CN208358806U - A kind of five axis truss robots - Google Patents
A kind of five axis truss robots Download PDFInfo
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- CN208358806U CN208358806U CN201820994814.5U CN201820994814U CN208358806U CN 208358806 U CN208358806 U CN 208358806U CN 201820994814 U CN201820994814 U CN 201820994814U CN 208358806 U CN208358806 U CN 208358806U
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- axis
- slide
- armshaft
- driving assembly
- arm
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Abstract
The utility model provides a kind of five axis truss robots, including X-axis slide, the Y1 axis armshaft and Y2 axis armshaft that two are parallel to each other are fixedly connected on X-axis slide, Y1 axis driving assembly drives Y1 axis slide to slide along the axis direction of Y1 axis armshaft, Y2 axis driving assembly drives Y2 axis slide to slide along the axis direction of Y2 axis armshaft, the Z1 axis driving assembly mutually deviated from along the x axis and Z2 axis driving assembly are respectively arranged on Y1 axis slide and Y2 axis slide, Y1 axis slide and Y2 axis slide slidably connect along two outside of X-axis using Z-direction as the Z1 axis arm of axis and Z2 axis arm, Z1 axis driving assembly and Z2 axis driving assembly control Z1 axis arm and Z2 axis arm respectively and slide along Z-direction.The utility model provide it is a kind of it is high in machining efficiency, accuracy is high, can be mobile in five axis, truss robot that realize multioperation process.
Description
Technical field
The robot that the utility model relates to a kind of on automatic production line, especially a kind of five axis truss robots,
Belong to truss robot technical field.
Background technique
Under the big historical background that current robot is substituted, factory's work in every is all introducing various robots, totally substantially
It is divided into three classes: independent articulated robot, truss robot, truss+articulated robot.Wherein truss robot is in Duo Tai
It clamps, carry between lathe, being widely applied in terms of processing loading and unloading.Currently, 2 axis are widely used in truss robot, 3 axis modes are transported
With a small amount of truss is run using 4 axis, 5 axis modes, but two Z axis are mostly distributed in the side of Y-axis.Meanwhile two Z axis function
It only limits and grabs blank material and fine fodder respectively, hand grabs that function is roughly the same to be had a single function, and can not achieve for a machine in factory
The a variety of mode of transport of people；Also accidental single Z axis arm is to realize that being equipped with two kinds of grippers takes the technology of quick change gripper to configure, although quick change
Gripper speed may be implemented comparatively fast, but there is still a need for the quick change gripper times, and stability is poor.It is used based on current truss robot existing
Shape, there is not yet truss robot is equipped with double Z axis armshafts and is realized the case of the both hands function of truss robot using different grippers,
Double Z axis arms are especially distributed in the mentality of designing of Y-axis two sides.
Summary of the invention
To solve the above-mentioned problems of the prior art, the utility model provide it is a kind of it is high in machining efficiency, accuracy is high, can
Mobile with five axis, realization multioperation process truss robot.
The utility model provides a kind of five axis truss robots, including is fixedly connected on X-axis slide, the X-axis slide
Y1 axis slide and Y2 axis are respectively arranged on two Y1 axis armshafts being parallel to each other and Y2 axis armshaft, Y1 axis armshaft and Y2 axis armshaft
Slide, Y1 axis driving assembly drive Y1 axis slide to slide along the axis direction of Y1 axis armshaft, and Y2 axis driving assembly drives Y2 axis sliding
Seat is slided along the axis direction of Y2 axis armshaft, and mutually back is respectively arranged with along the x axis on the Y1 axis slide and Y2 axis slide
From Z1 axis driving assembly and Z2 axis driving assembly, the Y1 axis slide and Y2 axis slide slidably connect along two outside of X-axis
Using Z-direction as the Z1 axis arm of axis and Z2 axis arm, the Z1 axis driving assembly and Z2 axis driving assembly control Z1 respectively
Axis arm and Z2 axis arm are slided along Z-direction.
