CN208100380U - A kind of high-precision multi-axis robot - Google Patents
A kind of high-precision multi-axis robot Download PDFInfo
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- CN208100380U CN208100380U CN201820574824.3U CN201820574824U CN208100380U CN 208100380 U CN208100380 U CN 208100380U CN 201820574824 U CN201820574824 U CN 201820574824U CN 208100380 U CN208100380 U CN 208100380U
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Abstract
The utility model discloses a kind of high-precision multi-axis robots, including rack, elevating mechanism, rotating mechanism, linear moving mechanism, mechanical arm.Elevating mechanism is movably installed in rack, and the elevating movement of vertical direction is done along rack.Rotating mechanism is installed on the top of elevating mechanism, moves synchronously in the vertical direction with elevating mechanism；Rotating mechanism includes turntable, the first driven gear, the first driving gear, first motor.Linear moving mechanism is installed on turntable；Linear moving mechanism includes linear guide and driving assembly.Mechanical arm is movably installed in linear guide；Driving assembly driving mechanical arm is moved along linear guide；Mechanical arm includes arm body and the second motor being installed on arm body, the second driving wheel, the second driven wheel, the second driving belt.The utility model clever structure is reasonable, and precision is high, and stability is good, can fast implement the operation in three-dimensional space, and freedom degree is high, and efficiency of movement is high, and speed is fast, easy to operate.
Description
Technical field
The utility model relates to automation equipment field, in particular to a kind of high-precision multi-axis robot.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability, it can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action, industrial robot can replace people to do certain dull, frequent and duplicate long workings, or danger in the industrial production
Operation under danger, adverse circumstances, such as add in punching press, compression casting, heat treatment, welding, coating, plastic products forming, machinery
In the processes such as work and simple assembly, and in departments such as the atomic energy industry, the carrying or technique of material of completing to be harmful to the human body
Operation, in developed country, industrial robot automatic production line complete set of equipments has become mainstream and the future of automated arm
Developing direction.The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery are largely automatic using industrial robot
Metaplasia producing line improves production efficiency, while avoiding a large amount of industrial accident to guarantee product quality.
For existing industrial robot in the presence of structure is complicated, freedom degree is low, and flexibility is poor, needs to cooperate by external sensor
Operation, low efficiency, low precision, the problem of stability difference.
Utility model content
In order to solve the above technical problems, the utility model provides a kind of high-precision multi-axis robot, using no cylinder or
The full motor driven of oil cylinder, precision is high, and stability is good, cooperates without external sensor, it can be achieved that multiaxial motion, solves existing
Industrial robot exist structure is complicated, freedom degree is low, and flexibility is poor, need through external sensor coordinating operation, low efficiency,
Low precision, the problem of stability difference.
In order to achieve the above objectives, the technical solution of the utility model is as follows：A kind of high-precision multi-axis robot, including
Rack；
Elevating mechanism；The elevating mechanism is movably installed in the rack, and the lifting of vertical direction is done along the rack
Movement
Rotating mechanism；The rotating mechanism is installed on the top of the elevating mechanism, with the elevating mechanism in vertical side
Sync up movement；The rotating mechanism includes turntable, the first driven gear, the first driving gear, first motor；Described first
Driven gear is axially connect with the turntable, and the first motor is connect with first driving gear；First driving tooth
Wheel is engaged with first driven gear, and first driving gear and the first driven gear composition are from the first motor to institute
State the revolute pair that turntable carries out deceleration transmission；
Linear moving mechanism；The linear moving mechanism is installed on the turntable；The linear moving mechanism includes straight
Line guide rail and driving assembly；
Mechanical arm；The mechanical arm is movably installed in the linear guide；The driving component drives the mechanical arm
It is moved along the linear guide；The mechanical arm includes arm body and the second motor being installed on the arm body, the second active
Wheel, the second driven wheel, the second driving belt；Second motor is installed on the tail end of the arm body, second motor and institute
State the connection of the second driving wheel；Second follower shaft is installed on the front end of the arm body to being arranged along the vertical direction, and described
Two driving belts are sheathed on second driving wheel and the second driven wheel；Second motor passes through second driving belt
Second driven wheel is driven to rotate.
As a kind of preferred embodiment of the utility model, the elevating mechanism include directive slide track, screw pair, support column,
Third motor, bearing block；Loose slot along the vertical direction is provided in the rack；The support column is located at the loose slot
It is interior；The directive slide track is installed in the rack two sides, the support column two sides are equipped with sliding-rail sliding, and the support column is logical
It crosses the sliding-rail sliding to be arranged on the directive slide track, be moved along the directive slide track；The screw pair includes ball screw
And feed screw nut；The ball screw both ends are vertically arranged in the rack by the bearing block, and the feed screw nut is living
It is dynamic to be sheathed on the ball screw；The feed screw nut is fixedly connected with the support column；Described in the third motor driven
Ball screw rotation, the feed screw nut move along the ball screw, and the support column is driven to move along the directive slide track.
