CN220030250U - Rail type robot - Google Patents
Rail type robot Download PDFInfo
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- CN220030250U CN220030250U CN202321324802.9U CN202321324802U CN220030250U CN 220030250 U CN220030250 U CN 220030250U CN 202321324802 U CN202321324802 U CN 202321324802U CN 220030250 U CN220030250 U CN 220030250U
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- 238000007599 discharging Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
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Abstract
The utility model belongs to the technical field of automatic equipment, and discloses a track type robot. Including the ground rail, set up on the ground rail and be used for driving R axle subassembly, Y axle subassembly, Z axle subassembly, hand and grab the X axle subassembly that removes along X axle direction, R axle subassembly sets up on X axle subassembly, and Y axle subassembly sets up on R axle subassembly, and Z axle subassembly sets up on Y axle subassembly, and hand is grabbed and is connected with Z axle subassembly. The feeding, discharging, transporting and carrying work of workshop workpieces can be completed, the operation is simple, the maintenance is convenient, and the production cost is reduced.
Description
Technical Field
The utility model belongs to the technical field of automatic equipment, and relates to a track type robot.
Background
In the field of photovoltaic industry, square silicon rods are cut off and then cut into square rods, and the peripheries of the square rods are polished. The round bars and the square bars are transported through a conveying line under the general condition, and the truss manipulator or the track robot is used for loading and unloading. Standard 6-axis robots are typically purchased mounted on track slides. Since the overall load is relatively large, the cost is high if a standard robot is used.
Disclosure of Invention
The utility model aims to overcome the defects in the background art, and provides a track type robot which is a four-axis track type robot and can perform feeding and discharging grabbing on a plurality of stations through servo control. The high-load 6-axis robot with high cost is replaced by lower cost.
The technical scheme adopted for solving the technical problems is as follows: the rail type robot comprises a ground rail, wherein an X-axis assembly which is used for driving an R-axis assembly, a Y-axis assembly, a Z-axis assembly and a hand grip to move along the X-axis direction is arranged on the ground rail, the R-axis assembly is arranged on the X-axis assembly, the Y-axis assembly is arranged on the R-axis assembly, the Z-axis assembly is arranged on the Y-axis assembly, and the hand grip is connected with the Z-axis assembly.
The X-axis assembly comprises an X-axis sliding plate and an X-axis servo motor, wherein two sides of the X-axis sliding plate are connected with the inner side of the ground rail through an X-axis guiding assembly to realize sliding, and the X-axis servo motor is connected with the X-axis guiding assembly through a gear rack.
The X-axis servo motor output end is connected with a gear, the gear is fixed on the bottom surface of the X-axis sliding plate and is meshed with the rack, the X-axis guiding component comprises a linear guide rail and a sliding block, the linear guide rail is in sliding connection with the sliding block, the sliding block is arranged on two sides of the X-axis sliding plate, the linear guide rail is arranged on two sides of the X-axis sliding plate and is respectively arranged on the inner side of a ground rail, the linear guide rail on one side is connected with the rack side by side, and the sliding block on one side adjacent to the rack is connected with the gear through a connecting plate.
The R-axis assembly comprises an R-axis connecting plate and an R-axis servo motor, wherein a slewing bearing is arranged on the R-axis connecting plate, and the output end of the R-axis servo motor is in gear engagement connection with the slewing bearing through a gear.
The Y-axis assembly comprises a Y-axis arm and a Y-axis servo motor, Y-axis guide rails are arranged on two sides of the Y-axis arm, a rack is arranged on the inner side of one side of the Y-axis guide rail side by side, the output end of the Y-axis servo motor is connected with the rack in a meshed mode, the Y-axis assembly is arranged on the R-axis assembly through a Y-axis fixing support, a guide groove is formed in the Y-axis fixing support, and the guide groove is connected with the Y-axis guide rail to realize sliding of the Y-axis arm.
The Z-axis assembly is connected with one side of the Y-axis arm through the Z-axis fixing frame, the Z-axis assembly comprises a Z-axis servo motor and a Z-axis sliding plate, the output end of the Z-axis servo motor is connected with the Z-axis sliding plate through a ball screw and a screw nut, and the Z-axis sliding plate is connected with two sides of the Z-axis fixing frame through a linear guide rail and a sliding block to realize sliding.
The hand grip is connected with the Z-axis sliding plate through a connecting piece; the hand grip comprises a hand grip plate, and the upper end and the lower end of the hand grip plate are respectively provided with a grip and a floating grip; the connecting piece is arranged on the back of the hand grabbing plate.
