CN207915465U - A kind of multiaxis transportation robot - Google Patents
A kind of multiaxis transportation robot Download PDFInfo
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- CN207915465U CN207915465U CN201820011545.6U CN201820011545U CN207915465U CN 207915465 U CN207915465 U CN 207915465U CN 201820011545 U CN201820011545 U CN 201820011545U CN 207915465 U CN207915465 U CN 207915465U
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Abstract
The utility model provides a kind of multiaxis transportation robot, including first axis sliding equipment, the second axial sliding mechanism and third axial sliding mechanism, and third axial sliding mechanism front end is provided with mechanical gripper；Third axial sliding mechanism includes axis sliding box, axis sliding box is fixed on close to the side plate of the second axial sliding mechanism on turntable, two pieces of slide units are arranged in parallel with above bottom plate in axis sliding box from bottom to top, the bottom surface of lower section slide unit is configured with nut, nut is configured with third lead screw, the both ends of third lead screw are fixed by rolling bearing on bottom plate, third lead screw drives its rotation by the driving motor on bottom plate, the first rack is fixed on side plate, the second rack is arranged in the bottom surface of top slide unit, is provided with several coaxial secondary gears between slide unit and lower section slide unit above.The movement in multiaxis direction integrally may be implemented in the robot of the utility model, and scope of activities is wide, can adapt to the crawl transportation demand in various productions.
Description
Technical field
The utility model is related to mechanicnl manufacture and automation fields, and in particular to arrive a kind of multiaxis transportation robot.
Background technology
Industrial robot automatic production line complete set of equipments has become the mainstream and the developing direction in future of automated arm.
The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery largely use industrial robot automatic production line, with
Ensure product quality, improves production efficiency, while avoiding a large amount of industrial accident.The work of the whole world many national nearly half a century
The using practice of industry robot shows that the universal of industrial robot is to realize automated production, improves social production efficiency, pushes
The effective means of enterprise and social productive forces development.
But the load of existing robot is generally all relatively low, and stroke is shorter, its stroke is no more than certainly under normal circumstances
The 2/3 of body length, and stability, there is also many deficiencies for flexibility.
Utility model content
A kind of the advantages of multiaxis transportation robot of the utility model offer, the multiaxis transportation robot, is：1. can be real
Existing high load transport, highest load is up to 100KG or more；2. the mechanical arm on top being capable of complete longer-distance stretching, extension fortune
It is dynamic；3. using two-stage gear, has the function of speed change so that the slide unit sliding speed of top is more than the sliding speed of lower section slide unit
Degree so that the slide unit of top can be quickly, which slide to front end, carries out crawl operation；4. passing through rack-and-pinion, screw slide rails etc. simultaneously
Structure links, and stability is strong；5. speed is fast, servo motor can be with high-speed rotation；6. noise is small, whole to be rubbed using rolling
It wipes.Concrete scheme is as follows：
A kind of multiaxis transportation robot, including first axis sliding equipment, the second axial sliding mechanism and third are axial
Sliding equipment, third axial sliding mechanism front end are provided with mechanical gripper；
The first axis sliding equipment includes first base, and the first axis base top surface is provided with first axis cunning
Rail is configured with slide plate on the first axis sliding rail, first axis rack, the slide plate is fixed on the first axis pedestal
On be provided with and the matched first axis driving device of first axis rack；
Second axial sliding mechanism includes the second axial pedestal, and the described second axial pedestal is vertically fixed on the cunning
On plate, the described second axial pedestal is provided with the second axial drive means and screw-nut structure, the screw-nut structure
Second axial lead screw connects second axial drive means and drives its rotation, configuration to exist by second axial drive means
It is provided with turntable on the nut of described second axial lead screw；
The third axial sliding mechanism includes axis sliding box, and the axis sliding box is close to the side of second axial sliding mechanism
Plate is fixed on the turntable, is arranged in parallel with two pieces of slide units above the bottom plate in the axis sliding box from bottom to top, and lower section is slided
The bottom surface of platform is configured with nut, and the nut is configured with third lead screw, and the both ends of the third lead screw are fixed by rolling bearing
On the bottom plate, the third lead screw drives its rotation by the driving motor on bottom plate, and the first rack is fixed on the side plate,
The second rack is arranged in the bottom surface of top slide unit, is provided with several coaxial secondary gears between slide unit and lower section slide unit above, respectively
The rotation axis of the coaxial secondary gear is fixed on the top surface of lower section slide unit, and the coaxial secondary gear includes being nibbled with the first rack
The pinion gear of conjunction, and the gear wheel that is meshed with the second rack.
