CN110238833A - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN110238833A CN110238833A CN201910537238.0A CN201910537238A CN110238833A CN 110238833 A CN110238833 A CN 110238833A CN 201910537238 A CN201910537238 A CN 201910537238A CN 110238833 A CN110238833 A CN 110238833A
- Authority
- CN
- China
- Prior art keywords
- axis
- guide rail
- axis guide
- drag chain
- column
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mechanical equipment technical fields, disclose a kind of manipulator, including driving motor, support base, X-axis guide rail, Y-axis guide rail, Z axis guide rail, linear guide slide unit and control cabinet, support base includes pedestal and the first column and the second column that are mounted on the base, it is provided with fixation hole on pedestal, is provided with attachment beam between the first column and the second column；Control cabinet is fixed on attachment beam, X-axis guide rail is mounted on support base, and linear guide slide unit is mounted in X-axis guide rail, and Y-axis guide rail is mounted on linear guide slide unit, Z axis guide rail is mounted on the side of linear guide slide unit, and X-axis guide rail, Y-axis guide rail and Z axis guide rail make three-shaft linkage；Y-axis guide rail is equipped with Y-axis drag chain, and Z axis guide rail is equipped with Z axis drag chain；The end of Z axis guide rail is provided with mechanical gripper.The manipulator overall structure is simple, small in size, and work flexibility ratio is high, and operating accuracy is high, and more stable and firm, working efficiency is higher.
Description
Technical field
The present invention relates to being related to mechanical equipment technical field, in particular to a kind of manipulator.
Background technique
Industry mechanical arm is a kind of programmable automatic manipulator, it is that occur at the fifties end, in recent years rapidly
The important automation equipment to grow up is to realize industrialized important means, is widely used in injection molding, punching press, spraying, pressure
In the production such as casting, play the role of taking out finished product or loading and unloading.It is exclusively used in the manipulator of cnc numerical control machine tool loading and unloading at present
Only two axis, cause manipulator can only in the plane activity and cannot be spatially movable, and the control of present manipulator
Method is PLC control, and PLC control cabinet is bulky, so that manipulator overall volume is very big；And existing manipulator is integrally tied
Structure is complicated, and bulky, flexibility ratio and accuracy are all inadequate；Single upright supports of existing manipulator grab matter in manipulator
When measuring biggish workpiece, manipulator can be due to centre-of gravity shift and there is a situation where toppling over or shaking, so that the movement of manipulator
Position is deviated, and is at this moment needed engineer relocating, is bothered in the extreme.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of manipulators, and the manipulator overall structure is simple, small in size, work
Make flexibility ratio height, operating accuracy is high, and more stable and firm, working efficiency is higher.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is as follows:
A kind of manipulator, including driving motor, support base, X-axis guide rail, Y-axis guide rail, Z axis guide rail, linear guide slide unit and
Control cabinet, the support base include pedestal and the first column and the second column that are mounted on the base, are set on the pedestal
It is equipped with fixation hole, is provided with attachment beam between first column and the second column；The control cabinet is fixed on the attachment beam
On, the X-axis guide rail is mounted on the support base, and the linear guide slide unit is mounted in X-axis guide rail, the Y-axis guide rail
It being mounted on the linear guide slide unit, the Z axis guide rail is mounted on the side of the linear guide slide unit, the X-axis guide rail,
Y-axis guide rail and Z axis guide rail make three-shaft linkage；The Y-axis guide rail is equipped with Y-axis drag chain, and the Z axis guide rail is equipped with Z axis drag chain；
The end of the Z axis guide rail is provided with mechanical gripper.
Further, the driving motor includes y-axis motor and Z axis motor, and it is sliding that the y-axis motor is mounted on linear guide
On platform.
It further, further include the Y-axis air valve case being mounted in Y-axis guide rail and the Z axis air valve being mounted in Z axis guide rail
Case is provided with drag chain bracket on the Y-axis air valve case and Z axis air valve case, and Y-axis guide rail is fixed in one end of the Y-axis drag chain
On, the other end of the Y-axis drag chain is fixed on the drag chain bracket on Y-axis air valve case.
