CN206032651U - T humanoid robot - Google Patents

Abstract

The utility model provides a T humanoid robot, its includes basic fixed frame, by a plurality of stands and the crossbeam on connecting it constitute a plurality of door shaped frame parallel interval arranged and form, two vertical fixing tracks, parallel arrangement in under basis fixed frame went up a plurality of crossbeams, vertical rack was established along length direction down to the vertical fixing track, the vertical fixing track adopts the aluminium alloy, the lateral shifting rail set, set up in under two vertical fixing tracks, X is located to the walking dolly under the lateral shifting rail set, it is fastened in lift guiding arm both sides by the support connecting pipe and the cooperation of fixed connection board of two vertical settings. The utility model discloses T humanoid robot solves tedious manual work and moves a year assembly, promotes to move to carry an assembly trade intelligent assembly degree, reduces the delivery cycle, falls low consumption, improves product quality, and optimizing produte manages, the reinforcing productivity.

Description

A kind of T-shaped robot

Technical field

This utility model is related to material transfer, carrying, assembling field, especially a kind of T-shaped robot, is suitable for the dress of component With, transfer, carrying.

Background technology

1) with the sustained and rapid development of national economy, manufacturing average salary growth rate is but always maintained at two Several high growths.Wherein, cities and towns unit manufacturing industry average salary rise 14% every year, also there is class in private unit manufacturing industry wage As amount of increase.National standards for minimum wages, have also gone up more than 80% since the global financial crisis.And, it is fast in wage While speed increases, our labour force's productivity ratio but occurs in that the sign of falling on the contrary.Traditional equipment is intensive and personnel are close Collection transfer assembly enterprise, can not meet the demand of big era change development, has still more had under specific environment and adverse circumstances Artificial operation (such as：High intensity, high pollution, strong noise, high-risk etc.), therefore solve heavy, intensive, dangerous hand labor And increase productivity, undoubtedly become the development trend of modern intelligence manufacture information industry.

2) traditional manual assembly line is related to all elementary cell supply assembling equilibrium problems, each working cell of major embodiment Operating time coordinates uneven, and allotment human resourcess are uneven, and work facility is uneven, groundwork cell node imbalance etc. Problem, and then extend producing line assembling speed slowly, under progress efficiency, personnel's facility effectively can not make full use of, and manage and fill It is high with cost.

3) existing T-shaped boosting manipulator, mainly by the control of gas micro operation force, the lifting of calabash, manpower passage, electricity Effective cooperation of machine, cylinder and track etc. come control its up and down, left and right, the hoofing part such as level, each unit run it is relatively independent, Its each necessary Jing manpowers single operation execution of function, although assemble the part for carrying that industry plays power-assisted and the productivity in transfer Improve, but the interrelated cooperation of the overall intelligence assembling degree, the working performance of pneumatic control and each unit of assembly line is still deposited Serious too late.

The content of the invention

The purpose of this utility model is a kind of T-shaped robot of design, solves heavy artificial transfer assembling, lifts transfer Assembling industry Intelligent assembly degree, reduces the delivery cycle, reduces consuming, improves product quality, optimize the management of product, strengthens production Power.

For reaching above-mentioned purpose, the technical solution of the utility model is：

