CN111300398A - Three-axis manipulator assembly with universal adjusting function and using method thereof - Google Patents
Three-axis manipulator assembly with universal adjusting function and using method thereof Download PDFInfo
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- CN111300398A CN111300398A CN202010167287.2A CN202010167287A CN111300398A CN 111300398 A CN111300398 A CN 111300398A CN 202010167287 A CN202010167287 A CN 202010167287A CN 111300398 A CN111300398 A CN 111300398A
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- manipulator
- hydraulic cylinder
- lock nut
- longitudinal
- turntable
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- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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Abstract
The invention discloses a three-axis manipulator assembly with a universal adjusting function, which comprises a turntable, a cross frame, a side frame and a manipulator, wherein a driving motor is fixedly installed at the bottom of the turntable, an output shaft of the driving motor is connected with a rotating shaft in the middle of the turntable, two sides of the rotating shaft are respectively provided with a sliding rail positioned on the turntable, one end of one sliding rail, which is close to the outer edge of the turntable, is provided with a side cylinder fixed on the turntable, and the side wall of the side cylinder is connected with a pneumatic telescopic rod. Can solve current triaxial manipulator and use at first the triaxial can realize the multi-directional removal to the manipulator, but also have very big drawback simultaneously, the activity direction of manipulator has been restricted in the triaxial existence, leads to the manipulator can't accomplish universal regulation's function in the use, 360 adjustment moving trajectory promptly, still need artifical manual adjustment that carries out overall position when needs switching-over, can't satisfy the demand of multi-angle moving trajectory on the automated production line.
Description
Technical Field
The invention relates to the field of three-axis manipulators, in particular to a three-axis manipulator assembly with a universal adjusting function and a using method thereof.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The three-axis manipulator is a commonly used manipulator which can move along the axes in X, Y, Z (horizontal, vertical and vertical directions) as the name suggests, but the existing three-axis manipulator still has certain defects when in use, firstly, the three axes can realize multidirectional movement of the manipulator, but simultaneously, the three axes also have great defects, the moving direction of the manipulator is limited by the existence of the three axes, so that the manipulator cannot achieve the function of universal adjustment in the use process, namely, the movement track is adjusted by 360 degrees, when the direction is changed, the whole position is manually adjusted, and the requirement of multi-angle movement tracks on an automatic production line cannot be met.
The publication number is: CN104924295B specifically discloses a triaxial manipulator of automatic screen kludge, can not solve above-mentioned current triaxial manipulator when using at first the triaxial can realize the multi-directional removal to the manipulator, but also have very big drawback simultaneously, and the activity direction of manipulator has been restricted in the triaxial existence, leads to the manipulator to accomplish universal regulation's function in the use, still needs the manual regulation that carries out overall position of manual work, can't satisfy the demand of multi-angle operation orbit on the automated production line.
Disclosure of Invention
The invention aims to provide a three-axis manipulator assembly with a universal adjusting function and a using method thereof, which can solve the problems that the existing three-axis manipulator can realize multidirectional movement of the manipulator when in use, but has great defects, the movement direction of the manipulator is limited by the three axes, so that the manipulator cannot realize the universal adjusting function in the using process, namely the operation track is adjusted by 360 degrees, when the direction needs to be changed, the whole position needs to be adjusted manually, and the requirement of multi-angle operation tracks on an automatic production line cannot be met.
