CN210757718U - Small three-coordinate robot - Google Patents

Abstract

The utility model discloses a small three-coordinate robot, comprising a motor, a longitudinal sliding rod, a lateral sliding rod, a telescopic manipulator, a screw drive, a transmission brake, a belt drive and a workbench; the lateral slide rod is connected to the workbench through a fixed support frame , the longitudinal sliding rod is connected to the top end of the transverse sliding rod, and the telescopic manipulator is slidably connected to the longitudinal sliding rod. In the present utility model, a three-dimensional coordinate robot is composed of a worktable, a motor, a belt drive, a lateral sliding rod, a longitudinal sliding rod and a telescopic manipulator. The longitudinal movement of the manipulator, and the third direction movement of the manipulator is realized by the motor-driven expansion and contraction of the manipulator. The combination of the three can realize the movement in the horizontal, vertical and vertical directions, the operation is simple, and there are many work application scenarios, thereby effectively improving the work efficiency and meeting the work requirements and needs.

Description

Small three-coordinate robot

technical field

The utility model belongs to the technical field of small robots, in particular to a small three-coordinate robot.

Background technique

In recent years, the field of robotics has been attracting the attention of the world; the research, design, production and popularization of robots have gradually become a trend in the world; at present, most of the more mature robots are large industrial robots, while small and civilian robots do not. It has been well developed; most of the existing small single-coordinate robots have a single work application scene, which is difficult to meet the needs of multi-angle work. Simplification can not meet the requirements of increasingly complex work; so a small three-coordinate robot with simple three-coordinate structure and good generality has its unique value. It is easy to operate, has many work application scenarios, is suitable for multiple varieties, and facilitates flexible batch operations, thereby effectively improving product quality, improving labor conditions, and meeting work requirements and needs.

In the prior art, Chinese patent application CN201620292373.5 discloses an automatic loading and unloading cartesian coordinate robot, including a conveying line, an emergency handling conveying line, a cartesian coordinate robot mechanism, a photoelectric sensor, and an electric control box; The coordinate robot mechanism is installed on the work base, and the work base is also installed with a servo motor and an electric control box, and the electric control box is connected to the servo motor and the motor components

However, the above-mentioned robots in the prior art have a single working movement direction and limited application scenarios, which cannot meet actual work needs. Therefore, the present application provides a small three-coordinate robot, which adopts the motor to control the horizontal, vertical, and up-and-down movements, which can be applied to multi-angle working scenarios, avoids a single working range, and thus improves the utilization rate of the robot.

Utility model content

Aiming at the shortcomings of the prior art, the purpose of this utility model is to realize a small three-coordinate robot, which uses a PLC device to start a DC motor to control the horizontal, vertical, and up and down movements, so as to achieve the work target of the three-dimensional coordinates of the robot and realize the multi-angle work application of the robot. , The work control device of this robot is controlled by PLC program, which has strong flexibility, simple control and wide range of work applications.

The utility model provides the following technical solutions:

A small three-coordinate robot includes a first motor, a code disc, a longitudinal sliding rod, a lateral sliding rod, a telescopic manipulator, a brake, a second motor, a third motor, a coupling, and a workbench, characterized in that the lateral sliding The rod is connected to the worktable through a fixed support frame, the longitudinal sliding rod is connected to the top end of the horizontal sliding rod, and the telescopic manipulator is slidably connected to the longitudinal sliding rod. The small three-coordinate robot also includes a driving mechanism, and the driving mechanism includes A plurality of second motors, the second motors drive the belt to make the lateral sliding rod move laterally, and a brake and a code disc are arranged above the second motors, the first motor drives the belt to make the longitudinal sliding rod move longitudinally, and the motor is arranged above the motor The brake, the code disc, and the third motor control the up and down movement of the telescopic manipulator.

Preferably, the worktable is connected to a transverse sliding rod through four supporting frames, and the transverse sliding rod is a belt drive sliding on one side, and the other side is a transverse connection supporting frame.

Preferably, a second motor is disposed on the upper left side of the lateral sliding rod, and the second motor drives the lateral sliding rod to move through a belt.

Preferably, a first motor is provided on the upper part of the right side of the longitudinal sliding rod, and the first motor drives the longitudinal sliding rod to move through a belt.

Preferably, both the lateral movement of the lateral sliding rod and the longitudinal movement of the longitudinal sliding rod are driven by belts.

Preferably, the brake controls the movement speed of the lateral sliding rod and the longitudinal sliding rod, and can stop.

