CN212069355U - Five-axis dispensing robot - Google Patents
Five-axis dispensing robot Download PDFInfo
- Publication number
- CN212069355U CN212069355U CN202020123613.5U CN202020123613U CN212069355U CN 212069355 U CN212069355 U CN 212069355U CN 202020123613 U CN202020123613 U CN 202020123613U CN 212069355 U CN212069355 U CN 212069355U
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- Prior art keywords
- axis
- lifting
- translation
- swing
- turnover
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- 230000007246 mechanism Effects 0.000 claims abstract description 135
- 230000007306 turnover Effects 0.000 claims abstract description 38
- 239000003292 glue Substances 0.000 claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012943 hotmelt Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
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Abstract
The utility model relates to a five-axis dispensing robot, which comprises a frame; the portal frame spans across the rack and is fixedly connected with the rack; the translation mechanism is movably arranged on the portal frame and moves relative to the portal frame along the Y-axis direction; the lifting mechanism is movably arranged on the translation mechanism and moves relative to the translation mechanism along the X-axis direction; the swinging mechanism is movably arranged on the lifting mechanism and swings around the Z axis relative to the lifting mechanism; the glue dispenser is fixed on the movable end of the swing mechanism; the transverse moving mechanism is movably arranged on the end face of the rack and moves relative to the rack along the Z-axis direction; the turnover mechanism is fixed on the transverse moving mechanism, and the output end of the turnover mechanism rotates around the x axis relative to the transverse moving mechanism; the two ends of the workbench are fixedly connected with the output end of the turnover mechanism; the dispenser realizes the motion along an X, Y, Z axis and the rotation around a Z, X axis, and realizes the five-axis motion of the dispenser.
Description
Technical Field
The utility model relates to a dispensing device specifically is a five-axis dispensing robot.
Background
Most of dispensing machines in the current industrial environment are three-axis linear motion dispensing machines, namely, a linear mechanism can drive a terminal execution element dispensing machine to move in the left-right direction of a Y axis, and the up-down direction of a Z axis and the front-back direction of an X-axis workpiece mounting platform are driven by the linear mechanism. However, with the continuous updating and development of science and technology, the gradual improvement and optimization of industrial design and the appearance of more and more curved surface products, four-axis dispensing equipment is needed in the links of dispensing, coating, hot melt spraying, solder paste piezoelectric spraying and printing and the like.
When the lower part of a workpiece with a more complex shape needs to be subjected to glue dispensing, the upper part possibly interferes with the lower part, and a glue dispensing opening on a glue dispenser cannot touch a position needing glue dispensing on the workpiece through movement; in conclusion, how to increase the degree of freedom of the dispenser becomes a problem to be solved urgently by researchers of the company.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: how the degree of freedom of the dispenser can be increased;
in order to solve the technical problem, the utility model discloses a following technical scheme:
the utility model relates to a five-axis dispensing robot, which comprises a frame; the portal frame spans across the rack and is fixedly connected with the rack; the translation mechanism is movably arranged on the portal frame and moves relative to the portal frame along the Y-axis direction; the lifting mechanism is movably arranged on the translation mechanism and moves relative to the translation mechanism along the Z-axis direction; the swinging mechanism is movably arranged on the lifting mechanism and swings relative to the lifting mechanism along a plane formed by the Y axis and the Z axis; the glue dispenser is fixed on the movable end of the swing mechanism; the transverse moving mechanism is movably arranged on the end face of the rack and moves relative to the rack along the X-axis direction; the output end of the turnover mechanism rotates around the Y axis relative to the transverse moving mechanism; the two ends of the workbench are fixedly connected with the output end of the turnover mechanism;
the portal frame is fixed on the frame, and a translation mechanism, a lifting mechanism and a swinging mechanism are movably connected on the portal frame; the glue dispenser is fixed on the swing mechanism, the swing mechanism realizes the rotation of the glue dispenser around an X axis, the lifting mechanism realizes the movement of the glue dispenser along a Z axis, and the translation mechanism realizes the movement of the glue dispenser along a Y axis;
the rack is also provided with a transverse moving mechanism, the transverse moving mechanism is provided with a turnover mechanism, the turnover mechanism drives the workbench to turn around a Y axis, and the transverse moving mechanism drives the workbench to move along an X axis, so that the rotation of the dispenser around the Y axis and the movement along the X axis are indirectly realized;
in conclusion, the dispenser realizes the motion along the X, Y, Z axis and the rotation around the Y, X axis, realizes the five-axis motion of the dispenser, and increases the degree of freedom of the dispenser.
In order to explain the concrete structure of the portal frame, the portal frame comprises a left upright fixed on the left side of the frame, a right upright fixed on the right side of the frame and a beam connecting the top of the right upright and the top of the left upright;
the left upright post and the right upright post are used for erecting a cross beam, and the cross beam also serves as a track for supporting and moving the subsequent translation mechanism.
In order to explain the concrete structure of the translation mechanism, the utility model adopts the translation mechanism comprising a translation seat; a translation groove body is arranged on the cross beam, and a sliding rail is arranged in the translation groove body; a sliding block is arranged on the rear end face of the translation seat, extends into the translation groove body and is matched with the sliding rail;
a translation groove body is formed in the cross beam, and a sliding block on the translation seat extends into the translation groove body and is matched with the sliding rail; the translation groove body is used for supporting the sliding block and plays a certain role in supporting the translation seat, and the movement of the translation seat realizes the movement of the dispenser along the X axis.
In order to explain the concrete structure of the lifting mechanism, the lifting mechanism comprises a lifting seat fixed on the front end surface of the translation seat, a lifting plate arranged in front of the lifting seat and a lifting cylinder fixed on the side wall of the translation seat; a lifting through groove is formed in the lifting seat, a support plate is arranged in the lifting through groove, the support plate is fixedly connected with the rear end face of the lifting plate, and the output end of the lifting cylinder is fixedly connected with the support plate or the lifting plate;
the extension board on the lifter plate is located the lift logical inslot that goes up and down the seat, that is to say, the upper portion and the lower part that go up and down logical groove have restricted the maximum displacement of lifter plate, and the lift cylinder is fixed on the translation seat, and the output of lift cylinder and extension board or lifter plate drive the lift of lifter plate, and the lifter plate has realized the motion of point gum machine along the Z axle.
In order to explain the concrete structure of the swing mechanism, the utility model adopts the swing mechanism to comprise a swing seat fixed on the front end surface of the lifting plate, and the front end surface of the swing seat is rotationally provided with a swing plate; a swing cylinder for driving the swing plate to swing is fixed on the side wall of the swing seat;
the swing seat is fixed on the lifting plate, the swing plate is rotatably connected with the swing seat, the swing mechanism is used as a power source to drive the swing plate to swing relative to the swing seat, and the swing plate is directly connected with the dispensing machine, so that the dispensing machine can rotate around an X axis.
In order to explain the concrete structure of the transverse moving mechanism, the transverse moving mechanism comprises a transverse moving plate, and the transverse moving plate is arranged on the end surface of the rack in a sliding manner;
the transverse moving plate moves in the X-axis direction relative to the rack, and the outline realizes the movement of the dispenser along the X-axis.
In order to explain the concrete structure of the turnover mechanism, the turnover mechanism comprises turnover supports fixed on two sides of the upper end surface of the transverse moving plate, and turnover clamping hands used for clamping the end part of the workbench are arranged on opposite surfaces of the two turnover supports; one of the supports is provided with a turnover cylinder which drives the corresponding turnover clamping hand to rotate;
the worktable is used for placing a workpiece, two ends of the worktable are fixed by the overturning clamping hands, the overturning clamping hands are rotatably arranged on the overturning supports, one support is provided with an overturning air cylinder, and the overturning air cylinder is used as a power source to drive the overturning clamping hands to overturn; in other words, a power source is arranged on one overturning support to drive the overturning clamping hand to overturn, the other overturning clamping hand plays a role in fixing the workbench and overturns along with the power overturning clamping hand, so that the overturning of the workbench is realized, and the motion of the dispenser around the Y axis is indirectly realized.
