CN216470436U - Double-shaft carrying robot - Google Patents
Double-shaft carrying robot Download PDFInfo
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- CN216470436U CN216470436U CN202123268781.7U CN202123268781U CN216470436U CN 216470436 U CN216470436 U CN 216470436U CN 202123268781 U CN202123268781 U CN 202123268781U CN 216470436 U CN216470436 U CN 216470436U
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Abstract
A double-shaft transfer robot comprises an X-shaft assembly structure and a Z-shaft assembly structure; the X-axis general assembly structure comprises a first guide rail (3) and a first sliding block (7) which is arranged on the first guide rail (3) in a sliding manner; the Z-axis assembly structure comprises a vertical column (18) vertically installed on the first sliding block (7), a second guide rail (23) vertically arranged and fixedly installed on the vertical column (18), and a connecting and holding device (15) which is arranged on the second guide rail (23) in a lifting and sliding mode and used for connecting and holding the conveyed article. The utility model provides a biax transfer robot can carry out and carry out two-way movement at level and vertical direction, operates steadily, reliably, and the repeated positioning accuracy is high. The double-shaft transfer robot is suitable for the intelligent warehouse logistics industry and has great advantages in the field of stereoscopic warehouses.
Description
Technical Field
The utility model relates to a commodity circulation technical field especially relates to a biax transfer robot.
Background
Along with the rapid development of modern intelligent storage logistics industry, stereoscopic warehouse's increase, the increase of cost of labor, the manual work can not satisfy the unloading demand of going up already, and the handling device that current stereoscopic warehouse adopted only carries on the vertical direction, can not satisfy the transport demand on the horizontal direction. Meanwhile, the carrying device in the vertical direction lacks a safety device, and the precision is not high.
When high-precision conveying is required, for example, silicon wafers are conveyed, a conveying device which is stable, stable and high in repeated positioning precision is required, and the general conveying device of a stereoscopic warehouse in the market cannot meet the requirement, and cannot meet the requirement in the aspect of shape size or precision.
SUMMERY OF THE UTILITY MODEL
The utility model provides an above-mentioned technical problem, a biax transfer robot is proposed.
The utility model provides a following technical scheme:
the utility model provides a double-shaft transfer robot, which comprises an X-shaft assembly structure and a Z-shaft assembly structure;
the X-axis general assembly structure comprises a first guide rail and a first sliding block which is slidably arranged on the first guide rail;
the Z-axis assembly structure comprises an upright post vertically arranged on the first sliding block, a second guide rail vertically arranged and fixedly arranged on the upright post, and a connecting and holding device which is arranged on the second guide rail in a lifting and sliding manner and used for connecting and holding the conveyed article.
In the double-shaft transfer robot of the present invention, the X-shaft assembly structure further includes a ground rail, a first servo motor, a first gear and a first rack;
the first guide rail and the first rack are respectively and fixedly arranged on the ground rail; the first guide rail and the first rack are arranged in parallel;
the first gear is axially and fixedly arranged on an output shaft of the first servo motor; a cylinder body of the first servo motor is fixedly arranged on the first sliding block; the first gear and the first rack are meshed together.
In the double-shaft transfer robot of the present invention, the X-shaft assembly structure further includes a first connecting plate fixedly mounted on the top surface of the first slider; the cylinder body of the first servo motor is fixedly installed on the first connection plate.
The utility model discloses among the foretell biax transfer robot, X axle assembly structure still includes a plurality of rag bolts, and the ground rail is fixed subaerial through a plurality of rag bolts.
The utility model discloses among the foretell biax transfer robot, X axle assembly structure is still including setting up the hard spacing rubber pad at the ground rail tip.
In the double-shaft transfer robot of the present invention, the Z-shaft assembly structure includes a second slider, a second servo motor, a second gear and a second rack;
the second rack is fixedly arranged on the upright post; the second guide rail and the second rack are arranged in parallel;
the second gear is axially and fixedly arranged on an output shaft of the second servo motor; the second sliding block is arranged on the second guide rail in a lifting and sliding manner; the connecting and holding device is fixedly arranged on the second sliding block; a cylinder body of a second servo motor is fixedly arranged on the second sliding block;
the second gear and the second rack are meshed together.