Further, the first sliding rail is provided on the bottom plate, the top surface of lower section slide unit is provided with the second sliding rail, and top is slided
The bottom surface of platform and lower section slide unit is provided with sliding block, and the sliding block of lower section slide unit bottom surface configures on the first sliding rail, top slide unit bottom surface
Sliding block configure on the second sliding rail.
Further, the bottom plate front end is provided with block, when lower section slide unit forward slip is to pre-determined distance, by the gear
The sliding block of block blocking lower section slide unit bottom surface continues forward.
Further, the mechanical gripper is provided with clamping cylinder and rotary cylinder, the clamping jaw of the mechanical gripper and institute
It states clamping cylinder to be connected, the rotary cylinder is connected with the shaft of the mechanical gripper.
Further, each slide unit upper surface is mounted on several bearing blocks, the rotation of each coaxial secondary gear
Axis is fixed on the top surface of lower section slide unit each by a bearing block.
Further, top slide unit front end is vertically installed with fixed plate, and the mechanical gripper is fixed on the fixation
Front edge of board.
Further, second axial drive means are connect by shaft coupling with the leading screw.
The utility model has the advantage of：
1. the movement in multiaxis direction integrally may be implemented in robot, scope of activities is wide, can adapt to grabbing in various productions
Take transportation demand.
2. whole use rolling friction, sliding rail is provided at the position of sliding, operation noise is small, reduces frictional resistance,
Improve sliding efficiency；
3. it is simple in structure, occupy small, easy to process and installation maintenance；
4. being linked by structures such as rack-and-pinion, screw slide rails, stability is strong；
5. third axial sliding mechanism is only with a driving motor, you can the sliding in the same direction simultaneously of multilayer slide unit is driven, it is real
Sliding compared with long-range can be carried out by having showed the mechanical arm of slide unit front end；
6. using coaxial secondary gear, which may be implemented to become there are two the gear of different perimeters
The slide unit sliding speed of fast function, top is greater than bottom slide unit sliding speed；
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new
Some embodiments of type for those of ordinary skill in the art without having to pay creative labor, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of schematic diagram of multiaxis transportation robot provided by the utility model in an embodiment；
Fig. 2 is the schematic diagram of the first axis sliding equipment of multiaxis transportation robot in an embodiment；
Fig. 3 is the schematic diagram of the second axial sliding mechanism of multiaxis transportation robot in an embodiment；
Fig. 4-5 is the schematic diagram of third axial sliding mechanism in an embodiment；
Fig. 6 is the schematic diagram that coaxial secondary gear is engaged with the gear on upper and lower both sides respectively in an embodiment；
Fig. 7-8 is the schematic diagram of coaxial secondary gear in an embodiment.
Specific implementation mode
In the following description, a large amount of concrete details are given more thoroughly to manage in order to provide to the utility model
Solution.It is, however, obvious to a person skilled in the art that the utility model may not need it is one or more of these thin
It saves and is carried out.In other examples, in order to avoid obscuring with the utility model, for more well known in the art
Technical characteristic is not described.
In order to thoroughly understand the utility model, detailed step and detailed structure will be proposed in following description,
To illustrate the technical solution of the utility model.The preferred embodiment of the utility model is described in detail as follows, however in addition to these
Detailed description is outer, and the utility model can also have other embodiment.
