CN108621131A - A kind of tetra- axis servo manipulators of XYZR - Google Patents
A kind of tetra- axis servo manipulators of XYZR Download PDFInfo
- Publication number
- CN108621131A CN108621131A CN201810399064.1A CN201810399064A CN108621131A CN 108621131 A CN108621131 A CN 108621131A CN 201810399064 A CN201810399064 A CN 201810399064A CN 108621131 A CN108621131 A CN 108621131A
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- CN
- China
- Prior art keywords
- axis
- manipulator
- hinged
- connecting rod
- xyzr
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of tetra- axis servo manipulators of XYZR, X-axis, Y-axis and Z axis including being mutually perpendicular to movement, it is provided with the first manipulator and the second manipulator on the Z axis, telescoping mechanism and connecting rod are additionally provided on Z axis, wherein, first manipulator is arranged at the middle part of Z axis, one end of telescoping mechanism connects with Z axis, and the other end of telescoping mechanism and one end of connecting rod are hinged, are hinged on Z axis in the middle part of connecting rod, the other end of connecting rod and the second manipulator are hinged, and the second manipulator is hinged the end of Z axis.Second manipulator is hinged on the end of Z axis by first rotating shaft, and the second manipulator is hinged on the other end of connecting rod by the second shaft.The telescoping mechanism is cylinder, and one end of the cylinder connects with Z axis, and the other end of cylinder and one end of connecting rod are hinged；Alternatively, the telescoping mechanism is the rack being meshed with gear, gear connects with the shaft of driving motor.The present invention has the characteristics that easy-operating.
Description
Technical field
The present invention relates to a kind of tetra- axis servo manipulators of XYZR.
Background technology
204160476 U of Chinese patent literature CN disclose a kind of four axis press machine of servo on February 18th, 2015
Tool hand, including manipulator main body, lifting shaft, telescoping mechanism and control electronic box, are provided with rotation between lifting shaft and telescoping mechanism
Mechanism；Lifting shaft upper end is provided with rotation speed reducer, and is connect with telescoping mechanism, rotation speed reducer driving telescoping mechanism rotation；
It is provided with elevating mechanism in manipulator main body, drives rotating mechanism and telescoping mechanism into progress elevating movement；Elevating mechanism, rotating machine
Structure and telescoping mechanism are respectively by control electronic box control.
Invention content
The purpose of the present invention is intended to provide a kind of tetra- axis servo manipulators of easy-operating XYZR, in the prior art to overcome
Shortcoming.
By the tetra- axis servo manipulators of a kind of XYZR that this purpose designs, including it is mutually perpendicular to X-axis, Y-axis and the Z of movement
Axis, structure feature are that the first manipulator and the second manipulator are provided on the Z axis, be additionally provided on Z axis telescoping mechanism and
Connecting rod, wherein the first manipulator is arranged at the middle part of Z axis, and one end of telescoping mechanism connects with Z axis, the other end of telescoping mechanism
It is hinged with one end of connecting rod, it is hinged on Z axis in the middle part of connecting rod, the other end of connecting rod and the second manipulator are hinged, and the second machine
Tool hand is hinged the end of Z axis.
Further, second manipulator is hinged on the end of Z axis by first rotating shaft, and the second manipulator passes through second turn
Axis is hinged on the other end of connecting rod.
Further, the telescoping mechanism is cylinder, and one end of the cylinder connects with Z axis, the other end of cylinder and connecting rod
One end is hinged；Alternatively, the telescoping mechanism is the rack being meshed with gear, gear connects with the shaft of driving motor.
Further, the connecting rod take the shape of the letter U, V-arrangement or W-shaped.
Further, first manipulator is two or more, and setting is spaced between adjacent first manipulator.
Further, first manipulator includes more than four clamping gas that clamping jaws are clamped and connect with clamping clamping jaw
Cylinder.
Further, first manipulator further includes the support plate being arranged in push plate, and guide post is arranged in support plate
Side is provided with pushing tow cylinder between support plate and push plate.
Further, second manipulator includes the feeding clamping jaw being arranged on sucker and the feeding to connect with feeding clamping jaw
Cylinder.
