CN204604316U - A kind of hybrid type robot - Google Patents
A kind of hybrid type robot Download PDFInfo
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- CN204604316U CN204604316U CN201520187814.0U CN201520187814U CN204604316U CN 204604316 U CN204604316 U CN 204604316U CN 201520187814 U CN201520187814 U CN 201520187814U CN 204604316 U CN204604316 U CN 204604316U
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Abstract
The utility model relates to a kind of hybrid type robot, comprise horizontal rectilinear motion portion, to move both vertically portion and joint motions portion up and down, the portion of moving both vertically is arranged in horizontal rectilinear motion portion up and down, horizontal rectilinear motion portion drives the portion that moves both vertically up and down and joint motions portion to do transverse horizontal motion, joint motions portion is connected to the end in the portion that moves both vertically up and down, and the portion of moving both vertically drives joint motions portion to make upper and lower vertical motion up and down.The utility model has 4 joint shafts and 6DOF, thus make robot end move more flexible, versatility be higher, practicality and operability stronger, range of application is more extensive.
Description
Technical field
The utility model belongs to industrial automation equipment technical field, particularly a kind of hybrid type robot.
Background technology
At present, under enterprise transformation upgrading and " machine substitution " overall background, industrial robot is widely studied as critical equipment comparatively main in manufacturing equipment industry.The traditional truss robot extensively adopted in the industries such as China's intermetallic composite coating generally uses rectangular co-ordinate structure, although its rectilinear motion space is larger, but end movement underaction, is difficult to enter specific, narrow space and carries out the actions such as pickup, carrying, cutting.And, the problems such as it is higher that traditional articulated robot also also exists working space expansion cost, and space layout is comparatively difficult.For this reason, in conjunction with traditional truss robot and articulated robot advantage separately, develop the hybrid type robot in linear+joint, above-mentioned application-specific can be met, enhance productivity to reach, the object reduced costs.
Existing Cartesian robot mainly has the following disadvantages: more employing 4 frees degree, seldom have the structure realizing 6 frees degree.Therefore its action is simple, end underaction, the specific application space of more difficult arrival, completes the action that taking-up task in small space or complicated track require.Although and existing articulated robot flexible movements but for the large application of working space, this robot cannot meet, and its price is higher.
In Chinese patent publication No. be: in the document of CN103707292A, disclose a kind of 6 free degree industrial robots based on XYZ rectangular co-ordinate joint and attitude wrist, comprise rectangular co-ordinate joint and attitude wrist, wherein, rectangular co-ordinate joint realizes the one-movement-freedom-degree in three directions, and attitude wrist realizes three rotary freedoms.Although this industrial robot has 6DOF, complex structure, flexibly not.
Utility model content
Technical problem to be solved in the utility model is, there is provided a kind of and have that 6DOF, linear motion range are wide, end flexible movements, hybrid type robot that cost performance is high, be specially adapted to the use occasion that intermetallic composite coating loading and unloading, laser cutting etc. have the requirement of application-specific spatial displacements.
