A high-precision gantry four-axis robot

Abstract

The present invention relates to the technical field of gantry robots, and discloses a high-precision gantry four-axis robot, comprising a fixed frame, a first axial mechanism, a second axial mechanism, a third axial mechanism and a fourth axial mechanism; the second axial mechanism is provided with a mounting frame, the mounting frame is provided with a group of slide rails a, and a slider a cooperating with the slide rails a, the mounting frame is further provided with a first motor and a synchronous wheel a synchronously connected to the first motor is provided at each end, the synchronous wheel a is provided with a screw a connected to the slider a, and the thread directions of the two screws a are opposite; the present invention has the following advantages: 1. The scheme of the present invention includes four axial mechanisms of X-axis, Y-axis, Z-axis and rotating axis, and four-axis drive can be realized without installing an additional rotating device; 2. The scheme of the present invention adopts two screws with opposite threads to rotate synchronously to drive the third axial mechanism to rotate, which can realize constant speed rotation and zero buffer emergency stop with high precision.

Description

Technical Field

[0001] The present invention relates to the technical field of gantry robots, and in particular to a high-precision gantry four-axis robot. Background Art

[0002] Gantry robots, also known as coordinate robots, are used in industrial production fields such as welding, printing, assembly, packaging, and dispensing. They can operate tools, move objects, and complete various production and processing operations. They are widely used in various machine tools and lathes.

[0003] Existing gantry robots are usually two-axis or three-axis robots, such as the gantry robot disclosed in the existing patent technology of China's public patent CN113634964B and patent number 2021109838461. If the existing gantry robots want to achieve four-axis operation, they usually install a rotating motor outside the gantry robot frame, or install a rotating mechanism on the robot's robotic arm used for operation. However, even if the four-axis drive gantry robot is equipped with a reduction motor, the speed cannot be constant during rotation, and it is not suitable for high-precision machine tools or lathe operations. In view of this, the inventors made a new invention. Summary of the Invention

[0004] The object of the present invention is to provide a high-precision gantry four-axis robot with the advantages of four-axis drive and high precision in view of the shortcomings of the existing technology.

[0005] To achieve the above-mentioned purpose, the present invention provides a high-precision gantry four-axis robot, including a fixed frame, the fixed frame is provided with a first axial mechanism, and the first axial mechanism is movably connected to the second axial mechanism; the second axial mechanism is provided with a mounting frame, the mounting frame is provided with a group of mutually parallel slide rails a, and a slider a movably connected to the slide rail a, the mounting frame is also provided with a first motor, and both ends of the mounting frame are respectively provided with a synchronous wheel a synchronously connected to the first motor, the synchronous wheel a is provided with a screw, the screw a is connected to the slider a, and the thread directions of the two screws a are opposite; the slider a is connected to a third axial mechanism, the third axial mechanism is movably connected to a fourth axial mechanism, and the fourth axial mechanism is provided with an assembly frame.

[0006] Furthermore, a support shaft is provided in the middle of the mounting frame, and the other end of the support shaft is fixedly connected to the third axial mechanism.

[0007] Furthermore, the third axial mechanism is provided with a connecting frame, and both ends of the connecting frame are movably connected to the slider a.

[0008] Furthermore, a movable shaft is provided between the connecting frame and the slider a.

[0009] Furthermore, slide rails b are provided on both sides of the connecting frame, and a slider b is slidably connected to the slide rails b. A second motor is provided on the connecting frame, and the second motor can drive the slider b to slide back and forth along the slide rails b.

[0010] Furthermore, a slider c is provided at the outer end of the slider b, and the fourth axial mechanism is provided with a slide rail c slidably connected to the slider c, and one end of the slide rail c is connected to the assembly frame.

[0011] Furthermore, the slider b is provided with a third motor, the third motor is connected to a rocker, the rocker is movably connected to a connecting arm, and the other end of the connecting arm is connected to the assembly frame.

[0012] Furthermore, the first axial mechanism includes a fourth motor, a slide rail d provided on the fixing frame, and a slider d provided on the mounting frame. The fourth motor can drive the slider d to move back and forth along the slide rail d.

[0013] Furthermore, the fixed frame is provided with a transmission shaft that can be driven by a fourth motor, and synchronous wheels b are provided at both ends of the transmission shaft. A synchronous wheel c is provided on the fixed frame, and the synchronous wheel b and the synchronous wheel c are connected by a transmission belt. One end of the slider d is fixedly connected to the transmission belt.

[0014] Preferably, a sensor is provided on the fixing frame, and the sensor can sense the position of the slider d.

