CN217915365U - Five-axis linkage industrial robot - Google Patents

Abstract

The utility model discloses a five-axis linkage industrial robot, including X axle sharp module, Y axle sharp module, the U axle rotates the module, Z axle sharp module, the R axle rotates the module and snatchs the module, the U axle rotates the vertical setting of axis of actuating of module, the vertical setting of direction of actuating of Z axle sharp module, the R axle rotates the vertical slip of module in the stroke of regulation, the axis level setting of actuating of R axle rotation module, it can carry out XYZ axle rectilinear movement and UR axle and rotate and its execution portion is located the axis of actuating of U axle rotation module and R axle rotation module to snatch the module. The utility model provides a five-axis linkage industrial robot can snatch the component and adjust the counterpoint from each angle to it for the component can be accurate quick reach adjustment target and with fixed overdraft execution equipment process.

Description

Five-axis linkage industrial robot

Technical Field

The utility model relates to an industrial robot field, concretely relates to five-axis linkage industrial robot.

Background

With the rapid development of social economy, the demands of people on various products are increased, the manual production is far lower than automatic equipment in speed and product quality, the labor cost is increased year by year, and the production by adopting the automatic equipment is in the trend. The automatic equipment is used for production, so that a large amount of manpower, material resources and financial resources can be saved for enterprises, the quality of products is improved, the competitiveness of the enterprises is enhanced, and the benefits of the enterprises are increased.

The requirement on the alignment, laminating and adjustment precision of the watch laminating part is high, the manual work cannot meet the assembly requirement, the degree of freedom of the existing industrial robot for assembling and laminating the watch is low, and the watch laminating part is not suitable for complex machining and assembling operation.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a five-axis linkage industrial robot to solve the needs of technical staff in the field and be applicable to the industrial robot of the equipment of microelement such as mouse, wrist-watch.

In order to solve the above technical problem, the utility model particularly provides the following technical scheme:

a five-axis linkage industrial robot comprises an X-axis linear module, a frame and a linkage mechanism, wherein the X-axis linear module is connected with the frame, and the actuating direction of the X-axis linear module is horizontally arranged; the Y-axis linear module is connected with the execution part of the X-axis linear module, and the actuating direction of the Y-axis linear module is horizontally arranged and is vertical to the actuating direction of the X-axis linear module; the U-axis rotating module is connected with the executing part of the Y-axis linear module, and the actuating axis of the U-axis rotating module is vertically arranged; the Z-axis linear module is connected with the execution part of the U-axis rotation module, and the actuation direction of the Z-axis linear module is vertically arranged; the R-axis rotating module is connected with the executing part of the Z-axis linear module in a sliding manner, can vertically slide in a specified stroke, and is horizontally arranged along the actuating axis; and the grabbing module is connected with an executing part of the R-axis rotating module, and the executing part of the grabbing module is positioned on the actuating axis of the U-axis rotating module and the actuating axis of the R-axis rotating module.

Preferably, the grabbing module comprises a support connected to an executing part of the R-axis rotating module, at least 1 sucking disc is installed on the support, and the sucking disc is connected with a vacuum source.

Preferably, the suction cups have at least 3 and are distributed on two lines intersecting each other.

Preferably, the holder has a fitting hole formed in a surface thereof, the suction cup being fitted into the fitting hole, and the fitting holes are communicated with each other through a gas passage formed in the holder and connected to the vacuum source through a pipe.

Preferably, the executing part of the Z-axis linear module is slidably connected with the R-axis rotating module through a sliding module, and the sliding module includes a positioning plate connected with the executing part of the Z-axis linear module; the slide rail is vertically arranged and fixedly connected with the positioning plate; the movable plate is connected with the slide rail in a sliding manner; a bottom stopper fixedly connected with the positioning plate and disposed right below the movable plate; a top stopper fixedly connected with the positioning plate and disposed directly above the movable plate, a gap between the bottom stopper and the top stopper being larger than a size of the movable plate in a vertical direction.

Preferably, the bottom stopping piece is detachably connected with the positioning plate, and the bottom stopping piece is in point contact with the movable plate.

Preferably, the sliding module further comprises an elastic member, the elastic member is connected with the positioning plate and the movable plate, and the resilience force generated when the elastic member is elastically deformed is always vertically and downwardly applied to the movable plate.

Preferably, the elastic part is cylindrical, the elastic part is abutted against the top surface of the movable plate, a positioning column is inserted into the elastic part, and the positioning column is detachably connected with the movable plate.

Preferably, the top stopping piece is detachably connected with the positioning plate, and when the movable plate moves up to the maximum stroke, the top stopping piece abuts against the positioning column.