The utility model realizes like this, a kind of hybrid type robot is provided, comprise horizontal rectilinear motion portion, to move both vertically portion and joint motions portion up and down, the portion of moving both vertically is arranged in horizontal rectilinear motion portion up and down, horizontal rectilinear motion portion drives the portion that moves both vertically up and down and joint motions portion to do transverse horizontal motion, joint motions portion is connected to the end in the portion that moves both vertically up and down, and the portion of moving both vertically drives joint motions portion to make upper and lower vertical motion up and down, joint motions portion mainly comprises the first hollow box body, three axle servomotors, three axle RV reductors, four axle servomotors, four axle RV reductors, four axle output flanges, connecting axle, second hollow box body, five axle servomotors, first toothed belt transmission assembly, first harmonic decelerator, 3rd hollow box body, six axle servomotors, second toothed belt transmission assembly, the orthogonal Bevel Gear Transmission assembly of axis, second harmonic decelerator and six axle output flanges, it is inner that three axle servomotors are arranged on the first hollow box body, it is outside that three axle RV reductors are then fixed on the first hollow box body, the motor shaft of three axle servomotors is connected to the axle input of three axle RV reductors, three axle RV output end of reducer are connected to and move both vertically in portion up and down, swinging motion is made along three axle RV output end of reducer axis by the whole joint motions portion that rotarily drives of three axle servomotors, it is inner that four axle servomotors are arranged on the first hollow box body equally, and its motor shaft and four axle RV reductor inputs link together, and four axle output flanges are connected on the output shaft of four axle RV reductors, and connect the second hollow box body by connecting axle, by four axle servomotors and four axle RV reductors drive connecting axle and on parts do gyration along the output shaft axis of four axle RV reductors, five axle servomotors are fixedly mounted on the inside of the second hollow box body, and five axle servomotors are connected with the power shaft of first harmonic decelerator by the first toothed belt transmission assembly, and the output of first harmonic decelerator is fixedly connected the 3rd hollow box body, by five axle servomotors final transmission first harmonic decelerator, the 3rd hollow box body connected in the above is made to do gyration, it is inner that six axle servomotors are arranged on the second hollow box body equally, and connected with the orthogonal Bevel Gear Transmission assembly of axis by the second toothed belt transmission assembly, and it is inner that Bevel Gear Transmission assembly is deep into the 3rd hollow box body, the other end of Bevel Gear Transmission assembly connects with the input of second harmonic decelerator, six axle output flanges are fixed on as final output on the output of second harmonic decelerator, six axle servomotor runnings, coordinate drive six axle output flange to do gyration by the second toothed belt transmission assembly and Bevel Gear Transmission assembly.
Further, first toothed belt transmission assembly comprises the first active synchronization belt wheel, the first Timing Belt and the first passive and synchronous belt wheel, first active synchronization belt wheel is connected on the motor shaft of five axle servomotors by key, and form V belt translation with the first Timing Belt and the first passive and synchronous belt wheel and be connected, the first passive and synchronous belt wheel is fixedly connected on again on the power shaft of first harmonic decelerator; Bevel Gear Transmission assembly comprises the first bevel gear shaft and the second bevel gear shaft; Second toothed belt transmission assembly comprises the second active synchronization belt wheel, the second Timing Belt and the second passive and synchronous belt wheel, second active synchronization belt wheel is connected on the motor shaft of six axle servomotors by key, and form V belt translation with the second Timing Belt and the second passive and synchronous belt wheel and be connected, the second passive and synchronous belt wheel is fixedly connected on again on the front end of the first bevel gear shaft.
Further, joint motions portion also comprises some bearings, sleeve, locking flange and cover plate, sleeve is fixed on the 3rd hollow box body, some bearings are then arranged on sleeve inner two ends, be used for support first bevel gear shaft, first bevel gear shaft carries out transmission with the mode that the second passive and synchronous belt wheel adopts key to be connected simultaneously, and it is inner to go deep into the 3rd hollow box body; It is inner that second bevel gear shaft is arranged in the 3rd hollow box body equally, and the second bevel gear shaft end adopts spline joint locking flange, and locking flange adopts screw to be connected with the input of the second harmonic decelerator be fixed on the 3rd hollow box body.
Further, horizontal rectilinear motion portion mainly comprises walks crosswise beam, on walk crosswise slide plate, slide plate is walked crosswise in side, somely walk crosswise slide block, walk crosswise line rail, first servomotor, first reductor, walk crosswise helical gear, walk crosswise tooth bar, walk crosswise drag chain, emergency warning lamp and walk crosswise boom support, walk crosswise line rail and be installed in parallel in the end face and side of walking crosswise beam respectively, walk crosswise tooth bar be arranged on equally walk crosswise beam end face on and with walk crosswise line rail and be arranged in parallel, first servomotor is arranged on together with the first reductor to be walked crosswise on slide plate, on walk crosswise slide plate and walk crosswise with side again that slide plate is mutually vertical to be fixed together, walk crosswise slide plate is fixed with respectively somely walk crosswise slide block in upper slide plate and the side walked crosswise, some walk crosswise slide block respectively with walk crosswise line rail and coordinate, first servomotor is driven by the first reductor and walks crosswise helical gear and rotate, and walks crosswise helical gear and walks crosswise tooth bar and coordinate to drive and to walk crosswise slide plate and side from above and walk crosswise together with the entirety that slide plate forms and the parts that it is installed and make horizontal rectilinear motion.