Further, it is provided with two X-axis slide rails parallel to each other in the X-axis guide rail, is equipped in the X-axis slide rail
The sliding block that can be slided in this X-axis slide rail is provided with belt between two parallel X-axis slide rails.
Further, the X-axis guide rail is mounted on first column and the second column.
Further, it is provided with Z axis slide rail in the Z axis guide rail, drag chain slide is slidably fitted in the Z axis slide rail,
One end of the Z axis drag chain is mounted on the drag chain slide, and it is sliding that the other end of the Z axis drag chain is fixed on the linear guide
On platform.
Further, the both ends of the X-axis guide rail are provided with the limit of the motion range for straight limit guide rail slide unit
Position block, the limited block includes the first limit block and the second limit block.
Compared with prior art, the invention discloses a kind of manipulator, which includes X-axis guide rail, Y-axis guide rail and Z
Axis rail, so the manipulator energy three-shaft linkage, it can spatially flexibly activity.The support base of the manipulator includes pedestal and peace
Base-mounted first column and the second column, pedestal are spirally connected fixation, are provided with attachment beam between two columns, in this way can be with
Increase the stability of support base, control cabinet is mounted on attachment beam, and control cabinet has certain weight, and being mounted on attachment beam can be with
Increase support base weight, keep the center of gravity of manipulator constant so that manipulator will not topple at work or
The phenomenon that shaking, so that operating accuracy is higher.
Detailed description of the invention
Fig. 1 is the perspective view of manipulator；
Fig. 2 is the main view of manipulator；
Fig. 3 is the left view of manipulator；
Fig. 4 is the top view of manipulator.
In figure: 1 support base, 11 pedestals, 12 first columns, 13 second columns, 14 attachment beams, 2X axis rail, 21X axis are sliding
Rail, 22 belts, 3Y axis rail, 4Z axis rail, 41 mechanical grippers, 5 linear guide slide units, 6 control cabinets, 71Y axis drag chain, 72Z axis
Drag chain, 81Y axis air valve case, 82Z axis air valve case, 9 drag chain slides, 101 first limited blocks, 102 second limited blocks, 103Y axis electricity
Machine, 104Z spindle motor.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
As shown in Figs 1-4, the invention discloses a kind of manipulators, including driving motor, support base 1, X-axis guide rail 2, Y-axis
Guide rail 3, Z axis guide rail 4, linear guide slide unit 5 and control cabinet 6, specifically, driving motor includes y-axis motor 103 and Z axis motor
104, y-axis motor 103 is mounted on linear guide slide unit 5.
Support base 1 includes the first column 12 and the second column 13 of pedestal 11 and installation on the pedestal 11, is set on pedestal 11
It is equipped with fixation hole, is provided with attachment beam 14 between the first column 12 and the second column 13；Control cabinet 6 is fixed on attachment beam 14, X
Axis rail 2 is mounted on support base 1, specifically, X-axis guide rail 2 is mounted on the first column 12 and the second column 13.
X-axis guide rail 2 is in long strip, and linear guide slide unit 5 is mounted in X-axis guide rail 2, and Y-axis guide rail 3 is mounted on linear guide
On slide unit 5, Z axis guide rail 4 is mounted on the side of linear guide slide unit 5, and X-axis guide rail 2, Y-axis guide rail 3 and Z axis guide rail 4 make three axis connection
It is dynamic.
Y-axis guide rail 3 is equipped with Y-axis drag chain 71, and Z axis guide rail 4 is equipped with Z axis drag chain 72；The end of Z axis guide rail 4 is provided with
Mechanical gripper 41.It is provided with Z axis slide rail in Z axis guide rail 4, is slidably fitted with drag chain slide 9 in Z axis slide rail, the one of Z axis drag chain 72
End is mounted on drag chain slide 9, and the other end of Z axis drag chain 72 is fixed on linear guide slide unit 5.
Specifically, the invention also includes the Y-axis air valve cases 81 being mounted in Y-axis guide rail 3 and the Z being mounted in Z axis guide rail 4
Drag chain bracket is provided on axis air valve case 82, Y-axis air valve case 81 and Z axis air valve case 82, Y is fixed in one end of Y-axis drag chain 71
On axis rail 3, the other end of Y-axis drag chain 71 is fixed on the drag chain bracket on Y-axis air valve case 81.