X-axis slide is arranged with X-axis crossbeam as a further improvement of the utility model, and the X-axis slide and X-axis are horizontal
Beam is slidably connected, and X-axis driving assembly driving X-axis slide slides along the x axis.
Be provided with respectively under Y1 axis slide and Y2 axis slide as a further improvement of the utility model, Y1 axis sliding block and
Y2 axis sliding block, Y1 axis sliding block match with the sliding rail along Y1 axis armshaft axis direction on Y1 axis armshaft, Y2 axis sliding block and Y2 axis
The sliding rail along Y2 axis armshaft axis direction on armshaft matches.
Y1 axis armshaft and Y2 axis armshaft are respectively fixedly connected in axial direction as a further improvement of the utility model,
There are Y1 axis helical teeth item and Y2 axis helical teeth item, the Y1 axis driving assembly includes Y1 axis driving motor, the Y2 axis driving assembly packet
Include Y2 axis driving motor, the Y1 axis driving motor and Y2 axis driving motor are respectively perpendicular through Y1 axis slide and Y2 axis slide
Y1 axis driving gear and Y2 axis driving gear are connected on working end, the Y1 axis driving gear is mutually nibbled with Y1 axis helical teeth item
It closes, Y2 axis drives gear and Y2 axis helical teeth item to be intermeshed.The further improvement of the Y-axis driving method can also take synchronous belt
Driving method.
Z1 axis arm is fixedly connected with Z1 axis helical teeth item as a further improvement of the utility model, in axial direction,
Z2 axis arm is fixedly connected with Z2 axis helical teeth item in axial direction, the Z1 axis driving assembly includes Z1 axis driving motor, institute
Stating Z2 axis driving assembly includes Z2 axis driving motor, is connected on the working end of the Z1 axis driving motor and Z2 axis driving motor
Z1 axis drives gear and Z2 axis drives gear, and the Z1 axis driving gear and Z1 axis helical teeth item are intermeshed, the Z2 axis driving
Gear and Z2 axis helical teeth item are intermeshed.The further improvement of the Z axis driving method can also take the driving method of synchronous belt.
X-axis driving assembly includes X-axis driving motor as a further improvement of the utility model, the X-axis driving motor
It extends vertically through and is connected with X-axis driving gear on the working end of X-axis slide, along axial side on the X-axis driving gear and X-axis crossbeam
The X-axis helical rack intermeshing being fixedly connected upwards.The further improvement of the X-axis driving method can also take the driving of synchronous belt
Mode.
Folder is provided on the working end that Z1 axis arm and Z2 axis arm stretch out as a further improvement of the utility model,
Tool.The fixture on both sides can identical, similar also not identical dissmilarity.
X-axis slide includes conplane sliding base plate one and sliding base plate two, X as a further improvement of the utility model,
Regulating device is fixedly connected on axis slide, regulating device includes latch segment one and latch segment two, one He of bolt-through latch segment
Latch segment two locks latch segment one and latch segment two, and sliding base plate one and sliding base plate two are solid with latch segment one and latch segment two respectively
Fixed connection.
Compared with prior art, the utility model has the beneficial effects that:
1, the five axis truss robots of the utility model are that Z axis driving assembly controls bilateral Z axis robotic arm in X-axis, Y1
Axis, Y2 axis, Z1 axis, five axis three-dimensional space of Z2 axis carry out multivariant movement, can control bilateral Z axis arm be moved to it is required
Operation is completed in target position, and freedom degree is high, high degree of automation, and flexible operation degree is high, compared to single robot, robot arm benefit
2 times or more can be improved with efficiency.
2, the spacing between the utility model Y-axis armshaft can be adjusted by the bolt in regulating device, adjust sliding base plate one
The distance between sliding base plate two, to drive Y1 axis armshaft mutually to draw close with Y2 axis armshaft or mutually separate, to adapt to different folders
It takes, processing stations interval, improves the versatility of device.
3, the Z axis driving assembly of the utility model is driven by way of gear and rack gear with Y-axis armshaft, is increased
The shift motion of Z axis arm improves the scope of activities of device, expands the application field of device.