Preferably, the third motor is arranged on the upper end of the telescopic manipulator, and controls the up and down reciprocating motion of the telescopic manipulator through a screw drive.

Preferably, the first motor, the second motor and the third motor are drive motors, all of which are DC motors.

Preferably, the control device includes a programmed PLC control program device, and the workbench includes a code wheel for speed regulation and stop buttons.

Preferably, the telescopic manipulator is a single-joint telescopic manipulator, which can be detachably installed with a three-grip manipulator and a position sensor.

Preferably, the brake is a friction brake, which is braked by the friction force between the braking element and the moving element.

Preferably, the code disc is selected from a photoelectric encoder code disc to detect the working speed of the motor.

Preferably, the coupling connects the transverse sliding rod and the longitudinal sliding rod, and the transverse sliding rod and the longitudinal sliding rod are relatively moved through the coupling.

Compared with the prior art, the small three-coordinate robot of the present utility model has the following beneficial effects:

(1) The small three-coordinate robot of the present utility model adopts a DC motor to control the horizontal, vertical and up and down movements, which effectively guarantees the stable operation of the robot during the movement process.

(2) The small three-coordinate robot of the present utility model can combine the movements in the horizontal, vertical and up and down directions, and realize the working requirements in multiple directions.

(3) The small three-coordinate robot of the present utility model uses screw drive for up and down movement, which has high precision and stable operation.

(4) The small three-coordinate robot of the present utility model adopts PLC controller as the control device, which has strong anti-interference ability, high reliability and light weight.

(5) The small three-coordinate robot of the present utility model adopts 45# steel as the whole bracket, which has good mechanical properties and moderate strength and toughness. The robot is directly connected by plates to ensure the firmness of the overall structure of the robot. The belt drive makes the robot move horizontally and vertically, and the belt drive ensures the smooth movement process.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention. Therefore, it should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

Figure 1 is an exploded view of the present utility model.

Figure 2 is a front view of the present invention.

Figure 3 is a schematic view of the style structure of the present invention.

In the figure: 1. The first motor; 2. Code disc; 3. Vertical sliding rod; 4. Horizontal sliding rod; 5. Fixed support frame; 6. Key; 7. Telescopic manipulator; 8. Brake; 9. Second motor; 10. Third motor; 11. Connector; 12. Workbench; 13. Manual crank.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; The embodiments of the present invention are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

Accordingly, the following detailed descriptions of the embodiments of the present invention provided in the accompanying drawings are not intended to limit the scope of the claimed invention, but merely represent selected embodiments of the present invention; All other implementations obtained by those of ordinary skill in the art without creative work, all belong to the protection scope of the present invention.

As shown in Figure 1-3, a small three-coordinate robot includes a first motor 1, a code disc 2, a longitudinal sliding rod 3, a lateral sliding rod 4, a fixed support frame 5, a button 6, a telescopic manipulator 7, a brake 8, The second motor 9 , the third motor 10 , the coupling 11 , the worktable 12 , the manual rocker 13 , the lateral sliding rod 4 is connected to the worktable 12 through the fixed support frame 5 , and the longitudinal sliding rod 3 is connected to the lateral sliding rod 4, the telescopic manipulator 7 is slidably connected to the longitudinal sliding rod 3, the small three-coordinate robot also includes a driving mechanism, and the driving mechanism includes a plurality of second motors 9. The second motor 9 drives the belt to make the horizontal sliding rod. 4. Lateral movement, and a brake 8 and a code disc 2 are arranged above the second motor 9. The first motor 1 drives the belt to make the longitudinal sliding rod 3 move longitudinally, and a brake 8 and a code disc 2 are arranged above the motor. The motor 10 controls the telescopic manipulator 7 to move up and down.

In the small three-coordinate robot, the worktable 12 is connected to a lateral sliding rod 4 through four supporting frames 5 , and the lateral sliding rod 4 is a belt drive sliding on one side, and the other side is a lateral connecting support frame.

In the small three-coordinate robot, a second motor 9 is arranged on the upper left side of the lateral sliding rod 4, and the second motor 9 drives the lateral sliding rod 4 to move through a belt. In the small three-coordinate robot, a first motor 1 is disposed on the upper right side of the longitudinal sliding rod 3, and the first motor 1 drives the longitudinal sliding rod 3 to move through a belt.