The utility model has the advantages that: the utility model relates to a five-axis dispensing robot, fix the point gum machine on the swing mechanism, the swing mechanism has realized the rotation of point gum machine around the X axle, the elevating system has realized the motion of point gum machine along the Z axle, the translation mechanism has realized the motion of point gum machine along the Y axle; the rack is also provided with a transverse moving mechanism, the transverse moving mechanism is provided with a turnover mechanism, the turnover mechanism drives the workbench to turn around a Y axis, and the transverse moving mechanism drives the workbench to move along an X axis, so that the rotation of the dispenser around the Y axis and the movement along the X axis are indirectly realized; the dispenser realizes the motion along an X, Y, Z axis and the rotation around a Y, X axis, realizes the five-axis motion of the dispenser, and increases the degree of freedom of the dispenser.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of the gantry and the translation mechanism of the present invention;
FIG. 3 is a schematic view of another structure of the present invention;
in the figure: 1-frame, 2-portal frame, 21-left upright post, 22-right upright post, 23-crossbeam, 3-translation mechanism, 31-translation seat, 32-translation groove body, 33-slide rail, 34-slide block, 4-lifting mechanism, 41-lifting seat, 42-lifting plate, 43-lifting cylinder, 44-lifting through groove, 45-support plate, 5-swing mechanism, 51-swing seat, 52-swing plate, 53-swing cylinder, 6-dispenser, 7-translation mechanism, 71-translation plate, 8-turnover mechanism, 81-turnover support, 82-turnover gripper, 83-turnover cylinder and 9-workbench.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
As shown in fig. 1, the utility model relates to a five-axis dispensing robot, which comprises a frame 1; the portal frame 2 spans across the rack 1 and is fixedly connected with the rack 1; the translation mechanism 3 is movably arranged on the portal frame 2, and the translation mechanism 2 moves relative to the portal frame 2 along the Y-axis direction; the lifting mechanism 4 is movably arranged on the translation mechanism 3, and the lifting mechanism 4 moves relative to the translation mechanism 3 along the Z-axis direction; a swing mechanism 5 which is movably arranged on the lifting mechanism 4, and the swing mechanism 5 swings relative to the lifting mechanism 4 along a plane formed by the Y axis and the Z axis; the glue dispenser 6 is fixed on the movable end of the swing mechanism 5; the transverse moving mechanism 7 is movably arranged on the end face of the rack 1, and the transverse moving mechanism 7 moves relative to the rack 1 along the X-axis direction; the turnover mechanism 8 is fixed on the transverse moving mechanism 7, and the output end of the turnover mechanism 8 rotates around the Y axis relative to the transverse moving mechanism 7; two ends of the workbench 9 are fixedly connected with the output end of the turnover mechanism 8;
the portal frame is fixed on the frame, and a translation mechanism, a lifting mechanism and a swinging mechanism are movably connected on the portal frame; the glue dispenser is fixed on the swing mechanism, the swing mechanism realizes the rotation of the glue dispenser around an X axis, the lifting mechanism realizes the movement of the glue dispenser along a Z axis, and the translation mechanism realizes the movement of the glue dispenser along a Y axis;
the rack is also provided with a transverse moving mechanism, the transverse moving mechanism is provided with a turnover mechanism, the turnover mechanism drives the workbench to turn around a Y axis, and the transverse moving mechanism drives the workbench to move along an X axis, so that the rotation of the dispenser around the Y axis and the movement along the X axis are indirectly realized;
in conclusion, the dispenser realizes the motion along the X, Y, Z axis and the rotation around the Y, X axis, realizes the five-axis motion of the dispenser, and increases the degree of freedom of the dispenser.
As shown in fig. 2, in order to explain the concrete structure of the portal frame, the portal frame 2 of the present invention comprises a left upright 21 fixed on the left side of the frame 1, a right upright 22 fixed on the right side of the frame 1, and a beam 23 connecting the top of the right upright 22 and the top of the left upright 21;
the left upright post and the right upright post are used for erecting a cross beam, and the cross beam also serves as a track for supporting and moving the subsequent translation mechanism.