The gripper comprises a fixed seat, a connecting seat and a gripper connecting piece; the gripper is connected with the gripper plate through a fixed seat, and a connecting seat is arranged on the fixed seat; the connecting seat is provided with a grip connecting piece; the gripper connecting piece is an L-shaped plate, and a plurality of locating pieces are arranged on the gripper connecting piece.
The floating gripper comprises a fixed seat, a connecting seat and a gripper connecting piece; the floating gripper is connected with the gripper plate through a fixed seat, and a connecting seat is arranged on the fixed seat; the connecting seat is provided with a grip connecting piece; the gripper connecting piece is an L-shaped plate, and a plurality of positioning pieces are arranged on the gripper connecting piece; the connecting seat and the fixing seat of the floating gripper are connected through bolts, a spring is arranged at the connecting position of the connecting seat and the fixing seat of the floating gripper, and a guide piece is arranged below the spring. The spring is sleeved on the upper part of the bolt.
The top surface of the connecting seat is provided with a crisscross V-shaped groove, the connecting surface of the handle connecting piece and the connecting seat are correspondingly provided with crisscross V-shaped pieces, and the height of each V-shaped piece is higher than that of each V-shaped groove. The contact surface of the top surface of the connecting seat and the connecting piece of the gripper leaves a spring deformation height space of the floating gripper.
The servo motors of the utility model are all provided with speed reducers.
The front end of the X-axis sliding plate is also provided with an X-axis limiting part. The ground rail is provided with a plurality of limit switches.
The hand grip may grasp a workpiece or a pallet of a loading tool by a grip and a floating grip.
The rail-mounted robot is further provided with a PLC control system, and the limit position switch, the X-axis servo motor, the Y-axis servo motor, the Z-axis servo motor and the R-axis servo motor are respectively connected with the PLC control system and are not limited by a specific model, so that the working function of the rail-mounted robot is realized.
Compared with the prior art, the utility model has the following beneficial effects:
compared with the existing standard robot, the track type robot provided by the utility model has lower price. And the feeding, discharging, transporting and carrying work of workshop workpieces can be completed, the operation is simple, the maintenance is convenient, and the production cost is reduced.
Drawings
The utility model is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a schematic view of a track-type robot according to the present utility model.
Fig. 2 is a partial perspective view a of a track robot according to the present utility model.
Fig. 3 is a partial perspective view B of a track robot according to the present utility model.
In the figure, the track is shown as 1. Ground rail, 2.X axis assembly, 3.Y axis assembly, 4.Z axis assembly, 5.R axis assembly, 6. Hand grip, 7. Follower, 201.X axis servo motor, 301.Y axis servo motor, 302.Y axis arm, 303.Y axis guide rail, 304. Guide slot, 401.Z axis mount, 402.Z axis servo motor, 403. Ball screw, 501.R axis servo motor, 601. Hand grip plate, 602. Float grip, 603. Grip.
Detailed Description
The present utility model will be further described with reference to the accompanying drawings, but the present utility model is not limited to the following examples.
Example 1
The track type robot comprises a ground rail 1, wherein an X-axis assembly 2 for driving an R-axis assembly 5, a Y-axis assembly 3, a Z-axis assembly 4 and a hand grip 6 to move along the X-axis direction is arranged on the ground rail 1, the R-axis assembly 5 is arranged on the X-axis assembly 2, the Y-axis assembly 3 is arranged on the R-axis assembly 5, the Z-axis assembly 4 is arranged on the Y-axis assembly 3, and the hand grip 6 is connected with the Z-axis assembly 4.
The X-axis assembly 2 comprises an X-axis sliding plate and an X-axis servo motor 201, wherein two sides of the X-axis sliding plate are connected with the inner side of a ground rail through an X-axis guiding assembly to realize sliding, and the X-axis servo motor 201 is connected with the X-axis guiding assembly through a gear rack.
The output end of the X-axis servo motor 201 is connected with a gear, the gear is fixed on the bottom surface of the X-axis sliding plate and is meshed with the rack, the X-axis guiding component comprises a linear guide rail and a sliding block, the linear guide rail is in sliding connection with the sliding block, the sliding block is arranged on two sides of the X-axis sliding plate, the linear guide rail is arranged on two sides of the X-axis sliding plate and is respectively arranged on the inner side of the ground rail 1, the linear guide rail on one side is connected with the rack side by side, and the sliding block on one side adjacent to the rack is connected with the gear through a connecting plate.