As a kind of preferred embodiment of the utility model, the elevating mechanism further includes that third driving gear and third are driven
Gear；The third motor is connect with the third driving gear, and the third driving gear is driven to rotate；The third is driven
Gear and the ball screw are coaxially disposed, and are installed on the lower end of the ball screw；The third driving gear and third from
Moving gear constitutes the revolute pair that deceleration transmission is carried out from the third motor to the ball screw.
As a kind of preferred embodiment of the utility model, the driving component includes the 4th motor, the 4th driving belt, the
Four driven gears, the 4th driving gear；4th driving gear and the 4th driven gear are located at the straight line and lead
The both ends of rail；4th driving belt is sheathed on the 4th driving gear and the 4th driven gear；Described
The teeth being provided with the 4th driving gear and the 4th driven gear fit engagement are alternatively arranged on four driving belts；
4th motor is connect with the 4th driving gear, drives the 4th driving gear rotation；In the tail end of the arm body
Lower part is equipped with fixing seat；The fixing seat is fixed with the 4th driving belt and connect, and the two sides of the fixing seat are living
It is dynamic to be arranged in the linear guide；Under the driving of the 4th driving belt, the fixing seat is transported along the linear guide
It is dynamic.
As a kind of preferred embodiment of the utility model, manipulator is installed in the front end of the arm body.
As a kind of preferred embodiment of the utility model, the manipulator is connect with second driven wheel, described
Under the driving of two motors, the manipulator is rotated.
As a kind of preferred embodiment of the utility model, the manipulator is negative-pressure adsorption-type manipulator or magnetic adsorption
Manipulator.
As a kind of preferred embodiment of the utility model, the first motor, the second motor, third motor and the 4th motor
For servo motor or stepper motor.
Through the above technical solutions, the significant beneficial effect of technical solutions of the utility model is：The utility model structure is skilful
Wonderful reasonable, using full motor driven, precision is high, and stability is good；It can be fast by elevating mechanism, rotating mechanism and linear moving mechanism
Speed realizes the operation in three-dimensional space, and freedom degree is high, and efficiency of movement is high, and speed is fast, easy to operate；Mechanical arm uses second
The structure of motor postposition designs, and moves back center of gravity, stability is more preferable, while effectively avoiding the front end component of mechanical arm lengthy and jumbled, subtracts
The volume of gadget arm front end, keeps mechanical arm front end compact and flexible.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1, Fig. 2 are the structural schematic diagram of the utility model different perspectives.
Fig. 3, Fig. 4 are the structural schematic diagram after the utility model shell is opened.
Fig. 5 is the structural schematic diagram of the utility model part.
Number and corresponding component title represented by letter in figure：
1. 2. support column of rack, 3. turntable
4. the 4th motor of 5. arm body 6. of linear guide
7. 8. directive slide track of the second motor, 9. sliding-rail sliding
10. 11. feed screw nut of bearing block, 12. third driven gear
13. 15. fixing seat of the 4th driven gear of third driving gear 14.
16. ball screw.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
Embodiment
In conjunction with Fig. 1 to Fig. 5, the utility model discloses a kind of high-precision multi-axis robots, produce for industrial automation,
To replace the related operation of artificial progress.The utility model includes rack 1, and the elevating mechanism, the whirler that are installed in rack 1
Structure, linear moving mechanism, mechanical arm.The utility model realizes mechanical arm by elevating mechanism, rotating mechanism, linear moving mechanism
Freely act, have the degree of freedom of motion high, stability is good, and precision is high, the good feature of flexibility.
In conjunction with Fig. 3, Fig. 4, elevating mechanism is movably installed in rack 1, and the elevating movement of vertical direction is done along rack 1.It rises
Descending mechanism includes directive slide track 8, screw pair, support column 2, third motor, bearing block 10.It is provided in rack 1 along vertical side
To loose slot.Support column 2 is located in loose slot.Directive slide track 8 is installed in 1 two sides of rack, 2 two sides of support column are equipped with cunning
Rail sliding block 9, support column 2 are arranged on directive slide track 8 by sliding-rail sliding 9, are moved along directive slide track 8.Screw pair includes ball
Screw rod 16 and feed screw nut 11；16 both ends of ball screw are vertically arranged in rack 1 by bearing block 10,11 activity of feed screw nut
It is sheathed on ball screw 16.Feed screw nut 11 is fixedly connected with support column 2；Third motor driven ball screw rod 16 rotates, silk
Stem nut 11 is moved along ball screw 16, and driving support column 2 is moved along directive slide track 8.Specifically, elevating mechanism further includes third
Driving gear 13 and third driven gear 12；Third motor is connect with third driving gear 13, drives 13 turns of third driving gear
It is dynamic；Third driven gear 12 and ball screw 16 are coaxially disposed, and are installed on the lower end of ball screw 16；13 He of third driving gear
Third driven gear 12 constitutes the revolute pair that deceleration transmission is carried out from third motor to ball screw 16.The lifting of the utility model
The structure design that mechanism is cooperated using ball screw 16 and directive slide track 8, is driven by third motor, ball screw 16 with
Two directive slide tracks 8 are in angular distribution, and stability is good, and carry out stroke control by screw pair, and precision is high.