A kind of T-shaped robot, which includes：Basic fixed frame, constitutes some by some columns and the crossbeam being connected thereto The arrangement of portal parallel interval is formed；Two longitudinally fixed tracks, are set in parallel in some crossbeams on the basic fixed frame Under, set longitudinal rack under longitudinally fixed track along its length；Longitudinally fixed track adopts aluminium section bar；Transverse shifting track is filled Put, be arranged under two longitudinally fixed tracks, which includes, a mobility framework, by first, second cross track and two connections Beam is constituted；First, second cross track adopts aluminium section bar；Two U-shaped wheel groups, are installed on first, second liang of cross track two On end, the U-shaped wheel group includes a connecting support seat and is arranged on two scroll wheel groups at end face two ends, wherein, scroll wheel groups wheel Son is respectively arranged in longitudinally fixed track interior, and wheel seat is fixed on connecting support seat；The mobility framework is according to longitudinally fixed rail Road is oriented to and vertically moves；One synchronous drive shaft, is installed in the mobility framework by the fixed seat for being arranged at its both sides It is on first cross track, parallel with the first cross track；Synchronous drive shaft two ends set a Y-direction drive gear respectively, and with this with Longitudinal rack engagement under two longitudinally fixed tracks；Y-direction servomotor, is arranged on the outside of first cross track, Y-direction servo Motor output shaft passes through reductor and the synchronous drive shaft of driving member connection, by drive synchronous drive shaft and Y-direction drive gear with Longitudinal rack coordinates, so as to drive the mobility framework rail-guided to vertically move according to longitudinally fixed；Two cross spacings are switched, Both sides on second cross track are respectively arranged in the mobility framework；Horizontal tooth bar, is arranged at described second along its length Under cross track；To walking dolly, under the transverse shifting rail set, which is connected X by two supports being vertically arranged Adapter and fixed connecting plate coordinate, and are anchored on lifting leading arm both sides；Two support connecting tube tops are respectively provided with a U-shaped wheel Group, the U-shaped wheel group include a connecting support seat and are arranged on two scroll wheel groups at end face two ends, wherein, scroll wheel groups wheel It is respectively arranged in inside first, second cross track, wheel seat is fixed on connecting support seat；X is arranged at described to servomotor On fixed connecting plate, X couples reductor and an X to drive gear to servo motor output shaft, and the X is to drive gear and the horizontal stroke Coordinate to tooth bar, X is to movement so as to drive X to be oriented to according to first, second liang of cross track to walking dolly, and is led together with lifting To arm, perform and laterally walk；The lifting leading arm, including outer profile arm is aluminum square casing, is vertically connected to described Support connecting tube lateral surface；Interior shape material arm, is arranged in the outer profile arm；Z-direction lift servo motor, is arranged at outer profile arm top Face, its output shaft couples reductor and ball screw stretches into interior shape material arm；Ball nut, is arranged at interior shape material arm upper end inwall, Coordinate with ball screw, the mutual Z-direction for performing outer, inner profile arm is stretched；Proximity switch, is arranged on the outer profile arm outer wall Portion；Z axis rotate drive component, are arranged at the interior shape material arm lower end.

Further, it is provided with described interior shape material arm and inlays cylinder groove, the titanium of various outer diameter can be inlayed according to design requirement Golden axle.

Also, described Z axis rotate drive component includes servomotor and reductor.

In addition, this utility model also sets a fixture, the fixture is installed on the interior shape material arm lower end of the lifting leading arm, its Including fixture fore beam, its central authorities set installation through-hole；Spring bearing, is arranged at the fixture fore beam front end face；Fixture rotates Motor cabinet；Servomotor, after being arranged at the fixture electric rotating support, its output shaft couples a reductor；Output end of reducer If a gear；Fixture connecting seat, including a top board and is connected to the vertically disposed end plate in top board front end；The end plate central authorities set logical Hole, before end plate is located at the spring bearing；After fixture electric rotating support is connected to top board, the gear is nibbled with the spring bearing Close；Left and right clip claw assembly, is respectively arranged at fixture fore beam both sides, and the left and right clip claw assembly includes that clamping seats are L-shaped；Its One side is located at fixture front stall back both sides, and opposite side is forward extended out, and the side sets through hole, and the lateral surface of correspondence through hole sets Clamping cylinder installing plate；Slide rail and its top shoe, slide rail are arranged at before the clamping seats side of fixture front stall back；It is sliding Block is arranged on the fixture fore beam；Clamping cylinder, its cylinder body are fixed on the clamping cylinder installing plate, its tailpiece of the piston rod Portion is connected to fixture fore beam front end face；Synchronous holder assembly is clamped, the fixture front stall back is arranged at, which includes, it is synchronous Seat, is a framework, and bottom is connected to fixture front stall back；Synchromesh gear is clamped, the sync block is arranged at by connecting shaft In framework；Left and right synchronous tooth bar, one end are respectively protruding in sync block and clamp synchromesh gear up and down, nibble with the clamping synchromesh gear Close, the other end connects respectively positioned at clamping seats one end of fixture front stall back；Two clamping bar seat boards, are respectively arranged at the folder Tight seat front end；Clamping bar, is vertically installed in the clamping bar seat board front end face；Sleeve, is arranged at the fixture fore beam and installs Through hole；Rifle is tightened, the fixture fore beam installation through-hole is arranged at.

