CN204604816U - A kind of across axis robot - Google Patents
A kind of across axis robot Download PDFInfo
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- CN204604816U CN204604816U CN201520187758.0U CN201520187758U CN204604816U CN 204604816 U CN204604816 U CN 204604816U CN 201520187758 U CN201520187758 U CN 201520187758U CN 204604816 U CN204604816 U CN 204604816U
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Abstract
The utility model relates to a kind of across axis robot, comprise the portion of walking crosswise, across the excessive portion of axle, pulling portion, the excessive portion of arm, main arm part, from arm part and side appearance group, across axle, excessive portion is arranged on the end face in the portion of walking crosswise, pulling portion is arranged on the end face across the excessive portion of axle, pulling portion is vertically moving along Y-axis across in the excessive portion of axle, and walking crosswise in portion along X-axis transverse shifting with across the excessive portion of axle, the excessive portion of arm is arranged on the side in pulling portion, main arm part is arranged on the side in the excessive portion of arm, be arranged on main arm part from arm part, side appearance group is fixed on from the lower surface of arm part, side appearance group end band dynamic load swings around C axle, main arm part, together vertically move along Y-axis on pulling portion with the excessive portion of arm from arm part and side appearance group and can X-axis be striden across, move along Z axis vertical direction in the two side areas of X-axis.The utility model walking crosswise the two side areas work of beam, can expand the working region of manipulator, boosting productivity.
Description
Technical field
The utility model belongs to technical field of automation equipment, and particularly one is across axis robot.
Background technology
At present in order to submit production efficiency to, general all can be equipped with manipulator on injection machine.Existing linear mechanical hand is arranged on injection machine two kinds of installation methods, and one is that to walk crosswise beam vertical with injection moulding machine mould open direction, and another kind is that to walk crosswise beam parallel with injection moulding machine mould open direction.No matter be that installation method, manipulator is all to walk crosswise the side regional work of beam, so just defines the putting position taking out product.
At Chinese utility model patent notification number be: disclose in the document of CN 203141790U a kind of for horizontal injection press horizontal walk frequency conversion large-scale manipulator.The horizontal injection press of this utility model horizontal walk frequency conversion large-scale manipulator, comprise base, horizontal walk driven unit, pulling driven unit and arm component.This manipulator can horizontal walk initial point and horizontal go out limit point stop, also stopping walking crosswise in process any point, stroke is also larger, injecting products can be placed on any position walked crosswise beam side and can reach.But this manipulator can only walk crosswise the side regional work of beam, so certainly just depositing defect, its scope of application is restricted.Therefore, prior art has the necessity improved further, need a kind of machine not only movement to stablize, stops positioning precision wanting accurate and working region extensive.
Utility model content
Technical problem to be solved in the utility model is, there is provided a kind of across axis robot, solve the limitation of conventional robot working region on injection machine, namely conventional robot is all to walk crosswise the side regional work of beam, of the present utility modelly then the two side areas work of beam can walked crosswise across axis robot, expand the working region of manipulator widely, and then can boost productivity, increase enterprise competitiveness.
The utility model realizes like this, there is provided a kind of across axis robot, comprise the portion of walking crosswise, across the excessive portion of axle, pulling portion, the excessive portion of arm, main arm part, from arm part and side appearance group, across axle, excessive portion is arranged on the end face in the portion of walking crosswise, pulling portion is arranged on the end face across the excessive portion of axle, pulling portion is vertically moving along Y-axis across in the excessive portion of axle, and walking crosswise in portion along X-axis transverse shifting with across the excessive portion of axle, the excessive portion of arm is arranged on the side in pulling portion, main arm part is arranged on the side in the excessive portion of arm, main arm part Z axis vertical direction in the excessive portion of arm moves, be arranged on main arm part from arm part, move from arm part Z axis vertical direction on main arm part, side appearance group is fixed on from the lower surface of arm part, side appearance group end can be with dynamic load to swing around C axle, main arm part, together vertically move along Y-axis on pulling portion with the excessive portion of arm from arm part and side appearance group and can X-axis be striden across, move along Z axis vertical direction in the two side areas of X-axis.
Further, portion of walking crosswise is primarily of walking crosswise beam, line rail, helical rack and holder composition; Wherein, the one end walking crosswise beam is welded on above holder, and two line rails are fixed by bolts to the both sides walking crosswise beam upper surface, and helical rack is fixed by bolts to be walked crosswise on beam upper surface, and is placed between two line rails.
Further, the portion of walking crosswise also comprises support bar, and support bar is fixed on the bottom walking crosswise the beam other end, and away from holder.
