CN206840075U - A kind of five axis robots - Google Patents
A kind of five axis robots Download PDFInfo
- Publication number
- CN206840075U CN206840075U CN201720358475.7U CN201720358475U CN206840075U CN 206840075 U CN206840075 U CN 206840075U CN 201720358475 U CN201720358475 U CN 201720358475U CN 206840075 U CN206840075 U CN 206840075U
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- China
- Prior art keywords
- axis
- mechanical arm
- servomotor
- module mechanism
- arm module
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Abstract
The utility model discloses a kind of five axis robots,Including base frame,X-axis mechanical arm module mechanism is by sensing iron bar,Chain supporting groove,Upper silver-colored guide rail,Linear Synchronous chain belt,Stand tube,Limited block,Sliding block,Gear,Inductor and support chain composition,The bottom of X-axis mechanical arm module mechanism is provided with electronic box,The side of X-axis mechanical arm module mechanism is provided with X-axis servomotor module mechanism,X-axis servomotor module mechanism is by the first servomotor,Decelerator and first gear composition,It is arranged on XY axis fixing plate seat mechanisms in X-axis mechanical arm module mechanism,The opposite side of XY axis fixing plate seat mechanisms is provided with Y-axis mechanical arm module mechanism,Five axis robot,Two grasping mechanisms or two rotating mechanisms can be realized simultaneously,Can also one crawl one rotating mechanism come realize work carry,The working conditions such as crawl,Practical application medium velocity is faster,High efficiency,Have good positioning,Precision is accurate,The benefit such as stable.
Description
Technical field
Manipulator technical field is the utility model is related to, is specially a kind of five axis robots.
Background technology
Manipulator is a kind of high-tech automated production equipment developed in recent years.Industry mechanical arm is industrial machine
The important branch of people, its feature is that various expected job tasks can be completed by programming, on construction and performance
The advantages of having people and machine uniqueness concurrently, there are wide application and development prospect in all fields of national economy.With economic technology
Fast-developing today, mechanical automation also obtain high speed development.The manipulator of past this Three Degree Of Freedom, all takes
Z axis single arm type assembles.The problems such as speed is slow, efficiency is low, more single during operation work.
Utility model content
The purpose of this utility model is to provide a kind of five axis robots, asked with solve to propose in above-mentioned background technology
Topic.
In order to solve the above-mentioned technical problem, the utility model provides following technical scheme：A kind of five axis robots, including machine
Mounting, X-axis mechanical arm module mechanism, Y-axis mechanical arm module mechanism, Z2 shaft mechanical arm modules mechanism, Z1 axis robots
Arm module mechanism, Z2 axle servomotor modules mechanism, Z1 axle servomotor modules mechanism, X-axis servomotor module mechanism, fixture
Mechanism, Y1 axle servomotor modules mechanism, Y2 axle servomotor modules mechanism, XY axis fixing plates seat mechanism, YZ2 axis fixing plate seats
Mechanism and YZ1 axis fixing plate seat mechanisms, the X-axis mechanical arm module mechanism are fixed on base frame, the X-axis mechanical arm
Module mechanism is by sensing iron bar, chain supporting groove, upper silver-colored guide rail, Linear Synchronous chain belt, stand tube, limited block, sliding block, gear, sensing
Device and support chain composition, the bottom of the X-axis mechanical arm module mechanism is provided with electronic box, the X-axis mechanical arm module mechanism
Side the X-axis servomotor module mechanism is installed, the X-axis servomotor module mechanism by the first servomotor, subtract
