CN109623798A - A kind of three axle robert - Google Patents
A kind of three axle robert Download PDFInfo
- Publication number
- CN109623798A CN109623798A CN201910033805.9A CN201910033805A CN109623798A CN 109623798 A CN109623798 A CN 109623798A CN 201910033805 A CN201910033805 A CN 201910033805A CN 109623798 A CN109623798 A CN 109623798A
- Authority
- CN
- China
- Prior art keywords
- mechanical axis
- connection component
- axle robert
- manipulator
- transmission device
- 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.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims description 28
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 12
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007641 inkjet printing Methods 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Classifications
-
- 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
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of three axle robert, including the first mechanical axis, second mechanical axis, third mechanical axis and manipulator, upper level positioned at the first mechanical axis is connected by the first connection component with the first mechanical axis perpendicular to the second mechanical axis of the first mechanical axis, it is connected vertically by the second connection component part with the second mechanical axis perpendicular to the third mechanical axis of the second mechanical axis positioned at the side of the second mechanical axis, the manipulator is located at the bottom of third mechanical axis, and manipulator is connected by third connection component with third mechanical axis.The beneficial effect of technical solution of the present invention is: technical solution of the present invention very accurately smoothly can clamp card, up and down and move horizontally, card is sent to designated position and is placed in the designated position.
Description
[technical field]
The present invention relates to a kind of card grabbing device, more precisely a kind of machinery for the card that crawl is horizontal positioned
Hand.
[background technique]
China human mortality is numerous, and the use of card be also it is ubiquitous, many people carry multiple cards, and card
Production amount is very huge, and the production of some cards needs the program of air brushing, and card needs to be horizontally arranged, needs to examine in real work
The problem of how steadily grabbing horizontal positioned card of worry.
A kind of Chinese invention patent application: manipulator (application publication number: CN106945027A, data of publication of application: 2017
July 14) disclose a kind of three axle robert, including vertical column, rotating device, translating device and card clamp device, institute
Stating the ipsilateral of vertical column includes two guide rails, and the rotating device is moveably secured on vertical column by slide fastener,
The translating device is arranged on rotatable device, and the clamp device is mounted on the end of translating device.The invention skill
Art scheme due to can achieve ± 0.025mm using high precision parts, the robot movement precision such as ball screw, mechanical structure
Stability is higher.
Above-mentioned technical proposal has advantage very outstanding using upper the application of card field of storage, especially E cabinet,
But the manipulator can only grab card that is horizontal or erectting, and the edge of usually card is needed there are certain space, for
Manipulator grabbing assembly grabs card, and card of the horizontal on levelling bench can not be grabbed steadily, in addition, the comparison
Technical literature scheme manipulator is realized the crawl of card simply by the accurate calculating of displacement or is put down, without considering machine
Tool hand grabs the size of the active force of card, and how this card for being placed horizontally at operating platform steadily grabs, and protecting
In the case that card card is not fallen down, card is transplanted on target position, and card is steady, being accurately put into operating platform is nothing
Method provides a satisfactory solution.
In view of the above technical problems, those skilled in the art's urgent need, which solves one kind, can give card foot when grabbing card
Enough attractions, and guarantee that the size of the power is stable manipulator.
[summary of the invention]
In view of the above technical defects, the present invention provides below for the crawl of inkjet printing device card and three mobile axis
Manipulator, specific technical solution are as follows:
A kind of three axle robert, including the first mechanical axis, the second mechanical axis, third mechanical axis and manipulator are located at first
The upper level of mechanical axis is connected by the first connection component with the first mechanical axis perpendicular to the second mechanical axis of the first mechanical axis,
Pass through the second connection component part and second perpendicular to the third mechanical axis of the second mechanical axis vertically positioned at the side of the second mechanical axis
Mechanical axis is connected, and the manipulator is located at the bottom of third mechanical axis, and manipulator passes through third connection component and third mechanical axis
It is connected.
There is provided a kind of three axle robert, first mechanical axis includes the first power device, the first guide assembly, is located at the
The first transmission device and the first connection component among one guide assembly, the transmission device include being located at the first mechanical axis head
Two gears at tail both ends, two gears are individually fixed on the two groups of teeth wheel support at the first mechanical axis head and the tail both ends, at two
Gear is equipped with conveyer belt, and the transmission device is connected with power device.
