CN205466184U - Linear type transfer robot - Google Patents
Linear type transfer robot Download PDFInfo
- Publication number
- CN205466184U CN205466184U CN201620071938.7U CN201620071938U CN205466184U CN 205466184 U CN205466184 U CN 205466184U CN 201620071938 U CN201620071938 U CN 201620071938U CN 205466184 U CN205466184 U CN 205466184U
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- China
- Prior art keywords
- slide unit
- axis slide
- harmonic speed
- cylinder
- transfer robot
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 34
- 239000004677 Nylon Substances 0.000 claims abstract description 8
- 229920001778 nylon Polymers 0.000 claims abstract description 8
- 210000000078 claw Anatomy 0.000 abstract description 2
- 238000005007 materials handling Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000035800 maturation Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model relates to a robot especially is used for realizing descartes's co -ordinate -type servo motor driven robot of materials handling function. A linear type transfer robot, includes: X axle slip table, Y axle slip table, Z axle slip table, arm, motor, synchro -driven axle, no. Two motors, no. Two drive shaft, nylon tow chain, a harmonic speed reducer ware, no. Two harmonic speed reducer wares, Z axle slip table link firmly in on the Y slip table of Y axle slip table, the lower part of arm links firmly mechanical gripper, mechanical gripper includes: three -jaw cylinder, cylinder finger, link firmly on the executor of three -jaw cylinder the cylinder finger. Compare with traditional two claw formulas finger cylinder, three -jaw cylinder 27 is through three tight more contact surfaces are implemented to press from both sides by 28 pairs of objects on the cylinder finger for the centre gripping is more firm, makes the utility model discloses linear type transfer robot acquires higher velocity of movement, guarantees simultaneously that the object of centre gripping can not drop.
Description
Technical field
This utility model relates to a kind of robot, especially for the robot of the cartesian coordinate formula driven by servomotor realizing material handling function.
Background technology
Robot is a kind of high-tech automated production equipment that recent decades grows up, and robot is an important branch of robot.Robot is some holding function that can imitate staff and arm, in order to capture, to carry object or the automatic pilot of operation instrument by fixed routine.Robot is the modern machines people occurred the earliest; it can replace heavy old mechanization and the automatization to realize production of people; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery use robot to realize automated production the most in a large number, thus ensure product quality, improve production efficiency, avoid substantial amounts of industrial accident simultaneously.In traditional machining practice, the conveying to rapidoprint needs manual operation, has both expended substantial amounts of man power and material, it is also possible to can produce some unsafe factors, and not reach conveying requirement, therefore significant to the Automatic Conveying of rapidoprint.
Utility model content
The purpose of this utility model is to provide a kind of linear type transfer robot, use this utility model one linear type transfer robot, it is possible to realizing during machine-building the carrying to material and operate, described robot uses the symmetrical structure of planer-type, stress is good, and service life is long.
A kind of linear type transfer robot, including: X-axis slide unit, Y-axis slide unit, Z axis slide unit, arm, motor, synchronization drive shaft, No. two motors, No. two drive shafts, nylon drag chain, harmonic speed reducer, No. two harmonic speed reducers；
Described X-axis slide unit, for being arranged parallel to, synchronizes drive shaft with described No. one between two described X-axis slide units and connects, and described X-axis slide unit is connected a described harmonic speed reducer, and a described harmonic speed reducer is connected a described motor；
Described Y-axis slide unit is for being arranged parallel to, connect by described No. two drive shafts between two described Y-axis slide units, described Y-axis slide unit is at upper described No. two harmonic speed reducers that are connected, and described No. two harmonic speed reducers are connected described No. two motors, and described Y-axis slide unit is fixed on the X slide unit of described X-axis slide unit；
Described Z axis slide unit is fixed on the Y slide unit of described Y-axis slide unit, and described arm is fixed on the Z slide unit of described Z axis slide unit；The bottom of described arm is connected mechanical paw, and described mechanical paw includes: three-jaw cylinder, cylinder finger；The upper described cylinder finger that is connected of the executor of described three-jaw cylinder.
Preferably, on described X-axis slide unit, the direction of motion of described X slide unit and X-direction are in the same direction, and on described Y-axis slide unit, the direction of motion of described Y slide unit and Y direction are in the same direction, and on described Z axis slide unit, the direction of motion of described Z slide unit and Z-direction are in the same direction.
