CN212173561U

CN212173561U - High-precision single-arm type coordinate robot

Info

Publication number: CN212173561U
Application number: CN202020506382.6U
Authority: CN
Inventors: 胡玉洋
Original assignee: Shandong Tengyang Intelligent Equipment Co ltd
Current assignee: Shandong Tengyang Intelligent Equipment Co ltd
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2020-12-18
Anticipated expiration: 2030-04-09

Abstract

The utility model relates to the technical field of coordinate robots, in particular to a high-precision single-arm coordinate robot, which comprises a bracket and a first motor arranged on the bracket, wherein a second slide rail is connected in a sliding way in the vertical direction of the bracket; the two sides of the support are respectively provided with a chain wheel and a fixed pulley, the chain wheels are fixedly connected with a rotating shaft of a first motor, a first chain is arranged on the chain wheels in a matched mode, one end of the first chain is suspended, the other end of the first chain is fixedly connected with a second sliding rail, the fixed pulleys are rotatably connected to the support, a second chain is arranged on the fixed pulleys in a matched mode, one end of the second chain is fixedly connected with the second sliding rail, and the other end of the second chain is fixedly connected with a balancing weight; the second sliding rail is connected with a suspension beam capable of moving transversely in a sliding mode, the suspension beam is connected with a sliding table capable of moving longitudinally in a sliding mode, and the sliding table is connected with an air claw device in a rotating mode. The first motor, the second motor and the third motor can realize the rapid movement of materials, so that the efficiency of the device is improved.

Description

High-precision single-arm type coordinate robot

Technical Field

The utility model belongs to the technical field of the coordinate robot, specifically speaking are high accuracy single armed formula coordinate robot.

Background

The coordinate robot is a robot system designed by an XYZ rectangular coordinate system as a basic mathematical model, and comprises three axial motion units of an X axis, a Y axis and a Z axis. Wherein, each axial motion unit usually uses a servo motor and a stepping motor as driving devices, uses a synchronous belt synchronous wheel, a ball screw, a gear rack and the like as transmission devices, and fixes different clamping devices, such as a clamp, a claw, a mounting rack and the like, on the tail end working head of the coordinate robot, thereby completing the linear motion of the clamping devices in any axial direction in the XYZ three-dimensional rectangular coordinate system.

At present, the current coordinate robot is using, and mobile device speed is comparatively slow when removing to lead to coordinate robot's work efficiency low.

SUMMERY OF THE UTILITY MODEL

The utility model provides a high accuracy single armed formula coordinate robot for solve the defect among the prior art.

The utility model discloses a following technical scheme realizes:

the high-precision single-arm coordinate robot comprises a support and a first motor arranged on the support, wherein a second sliding rail is connected to the support in a sliding manner in the vertical direction; the two sides of the support are respectively provided with a chain wheel and a fixed pulley, the chain wheels are fixedly connected with a rotating shaft of a first motor, a first chain is arranged on the chain wheels in a matched mode, one end of the first chain is suspended, the other end of the first chain is fixedly connected with a second sliding rail, the fixed pulleys are rotatably connected to the support, a second chain is arranged on the fixed pulleys in a matched mode, one end of the second chain is fixedly connected with the second sliding rail, and the other end of the second chain is fixedly connected with a balancing weight; the second sliding rail is connected with a suspension beam capable of moving transversely in a sliding mode, the suspension beam is connected with a sliding table capable of moving longitudinally in a sliding mode, and the sliding table is connected with an air claw device in a rotating mode.

In the device, materials can be grabbed by the pneumatic claw device, one end of a second chain on the fixed pulley is connected with a second slide rail, the other end of the second chain is connected with a balancing weight, so that the gravity borne by the first slide rail is offset by the balancing weight, when the materials need to move up and down, a first motor is started, the rotation of a rotating shaft of the first motor drives a chain wheel to rotate, the rotation of the chain wheel drives a first chain to move, and the second slide rail is connected on a support in a sliding manner, so that the first chain pulls the second slide rail to move up and down along the support, the up and down movement of the second slide rail drives a cantilever beam to move up and down, the up and down movement of the cantilever beam drives a sliding table to move up and down, the up and down movement of the sliding table drives the pneumatic claw device to move up and down, the transverse movement of the cantilever beam on the second slide rail can, therefore, the material can move X, Y, Z in three directions on the bracket. In addition, when the material is reciprocating, owing to the reciprocating that realizes through the rotatory sprocket that drives of motor shaft, consequently, compare in the method of lead screw conveying slip table, can realize reciprocating fast of material, and then can improve the speed of material transportation, improve work efficiency.