Further, across the excessive portion of axle primarily of walking crosswise slide block, walk crosswise slide plate one, walk crosswise helical gear, pulling helical gear, pulling reductor flange, Y-axis servomotor, Y-axis reductor, walk crosswise slide plate two, pulling slide block, to add dais, X-axis servomotor, X-axis reductor across axle and walk crosswise reductor flange composition; Wherein, be fixed with four at the bottom surface bolt walking crosswise slide plate one and walk crosswise slide block, walk crosswise slide block for four and be slidably matched with two line rails respectively; Walk crosswise securing by left position of slide plate one above and walk crosswise reductor flange, X-axis reductor is fixed walking crosswise on reductor flange with bolt, X-axis reductor fixes X-axis servomotor with bolt, fix one in the axle head position of X-axis reductor and walk crosswise helical gear, such X-axis servomotor is just driven by X-axis reductor and walks crosswise helical gear rotation, walks crosswise helical gear and helical rack engages each other; Add dais by location right bolt fixed span axle walking crosswise above slide plate one; Slide plate two is fixedly walked crosswise at the upper surface bolt adding dais across axle; Four pulling slide blocks are rectangle stationary distribution in the upper surface walking crosswise slide plate two, the reductor of pulling simultaneously flange is also fixed by bolts to the upper surface projection plan-position walking crosswise slide plate two, pulling reductor flange fixes Y-axis reductor with bolt, Y-axis servomotor is fixed by bolts on Y-axis reductor, fix a pulling helical gear in the axle head position of Y-axis reductor, such Y-axis servomotor just drives the helical gear rotation of pulling by Y-axis reductor.
Further, pulling portion forms primarily of right helical rack, lateral side wire rail, pulling beam, left helical rack and bottom surface line rail, wherein, right helical rack and two lateral side wire rails are fixed on a vertical side of pulling beam respectively by bolt in parallel to each other, right helical rack is between two lateral side wire rails, two foundation upper thread rails, respectively by the bottom surface being bolted to pulling beam is parallel to each other with lateral side wire rail, another vertical side that left helical rack is fixed by bolts to pulling beam are parallel to each other with bottom surface line rail; Left helical rack and pulling helical gear engage each other, and two foundation upper thread rails coordinate with four pulling skid respectively.
Further, the excessive portion of arm (4) primarily of arm slide block, pulling slide block, left and right transition plate, up and down transition plate, fastening block, Z axis servomotor, reductor one, anti-ly to ram, refuel woollen goods gear, transition plate one, gear one, transition plate two, Y-axis servomotor, reductor two, Timing Belt fixation clip, Timing Belt strap and gear two composition, wherein, upper and lower transition plate and left and right transition plate are located by alignment pin and are bolted together, and both are in mutually vertical; Two arm slide blocks are fixed at the vertical position bolt of upper and lower transition plate side, transition plate one is fixed at the opposite side bolt of upper and lower transition plate, the side of transition plate one is equipped with a reductor one, Z axis servomotor bolt is fixedly mounted on one end of reductor one, the other end axle of reductor one fixedly mounts gear one, and such Z axis servomotor is with regard to the rotation of control gear one; Fix one to prevent raming in upper and lower transition plate upper surface; Install four pulling slide blocks at the back side of left and right transition plate, four pulling slide blocks are slidably matched with two lateral side wire rails respectively; Transition plate two is fixed at the front bolt of left and right transition plate, a reductor two is fixed in transition plate two, in reductor two one end with bolt fixed installation Y-axis servomotor, the other end axle of reductor two fixedly mounts gear two, such Y-axis servomotor is with regard to the rotation of control gear two, and gear two and right helical rack engage each other; Fastening block is fixed by bolts in upper and lower transition plate, and is placed on the side of transition plate one; Timing Belt fixation clip is bolted in upper and lower transition plate, and Timing Belt fixation clip and Timing Belt strap fix Timing Belt by bolt.
Further, main arm part is primarily of Timing Belt, slide block, driven beam line rail slide block fixed head, line rail, main arm, Timing Belt idle pulley holder, Timing Belt idle pulley, anticollison block, arm helical rack, driven section of belt strap, driven section of belt fixation clip composition; Wherein, line rail and arm helical rack bolt are fixed on the left surface of main arm in parallel to each other, and arm helical rack engages each other with oiling woollen goods gear and gear one respectively, and line rail coordinates with two arm skid; Also secure two anticollison blocks with bolt at the left surface of main arm, two anticollison blocks lay respectively at the both ends up and down of line rail; Two Timing Belt idle pulley holders are fixed in the both ends of the surface up and down of main arm, and each Timing Belt idle pulley holder is equipped with two Timing Belt idle pulleys, and Timing Belt is centered around on these four Timing Belt idle pulleys; Driven section of belt strap and driven section of belt fixation clip are fixed by bolts on Timing Belt, and it moves up and down with Timing Belt at the left surface of main arm, does not move to the right flank of main arm; Driven beam line rail slide block fixed head is fixed by bolts to the lower end position of the right flank of main arm.