4, the five axis truss robots of the utility model are set as two sides Z axis arm, and two sides Z axis arm can be realized independently
The work of different priorities is completed in asynchronous work, is first passed through Z1 axis arm to operating member to one and is clamped, then adopts
It is processed etc. with Z2 axis arm, realizes factory to the needs of robot multi-functional operation.The Z1 axis arm of the utility model and
Z2 axis arm can be equipped with different grippers, be respectively completed different operating content, be responsible for crawl such as the gripper of Z1 axis arm and entirely put
The pallet of zero setting part, Z2 axis arm be equipped with crawl single part gripper be responsible for single part carry or assembly or lathe on
The work such as blanking.And operation is carried out at same position and can be reduced the reduction of precision caused by being moved to different processes, or production
Efficiency reduction etc.；Z1 axis arm and Z2 axis arm also may be implemented to work asynchronously, and need to cooperate with the workpiece carried to use to comparing
Two sides Z axis arm is synchronous to be carried, and the stability of the movement, landing that are handled upside down workpiece is increased.
5, the five axis truss robots of the utility model are structurally reasonable, concentrate, and the space occupied is compressed to minimum, is reduced
The space cost of enterprise's investment, and improve the integrated level of equipment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram at the upper forward direction visual angle of the five axis truss robots of the utility model；
Fig. 2 is the structural schematic diagram at the lower left direction visual angle of the five axis truss robots of the utility model；
Fig. 3 is the structural schematic diagram at the right back direction visual angle of the five axis truss robots of the utility model.
In figure: X-axis slide 1, Y1 axis armshaft 2, Y2 axis armshaft 3, Y1 axis slide 4, Y2 axis slide 5, Y1 axis driving assembly 6,
Y2 axis driving assembly 7, Z1 axis driving assembly 8, Z2 axis driving assembly 9, Z1 axis arm 10, Z2 axis arm 11, X-axis crossbeam 12, X-axis
Driving assembly 13, Y1 axis sliding block 14, Y2 axis sliding block 15, Y1 axis helical teeth item 16, Y2 axis helical teeth item 17, Y1 axis driving motor 18, Y2
Axis driving motor 19, Y1 axis drive gear 20, and Y2 axis drives gear 21, Z1 axis helical teeth item 22, Z2 axis helical teeth item 23, the driving of Z1 axis
Motor 24, Z2 axis driving motor 25, Z1 axis drive gear 26, and Z2 axis drives gear 27, X-axis driving motor 28, and X-axis drives gear
29, X-axis helical rack 30, sliding base plate 1, sliding base plate 2 32, latch segment 1, latch segment 2 34, bolt 35.
Specific embodiment
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The better embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms
It realizes, however it is not limited to embodiments described herein.On the contrary, the purpose of providing these embodiments is that making practical new to this
The disclosure of type understands more thorough and comprehensive.
It should be noted that " X-axis " of the utility model, " Y-axis ", " Z axis " are not limited to " X of literal definition
Axis ", " Y-axis ", " Z axis " orthogonal axis or are not necessarily vertical parallel axis or plane completely and belong to this two-by-two
The protection scope of utility model.
When component is referred to as " being set to " another component, it can directly on the other part or there may also be
Component placed in the middle, " setting " indicate a kind of existing mode, can be connection, install, are fixedly connected, the connection sides such as activity connection
Formula.When a component is considered as " connection " another component, it can be directly to another component or may be same
When there are components placed in the middle.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are
For illustrative purposes, it is not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein packet
Include any and all combinations of one or more related listed items.