Further, the portion of moving both vertically mainly comprises the second servomotor up and down, second reductor, reductor flange, arm beam slide block fixed head, arm beam, some slide blocks, linear arm guide rail, arm helical gear, arm helical rack and articular branches frame plate, second servomotor is fixedly connected with the second reductor, second reductor is arranged on arm beam slide block fixed head by reductor flange, linear arm guide rail and arm helical rack are arranged on the medial surface of arm beam in parallel to each other, linear arm guide rail is embedded in some slide blocks, arm helical gear is arranged on the output shaft of the second reductor, and carry out coordinating transmission with arm helical rack, articular branches frame plate is installed with at the end of arm beam, be used for the joint motions portion connected below, second servomotor drives the second reductor as Power output source, then drives arm beam and joint motions portion to make upper and lower rectilinear motion along the length direction of linear arm guide rail together by arm helical gear and arm helical rack.
Further, the portion of moving both vertically also comprises oil can up and down, and oil can is used for some slide block oilings.
Compared with prior art, hybrid type robot of the present utility model, a kind of 6DOF hybrid type robot is provided, not only there is conventional orthogonal coordinates robot large span operation interval, and have joint type industrial robot structure flexibly, high flexibility feature, possess higher cost performance simultaneously, meet the task action in application-specific space with this.The utility model has 4 joint shafts, thus make robot end move more flexible, versatility be higher, practicality and operability stronger, range of application is more extensive.
The utility model has following characteristics:
1, have large working space and higher end flexibility concurrently, the tasks such as most of intermetallic composite coating loading and unloading, pickup, carrying, laser cutting can be adapted to.
2, cost performance is high.Major part part adopts sheet metal component or structural member, has structural module and the standardization of height.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the utility model one preferred embodiment;
Fig. 2 is the schematic perspective view in horizontal rectilinear motion portion in Fig. 1;
Fig. 3 is the schematic perspective view in the portion that moves both vertically up and down in Fig. 1;
Fig. 4 is the floor map in joint motions portion in Fig. 1;
Fig. 5 is A-A generalized section in Fig. 4;
Fig. 6 is M portion enlarged diagram in Fig. 5.
Detailed description of the invention
In order to make technical problem to be solved in the utility model, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein 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 hybrid type robot, comprise horizontal rectilinear motion portion 1, to move both vertically portion 2 and joint motions portion 3 up and down.The portion 2 that moves both vertically up and down is arranged in horizontal rectilinear motion portion 1, horizontal rectilinear motion portion 1 drives the portion that moves both vertically up and down 2 and joint motions portion 3 to do transverse horizontal motion, joint motions portion 3 is connected to the end in the portion that moves both vertically up and down 2, and the portion 2 that moves both vertically up and down drives joint motions portion 3 to make upper and lower vertical motion.Horizontal rectilinear motion portion 1 and the portion 2 that moves both vertically up and down realize the translation freedoms of robot two mutually perpendicular directions, and joint motions portion 3 realizes four rotary freedoms of robot.