Preferably, the machine vision detection system further comprises a control system which is in communication connection with the X-axis linear module, the Y-axis linear module, the U-axis rotating module, the Z-axis linear module, the R-axis rotating module and the machine vision detection system.

Compared with the prior art, the utility model has following beneficial effect:

the utility model provides a five-axis linkage industrial robot can snatch the component and adjust the counterpoint from each angle to it for the component can be accurate quick reach adjustment target and with fixed overdraft execution equipment process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

Fig. 1 is a front view of the present invention;

FIG. 2 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 1;

FIG. 3 is a perspective view and a partial enlarged view of the present invention;

fig. 4 is a perspective view of another perspective of the present invention;

FIG. 5 is an assembly view of the Z-axis linear module and the slide module;

FIG. 6 is a front view of the slide module;

FIG. 7 is a sectional view taken along line B-B of FIG. 6;

fig. 8 is an assembly view of the R-axis rotation die set and the gripping die.

The reference numerals in the drawings denote the following, respectively:

10-X axis linear module;

a 20-Y axis linear module;

a 30-U axis rotation module; 31-a gantry type support; 32-a bottom plate; 33-a support wheel; 34-a bearing seat; 35-a movable part; 36-slot type optical couplers;

a 40-Z axis linear module; 41-a servo motor; 42-synchronous belt drive mechanism; 43-ball screw slide; 44-unpowered slipways;

a 50-R axis rotation module;

60-a grabbing module; 61-a scaffold; 62-a chimeric pore; 63-gas channel; 64-a suction cup; 65-vacuum source;

70-a sliding module; 71-a positioning plate; 72-a slide rail; 73-a movable plate; 74-bottom stop; 75-a top stop; 76-a resilient member; 77-positioning column.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1-4, one embodiment of the present invention provides: a five-axis linkage industrial robot includes an X-axis linear module 10, a Y-axis linear module 20, a U-axis rotary module 30, a Z-axis linear module 40, an R-axis rotary module 50, and a gripper module 60.

The X-axis linear module 10 is connected with the frame, and the actuating direction of the X-axis linear module 10 is horizontally arranged. The Y-axis linear module 20 is connected with an executing part of the X-axis linear module 10, the X-axis linear module 10 is used for driving the Y-axis linear module 20 to move along the X axis, and the actuating direction of the Y-axis linear module 20 is horizontally arranged and is perpendicular to the actuating direction of the X-axis linear module 10. The U-axis rotating module 30 is connected with an executing part of the Y-axis linear module 20, the Y-axis linear module 20 is used for driving the U-axis rotating module 30 to move along the Y axis, and the action axis of the U-axis rotating module 30 is vertically arranged.

The Z-axis linear module 40 is connected with an executing part of the U-axis rotating module 30, the U-axis rotating module 30 is used for driving the Z-axis linear module 40 to rotate around a U axis in the vertical direction, and the actuating direction of the Z-axis linear module 40 is vertically arranged.

The R-axis rotating module 50 is connected with an executing part of the Z-axis linear module 40 in a sliding mode, the Z-axis linear module 40 is used for driving the R-axis rotating module 50 to move along the Z axis, the R-axis rotating module 50 can vertically slide in a specified stroke, the R-axis rotating module 50 is located at the lowest point of the stroke under the action of no external force, when the R-axis rotating module is assembled, the R-axis rotating module 50 generates pressing action such as extrusion and the like on elements adsorbed by the grabbing module 60 through self weight, the maximum acting force exerted on the elements by the R-axis rotating module 50 is equal to the weight of the R-axis rotating module 50 and the weight of the grabbing module 60, the acting force of the Z-axis linear module 40 cannot directly act on the elements, the situation that tiny and fragile elements are crushed is avoided, and the actuating axis of the R-axis rotating module 50 is horizontally arranged.

The grabbing module 60 is connected with an executing part of the R-axis rotating module 50, the executing part of the grabbing module 60 is located on the actuating axis of the U-axis rotating module 30 and the R-axis rotating module 50, and the U-axis rotating module 30 and the R-axis rotating module 50 are used for driving the micro component adsorbed by the grabbing module 60 to rotate at the original position, so that the grabbing module 60 can adjust the posture of the component grabbed by the grabbing module with the minimum actuating angle.

The five-axis linkage industrial robot that this embodiment provided adjusts the counterpoint to the component from each angle, makes it can be accurate quick reach the adjustment target, is applicable to fields such as electronics trades microelement manufacturing, equipment such as cell-phone, wrist-watch, earphone.