Referring to figure 1, figure 2 and figure 3, the utility model provides a kind of five axis truss robots, including X-axis slide 1, the X
The Y1 axis armshaft 2 and Y2 axis armshaft 3 that two are parallel to each other are fixedly connected on axis slide 1, on Y1 axis armshaft 2 and Y2 axis armshaft 3
It is respectively arranged with Y1 axis slide 4 and Y2 axis slide 5, Y1 axis driving assembly 6 drives Y1 axis slide 4 along the axis side of Y1 axis armshaft 2
To sliding, Y2 axis driving assembly 7 drives Y2 axis slide 5 to slide along the axis direction of Y2 axis armshaft 3, the Y1 axis slide 4 and Y2
The Z1 axis driving assembly 8 and Z2 axis driving assembly 9 mutually deviated from along the x axis is respectively arranged on axis slide 5, the Y1 axis is sliding
Seat 4 and Y2 axis slide 5 slidably connects along two outside of X-axis using Z-direction as the Z1 axis arm 10 of axis and Z2 axis arm 11,
The Z1 axis driving assembly 8 and Z2 axis driving assembly 9 control Z1 axis arm 10 and Z2 axis arm 11 respectively and slide along Z-direction.
X-axis slide 1 is arranged with X-axis crossbeam 12, the X-axis slide 1 and X as a further improvement of the utility model,
Axis crossbeam 12 is slidably connected, and X-axis driving assembly 13 drives X-axis slide 1 to slide along the x axis.The five axis truss of the utility model
The artificial Z axis driving assembly of machine control bilateral Z axis robotic arm X-axis, Y1 axis, Y2 axis, Z1 axis, five axis three-dimensional space of Z2 axis into
The multivariant movement of row can control bilateral Z axis arm and be moved to required target position completion operation, and freedom degree is high, automatically
Change degree is high, and flexible operation degree is high, and compared to single robot, robot arm utilization efficiency can improve 2 times or more.The utility model
Five axis truss robots be set as two sides Z axis arm, two sides Z axis arm can independently realize asynchronous work, complete different
The work of priority first passes through Z1 axis arm 10 to operating member to one and clamps, and is then carried out using Z2 axis arm 11
Processing etc. realizes factory to the needs of robot multi-functional operation.The Z1 axis arm 10 and Z2 axis arm 11 of the utility model can
It is equipped with different grippers, is respectively completed different operating content, as gripper/fixture of Z1 axis arm 10 is responsible for grabbing entire placement zero
The pallet of part, Z2 axis arm 11 be equipped with crawl single part gripper be responsible for single part carry or assembly or lathe above and below
The work such as material.And operation is carried out at same position and can be reduced the reduction of precision caused by being moved to different processes, or production effect
Rate reduction etc.；Z1 axis arm 10 and Z2 axis arm 11 also may be implemented to work asynchronously, and to comparing need that the workpiece carried is cooperateed with to adopt
It is carried with two sides Z axis arm is synchronous, increases the stability of the movement, landing that are handled upside down workpiece.
It is provided with Y1 axis sliding block respectively under Y1 axis slide 4 and Y2 axis slide 5 as a further improvement of the utility model,
14 and Y2 axis sliding block 15, Y1 axis sliding block 14 match with the sliding rail along 2 axis direction of Y1 axis armshaft on Y1 axis armshaft 2, Y2 axis
The sliding rail along 3 axis direction of Y2 axis armshaft on sliding block 15 and Y2 axis armshaft 3 matches.
Y1 axis armshaft 2 and Y2 axis armshaft 3 are fixed respectively in axial direction as a further improvement of the utility model, connects
It is connected to Y1 axis helical teeth item 16 and Y2 axis helical teeth item 17, the Y1 axis driving assembly 6 includes Y1 axis driving motor 18, and the Y2 axis drives
Dynamic component 7 includes Y2 axis driving motor 19, and the Y1 axis driving motor 18 and Y2 axis driving motor 19 are respectively perpendicular through Y1 axis
Y1 axis driving gear 20 and Y2 axis driving gear 21, the Y1 axis sliding tooth are connected on the working end of slide 4 and Y2 axis slide 5
Wheel 20 is intermeshed with Y1 axis helical teeth item 16, and Y2 axis drives gear 21 and Y2 axis helical teeth item 17 to be intermeshed.The Z of the utility model
Axis driving assembly is driven by way of gear and rack gear with Y-axis armshaft, increases the shift motion of Z axis arm, is improved
The scope of activities of device, expands the application field of device.