The utility model discloses among the foretell biax transfer robot, Z axle assembly structure is still including setting up the keysets in the stand bottom, and the keysets is installed on first connecting plate with fixing perpendicularly.
In the above double-shaft transfer robot of the present invention, the Z-shaft assembly structure further comprises a mounting plate fixedly mounted on the second slide block; the cylinder bodies connected with the holding device and the second servo motor are respectively and fixedly arranged on the mounting plate.
The utility model discloses among the foretell biax transfer robot, hard limit stop is installed fixedly at the stand top.
The utility model discloses among the foretell biax transfer robot, Z axle assembly structure still includes the second connecting plate of fixedly installing on the mounting panel and fixedly installs on the second connecting plate, be used for with the dead guide rail lock of second guide rail lock.
The utility model provides a biax transfer robot can carry out and carry out two-way movement at level and vertical direction, operates steadily, reliably, and the repeated positioning accuracy is high. The double-shaft transfer robot is suitable for the intelligent warehouse logistics industry and has great advantages in the field of stereoscopic warehouses.
Drawings
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 is a schematic structural view of a two-axis transfer robot according to a preferred embodiment of the present invention;
fig. 2 is a schematic structural view showing an X-axis assembly structure of the two-axis transfer robot shown in fig. 1;
fig. 3 is a schematic structural view showing a Z-axis assembly structure of the two-axis transfer robot shown in fig. 1;
fig. 4 is a schematic connection diagram of the second rack, the second guide rail, the guide rail lock, the second gear and the second connecting plate of the Z-axis assembly structure shown in fig. 3.
Detailed Description
The utility model discloses the technical problem that will solve is: the carrying device adopted by the existing stereoscopic warehouse only carries in the vertical direction and can not meet the carrying requirement in the horizontal direction. Meanwhile, the carrying device in the vertical direction lacks a safety device, and the precision is not high. The utility model discloses the technical thinking that just this technical problem provided is: provided is a double-shaft transfer robot which can move in both the horizontal and vertical directions, and which is stable and reliable in operation and high in repeated positioning accuracy. The double-shaft transfer robot is suitable for the intelligent warehouse logistics industry and has great advantages in the field of stereoscopic warehouses.
In order to make the technical solutions, technical objects, and technical effects of the present invention clearer, so as to enable those skilled in the art to understand and implement the present invention, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, fig. 1 is a schematic structural view illustrating a two-axis transfer robot according to a preferred embodiment of the present invention; fig. 2 is a schematic structural view showing an X-axis assembly structure of the two-axis transfer robot shown in fig. 1; fig. 3 is a schematic structural view showing a Z-axis assembly structure of the two-axis transfer robot shown in fig. 1; fig. 4 is a schematic connection diagram of the second rack, the second guide rail, the guide rail lock, the second gear and the second connecting plate of the Z-axis assembly structure shown in fig. 3. Specifically, the double-shaft transfer robot comprises an X-shaft assembly structure and a Z-shaft assembly structure;
the X-axis general assembly structure comprises a first guide rail 3 and a first sliding block 7 which is arranged on the first guide rail 3 in a sliding way;
the Z-axis assembly structure comprises a vertical column 18 vertically installed on the first sliding block 7, a second guide rail 23 vertically arranged and fixedly installed on the vertical column 18, and a connecting and holding device 15 which is arranged on the second guide rail 23 in a lifting and sliding mode and used for connecting and holding the conveyed article.
Above-mentioned technical scheme is basic scheme, and biax transfer robot can carry out two-way movement in the level and vertical direction through adopting X axle assembly structure and Z axle assembly structure.
