface of active beam, described active beam is by the driven beam of toothed belt transmission, described active beam line slideway and active beam helical rack are arranged on the medial surface of active beam, described active beam helical rack coordinates with arm helical gear, described driven beam line slideway is arranged on the another side that active beam is relative with active beam line slideway, described driven beam can be along the oscilaltion of driven beam line slideway, described arm servomotor is by arm helical gear and active beam helical rack transmission active beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420323156.9U CN203993874U (en) | 2014-06-18 | 2014-06-18 | A kind of mixed type industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420323156.9U CN203993874U (en) | 2014-06-18 | 2014-06-18 | A kind of mixed type industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203993874U true CN203993874U (en) | 2014-12-10 |
Family
ID=52033937
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420323156.9U Withdrawn - After Issue CN203993874U (en) | 2014-06-18 | 2014-06-18 | A kind of mixed type industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203993874U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029194A (en) * | 2014-06-18 | 2014-09-10 | 宁波伟立机器人科技有限公司 | Hybrid type industrial robot |
| CN104552151A (en) * | 2014-12-31 | 2015-04-29 | 苏州工业园区超群自动化设备有限公司 | Toothbrush sheath automatically pinching robot |
| CN104723326A (en) * | 2015-03-27 | 2015-06-24 | 南京工业职业技术学院 | Echelon linkage multi-axis manipulator |
| CN104786234A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | 'swing-swing-rotation' type three-freedom-degree wrist mechanism |
| CN105127994A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Primary-secondary slider and floating guide rod compound manipulator |
| CN105128001A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Multistage floating guide rod type manipulator |
| CN105729471A (en) * | 2016-03-28 | 2016-07-06 | 重庆理工大学 | Gear shifting performance offline detecting device of manual transmission |
| CN106393086A (en) * | 2016-11-25 | 2017-02-15 | 江门市大光明电力设备厂有限公司 | Modularized mechanical hand |
| 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 |
| CN108215903A (en) * | 2017-12-28 | 2018-06-29 | 王天忆 | A kind of new energy auxiliary charging manipulator |
| CN108311332A (en) * | 2018-03-15 | 2018-07-24 | 烟台聚通智能设备有限公司 | A kind of Shua You robots and the moulding box brush oil method using this robot |
| CN112975927A (en) * | 2021-04-30 | 2021-06-18 | 苏州清智科技装备制造有限公司 | Three-axis intelligent mechanical arm |
-
2014
- 2014-06-18 CN CN201420323156.9U patent/CN203993874U/en not_active Withdrawn - After Issue
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029194B (en) * | 2014-06-18 | 2016-04-06 | 宁波伟立机器人科技有限公司 | A kind of mixed type industrial robot |
| CN104029194A (en) * | 2014-06-18 | 2014-09-10 | 宁波伟立机器人科技有限公司 | Hybrid type industrial robot |
| CN104552151A (en) * | 2014-12-31 | 2015-04-29 | 苏州工业园区超群自动化设备有限公司 | Toothbrush sheath automatically pinching robot |
| CN104552151B (en) * | 2014-12-31 | 2017-01-04 | 苏州超群智能科技有限公司 | A kind of toothbrush sheath automatic kneading machine people |
| CN104723326A (en) * | 2015-03-27 | 2015-06-24 | 南京工业职业技术学院 | Echelon linkage multi-axis manipulator |
| CN104786234A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | 'swing-swing-rotation' type three-freedom-degree wrist mechanism |
| CN105127994A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Primary-secondary slider and floating guide rod compound manipulator |
| CN105128001A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Multistage floating guide rod type manipulator |
| CN105729471A (en) * | 2016-03-28 | 2016-07-06 | 重庆理工大学 | Gear shifting performance offline detecting device of manual transmission |
| CN105729471B (en) * | 2016-03-28 | 2018-02-02 | 重庆理工大学 | Manual transmission gearshifts performance off-line test device |
| 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 |
| CN106393086A (en) * | 2016-11-25 | 2017-02-15 | 江门市大光明电力设备厂有限公司 | Modularized mechanical hand |
| CN108215903A (en) * | 2017-12-28 | 2018-06-29 | 王天忆 | A kind of new energy auxiliary charging manipulator |
| CN108311332A (en) * | 2018-03-15 | 2018-07-24 | 烟台聚通智能设备有限公司 | A kind of Shua You robots and the moulding box brush oil method using this robot |
| CN108311332B (en) * | 2018-03-15 | 2023-08-29 | 烟台聚通智能设备有限公司 | Oil brushing robot and mold box oil brushing method using same |
| CN112975927A (en) * | 2021-04-30 | 2021-06-18 | 苏州清智科技装备制造有限公司 | Three-axis intelligent mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104029194B (en) | A kind of mixed type industrial robot | |
| CN203993874U (en) | A kind of mixed type industrial robot | |
| CN203993881U (en) | A kind of novel five degree of freedom manipulator | |
| CN104385260B (en) | A kind of four-degree-of-freedom plane articulation robot architecture | |
| CN103433918A (en) | Series-parallel industrial robot with five degrees of freedom | |
| CN204976630U (en) | Horizontal joint robot of four -axis | |
| CN100586666C (en) | Four-DOF parallel mechanism | |
| CN101722511B (en) | Fully decoupled three-degree-of-freedom parallel robot mechanism | |
| CN203726481U (en) | Robot head | |
| CN104742116A (en) | Novel five-degree-of-freedom robot mechanism | |
| CN104008691B (en) | Teaching aid is shown in a kind of mechanical movement | |
| CN201979513U (en) | 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism | |
| CN102626870A (en) | Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge | |
| CN204277999U (en) | A kind of novel four-degree-of-freedom plane articulation robot architecture | |
| CN204604316U (en) | A kind of hybrid type robot | |
| CN103128733A (en) | Telescopic vertical beam device | |
| CN206230517U (en) | Without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism | |
| CN107932482B (en) | Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement | |
| CN103659793B (en) | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain | |
| CN1803411A (en) | Three freedom degrees decoupling sphere parallel mechanism | |
| CN203427028U (en) | Four-degree-of-freedom hybrid robot | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN102514001A (en) | Spatial eight-degrees-of-freedom welding robot mechanism | |
| CN201665259U (en) | Flexible positioning device | |
| CN1287955C (en) | Structure decoupling three degrees of freedom parallel robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141210 Effective date of abandoning: 20160406 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |