Multi-axis linkage mechanism and device with same

Abstract

The utility model relates to a multi-axis linkage mechanism and a device with the multi-axis linkage mechanism, the multi-axis linkage mechanism comprises a rack, an X-axis double-mover linear moving module and a Y-axis single-mover linear moving module, one end of the X-axis double-mover linear moving module is connected with a mover of the Y-axis single-mover linear moving module, and the other end of the X-axis double-mover linear moving module is connected with the Y-axis single-mover linear moving module. The other end of the X-axis double-rotor linear moving module is arranged on the rack in a sliding manner; two rotors of the X-axis double-rotor linear moving module are connected with a Z-axis servo module, and a sliding block of each Z-axis servo module is connected with a moving carrying mechanism or a detection deviation rectifying mechanism; the sliding block of at least one Z-axis servo module is connected with the moving carrying mechanism or the detecting and correcting mechanism through a Y-axis servo module. The double rotors can act at the same time, the crossing degree of the action ranges is high, the relative positions of the two stations are not required to be fixed, the Z-axis servo module and the Y-axis servo module are arranged so that the corresponding moving and carrying mechanism or the detection and correction mechanism can adapt to the maximum distance deviation of the two stations, and stability is high.

Description

Technical Field

[0001] This utility model relates to the field of automated production and processing technology, and more specifically, to a multi-axis linkage mechanism and a device having the same. Background Technology

[0002] In automated production processes, it is often necessary to simultaneously transport materials at two different working positions on the production table, or to simultaneously detect materials at two different working positions. Considering that the two different working positions cannot be directly switched, existing technologies usually use dual X, Y, Z axis mechanisms to realize the movement of the transport mechanism or the detection mechanism in the X, Y, Z directions. The overlapping range of the two sets of X, Y, Z axis mechanisms is relatively small, and the range of motion is limited. It is necessary to consider the problem of avoiding collisions, otherwise there is a risk of collision. Moreover, in each X, Y, Z axis mechanism, the X, Y, Z axes are usually cantilevered, resulting in low support stability. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a multi-axis linkage mechanism and a device having the same, in view of the above-mentioned defects of the prior art.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] On one hand, this utility model provides a multi-axis linkage mechanism, including a frame, an X-axis dual-movement linear motion module, and a Y-axis single-movement linear motion module. The Y-axis single-movement linear motion module is disposed on one side of the frame. One end of the X-axis dual-movement linear motion module is connected to the mover of the Y-axis single-movement linear motion module, and the other end of the X-axis dual-movement linear motion module is slidably disposed on the other side of the frame. Both movers of the X-axis dual-movement linear motion module are connected to a Z-axis servo module. A moving and transporting mechanism or a detection and correction mechanism is connected to the slider of each Z-axis servo module. In this embodiment, the slider of at least one Z-axis servo module is connected to the moving and transporting mechanism or the detection and correction mechanism through a Y-axis servo module, and the moving and transporting mechanism or the detection and correction mechanism is disposed on the slider of the Y-axis servo module.

[0006] In some embodiments, the frame includes two gantry bases, which are spaced apart and parallel to each other; the Y-axis single-acting linear motion module is fixedly mounted on the top of one of the gantry bases; the top of the other gantry base is provided with a slide rail, and the other end of the X-axis double-acting linear motion module is slidably mounted on the slide rail.

[0007] In some embodiments, the X-axis dual-actuator linear motion module includes a horizontal plate, a vertical plate, and an X-axis dual-actuator linear motor. One end of the horizontal plate is fixedly connected to the actuator of the Y-axis single-actuator linear motion module, and the other end of the horizontal plate is slidably mounted on a slide rail. The vertical plate is fixedly mounted on the upper surface of the horizontal plate along its length, and the X-axis dual-actuator linear motor is fixedly mounted on the side surface of the vertical plate along its length.

[0008] In some embodiments, the two movers of the X-axis dual-motor linear motor are each connected to a vertical plate, and the two Z-axis servo modules are correspondingly mounted on the two vertical plates.

[0009] In some embodiments, the Y-axis single-acting linear motion module includes a base plate and a Y-axis single-acting linear motor. The base plate is disposed on the top of one of the gantry bases, and the Y-axis single-acting linear motor is fixedly disposed on the base plate. One end of the horizontal plate is fixedly connected to the actuator of the Y-axis single-acting linear motor.

[0010] In some embodiments, a support block is slidably mounted on the slide rail, and the other end of the cross plate is fixedly mounted on the support block.

[0011] In some embodiments, a laser positioner is also connected to the slider of each Z-axis servo module via a bracket, and the laser positioner is located near the moving and transporting mechanism or the detection and correction mechanism.

[0012] In some embodiments, the laser locator is a point laser.

[0013] On the other hand, the present invention also provides a device including the multi-axis linkage mechanism as described in any of the preceding claims.

[0014] The beneficial effects of this utility model are as follows: Unlike the prior art, the multi-axis linkage mechanism of this utility model drives the X-axis double-acting linear motion module to move along the Y direction through the Y-axis single-acting linear motion module. The X-axis double-acting linear motion module has a large travel range in the X direction, which helps to realize a large range of movement of the Z-axis servo module in the X direction. The double-acting modules can move simultaneously and the degree of overlap of their movement ranges is high, so there is no risk of collision. There are no fixed requirements for the relative position of the two workstations. The setting of the Z and Y axis servo modules helps the corresponding moving and conveying mechanism or detection and correction mechanism to adapt to the maximum distance deviation between the two workstations. The linkage stability of this multi-axis linkage mechanism is high and it is also easy to debug and maintain. Attached Figure Description

[0015] Figure 1 This is an overall schematic diagram of the multi-axis linkage mechanism in an embodiment of this utility model;

[0016] Figure 2 This is a connection diagram of the Z-axis servo module in an embodiment of this utility model;

[0017] Figure 3 This is another connection diagram of the Z-axis servo module in this embodiment of the present invention;

[0018] The labels and numbers in the diagram are as follows: Gantry base - 10; Slide rail - 11; Support block - 110; Horizontal plate - 21; Vertical plate - 22; X-axis double-acting linear motor - 23; Vertical plate - 231; Base plate - 31; Y-axis single-acting linear motor - 32; Z-axis servo module - 4; Bracket - 41; Y-axis servo module - 5; Laser positioner - 6. Detailed Implementation

[0019] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0020] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0022] Furthermore, the terms indicating orientation, such as "up," "down," "front," "back," "left," "right," "upper end," and "lower end," are all based on the posture and position of the multi-axis linkage mechanism or equipment described in this solution during normal use.

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of this utility model. Obviously, the described embodiments are some, but not all, embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] Example 1: This embodiment of the present invention provides a multi-axis linkage mechanism, such as... Figures 1 to 3 As shown, the multi-axis linkage mechanism includes a frame, an X-axis dual-movement linear motion module, and a Y-axis single-movement linear motion module. The Y-axis single-movement linear motion module is located on one side of the frame. One end of the X-axis dual-movement linear motion module is connected to the mover of the Y-axis single-movement linear motion module, and the other end of the X-axis dual-movement linear motion module is slidably located on the other side of the frame. Both movers of the X-axis dual-movement linear motion module are connected to a Z-axis servo module 4. A moving and transporting mechanism or a detection and correction mechanism is connected to the slider of each Z-axis servo module 4. At least one slider of the Z-axis servo module 4 is connected to the moving and transporting mechanism or the detection and correction mechanism through a Y-axis servo module 5. The moving and transporting mechanism or the detection and correction mechanism is located on the slider of the Y-axis servo module 5.

[0025] In this embodiment, the configuration of the moving and conveying mechanism and the detection and correction mechanism on the two Z-axis servo modules 4 can be understood as follows: both Z-axis servo modules 4 may be equipped with a moving and conveying mechanism, or both Z-axis servo modules 4 may be equipped with a detection and correction mechanism, or one Z-axis servo module 4 may be equipped with a moving and conveying mechanism while the other Z-axis servo module 4 is equipped with a detection and correction mechanism. Furthermore, if a Y-axis servo module 5 is mounted on the slider of one of the Z-axis servo modules 4, whether the Y-axis servo module 5 is equipped with a moving and conveying mechanism or a detection and correction mechanism can be designed and selected according to actual application requirements.

[0026] Among them, the mobile handling mechanism and the detection and correction mechanism are different functional modules used to realize the corresponding mobile handling or detection and correction functions. The mobile handling mechanism and the detection and correction mechanism are both relatively existing. The mobile handling mechanism is, for example, a robotic arm mobile handling mechanism, and the detection and correction mechanism is, for example, a vision detection and correction mechanism. In actual application, any existing suitable mobile handling mechanism and detection and correction mechanism can be used. The actual application shall prevail, and this embodiment does not make specific limitations.

[0027] In this embodiment, the frame includes two gantry bases 10, which are spaced apart and parallel to each other, providing good support stability. A Y-axis single-acting linear motion module is fixedly mounted on the top of one of the gantry bases 10; the top of the other gantry base 10 is provided with a slide rail 11, and the other end of the X-axis double-acting linear motion module slides on the slide rail 11 to ensure the movement range of the double-acting motor on the X-axis double-acting linear motion module, thus making the movement of the Z-axis servo module 4 less restricted.

[0028] Specifically, the X-axis dual-actuator linear motion module includes a horizontal plate 21, a vertical plate 22, and an X-axis dual-actuator linear motor 23. One end of the horizontal plate 21 is fixedly connected to the mover of the Y-axis single-actuator linear motion module, and the other end of the horizontal plate 21 is slidably mounted on a slide rail 11. The Y-axis single-actuator linear motion module drives the horizontal plate 21 to move along the Y direction, and the slide rail 11 guides the movement of the horizontal plate 21. The vertical plate 22 is fixedly mounted on the upper surface of the horizontal plate 21 along its length. The cross-sectional shape of the vertical plate 22 and the horizontal plate 21 is T-shaped, and the length of the vertical plate 22 is the same as the length of the horizontal plate 21. The X-axis dual-actuator linear motor 23 is fixedly mounted on the side surface of the vertical plate 22 along its length. The vertical plate 22 is mainly used to fix the X-axis dual-actuator linear motor 23 to ensure the stability of the X-axis dual-actuator linear motor 23 during operation, and also facilitates the installation of the corresponding Z-axis servo module 4 onto the mover of the X-axis dual-actuator linear motor 23. Furthermore, each of the two movers of the X-axis dual-motor linear motor 23 is connected to a vertical plate 231, and the two Z-axis servo modules 4 are correspondingly mounted on the two vertical plates 231 to ensure the stability of the Z-axis servo module 4's operation.

[0029] Specifically, the Y-axis single-acting linear motion module includes a base plate 31 and a Y-axis single-acting linear motor 32. The base plate 31 is located on top of one of the gantry bases 10, and the Y-axis single-acting linear motor 32 is fixedly mounted on the base plate 31 to ensure stable installation. One end of the horizontal plate 21 is fixedly connected to the actuator of the Y-axis single-acting linear motor 32, and the actuator of the Y-axis single-acting linear motor 32 drives the horizontal plate 21 to move along the Y direction. Furthermore, a support block 110 is slidably mounted on the slide rail 11, and the other end of the horizontal plate 21 is fixedly mounted on the support block 110, which helps to ensure the stable movement of the horizontal plate 21 and improves the reliability of the linkage action.

[0030] Among them, the Y-axis servo module 5 is an example of the existing Y-axis servo motor module, and the Z-axis servo module 4 is an example of the existing Z-axis servo motor module. The application of Y-axis servo motor modules and Z-axis servo motor modules is quite common. In actual application, it can be implemented by referring to the existing technology.

[0031] In this embodiment, a laser positioner 6 is also connected to the slider of each Z-axis servo module 4 via a bracket 41. The laser positioner 6 is located near the moving and conveying mechanism or the detection and correction mechanism, and is used to perform position detection when the moving and conveying mechanism or the detection and correction mechanism is in motion. Specifically, the laser positioner 6 is a point laser.