In conjunction with Fig. 1, Fig. 2 and Fig. 5, rotating mechanism is installed on the top of elevating mechanism, in the vertical direction with elevating mechanism
It moves synchronously.Rotating mechanism includes turntable 3, the first driven gear, the first driving gear, first motor.First driven gear with
The axial connection of turntable 3, first motor are connect with the first driving gear；First driving gear is engaged with the first driven gear, and first
Driving gear and the first driven gear constitute the revolute pair that deceleration transmission is carried out from first motor to turntable 3.The utility model is set
Rotating mechanism is set, rather than is moved along a straight line by three axis of X-axis, Y-axis and Z axis to realize the movement in three-dimensional space, is had flexible
Property it is good, efficiency of movement is high, the high advantage of load bearing stength.
In conjunction with Fig. 5, linear moving mechanism is installed on turntable 3, and linear moving mechanism includes linear guide 4 and driving group
Part.Driving assembly includes the 4th motor 6, the 4th driving belt, the 4th driven gear 14, the 4th driving gear.4th driving tooth
Wheel and the 4th driven gear 14 are located at the both ends of linear guide 4.4th driving belt is sheathed on the 4th driving gear and
On four driven gears 14.It is alternatively arranged to be provided on the 4th driving belt and match with the 4th driving gear and the 4th driven gear 14
Close the teeth of engagement.4th motor 6 is connect with the 4th driving gear, driving the 4th driving gear rotation.Under the tail end of arm body 5
Portion is equipped with fixing seat 15；Fixing seat 15 is fixed with the 4th driving belt and connect, and the two sides active card of fixing seat 15 is set to
In linear guide 4.Under the driving of the 4th driving belt, fixing seat 15 is moved along linear guide 4.The straight line of the utility model moves
Motivation structure realizes transmission by the 4th driving belt, and mechanical arm is easy for assemble or unload, and efficiency of movement is high, good excellent of controllability
Point.
In conjunction with Fig. 5, mechanical arm is movably installed in linear guide 4, and driving assembly drives mechanical arm to transport along linear guide 4
It is dynamic.Mechanical arm includes arm body 5 and the second motor 7 being installed on arm body 5, the second driving wheel, the second driven wheel, the second transmission
Belt.Second motor 7 is installed on the tail end of arm body 5, and the second motor 7 is connect with the second driving wheel.Second driven wheel is axially along perpendicular
Histogram is installed on the front end of arm body 5 to setting, and the second driving belt is sheathed on the second driving wheel and the second driven wheel.Second
Motor 7 drives the rotation of the second driven wheel by the second driving belt.Manipulator is installed in the front end of arm body 5.Manipulator and
The connection of two driven wheels, under the driving of the second motor 7, manipulator is rotated.Manipulator can be adopted according to actual application environment
With negative-pressure adsorption-type manipulator or magnetic adsorption manipulator.Manipulator the operations such as can be grabbed, be rotated to crawl product.
Used first motor, the second motor 7, third motor and the 4th motor 6 can be servo in the above scheme
Motor or stepper motor, to improve the precision of the utility model.