Z1 axis arm 10 is fixedly connected with Z1 axis helical teeth item as a further improvement of the utility model, in axial direction
22, Z2 axis arms 11 are fixedly connected with Z2 axis helical teeth item 23 in axial direction, the Z1 axis driving assembly 8 drives including Z1 axis
Motor 24, the Z2 axis driving assembly 9 include Z2 axis driving motor 25, the Z1 axis driving motor 24 and Z2 axis driving motor 25
Working end on be connected with Z1 axis driving gear 26 and Z2 axis driving gear 27, Z1 axis driving gear 26 and Z1 axis helical teeth item
22 intermeshings, the Z2 axis driving gear 27 and Z2 axis helical teeth item 23 are intermeshed.
X-axis driving assembly 13 includes X-axis driving motor 28 as a further improvement of the utility model, the X-axis driving
Motor 28 extends vertically through and is connected with X-axis driving gear 29 on the working end of X-axis slide 1, and the X-axis driving gear 29 and X-axis are horizontal
On beam 12 in axial direction on the X-axis helical rack 30 that is fixedly connected be intermeshed.The five axis truss robot knots of the utility model
Structure is reasonable, concentrates, and the space occupied is compressed to minimum, reduces the space cost of enterprise's investment, and improves the collection of equipment
Cheng Du.
It is provided on the working end that Z1 axis arm 10 and Z2 axis arm 11 stretch out as a further improvement of the utility model,
Fixture.
X-axis slide 1 includes conplane sliding base plate 1 and sliding base plate two as a further improvement of the utility model,
32, regulating device is fixedly connected on X-axis slide 1, and regulating device includes latch segment 1 and latch segment 2 34, and bolt 35 runs through
Latch segment 1 and latch segment 2 34 lock latch segment 1 and latch segment 2 34, and sliding base plate 1 and sliding base plate 2 32 are distinguished
It is fixedly connected with latch segment 1 with latch segment 2 34.Spacing between the utility model Y-axis armshaft can be by regulating device
Bolt 35 adjust, adjust the distance between sliding base plate 1 and sliding base plate 2 32, to drive Y1 axis armshaft 2 and Y2 axis armshaft
3 phases are drawn close or are mutually separated, and to adapt to different clampings, processing stations interval, improve the versatility of device.
A kind of five axis truss robot provided by the utility model is described in detail above.It is used herein
Specific embodiment is expounded the principles of the present invention and embodiment, and the explanation of above example is only intended to help
Understand the method and its core concept of the utility model.It should be pointed out that for those skilled in the art,
Under the premise of not departing from the utility model principle, several improvements and modifications can be made to this utility model, these improve and
Modification is also fallen into the protection scope of the utility model claims.
Claims (8)
1. a kind of five axis truss robots, it is characterised in that: including being fixedly connected on X-axis slide (1), the X-axis slide (1)
The two Y1 axis armshafts (2) and Y2 axis armshaft (3) being parallel to each other are respectively arranged with Y1 on Y1 axis armshaft (2) and Y2 axis armshaft (3)
Axis slide (4) and Y2 axis slide (5), Y1 axis driving assembly (6) drive Y1 axis slide (4) along the axis direction of Y1 axis armshaft (2)
Sliding, Y2 axis driving assembly (7) drive Y2 axis slide (5) to slide along the axis direction of Y2 axis armshaft (3), the Y1 axis slide
(4) the Z1 axis driving assembly (8) and Z2 axis driving assembly mutually deviated from along the x axis and is respectively arranged on Y2 axis slide (5)
(9), the Y1 axis slide (4) and Y2 axis slide (5) slidably connect the Z1 axis using Z-direction as axis along two outside of X-axis
Arm (10) and Z2 axis arm (11), the Z1 axis driving assembly (8) and Z2 axis driving assembly (9) control Z1 axis arm respectively
(10) it is slided with Z2 axis arm (11) along Z-direction.
2. a kind of five axis truss robot according to claim 1, it is characterised in that: the X-axis slide (1) is arranged with
X-axis crossbeam (12), the X-axis slide (1) are slidably connected with X-axis crossbeam (12), and X-axis driving assembly (13) drives X-axis slide (1)
It slides along the x axis.