It is provided with the first manipulator and the second manipulator on Z axis in the present invention, telescoping mechanism and company are additionally provided on Z axis
Bar, wherein the first manipulator is arranged at the middle part of Z axis, and one end of telescoping mechanism connects with Z axis, the other end of telescoping mechanism with
One end of connecting rod is hinged, is hinged on Z axis in the middle part of connecting rod, and the other end of connecting rod and the second manipulator are hinged；When Z axis relative to
When X-axis or Y-axis move, the first manipulator and the second manipulator close or principle object to be processed simultaneously can be driven；Due to
One manipulator is arranged at the middle part of Z axis, and the second manipulator is hinged the end of Z axis, and when Z axis moves downward, the second manipulator is first
First close to object to be processed, interaction can be realized by the second manipulator and object to be processed, such as can be from object to be processed
On remove the first article, when further being moved downward with Z axis, the first manipulator can pass through the first machine close to processing object
Tool hand realizes interaction with object to be processed, for example the second article can be placed on object to be processed, at the same time, the second machinery
After hand rotates 90 degree under the collective effect of telescoping mechanism and connecting rod, the first article that can be removed is placed on article storage
Area, then Z axis move upward, the second manipulator and the first manipulator repeat again before action, in cycles.
In conclusion the present invention have the characteristics that it is easy-operating.
Description of the drawings
Fig. 1 is the dimensional structure diagram of one embodiment of the invention.
Fig. 2 is that the first manipulator turns over the dimensional structure diagram after 90 degree.
Fig. 3 is the close-up schematic view of the first manipulator.
Fig. 4 is the front-view schematic diagram of Fig. 3.
Fig. 5 is the close-up schematic view of the second manipulator.
In figure：1 is X-axis, and 2 be Z axis, and 2.1 be the first manipulator, and 2.1.1 is clamping clamping jaw, and 2.1.2 is gripper cylinder,
2.1.3 it is support plate, 2.1.4 is guide post, and 2.1.5 is pushing tow cylinder, and 2.1.6 is push plate, and 2.2 be the second manipulator, 2.2.1
It is Y-axis for sucker, 3.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and embodiments.
Referring to four axis servo manipulator of Fig. 1-Fig. 5, this XYZR, including it is mutually perpendicular to X-axis 1, Y-axis 3 and the Z axis 2 of movement,
It is provided with the first manipulator 2.1 and the second manipulator 2.2 on the Z axis 2, telescoping mechanism and connecting rod are additionally provided on Z axis 2,
In, the first manipulator 2.1 is arranged at the middle part of Z axis 2, and one end of telescoping mechanism connects with Z axis 2, the other end of telescoping mechanism with
One end of connecting rod is hinged, is hinged in the middle part of connecting rod on Z axis 2, and the other end of connecting rod and the second manipulator 2.2 are hinged, and second
Manipulator 2.2 is hinged the end of Z axis 2.
In the present embodiment, second manipulator 2.2 is hinged on the end of Z axis 2, the second manipulator by first rotating shaft
2.2 are hinged on the other end of connecting rod by the second shaft.
The telescoping mechanism is cylinder, and one end of the cylinder connects with Z axis 2, and the other end of cylinder and one end of connecting rod are cut with scissors
It connects；Alternatively, the telescoping mechanism is the rack being meshed with gear, gear connects with the shaft of driving motor.
The connecting rod takes the shape of the letter U, V-arrangement or W-shaped.
First manipulator 2.1 is two or more, and setting is spaced between adjacent first manipulator 2.1.
First manipulator 2.1 includes more than four folders that clamping jaw 2.1.1 are clamped and connect with clamping clamping jaw 2.1.1
Hold cylinder 2.1.2.
First manipulator 2.1 further includes the support plate 2.1.3 being arranged on push plate 2.1.6, guide post 2.1.4 settings
Pushing tow cylinder 2.1.5 is provided between the side of support plate 2.1.3, support plate 2.1.3 and push plate 2.1.6.
Second manipulator 2.2 includes the feeding clamping jaw being arranged on sucker 2.2.1 and is taken with what feeding clamping jaw connected
Expect cylinder.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of tetra- axis servo manipulators of XYZR, including it is mutually perpendicular to X-axis (1), Y-axis (3) and the Z axis (2) of movement, feature
It is that the first manipulator (2.1) and the second manipulator (2.2) are provided on the Z axis (2), Z axis is additionally provided with telescoping mechanism on (2)
And connecting rod, wherein the first manipulator (2.1) is arranged at the middle part of Z axis (2), and one end of telescoping mechanism connects with Z axis (2), stretches
The other end of mechanism and one end of connecting rod are hinged, are hinged in the middle part of connecting rod on Z axis (2), the other end of connecting rod and the second machinery
Hand (2.2) is hinged, and the second manipulator (2.2) is hinged the end of Z axis (2).
2. tetra- axis servo manipulators of XYZR according to claim 1, it is characterized in that second manipulator (2.2) passes through
One shaft is hinged on the end of Z axis (2), and the second manipulator (2.2) is hinged on the other end of connecting rod by the second shaft.