Preferably, described X-axis slide unit, Y-axis slide unit limit are respectively arranged to accommodate the nylon drag chain of wire.
Preferably, described X-axis slide unit, Y-axis slide unit, Z axis slide unit use linear module to make.
Synchronous pulley it is provided with at two of linear module, middle with Timing Belt connection, with the slip of Timing Belt band movable slider.This kind of linear module commercially has the finished product of technology maturation.Adopt the linear type transfer robot built in this way, owing to technology maturation, the precision of linear module are high, can directly buy acquisition, thus substantially reduce the manufacturing cycle, provide many benefits for exploitation.
Comparing with conventional art, the beneficial effects of the utility model are:
Be connected on described X-axis slide unit a described harmonic speed reducer, and a described harmonic speed reducer is connected a described motor, and after a described harmonic speed reducer, the driving force of described X-axis slide unit is exaggerated.A described motor drives described X slide unit to move along the X-direction of described cartesian coordinate system.
In like manner, described Y-axis slide unit is at upper described No. two harmonic speed reducers that are connected, and described No. two harmonic speed reducers are connected described No. two motors, and described Y-axis slide unit is fixed on the X slide unit of described X-axis slide unit.After described No. two harmonic speed reducers, the driving force of described Y-axis slide unit is exaggerated.Described Y slide unit on the described No. two motors described Y-axis slide unit of driving moves along the Y direction of described cartesian coordinate system.
The quantity of described Y-axis slide unit is two, and described Y-axis slide unit is for being arranged parallel to, and the rigidity of the described Y-axis slide unit being is more preferable, and exercise performance is more stable.
The quantity of described X-axis slide unit is two, uses parallel arrangement, is arranged in the two ends of described Y-axis slide unit so that this utility model linear type transfer robot constitutes gantry structure, it is possible to obtain preferably rigidity and more stable exercise performance.
Described arm is fixed on the Z slide unit of described Z axis slide unit, and described Z axis slide unit drives described arm to move along the Z-direction of described cartesian coordinate system.
Accompanying drawing explanation
Fig. 1,3 it is the external overall structural representation of this utility model linear type transfer robot；
Fig. 2 is this utility model linear type transfer robot structural representation under another visual angle.
11 X-axis slide units, 12 Y-axis slide units, 13 Z axis slide units, 14 arms, No. 15 motors, No. 16 synchronizations drive shaft, 17 No. two motors, 18 No. two drive shafts, 19 nylon drag chains, No. 20 harmonic speed reducers, 21 No. two harmonic speed reducers, 22 cartesian coordinate systems, 23 X slide units, 24 Y slide units, 25 Z slide units, 26 mechanical paws, 27 three-jaw cylinders, 28 cylinder fingers.
Detailed description of the invention
Being described in further detail this utility model below in conjunction with accompanying drawing, but do not constitute any restriction of the present utility model, element numbers similar in accompanying drawing represents similar element.As it has been described above, this utility model provides a kind of linear type transfer robot, this utility model is for the carrying operation of material during machine-building, and described robot uses the symmetrical structure of planer-type, and stress is good, and service life is long.
Fig. 1,3 being the external overall structural representation of this utility model linear type transfer robot, Fig. 2 is this utility model linear type transfer robot structural representation under another visual angle.Seeing cartesian coordinate system 22, the direction of motion of this utility model rectangular coordinate system is corresponding to three directions of described cartesian coordinate system 22: X-direction, Y direction, Z-direction.
A kind of linear type transfer robot, including: X-axis slide unit 11, Y-axis slide unit 12, Z axis slide unit 13,14, motor of arm 15, synchronize drive shaft 17, No. two drive shafts 18 of 16, No. two motors, nylon drag chain 20, No. two harmonic speed reducers 21 of 19, harmonic speed reducer；
Described X-axis slide unit 11, for being arranged parallel to, synchronizes drive shaft 16 with described No. one between two described X-axis slide units 11 and connects, and described X-axis slide unit 11 is connected a described harmonic speed reducer 20, and a described harmonic speed reducer 20 is connected a described motor 15；
Described Y-axis slide unit 12 is for being arranged parallel to, connect by described No. two drive shafts 18 between two described Y-axis slide units 12, described Y-axis slide unit 12 is at upper described No. two harmonic speed reducers 21 that are connected, be connected on described No. two harmonic speed reducers 21 described No. two motors 17, and described Y-axis slide unit 12 is fixed on the X slide unit 23 of described X-axis slide unit 11；
Described Z axis slide unit 13 is fixed on the Y slide unit 24 of described Y-axis slide unit 12, and described arm 14 is fixed on the Z slide unit 25 of described Z axis slide unit 13；The bottom of described arm 14 is connected described mechanical paw 26, and described mechanical paw 26 includes: three-jaw cylinder 27, cylinder finger 28；The upper described cylinder finger 28 that is connected of the executor of described three-jaw cylinder 27.