Shown in Fig. 1 and Fig. 2, horizontal rectilinear motion portion 1 mainly comprise walk crosswise beam 1-1, on walk crosswise slide plate 1-2, slide plate 1-3 is walked crosswise in side, somely walk crosswise slide block 1-4, walk crosswise line rail 1-5, the first servomotor 1-6, the first reductor 1-7, walk crosswise helical gear 1-8, walk crosswise tooth bar 1-9 and walk crosswise boom support (not providing in figure).Walk crosswise beam 1-1 to be fixed on and to walk crosswise on boom support.Walk crosswise line rail 1-5 and be installed in parallel in the end face and side of walking crosswise beam 1-1 respectively, walk crosswise tooth bar 1-9 be arranged on equally walk crosswise beam 1-1 end face on and with walk crosswise line rail 1-5 and be arranged in parallel.First servomotor 1-6 is arranged on together with the first reductor 1-7 and walks crosswise on slide plate 1-2, on walk crosswise slide plate 1-2 and walk crosswise with side again that slide plate 1-3 is mutually vertical to be fixed together, walk crosswise slide plate 1-3 is fixed with respectively somely walk crosswise slide block 1-4 in upper slide plate 1-2 and the side walked crosswise.Some walk crosswise slide block 1-4 respectively with walk crosswise line rail 1-5 and coordinate.During motion, first servomotor 1-6 is driven by the first reductor 1-7 and walks crosswise helical gear 1-8 and rotate, walk crosswise helical gear 1-8 with walk crosswise tooth bar 1-9 coordinate drive to walk crosswise from above slide plate 1-2 and side walk crosswise entirety that slide plate 1-3 forms and above make horizontal rectilinear motion together with the parts installed.
Shown in Fig. 1 and Fig. 3, the portion 2 that moves both vertically up and down mainly comprises the second servomotor 2-1, the second reductor 2-2, reductor flange 2-3, arm beam slide block fixed head 2-4, arm beam 2-5, some slide block 2-6, linear arm guide rail 2-7, arm helical gear 2-8, arm helical rack 2-9, articular branches frame plate 2-10 and oil can 2-11.Second servomotor 2-1 is fixedly connected with the second reductor 2-2, and the second reductor 2-2 is arranged on arm beam slide block fixed head 2-4 by reductor flange 2-3.Linear arm guide rail 2-7 and arm helical rack 2-9 is arranged on the medial surface of arm beam 2-5 in parallel to each other, and linear arm guide rail 2-7 is embedded in some slide block 2-6.Arm helical gear 2-8 adopts key to be mounted on the output shaft of the second reductor 2-2, and carries out coordinating transmission with arm helical rack 2-9.Be installed with articular branches frame plate 2-10 at the end of arm beam 2-5, be used for the joint motions portion 3 connected below.During transmission, second servomotor 2-1 inputs the second reductor 2-2 as Power output source, then drives arm beam 2-5 and joint motions portion 3 to make upper and lower rectilinear motion along the length direction of linear arm guide rail 2-7 together by arm helical gear 2-8 and arm helical rack 2-9.In addition oil can 2-11 is used for, to some slide block 2-6 oiling, reaching good lubrication effect.
Referring to Fig. 1, Fig. 4, shown in Fig. 5 and Fig. 6, joint motions portion 3 mainly comprises the first hollow box body 3-1, three axle servomotor 3-2, three axle RV reductor 3-3, four axle servomotor 3-4, four axle RV reductor 3-5, four axle output flange 3-6, connecting axle 3-7, second hollow box body 3-8, five axle servomotor 3-9, first toothed belt transmission assembly, first harmonic decelerator 3-13, 3rd hollow box body 3-14, six axle servomotor 3-15, second toothed belt transmission assembly, the orthogonal Bevel Gear Transmission assembly of axis, second harmonic decelerator 3-24 and six axle output flange 3-25.First toothed belt transmission assembly comprises the first active synchronization belt wheel 3-10, the first Timing Belt 3-11 and the first passive and synchronous belt wheel 3-13.Bevel Gear Transmission assembly comprises the first bevel gear shaft 3-19 and the second bevel gear shaft 3-22.Second toothed belt transmission assembly comprises the second active synchronization belt wheel 3-16, the second Timing Belt 3-17 and the second passive and synchronous belt wheel 3-18.Joint motions portion 3 also comprises some bearing 3-20, sleeve 3-21 and locking flange 3-23.