[0015] Beneficial effects: Compared with the prior art, the high-precision gantry four-axis robot of the present invention comprises a fixed frame, a first axial mechanism, a second axial mechanism, a third axial mechanism and a fourth axial mechanism; the second axial mechanism is provided with a mounting frame, the mounting frame is provided with a group of slide rails a, and a slider a cooperating with the slide rail a, the mounting frame is also provided with a first motor and a synchronous wheel a synchronously connected to the first motor is provided at each end, the synchronous wheel a is provided with a screw a connected to the slider a, and the thread directions of the two screws a are opposite; the present invention has the following advantages: 1. The scheme of the present invention includes four axial mechanisms of X-axis, Y-axis, Z-axis and rotating axis, and four-axis drive can be realized without installing an additional rotating device; 2. The scheme of the present invention adopts two screws with opposite threads to rotate synchronously to drive the third axial mechanism to rotate, eliminating the reduction motor and other speed controllers, and can achieve constant speed rotation and zero buffer emergency stop with high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the first axial mechanism structure of the present invention.

[0018] Figure 3 It is a schematic diagram of the second axial mechanism and the connecting frame structure of the present invention.

[0019] Figure 4 It is a schematic structural diagram of the third axial mechanism and the fourth axial mechanism of the present invention.

[0020] Reference numerals include:

[0021] Fixed frame--1, sensor--11, first axial mechanism--2, fourth motor--21, slide rail d--22, slider d--23, transmission shaft--24, synchronous wheel b--25, synchronous wheel c--26, transmission belt--27, second axial mechanism--3, mounting frame--31, slide rail a--32, slider a--33, first motor--34, synchronous wheel a--35, screw a--36, support shaft--37, third axial mechanism--4, connecting frame--41, movable shaft--42, slide rail b--43, slider b--44, second motor--45, screw b--46, fourth axial mechanism--5, slider c--51, slide rail c--52, third motor--53, rocker--54, connecting arm--55, assembly frame--6. DETAILED DESCRIPTION

[0022] The following is combined with Figures 1 to 4 The present invention will be described in detail.

[0023] A high-precision gantry four-axis robot of the present invention includes a fixed frame 1, the fixed frame 1 is provided with a first axial mechanism 2, the first axial mechanism 2 is movably connected to the second axial mechanism 3, the first axial mechanism 2 drives the second axial mechanism 3 to move along the Y-axis, specifically, the second axial mechanism 3 is provided with a mounting frame 31, the first axial mechanism 2 includes a fourth motor 21, a slide rail d22 provided on the fixed frame 1, and a slider d23 provided on the mounting frame 31, the fourth motor 21 can drive the slider d23 to move back and forth along the slide rail d22, further, the fixed frame 1 is provided with a transmission shaft 24 that can be driven by the fourth motor 21, and synchronous wheels b25 are provided at both ends of the transmission shaft 24, and a synchronous wheel c26 is provided on the fixed frame 1, and the synchronous wheel b25 is connected to the synchronous wheel c26 by a transmission belt 27, one end of the slider d23 is fixedly connected to the transmission belt 27, the fourth motor 21 drives the transmission shaft 24, and then the transmission belt 27 drives the slider d23 to move along the slide rail d22, thereby causing the second axial mechanism 3 to perform Y-axis motion.

[0024] The mounting frame 31 is provided with a group of slide rails a32 parallel to each other and a slider a33 movably connected to the slide rails a32. The mounting frame 31 is also provided with a first motor 34. Both ends of the mounting frame 31 are respectively provided with a synchronous wheel a35 synchronously connected to the first motor 34. The synchronous wheel a35 is provided with a screw, and the screw a36 is threadedly connected to the slider a33. The thread directions of the two screws a36 are opposite. The first motor 34 drives the synchronous wheel a35 to rotate clockwise or counterclockwise. At this time, the screw a36 on one side drives the slider a33 to move along the slide rail a32 and away from the screw a36 threadedly connected thereto, while the screw a36 on the other side drives the slider a33 to move along the slide rail a32 and approach the screw a36 threadedly connected thereto. This structure is manifested as follows: the slider a33 is connected to the third axial mechanism 4, and the first motor 34 drives the synchronous wheel, thereby causing the third axial mechanism 4 to perform rotational axis movement.

[0025] Specifically, the third axial mechanism 4 includes a connecting frame 41, with both ends of the connecting frame 41 movably connected to the slider a33. When the two sliders a33 move in parallel and opposite directions, the ends of the connecting frame 41 rotate along with the sliders a33. A movable shaft 42 is provided between the connecting frame 41 and the slider a33. The movable shaft 42 can be a pulley structure to facilitate the rotation of the connecting frame 41.

[0026] To facilitate the fixing of the connecting frame 41, a support shaft 37 is provided in the middle of the mounting frame 31. The support shaft 37 is equidistant from the two screws a36, and the other end of the support shaft 37 is fixedly connected to the third axial mechanism 4. The present invention utilizes two screws a36 with oppositely directed threads to synchronously rotate to drive the third axial mechanism 4, eliminating the need for a reduction motor or other speed controller, achieving constant speed rotation and zero-buffer emergency stop with high precision.