3. a kind of five axis truss robot according to claim 1, it is characterised in that: the Y1 axis slide (4) and Y2 axis
Y1 axis sliding block (14) and Y2 axis sliding block (15) are provided under slide (5) respectively, on Y1 axis sliding block (14) and Y1 axis armshaft (2)
Sliding rail along Y1 axis armshaft (2) axis direction matches, on Y2 axis sliding block (15) and Y2 axis armshaft (3) along Y2 axis armshaft (3)
The sliding rail of axis direction matches.
4. a kind of five axis truss robot according to claim 1, it is characterised in that: Y1 axis armshaft (2) and Y2 axis armshaft
(3) in axial direction on be respectively fixedly connected with Y1 axis helical teeth item (16) and Y2 axis helical teeth item (17), the Y1 axis driving assembly
It (6) include Y1 axis driving motor (18), the Y2 axis driving assembly (7) includes Y2 axis driving motor (19), the Y1 axis driving
Motor (18) and Y2 axis driving motor (19) are respectively perpendicular to be connected on the working end of Y1 axis slide (4) and Y2 axis slide (5)
There are Y1 axis driving gear (20) and Y2 axis driving gear (21), Y1 axis driving gear (20) and Y1 axis helical teeth item (16) are mutual
Engagement, Y2 axis drive gear (21) and Y2 axis helical teeth item (17) to be intermeshed.
5. a kind of five axis truss robot according to claim 1, it is characterised in that: Z1 axis arm (10) is in axial direction
On be fixedly connected with Z1 axis helical teeth item (22), Z2 axis arm (11) is fixedly connected with Z2 axis helical teeth item (23) in axial direction,
The Z1 axis driving assembly (8) includes Z1 axis driving motor (24), and the Z2 axis driving assembly (9) includes Z2 axis driving motor
(25), be connected on the working end of the Z1 axis driving motor (24) and Z2 axis driving motor (25) Z1 axis driving gear (26) and
Z2 axis drives gear (27), and Z1 axis driving gear (26) and Z1 axis helical teeth item (22) are intermeshed, the Z2 axis sliding tooth
It takes turns (27) and Z2 axis helical teeth item (23) is intermeshed.
6. a kind of five axis truss robot according to claim 2, it is characterised in that: X-axis driving assembly (13) packet
It includes X-axis driving motor (28), the X-axis driving motor (28), which extends vertically through, is connected with X-axis drive on the working end of X-axis slide (1)
Moving gear (29), X-axis driving gear (29) on X-axis crossbeam (12) in axial direction on the X-axis helical rack that is fixedly connected
(30) it is intermeshed.
7. a kind of five axis truss robot according to claim 1, it is characterised in that: the Z1 axis arm (10) and Z2 axis
Fixture is provided on the working end that arm (11) stretches out.
8. a kind of five axis truss robot according to claim 2, it is characterised in that: the X-axis slide (1) includes same
The sliding base plate one (31) and sliding base plate two (32) of plane, X-axis slide are fixedly connected with regulating device on (1), and regulating device includes
Latch segment one (33) and latch segment two (34), bolt (35) run through latch segment one (33) and latch segment two (34) for latch segment one
(33) locked with latch segment two (34), sliding base plate one (31) and sliding base plate two (32) respectively with latch segment one (33) and latch segment two
(34) it is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820994814.5U CN208358806U (en) | 2018-06-26 | 2018-06-26 | A kind of five axis truss robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820994814.5U CN208358806U (en) | 2018-06-26 | 2018-06-26 | A kind of five axis truss robots |
Publications (1)
| Publication Number | Publication Date |
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| CN208358806U true CN208358806U (en) | 2019-01-11 |
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ID=64926866
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| CN201820994814.5U Expired - Fee Related CN208358806U (en) | 2018-06-26 | 2018-06-26 | A kind of five axis truss robots |
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Cited By (1)
| 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 |
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2018
- 2018-06-26 CN CN201820994814.5U patent/CN208358806U/en not_active Expired - Fee Related
Cited By (1)
| 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 |
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