It is inner that three axle servomotor 3-2 are arranged on the first hollow box body 3-1, and it is outside that three axle RV reductor 3-3 are then fixed on the first hollow box body 3-1.Meanwhile, the motor shaft of three axle servomotor 3-2 is connected to the axle input of three axle RV reductor 3-3.Three axle RV reductor 3-3 outputs adopt screw to be connected in the respective aperture of articular branches frame plate 2-10 in the portion that moves both vertically up and down, swinging motion is made along three axle RV reductor 3-3 output axis like this by the whole joint motions portion 3 that rotarily drives of three axle servomotor 3-2, form the 3rd swinging axle, axis of rotation is three axle RV reductor 3-3 output axis.
It is inner that four axle servomotor 3-4 are arranged on the first hollow box body 3-1 equally, its motor shaft and four axle RV reductor 3-5 inputs link together, four axle output flange 3-6 adopt screw to be connected on the output shaft of four axle RV reductor 3-5, and connect the second hollow box body 3-8 by connecting axle 3-7.By four axle servomotor 3-4 and four axle RV reductor 3-5 drive connecting axle 3-7 and on parts do gyration along the output shaft axis of four axle RV reductor 3-5, form the 4th gyroaxis, axis of rotation is the output shaft axis of four axle RV reductor 3-5.The axis of the 4th gyroaxis is mutually vertical with the axis of the 3rd swinging axle.
Five axle servomotor 3-9 are fixedly mounted on the inside of the second hollow box body 3-8, first active synchronization belt wheel 3-10 is connected on the motor shaft of five axle servomotor 3-9 by key, and forms V belt translation with the first Timing Belt 3-11 and the first passive and synchronous belt wheel 3-12 and be connected.First passive and synchronous belt wheel 3-12 is fixedly connected on again on the power shaft of first harmonic decelerator 3-13.And the output of first harmonic decelerator 3-13 is fixedly connected the 3rd hollow box body 3-14.By five axle servomotor 3-9 final transmission first harmonic decelerator 3-13, make the 3rd hollow box body 3-14 connected in the above do gyration, form the 5th gyroaxis, axis of rotation is the rotary middle spindle of first harmonic decelerator 3-13 output.
It is inner that six axle servomotor 3-15 are arranged on the second hollow box body 3-8 equally, and with the second active synchronization belt wheel 3-16, the second Timing Belt 3-17 and the second passive and synchronous belt wheel 3-18 is same forms V belt translation structure.Sleeve 3-21 is fixed on the 3rd hollow box body 3-14, some bearing 3-20 are then arranged on the inner two ends of sleeve 3-21, be used for support first bevel gear shaft 3-19, first bevel gear shaft 3-19 carries out transmission with the mode that the second passive and synchronous belt wheel 3-18 adopts key to be connected simultaneously, and it is inner to go deep into the 3rd hollow box body 3-14.It is inner that second bevel gear shaft 3-22 is arranged in the 3rd hollow box body 3-14 equally, and coordinate transmission with the first bevel gear shaft 3-19, both interaxial angles (angle between the rotating shaft of two bevel gears of matching) are in 90 degree, second bevel gear shaft 3-22 end adopts spline joint locking flange 3-23, and locking flange 3-23 adopts screw to be connected with the input of the second harmonic decelerator 3-24 be fixed on the 3rd hollow box body 3-14.Six axle output flange 3-25 are fixed on the output of second harmonic decelerator 3-24 as final output.When six axle servomotor 3-15 operate, coordinate drive six axle output flange 3-25 to do gyration by Timing Belt structure and bevel gear shaft, form the 6th gyroaxis, axis of rotation is the rotary middle spindle of second harmonic decelerator 3-24 output.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (6)
1. a hybrid type robot, comprise horizontal rectilinear motion portion, to move both vertically portion and joint motions portion up and down, it is characterized in that, the described portion of moving both vertically up and down is arranged in horizontal rectilinear motion portion, described horizontal rectilinear motion portion drives the portion that moves both vertically up and down and joint motions portion to do transverse horizontal motion, described joint motions portion is connected to the end in the portion that moves both vertically up and down, and the described portion of moving both vertically up and down drives joint motions portion to make upper and lower vertical motion, described joint motions portion mainly comprises the first hollow box body, three axle servomotors, three axle RV reductors, four axle servomotors, four axle RV reductors, four axle output flanges, connecting axle, second hollow