The utility model provides a kind of multiaxis transportation robot, including first axis (X-axis) sliding equipment, second are axially
(Y-axis) sliding equipment and axial (Z axis) sliding equipment of third, third axial sliding mechanism front end is provided with mechanical gripper；
First axis sliding equipment includes first axis pedestal 1, and 1 top surface of first axis pedestal is provided with first axis sliding rail
3, slide plate 4 is configured on first axis sliding rail, first axis rack 2 is provided on first axis pedestal, be provided on slide plate 4 with
2 matched first axis driving device 5 of first axis rack；
Second axial sliding mechanism includes the second axial pedestal 6, and the second axial pedestal 6 is vertically fixed on slide plate 4, the
Two axial pedestals 6 are provided with the second axial drive means 16 and screw-nut structure, and the first lead screw 14 of screw-nut structure connects
It connects the second axial drive means 16 and drives its rotation by the second axial drive means 16, configure the nut 34 in the first lead screw 14
On be provided with turntable；
Third axial sliding mechanism includes axis sliding box 8, and axis sliding box 8 is fixed close to the side plate 32 of the second axial sliding mechanism
On turntable, two pieces of slide units are arranged in parallel with above the bottom plate 27 in axis sliding box 8 from bottom to top, the bottom surface of lower section slide unit 21 is matched
It is equipped with nut 25, third lead screw 24 is configured in nut 25, bottom plate 27 is fixed in the both ends of third lead screw 24 by rolling bearing
On, third lead screw 24 drives its rotation by the driving motor (not shown) on bottom plate, and the first rack 22 is fixed on side plate 32, on
The second rack 20 is arranged in the bottom surface of square slide unit 9, is provided with several coaxial secondary gears between slide unit 9 and lower section slide unit 21 above
Wheel 19, the rotation axis of each coaxial secondary gear 19 are fixed on the top surface of lower section slide unit 21, and coaxial secondary gear includes and the first tooth
The pinion gear 19a that item 22 engages, and the gear wheel 19b that is meshed with the second rack 20.
In one optional embodiment of the utility model, the first sliding rail 7, the upper surface of top slide unit are provided on bottom plate 27
It is provided with the second sliding rail 26, and each slide unit bottom is both provided with sliding block 29；The sliding block 29 of lower section slide unit 21 is stuck in the first sliding rail 7
On, the sliding block 29 of top slide unit 9 is stuck on the second sliding rail 26 of lower section 21 upper surface of slide unit.
In one optional embodiment of the utility model, 27 front end of bottom plate is provided with block 31, and lower section slide unit 21 is to advancing slip
When moving to pre-determined distance, the sliding block 29 of lower section slide unit bottom is stopped by block 31, to stop that each slide unit continues forward slip, is avoided
It slides and exceeds controlled range.
In one optional embodiment of the utility model, mechanical gripper includes handgrip, clamping cylinder 10 and rotary cylinder 11,
Handgrip is connected with clamping cylinder 10, and rotary cylinder 11 is connected with the shaft of handgrip bottom.It can be with by the switch of clamping cylinder 10
The clamping and relaxation for realizing manipulator can complete 90 degree of rotations of manipulator by the switch of rotary cylinder 11.
In one optional embodiment of the utility model, each slide unit upper surface is mounted on bearing block 18, coaxial secondary gear
The rotation axis of wheel 19 is fixed on slide unit upper surface by bearing block 18.Wherein, the pinion gear 19a and canine tooth of coaxial secondary gear 19
19b and rotation axis one are taken turns, the two rotates synchronously and rotating speed is identical.In addition, coaxial secondary gear 19 is also vertical solid by two
Fixed board 19c is reinforced, and the shaft of coaxial secondary gear 19 passes through the through-hole of fixed plate, as Figure 7-8.
The lower surface of axis sliding box 8 is bottom plate 27, and wherein one side is side plate 32, to play the flexible slide unit in protection box body
Structure.
In one optional embodiment of the utility model, top slide unit front end is vertically installed with fixed plate 30, mechanical gripper
It is fixed on 30 front end of fixed plate.When slide unit is got back completely, fixed plate 30 can be closed front end, play protection
The effect for slide unit structure of stretching in box body, is the accuracy of further lifting system, and the rear end of protection box body 8 may also set up sealing
Get up.