Two X-axis slide rails 21 parallel to each other are provided in X-axis guide rail 2, being equipped in X-axis slide rail 21 can be sliding in this X-axis
The sliding block slided on rail 21, the sliding block can carry out linear reciprocating motion along axis in X-axis guide rail 2 along sliding rail, and two parallel
X-axis slide rail 21 between be additionally provided with belt 22.
The both ends of X-axis guide rail 2 are provided with the limited block of the motion range for straight limit guide rail slide unit 5, limited block
Including the first limited block 101 and the second limited block 102, linear guide slide unit 5 then does reciprocating linear fortune between two limited blocks
It is dynamic.
For controlling the control mode of manipulator, the control method of former manipulator is PLC control, now more using volume
Small single-chip microcontroller control, single-chip computer control system are encapsulated in control cabinet 6, and control cabinet 6 is in the cross being fixed between two columns
Liang Shang can increase the weight on the chassis of manipulator in this way, enable the center of gravity of manipulator always on support base 1, this model machine
At work, the case where would not shaking, then the operating accuracy of manipulator is higher, working efficiency for tool hand
It is high.
The principle of the present invention and advantage: the manipulator includes X-axis guide rail 2, Y-axis guide rail 3 and Z axis guide rail 4, so the machinery
Hand energy three-shaft linkage, can spatially flexibly activity.The support base 1 of the manipulator includes pedestal 11 and installs on the pedestal 11
First column 12 and the second column 13, pedestal 11 are spirally connected fixation, are provided with attachment beam 14 between two columns, can increase in this way
The stability of support base 1, control cabinet 6 are mounted on attachment beam 14, and control cabinet 6 has certain weight, are mounted on attachment beam 14
The weight that support base 1 can be increased keeps the center of gravity of manipulator constant, so that manipulator will not topple at work
Or the phenomenon that shaking, so that operating accuracy is higher.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (7)
1. a kind of manipulator, including driving motor, which is characterized in that further include: support base (1), X-axis guide rail (2), Y-axis guide rail
(3), Z axis guide rail (4), linear guide slide unit (5) and control cabinet (6), the support base (1) include pedestal (11) and are mounted on institute
The first column (12) and the second column (13) on pedestal (11) are stated, is provided with fixation hole on the pedestal (11), described first
Attachment beam (14) are provided between column (12) and the second column (13)；The control cabinet (6) is fixed on the attachment beam (14)
On, the X-axis guide rail (2) is mounted on the support base (1), and the linear guide slide unit (5) is mounted on X-axis guide rail (2),
The Y-axis guide rail (3) is mounted on the linear guide slide unit (5), and it is sliding that the Z axis guide rail (4) is mounted on the linear guide
The side of platform (5), the X-axis guide rail (2), Y-axis guide rail (3) and Z axis guide rail (4) make three-shaft linkage；On the Y-axis guide rail (3)
Equipped with Y-axis drag chain (71), the Z axis guide rail (4) is equipped with Z axis drag chain (72)；The end setting of the Z axis guide rail (4) is organic
Tool handgrip (41).
2. a kind of manipulator according to claim 1, it is characterised in that: the driving motor include y-axis motor (103) and
Z axis motor (104), the y-axis motor (103) are mounted on linear guide slide unit (5).
3. a kind of manipulator according to claim 2, it is characterised in that: further include the Y-axis being mounted on Y-axis guide rail (3)
Air valve case (81) and the Z axis air valve case (82) being mounted on Z axis guide rail (4), the Y-axis air valve case (81) and Z axis air valve case
(82) drag chain bracket is provided on, one end of the Y-axis drag chain (71) is fixed on Y-axis guide rail (3), the Y-axis drag chain
(71) the other end is fixed on the drag chain bracket on Y-axis air valve case (81).