As shown in fig. 2, in order to explain the specific structure of the translation mechanism, the present invention adopts a translation mechanism 3 including a translation seat 31; a translation groove body 32 is formed in the cross beam 23, and a slide rail 33 is arranged in the translation groove body 32; a sliding block 34 is arranged on the rear end face of the translation seat 31, and the sliding block 34 extends into the translation groove body 32 and is matched with the sliding rail 33;
a translation groove body is formed in the cross beam, and a sliding block on the translation seat extends into the translation groove body and is matched with the sliding rail; the translation groove body is used for supporting the sliding block and plays a certain role in supporting the translation seat, and the movement of the translation seat realizes the movement of the dispenser along the Y axis.
As shown in fig. 2-3, in order to illustrate the specific structure of the lifting mechanism, the lifting mechanism 4 of the present invention includes a lifting seat 41 fixed on the front end surface of the translation seat 31, a lifting plate 42 disposed in front of the lifting seat 41, and a lifting cylinder 43 fixed on the side wall of the translation seat 31; a lifting through groove 44 is formed in the lifting seat 41, a support plate 45 is arranged in the lifting through groove 44, the support plate 45 is fixedly connected with the rear end face of the lifting plate 42, and the output end of the lifting cylinder 43 is fixedly connected with the support plate 45 or the lifting plate 42;
the extension board on the lifter plate is located the lift logical inslot that goes up and down the seat, that is to say, the upper portion and the lower part that go up and down logical groove have restricted the maximum displacement of lifter plate, and the lift cylinder is fixed on the translation seat, and the output of lift cylinder and extension board or lifter plate drive the lift of lifter plate, and the lifter plate has realized the motion of point gum machine along the Z axle.
As shown in fig. 3, in order to explain the specific structure of the swing mechanism, the swing mechanism 5 of the present invention includes a swing seat 51 fixed on the front end surface of the lifting plate 42, and a swing plate 52 is rotatably disposed on the front end surface of the swing seat 51; a swing cylinder 53 for driving the swing plate 52 to swing is fixed on the side wall of the swing seat 51;
the swing seat is fixed on the lifting plate, the swing plate is rotatably connected with the swing seat, the swing mechanism is used as a power source to drive the swing plate to swing relative to the swing seat, and the swing plate is directly connected with the dispensing machine, so that the dispensing machine can rotate around an X axis.
As shown in fig. 3, in order to explain the specific structure of the traversing mechanism, the traversing mechanism 7 of the present invention includes a traversing plate 71, and the traversing plate 71 is slidably disposed on the end surface of the rack 1;
the transverse moving plate moves in the X-axis direction relative to the rack, and the outline realizes the movement of the dispenser along the X-axis.
As shown in fig. 3, in order to explain the specific structure of the turnover mechanism, the turnover mechanism 8 of the present invention includes turnover supports 81 fixed on both sides of the upper end surface of the traverse plate 71, and turnover clamps 82 for clamping the end of the working table 9 are disposed on the opposite surfaces of the two turnover supports 81; one of the turning supports 81 is provided with a turning cylinder 83 for driving the corresponding turning clamp 82 to rotate;
the worktable is used for placing a workpiece, two ends of the worktable are fixed by the overturning clamping hands, the overturning clamping hands are rotatably arranged on the overturning supports, one support is provided with an overturning air cylinder, and the overturning air cylinder is used as a power source to drive the overturning clamping hands to overturn; in other words, a power source is arranged on one overturning support to drive the overturning clamping hand to overturn, the other overturning clamping hand plays a role in fixing the workbench and overturns along with the power overturning clamping hand, so that the overturning of the workbench is realized, and the motion of the dispenser around the Y axis is indirectly realized.