In one optional embodiment of the utility model, the second axial drive means 16 pass through shaft coupling 15 and first
Bar 14 connects, and the connecting pin of the first lead screw 14 and shaft coupling 15 is provided with bearing 17.
In one optional embodiment of the utility model, it is additionally provided in the second axial pedestal 6 and positioned at 14 both ends of leading screw
Second axial sliding rail 13 is further fixed on second axial slider 36 of the configuration on the second axial sliding rail 13, the second axis on side plate 32
It is connected to sliding block 36 with turntable.Wherein, turntable is fixed on by axis pin on a fixed block, and fixed block is integrally fixed at the second axis
To on sliding block 36 and nut 34, it is achieved that by third axial sliding mechanism and the second axial slider 36, nut 34 it is same
Moved further.Third axial sliding mechanism can be rotated under the action of turntable simultaneously.
Above-mentioned the 1, second axial direction of first axis pedestal pedestal 6 is that channel steel welding post-processing forms, and bottom plate 27 is that aluminium closes
Gold, which is inlayed, to be composed.
Referring to Fig. 5, the utility model can totally be divided into three parts, and first axis sliding equipment, second slide axially
Mechanism and third axial sliding mechanism, it is to grab that, which there are a manipulator, the main function of manipulator in third axial sliding mechanism front end,
Target object is taken, and 90 degree of rotations may be implemented.The effect of first axis sliding equipment is that target object is made to be slided in X-direction
Dynamic, the effect of the second axial sliding mechanism is that target object is made to be slided in Y direction, and the effect of third axial sliding mechanism is to make
Target object is slided in Z-direction.
The utility model patent course of work is as follows：
First axis sliding equipment moves：Digital-control circuit controls 5 positive and negative rotation of first axis driving device, first axis driving
The gear of device 5 with rack-driving by driving slide plate 4 to be moved along X-direction.
Second axial sliding mechanism moves：Digital-control circuit controls 16 positive and negative rotation of the second axial drive means, the second axial drive
Dynamic device 16 drives leading screw positive and negative rotation, and under the mechanism of leading screw screw pair, leading screw positive and negative rotation drives third to slide axially machine
Structure is moved along Y direction.
Third axial sliding mechanism moves：Digital-control circuit controls 23 positive and negative rotation of driving motor, the driving on driving motor 23
Gear 24 drives lower section slide unit 21 to be moved along Z-direction by being driven with the second rack 25, at the same time, due to the first rack 22
It is fixed on side plate 22 and remains stationary as, and during lower section slide unit 21 slides, drive the coaxial secondary gear on the slide unit 21 of lower section
19 rotation of wheel, the second rack 20 due to being fixed on 9 lower section of top slide unit is engaged with coaxial secondary gear 19, under
While sliding, top slide unit 9 is whole to continue movement in the same direction to square slide unit 21 relative to lower section slide unit 21, sliding to complete top
Platform 9 axially continues mobile in the same direction.Further, since pinion gear 19a and rear end of the coaxial secondary gear 19 with front end
Gear wheel 19b, pinion gear 19a are engaged with the first rack 22, and gear wheel 19b is engaged with the second rack 20, due to gear wheel 19b
Perimeter be more than the perimeter of pinion gear 19a, and pinion gear 19a and gear wheel 19b are synchronous rotations, so that and gear wheel
The distance of the second rack 20 sliding of 19b engagements compares will be more at a distance from the first rack 22 sliding of pinion gear 19a engagements
Far.In practical applications, we can according to transportation demand come select with best perimeter than gear wheel 19b and pinion gear
The coaxial secondary gear 19 that 19a is constituted, to control the sliding distance of each slide unit.To avoid slide unit from skidding off safe distance, I
In the end of the second rack 20, downwardly convex block can be set, be separated to avoid gear wheel 19b and the second rack 20.
Robot movement：Digital-control circuit controls the gas break-make of clamping cylinder 10, rotary cylinder 11, and manipulator is made to complete folder
Tightly, the actions such as relaxation, rotation.Digital-control circuit includes transformer, driver and PLC control system, and each servo motor is logical with cylinder
Device of overdriving is connect with PLC.