The R-axis assembly 5 comprises an R-axis connecting plate and an R-axis servo motor 501, a rotary support bearing is arranged on the R-axis connecting plate, and the output end of the R-axis servo motor 501 is in gear engagement connection with the rotary support bearing through a gear.
The Y-axis assembly 3 comprises a Y-axis arm 302 and a Y-axis servo motor 301, Y-axis guide rails 303 are arranged on two sides of the Y-axis arm 302, a rack is arranged on the inner side of one side of the Y-axis guide rails 303 side by side, the output end of the Y-axis servo motor 301 is connected with the rack in a meshed mode, the Y-axis assembly 3 is arranged on the R-axis assembly 5 through a Y-axis fixing support, a guide groove 304 is formed in the Y-axis fixing support, and the guide groove 304 is connected with the Y-axis guide rails 303 to realize sliding of the Y-axis arm 302.
The Z-axis assembly 4 is connected with one side of the Y-axis arm 302 through the Z-axis fixing frame 401, the Z-axis assembly 4 comprises a Z-axis servo motor 402 and a Z-axis sliding plate, the output end of the Z-axis servo motor 402 is connected with the Z-axis sliding plate through a ball screw 403 and a screw nut, and the Z-axis sliding plate is connected with two sides of the Z-axis fixing frame 401 through a linear guide rail and a sliding block to realize sliding.
The hand grip 6 is connected with the Z-axis sliding plate through a connecting piece; the hand grip 6 comprises a hand grip plate 601, wherein grippers 603 and floating grippers 602 are respectively arranged at the upper end and the lower end of the hand grip plate 601; the connector is provided on the back of the grip plate 601.
The grip 603 includes a fixing base, a connecting base, and a grip connecting piece; the grip 603 is connected with the grip plate 601 through a fixed seat, and a connecting seat is arranged on the fixed seat; the connecting seat is provided with a grip connecting piece; the gripper connecting piece is an L-shaped plate, and a plurality of locating pieces are arranged on the gripper connecting piece.
The floating gripper 602 comprises a fixed seat, a connecting seat and a gripper connecting piece; the floating gripper 602 is connected with the gripper plate through a fixed seat, and a connecting seat is arranged on the fixed seat; the connecting seat is provided with a grip connecting piece; the gripper connecting piece is an L-shaped plate, and a plurality of positioning pieces are arranged on the gripper connecting piece; the connecting seat and the fixing seat of the floating grip 602 are connected through bolts, a spring is arranged at the connecting position of the connecting seat and the fixing seat of the floating grip 602, and a guide piece is arranged below the spring. The spring is sleeved on the upper part of the bolt.
The top surface of the connecting seat is provided with a crisscross V-shaped groove, the connecting surface of the handle connecting piece and the connecting seat are correspondingly provided with crisscross V-shaped pieces, and the height of each V-shaped piece is higher than that of each V-shaped groove. The contact surface of the top surface of the connecting seat and the connecting piece of the gripper leaves a spring deformation height space of the floating gripper 602.
The servo motors of the utility model are all provided with speed reducers.
The front end of the X-axis sliding plate is also provided with an X-axis limiting part. The ground rail 1 is provided with a plurality of limit switches.
The gripper 6 can grip a workpiece or a pallet 7 of a loading tool by means of a gripper 603 and a floating gripper 602.
The track robot is also provided with a PLC control system, and the limit position switch, the X-axis servo motor 201, the Y-axis servo motor 301, the Z-axis servo motor 402 and the R-axis servo motor 501 are respectively connected with the PLC control system, and do not limit a specific model, so that the working function of the track robot can be realized.
The working process of the track robot is as follows:
the track robot is responsible for large-scale walking among various stations through the X-axis assembly 2, and is driven by using an X-axis servo motor 201 through the bolted connection of a gear rack and a linear sliding rail. The R-axis assembly 5 is mainly responsible for the conversion of the stations on both sides of the X-axis assembly 2 (when double-line configuration is required), and the R-axis connecting plate is connected with the slewing bearing and driven by the R-axis servo motor 501. The Y-axis assembly 3 is responsible for feeding the machine tool in the depth direction, and the Y-axis arm 302 is connected with the Y-axis fixed support by adopting a linear slide rail and is driven by a gear rack and a Y-axis servo motor 301. The Z-axis assembly 4 is responsible for controlling in the horizontal height direction, is connected to the front end of the Y-axis arm 302 through the Z-axis fixing frame 401, and the front end of the Z-axis assembly 4 is connected with the gripper 6 to grasp materials. The Z-axis assembly 4 is connected to a Z-axis holder 401 via a linear guide, and is driven by a ball screw 403, a nut, and a Z-axis servo motor 402. The PLC control system realizes grabbing materials at each station by precisely controlling the movement amounts of the X-axis assembly 2, the R-axis assembly 5, the Y-axis assembly 3 and the Z-axis assembly 4 and matching the claws 6.