A kind of three axle robert is provided, second mechanical axis includes the second power device, and the second guide assembly, second passes
Dynamic device and the second connection component, second power device are vertically connected with the second guide assembly, second guide assembly
It is arranged parallel with the second transmission device, second transmission device includes positioned at two gears at the first both ends and on gear
Conveyer belt.
A kind of three axle robert is provided, the third mechanical axis includes third power device, third guide assembly and third
Transmission device, the third power device are arranged parallel vertically with third guide assembly, are equipped in the lower part of third power device
One guide pin.
A kind of three axle robert is provided, second connection component is connected with the guide rail of the second mechanical axis, the connection group
Part includes a vertical fixed plate, and third power device is connected with the fixed plate, and a upright slide rail is equipped in the fixed plate, mechanical
Hand is connected by a sliding connector with upright slide rail.
A kind of three axle robert is provided, the manipulator include one in inverted T-shaped vertical connecting plates and to be located at this vertical
The Suction cup assembly of connecting plate bottom face.
A kind of three axle robert is provided, the Suction cup assembly includes the sucker that at least one is used to draw card.
A kind of three axle robert is provided, first guide assembly includes two guide rails side by side, the described first fixed company
Fitting includes being located at the first slide fastener component that can be slided on two guide rails, is fixedly arranged above in the first slide fastener component
One connection component, first connection component includes the W-shaped fixing piece being connected with the first slide fastener component, in W-shaped fixing piece
Between position a fixed horizontal connecting plate and the horizontal connecting plate that is connected with W-shaped fixing piece or so both wings, conveyer belt is from W-shaped fixation
It is passed through among part and horizontal connecting plate.
A kind of three axle robert is provided, second connection component includes and the second slide fastener component outside on the second guide rail
The fixed block of portion's connection, the outside portion of the fixed block are equipped with the protrusion of a rectangular-shape, and the one of the side connection of the fixed block
Edge-on connecting plate and the upright connecting plate being connect with the edge-on connecting plate, the second slide fastener component and fixed block
Top is equipped with a horizontal connection component, and the conveyer belt of second transmission device is worn from the gap among the horizontal connector
It crosses.
There is provided a kind of three axle robert, the horizontal connection component includes the with bump of fixed block top connection
One horizontal connector and the second horizontal connector fastened with the first level connector, the second horizontal connector side with it is solid
The opposite direction of block is determined equipped with the first limiting device.
A kind of three axle robert is provided, the lower part of the upright slide rail is equipped with the second limiting device.
The beneficial effect of technical solution of the present invention is: technical solution of the present invention very accurately smoothly can clamp card,
It up and down and moves horizontally, card is sent to designated position and is placed in the designated position.
[Detailed description of the invention]
Fig. 1 is technical solution of the present invention overall structure diagram.
Fig. 2 is technical solution of the present invention the first mechanical axis structural schematic diagram.
Fig. 3 is the first guide rail of the first mechanical axis of technical solution of the present invention and the first transmission structures schematic diagram.
Fig. 4 is the first connecting component structure schematic diagram on the first mechanical axis of technical solution of the present invention.
Fig. 5 is the W-shaped connecting-piece structure schematic diagram of the first connection component on the first mechanical axis of technical solution of the present invention.
Fig. 6 is technical solution of the present invention the second mechanical axis structural schematic diagram.
Fig. 7 is technical solution of the present invention the second mechanical axis the second guide rail structure schematic diagram.
Fig. 8 is technical solution of the present invention the second mechanical axis the second transmission structures schematic diagram.
Fig. 9 is technical solution of the present invention the second mechanical axis the second connecting component structure schematic diagram.
Figure 10 is technical solution of the present invention the second mechanical axis the second connection component connecting block structure schematic diagram.
Figure 11 is technical solution of the present invention third mechanical axis structural schematic diagram.
Figure 12 is technical solution of the present invention mechanical arm assembly structural schematic diagram.