Preferably, the fixture fore beam front end face both sides set clamping ear mount, the clamping cylinder piston rod end connection The clamping ear mount.

Preferably, protective case is arranged outside the clamping bar.

Preferably, the clamping bar seat board is L-shaped, and its front end face sets a clamping bar up and down respectively.

Preferably, the sleeve is thunderbolt horse sleeve.

Preferably, the clamping bar seat board front end face sets photoswitch.

Preferably, the clamping bar seat board front end face divides into proximity switch.

The T-shaped robot of this utility model includes longitudinally fixed rail set, transverse shifting rail set, moving cart, liter Drop leading arm etc. is constituted, and is that a kind of replacement manually operates, automatically controls, repeat programming, can complete various in setting space The automated assembling equipment of operation., to stable, improve product quality, improve production efficiency, improving working conditions etc. plays ten for it Divide important effect.

The beneficial effects of the utility model：

This utility model changes the situation of the relatively independent execution of each performance element of former T-shaped boosting manipulator, perfect to use Mechanical intelligence brakes the pneumatic fine setting braking of replacement causes the not enough generation of efficiency, promotes traditional mode of production assembly line automatic to intelligence The upgrading transformation of production line, realizes and runs to modern mechanical intelligent coordination control behaviour by tradition by intensive labor's assembly manipulation The technological break-through that work runs, improves the intelligent effect that product transfer assembling is carried, improves labor condition, reduce cost, Enhance product appearance visual, improve the appearance of product, increased the price of product.Solve high pollution, strong noise, height Work in the adverse circumstances that danger, high intensity etc. are manually difficult to carry out, optimizes producing line Intelligent Process Control, reduces in producing line Artificial intervention, correctly gathered data, analytical data, integral data in time, and then perform the management of overall process Data programming Control, lifts transfer assembling industry Intelligent assembly degree, reduces the delivery cycle, reduce consuming, and optimum management strengthens the productivity.

Description of the drawings

Axonometric charts of the Fig. 1 for this utility model embodiment.

Front views of the Fig. 2 for this utility model embodiment.

A direction views of the Fig. 3 for Fig. 2.

Fig. 4 is the axonometric chart of transverse shifting rail set in this utility model embodiment.

Fig. 5 be this utility model embodiment in axonometric chart from X to walking dolly.

Fig. 6 is the axonometric chart of lifting leading arm in this utility model embodiment.

Fig. 7 is the front view of lifting leading arm in this utility model embodiment.

A-A sectional views of the Fig. 8 for Fig. 7.

Fig. 9 is the axonometric chart of fixture in this utility model embodiment.

Figure 10 is the front view of fixture in this utility model embodiment.

Figure 11 is the axonometric chart (removal protective cover) of fixture in this utility model embodiment.

Figure 12 is the top view of fixture in this utility model embodiment.

Figure 13 is the sectional view of fixture in this utility model embodiment.

Specific embodiment

Referring to Fig. 1～Figure 13, a kind of T-shaped robot of the present utility model, which includes：

Basic fixed frame 1, constitutes some portal parallel intervals by some columns 101 and the crossbeam being connected thereto 102 Arrangement is formed；

Two longitudinally fixed tracks 2,2 ', are set in parallel on the basic fixed frame 1 under some crossbeams 102, longitudinal direction Longitudinal rack 3 is set along its length under trapped orbit 2,2 '；Longitudinally fixed track adopts aluminium section bar；

Transverse shifting rail set 4, is arranged under two longitudinally fixed tracks 2,2 ', and which includes,

One mobility framework 41, is made up of first, second cross track, 411,412 and two tie-beam 413；First, second is horizontal Aluminium section bar is adopted to track；

Two U-shaped wheel groups 42,42 ', are installed on first, second liang of cross track 411, on 412 two ends, the U-shaped wheel group 42 (by taking U-shaped wheel group 42 as an example, similarly hereinafter) include a connecting support seat 421 and be arranged on end face two ends two scroll wheel groups 422, 422 ', wherein, scroll wheel groups wheel is respectively arranged in inside longitudinally fixed track 2, and wheel seat is fixed on connecting support seat 421； The mobility framework 41 is oriented to according to longitudinally fixed track 2,2 ' and vertically moves；