Fast device and first gear form, and are arranged on the XY axis fixing plates seat mechanism in the X-axis mechanical arm module mechanism, described
The opposite side of XY axis fixing plate seat mechanisms is provided with the Y-axis mechanical arm module mechanism, the Y-axis mechanical arm module mechanism
By the upper silver-colored guide rail, the Linear Synchronous chain belt, the stand tube, the limited block, the sliding block, the gear and approach
Switch composition, the YZ1 axis fixing plates seat mechanism and the YZ2 axis fixing plates seat mechanism are fixed on the Y-axis mechanical arm mould
In group mechanism, Y1 axles servomotor module mechanism and the Z1 axles servomotor module mechanism are fixed on the YZ1 axis fixing plates
In seat mechanism, the Y2 axles servomotor module mechanism and the Z2 axles servomotor module mechanism are fixed on the YZ2 axles and consolidated
In fixed board seat mechanism, the Z1 shaft mechanicals arm module mechanism is arranged on the YZ1 axis fixing plates seat mechanism, and the Z2 axles are watched
Motor module mechanism is taken on the YZ2 axis fixing plates seat mechanism, the Z2 axles servomotor module mechanism, the Z1 axles
Servomotor module mechanism, the Y1 axles servomotor module mechanism and the Y2 axles servomotor module mechanism are watched by second
Take motor, speed changer and gear composition, the XY axis fixing plates seat mechanism by fixed flat planar, row flat board reinforcement, cant board,
Wing fagging reinforcement and wing fagging composition, the YZ2 axis fixing plates seat mechanism and the YZ1 axis fixing plates seat mechanism by
Upper lower sectional material installing plate, upper lower sectional material installing plate, installing plate and motor mounting plate composition, the Z2 shaft mechanicals arm module mechanism
With the Z1 shaft mechanicals arm module mechanism by the upper silver-colored guide rail, the Linear Synchronous chain belt, the stand tube, the limit
Position block, the sliding block, the gear and proximity switch composition, the Z2 shaft mechanicals arm module mechanism and the Z1 axles machine
The bottom of tool arm module mechanism is mounted on clamp fixing plate, and the bottom of the clamp fixing plate is provided with cylinder, the gas
The bottom of cylinder is provided with the clamp mechanism, and the clamp mechanism includes crawl fixture and swivel plate.
Further, first servomotor is connected with decelerator by rotating shaft, and the decelerator leads to first gear
Cross rotating shaft connection.
Further, second servomotor is connected with speed changer by rotating shaft, and the speed changer is with gear by turning
Axis connection.
Further, the XY axis fixing plates seat mechanism loads onto Y-axis mechanical arm module mechanism and reaches connection.
Further, the Z1 axles servomotor module mechanism and Z2 axle servomotor modules mechanism consolidate with YZ1 axles respectively
Fixed board seat mechanism and YZ2 axis fixing plates seat mechanism complete overlap joint.
Compared with prior art, the beneficial effect that the utility model is reached is：Five axis robot, Z axis using
Z2 shaft mechanicals arm module mechanism and Z1 shaft mechanicals arm module mechanism coordinate with Y-axis mechanical arm module planar linkage building simultaneously,
It is attached using YZ2 axis fixing plates seat mechanism and YZ1 axis fixing plate seat mechanisms, Z2 shaft mechanical arm module machines is used in Z axis
When structure and Z1 shaft mechanical arm module mechanisms, it can also can be grabbed simultaneously using crawl fixture or two swivel plates using one
Take the swivel plate of fixture one realize work carry, crawl etc. working condition, practical application medium velocity faster, high efficiency, have good positioning,
The benefits such as precision is accurate, stabilization.