While the utility model has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the utility model and are intended to be within the scope of the utility model as claimed.
Claims (7)
1. The utility model provides a track robot, characterized by, including ground rail (1), set up on ground rail (1) and be used for driving R axle subassembly (5), Y axle subassembly (3), Z axle subassembly (4), hand grab (6) X axle subassembly (2) that remove along X axle direction, R axle subassembly (5) set up on X axle subassembly (2), Y axle subassembly (3) set up on R axle subassembly (5), Z axle subassembly (4) set up on Y axle subassembly (3), hand grab (6) are connected with Z axle subassembly (4).
2. The track robot according to claim 1, wherein the X-axis assembly (2) comprises an X-axis slide plate and an X-axis servo motor (201), both sides of the X-axis slide plate are connected with the inner side of the ground track through the X-axis guide assembly to realize sliding, and the X-axis servo motor (201) is connected with the X-axis guide assembly through a gear rack.
3. The track robot of claim 2, wherein the output end of the X-axis servo motor (201) is connected with a gear, the gear is fixed on the bottom surface of the X-axis sliding plate, the gear is meshed with the rack, the X-axis guiding assembly comprises a linear guide rail and a sliding block, the linear guide rail is in sliding connection with the sliding block, the sliding block is arranged on two sides of the X-axis sliding plate, the linear guide rail is arranged two and is respectively arranged on the inner side of the ground rail (1), the linear guide rail on one side is connected with the rack side by side, and the sliding block on the side adjacent to the rack is connected with the gear through a connecting plate.
4. A track robot according to claim 3, wherein the R-axis assembly (5) comprises an R-axis connecting plate and an R-axis servo motor (501), a slewing bearing is arranged on the R-axis connecting plate, and an output end of the R-axis servo motor (501) is in gear engagement connection with the slewing bearing through a gear.
5. The orbital robot of claim 4 wherein the Y-axis assembly (3) comprises a Y-axis arm (302) and a Y-axis servo motor (301), wherein Y-axis guide rails (303) are arranged on two sides of the Y-axis arm (302), a rack is arranged side by side on the inner side of one side of the Y-axis guide rails (303), the output end of the Y-axis servo motor (301) is engaged with the rack through a gear, the Y-axis assembly (3) is arranged on the R-axis assembly (5) through a Y-axis fixing bracket, a guide groove (304) is arranged on the Y-axis fixing bracket, and the guide groove (304) is connected with the Y-axis guide rails (303) to realize sliding of the Y-axis arm (302).
6. The track robot according to claim 5, wherein the Z-axis assembly (4) is connected to one side of the Y-axis arm (302) through a Z-axis fixing frame (401), the Z-axis assembly (4) includes a Z-axis servo motor (402) and a Z-axis sliding plate, an output end of the Z-axis servo motor (402) is connected to the Z-axis sliding plate through a ball screw (403) and a nut, and the Z-axis sliding plate is connected to two sides of the Z-axis fixing frame (401) through a linear guide rail and a sliding block to achieve sliding.
7. A track robot according to claim 6, characterized in that the gripper (6) is connected to the Z-axis slide by means of a connection piece; the hand grabber (6) comprises a hand grabber plate (601), wherein the upper end and the lower end of the hand grabber plate (601) are respectively provided with a grabber (603) and a floating grabber (602); the connecting piece is arranged on the back of the grabbing plate (601).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321324802.9U CN220030250U (en) | 2023-05-29 | 2023-05-29 | Rail type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321324802.9U CN220030250U (en) | 2023-05-29 | 2023-05-29 | Rail type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220030250U true CN220030250U (en) | 2023-11-17 |
Family
ID=88726830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321324802.9U Active CN220030250U (en) | 2023-05-29 | 2023-05-29 | Rail type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220030250U (en) |
-
2023
- 2023-05-29 CN CN202321324802.9U patent/CN220030250U/en active Active
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