More specifically, on described X-axis slide unit 11 direction of motion of described X slide unit 23 and X-direction in the same direction, on described Y-axis slide unit 12, the direction of motion of described Y slide unit 24 and Y direction are in the same direction, on described Z axis slide unit 13, the direction of motion of described Z slide unit 25 and Z-direction are in the same direction.
More specifically, be respectively arranged to accommodate the nylon drag chain 19 of wire on described X-axis slide unit 11, Y-axis slide unit 12 limit.
More specifically, described X-axis slide unit 11, Y-axis slide unit 12, Z axis slide unit 13 use linear module to make.Synchronous pulley it is provided with at two of linear module, middle with Timing Belt connection, with the slip of Timing Belt band movable slider.This kind of linear module commercially has the finished product of technology maturation.Adopt the linear type transfer robot built in this way, owing to technology maturation, the precision of linear module are high, can directly buy acquisition, thus substantially reduce the manufacturing cycle, provide many benefits for exploitation.
Below in conjunction with Fig. 1,2, further describe work process and the operation principle of this utility model linear type transfer robot:
Be connected on described X-axis slide unit 11 a described harmonic speed reducer 20, and a described harmonic speed reducer 20 is connected a described motor 15, and after a described harmonic speed reducer 20, the driving force of described X-axis slide unit 11 is exaggerated.A described motor 15 drives described X slide unit 23 to move along the X-direction of described cartesian coordinate system 22.
In like manner, described Y-axis slide unit 12 is at upper described No. two harmonic speed reducers 21 that are connected, and described No. two harmonic speed reducers 21 are connected described No. two motors 17, and described Y-axis slide unit 12 is fixed on the X slide unit 23 of described X-axis slide unit 11.After described No. two harmonic speed reducers 21, the driving force of described Y-axis slide unit 12 is exaggerated.Described No. two motors 17 drive described Y slide unit 24 on described Y-axis slide unit 12 to move along the Y direction of described cartesian coordinate system 22.
The quantity of described Y-axis slide unit 12 is two, and described Y-axis slide unit 12 is for being arranged parallel to, and the rigidity of the described Y-axis slide unit 12 being is more preferable, and exercise performance is more stable.
The quantity of described X-axis slide unit 11 is two, uses parallel arrangement, is arranged in the two ends of described Y-axis slide unit 12 so that this utility model linear type transfer robot constitutes gantry structure, it is possible to obtain preferably rigidity and more stable exercise performance.
Described arm 14 is fixed on the Z slide unit 25 of described Z axis slide unit 13, and described Z axis slide unit 13 drives described arm 14 to move along the Z-direction of described cartesian coordinate system 22.
The bottom of described arm 14 is connected described mechanical paw 26, and described mechanical paw 26 includes: three-jaw cylinder 27, cylinder finger 28；The upper described cylinder finger 28 that is connected of the executor of described three-jaw cylinder 27.Described mechanical paw 26 is applicable to capture circular object, such as from circular inner hole, or in cylindrical outer shape, can capture object.Described three-jaw cylinder 27 is after promptly circular object, and the geometric center that can automatically adjust endoporus or the geometric center of profile and described three-jaw cylinder 27 overlaps.Compare with two traditional claw finger cylinder, object is implemented to clamp more contact surface by described three-jaw cylinder 27 by three described cylinder fingers 28, make to clamp more firm, make this utility model linear type transfer robot obtain higher movement velocity, ensure that clamped object does not falls out simultaneously.
Finally it is pointed out that above example is only the more representational example of this utility model.Obviously, this utility model is not limited to above-described embodiment, it is also possible to have many deformation.Every any simple modification, equivalent variations and modification made above example according to technical spirit of the present utility model, is all considered as belonging to protection domain of the present utility model.