The utility model relates to a five-axis dispensing robot, fix the point gum machine on the swing mechanism, the swing mechanism has realized the rotation of point gum machine around the X axle, the elevating system has realized the motion of point gum machine along the Z axle, the translation mechanism has realized the motion of point gum machine along the Y axle; the rack is also provided with a transverse moving mechanism, the transverse moving mechanism is provided with a turnover mechanism, the turnover mechanism drives the workbench to turn around a Y axis, and the transverse moving mechanism drives the workbench to move along an X axis, so that the rotation of the dispenser around the Y axis and the movement along the X axis are indirectly realized; the dispenser realizes the motion along an X, Y, Z axis and the rotation around a Y, X axis, realizes the five-axis motion of the dispenser, and increases the degree of freedom of the dispenser.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (8)
1. The utility model provides a five little glue robots which characterized in that: comprises that
A frame;
the portal frame stretches across the rack and is fixedly connected with the rack;
the translation mechanism is movably arranged on the portal frame and moves relative to the portal frame along the Y-axis direction;
the lifting mechanism is movably arranged on the translation mechanism and moves relative to the translation mechanism along the Z-axis direction;
the swinging mechanism is movably arranged on the lifting mechanism and swings relative to the lifting mechanism along a plane formed by a Y axis and a Z axis;
the glue dispenser is fixed on the movable end of the swing mechanism;
the transverse moving mechanism is movably arranged on the end face of the rack and moves relative to the rack along the X-axis direction;
the turnover mechanism is fixed on the transverse moving mechanism, and the output end of the turnover mechanism rotates around a Y axis relative to the transverse moving mechanism;
and the two ends of the workbench are fixedly connected with the output end of the turnover mechanism.
2. The five-axis dispensing robot of claim 1, wherein: the portal frame comprises a left upright fixed on the left side of the rack, a right upright fixed on the right side of the rack, and a cross beam connected with the top of the right upright and the top of the left upright.
3. The five-axis dispensing robot of claim 2, wherein: the translation mechanism comprises a translation seat;
a translation groove body is formed in the cross beam, and a sliding rail is arranged in the translation groove body;
and a sliding block is arranged on the rear end face of the translation seat, extends into the translation groove body and is matched with the sliding rail.
4. The five-axis dispensing robot of claim 3, wherein: the lifting mechanism comprises a lifting seat fixed on the front end surface of the translation seat, a lifting plate arranged in front of the lifting seat and a lifting cylinder fixed on the side wall of the translation seat;
the lifting seat is provided with a lifting through groove, a support plate is arranged in the lifting through groove, the support plate is fixedly connected with the rear end face of the lifting plate, and the output end of the lifting cylinder is fixedly connected with the support plate or the lifting plate.
5. The five-axis dispensing robot of claim 4, wherein: the swing mechanism comprises a swing seat fixed on the front end surface of the lifting plate, and a swing plate is rotatably arranged on the front end surface of the swing seat; and a swing cylinder for driving the swing plate to swing is fixed on the side wall of the swing seat.
6. The five-axis dispensing robot of claim 5, wherein: the glue dispenser is fixed on the front end face of the swinging plate.
7. The five-axis dispensing robot of claim 1, wherein: the transverse moving mechanism comprises a transverse moving plate, and the transverse moving plate is arranged on the end face of the rack in a sliding mode.
8. The five-axis dispensing robot of claim 7, wherein: the turnover mechanism comprises turnover supports fixed on two sides of the upper end surface of the transverse moving plate, and turnover clamping hands used for clamping the end part of the workbench are arranged on opposite surfaces of the two turnover supports; and one of the turnover supports is provided with a turnover cylinder for driving the corresponding turnover clamping hand to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020123613.5U CN212069355U (en) | 2020-01-19 | 2020-01-19 | Five-axis dispensing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020123613.5U CN212069355U (en) | 2020-01-19 | 2020-01-19 | Five-axis dispensing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212069355U true CN212069355U (en) | 2020-12-04 |
Family
ID=73570974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020123613.5U Expired - Fee Related CN212069355U (en) | 2020-01-19 | 2020-01-19 | Five-axis dispensing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212069355U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112827753A (en) * | 2020-12-31 | 2021-05-25 | 东莞市冠佳电子设备有限公司 | Five-axis glue dispensing mechanism |
-
2020
- 2020-01-19 CN CN202020123613.5U patent/CN212069355U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112827753A (en) * | 2020-12-31 | 2021-05-25 | 东莞市冠佳电子设备有限公司 | Five-axis glue dispensing mechanism |
| WO2022142077A1 (en) * | 2020-12-31 | 2022-07-07 | 东莞市冠佳电子设备有限公司 | Five-axis dispensing mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201204 |
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| CF01 | Termination of patent right due to non-payment of annual fee |