Specifically, the X-axis linear module 10, the Y-axis linear module 20, and the Z-axis linear module 40 each include a powered slide rail and an unpowered slide rail, where the powered slide rail uses a servo motor as a power source and uses a ball screw as a transmission mechanism.

The U-axis rotation module 30 is a precision electric turntable having a worm gear reduction mechanism, and the R-axis rotation module 50 is a servo motor having a planetary gear reduction mechanism.

The X-axis linear module 10, the Y-axis linear module 20, the U-axis rotational module 30, the Z-axis linear module 40, and the R-axis rotational module 50 each have a travel switch for limiting the travel thereof.

Wherein: the U-axis rotation module 30 is connected with the execution part thereof and the Z-axis linear module 40 through the gate bracket 31, the gate bracket 31 has a bottom plate 32 horizontally arranged, in order to enable the grasping module 60 to be positioned on the R-axis, that is, the grasping module 60 is positioned on the central line of the whole five-axis linkage industrial robot, the gate bracket 31 is deviated from the R-axis, so that the force exerted on the bottom plate 32 by the Z-axis linear module 40, the R-axis rotation module 50 and the grasping module 60 through the gate bracket 31 is deviated from the R-axis, in order to avoid the damage of the U-axis rotation module 30 caused by the eccentric gravity, as shown in fig. 3, a support wheel 33 positioned right below the gate bracket 31 and connected with the execution part of the Y-axis linear module 20 is arranged below the bottom plate 32, the support wheel 33 is used for supporting the weight of the bottom plate 32 to keep the horizontal posture, and the support wheel 33 is connected with the execution part of the Y-axis linear module 20 through a bearing seat 34.

The structure of the X-axis linear module 10, the structure of the Y-axis linear module 20 and the structure of the Z-axis linear module 40 are described by taking the Z-axis linear module 40 as an example, the Z-axis linear module 40 comprises a servo motor 41 connected to a door-shaped support 31, a ball screw sliding table 43 and an unpowered sliding table 44, an output shaft of the servo motor 41 is connected with an input shaft of the ball screw sliding table 43 through a synchronous belt transmission mechanism 42, the ball screw sliding table 43 and the unpowered sliding table 44 are arranged side by side and vertically, and a sliding module 70 is connected with sliders of the ball screw sliding table 43 and the unpowered sliding table 44.

The structure of the travel switch is described by taking the U-axis rotation module 30 as an example, the bottom of the bottom plate 32 is connected with a moving part 35, the moving part 35 performs circular motion along with the rotation of the bottom plate 32, at least 2 groove-shaped optocouplers 36 are connected to an execution part of the Y-axis linear module 20, the groove-shaped optocouplers 36 are located on a moving track of the circular motion of the moving part 35, and when the moving part 35 passes through the groove-shaped optocouplers 36, the groove-shaped optocouplers 36 send a signal to a control system, so that the control system can judge whether a rotation angle of the Z-axis linear module 40 driven by the U-axis rotation module 30 reaches a starting point or an end point of a travel.

It should be noted that the number of the slot type optical couplers 36 is 3 in total, because the number of the driving start points of the U-axis rotation module 30 is 1, but the number of the end points is 2.

The X-axis linear module 10, the Y-axis linear module 20, the Z-axis linear module 40, and the R-axis rotational module 50 also have moving parts and slot type optocouplers, and the working principle thereof is the same as the above-mentioned working principle, which is not described herein.

Further, as shown in fig. 8, in order to enable the grabbing module 60 to grab micro components such as a watch, a mobile phone, and an earphone, in this embodiment: the grabbing module 60 comprises a support 61 connected to an executing part of the R-axis rotating module 50, at least 1 suction cup 64 is mounted on the support 61, and the suction cup 64 is connected with a vacuum source 65.

The vacuum source 65 is a vacuum pump, and the vacuum source 65 generates a vacuum suction force to the component through the suction cup 64, and the suction cup 64 is adapted to suck the micro component having a small weight.

Further, the size of the suction cup 64 needs to be made very small in order to suck the microcomponents, while the microcomponents in the watch are of different sizes, the size and weight difference between the glass of the dial and the hands being even tens of times, when only one suction cup is not suitable for sucking each microcomponent in the watch, for this reason: the suction cups 64 have at least 3 and are distributed on two lines intersecting each other.

The suction cups 64 are preferably arranged in an L-shape or a cross shape so that the suction surfaces thereof form a plane, and thus the components sucked by the suction cups 64 are not inclined with respect to the suction cups 64 when the grip module 60 is driven to rotate by the R-axis rotation module 50.