Brief description of the drawings
Accompanying drawing is used for providing further understanding to of the present utility model, and a part for constitution instruction, with this practicality
New embodiment is used to explain the utility model together, does not form to limitation of the present utility model.In the accompanying drawings：
Fig. 1 is one of overall structure diagram of the present utility model；
Fig. 2 is the two of overall structure diagram of the present utility model；
Fig. 3 is front view of the present utility model；
Fig. 4 is side view of the present utility model；
Fig. 5 is top view of the present utility model；
In figure：1- base frames；2-X shaft mechanical arm modules mechanism；3-Y shaft mechanical arm modules mechanism；4-Z2 shaft mechanicals
Arm module mechanism；5-Z1 shaft mechanical arm modules mechanism；6-Z2 axle servomotor modules mechanism；7-Z1 axle servomotor modules
Mechanism；8-X axle servomotor modules mechanism；9- electronic boxs；10- senses iron bar；11- chain supporting grooves；The upper silver-colored guide rails of 12-；13- straight lines
Synchronous chain belt；14- stand tubes；15- clamp mechanisms；16-Y1 axle servomotor modules mechanism；17-Y2 axle servomotor module machines
Structure；18-XY axis fixing plate seat mechanisms；19- gears；20- speed changers；The servomotors of 21- second；22- captures fixture；23- rotates
Plate；24- cylinders；25- clamp fixing plates；26-YZ2 axis fixing plate seat mechanisms；27-YZ1 axis fixing plate seat mechanisms.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1-5 are referred to, the utility model provides a kind of technical scheme：A kind of five axis robots, including base frame 1, X-axis
Mechanical arm module mechanism 2, Y-axis mechanical arm module mechanism 3, Z2 shaft mechanical arm modules mechanism 4, Z1 shaft mechanical arm modules
Mechanism 5, Z2 axle servomotor modules mechanism 6, Z1 axle servomotor modules mechanism 7, X-axis servomotor module mechanism 8, clamp machine
Structure 15, Y1 axle servomotor modules mechanism 16, Y2 axle servomotor modules mechanism 17, XY axis fixing plates seat mechanism 18, YZ2 axles
Fixed plate seat mechanism 26 and YZ1 axis fixing plates seat mechanism 27, X-axis mechanical arm module mechanism 2 are fixed on base frame 1, X-axis machine
Tool arm module mechanism 2 is by sensing iron bar 10, chain supporting groove 11, upper silver-colored guide rail 12, Linear Synchronous chain belt 13, stand tube 14, spacing
Block, sliding block, gear, inductor and support chain composition, the bottom of X-axis mechanical arm module mechanism 2 is provided with electronic box 9, X-axis manipulator
The side of arm module mechanism 2 is provided with X-axis servomotor module mechanism 8, and X-axis servomotor module mechanism 8 is by the first servo electricity
Machine, decelerator and first gear form, and are arranged on XY axis fixing plates seat mechanism 18 in X shaft mechanical arm modules mechanism 2, XY
The opposite side of axis fixing plate seat mechanism 18 is provided with Y-axis mechanical arm module mechanism 3, and Y-axis mechanical arm module mechanism 3 is by upper
Silver-colored guide rail 12, Linear Synchronous chain belt 13, stand tube 14, limited block, sliding block, gear and proximity switch composition, YZ1 axis fixing plate seats
Mechanism 27 and YZ2 axis fixing plates seat mechanism 26 are fixed in Y-axis mechanical arm module mechanism 3, Y1 axle servomotor modules mechanism
16 and Z1 axle servomotor modules mechanism 7 is fixed in YZ1 axis fixing plates seat mechanism 27, the He of Y2 axle servomotor modules mechanism 17
Z2 axle servomotor modules mechanism 6 is fixed in YZ2 axis fixing plates seat mechanism 26, and Z1 shaft mechanical arm modules mechanism 5 is arranged on
On YZ1 axis fixing plates seat mechanism 27, Z2 axle servomotor modules mechanism 6 is arranged on YZ2 axis fixing plates seat mechanism 26, and Z2 axles are watched
Take motor module mechanism 6, Z1 axle servomotor modules mechanism 7, Y1 axle servomotor modules mechanism 16 and Y2 axle servomotor moulds
Group mechanism 17 formed by the second servomotor 21, speed changer 20 and gear 19, XY axis fixing plates seat mechanism 18 by fixed flat planar,
Row flat board reinforcement, cant board, wing fagging reinforcement and wing fagging composition, YZ2 axis fixing plates seat mechanism 26 and YZ1 axles
Fixed plate seat mechanism 27 forms by upper lower sectional material installing plate, upper lower sectional material installing plate, installing plate and motor mounting plate, Z2 axle machines
Tool arm module mechanism 4 and Z1 shaft mechanical arm modules mechanism 5 are by upper silver-colored guide rail 12, Linear Synchronous chain belt 13, stand tube
14th, limited block, sliding block, gear and proximity switch composition, Z2 shaft mechanical arm modules mechanism 4 and Z1 shaft mechanical arm modules mechanism
5 bottom is mounted on clamp fixing plate 25, and the bottom of clamp fixing plate 25 is provided with cylinder 24, and the bottom of cylinder 24 is provided with
Clamp mechanism 15, clamp mechanism 15 include crawl fixture 22 and swivel plate 23.
