CN207087918U - A kind of robot high-speed high-precision tractor system - Google Patents
A kind of robot high-speed high-precision tractor system Download PDFInfo
- Publication number
- CN207087918U CN207087918U CN201720994402.7U CN201720994402U CN207087918U CN 207087918 U CN207087918 U CN 207087918U CN 201720994402 U CN201720994402 U CN 201720994402U CN 207087918 U CN207087918 U CN 207087918U
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- Prior art keywords
- motion
- line motor
- robot
- baffle plate
- precision
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a kind of robot high-speed high-precision tractor system, including robot body, support, motion baffle plate and motion base, the top of support is provided with motion baffle plate, motion base is provided with the top of motion baffle plate, the bottom of line slideway is provided with line motor stator, the bottom of line motor stator is provided with line motor mover, line motor mover is internally provided with iron core, the bottom of line motor mover is provided with fixed bottom plate, the side of fixed bottom plate is provided with grating scale, the bottom of fixed bottom plate is provided with robot body, fixed seat is provided with the top of robot body, the bottom of fixed seat is provided with mechanical arm.The utility model uses linear servo system+linear guides+grating closed-loop scheme, improves platform translational speed, improves precision, for hanging upside down robot architecture, mitigate the downward bearing capacity of sliding block, gently change overall slide block structure and relevant design, extend the service life of sliding block.
Description
Technical field
A kind of tractor is the utility model is related to, more particularly to a kind of robot high-speed high-precision tractor system.
Background technology
Series connection articulated robot the movement at present either lifting of day rail or track are directly filled, and traditional actuator is used and watched
Dress system+reductor+rack-and-pinion+linearity extensible guide structure scheme, because the backlash of reductor and the gap of rack-and-pinion influence,
So that the traditional structure positioning precision, repetitive positioning accuracy be not high, noise is big, comparative lifetime is shorter, over time and equipment
Further aging, positioning precision and repetitive positioning accuracy can further decline, while higher to clamp structure design requirement, generally
The mechanism positioning precision is ± 0.05mm, and translational speed is restricted, and zero clearance reductor and rack-and-pinion manufacturing cost
And maintenance cost is very high, otherwise for upside-down mounting robot mechanism, robot+associated clamps/additional arm gross weight all by
Guide rail slide block carries, and sliding block type selecting is higher by complete 1.5 times of type selectings of load and design, overall cost and Structural Design Requirement.
Utility model content
The technical problems to be solved in the utility model is the defects of overcoming prior art, there is provided a kind of robot high speed and super precision
Close tractor system, using linear servo system+linear guides+grating closed-loop scheme, platform translational speed is improved, is improved
Precision, for hanging upside down robot architecture, mitigate the downward carrying of sliding block, gently change overall slide block structure, extend sliding block uses the longevity
Life.
In order to solve the above-mentioned technical problem, the utility model provides following technical scheme：
A kind of robot high-speed high-precision tractor system of the utility model, including robot body, support, motion gear
Plate and motion base, the top of the support are provided with motion baffle plate, motion base, institute are provided with the top of the motion baffle plate
State and line slideway is provided with motion base, the bottom of the line slideway is provided with line motor stator, the line motor
The bottom of stator is provided with line motor mover, and the line motor mover is internally provided with iron core, and the line motor moves
The bottom of son is provided with fixed bottom plate, and the side of the fixed bottom plate is provided with grating scale, and the bottom of the fixed bottom plate is set
There is robot body, fixed seat is provided with the top of the robot body, the bottom of the fixed seat is provided with mechanical arm.
As a kind of optimal technical scheme of the present utility model, the support and motion base are fixed with motion baffle plate and connected
Connect.
As a kind of optimal technical scheme of the present utility model, the number of the motion baffle plate is two.
As a kind of optimal technical scheme of the present utility model, the line motor stator is fixedly connected with motion base.
Compared with prior art, the beneficial effects of the utility model are as follows：
The utility model uses linear servo system+linear guides+grating closed-loop scheme, improves platform translational speed,
Precision is improved, realizes high-grade positioning precision, for hanging upside down robot architecture, the straight line horse of ribbon core structure high thrust can be selected
Up to mover, and hang upside down the gravity such as overall robot body, additional arm, fixture completely by flat line motor magnetic links forever
Magnetic force is offset, and in most cases, in the case that system requirements is more than 0.4G acceleration, linear motor permanent magnetic attraction is general all big
In overall weight, thus the downward gravity of the script of the sliding block carrying on guide rail and be changed to because of the absorption affinity effect of permanent magnetism to
On, so as to mitigate the downward carrying of sliding block significantly, gently change overall slide block structure and relevant design, extend the service life of sliding block.
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 overall structure diagram of the present utility model；
In figure：1st, line motor stator；2nd, robot body；3rd, line motor mover；4th, line slideway；5th, grating scale；
6th, fixed bottom plate；7th, support；8th, motion baffle plate；9th, motion base；10th, fixed seat；11st, mechanical arm；12nd, iron core.
Embodiment
Preferred embodiment of the present utility model is illustrated below in conjunction with accompanying drawing, it will be appreciated that described herein excellent
Select embodiment to be merely to illustrate and explain the utility model, be not used to limit the utility model.