Further, form from arm part primarily of from arm, drag chain backplate, line rail and drag chain, wherein, line rail is fixed by bolts to the front position from arm, and drag chain backplate is fixed on the left surface from arm, and drag chain is bolted on drag chain backplate; Line rail coordinates with skid, is bolted on driven section of belt strap from the upper end of arm.
Further, side appearance group forms primarily of side appearance cylinder, cylinder holder and side appearance plate, two side appearance cylinders are arranged on the both sides of cylinder holder respectively by bolt, side appearance cylinder can control the rotation that side appearance plate does 90 ° of angles, and cylinder holder is bolted on from the lower surface of arm part.
Compared with prior art, of the present utility model have following characteristics across axis robot:
1, the scope of application is wider, the blind area existed when overcoming conventional injection molding machine manipulator design.Existing manipulator of injection machine can only walk crosswise the side regional work of beam, and the utility model then can walk crosswise the two side areas work of beam.
2, cost is low, efficiency is high.Working region be walk crosswise beam both sides without dead angle, its use value is minimum is the twice of original machine, and cost of the present utility model is relatively low, and structure is simple, easily manufactured, reduces and produces and equipment cost thus increase industrial competition.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the utility model one preferred embodiment;
Fig. 2 is the schematic perspective view walking crosswise portion in Fig. 1;
Fig. 3 is the schematic perspective view in excessive portion in Fig. 1;
Fig. 4 is the schematic perspective view of another angle of Fig. 3;
Fig. 5 is the schematic perspective view in pulling portion in Fig. 1;
Fig. 6 is the schematic perspective view in the excessive portion of arm in Fig. 1;
Fig. 7 is the schematic perspective view of another angle of Fig. 6;
Fig. 8 is the decomposing schematic representation of main arm part in Fig. 1;
Fig. 9 is the schematic perspective view under the assembled state of the main arm part of Fig. 8;
Figure 10 is the schematic perspective view from arm part in Fig. 1;
Figure 11 is the schematic perspective view of Zi Zuyi operating position in side in Fig. 1;
Figure 12 is the schematic perspective view of another operating position of appearance group, side in Fig. 1;
Figure 13 is the schematic perspective view of another embodiment walking crosswise portion in Fig. 1;
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 utility model across the preferred embodiment of axis robot, comprise the portion of walking crosswise 1, across the excessive portion of axle 2, pulling portion 3, the excessive portion of arm 4, main arm part 5, from arm part 6 and side appearance group 7.
Across axle, excessive portion 2 is arranged on the end face in the portion of walking crosswise 1.Pulling portion 3 is arranged on the end face across the excessive portion 2 of axle, and pulling portion 3 is vertically moving along Y-axis across in the excessive portion 2 of axle, and is walking crosswise in portion 1 along X-axis transverse shifting with across the excessive portion 2 of axle.The excessive portion 4 of arm is arranged on the side in pulling portion 3.Main arm part 5 is arranged on the side in the excessive portion 4 of arm, and main arm part 5 Z axis vertical direction in the excessive portion 4 of arm moves.Be arranged on main arm part 5 from arm part 6, move from arm part 6 Z axis vertical direction on main arm part 5.Side appearance group 7 is fixed on from the lower surface of arm part 6, and side appearance group 7 end can be with dynamic load to swing around C axle.Main arm part 5, together to vertically move along Y-axis on pulling portion 3 with the excessive portion 4 of arm from arm part 6 and side appearance group 7 and can X-axis be striden across, moving along Z axis vertical direction in the two side areas of X-axis.
Please refer to shown in Fig. 2, walk crosswise portion 1 and form primarily of walking crosswise beam 1-1, line rail 1-2, helical rack 1-3 and holder 1-4.Wherein, the one end walking crosswise beam 1-1 is welded on above holder 1-4, two line rail 1-2 are fixed by bolts to the both sides walking crosswise beam 1-1 upper surface, and helical rack 1-3 is fixed by bolts to and walks crosswise on beam 1-1 upper surface, and are placed between two line rail 1-2 and the position of close wherein single line rail 1-2.