box body, five axle servomotors, first toothed belt transmission assembly, first harmonic decelerator, 3rd hollow box body, six axle servomotors, second toothed belt transmission assembly, the orthogonal Bevel Gear Transmission assembly of axis, second harmonic decelerator and six axle output flanges, it is inner that described three axle servomotors are arranged on the first hollow box body, it is outside that three axle RV reductors are then fixed on the first hollow box body, the motor shaft of described three axle servomotors is connected to the axle input of three axle RV reductors, described three axle RV output end of reducer are connected to and move both vertically in portion up and down, swinging motion is made along three axle RV output end of reducer axis by the whole joint motions portion that rotarily drives of described three axle servomotors, it is inner that described four axle servomotors are arranged on the first hollow box body equally, its motor shaft and four axle RV reductor inputs link together, described four axle output flanges are connected on the output shaft of four axle RV reductors, and connect the second hollow box body by described connecting axle, by described four axle servomotors and four axle RV reductors drive connecting axle and on parts do gyration along the output shaft axis of four axle RV reductors, described five axle servomotors are fixedly mounted on the inside of the second hollow box body, described five axle servomotors are connected with the power shaft of first harmonic decelerator by the first toothed belt transmission assembly, and the output of described first harmonic decelerator is fixedly connected the 3rd hollow box body, by described five axle servomotor final transmission first harmonic decelerator, the 3rd hollow box body connected in the above is made to do gyration, it is inner that described six axle servomotors are arranged on the second hollow box body equally, and connected with the orthogonal Bevel Gear Transmission assembly of axis by the second toothed belt transmission assembly, and it is inner that described Bevel Gear Transmission assembly is deep into the 3rd hollow box body, the other end of described Bevel Gear Transmission assembly connects with the input of second harmonic decelerator, described six axle output flanges are fixed on as final output on the output of second harmonic decelerator, described six axle servomotor runnings, coordinate drive six axle output flange to do gyration by the second toothed belt transmission assembly and Bevel Gear Transmission assembly.
2. hybrid type robot as claimed in claim 1, it is characterized in that, described first toothed belt transmission assembly comprises the first active synchronization belt wheel, the first Timing Belt and the first passive and synchronous belt wheel, described first active synchronization belt wheel is connected to by key on the motor shaft of five axle servomotors, and form V belt translation with described first Timing Belt and the first passive and synchronous belt wheel and be connected, described first passive and synchronous belt wheel is fixedly connected on again on the power shaft of first harmonic decelerator; Described Bevel Gear Transmission assembly comprises the first bevel gear shaft and the second bevel gear shaft; Described second toothed belt transmission assembly comprises the second active synchronization belt wheel, the second Timing Belt and the second passive and synchronous belt wheel, described second active synchronization belt wheel is connected to by key on the motor shaft of six axle servomotors, and form V belt translation with described second Timing Belt and the second passive and synchronous belt wheel and be connected, described second passive and synchronous belt wheel is fixedly connected on again on the front end of the first bevel gear shaft.
3. hybrid type robot as claimed in claim 2, it is characterized in that, described joint motions portion also comprises some bearings, sleeve, locking flange and cover plate, described sleeve is fixed on the 3rd hollow box body, described some bearings are then arranged on sleeve inner two ends, be used for supporting described first bevel gear shaft, described first bevel gear shaft carries out transmission with the mode that the second passive and synchronous belt wheel adopts key to be connected simultaneously, and it is inner to go deep into the 3rd hollow box body; It is inner that described second bevel gear shaft is arranged in the 3rd hollow box body equally, and described second bevel gear shaft end adopts spline joint locking flange, and described locking flange adopts screw to be connected with the input of the second harmonic decelerator be fixed on the 3rd hollow box body.