Further, in the present embodiment, the X-axis assembly structure further includes a ground rail 2, a first servo motor 5, a first gear 8 and a first rack 10;
the first guide rail 3 and the first rack 10 are respectively fixedly arranged on the ground rail 2; the first guide rail 3 and the first rack 10 are arranged in parallel;
the first gear 8 is axially fixedly arranged on the output shaft of the first servo motor 5; the cylinder body of the first servo motor 5 is fixedly arranged on the first sliding block 7; the first gear wheel 8 and the first toothed rack 10 are meshed together.
Through the meshing connection of the first gear 8 and the first rack 10, the first sliding block 7 and the first guide rail 3 are in matched transmission, so that the repeated positioning precision of the Z-axis assembly structure in the X-axis direction is high. In some embodiments, the repeated positioning accuracy can be up to ± 0.05 mm.
In this embodiment, there are two first guide rails 3, and the first sliders 7 are slidably disposed on the first guide rails 3, respectively.
Further, in the present embodiment, the X-axis assembly structure further includes a first connection plate 6, the first connection plate 6 being fixedly mounted on the top surface of the first slider 7; the cylinder of the first servo motor 5 is fixedly mounted to the first link plate 6 so as to be indirectly mounted on the first slider 7 through the first link plate 6. In the present embodiment, the first connecting plate 6 connects the first slider 7 and the first servo motor 5 by bolts, respectively.
Further, in the present embodiment, the first guide rail 3 is fixed on the top surface of the ground rail 2 by a bolt connection, the first rack 10 is connected with the ground rail 2 by a bolt connection, and the first servo motor 5 and the first gear 8 are connected by a key.
Further, the X-axis assembly structure further includes a plurality of anchor bolts 11, and the ground rail 2 is fixed on the ground through the plurality of anchor bolts 11. By means of the anchor bolts 11, the height of the ground rail 2 can be adjusted and the fixing of the ground rail 2 is achieved. A plurality of anchor bolts 11 are evenly distributed at both ends of the ground rail 2.
Further, in this embodiment, the X-axis assembly structure further includes a hard limiting rubber pad 1 disposed at an end of the ground rail 2. The stroke limitation of the Z-axis assembly structure sliding on the X axis is realized through the hard limiting rubber gasket 1.
Further, in the present embodiment, the X-axis assembly structure further includes an oil pump 4 fixedly mounted on the first connection plate 6. Specifically, the oil pump 4 is connected to the first connection plate 6 with bolts.
Similarly, the Z-axis assembly structure includes a second slider 22, a second servomotor 19, a second gear 25, and a second rack 21;
the second rack 21 is fixedly mounted on the upright 18; the second guide rail 23 and the second rack 21 are arranged in parallel;
the second gear 25 is axially fixedly mounted on the output shaft of the second servomotor 19; the second slide block 22 is arranged on the second guide rail 23 in a lifting and sliding manner; the connection holding means 15 are fixedly mounted on the second slider 22; the cylinder of the second servomotor 19 is fixedly mounted on the second slide 22;
the second gear 25 and the second rack 21 are meshed together.
Through the meshing connection of the second gear 25 and the second rack 21, the matching transmission of the second slide block 22 and the second guide rail 23 is realized, so that the repeated positioning precision of the connection holding device 15 in the Z-axis direction is high. In some embodiments, the repeated positioning accuracy can be up to ± 0.05 mm.
Further, the Z-axis assembly structure further includes an adapter plate 13 disposed at the bottom of the column 18, and the adapter plate 13 is vertically and fixedly mounted on the first connecting plate 6. In this embodiment, the adapter plate 13 and the first connecting plate 6 are connected by welding, and the adapter plate 13 is further welded to the column 18, so as to indirectly fix the first slider 7 and the column 18, and vertically fix the Z-axis assembly structure on the X-axis assembly structure.
Further, the Z-axis assembly structure further includes a mounting plate 16 fixedly mounted on the second slider 22; the cylinders connecting the holding means 15 and the second servo motor 19 are fixedly mounted on the mounting plate 16, respectively, so as to be indirectly fixedly mounted on the second slider 22 through the mounting plate 16.