Shown in Fig. 2, Fig. 3 and Fig. 4, across the excessive portion 2 of axle primarily of walking crosswise slide block 2-1, walk crosswise slide plate one 2-2, walk crosswise helical gear 2-3, pulling helical gear 2-4, pulling reductor flange 2-5, Y-axis servomotor 2-6, Y-axis reductor 2-7, walk crosswise slide plate two 2-8, pulling slide block 2-9, add dais 2-10, X-axis servomotor 2-11, X-axis reductor 2-12 across axle and walk crosswise reductor flange 2-13 and form.Wherein, be fixed with four at the bottom surface bolt walking crosswise slide plate one 2-2 and walk crosswise slide block 2-1, be rectangle distribution.Walk crosswise slide block 2-1 for four to be slidably matched with two line rail 1-2 respectively.Walk crosswise securing by left position of slide plate one 2-2 above and walk crosswise reductor flange 2-13.X-axis reductor 2-12 is fixed walking crosswise on reductor flange 2-13 with bolt.X-axis reductor 2-12 fixes X-axis servomotor 2-11 with bolt, fixes one in the axle head position of X-axis reductor 2-12 and walk crosswise helical gear 2-3.Such X-axis servomotor 2-11 just drives by X-axis reductor 2-12 the rotation walking crosswise helical gear 2-3, walks crosswise helical gear 2-3 and helical rack 1-3 engages each other.Add dais 2-10 by location right bolt fixed span axle walking crosswise above slide plate one 2-2, fixedly walk crosswise slide plate two 2-8 at the upper surface bolt adding dais 2-10 across axle.Four pulling slide block 2-9 are rectangle stationary distribution in the upper surface walking crosswise slide plate two 2-8, and the reductor of pulling simultaneously flange 2-5 is also fixed by bolts to the upper surface projection plan-position walking crosswise slide plate two 2-8.Pulling reductor flange 2-5 fixes Y-axis reductor 2-7 with bolt.Y-axis servomotor 2-6 is fixed by bolts on Y-axis reductor 2-7.Fix a pulling helical gear 2-4 in the axle head position of Y-axis reductor 2-7, such Y-axis servomotor 2-6 just drives the rotation of pulling helical gear 2-4 by Y-axis reductor 2-7.
Shown in Fig. 3 and Fig. 5, pulling portion 3 forms primarily of right helical rack 3-1, lateral side wire rail 3-2, pulling beam 3-3, left helical rack 3-4 and bottom surface line rail 3-5.Wherein, right helical rack 3-1 and two lateral side wire rail 3-2 is fixed on a vertical side of pulling beam 3-3 in parallel to each other respectively by bolt, and right helical rack 3-1 is between two lateral side wire rail 3-2.Two foundation upper thread rail 3-5 are respectively by the bottom surface being bolted to pulling beam 3-3 is parallel to each other with lateral side wire rail 3-2.Another vertical side that left helical rack 3-4 is fixed by bolts to pulling beam 3-3 is parallel to each other with bottom surface line rail 3-5.Left helical rack 3-4 and pulling helical gear 2-4 engages each other, and two foundation upper thread rail 3-5 are slidably matched with four pulling slide block 2-9 respectively.
Shown in Fig. 5, Fig. 6 and Fig. 7, the excessive portion 4 of arm forms primarily of arm slide block 4-1, pulling slide block 4-2, left and right transition plate 4-3, up and down transition plate 4-4, fastening block 4-5, Z axis servomotor 4-6, reductor one 4-7, the anti-4-8 that rams, oiling woollen goods gear 4-9, transition plate one 4-10, gear one 4-11, transition plate two 4-12, Y-axis servomotor 4-13, reductor two 4-14, Timing Belt fixation clip 4-15, Timing Belt strap 4-16 and gear two 4-17.Wherein, upper and lower transition plate 4-4 and left and right transition plate 4-3 is located by alignment pin and is bolted together, and both are in mutually vertical.Fix two arm slide block 4-1 at the vertical position bolt of upper and lower transition plate 4-4 side, fix transition plate one 4-10 at the opposite side bolt of upper and lower transition plate 4-4.The side of transition plate one 4-10 is equipped with reductor one 4-7.Z axis servomotor 4-6 bolt is fixedly mounted on one end of reductor one 4-7.The other end axle of reductor one 4-7 fixedly mounts gear one 4-11, and such Z axis servomotor 4-6 is with regard to the rotation of control gear one 4-11.An anti-4-8 that rams is fixed in upper and lower transition plate 4-4 upper surface.Install four pulling slide block 4-2 at the back side of left and right transition plate 4-3, four pulling slide block 4-2 are slidably matched with two lateral side wire rail 3-2 respectively.Transition plate two 4-12 is fixed at the front bolt of left and right transition plate 4-3.Reductor two 4-14 is fixed at transition plate two 4-12.In reductor two 4-14 one end with bolt fixed installation Y-axis servomotor 4-13.The other end axle of reductor two 4-14 fixedly mounts gear two 4-17, and such Y-axis servomotor 4-13 is with regard to the rotation of control gear two 4-17, and gear two 4-17 and right helical rack 3-1 engages each other.Fastening block 4-5 is fixed by bolts on upper and lower transition plate 4-4, and is placed on the side of transition plate one 4-10, and object is the position in order to accommodative excess plate one 4-10.Timing Belt fixation clip 4-15 is bolted on upper and lower transition plate 4-4.Timing Belt fixation clip 4-15 and Timing Belt strap 4-16 fixes Timing Belt by bolt.