In the small three-coordinate robot, the lateral sliding rod 4 and the longitudinal sliding rod 3 are belt-driven and provided with a brake 8, and the brake 8 controls the movement speed and stop of the lateral sliding rod 4 and the longitudinal sliding rod 3. In the small three-coordinate robot, the third motor 10 is arranged on the upper end of the telescopic manipulator 7, and controls the retractable manipulator 7 to reciprocate up and down through a screw drive.

In the small three-coordinate robot, the first motor, the second motor and the third motor are drive motors, all of which are DC motors. In the small three-coordinate robot, the control device includes a programmed PLC control program device, and the worktable 12 includes a code wheel 2 for speed regulation and stop buttons.

In addition, the utility model is a small three-coordinate robot. The overall support is made of 45# steel, which has good mechanical properties and moderate strength and toughness. The robot is directly connected by plates to ensure the firmness of the overall structure of the robot. The belt drive makes the robot move horizontally and vertically, and the belt drive ensures the smooth movement process.

Working principle: first power on, then start the second motor 9, the first motor 1, and the third motor 10 in sequence through the PLC control worktable button, the second motor 9 rotates to drive the belt to move laterally, and the belt connection is provided with a brake 8 , Code disc 2, control the movement speed, the first motor 1 rotates to drive the belt to make it move longitudinally, and a brake 8 and code disc 2 are set at the belt connection to control the movement speed, and the third motor 10 rotates to drive the screw to make it happen Vertical motion, synchronous control of three-direction motion, can realize three-dimensional work scene, this robot is controlled by PLC programming mode and manual operation mode, suitable for various work scene needs, simple control, stable structure, high flexibility.

The device obtained through the above technical solution is a small three-coordinate robot, which overcomes the limitation of a single-direction working range, realizes a multi-dimensional working method, is simple to operate, has many working application scenarios, is suitable for multiple varieties, and is convenient for batch flexible operations. To improve product quality, improve labor conditions, and meet work requirements and needs.

The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes; Within the principle, any modification, equivalent replacement, improvement, etc. made shall be included within the protection scope of the present invention.

Claims (7)

1. A small three-coordinate robot, comprising a first motor (1), a code disc (2), a longitudinal sliding rod (3), a lateral sliding rod (4), a telescopic manipulator (7), a brake (8), a second A motor (9), a third motor (10), a coupling (11), and a workbench (12); characterized in that the lateral sliding rod (4) is connected to the workbench (12) through a fixed support frame (5), The longitudinal sliding rod (3) is connected to the top end of the transverse sliding rod (4), and the telescopic manipulator (7) is slidably connected to the longitudinal sliding rod (3); the transverse sliding rod (4) and the longitudinal sliding rod ( 3) Connected by a coupler (11), the small three-coordinate robot further includes a drive mechanism, the drive mechanism includes a plurality of second motors (9), the second motors (9) drive the belt to make the lateral sliding rod ( 4) Lateral movement, and a brake (8) and a code disc (2) are arranged above the second motor (9), the first motor (1) drives the belt to make the longitudinal sliding rod (3) move longitudinally, and the first motor (1) (1) A brake (8) and a code disc (2) are arranged above, and the third motor (10) controls the up and down movement of the telescopic manipulator (7). 2 . The small three-coordinate robot according to claim 1 , wherein the worktable ( 12 ) is connected to a lateral sliding rod ( 4 ) through four support frames ( 5 ), and the lateral sliding rod ( 4 ) It is a one-side belt drive sliding, and the other side is a horizontal connection support frame. 3 . The small three-coordinate robot according to claim 1 , wherein a second motor ( 9 ) is provided on the upper left side of the lateral sliding rod ( 4 ), and the second motor ( 9 ) is driven by a belt. 4 . The lateral slide bar (4) moves. 4 . The small three-coordinate robot according to claim 1 , wherein a first motor ( 1 ) is provided on the upper right side of the longitudinal sliding rod ( 3 ), and the first motor ( 1 ) is driven by a belt. 5 . The longitudinal sliding bar (3) moves. 5 . The small three-coordinate robot according to claim 1 , wherein the third motor ( 10 ) is arranged on the upper end of the telescopic manipulator ( 7 ), and controls the up and down reciprocating motion of the telescopic manipulator ( 7 ) through a screw drive. 6 . 6 . The small three-coordinate robot according to claim 1 , wherein the first motor ( 1 ), the second motor ( 9 ), and the third motor ( 10 ) are all DC motors. 7 . 7 . The small three-coordinate robot according to claim 1 , wherein the small three-coordinate robot further comprises a control device, and the control device is a PLC controller; and the workbench ( 12 ) includes a manual control panel. 8 . , Code wheel speed control button, stop button.

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