Further, a hard limit stopper 17 is fixedly mounted on the top of the upright 18 for limiting the sliding travel of the second slider 22 on the second guide rail 23.
Further, a second rack 21 and a second rail 23 are respectively installed on the column 18 by bolt connection. The second gear 25 and the second servomotor 19 are keyed. The hard limit stops 17 are mounted on the uprights 18 by means of bolted connections. The mounting plate 16 is fixedly connected to the second slider 22, the connection holding device 15, and the second servomotor 19 by bolts, respectively.
Further, in the present embodiment, the Z-axis assembly structure further includes a second connecting plate 26 fixedly mounted on the mounting plate 16, and a rail lock 24 fixedly mounted on the second connecting plate 26 for locking with the second rail 23. Specifically, the rail lock 24 and the second connecting plate 26 are connected by bolts, and the second connecting plate 26 is connected to the mounting plate 16 by bolts.
Further, in the present embodiment, the surface of the pillar 18 is welded with the shield 14.
In this embodiment, the operation process of the two-axis transfer robot is as follows: on the X axle, first servo motor 5 is rotatory to drive first gear 8 and is rotated, through rack and pinion meshing transmission, drives first connecting plate 6 and moves, and first slider 7 is reciprocal linear motion on first guide rail 3 this moment, and first connecting plate 6, first slider 7, first servo motor 5 and oil pump 4 are as an organic whole, carry out the linear motion of horizontal direction together. The adapter plate 13 is connected with the first connecting plate 6 in a welding mode, and the Z-axis assembly structure moves horizontally and linearly along with the Z-axis assembly structure. This is the X-axis mode of operation.
On the Z axis, the second servo motor 19 rotates to drive the second gear 25 to rotate, and the mounting plate 16, the rail lock 24, the second slider 22, and the connection holding device 15 are driven to move on the second rail 23 in the vertical direction through gear rack transmission. It should be emphasized that the Z-axis assembly structure can also move in the vertical direction, i.e., can perform the linkage operation, when the whole structure performs the horizontal movement.
The guide rail lock 24 is a pneumatic safety protection device, and when the pneumatic safety protection device is operated, the guide rail lock is ventilated and opened, and moves together with the second sliding block 22 on the second guide rail 23 in the vertical direction, when the power is suddenly cut off or the second servo motor 19 is suddenly damaged, the guide rail lock 24 is cut off, and then is locked on the second guide rail 23, so that the connection holding device 15 and the carried object can not be suddenly dropped, and an important protection effect is achieved. In addition, when the connection holding device 15 moves to a certain position, the guide rail locks the air brake, and the problem that the connection holding device 15 slightly shakes up and down during action is prevented. Has good positioning effect.
The utility model provides a biax transfer robot is through adopting linear guide structure, and the gear rack mode is adopted in the transmission, and the repeated positioning accuracy can reach 0.05 mm. The modularized design is suitable for heavy-duty occasions. The X-axis general assembly structure is adopted, the structure of the guide rail is strengthened, the installation space is reduced, and the splicing characteristic of the X-axis general assembly structure enables the X-axis general assembly structure to realize the online operation of multiple devices and complete the multiple-process carrying of goods. In addition, the Z-axis assembly structure adopts guide rails for guiding and bearing, adopts a gear and rack transmission mode, and is completely integrated with the robot, so that the compact production line can be arranged, more importantly, the X-axis assembly structure and the Z-axis assembly structure are stable and reliable in operation, and the flexible power performance of the connecting and holding device 15 can be best exerted.
While the embodiments of the present invention have been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many modifications may be made by one skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (10)
1. A double-shaft transfer robot is characterized by comprising an X-shaft assembly structure and a Z-shaft assembly structure;
the X-axis general assembly structure comprises a first guide rail (3) and a first sliding block (7) which is arranged on the first guide rail (3) in a sliding manner;
the Z-axis assembly structure comprises a vertical column (18) vertically installed on the first sliding block (7), a second guide rail (23) vertically arranged and fixedly installed on the vertical column (18), and a connecting and holding device (15) which is arranged on the second guide rail (23) in a lifting and sliding mode and used for connecting and holding the conveyed article.