Preferably, the first motor is a double-shaft extension motor, rotating shafts on two sides of the double-shaft extension motor are fixedly connected with one end of a rotating rod, and the other end of the rotating rod is fixedly connected with the chain wheel on the corresponding side. The rotation of the rotating shaft of the double-shaft extension motor drives the rotating rod to rotate, so that the chain wheels are driven to rotate, one motor drives the chain wheels on two sides to rotate synchronously at the same speed, the use amount of the motor is reduced, and the cost is saved.

Preferably, the support include two perpendicular roof beams, the lower extreme and the ground fixed connection of perpendicular roof beam, the upper end of two perpendicular roof beams is connected through the fixed top of crossbeam, installs first slide rail and fixed pulley on the perpendicular roof beam, all the cooperation is equipped with first slider on the first slide rail, passes through second slide rail fixed connection between two first sliders, installs the biax on the crossbeam and stretches the motor. The first sliding block is matched on the first sliding rail, and the second sliding rail is fixedly connected with the first sliding block, so that the second sliding rail can be guaranteed to move up and down along the direction set by the first sliding rail.

Preferably, the second slide rail is connected with a second slide block in a sliding mode, the second slide block is vertically connected with the suspension beam, a second motor is installed on one side of the support, a first rotating wheel is fixedly installed on a rotating shaft of the second motor, a disconnected first synchronous belt is sleeved on the two first rotating wheels, and the disconnected two ends of the first synchronous belt are fixedly connected through the second slide block. The suspension beam is fixedly connected to the second sliding block, the second sliding block is matched with the second sliding rail, so that the suspension beam can be guaranteed to transversely move along the direction set by the second sliding rail, the rotation of the rotating shaft of the second motor can drive the first rotating wheel to rotate, the rotation of the first rotating wheel drives the corresponding first synchronous belt to slide, and the first synchronous belt is fixedly connected with the second sliding block and drives the suspension beam to transversely move.

As preferred, the both sides fixed mounting of hanging oneself from a beam top surface have fore-and-aft third slide rail, it is equipped with the third slider all to cooperate on the third slide rail, two third sliders homoenergetic are through slip table fixed connection, hang and install two third motors along hanging oneself from a beam longitudinal direction on the roof beam, the second runner has all been cup jointed in the pivot of third motor, the cooperation is equipped with the second hold-in range of disconnection on the second runner, the second hold-in range passes through slip table fixed connection, hang and vertically set up the bar on the roof beam and pass through the groove, the bottom surface of slip table is connected with the rotating electrical machines of pivot down perpendicularly, the lower extreme of rotating electrical machines pivot is worn out the bar and is passed through the groove. Because slip table and third slider fixed connection, the cooperation of third slider is on the third slide rail, consequently, the slip table can be at the direction longitudinal movement that the third slide rail is injectd, wherein, the rotation of third motor shaft drives the rotation of second runner, the rotation of second runner drives the slip of second hold-in range, the slip of second hold-in range drives the slip table back-and-forth movement to drive the back-and-forth movement of gas claw device, and the rotation of rotating electrical machines pivot drives the rotation of gas claw device, and then drive the adjustment of material angle.

Preferably, the two sides of the suspension beam are fixedly provided with connecting rib plates in the shape of a right trapezoid, one right-angle edge of each connecting rib plate is fixedly connected with the suspension beam, and the other right-angle edge of each connecting rib plate is fixedly connected with the second slide rail. The connection rib plate can increase the stability of the connection between the cantilever beam and the sliding table, and can prevent the cantilever beam from being bent under the action of gravity of materials to influence the use.

Preferably, the pneumatic claw device comprises a movable clamping plate, a fixed clamping plate, a first air cylinder and a second air cylinder, the lower end of a rotating shaft of the rotating motor is fixedly connected with a connecting plate, a fourth sliding rail is fixedly connected to the lower surface of the connecting plate, a fourth sliding block is arranged on the fourth sliding rail in a matched mode, the fourth sliding block is hinged to the movable clamping plate, the fixed clamping plate is fixedly connected to the fourth sliding rail through the fixed block, the first air cylinder is installed on the movable clamping plate, an extension shaft of the first air cylinder is connected with an L baffle plate hinged to the lower end of the movable clamping plate, a fixed end of the second air cylinder is fixedly connected to the connecting plate, and the extension. Extension of second cylinder extension axle can drive and move splint and remove towards the direction of keeping away from fixed splint, and the shrink of second cylinder extension axle can drive and move splint and be close to fixed splint to the realization presss from both sides the material, extension of second cylinder extension axle can drive L type baffle and open, thereby makes things convenient for the gas claw device to place the material.