By above-mentioned specific embodiment, the utility model has the beneficial effects that：The utility model clever structure is reasonable, uses
Full motor driven, precision is high, and stability is good；Three-dimensional can be fast implemented by elevating mechanism, rotating mechanism and linear moving mechanism
Operation in solid space, freedom degree is high, and efficiency of movement is high, and speed is fast, easy to operate；Mechanical arm uses 7 postposition of the second motor
Structure design, move back center of gravity, stability is more preferable, while effectively avoiding the front end component of mechanical arm lengthy and jumbled, reduction mechanical arm
The volume of front end keeps mechanical arm front end compact and flexible.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (8)
1. a kind of high-precision multi-axis robot, which is characterized in that including
Rack；
Elevating mechanism；The elevating mechanism is movably installed in the rack, and the elevating movement of vertical direction is done along the rack
Rotating mechanism；The rotating mechanism is installed on the top of the elevating mechanism, in the vertical direction with the elevating mechanism
It moves synchronously；The rotating mechanism includes turntable, the first driven gear, the first driving gear, first motor；Described first is driven
Gear is axially connect with the turntable, and the first motor is connect with first driving gear；First driving gear with
The first driven gear engagement, first driving gear and the first driven gear are constituted from the first motor to described turn
The revolute pair of platform progress deceleration transmission；
Linear moving mechanism；The linear moving mechanism is installed on the turntable；The linear moving mechanism includes that straight line is led
Rail and driving assembly；
Mechanical arm；The mechanical arm is movably installed in the linear guide；The driving component drives the mechanical arm along institute
State linear guide movement；The mechanical arm includes arm body and the second motor being installed on the arm body, the second driving wheel,
Two driven wheels, the second driving belt；Second motor is installed on the tail end of the arm body, second motor and described second
Driving wheel connection；Second follower shaft is installed on the front end of the arm body, second transmission to being arranged along the vertical direction
Belt sleeve is set on second driving wheel and the second driven wheel；Second motor drives institute by second driving belt
State the rotation of the second driven wheel.
2. high-precision multi-axis robot according to claim 1, which is characterized in that the elevating mechanism includes that guiding is slided
Rail, screw pair, support column, third motor, bearing block；Loose slot along the vertical direction is provided in the rack；The branch
Dagger is located in the loose slot；The directive slide track is installed in the rack two sides, the support column two sides are equipped with cunning
Rail sliding block, the support column are arranged on the directive slide track by the sliding-rail sliding, are moved along the directive slide track；It is described
Screw pair includes ball screw and feed screw nut；The ball screw both ends are vertically arranged to the rack by the bearing block
On, the feed screw nut is movably set on the ball screw；The feed screw nut is fixedly connected with the support column；It is described
The rotation of ball screw described in third motor driven, the feed screw nut move along the ball screw, drive the support column edge
The directive slide track movement.
3. high-precision multi-axis robot according to claim 2, which is characterized in that the elevating mechanism further includes third master
Moving gear and third driven gear；The third motor is connect with the third driving gear, drives the third driving gear
Rotation；The third driven gear and the ball screw are coaxially disposed, and are installed on the lower end of the ball screw；The third
Driving gear and third driven gear constitute the revolute pair that deceleration transmission is carried out from the third motor to the ball screw.
4. high-precision multi-axis robot according to claim 3, which is characterized in that the driving component includes the 4th electricity
Machine, the 4th driving belt, the 4th driven gear, the 4th driving gear；4th driving gear and the 4th driven gear
It is located at the both ends of the linear guide；4th driving belt be sheathed on the 4th driving gear and the described 4th from
On moving gear；It is alternatively arranged and is provided with and the 4th driving gear and the 4th driven tooth on the 4th driving belt
Take turns the teeth of fit engagement；4th motor is connect with the 4th driving gear, drives the 4th driving gear rotation；
Fixing seat is installed in the tail end lower part of the arm body；The fixing seat is fixed with the 4th driving belt and connect, institute
The two sides active card for stating fixing seat is set in the linear guide；Under the driving of the 4th driving belt, the fixing seat
It is moved along the linear guide.
5. high-precision multi-axis robot according to claim 4, which is characterized in that in the front end of the arm body, installation is organic
Tool hand.
6. high-precision multi-axis robot according to claim 5, which is characterized in that the manipulator and described second driven
Wheel connection, under the driving of second motor, the manipulator is rotated.
7. high-precision multi-axis robot according to claim 5, which is characterized in that the manipulator is negative-pressure adsorption-type machine
Tool hand or magnetic adsorption manipulator.
8. high-precision multi-axis robot according to claim 7, which is characterized in that the first motor, the second motor,
Three motors and the 4th motor are servo motor or stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820574824.3U CN208100380U (en) | 2018-04-20 | 2018-04-20 | A kind of high-precision multi-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820574824.3U CN208100380U (en) | 2018-04-20 | 2018-04-20 | A kind of high-precision multi-axis robot |
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| Publication Number | Publication Date |
|---|---|
| CN208100380U true CN208100380U (en) | 2018-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820574824.3U Active CN208100380U (en) | 2018-04-20 | 2018-04-20 | A kind of high-precision multi-axis robot |
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| CN (1) | CN208100380U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406751A (en) * | 2018-04-20 | 2018-08-17 | 苏州康鸿智能装备股份有限公司 | A kind of high-precision multi-axis robot |
-
2018
- 2018-04-20 CN CN201820574824.3U patent/CN208100380U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406751A (en) * | 2018-04-20 | 2018-08-17 | 苏州康鸿智能装备股份有限公司 | A kind of high-precision multi-axis robot |
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