[0027] The third axial mechanism 4 is movably connected to the fourth axial mechanism 5. Specifically, slide rails b43 are provided on both sides of the connecting frame 41, and a slider b44 is slidably connected to the slide rails b43. A second motor 45 is provided on the connecting frame 41, and the second motor 45 is provided with a screw b46. The screw b46 is threadedly connected to the slider b44. The second motor 45 can drive the slider b44 to slide back and forth along the slide rails b43, thereby causing the fourth axial mechanism 5 to perform X-axis motion.

[0028] The fourth axial mechanism 5 is provided with an assembly frame 6. Specifically, a slider c51 is provided at the outer end of the slider b44. The fourth axial mechanism 5 is provided with a slide rail c52 slidably connected to the slider c51. One end of the slide rail c52 is connected to the assembly frame 6. More specifically, the slider b44 is provided with a third motor 53. The third motor 53 is connected to a rocker 54. The rocker 54 is movably connected to a connecting arm 55. The other end of the connecting arm 55 is connected to the assembly frame 6. The third motor 53 can drive the assembly frame 6 to perform Z-axis movement. The solution of the present invention includes four axial drive mechanisms: the X-axis driven by the third axial mechanism 4, the Y-axis driven by the first axial mechanism 2, the Z-axis driven by the fourth axial mechanism 5, and the rotation axis driven by the second axial mechanism 3. The first axial mechanism 2, the second axial mechanism 3, the third axial mechanism 4 and the fourth axial mechanism 5 are linked in sequence, and four-axis drive can be achieved without installing an additional rotating device.

[0029] The assembly frame 6 can be used to assemble operating tools such as a grasping device and a cutting device.

[0030] The fixing frame 1 is provided with a sensor 11, which can sense the position of the slider d23 to limit the movement distance of the slider d23 on the slide rail d22 and prevent the slider d23 from touching the synchronous wheel b25 or the synchronous wheel c26.

[0031] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A high-precision gantry-type four-axis robot, comprising a fixed frame (1), characterized in that: The fixing frame (1) is provided with a first axial mechanism (2), and a second axial mechanism (3) is movably connected to the first axial mechanism (2); The second axial mechanism (3) is provided with a mounting frame (31), the mounting frame (31) is provided with a group of mutually parallel slide rails a (32), a slider a (33) movably connected to the slide rails a (32), the mounting frame (31) is further provided with a first motor (34), and both ends of the mounting frame (31) are provided with a synchronous wheel a (35) synchronously connected to the first motor (34), the synchronous wheel a (35) is provided with a screw, the screw a (36) is connected to the slider a (33), and the thread directions of the two screws a (36) are opposite; The slider a (33) is connected to a third axial mechanism (4), the third axial mechanism (4) is movably connected to a fourth axial mechanism (5), and the fourth axial mechanism (5) is provided with an assembly frame (6); A support shaft (37) is provided in the middle of the mounting frame (31), and the other end of the support shaft (37) is fixedly connected to the third axial mechanism (4); The third axial mechanism (4) is provided with a connecting frame (41), and both ends of the connecting frame (41) are movably connected to the slider a (33).

2. A high-precision gantry four-axis robot according to claim 1, characterized in that: A movable shaft (42) is provided between the connecting frame (41) and the slider a (33).

3. A high-precision gantry four-axis robot according to claim 1, characterized in that: Slide rails b (43) are provided on both sides of the connecting frame (41), and a slider b (44) is slidably connected to the slide rails b (43). A second motor (45) is provided on the connecting frame (41), and the second motor (45) can drive the slider b (44) to slide back and forth along the slide rails b (43).

4. A high-precision gantry four-axis robot according to claim 3, characterized in that: The outer end of the slider b (44) is provided with a slider c (51), and the fourth axial mechanism (5) is provided with a slide rail c (52) slidably connected to the slider c (51), and one end of the slide rail c (52) is connected to the assembly frame (6).

5. The high-precision gantry four-axis robot according to claim 3, characterized in that: The slider b (44) is provided with a third motor (53), the third motor (53) is connected to a rocker (54), the rocker (54) is movably connected to a connecting arm (55), and the other end of the connecting arm (55) is connected to the assembly frame (6).

6. The high-precision gantry four-axis robot according to claim 1, characterized in that: The first axial mechanism (2) comprises a fourth motor (21), a slide rail d (22) arranged on the fixed frame (1), and a slider d (23) arranged on the mounting frame (31), wherein the fourth motor (21) can drive the slider d (23) to move back and forth along the slide rail d (22).

7. A high-precision gantry-type four-axis robot according to claim 6, characterized in that: The fixed frame (1) is provided with a transmission shaft (24) that can be driven by a fourth motor (21), and synchronous wheels b (25) are provided at both ends of the transmission shaft (24). A synchronous wheel c (26) is provided on the fixed frame (1), and the synchronous wheel b (25) and the synchronous wheel c (26) are connected by a transmission belt (27). One end of the slider d (23) is fixedly connected to the transmission belt (27).

8. The high-precision gantry four-axis robot according to claim 6, characterized in that: The fixing frame (1) is provided with a sensor (11), and the sensor (11) can sense the position of the slider d (23).

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