The preferred embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as with the common side in this field
Formula is practiced；Any technical person familiar with the field all may be used in the case where not departing from technical solutions of the utility model ambit
Many possible changes and modifications are made to technical solutions of the utility model using the methods and technical content of the disclosure above, or are repaiied
It is changed to the equivalent embodiment of equivalent variations, this has no effect on the substantive content of the utility model.Therefore, every without departing from this practicality
The content of new technique scheme, any simple modification made to the above embodiment of foundation the technical essence of the utility model, etc.
With variation and modification, still fall within technical solutions of the utility model protection in the range of.
Claims (7)
1. a kind of multiaxis transportation robot, which is characterized in that including first axis sliding equipment, the second axial sliding mechanism and
Third axial sliding mechanism, third axial sliding mechanism front end are provided with mechanical gripper；
The first axis sliding equipment includes first base, and the first axis base top surface is provided with first axis sliding rail,
It is configured with slide plate on the first axis sliding rail, is fixed with first axis rack on the first axis pedestal, on the slide plate
It is provided with and the matched first axis driving device of first axis rack；
Second axial sliding mechanism includes the second axial pedestal, and the described second axial pedestal is vertically fixed on the slide plate
On, the second axial pedestal is provided with the second axial drive means and screw-nut structure, and the of the screw-nut structure
Two axial lead screws connect second axial drive means and drive its rotation by second axial drive means, configure in institute
It states and is provided with turntable on the nut of the second axial lead screw；
The third axial sliding mechanism includes axis sliding box, and the axis sliding box is solid close to the side plate of second axial sliding mechanism
It is scheduled on the turntable, is arranged in parallel with two pieces of slide units above the bottom plate in the axis sliding box from bottom to top, lower section slide unit
Bottom surface is configured with nut, and the nut is configured with third lead screw, described in the both ends of the third lead screw are fixed by rolling bearing
On bottom plate, the third lead screw drives its rotation by the driving motor on bottom plate, and the first rack, top are fixed on the side plate
The second rack is arranged in the bottom surface of slide unit, is provided with several coaxial secondary gears between slide unit and lower section slide unit above, each described
The rotation axis of coaxial secondary gear is fixed on the top surface of lower section slide unit, and the coaxial secondary gear includes being engaged with the first rack
Pinion gear, and the gear wheel that is meshed with the second rack.
2. multiaxis transportation robot as described in claim 1, which is characterized in that the first sliding rail is provided on the bottom plate, under
The top surface of square slide unit is provided with the second sliding rail, and the bottom surface of top slide unit and lower section slide unit is provided with sliding block, lower section slide unit bottom surface
Sliding block configures on the first sliding rail, and the sliding block of top slide unit bottom surface configures on the second sliding rail.
3. multiaxis transportation robot as claimed in claim 2, which is characterized in that the bottom plate front end is provided with block, lower section
When slide unit forward slip to pre-determined distance, stop that the sliding block of lower section slide unit bottom surface continues forward by the block.
4. multiaxis transportation robot as described in claim 1, which is characterized in that the mechanical gripper be provided with clamping cylinder and
Rotary cylinder, the clamping jaw of the mechanical gripper are connected with the clamping cylinder, and the rotary cylinder turns with the mechanical gripper
Axis is connected.
5. multiaxis transportation robot as described in claim 1, which is characterized in that each slide unit upper surface is mounted on several
Bearing block, the rotation axis of each coaxial secondary gear are fixed on the top surface of lower section slide unit each by a bearing block.
6. multiaxis transportation robot as described in claim 1, which is characterized in that top slide unit front end is vertically installed with solid
Fixed board, the mechanical gripper are fixed on the fixed front edge of board.