[specific embodiment]
Technical solution of the present invention is described in detail in 1-12 with reference to the accompanying drawing
As shown in Figure 1, a kind of three axle robert, including the first mechanical axis 100, the second mechanical axis 200, third mechanical axis
300 and manipulator 400, the upper level positioned at the first mechanical axis passes through the perpendicular to the second mechanical axis 200 of the first mechanical axis
One connection component 140 is connected with the first mechanical axis, positioned at the side of the second mechanical axis vertically perpendicular to the third of the second mechanical axis
Mechanical axis 300 is connected by the second connection component 240 with the second mechanical axis, and the manipulator is located at the bottom of third mechanical axis,
Manipulator is connected by third connection component 310 with third mechanical axis.
First mechanical axis 100, such as Fig. 2-5, including the first power device 110, the first guide assembly 120 is led positioned at first
The first transmission device 130 and the first connection component 140 among rail assembly, the first transmission device 130 and the first power device 110
It is vertically connected, it is 1311 He of gear respectively that the first transmission device 130, which includes two gears positioned at the first mechanical axis head and the tail both ends,
Gear 1312, two gears are located on the two groups of teeth wheel support at the first mechanical axis head and the tail both ends, respectively gear stand
1321 and gear stand 1322, conveyer belt 133 is equipped on two gears, fixedly connected part is arranged on a moving belt.
First guide assembly includes two guide rails side by side, respectively guide rail 121 and guide rail 122, guide rail 121 and guide rail
122 planforms are identical, are located at the two sides of gear stand, and the first connection component includes that be located on two sliding rails can be with
First slide fastener component 123 of sliding, four slide fastener components 123 are fastened on two guide rails, and 1231 is big at the buckle of slide fastener component
Trapezoidal shape is caused, there is a horizontal connection platform 1232 at the top of slide fastener, the W-shaped fixing piece 141 of connection top on horizontal connection platform
Bottom, W-shaped fixing piece 141 is inboard stepped, and the top of stair-stepping centre is the groove 1411 that a row is in arc-shaped,
The fixed horizontal connecting plate 142 in the top of W-shaped fixing piece, the intermediate position of horizontal connecting plate is equipped with a sliding slot 1421, horizontal
Connecting plate is fastened on W-shaped fixing piece, is connected by four screws with the fixation hole in W-shaped fixing piece intermediate step, conveyer belt
133 pass through among W-shaped fixing piece and horizontal connecting plate；It is respectively equipped on two, the both sides flank platform of W-shaped fixing piece multiple
Connecting hole, by fixing a connecting plate 143 on the connecting hole, the second mechanical axis is connected by connecting plate 143 with the first mechanical axis.
Second mechanical axis 200, such as Fig. 6-10, including the second power device 210, the second guide assembly 220, the second transmission dress
Set 230, the second connection component 240 and the fixed plate 250 being connected with the first mechanical axis fixed connecting plate, the second power device and the
Two guide assemblies are located at the two sides of fixed plate 250, and the second power device and the second transmission device are vertically connected, the second guide rail
Component and the second transmission device are located at the same side of fixed plate 250, are arranged side by side, and the second transmission device includes being located at head and the tail both ends
Two gears (231,232) and the conveyer belt 233 on gear.
Second connection component 240 is connected with the second slide fastener component 221 of 222 settings on the second guide rail, and slide fastener component 221 wraps
Two slide fasteners are included, are slide fastener 2211 and slide fastener 2212 respectively, the fixed block 241 of the outside portion connection of the second slide fastener component, this is solid
The outside portion for determining block is equipped with the protrusion 2411 of a rectangular-shape, edge-on 242 He of connecting plate of the outside portion connection of fixed block
The upright connecting plate 243 of the one of horizontal connecting plate external connection.The top of second slide fastener component 221 and fixed block 241 is equipped with one
Horizontal connection component 244, horizontal connection component 244 include the first level connector with bump of fixed block top connection
2441 and positioned at the top of the first level connector, and the second horizontal connector fastened with the first level connector
2442, a groove is respectively equipped at the fastening of two horizontal connectors, and the second horizontal connector side is opposite with fixed block
Direction be equipped with one first positioning limiting fixator 245, the limiting device be one in two right angles bending sheet metal body, the sheet
Metallic object top is equipped with the connecting hole of an ellipse, and is connected by connecting hole with the second horizontal connector 2442；Second transmission
The conveyer belt of device is passed through from the gap among horizontal connector.