4. hybrid type robot as claimed in claim 1, it is characterized in that, described horizontal rectilinear motion portion mainly comprises walks crosswise beam, on walk crosswise slide plate, slide plate is walked crosswise in side, somely walk crosswise slide block, walk crosswise line rail, first servomotor, first reductor, walk crosswise helical gear, walk crosswise tooth bar, walk crosswise drag chain, emergency warning lamp and walk crosswise boom support, described line rail of walking crosswise is installed in parallel in the end face and side of walking crosswise beam respectively, described walk crosswise tooth bar be arranged on equally walk crosswise beam end face on and with walk crosswise line rail and be arranged in parallel, described first servomotor is arranged on together with the first reductor to be walked crosswise on slide plate, walk crosswise slide plate on described and walk crosswise with side again that slide plate is mutually vertical to be fixed together, walk crosswise slide plate and side on described to walk crosswise slide plate is fixed with respectively and somely walk crosswise slide block, described some walk crosswise slide block respectively with walk crosswise line rail and coordinate, described first servomotor is driven by the first reductor and walks crosswise helical gear and rotate, described in walk crosswise helical gear and walk crosswise tooth bar and coordinate to drive and to walk crosswise slide plate and side from above and walk crosswise together with the entirety that slide plate forms and the parts that it is installed and make horizontal rectilinear motion.
5. hybrid type robot as claimed in claim 1, it is characterized in that, the described portion of moving both vertically up and down mainly comprises the second servomotor, second reductor, reductor flange, arm beam slide block fixed head, arm beam, some slide blocks, linear arm guide rail, arm helical gear, arm helical rack and articular branches frame plate, described second servomotor is fixedly connected with the second reductor, second reductor is arranged on arm beam slide block fixed head by reductor flange, described linear arm guide rail and arm helical rack are arranged on the medial surface of arm beam in parallel to each other, described linear arm guide rail is embedded in some slide blocks, described arm helical gear is arranged on the output shaft of the second reductor, and carry out coordinating transmission with arm helical rack, articular branches frame plate is installed with at the end of described arm beam, be used for the joint motions portion connected below, described second servomotor drives the second reductor as Power output source, then drives arm beam and joint motions portion to make upper and lower rectilinear motion along the length direction of linear arm guide rail together by described arm helical gear and arm helical rack.
6. hybrid type robot as claimed in claim 5, it is characterized in that, the described portion of moving both vertically up and down also comprises oil can, and described oil can is used for some slide block oilings.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520187814.0U CN204604316U (en) | 2015-03-31 | 2015-03-31 | A kind of hybrid type robot |
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| CN201520187814.0U CN204604316U (en) | 2015-03-31 | 2015-03-31 | A kind of hybrid type robot |
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| CN204604316U true CN204604316U (en) | 2015-09-02 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742119A (en) * | 2015-03-31 | 2015-07-01 | 宁波伟立机器人科技有限公司 | Parallel-series robot |
| CN105397801A (en) * | 2015-12-03 | 2016-03-16 | 重庆热谷机器人科技有限责任公司 | Large-rectangular-coordinate robot |
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| 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 |
-
2015
- 2015-03-31 CN CN201520187814.0U patent/CN204604316U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742119A (en) * | 2015-03-31 | 2015-07-01 | 宁波伟立机器人科技有限公司 | Parallel-series robot |
| CN105397801A (en) * | 2015-12-03 | 2016-03-16 | 重庆热谷机器人科技有限责任公司 | Large-rectangular-coordinate robot |
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| 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 |
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Address after: 315480 Yuyao Province, Ningbo City, the city of Victoria Street, Lane Road, No. 48 Patentee after: Ningbo Liwei robot Polytron Technologies Inc Address before: 315480 Yuyao Province, Ningbo City, the city of Victoria Street, Lane Road, No. 48 Patentee before: Ningbo Well-Lih Robot Technology Co., Ltd. |
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Denomination of utility model: A hybrid robot Effective date of registration: 20220211 Granted publication date: 20150902 Pledgee: China Co. truction Bank Corp Yuyao branch Pledgor: NINGBO WELLLIH ROBOT TECHNOLOGY CO.,LTD. Registration number: Y2022330000201 |