Further, in order to reduce the number of vacuum sources 65, it is preferable that the vacuum sources 65 should have only one and be connected to each suction cup 64, and at the same time, in order to reduce the number of piping and joints:

the holder 61 has a fitting hole 62 formed on the surface thereof for fitting a suction cup 64, the suction cup 64 being fitted into the fitting hole 62, and the fitting holes 62 being communicated with a gas passage 63 formed inside the holder 61 and connected to a vacuum source 65 through a pipe.

The vacuum source 65 sucks the gas inside the gas passage 63 through the piping, and the gas passage 63 sucks the gas inside each suction cup 64 through the fitting hole 62, so that the suction cups 64 generate suction force.

Further, as shown in fig. 6-8, the utility model provides a structure that is used for the execution portion of sliding connection Z axle straight line module 40 and R axle to rotate module 50, it is specific: the executing part of the Z-axis linear module 40 is slidably connected to the R-axis rotary module 50 through a slide module 70.

The slide module 70 includes a positioning plate 71 connected to an actuating portion of the Z-axis linear module 40; a slide rail 72 vertically disposed and fixedly connected to the positioning plate 71; a movable plate 73 slidably connected to the slide rail 72; a bottom stopper 74 fixedly connected with the positioning plate 71 and disposed right below the movable plate 73; a top stopper 75 fixedly connected with the positioning plate 71 and disposed directly above the movable plate 73, a gap between the bottom stopper 74 and the top stopper 75 being larger than a dimension of the movable plate 73 in the vertical direction.

The positioning plate 71 is a C-shaped plate having horizontal top, bottom and vertical side plates, the slide rails 72 being mounted on the side plates, and the bottom and top stoppers 74 and 75 being mounted on the top and bottom plates, respectively.

The sliding module 70 formed by the above structure has the advantages of reliable and stable structure, capability of applying pressure in the vertical direction only, and the like.

Further, since the lowest height of the R-axis rotating module 50 and the pick module 60 determines the initial position of the pick module 60, it determines whether the pick module 60 can accurately pick the micro device and accurately move it to the designated position.

For this reason, the minimum height of the movable plate 73 needs to be accurately measured, and the relative height between the movable plate 73 and the positioning plate 71 should be completely consistent when the movable plate 73 is automatically restored to the minimum by gravity after each vertical sliding.

The bottom stopper 74 is detachably coupled to the positioning plate 71, and the bottom stopper 74 is in point contact with the movable plate 73.

Specifically, the bottom stopper 74 is a part having a tapered or ball head, preferably a ball head, which is screw-coupled to the positioning plate 71 and makes only one point contact with the movable plate 73, the point contact has a small factor compared to the surface contact and the line contact, and the defect that the corrosion, the defect, or the like occurring at the top of the bottom stopper 74 affects the relative height between the positioning plate 71 and the movable plate 73 is easily perceived.

Further, when the weight of the R-axis rotating module 50, the grabbing module 60 and the sliding module 70 is not enough to meet the requirement of the foot part process on the degree of pressing down, it is not preferable to increase the weight of the three, which increases the lower power limit of the X-axis linear module 10, the Y-axis linear module 20, the U-axis rotating module 30 and the Z-axis linear module 40, and increases the equipment cost, therefore: the sliding module 70 further includes an elastic member 76, the elastic member 76 connects the positioning plate 71 and the movable plate 73, and a resilient force generated when the elastic member 76 is elastically deformed is always vertically and downwardly applied to the movable plate 73.

The elastic member 76 may be a spring or a rubber block, which can increase the degree of pressing force when grasping the assembled components of the module 60 without increasing the weight of the apparatus.

Furthermore, the elastic member 76 is a spring, the bottom of which abuts against the top surface of the movable plate 73, and in order to prevent the elastic member 76 from falling, the elastic member 76 is cylindrical, the elastic member 76 abuts against the top surface of the movable plate 73, a positioning column 77 is inserted in the elastic member 76, and the positioning column 77 is detachably connected with the movable plate 73.

The positioning post 77 is a part identical to the bottom stopper 74, and the positioning post 77 is screwed to the movable plate 73.

Further, in order to avoid the wear of the top stopper 75 caused by the repeated collision of the top stopper 75 with the positioning post 77 when the movable plate 73 is lifted and lowered: the top stopper 75 is detachably connected to the positioning plate 71, and when the movable plate 73 moves up to the maximum stroke, the top stopper 75 abuts against the positioning post 77.