Shown in Fig. 6, Fig. 8 and Fig. 9, main arm part 5 forms primarily of Timing Belt 5-1, slide block 5-2, driven beam line rail slide block fixed head 5-3, line rail 5-4, main arm 5-5, Timing Belt idle pulley holder 5-6, Timing Belt idle pulley 5-7, anticollison block 5-8, arm helical rack 5-9, driven section of belt strap 5-10, driven section of belt fixation clip 5-11.Wherein, line rail 5-4 and arm helical rack 5-9 bolt are fixed on the left surface of main arm 5-5 in parallel to each other.Arm helical rack 5-9 engages each other with oiling woollen goods gear 4-9 and gear one 4-11 respectively, and line rail 5-4 and two arm slide block 4-1 is slidably matched.Also two anticollison block 5-8 are secured with bolt at the left surface of main arm 5-5.Two anticollison block 5-8 lay respectively at the both ends up and down of line rail 5-4.Two Timing Belt idle pulley holder 5-6 are fixed in the both ends of the surface up and down of main arm 5-5.Each Timing Belt idle pulley holder 5-6 is equipped with two Timing Belt idle pulley 5-7.Timing Belt 5-1 is centered around on these four Timing Belt idle pulley 5-7.Driven section of belt strap 5-10 and driven section of belt fixation clip 5-11 is fixed by bolts on Timing Belt 5-1, and it moves up and down with Timing Belt 5-1 at the left surface of main arm 5-5, does not move to the right flank of main arm 5-5.Driven beam line rail slide block fixed head 5-3 is fixed by bolts to the lower end position of the right flank of main arm 5-5.
Shown in Fig. 9 and Figure 10, form from arm part 6 primarily of from arm 6-1, drag chain backplate 6-2, line rail 6-3 and drag chain 6-4.Wherein, line rail 6-3 is fixed by bolts to the front position from arm 6-1.Drag chain backplate 6-2 is fixed on the left surface from arm 6-1.Drag chain 6-4 is bolted on drag chain backplate 6-2.Line rail 6-3 and slide block 5-2 is slidably matched, and is bolted on driven section of belt strap 5-10 from the upper end of arm 6-1.
Shown in Fig. 1, Figure 10, Figure 11 and Figure 12, side appearance group 7 forms primarily of side appearance cylinder 7-1, cylinder holder 7-2 and side appearance plate 7-3.Two side appearance cylinder 7-1 are arranged on the both sides of cylinder holder 7-2 respectively by bolt.Side appearance cylinder 7-1 can control side appearance plate 7-3 does 90 ° of angles rotation around C axle.Cylinder holder 7-2 is bolted on from the lower surface of arm part 6.
Please refer to shown in Figure 13, as another one embodiment of the present utility model, walk crosswise portion 1 and also comprise support bar 1-5, support bar 1-5 is fixed on the bottom walking crosswise the beam 1-1 other end, and away from holder 1-4, strengthens the stability walking crosswise portion 1.