3. tetra- axis servo manipulators of XYZR according to claim 1, it is characterized in that the telescoping mechanism is cylinder, the cylinder
One end connect with Z axis (2), the other end of cylinder and one end of connecting rod are hinged；Alternatively, the telescoping mechanism is mutually to be nibbled with gear
The rack of conjunction, gear connect with the shaft of driving motor.
4. tetra- axis servo manipulators of XYZR according to claim 1, it is characterized in that the connecting rod takes the shape of the letter U, V-arrangement or W-shaped.
5. tetra- axis servo manipulators of XYZR according to claim 1, it is characterized in that first manipulator (2.1) is two
More than, setting is spaced between adjacent first manipulator (2.1).
6. tetra- axis servo manipulators of XYZR according to any one of claims 1 to 5, it is characterized in that first manipulator
(2.1) gripper cylinder (2.1.2) for including more than four clamping clamping jaws (2.1.1) and connecting with clamping clamping jaw (2.1.1).
7. tetra- axis servo manipulators of XYZR according to claim 6, it is characterized in that first manipulator (2.1) further includes
The support plate (2.1.3) being arranged in push plate (2.1.6), guide post (2.1.4) setting is in the side of support plate (2.1.3), branch
Pushing tow cylinder (2.1.5) is provided between fagging (2.1.3) and push plate (2.1.6).
8. tetra- axis servo manipulators of XYZR according to any one of claims 1 to 5, it is characterized in that second manipulator
(2.2) include the feeding clamping jaw being arranged on sucker (2.2.1) and the feeding cylinder to connect with feeding clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810399064.1A CN108621131A (en) | 2018-04-28 | 2018-04-28 | A kind of tetra- axis servo manipulators of XYZR |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810399064.1A CN108621131A (en) | 2018-04-28 | 2018-04-28 | A kind of tetra- axis servo manipulators of XYZR |
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| Publication Number | Publication Date |
|---|---|
| CN108621131A true CN108621131A (en) | 2018-10-09 |
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ID=63694949
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810399064.1A Pending CN108621131A (en) | 2018-04-28 | 2018-04-28 | A kind of tetra- axis servo manipulators of XYZR |
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| CN (1) | CN108621131A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571415A (en) * | 2018-12-24 | 2019-04-05 | 重庆世玛德智能制造有限公司 | A kind of three axis truss robot device of four station |
| CN110303483A (en) * | 2019-07-29 | 2019-10-08 | 威米深智(苏州)工业技术有限公司 | Multiaxis direct-drive type manipulator |
| CN110733888A (en) * | 2019-10-15 | 2020-01-31 | 深圳市冠豪工业设备有限公司 | intelligent conveying system |
| CN112405506A (en) * | 2020-11-11 | 2021-02-26 | 深圳市鸿怡科技有限公司 | Industrial robot suitable for intelligent manufacturing workshop |
| CN113799106A (en) * | 2021-09-29 | 2021-12-17 | 济南格利特科技有限公司 | Throat swab robot for sampling oral fungi of patient |
| CN114161390A (en) * | 2021-11-15 | 2022-03-11 | 淮阴工学院 | Well head clamping device of rapid Assembly |
-
2018
- 2018-04-28 CN CN201810399064.1A patent/CN108621131A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571415A (en) * | 2018-12-24 | 2019-04-05 | 重庆世玛德智能制造有限公司 | A kind of three axis truss robot device of four station |
| CN110303483A (en) * | 2019-07-29 | 2019-10-08 | 威米深智(苏州)工业技术有限公司 | Multiaxis direct-drive type manipulator |
| CN110733888A (en) * | 2019-10-15 | 2020-01-31 | 深圳市冠豪工业设备有限公司 | intelligent conveying system |
| CN112405506A (en) * | 2020-11-11 | 2021-02-26 | 深圳市鸿怡科技有限公司 | Industrial robot suitable for intelligent manufacturing workshop |
| CN113799106A (en) * | 2021-09-29 | 2021-12-17 | 济南格利特科技有限公司 | Throat swab robot for sampling oral fungi of patient |
| CN113799106B (en) * | 2021-09-29 | 2023-01-13 | 济南格利特科技有限公司 | Throat swab robot for sampling oral fungi of patient |
| CN114161390A (en) * | 2021-11-15 | 2022-03-11 | 淮阴工学院 | Well head clamping device of rapid Assembly |
| CN114161390B (en) * | 2021-11-15 | 2024-05-24 | 淮阴工学院 | Wellhead clamping device capable of being assembled quickly |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181009 |
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| RJ01 | Rejection of invention patent application after publication |