7. multiaxis transportation robot as described in claim 1, which is characterized in that second axial drive means pass through shaft coupling
Device is connect with the leading screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201820011545.6U CN207915465U (en) | 2018-01-04 | 2018-01-04 | A kind of multiaxis transportation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820011545.6U CN207915465U (en) | 2018-01-04 | 2018-01-04 | A kind of multiaxis transportation robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483524A (en) * | 2018-11-09 | 2019-03-19 | 北京迪蒙卡特机床有限公司 | A kind of manipulator shaft constructional device and three-level axis drive method |
| CN109571439A (en) * | 2018-12-29 | 2019-04-05 | 宁波赛普乐科技有限公司 | A kind of gantry robot and its method of adjustment convenient for position adjusting |
| CN110587585A (en) * | 2019-08-15 | 2019-12-20 | 郑州中普医疗器械有限公司 | Can freely snatch manipulator device to slide |
| CN111703879A (en) * | 2020-06-15 | 2020-09-25 | 成都市鸿侠科技有限责任公司 | Hot forming part taking and placing vehicle |
| CN113246114A (en) * | 2021-06-03 | 2021-08-13 | 山东劳动职业技术学院（山东劳动技师学院） | Real standard equipment of mechatronic machinery tongs |
| CN113401546A (en) * | 2021-06-28 | 2021-09-17 | 海南量心再生资源有限公司 | Automatic dumping garbage cleaning garbage can forming machine |
| CN113622939A (en) * | 2021-08-31 | 2021-11-09 | 江苏徐工工程机械研究院有限公司 | Conveyer and tunnel boring machine for tunnel |
| CN114101145A (en) * | 2021-10-26 | 2022-03-01 | 深圳市锐健电子有限公司 | Combined sliding table driven by hydraulic cylinder and gear |
| CN114131577A (en) * | 2020-09-04 | 2022-03-04 | 汤智凯 | Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism |
| CN115744727A (en) * | 2022-10-20 | 2023-03-07 | 大连理工大学 | Compact three-axis parallel stacking linkage vertical displacement device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109483524A (en) * | 2018-11-09 | 2019-03-19 | 北京迪蒙卡特机床有限公司 | A kind of manipulator shaft constructional device and three-level axis drive method |
| CN109483524B (en) * | 2018-11-09 | 2024-03-26 | 北京迪蒙卡特机床有限公司 | Robot shaft structure device and three-level shaft transmission method |
| CN109571439B (en) * | 2018-12-29 | 2023-09-29 | 宁波赛普乐科技有限公司 | Truss type robot convenient for position adjustment and adjustment method thereof |
| CN109571439A (en) * | 2018-12-29 | 2019-04-05 | 宁波赛普乐科技有限公司 | A kind of gantry robot and its method of adjustment convenient for position adjusting |
| CN110587585A (en) * | 2019-08-15 | 2019-12-20 | 郑州中普医疗器械有限公司 | Can freely snatch manipulator device to slide |
| CN111703879A (en) * | 2020-06-15 | 2020-09-25 | 成都市鸿侠科技有限责任公司 | Hot forming part taking and placing vehicle |
| CN114131577A (en) * | 2020-09-04 | 2022-03-04 | 汤智凯 | Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism |
| CN113246114A (en) * | 2021-06-03 | 2021-08-13 | 山东劳动职业技术学院（山东劳动技师学院） | Real standard equipment of mechatronic machinery tongs |
| CN113401546A (en) * | 2021-06-28 | 2021-09-17 | 海南量心再生资源有限公司 | Automatic dumping garbage cleaning garbage can forming machine |
| CN113622939A (en) * | 2021-08-31 | 2021-11-09 | 江苏徐工工程机械研究院有限公司 | Conveyer and tunnel boring machine for tunnel |
| CN114101145B (en) * | 2021-10-26 | 2022-09-20 | 深圳市锐健电子有限公司 | Combined sliding table driven by hydraulic cylinder and gear |
| CN114101145A (en) * | 2021-10-26 | 2022-03-01 | 深圳市锐健电子有限公司 | Combined sliding table driven by hydraulic cylinder and gear |
| CN115744727A (en) * | 2022-10-20 | 2023-03-07 | 大连理工大学 | Compact three-axis parallel stacking linkage vertical displacement device |
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