Further, the first servomotor is connected with decelerator by rotating shaft, and decelerator is connected with first gear by rotating shaft
Connect.
Further, the second servomotor 21 is connected with speed changer 20 by rotating shaft, and speed changer 20 is with gear 19 by turning
Axis connection.
Further, XY axis fixing plates seat mechanism 18 loads onto Y-axis mechanical arm module mechanism 3 and reaches connection.
Further, Z1 axles servomotor module mechanism 7 and Z2 axle servomotor modules mechanism 6 are fixed with YZ1 axles respectively
Panel seat mechanism 27 and YZ2 axis fixing plates seat mechanism 26 complete overlap joint.
Operation principle：During work, Z axis is using Z2 shaft mechanical arm modules mechanism 4 and Z1 shaft mechanical arm module machines
Structure 5 coordinates with the overlap joint of Y-axis mechanical arm module mechanism 3 simultaneously, uses YZ2 axis fixing plates seat mechanism 26 and YZ1 axis fixing plate seats
Mechanism 27 is attached, can be with when Z axis uses Z2 shaft mechanical arm modules mechanism 4 and Z1 shaft mechanical arm module mechanism 5
Simultaneously using crawl fixture 22 or two swivel plates 23, it can also realize that work is removed using a crawl swivel plate 23 of fixture 22 1
The working conditions such as fortune, crawl, practical application medium velocity faster, high efficiency, have good positioning, precision is accurate, the benefit such as stable.
Finally it should be noted that：Preferred embodiment of the present utility model is the foregoing is only, is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it can still modify to the technical scheme described in foregoing embodiments, or to which part technical characteristic
Carry out equivalent substitution.All any modification, equivalent substitution and improvements within the spirit and principles of the utility model, made etc.,
It should be included within the scope of protection of the utility model.
Claims (5)
1. a kind of five axis robots, including base frame (1), X-axis mechanical arm module mechanism (2), Y-axis mechanical arm module mechanism
(3), Z2 shaft mechanicals arm module mechanism (4), Z1 shaft mechanical arm module mechanisms (5), Z2 axle servomotor module mechanisms (6),
Z1 axle servomotor module mechanisms (7), X-axis servomotor module mechanism (8), clamp mechanism (15), Y1 axle servomotor modules
Mechanism (16), Y2 axle servomotor module mechanisms (17), XY axis fixing plates seat mechanism (18), YZ2 axis fixing plates seat mechanism (26)
With YZ1 axis fixing plates seat mechanism (27), it is characterised in that：The X-axis mechanical arm module mechanism (2) is fixed on base frame (1)
On, the X-axis mechanical arm module mechanism (2) is by sensing iron bar (10), chain supporting groove (11), upper silver-colored guide rail (12), Linear Synchronous
Chain belt (13), stand tube (14), limited block, sliding block, gear, inductor and support chain composition, the X-axis mechanical arm module mechanism
(2) bottom is provided with electronic box (9), and the side of the X-axis mechanical arm module mechanism (2) is provided with the X-axis servomotor
Module mechanism (8), the X-axis servomotor module mechanism (8) are made up of the first servomotor, decelerator and first gear, institute
State and be arranged on XY axis fixing plates seat mechanism (18) in the X-axis mechanical arm module mechanism (2), the XY axis fixing plates base
The opposite side of structure (18) is provided with the Y-axis mechanical arm module mechanism (3), and the Y-axis mechanical arm module mechanism (3) is by institute
State silver-colored guide rail (12), the Linear Synchronous chain belt (13), the stand tube (14), the limited block, the sliding block, the tooth
Wheel and proximity switch composition, the YZ1 axis fixing plates seat mechanism (27) and the YZ2 axis fixing plates seat mechanism (26) are fixed on institute
State in Y-axis mechanical arm module mechanism (3), Y1 axle servomotor module mechanisms (16) and the Z1 axles servomotor module mechanism
(7) it is fixed in the YZ1 axis fixing plates seat mechanism (27), the Y2 axles servomotor module mechanism (17) and the Z2 axles are watched
Take motor module mechanism (6) to be fixed in the YZ2 axis fixing plates seat mechanism (26), the Z1 shaft mechanicals arm module mechanism