Preferably, the lower end of the movable clamping plate is fixedly connected with an L-shaped baffle. The baffle plays the effect of support material, can prevent that the material from falling down between two splint when the transportation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic view of the pneumatic gripper apparatus of the present invention;

fig. 3 is an enlarged view of a portion I of fig. 1.

Shown in the figure:

1. connecting rib plate, 2, first motor, 3, first slide rail, 4, first slider, 5, second slide rail, 6, sprocket, 7, fixed pulley, 8, first chain, 9, second chain, 10, cantilever beam, 11, slip table, 12, pneumatic claw device, 13, rotating rod, 14, second slider, 15, second motor, 16, first rotating wheel, 17, first synchronous belt, 18, third slide rail, 19, third slider, 20, third motor, 21, second rotating wheel, 22, second synchronous belt, 23, rotating motor, 24, baffle, 101, vertical beam, 102, crossbeam, 121, movable clamping plate, 122, first cylinder, 123, second cylinder, 124, fourth slide rail, 125, fourth slider, 126, fixed clamping plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

A high precision single arm coordinate robot, as shown in fig. 1-3. Including support and first motor 2, the support includes two perpendicular roof beams 101, perpendicular roof beam 101 is the hollow beam, the lower extreme and the ground fixed connection of perpendicular roof beam 101, the upper end and the lower part of two perpendicular roof beams 101 are passed through crossbeam 102 and are fixed a top and be connected, install first slide rail 3 and fixed pulley 7 on the perpendicular roof beam 101, all the cooperation is equipped with first slider 4 on the first slide rail 3, through second slide rail 5 fixed connection between two first sliders 4, install first motor 2 on the crossbeam 102, first motor 2 is the biax motor of stretching, the equal fixed connection bull stick 13's of both sides pivot of biax motor one end, the other end of bull stick 13 and the sprocket 6 fixed connection who corresponds the side, the cooperation is equipped with first chain 8 on the sprocket 6, the unsettled one end of first chain 8 penetrates in the perpendicular roof beam 101 and connects the balancing piece, the other end and second slide rail 5 fixed connection. The fixed pulley rotates to be connected on the vertical beam 101 that corresponds the side and the cooperation is equipped with second chain 9 on the fixed pulley 7, the one end and the 5 fixed connection of second slide rail of second chain 9, other end fixedly connected with balancing weight.

The second sliding rail 5 is connected with a second sliding block 14 in a sliding mode, the second sliding block 14 is vertically connected with the suspension beam 10, the two sides of the support are symmetrically provided with second motors 15 along the vertical central line of the support, the rotating shafts of the second motors 15 are fixedly provided with first rotating wheels 16, the two first rotating wheels 16 are sleeved with disconnected first synchronous belts 17, and the disconnected two ends of each first synchronous belt 17 are fixedly connected through the second sliding block 14.

Both sides fixed mounting of hanging oneself from a beam 10 top surface has fore-and-aft third slide rail 18, it is equipped with third slider 19 all to cooperate on the third slide rail 18, 11 fixed connection of slip table are all passed through to two third sliders 19 homoenergetic, hang and install two third motors 20 along hanging oneself from a beam longitudinal direction on the roof beam 10, second runner 21 has all been cup jointed in third motor 20's pivot, the cooperation is equipped with the second hold-in range 22 of disconnection on the second runner 21, second hold-in range 22 passes through slip table 11 fixed connection, vertically set up the bar on hanging oneself from a beam 10 and pass through the groove, the bottom surface of slip table 11 is connected with pivot rotating electrical machines 23 down perpendicularly, the lower extreme of rotating electrical machines 23 pivot is worn out the bar and is passed through groove. A fourth slide rail 124 is fixedly connected to the lower surface of the connecting plate, a fourth slide block 125 is arranged on the fourth slide rail 124 in a matching manner, the fourth slide block 125 is hinged to the movable clamping plate 121, and the lower end of the movable clamping plate 121 is fixedly connected with an L-shaped baffle plate 24. A fixed clamping plate 126 is fixedly connected to the fourth slide rail 124 through a fixed block, a first air cylinder 122 is mounted on the fourth slide block 125, an extension shaft of the first air cylinder 122 is hinged to the movable clamping plate 121, a fixed end of a second air cylinder 123 is fixedly connected to the fixed clamping plate of the connecting plate, and an extension shaft of the second air cylinder 123 is fixedly connected to the movable clamping plate 121.