[0032] The multi-axis linkage mechanism of this utility model embodiment drives the X-axis double-acting linear motion module to move along the Y direction through the Y-axis single-acting linear motion module. The X-axis double-acting linear motion module has a large travel range in the X direction, which helps to realize the Z-axis servo module 4 to move a large range in the X direction. The double-acting modules can move simultaneously and the degree of overlap in their movement ranges is high, so there is no risk of collision. There are no fixed requirements for the relative position of the two workstations. The setting of Z and Y axis servo modules 5 helps the corresponding moving and transporting mechanism or detection and correction mechanism to adapt to the maximum distance deviation between the two workstations. The linkage stability of this multi-axis linkage mechanism is high and it is also easy to debug and maintain.

[0033] Example 2: This embodiment of the present invention also provides a device, including the multi-axis linkage mechanism provided in Example 1. For example, the device also includes a machine base. In use, the multi-axis linkage mechanism provided in Example 1 is mounted on the machine base, specifically, the machine frame is fixed at a suitable position on the machine base. Other mechanisms for production and processing may also be provided on the machine base to meet the corresponding production and processing requirements.

[0034] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A multi-axis linkage mechanism, characterized in that: The system includes a frame, an X-axis dual-movement linear motion module, and a Y-axis single-movement linear motion module. The Y-axis single-movement linear motion module is located on one side of the frame. One end of the X-axis dual-movement linear motion module is connected to the mover of the Y-axis single-movement linear motion module, and the other end of the X-axis dual-movement linear motion module is slidably located on the other side of the frame. Each mover of the X-axis dual-movement linear motion module is connected to a Z-axis servo module. A movement and transport mechanism or a detection and correction mechanism is connected to the slider of each Z-axis servo module. At least one slider of the Z-axis servo module is connected to the movement and transport mechanism or the detection and correction mechanism through a Y-axis servo module. The movement and transport mechanism or the detection and correction mechanism is located on the slider of the Y-axis servo module.

2. The multi-axis linkage mechanism according to claim 1, characterized in that: The frame includes two gantry bases, which are spaced apart and parallel to each other; the Y-axis single-acting linear motion module is fixedly mounted on the top of one of the gantry bases; the top of the other gantry base is provided with a slide rail, and the other end of the X-axis double-acting linear motion module is slidably mounted on the slide rail.

3. The multi-axis linkage mechanism according to claim 2, characterized in that: The X-axis dual-movement linear motion module includes a horizontal plate, a vertical plate, and an X-axis dual-movement linear motor. One end of the horizontal plate is fixedly connected to the mover of the Y-axis single-movement linear motion module, and the other end of the horizontal plate is slidably mounted on a slide rail. The vertical plate is fixedly mounted on the upper surface of the horizontal plate along its length, and the X-axis dual-movement linear motor is fixedly mounted on the side surface of the vertical plate along its length.

4. The multi-axis linkage mechanism according to claim 3, characterized in that: The two movers of the X-axis dual-motor linear motor are each connected to a vertical plate, and the two Z-axis servo modules are respectively mounted on the two vertical plates.

5. The multi-axis linkage mechanism according to claim 3, characterized in that: The Y-axis single-acting linear motion module includes a base plate and a Y-axis single-acting linear motor. The base plate is located on top of one of the gantry bases, and the Y-axis single-acting linear motor is fixedly mounted on the base plate. One end of the horizontal plate is fixedly connected to the actuator of the Y-axis single-acting linear motor.

6. The multi-axis linkage mechanism according to claim 5, characterized in that: A support block is slidably mounted on the slide rail, and the other end of the cross plate is fixedly mounted on the support block.

7. The multi-axis linkage mechanism according to claim 1, characterized in that: Each Z-axis servo module also has a laser positioner connected to its slider via a bracket, and the laser positioner is positioned close to the moving and transporting mechanism or the detection and correction mechanism.

8. The multi-axis linkage mechanism according to claim 7, characterized in that: The laser locator is a point laser.

9. An apparatus, characterized in that: Includes the multi-axis linkage mechanism as described in any one of claims 1-8.

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