Claims (4)
1. a linear type transfer robot, it is characterized in that composition is as follows, including: X-axis slide unit, Y-axis slide unit, Z axis slide unit, arm, motor, synchronization drive shaft, No. two motors, No. two drive shafts, nylon drag chain, harmonic speed reducer, No. two harmonic speed reducers；
Described X-axis slide unit, for being arranged parallel to, synchronizes drive shaft with described No. one between two described X-axis slide units and connects, and described X-axis slide unit is connected a described harmonic speed reducer, and a described harmonic speed reducer is connected a described motor；
Described Y-axis slide unit is for being arranged parallel to, connect by described No. two drive shafts between two described Y-axis slide units, described Y-axis slide unit is at upper described No. two harmonic speed reducers that are connected, and described No. two harmonic speed reducers are connected described No. two motors, and described Y-axis slide unit is fixed on the X slide unit of described X-axis slide unit；
Described Z axis slide unit is fixed on the Y slide unit of described Y-axis slide unit, and described arm is fixed on the Z slide unit of described Z axis slide unit；The bottom of described arm is connected mechanical paw, and described mechanical paw includes: three-jaw cylinder, cylinder finger；The upper described cylinder finger that is connected of the executor of described three-jaw cylinder.
Linear type transfer robot the most according to claim 1, it is characterized in that: on described X-axis slide unit, the direction of motion of described X slide unit and X-direction are in the same direction, on described Y-axis slide unit, the direction of motion of described Y slide unit and Y direction are in the same direction, and on described Z axis slide unit, the direction of motion of described Z slide unit and Z-direction are in the same direction.
Linear type transfer robot the most according to claim 1, it is characterised in that: it is respectively arranged to accommodate the nylon drag chain of wire on described X-axis slide unit, Y-axis slide unit limit.
Linear type transfer robot the most according to claim 1, it is characterised in that: described X-axis slide unit, Y-axis slide unit, Z axis slide unit use linear module to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620071938.7U CN205466184U (en) | 2016-01-24 | 2016-01-24 | Linear type transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620071938.7U CN205466184U (en) | 2016-01-24 | 2016-01-24 | Linear type transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466184U true CN205466184U (en) | 2016-08-17 |
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ID=56638675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620071938.7U Expired - Fee Related CN205466184U (en) | 2016-01-24 | 2016-01-24 | Linear type transfer robot |
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| Country | Link |
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| CN (1) | CN205466184U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891058A (en) * | 2017-02-24 | 2017-06-27 | 温州市科泓机器人科技有限公司 | Metal plate collects full-automatic assembly line |
| CN115069586A (en) * | 2022-06-17 | 2022-09-20 | 武汉东方骏驰精密制造有限公司 | Blanking machine capable of automatically taking and detecting products |
| CN117900542A (en) * | 2024-02-02 | 2024-04-19 | 大连美德乐工业自动化股份有限公司 | Permanent magnet automated inspection and processing special plane |
-
2016
- 2016-01-24 CN CN201620071938.7U patent/CN205466184U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891058A (en) * | 2017-02-24 | 2017-06-27 | 温州市科泓机器人科技有限公司 | Metal plate collects full-automatic assembly line |
| CN106891058B (en) * | 2017-02-24 | 2018-12-04 | 温州市科泓机器人科技有限公司 | Metal plate collects full-automatic assembly line |
| CN115069586A (en) * | 2022-06-17 | 2022-09-20 | 武汉东方骏驰精密制造有限公司 | Blanking machine capable of automatically taking and detecting products |
| CN117900542A (en) * | 2024-02-02 | 2024-04-19 | 大连美德乐工业自动化股份有限公司 | Permanent magnet automated inspection and processing special plane |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Cheng Inventor before: Yu Xiaofei |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170411 Address after: 101500 Beijing Economic Development Zone, Miyun District, economic development zone, South Road, No. 8 office building, room -1688, (Economic Development Zone, office area) () Patentee after: Beijing Huali Victoria Cultural Services Ltd. Address before: 325000 Zhejiang city of Wenzhou province Ruian City Tangxia town Shao Zhai village Tangxia Street No. 117 Patentee before: Yu Xiaofei |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20190124 |