Embodiment 1
As shown in figure 1, the utility model provides a kind of robot high-speed high-precision tractor system, including robot sheet
Body 2, support 7, motion baffle plate 8 and motion base 9, the top of support 7 are provided with motion baffle plate 8, and the top of motion baffle plate 8 is set
There is motion base 9, line slideway 4 is provided with motion base 9, the bottom of line slideway 4 is provided with line motor stator 1, directly
The bottom of line motor stator 1 is provided with line motor mover 3, and line motor mover 3 is internally provided with iron core 12, line motor
The bottom of mover 3 is provided with fixed bottom plate 6, and the side of fixed bottom plate 6 is provided with grating scale 5, and the bottom of fixed bottom plate 6 is provided with
Robot body 2, the top of robot body 2 are provided with fixed seat 10, and the bottom of fixed seat 10 is provided with mechanical arm 11.
Further, support 7 and motion base 9 are fixedly connected with motion baffle plate 8, and overall structure is supported by support 7,
The top of motion baffle plate 8 is fixed on by the suspension of motion base 9, being internally provided with chute in motion base 9 forms line slideway 4,
Pass through the motion of the supporting movement base 9 of motion baffle plate 8 and obstruction mechanical arm 11.
The number of motion baffle plate 8 is two, by two supporting movement bases 9 of motion baffle plate 8 and stops mechanical arm 11
Motion.
Line motor stator 1 is fixedly connected with motion base 9, and line motor stator 1 is fixed by motion base 9.
Specifically, being fixed on the top of motion baffle plate 8 by the suspension of motion base 9, chute is internally provided with motion base 9
Line slideway 4 is formed, will be fixed by screw by the motion of the supporting movement base 9 of motion baffle plate 8 and obstruction mechanical arm 11
Seat 10 is fixed on fixed bottom plate 6, and by the way that fixed bottom plate 6 is installed on line slideway 4, line motor mover 3 is positioned at fixation
In chute between bottom plate 6 and line slideway 4, so that fixed bottom plate 6 drives robot body 2 to be slided in chute, for falling
Robot architecture is hung, by the line motor mover 3 of the structure high thrust of ribbon core 12, it is complete to hang upside down the overall gravity of robot body 2
Offset entirely by the permanent magnetic of flat line motor magnetic links, in most cases, when system requirements is more than the feelings of 0.4G acceleration
Under condition, linear motor permanent magnetic attraction is typically greater than overall weight, thus the downward gravity of the script of the sliding block carrying on guide rail
And because permanent magnetism absorption affinity effect and be changed to upwards, so as to significantly mitigate sliding block downward carrying, central control system according to
The instruction of program and correlation is set, and control machine people mobile platform moves to target location respectively, and then coordinating robot is related
Action.
The utility model uses linear servo system+linear guides+grating closed-loop scheme, improves platform translational speed,
Precision is improved, realizes high-grade positioning precision, for hanging upside down robot architecture, the straight line of the structure high thrust of ribbon core 12 can be selected
Motor mover 3, and the gravity for hanging upside down overall robot body 2 is offset by the permanent magnetic of flat line motor magnetic links completely,
In most cases, in the case that system requirements is more than 0.4G acceleration, linear motor permanent magnetic attraction is typically greater than total weight
Amount, thus the downward gravity of script of the sliding block carrying on guide rail and be changed to because of the absorption affinity effect of permanent magnetism upwards, so as to
Mitigate the downward carrying of sliding block significantly, gently change overall slide block structure and relevant design, extend the service life of sliding block.
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 (4)
1. a kind of robot high-speed high-precision tractor system, including robot body (2), support (7), motion baffle plate (8)
With motion base (9), it is characterised in that the top of the support (7) is provided with motion baffle plate (8), the motion baffle plate (8)
Top is provided with motion base (9), and line slideway (4), the bottom of the line slideway (4) are provided with the motion base (9)
Portion is provided with line motor stator (1), and the bottom of the line motor stator (1) is provided with line motor mover (3), described straight
Line motor mover (3) is internally provided with iron core (12), and the bottom of the line motor mover (3) is provided with fixed bottom plate (6),
The side of the fixed bottom plate (6) is provided with grating scale (5), and the bottom of the fixed bottom plate (6) is provided with robot body
(2) fixed seat (10), is provided with the top of the robot body (2), the bottom of the fixed seat (10) is provided with mechanical arm
(11)。
A kind of 2. robot high-speed high-precision tractor system according to claim 1, it is characterised in that the support
(7) it is fixedly connected with motion base (9) with motion baffle plate (8).
A kind of 3. robot high-speed high-precision tractor system according to claim 1, it is characterised in that the motion
The number of baffle plate (8) is two.
A kind of 4. robot high-speed high-precision tractor system according to claim 1, it is characterised in that the straight line
Motor stator (1) is fixedly connected with motion base (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720994402.7U CN207087918U (en) | 2017-08-10 | 2017-08-10 | A kind of robot high-speed high-precision tractor system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720994402.7U CN207087918U (en) | 2017-08-10 | 2017-08-10 | A kind of robot high-speed high-precision tractor system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207087918U true CN207087918U (en) | 2018-03-13 |
Family
ID=61544857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720994402.7U Expired - Fee Related CN207087918U (en) | 2017-08-10 | 2017-08-10 | A kind of robot high-speed high-precision tractor system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207087918U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487425A (en) * | 2020-04-26 | 2020-08-04 | 徐州泰瑞仪器设备有限公司 | Inverted mobile robot coal sample preparation and testing system |
-
2017
- 2017-08-10 CN CN201720994402.7U patent/CN207087918U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487425A (en) * | 2020-04-26 | 2020-08-04 | 徐州泰瑞仪器设备有限公司 | Inverted mobile robot coal sample preparation and testing system |
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| 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: 20180313 |