One synchronous drive shaft 43, by the fixed seat for being arranged at its both sides be installed in the mobility framework it is first horizontal It is on track 411, parallel with the first cross track 411；43 two ends of synchronous drive shaft set a Y-direction drive gear 44 respectively, and with this Engage with the longitudinal rack 3 under two longitudinally fixed tracks；

Y-direction servomotor 45, is arranged on the outside of first cross track 411, and 45 output shaft of Y-direction servomotor is by subtracting Fast machine 46 and the synchronous drive shaft 43 of driving member connection, are coordinated by driving synchronous drive shaft and Y-direction drive gear and longitudinal rack, So as to drive the mobility framework 41 rail-guided to vertically move according to longitudinally fixed；

Two cross spacings switch 47,47 ', is respectively arranged in the mobility framework both sides on the second cross track 412；

Horizontal tooth bar 48, is arranged under second cross track 412 along its length；

To walking dolly 5, under the transverse shifting rail set 4, which is connected X by two supports being vertically arranged Pipe 51 and fixed connecting plate 52 coordinate, and are anchored on 6 both sides of a lifting leading arm；Two 51 tops of support connecting tube are respectively provided with a U Type wheel group 53,53 ', the U-shaped wheel group 53 (by taking U-shaped wheel group 53 as an example, similarly hereinafter) include a connecting support seat 531 and are arranged on end Two scroll wheel groups 532,532 ' at face two ends, wherein, scroll wheel groups wheel be respectively arranged in first, second cross track 411, Inside 412, wheel seat is fixed on connecting support seat 531；

X is arranged on the fixed connecting plate 52 to servomotor 55, X to servo motor output shaft couple reductor and To drive gear 56, the X is coordinated with the horizontal tooth bar 48 one X to drive gear 56, so as to drive X to walking dolly 5 according to First, second liang of cross track 411,412 is oriented to and is X to movement, and together with lifting leading arm 6, performs and laterally walk；

The lifting leading arm 6, including,

Outer profile arm 61, is aluminum square casing, is vertically connected to support 51 lateral surface of connecting tube；

Interior shape material arm 62, is arranged in the outer profile arm 61；

Z-direction lift servo motor 63, is arranged at 61 top surface of outer profile arm, and its output shaft couples reductor and ball screw 64 Stretch into interior shape material arm 62；

Ball nut 65, is arranged at interior 62 upper end inwall of shape material arm, is coordinated with ball screw 64, performs outer, inner profile arm Mutual Z-direction stretch；

Proximity switch 66, is arranged at 61 outer wall top of the outer profile arm；

Z axis rotate drive component 67, are arranged at interior 62 lower end of shape material arm.

Further, it is provided with described interior shape material arm and inlays cylinder groove, the titanium of various outer diameter can be inlayed according to design requirement Golden axle.

Also, described Z axis rotate drive component includes servomotor and reductor.

In addition, this utility model also sets a fixture 7, the fixture is installed under the interior shape material arm 62 of the lifting leading arm 6 End, which includes,

Fixture fore beam 71, its central authorities set installation through-hole；

Spring bearing 72, is arranged at 71 front end face of fixture fore beam；

Fixture electric rotating support 73；

Servomotor 74, after being arranged at the fixture electric rotating support 73, its output shaft couples a reductor；Reductor is defeated Go out end and set a gear 75；

Fixture connecting seat 76, including a top board 761 and is connected to the vertically disposed end plate in 761 front end of top board 762；The end plate Central authorities set through hole, before end plate is located at the spring bearing 72；After fixture electric rotating support 73 is connected to top board 761, the gear 75 are engaged with the spring bearing 72；

Left and right clip claw assembly 77,77 ', is respectively arranged at 71 both sides of fixture fore beam, and the left and right clip claw assembly 77 is (with a left side As a example by clip claw assembly 77, similarly hereinafter) include,

Clamping seats 771, it is L-shaped；One side is located at 71 back side both sides of fixture fore beam, and opposite side is forward extended out, the side While setting through hole, the lateral surface of correspondence through hole sets clamping cylinder installing plate 772；