The two sides of the cantilever beam 10 are fixedly provided with connecting rib plates 1 in the shape of a right trapezoid, one right-angle edge of each connecting rib plate 1 is fixedly connected with the cantilever beam 10, and the other right-angle edge of each connecting rib plate 1 is fixedly connected with the second slide rail 5. The connection rib plate 1 can increase the connection stability of the cantilever beam 10 and the second slide rail 5, and meanwhile, the cantilever beam 10 can be prevented from being bent under the action of material gravity to influence use.

Before the device is used, the extension rod of the first air cylinder 122 is in an extension state, the extension rod of the second air cylinder 123 is in an extension state, and the operation of the device is controlled by the controller.

When the materials need to move up and down, a first motor 2 is started, a 2-position double-shaft extension motor of the first motor drives a chain wheel 6 to rotate through a rotating rod 13, the chain wheel 6 rotates to drive a first chain 8 to move, and the second slide rail 5 is connected to a vertical beam 101 in a sliding manner, so that the first chain 8 pulls the second slide rail 5 to move up and down along the vertical beam 101, the second slide rail 5 moves up and down to drive a suspension beam 10 to move up and down, the suspension beam 10 moves up and down to drive a sliding table 11 to move up and down, and the sliding table 11 moves up and down to drive an air claw device 12 to move up and down, thereby realizing the up; when the materials need to move left and right, the second motor 15 is started, the rotation of the rotating shaft of the second motor 15 can drive the first rotating wheel 16 to rotate, the rotation of the first rotating wheel 16 drives the corresponding first synchronous belt 17 to slide, and the first synchronous belt 17 is fixedly connected with the second sliding block 14, and the suspension beam 10 is fixedly connected to the second sliding block 14, so that the first synchronous belt 17 drives the suspension beam 10 to move transversely, and the second sliding block 14 is matched with the second sliding rail 5, so that the suspension beam 10 can be ensured to move transversely along the direction set by the second sliding rail 5; when the material needs longitudinal movement, start third motor 20, the rotation of third motor 20 pivot drives the rotation of second runner 21, the rotation of second runner 21 drives the slip of second hold-in range 22, the slip of second hold-in range 22 drives slip table 11 back-and-forth movement to drive the back-and-forth movement of gas claw device 12, because slip table 11 and third slider 19 fixed connection, third slider 19 cooperates on third slide rail 18, consequently, slip table 11 can be at the direction longitudinal movement that third slide rail 18 injectd. When the material needs to rotate, the rotating motor 23 is started, and the rotating shaft of the rotating motor 23 drives the gas claw device 12 to rotate, so as to drive the adjustment of the material angle.

The mode that the gas claw device pressed from both sides the material does, starts second cylinder 123, and the extension of second cylinder 123 drives and moves splint 121 to the direction of keeping away from fixed splint 126 and remove, and then increases apart from between two splint, treats that the material is located between two splint, and reverse start second cylinder 123 for the shrink of second cylinder 123 drives and moves splint 121 to fixed splint 126 direction removal, and then cliies the material.

The mode that the material was placed to the gas claw device is, starts second cylinder 123, and the extension of second cylinder 123 extension axle drives movable clamp plate 121 and keeps away from fixed clamp plate 123, forms open state with fixed clamp plate 123 to the material falls.

The device has the following advantages:

(1) the material can not only be realized in the ascending removal of X, Y, Z triaxial, simultaneously, can be rotatory through rotating electrical machines control material, the adjustment material angle increases the precision that the material was placed.

(2) The first motor, the second motor and the third motor can realize the rapid movement of materials, so that the efficiency of the device is improved.