4. a kind of manipulator according to claim 3, it is characterised in that: be provided on the X-axis guide rail (2) parallel to each other
Two X-axis slide rails (21), the sliding block that can be slided in this X-axis slide rail (21) is installed, two are flat on the X-axis slide rail (21)
Belt (22) are provided between capable X-axis slide rail (21).
5. a kind of manipulator according to claim 4, it is characterised in that: it is vertical that the X-axis guide rail (2) is mounted on described first
On column (12) and the second column (13).
6. a kind of manipulator according to claim 5, it is characterised in that: it is provided with Z axis slide rail on the Z axis guide rail (4),
It is slidably fitted in the Z axis slide rail drag chain slide (9), one end of the Z axis drag chain (72) is mounted on the drag chain slide (9)
On, the other end of the Z axis drag chain (72) is fixed on the linear guide slide unit (5).
7. a kind of manipulator according to claim 6, it is characterised in that: the both ends of the X-axis guide rail (2) are provided with use
In the limited block of the motion range of straight limit guide rail slide unit (5), the limited block includes the first limited block (101) and the second limit
Position block (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910537238.0A CN110238833A (en) | 2019-06-20 | 2019-06-20 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910537238.0A CN110238833A (en) | 2019-06-20 | 2019-06-20 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110238833A true CN110238833A (en) | 2019-09-17 |
Family
ID=67888513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910537238.0A Pending CN110238833A (en) | 2019-06-20 | 2019-06-20 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110238833A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021189747A1 (en) * | 2020-03-24 | 2021-09-30 | 苏州三人智能科技有限公司 | Manipulator transmission mechanism for press |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19822765A1 (en) * | 1998-05-20 | 1999-12-02 | Wasserthal Stella | Handling device |
| CN106002026A (en) * | 2016-07-16 | 2016-10-12 | 江苏瑞伯特智能科技股份有限公司 | Automatic five-axis welding manipulator |
| CN106142063A (en) * | 2016-08-26 | 2016-11-23 | 新疆玉昆仑天然食品工程有限公司 | The three-dimensional automation hand system of conveying picked up by a kind of material that is applicable to |
| CN108453714A (en) * | 2018-06-22 | 2018-08-28 | 四川盛弘机械有限公司 | A kind of double-vane truss robot control device |
| CN207807726U (en) * | 2018-01-15 | 2018-09-04 | 东莞市昊朗鑫自动化科技有限公司 | A kind of unilateral double sections of manipulators of novel two axis |
| CN108790019A (en) * | 2018-06-27 | 2018-11-13 | 衢州锐博智能科技有限公司 | A kind of finger feed automation saltation layer equipment |
| CN208083940U (en) * | 2018-01-31 | 2018-11-13 | 中井兴机器人（常州）有限公司 | A kind of one drag two truss manipulator |
-
2019
- 2019-06-20 CN CN201910537238.0A patent/CN110238833A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19822765A1 (en) * | 1998-05-20 | 1999-12-02 | Wasserthal Stella | Handling device |
| CN106002026A (en) * | 2016-07-16 | 2016-10-12 | 江苏瑞伯特智能科技股份有限公司 | Automatic five-axis welding manipulator |
| CN106142063A (en) * | 2016-08-26 | 2016-11-23 | 新疆玉昆仑天然食品工程有限公司 | The three-dimensional automation hand system of conveying picked up by a kind of material that is applicable to |
| CN207807726U (en) * | 2018-01-15 | 2018-09-04 | 东莞市昊朗鑫自动化科技有限公司 | A kind of unilateral double sections of manipulators of novel two axis |
| CN208083940U (en) * | 2018-01-31 | 2018-11-13 | 中井兴机器人（常州）有限公司 | A kind of one drag two truss manipulator |
| CN108453714A (en) * | 2018-06-22 | 2018-08-28 | 四川盛弘机械有限公司 | A kind of double-vane truss robot control device |
| CN108790019A (en) * | 2018-06-27 | 2018-11-13 | 衢州锐博智能科技有限公司 | A kind of finger feed automation saltation layer equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021189747A1 (en) * | 2020-03-24 | 2021-09-30 | 苏州三人智能科技有限公司 | Manipulator transmission mechanism for press |
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Application publication date: 20190917 |