Third mechanical axis 300, such as Figure 11, including third power device 310, third guide assembly 320 connects group with third
Part 330, third power device are arranged side by side vertically with third guide assembly, are equipped with a guide pin in the lower part of third power device
340, guide pin 340 is equipped with the driving member 350 that can move up and down.Third power device 310 is vertically arranged, and passes through connector
It is connected with upright connecting plate 244, third guide assembly 320 is arranged on connecting plate 244, and being connected on the guide assembly can be with
The slide fastener slided up and down along guide rail, the slide fastener play the role of connection manipulator and move up and down, and in the lower part of guide rail, fixation is limited
Position block 322, for limiting the displacement of slide fastener, the outside of slide fastener is connected with mechanical arm assembly 400.
Manipulator 400, such as Figure 12, including one in inverted T-shaped vertical connecting plates 410 and be located at the vertical connecting plates lower bottom
The Suction cup assembly 420 in face, the Suction cup assembly 420 are located at the bottom of the lower horizontal plate of inverted T-shaped vertical connecting plates 410, including four
A small sucker；The top of manipulator inverted T-shaped vertical connecting plates and the guide pin of third power device lower part pass through 350 phase of driving member
Even.
Above embodiments are the preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, common for this field
For technical staff, any obvious change done on the basis of without departing substantially from the technology of the present invention principle belongs to this
The design of invention and the protection scope of appended claims.
Claims (11)
1. a kind of three axle robert, including the first mechanical axis, the second mechanical axis, third mechanical axis and manipulator, which is characterized in that
Upper level positioned at the first mechanical axis passes through the first connection component part and first perpendicular to the second mechanical axis of the first mechanical axis
Mechanical axis is connected, and passes through the second connection group perpendicular to the third mechanical axis of the second mechanical axis vertically positioned at the side of the second mechanical axis
Part part is connected with the second mechanical axis, and the manipulator is located at the bottom of third mechanical axis, and manipulator passes through third connection component part
It is connected with third mechanical axis.
2. three axle robert according to claim 1, it is characterised in that: first mechanical axis is filled including the first power
It sets, the first guide assembly, the first transmission device and the first connection component among the first guide assembly, the transmission dress
Two gears including being located at the first mechanical axis head and the tail both ends are set, two gears are individually fixed in the first mechanical axis head and the tail both ends
On two groups of teeth wheel support, transmission belt is equipped on two gears, the transmission device is connected with power device.
3. three axle robert according to claim 1, it is characterised in that: second mechanical axis is filled including the second power
It sets, the second guide assembly, the second transmission device and the second connection component, second power device is vertical with the second transmission device
It is connected, second guide assembly is arranged parallel with the second transmission device, and second transmission device includes being located at the first both ends
Two gears and the conveyer belt on gear.
4. three axle robert according to claim 1, it is characterised in that: the third mechanical axis includes third power dress
It sets, third guide assembly and third transmission device, the third power device are arranged parallel vertically with third guide assembly,
The lower part of three power devices is equipped with a guide pin.
5. three axle robert according to claim 3, it is characterised in that: second connection component and the second mechanical axis
Guide rail be connected, the connection component include a vertical fixed plate, third power device is connected with the fixed plate, in the fixed plate
Equipped with a upright slide rail, manipulator is connected by a sliding connector with upright slide rail.
6. three axle robert according to claim 1, it is characterised in that: the manipulator includes one in the perpendicular of inverted T-shaped
Direct-connected fishplate bar and Suction cup assembly positioned at the vertical connecting plates bottom face.
7. three axle robert according to claim 6, it is characterised in that: the Suction cup assembly includes that at least one is used for
Draw the sucker of card.
8. three axle robert according to claim 2, it is characterised in that: first guide assembly includes two side by side
Guide rail, first fixedly connected part include being located at the first slide fastener component that can be slided on two guide rails, sliding first
Buckle assembly is fixedly arranged above the first connection component, first connection component include be connected with the first slide fastener component it is W-shaped
Fixing piece, the fixed horizontal connecting plate in position and the level being connected with W-shaped fixing piece or so both wings connect among W-shaped fixing piece
Fishplate bar, transmission belt pass through among W-shaped fixing piece and horizontal connecting plate.