Slide rail 773 and its top shoe 774, slide rail 773 are arranged at before the clamping seats side at 71 back side of fixture fore beam Face；Slide block 774 is arranged on the fixture fore beam 71；

Clamping cylinder 775, its cylinder body are fixed on the clamping cylinder installing plate 772, and its piston rod end is connected to folder Tool 71 front end face of fore beam；

Synchronous holder assembly 776 is clamped, 71 back side of fixture fore beam is arranged at, which includes,

Sync block 7761, is a framework, and bottom is connected to fixture front stall back；

Synchromesh gear 7762 is clamped, is arranged in 7761 framework of the sync block by connecting shaft；

Left and right synchronous tooth bar 7763,7763 ', one end are respectively protruding into the interior synchromesh gear that clamps of sync block 7761 about 7762, Engage with the clamping synchromesh gear 7762, the other end connects respectively positioned at clamping seats one end of fixture front stall back 71；

Two clamping bar seat boards 78, are respectively arranged at 771 front end of the clamping seats；

Clamping bar 79, is vertically installed in 78 front end face of clamping bar seat board；

Sleeve 8, is arranged at 71 installation through-hole of fixture fore beam；

Rifle 9 is tightened, 71 installation through-hole of fixture fore beam is arranged at；

Protective cover 12, covers at sleeve 8, tightens 9 rear portion of rifle, and 12 front end of protective cover is connected to the fixture fore beam 71 and carries on the back Face,.

Preferably, 71 front end face both sides of the fixture fore beam set clamping ear mount 712,775 piston rod of the clamping cylinder End connects the clamping ear mount 712.

Preferably, protective case 791 is arranged outside the clamping bar 79.

Preferably, the clamping bar seat board 78 is L-shaped, and its front end face sets a clamping bar up and down respectively.

Preferably, the sleeve 8 is thunderbolt horse sleeve.

Preferably, 71 front end face of clamping bar seat board sets photoswitch 10.

Preferably, 71 front end face of clamping bar seat board divides into proximity switch 11.

Claims (10)

1. a kind of T-shaped robot, it is characterised in that include：

Basic fixed frame, constitutes some portal parallel interval arrangements by some columns and the crossbeam being connected thereto and forms；

Two longitudinally fixed tracks, are set in parallel on the basic fixed frame under some crossbeams, longitudinally fixed track lower edge Length direction sets longitudinal rack；Longitudinally fixed track adopts aluminium section bar；

Transverse shifting rail set, is arranged under two longitudinally fixed tracks, and which includes,

One mobility framework, is made up of first, second cross track and two tie-beams；First, second cross track adopts aluminium section bar；

Two U-shaped wheel groups, are installed on first, second liang of cross track two ends, the U-shaped wheel group include a connecting support seat and Two scroll wheel groups at end face two ends are arranged on, wherein, scroll wheel groups wheel is respectively arranged in longitudinally fixed track interior, wheel seat It is fixed on connecting support seat；The mobility framework rail-guided is vertically moved according to longitudinally fixed；

One synchronous drive shaft, the first cross track being installed on by the fixed seat for being arranged at its both sides in the mobility framework On, it is parallel with the first cross track；Synchronous drive shaft two ends set a Y-direction drive gear respectively, and with this and two longitudinally fixed rails Longitudinal rack engagement under road；

Y-direction servomotor, is arranged on the outside of first cross track, and Y-direction servo motor output shaft passes through reductor and transmission The synchronous drive shaft of part connection, is coordinated by driving synchronous drive shaft and Y-direction drive gear and longitudinal rack, so as to drive the shifting Dynamic framework rail-guided is vertically moved according to longitudinally fixed；

Two cross spacings are switched, and are respectively arranged in the mobility framework both sides on the second cross track；

Horizontal tooth bar, is arranged under second cross track along its length；

, to walking dolly, under the transverse shifting rail set, which is by two support connecting tubes being vertically arranged and admittedly for X Determine connecting plate cooperation, be anchored on lifting leading arm both sides；Two support connecting tube tops are respectively provided with a U-shaped wheel group, the U-shaped wheel Group includes a connecting support seat and is arranged on two scroll wheel groups at end face two ends, and wherein, scroll wheel groups wheel is respectively arranged in Inside first, second cross track, wheel seat is fixed on connecting support seat；