(3) The counterweight shares the gravity borne by the second slide rail and shares the gravity generated by the material, so that the load of the first motor during working is reduced, and the service life of the first motor is prolonged.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. High accuracy single-arm formula coordinate robot includes the support and installs first motor (2) on the support, its characterized in that: a second sliding rail (5) is connected to the support in a sliding manner in the vertical direction; both sides of the support are provided with a chain wheel (6) and a fixed pulley (7), the chain wheel (6) is fixedly connected with a rotating shaft of the first motor (2), a first chain (8) is arranged on the chain wheel (6) in a matching way, one end of the first chain (8) is suspended, the other end of the first chain is fixedly connected with the second sliding rail (5), the fixed pulley (7) is rotatably connected to the support, a second chain (9) is arranged on the fixed pulley (7) in a matching way, one end of the second chain (9) is fixedly connected with the second sliding rail (5), and the other end of the second chain is fixedly connected with a balancing weight; the second slide rail (5) is connected with a suspension beam (10) which moves transversely in a sliding way, the suspension beam (10) is connected with a sliding table (11) which moves longitudinally in a sliding way, and the sliding table (11) is provided with a pneumatic claw device (12).

2. The high precision single arm coordinate robot of claim 1, wherein: first motor (2) are the biax and stretch the motor, and the equal fixed connection bull stick (13) in the both sides pivot of the motor is stretched to the biax one end, the other end and the sprocket (6) fixed connection who corresponds the side of bull stick (13).

3. The high precision single arm coordinate robot of claim 2, wherein: the support includes two perpendicular roof beams (101), erects the lower extreme and the ground fixed connection of roof beam (101), and the upper end of two perpendicular roof beams (101) is passed through crossbeam (102) and is fixed a connection, installs first slide rail (3) and fixed pulley (7) on perpendicular roof beam (101), all cooperates on first slide rail (3) and is equipped with first slider (4), through second slide rail (5) fixed connection between two first slider (4), installs the biax on crossbeam (102) and stretches the motor.

4. The high precision single arm coordinate robot of claim 1, wherein: the second sliding rail (5) is connected with a second sliding block (14) in a sliding mode, the second sliding block (14) is vertically connected with the suspension beam (10), a second motor (15) is installed on one side of the support, a first rotating wheel (16) is fixedly installed on a rotating shaft of the second motor (15), a first synchronous belt (17) which is disconnected is sleeved on the first rotating wheel (16), and the two disconnected ends of the first synchronous belt (17) are fixedly connected through a mounting plate on the second sliding block (14).

5. The high precision single arm coordinate robot of claim 1, wherein: both sides fixed mounting of hanging oneself from a beam (10) top surface has fore-and-aft third slide rail (18), it is equipped with third slider (19) all to cooperate on third slide rail (18), slip table (11) fixed connection is passed through in two third slider (19) homoenergetic, hang and install third motor (20) along hanging oneself from a beam longitudinal direction on roof beam (10), second runner (21) have been cup jointed to the pivot of third motor (20), the cooperation is equipped with second hold-in range (22) of disconnection on second runner (21), second hold-in range (22) are through slip table (11) fixed connection, vertically set up the bar on hanging oneself from a beam (10) and pass through the groove, the bottom surface vertical connection of slip table (11) has pivot rotating electrical machines (23) down, the lower extreme of rotating electrical machines (23) pivot is worn out the bar and is passed through the groove and is installed gas claw device (.

6. The high precision single arm coordinate robot of claim 5, wherein: the two sides of the cantilever beam (10) are fixedly provided with connecting rib plates (1) which are in right trapezoid shapes, one right-angle edge of each connecting rib plate (1) is connected with a fixing plate of the cantilever beam (10), and the other right-angle edge of each connecting rib plate (1) is fixedly connected with the second slide rail (5).

7. The high precision single arm coordinate robot of claim 5, wherein: pneumatic claw device (12) are including moving splint (121), decide splint (126), first cylinder (122) and second cylinder (123), the lower extreme fixed connection connecting plate of rotating electrical machines (23) pivot, fixedly connected with fourth slide rail (124) below the connecting plate, the cooperation is equipped with fourth slider (125) on fourth slide rail (124), splint (121) are moved in fourth slider (125) articulated, fix splint (126) through fixed block fixedly connected with on fourth slide rail (124), install first cylinder (122) on moving splint (121), the extension axle of first cylinder (122) is articulated with the pivot of moving splint (121) lower extreme L type baffle (24), the stiff end fixed connection of second cylinder (123) is on the connecting plate, the extension axle of second cylinder (123) with move splint (121) fixed connection.

8. The high precision single arm coordinate robot of claim 7, wherein: the lower end of the movable clamping plate (121) is fixedly connected with an L-shaped baffle plate (24).