9. three axle robert according to claim 3, it is characterised in that: second connection component includes and the second guide rail
On the connection of the second slide fastener component outside portion fixed block, the outside portion of the fixed block is equipped with the protrusion of a rectangular-shape, described
One edge-on connecting plate of the side connection of fixed block and the upright connecting plate that is connect with the edge-on connecting plate, described the
The top of two slide fastener components and fixed block is equipped with a horizontal connection component, and the conveyer belt of second transmission device is from the level
Gap among connector passes through.
10. three axle robert according to claim 9, it is characterised in that: the horizontal connection component includes on fixed block
The first level connector with bump of portion's connection and the second horizontal connector with first level connector fastening, the
The two horizontal connector sides direction opposite with fixed block is equipped with the first limiting device.
11. three axle robert according to claim 5, it is characterised in that: the lower part of the upright slide rail is equipped with the second limit
Position device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810210944 | 2018-03-14 | ||
| CN201810210944X | 2018-03-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109623798A true CN109623798A (en) | 2019-04-16 |
Family
ID=66060715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910033805.9A Pending CN109623798A (en) | 2018-03-14 | 2019-01-15 | A kind of three axle robert |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109623798A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113075007A (en) * | 2021-06-04 | 2021-07-06 | 江西有为生物技术有限公司 | Single-shaft moving mechanism and full-automatic immunohistochemical dyeing machine |
| CN113800105A (en) * | 2021-09-06 | 2021-12-17 | 上海外高桥造船海洋工程有限公司 | Pneumatic self-service dispensing device for whole-box filling box-packed welding wires |
| CN115122378A (en) * | 2022-07-26 | 2022-09-30 | 常熟市兆恒众力精密机械有限公司 | Titanium alloy fixed claw for wafer clamping |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0512126A1 (en) * | 1991-05-02 | 1992-11-11 | LIGMATECH MASCHINENBAU GmbH | Device for manipulating panel shaped workpieces |
| JP2004082296A (en) * | 2002-08-28 | 2004-03-18 | Star Seiki Co Ltd | Sucking device and molding taking-out device |
| CN205614659U (en) * | 2016-05-11 | 2016-10-05 | 艾尔发（苏州）自动化科技有限公司 | TN series triaxial servo machine tool hand |
| CN205817846U (en) * | 2016-07-21 | 2016-12-21 | 中山市鑫光智能系统有限公司 | A kind of three axle turnover mechanical hands |
| CN206643914U (en) * | 2017-04-06 | 2017-11-17 | 东莞钱工智能科技有限公司 | Three axle robert |
| CN209793726U (en) * | 2018-03-14 | 2019-12-17 | 深圳市华正联实业有限公司 | Three-axis manipulator |
-
2019
- 2019-01-15 CN CN201910033805.9A patent/CN109623798A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0512126A1 (en) * | 1991-05-02 | 1992-11-11 | LIGMATECH MASCHINENBAU GmbH | Device for manipulating panel shaped workpieces |
| JP2004082296A (en) * | 2002-08-28 | 2004-03-18 | Star Seiki Co Ltd | Sucking device and molding taking-out device |
| CN205614659U (en) * | 2016-05-11 | 2016-10-05 | 艾尔发（苏州）自动化科技有限公司 | TN series triaxial servo machine tool hand |
| CN205817846U (en) * | 2016-07-21 | 2016-12-21 | 中山市鑫光智能系统有限公司 | A kind of three axle turnover mechanical hands |
| CN206643914U (en) * | 2017-04-06 | 2017-11-17 | 东莞钱工智能科技有限公司 | Three axle robert |
| CN209793726U (en) * | 2018-03-14 | 2019-12-17 | 深圳市华正联实业有限公司 | Three-axis manipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113075007A (en) * | 2021-06-04 | 2021-07-06 | 江西有为生物技术有限公司 | Single-shaft moving mechanism and full-automatic immunohistochemical dyeing machine |
| CN113800105A (en) * | 2021-09-06 | 2021-12-17 | 上海外高桥造船海洋工程有限公司 | Pneumatic self-service dispensing device for whole-box filling box-packed welding wires |
| CN115122378A (en) * | 2022-07-26 | 2022-09-30 | 常熟市兆恒众力精密机械有限公司 | Titanium alloy fixed claw for wafer clamping |
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