X is arranged on the fixed connecting plate to servomotor, and X couples reductor and an X to driving to servo motor output shaft Gear, the X are coordinated to drive gear with the horizontal tooth bar, so as to drive X to walking dolly according to first, second liang of cross track Guiding is X to movement, and together with lifting leading arm, performs and laterally walk；

The lifting leading arm, including,

Outer profile arm, is aluminum square casing, is vertically connected to the support connecting tube lateral surface；

Interior shape material arm, is arranged in the outer profile arm；

Z-direction lift servo motor, is arranged at outer profile arm top surface, and its output shaft couples reductor and ball screw stretches into interior shape material Arm；

Ball nut, is arranged at interior shape material arm upper end inwall, coordinates with ball screw, performs outer, the mutual Z-direction of inner profile arm and stretches Contracting；

Proximity switch, is arranged at the outer profile arm outer wall top；

Z axis rotate drive component, are arranged at the interior shape material arm lower end.

2. T-shaped robot as claimed in claim 1, it is characterised in that be provided with described interior shape material arm and inlay cylinder groove, can The titanium axle of various outer diameter is inlayed according to design requirement.

3. T-shaped robot as claimed in claim 1, it is characterised in that described Z axis rotate drive component includes servomotor And reductor.

4. T-shaped robot as claimed in claim 1, it is characterised in that also set a fixture, the fixture is installed on the lifting and leads To the interior shape material arm lower end of arm, which includes,

Fixture fore beam, its central authorities set installation through-hole；

Spring bearing, is arranged at the fixture fore beam front end face；

Fixture electric rotating support；

Servomotor, after being arranged at the fixture electric rotating support, its output shaft couples a reductor；Output end of reducer sets one Gear；

Fixture connecting seat, including a top board and is connected to the vertically disposed end plate in top board front end；The end plate central authorities set through hole, end plate Before the spring bearing；After fixture electric rotating support is connected to top board, the gear is engaged with the spring bearing；

Left and right clip claw assembly, is respectively arranged at fixture fore beam both sides, and the left and right clip claw assembly includes,

Clamping seats, it is L-shaped；One side is located at fixture front stall back both sides, and opposite side is forward extended out, and the side sets through hole, The lateral surface of correspondence through hole sets clamping cylinder installing plate；

Slide rail and its top shoe, slide rail are arranged at before the clamping seats side of fixture front stall back；Slide block is arranged at institute State on fixture fore beam；

Clamping cylinder, its cylinder body are fixed on the clamping cylinder installing plate, before its piston rod end is connected to fixture fore beam End face；

Synchronous holder assembly is clamped, the fixture front stall back is arranged at, which includes,

Sync block, is a framework, and bottom is connected to fixture front stall back；

Synchromesh gear is clamped, is arranged in the sync block framework by connecting shaft；

Left and right synchronous tooth bar, one end are respectively protruding in sync block and clamp synchromesh gear up and down, engage with the clamping synchromesh gear, The other end connects respectively positioned at clamping seats one end of fixture front stall back；

Two clamping bar seat boards, are respectively arranged at the clamping seats front end；

Clamping bar, is vertically installed in the clamping bar seat board front end face；

Sleeve, is arranged at the fixture fore beam installation through-hole；

Rifle is tightened, the fixture fore beam installation through-hole is arranged at.

5. T-shaped robot as claimed in claim 4, it is characterised in that the fixture fore beam front end face both sides set clamping ear Seat, the clamping cylinder piston rod end connects the clamping ear mount.

6. T-shaped robot as claimed in claim 4, it is characterised in that be arranged protective case outside the clamping bar.

7. T-shaped robot as claimed in claim 4, it is characterised in that the clamping bar seat board is L-shaped, and its front end face is upper and lower A clamping bar is set respectively.

8. T-shaped robot as claimed in claim 4, it is characterised in that the sleeve is thunderbolt horse sleeve.

9. T-shaped robot as claimed in claim 4, it is characterised in that the clamping bar seat board front end face sets photoswitch.

10. T-shaped robot as claimed in claim 4, it is characterised in that the clamping bar seat board front end face is divided into be close to and opened Close.