2. The dual-axis transfer robot according to claim 1, wherein the X-axis assembly structure further comprises a ground rail (2), a first servo motor (5), a first gear (8), and a first rack (10);
the first guide rail (3) and the first rack (10) are respectively and fixedly arranged on the ground rail (2); the first guide rail (3) and the first rack (10) are arranged in parallel;
the first gear (8) is axially fixedly arranged on an output shaft of the first servo motor (5); the cylinder body of the first servo motor (5) is fixedly arranged on the first sliding block (7); the first gear (8) and the first rack (10) are meshed together.
3. The biaxial transfer robot according to claim 2, wherein the X-axis final assembly structure further comprises a first link plate (6), the first link plate (6) being fixedly mounted on a top surface of the first slide (7); the cylinder body of the first servo motor (5) is fixedly arranged on the first connecting plate (6).
4. The dual-axis transfer robot according to claim 2, wherein the X-axis assembly structure further comprises a plurality of anchor bolts (11), and the ground rail (2) is fixed to the ground by the plurality of anchor bolts (11).
5. The double-shaft transfer robot according to claim 2, wherein the X-axis assembly structure further comprises hard limit rubber pads (1) provided at ends of the ground rails (2).
6. The dual-axis transfer robot according to claim 3, wherein the Z-axis assembly structure includes a second slider (22), a second servo motor (19), a second gear (25), and a second rack (21);
the second rack (21) is fixedly arranged on the upright post (18); the second guide rail (23) and the second rack (21) are arranged in parallel;
the second gear (25) is axially fixedly arranged on an output shaft of the second servo motor (19); the second sliding block (22) is arranged on the second guide rail (23) in a lifting and sliding manner; the connection holding device (15) is fixedly arranged on the second slide block (22); the cylinder body of the second servo motor (19) is fixedly arranged on the second sliding block (22);
the second gear (25) and the second rack (21) are meshed together.
7. The dual-axis transfer robot of claim 6, wherein the Z-axis final assembly structure further comprises an adapter plate (13) disposed at the bottom of the column (18), the adapter plate (13) being vertically fixedly mounted on the first connection plate (6).
8. The dual-axis transfer robot of claim 6, wherein the Z-axis final assembly structure further comprises a mounting plate (16) fixedly mounted on the second slide (22); the cylinders connecting the holding device (15) and the second servo motor (19) are respectively fixedly installed on the installation plate (16).
9. The dual-axis transfer robot of claim 8, wherein a hard limit stop (17) is fixedly mounted on top of the column (18).
10. The dual-axis transfer robot of claim 8, wherein the Z-axis assembly structure further comprises a second attachment plate (26) fixedly mounted on the mounting plate (16) and a rail lock (24) fixedly mounted on the second attachment plate (26) for locking with the second rail (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123268781.7U CN216470436U (en) | 2021-12-23 | 2021-12-23 | Double-shaft carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123268781.7U CN216470436U (en) | 2021-12-23 | 2021-12-23 | Double-shaft carrying robot |
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| Publication Number | Publication Date |
|---|---|
| CN216470436U true CN216470436U (en) | 2022-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123268781.7U Active CN216470436U (en) | 2021-12-23 | 2021-12-23 | Double-shaft carrying robot |
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| CN (1) | CN216470436U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115625550A (en) * | 2022-10-13 | 2023-01-20 | 上海拓璞数控科技股份有限公司 | Compact linear motion shaft system capable of being integrated in double-swing head and double-swing head structure |
-
2021
- 2021-12-23 CN CN202123268781.7U patent/CN216470436U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115625550A (en) * | 2022-10-13 | 2023-01-20 | 上海拓璞数控科技股份有限公司 | Compact linear motion shaft system capable of being integrated in double-swing head and double-swing head structure |
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