Operation principle of the present utility model: as shown in Figure 1, the utility model forms moving sets across axle transition part 2 by walking crosswise slide block 2-1 and the line rail 1-2 walked crosswise in portion 1 across axis robot, walk crosswise helical gear 2-3 and helical rack 1-3 forms again rack-and-pinion Contact Pair, namely control to walk crosswise helical gear 2-3 at X-axis servomotor 2-11 to rotate, and when making helical rack 1-3 movement, can move forward and backward along the X-direction of line rail 1-2 across axle transition part 2.Pulling portion 3 forms moving sets by bottom surface line rail 3-5 and the pulling slide block 2-9 walked crosswise in portion 1, pulling helical gear 2-4 and left helical rack 3-4 forms again rack-and-pinion Contact Pair, namely control pulling helical gear 2-4 at Y-axis servomotor 2-6 to rotate, and when making the 2-4 movement of pulling helical gear, pulling portion 3 can move left and right along the Y direction of pulling slide block 2-9.The excessive portion 4 of arm forms moving sets by the lateral side wire rail 3-2 in pulling slide block 4-2 and pulling portion 3, gear two 4-17 and right helical rack 3-1 forms again rack-and-pinion Contact Pair, namely rotate at Y-axis servomotor 4-13 control gear two 4-17, and when making right helical rack 3-1 movement, the excessive portion 4 of arm can horizontally slip along the Y direction of lateral side wire rail 3-2.Main arm part 5 forms moving sets by the arm slide block 4-1 on line rail 5-4 and the excessive portion 4 of arm, gear one 4-11 and arm helical rack 5-9 forms again rack-and-pinion Contact Pair, namely rotate at Z axis servomotor 4-6 control gear one 4-11, and when making the 5-9 movement of arm helical rack, main arm part 5 can be moved up and down along the Z-direction of arm slide block 4-1.Moving sets is formed by line rail 6-3 and slide block 5-2 from arm part 6.Be fixed together from the top of arm 6-1 by bolt and driven section of belt strap 5-10 and driven section of belt fixation clip 5-11, namely Timing Belt 5-1 drives and moves from arm 6-1.Timing Belt 5-1 is while be fixed by bolts on Timing Belt strap 4-16 by Timing Belt fixation clip 4-15, and another side is connected with from arm 6-1 by driven section of belt strap 5-10 and driven section of belt fixation clip 5-11 are fixing.Side appearance group 7 is fixed by bolts to the lower end from arm 6-1 by cylinder holder 7-3.During installation, be fixed by bolts on the solid plate of injection machine by holder 1-4 across axis robot.Generally speaking, can move in X-axis, Y-axis and Z axis three directions across axis robot, and have certain distance in Z-direction because of X-axis and Y-axis, so just make Z axis moving component comprise main arm part 5, X-axis can be striden across along Y-axis from arm part 6 and side appearance group 7, namely can move in the two side areas of X-axis.
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 (9)
1. one kind across axis robot, it is characterized in that, comprise the portion of walking crosswise (1), across the excessive portion of axle (2), pulling portion (3), the excessive portion of arm (4), main arm part (5), from arm part (6) and side appearance group (7), describedly be arranged on the end face of the portion of walking crosswise (1) across the excessive portion of axle (2), described pulling portion (3) is arranged on the end face across the excessive portion of axle (2), described pulling portion (3) is vertically moving along Y-axis across in the excessive portion of axle (2), and walking crosswise in portion (1) along X-axis transverse shifting across the excessive portion of axle (2) with described, the excessive portion of described arm (4) is arranged on the side of pulling portion (3), described main arm part (5) is arranged on the side in the excessive portion of arm (4), in the excessive portion of arm (4), upper Z axis vertical direction moves described main arm part (5), describedly be arranged on main arm part (5) from arm part (6), describedly to move from arm part (6) Z axis vertical direction on main arm part (5), described side appearance group (7) is fixed on from the lower surface of arm part (6), described side appearance group (7) end can be with dynamic load to swing around C axle, described main arm part (5), together vertically move along Y-axis pulling portion (3) with the excessive portion of arm (4) from arm part (6) and side appearance group (7) and can X-axis be striden across, move along Z axis vertical direction in the two side areas of X-axis.
2. as claimed in claim 1 across axis robot, it is characterized in that, described in walk crosswise portion (1) and form primarily of walking crosswise beam (1-1), line rail (1-2), helical rack (1-3) and holder (1-4); Wherein, the one end walking crosswise beam (1-1) is welded on above holder (1-4), two line rails (1-2) are fixed by bolts to the both sides walking crosswise beam (1-1) upper surface, and helical rack (1-3) is fixed by bolts to be walked crosswise on beam (1-1) upper surface, and is placed between two line rails (1-2).
3. as claimed in claim 2 across axis robot, it is characterized in that, described in walk crosswise portion (1) and also comprise support bar (1-5), support bar (1-5) is fixed on the bottom walking crosswise beam (1-1) other end, and away from holder (1-4).