Specifically, the top stopper 75 is connected to the positioning plate 71 by a nut welded to the top of the positioning plate 71, a through hole exposing the bottom surface of the top stopper 75 is formed in the positioning plate 71, and the positioning post 77 can pass through the through hole to abut against the top stopper 75.

Further: the five-axis linkage industrial robot further comprises a machine vision detection system and a control system which is in communication connection with the X-axis linear module 10, the Y-axis linear module 20, the U-axis rotating module 30, the Z-axis linear module 40, the R-axis rotating module 50 and the machine vision detection system.

The main body of the machine vision detection system is a CCD camera which is not shown in the figure, the main body of the control system is an industrial personal computer, the R-axis rotation module 50 absorbs the micro element, the CCD camera shoots the micro element, whether the position and the posture of the micro element meet the requirements is judged, the industrial personal computer calculates the position and the posture adjusting path of the micro element through a pre-installed program, and then an adjusting instruction is sent to the X-axis linear module 10, the Y-axis linear module 20, the U-axis rotation module 30, the Z-axis linear module 40 and the R-axis rotation module 50.

The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the protection scope of the present invention is defined by the claims. Various modifications and equivalents of the invention can be made by those skilled in the art within the spirit and scope of the invention, and such modifications and equivalents should also be considered as falling within the scope of the invention.

Claims (10)

1. A five-axis linkage industrial robot, comprising:

the X-axis linear module is connected with the rack, and the actuating direction of the X-axis linear module is horizontally arranged;

the Y-axis linear module is connected with the execution part of the X-axis linear module, and the actuating direction of the Y-axis linear module is horizontally arranged and is perpendicular to the actuating direction of the X-axis linear module;

the U-axis rotating module is connected with the execution part of the Y-axis linear module, and the action axis of the U-axis rotating module is vertically arranged;

the Z-axis linear module is connected with the execution part of the U-axis rotation module, and the actuation direction of the Z-axis linear module is vertically arranged;

an R-axis rotating module which is connected with the executing part of the Z-axis linear module in a sliding way, can slide vertically in a specified stroke, and is provided with an actuating axis horizontally;

and the grabbing module is connected with an executing part of the R-axis rotating module, and the executing part of the grabbing module is positioned on the actuating axis of the U-axis rotating module and the actuating axis of the R-axis rotating module.

2. A five-axis linkage industrial robot according to claim 1,

the grabbing module comprises a support connected to an executing portion of the R-axis rotating module, at least 1 sucking disc is installed on the support, and the sucking discs are connected with a vacuum source.

3. A five-axis linkage industrial robot according to claim 2,

the sucking discs have at least 3 sucking discs and are distributed on two straight lines which intersect with each other.

4. A five-axis linkage industrial robot according to claim 3,

the surface of the bracket is provided with embedding holes matched with the suckers, the suckers are embedded into the embedding holes, and the embedding holes are communicated through a gas channel formed in the bracket and are connected with the vacuum source through pipelines.

5. A five-axis linkage industrial robot according to any of claims 1-4,

the executive part of the Z-axis linear module is connected with the R-axis rotating module in a sliding mode through a sliding module, and the sliding module comprises:

the positioning plate is connected with the executing part of the Z-axis linear module;

the slide rail is vertically arranged and fixedly connected with the positioning plate;

the movable plate is connected with the slide rail in a sliding manner;

a bottom stopper fixedly connected with the positioning plate and disposed right below the movable plate;

a top stopper fixedly connected with the positioning plate and disposed directly above the movable plate, a gap between the bottom stopper and the top stopper being larger than a dimension of the movable plate in a vertical direction.

6. A five-axis linkage industrial robot according to claim 5,

the bottom stop piece is detachably connected with the positioning plate, and the bottom stop piece is in point contact with the movable plate.

7. A five-axis linkage industrial robot according to claim 5,

the sliding module further comprises an elastic piece, the elastic piece is connected with the positioning plate and the movable plate, and resilience force generated when the elastic piece is elastically deformed is always vertically and downwards applied to the movable plate.

8. A five-axis linkage industrial robot according to claim 7,

the elastic piece is cylindrical and is abutted against the top surface of the movable plate, a positioning column is inserted into the elastic piece, and the positioning column is detachably connected with the movable plate.

9. A five-axis linkage industrial robot according to claim 8,

the top stopping piece is detachably connected with the positioning plate, and when the movable plate moves upwards to the maximum stroke, the top stopping piece is abutted to the positioning column.

10. A five-axis linkage industrial robot according to any of claims 1-4,

still include machine vision detecting system to and the communication connection the X axle sharp module Y axle sharp module U axle rotates the module Z axle sharp module R axle rotates the module with machine vision detecting system's control system.

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