(5) it is arranged on the YZ1 axis fixing plates seat mechanism (27), the Z2 axles servomotor module mechanism (6) is arranged on the YZ2
On axis fixing plate seat mechanism (26), the Z2 axles servomotor module mechanism (6), the Z1 axles servomotor module mechanism (7),
The Y1 axles servomotor module mechanism (16) and the Y2 axles servomotor module mechanism (17) are by the second servomotor
(21), speed changer (20) and gear (19) composition, the XY axis fixing plates seat mechanism (18) are strengthened by fixed flat planar, row flat board
Muscle, cant board, wing fagging reinforcement and wing fagging composition, the YZ2 axis fixing plates seat mechanism (26) and the YZ1 axles are consolidated
Fixed board seat mechanism (27) forms by upper lower sectional material installing plate, upper lower sectional material installing plate, installing plate and motor mounting plate, the Z2
Shaft mechanical arm module mechanism (4) and the Z1 shaft mechanicals arm module mechanism (5) are by the upper silver-colored guide rail (12), described straight
Line locking chain belt (13), the stand tube (14), the limited block, the sliding block, the gear and proximity switch composition,
The bottom of the Z2 shaft mechanicals arm module mechanism (4) and the Z1 shaft mechanicals arm module mechanism (5) is mounted on fixture and consolidated
Fixed board (25), the bottom of the clamp fixing plate (25) are provided with cylinder (24), and the bottom of the cylinder (24) is provided with described
Clamp mechanism (15), the clamp mechanism (15) include crawl fixture (22) and swivel plate (23).
A kind of 2. five axis robot according to claim 1, it is characterised in that：First servomotor leads to decelerator
Rotating shaft connection is crossed, the decelerator is connected with first gear by rotating shaft.
A kind of 3. five axis robot according to claim 1, it is characterised in that：Second servomotor (21) and speed change
Device (20) is connected by rotating shaft, and the speed changer (20) is connected with gear (19) by rotating shaft.
A kind of 4. five axis robot according to claim 1, it is characterised in that：XY axis fixing plates seat mechanism (18) dress
Upper Y-axis mechanical arm module mechanism (3) reaches connection.
A kind of 5. five axis robot according to claim 1, it is characterised in that：The Z1 axles servomotor module mechanism
(7) and Z2 axle servomotor module mechanisms (6) respectively with YZ1 axis fixing plates seat mechanism (27) and YZ2 axis fixing plate seat mechanisms
(26) overlap joint is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720358475.7U CN206840075U (en) | 2017-04-06 | 2017-04-06 | A kind of five axis robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720358475.7U CN206840075U (en) | 2017-04-06 | 2017-04-06 | A kind of five axis robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206840075U true CN206840075U (en) | 2018-01-05 |
Family
ID=60791562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720358475.7U Expired - Fee Related CN206840075U (en) | 2017-04-06 | 2017-04-06 | A kind of five axis robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206840075U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705521A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of five axis truss robots |
| CN110103206A (en) * | 2019-06-11 | 2019-08-09 | 湖北火爆机器人科技有限公司 | A kind of six axis truss robots |
| CN110525856A (en) * | 2019-08-23 | 2019-12-03 | 南安市商宏机械科技有限公司 | Automatic clamping and placing goods mechanical hand in a kind of storage warehouse |
-
2017
- 2017-04-06 CN CN201720358475.7U patent/CN206840075U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705521A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of five axis truss robots |
| CN110103206A (en) * | 2019-06-11 | 2019-08-09 | 湖北火爆机器人科技有限公司 | A kind of six axis truss robots |
| CN110525856A (en) * | 2019-08-23 | 2019-12-03 | 南安市商宏机械科技有限公司 | Automatic clamping and placing goods mechanical hand in a kind of storage warehouse |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180105 Termination date: 20210406 |
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| CF01 | Termination of patent right due to non-payment of annual fee |