4. as claimed in claim 2 across axis robot, it is characterized in that, described across the excessive portion of axle (2) primarily of walking crosswise slide block (2-1), walk crosswise slide plate one (2-2), walk crosswise helical gear (2-3), pulling helical gear (2-4), pulling reductor flange (2-5), Y-axis servomotor (2-6), Y-axis reductor (2-7), walk crosswise slide plate two (2-8), pulling slide block (2-9), to add dais (2-10), X-axis servomotor (2-11), X-axis reductor (2-12) across axle and walk crosswise reductor flange (2-13) composition, wherein, be fixed with four at the described bottom surface bolt walking crosswise slide plate one (2-2) and walk crosswise slide block (2-1), walk crosswise slide block (2-1) and be slidably matched with two line rails (1-2) respectively for described four, describedly walk crosswise securing by left position above of slide plate one (2-2) and walk crosswise reductor flange (2-13), X-axis reductor (2-12) is fixed with bolt described walking crosswise on reductor flange (2-13), described X-axis reductor (2-12) fixes X-axis servomotor (2-11) with bolt, fix one in the axle head position of described X-axis reductor (2-12) and walk crosswise helical gear (2-3), described like this X-axis servomotor (2-11) just drives by X-axis reductor (2-12) rotation walking crosswise helical gear (2-3), described helical gear (2-3) of walking crosswise engages each other with helical rack (1-3), dais (2-10) is added by location right bolt fixed span axle described walking crosswise above slide plate one (2-2), slide plate two (2-8) is fixedly walked crosswise at the described upper surface bolt adding dais (2-10) across axle, four described pulling slide blocks (2-9) are rectangle stationary distribution in the upper surface walking crosswise slide plate two (2-8), described pulling reductor flange (2-5) is also fixed by bolts to the upper surface projection plan-position walking crosswise slide plate two (2-8) simultaneously, described pulling reductor flange (2-5) fixes Y-axis reductor (2-7) with bolt, described Y-axis servomotor (2-6) is fixed by bolts on Y-axis reductor (2-7), a pulling helical gear (2-4) is fixed in the axle head position of described Y-axis reductor (2-7), described like this Y-axis servomotor (2-6) just drives the rotation of pulling helical gear (2-4) by Y-axis reductor (2-7).
5. as claimed in claim 4 across axis robot, it is characterized in that, described pulling portion (3) is primarily of right helical rack (3-1), lateral side wire rail (3-2), pulling beam (3-3), left helical rack (3-4) and bottom surface line rail (3-5) composition, wherein, described right helical rack (3-1) and two lateral side wire rails (3-2) are fixed on a vertical side of pulling beam (3-3) respectively by bolt in parallel to each other, described right helical rack (3-1) is positioned between two lateral side wire rails (3-2), two described bottom surfaces line rail (3-5) are respectively by the bottom surface being bolted to pulling beam (3-3) is parallel to each other with lateral side wire rail (3-2), another vertical side that described left helical rack (3-4) is fixed by bolts to pulling beam (3-3) is parallel to each other with bottom surface line rail (3-5), described left helical rack (3-4) and pulling helical gear (2-4) engage each other, and two described bottom surfaces line rail (3-5) are slidably matched with four pulling slide blocks (2-9) respectively.
6. as claimed in claim 5 across axis robot, it is characterized in that, the excessive portion of described arm (4) is primarily of arm slide block (4-1), pulling slide block (4-2), left and right transition plate (4-3), upper and lower transition plate (4-4), fastening block (4-5), Z axis servomotor (4-6), reductor one (4-7), prevent raming (4-8), oiling woollen goods gear (4-9), transition plate one (4-10), gear one (4-11), transition plate two (4-12), Y-axis servomotor (4-13), reductor two (4-14), Timing Belt fixation clip (4-15), Timing Belt strap (4-16) and gear two (4-17) composition, wherein, described upper and lower transition plate (4-4) and left and right transition plate (4-3) are located by alignment pin and are bolted together, both are in mutually vertical, two arm slide blocks (4-1) are fixed at the vertical position bolt of described upper and lower transition plate (4-4) side, transition plate one (4-10) is fixed at the opposite side bolt of described upper and lower transition plate (4-4), a reductor one (4-7) is equipped with in the side of described transition plate one (4-10), described Z axis servomotor (4-6) is fixedly mounted on one end of reductor one (4-7) with bolt, the other end axle of described reductor one (4-7) fixedly mounts gear one (4-11), described like this Z axis servomotor (4-6) is with regard to the rotation of control gear one (4-11), fix one to prevent raming (4-8) in described upper and lower transition plate (4-4) upper surface, install four pulling slide blocks (4-2) at the back side of described left and right transition plate (4-3), described four pulling slide blocks (4-2) are slidably matched with two lateral side wire rails (3-2) respectively, transition plate two (4-12) is fixed at the front bolt of described left and right transition plate (4-3), a reductor two (4-14) is fixed described transition plate two (4-12), at described reductor two (4-14) one end bolt fixed installation Y-axis servomotor (4-13), the other end axle of described reductor two (4-14) fixedly mounts gear two (4-17), described like this Y-axis servomotor (4-13) is with regard to the rotation of control gear two (4-17), and described gear two (4-17) and right helical rack (3-1) engage each other, described fastening block (4-5) is fixed by bolts in upper and lower transition plate (4-4), and is placed on the side of transition plate one (4-10), described Timing Belt fixation clip (4-15) is bolted in upper and lower transition plate (4-4), and described Timing Belt fixation clip (4-15) and Timing Belt strap (4-16) fix Timing Belt by bolt.
7. as claimed in claim 6 across axis robot, it is characterized in that, described main arm part (5) is primarily of Timing Belt (5-1), slide block (5-2), driven beam line rail slide block fixed head (5-3), line rail (5-4), main arm (5-5), Timing Belt idle pulley holder (5-6), Timing Belt idle pulley (5-7), anticollison block (5-8), arm helical rack (5-9), driven section of belt strap (5-10), driven section of belt fixation clip (5-11) composition; Wherein, described line rail (5-4) and arm helical rack (5-9) are fixed on the left surface of main arm (5-5) in parallel to each other with bolt, described arm helical rack (5-9) engages each other with oiling woollen goods gear (4-9) and gear one (4-11) respectively, and described line rail (5-4) and two arm slide blocks (4-1) are slidably matched; Also secure two anticollison blocks (5-8) with bolt at the left surface of described main arm (5-5), described two anticollison blocks (5-8) lay respectively at the both ends up and down of line rail (5-4); Described two Timing Belt idle pulley holders (5-6) are fixed in the both ends of the surface up and down of main arm (5-5), each described Timing Belt idle pulley holder (5-6) is equipped with two Timing Belt idle pulleys (5-7), and described Timing Belt (5-1) is centered around on these four Timing Belt idle pulleys (5-7); Described driven section of belt strap (5-10) and driven section of belt fixation clip (5-11) are fixed by bolts on Timing Belt (5-1), it moves up and down with Timing Belt (5-1) at the left surface of main arm (5-5), does not move to the right flank of main arm (5-5); Described driven beam line rail slide block fixed head (5-3) is fixed by bolts to the lower end position of the right flank of main arm (5-5).
8. as claimed in claim 7 across axis robot, it is characterized in that, describedly to form from arm part (6) primarily of from arm (6-1), drag chain backplate (6-2), line rail (6-3) and drag chain (6-4), wherein, described line rail (6-3) is fixed by bolts to the front position from arm (6-1), described drag chain backplate (6-2) is fixed on the left surface from arm (6-1), and described drag chain (6-4) is bolted on drag chain backplate (6-2); Described line rail (6-3) and slide block (5-2) are slidably matched, and the described upper end from arm (6-1) is bolted on driven section of belt strap (5-10).
9. as claimed in claim 8 across axis robot, it is characterized in that, described side appearance group (7) is primarily of side appearance cylinder (7-1), cylinder holder (7-2) and side appearance plate (7-3) composition, two described sides appearance cylinder (7-1) are arranged on the both sides of cylinder holder (7-2) respectively by bolt, described side appearance cylinder (7-1) can control the rotation that 90 ° of angles are done in side appearance plate (7-3), and described cylinder holder (7-2) is bolted on from the lower surface of arm part (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520187758.0U CN204604816U (en) | 2015-03-31 | 2015-03-31 | A kind of across axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520187758.0U CN204604816U (en) | 2015-03-31 | 2015-03-31 | A kind of across axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204604816U true CN204604816U (en) | 2015-09-02 |
Family
ID=53957397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520187758.0U Withdrawn - After Issue CN204604816U (en) | 2015-03-31 | 2015-03-31 | A kind of across axis robot |
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| Country | Link |
|---|---|
| CN (1) | CN204604816U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723516A (en) * | 2015-03-31 | 2015-06-24 | 宁波伟立机器人科技有限公司 | Span shaft mechanical hand |
| CN105690367A (en) * | 2016-04-12 | 2016-06-22 | 广东拓斯达科技股份有限公司 | Multi-axle manipulator |
| CN107415179A (en) * | 2017-08-24 | 2017-12-01 | 扬州威德曼自动化科技有限公司 | A kind of injection machine auxiliary manipulator of more actuating stations |
-
2015
- 2015-03-31 CN CN201520187758.0U patent/CN204604816U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723516A (en) * | 2015-03-31 | 2015-06-24 | 宁波伟立机器人科技有限公司 | Span shaft mechanical hand |
| CN105690367A (en) * | 2016-04-12 | 2016-06-22 | 广东拓斯达科技股份有限公司 | Multi-axle manipulator |
| CN107415179A (en) * | 2017-08-24 | 2017-12-01 | 扬州威德曼自动化科技有限公司 | A kind of injection machine auxiliary manipulator of more actuating stations |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
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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| AV01 | Patent right actively abandoned |
Granted publication date: 20150902 Effective date of abandoning: 20171212 |
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| AV01 | Patent right actively abandoned |