The purpose of the invention can be realized by the following technical scheme:
a three-axis manipulator assembly with a universal adjusting function comprises a rotary table, a cross frame, side frames and manipulators, wherein a driving motor is fixedly mounted at the bottom of the rotary table, an output shaft of the driving motor is connected with a rotary shaft in the middle of the rotary table, two sides of the rotary shaft are respectively provided with a slide rail positioned on the rotary table, one end, close to the outer edge of the rotary table, of one slide rail is provided with a side cylinder fixed on the rotary table, the side wall of the side cylinder is connected with a pneumatic telescopic rod, the bottom of the cross frame is positioned on the two slide rails, a plurality of pulleys matched with the slide rails are mounted at the bottom of the cross frame, a connecting plate is welded on the side wall, close to the side cylinder;
the side frame is provided with a chute, the chute is provided with a longitudinal sliding plate positioned on the outer wall of one side of the side frame, the outer wall of the other side of the side frame is fixedly provided with a longitudinal hydraulic cylinder, the side wall of the longitudinal hydraulic cylinder is connected with a longitudinal hydraulic rod, one end of the longitudinal hydraulic rod is connected with the longitudinal sliding plate, the side wall of the longitudinal sliding plate is fixedly provided with a connecting seat, the side wall of the connecting seat is fixedly provided with a vertical hydraulic cylinder, the bottom of the vertical hydraulic cylinder is connected with a vertical hydraulic rod, the bottom end of the vertical hydraulic rod is connected with a steering motor, an output shaft of the steering motor is connected with a manipulator which is vertically arranged downwards, one end of the side frame close to the cross frame is provided with a joint, one side of the joint is provided with a steering rod, one side of, a movable groove is formed in the cross frame, the cross frame is arranged on the movable groove, a transverse hydraulic cylinder is fixedly installed on the side wall, away from the side frame, of the cross frame, and a hydraulic rod of the transverse hydraulic cylinder is connected with the transverse sliding plate;
transfer to both ends about the pole and be helicitic texture, just transfer to the pole top and connect a top lock nut soon, transfer to the pole bottom and connect a bottom lock nut soon, top lock nut all is provided with one with the adjacent one side of bottom lock nut and cup joints the bearing on transferring to the pole, two all be provided with a linking arm on the bearing outer wall, two the common attach fitting of linking arm, transfer to being connected with a fixed plate on the lateral wall of pole middle part, the fixed plate is connected with transverse sliding plate.
Preferably, two the slide rail is located same water flat line, and the crossbearer passes through pneumatic telescopic link and all sliding connection between two slide rails.
Preferably, the two bearings are rotatably connected with the direction adjusting rod when the top lock nut and the bottom lock nut are unscrewed.
Preferably, when the top lock nut and the bottom lock nut are loosened, the side frame and the cross frame are rotatably connected.
Preferably, the side frames are connected with the cross frame in a sliding mode through a transverse sliding plate and hydraulic rods of a transverse hydraulic cylinder, and the sliding direction of the side frames is the same as that of the movable grooves.
Preferably, the longitudinal sliding plate is connected with the connecting seat and the manipulator in a sliding manner through a longitudinal hydraulic rod and the side frame, and the sliding direction of the longitudinal sliding plate is the same as that of the sliding chute.
Preferably, the manipulator is movably connected with the vertical hydraulic cylinder through a vertical hydraulic rod, and is rotatably connected with the steering motor through an output shaft of the steering motor.
A use method of a three-axis manipulator assembly with a universal adjusting function comprises the following steps:
the method comprises the following steps: when the three-axis track operates, the transverse hydraulic cylinder is started, the transverse hydraulic cylinder drives the hydraulic rod to stretch to drive the transverse sliding plate to move back and forth along the direction of the movable groove, so that the side frame is driven to move back and forth, the longitudinal hydraulic cylinder drives the longitudinal hydraulic rod to stretch to drive the longitudinal sliding plate to move left and right along the direction of the sliding groove by starting the longitudinal hydraulic cylinder, so that the connecting seat, the vertical hydraulic cylinder, the steering motor and the manipulator are driven to move left and right along the direction of the sliding groove, the vertical hydraulic cylinder is started to drive the vertical hydraulic rod to stretch to drive the steering motor, the manipulator moves up and down along the vertical direction, and the;
step two: when the moving track of the manipulator needs to be adjusted, the top lock nut and the bottom lock nut are unscrewed, the two bearings can normally rotate, the side frame is directly pushed, the side frame rotates around the direction adjusting rod to adjust the angle, the moving direction of the manipulator along the side frame is changed after the side frame rotates, and the top lock nut and the bottom lock nut are screwed after the adjustment is finished;
step three: when the manipulator needs to do arc-shaped track operation and orbital transfer operation, a driving motor is started, an output shaft through the driving motor drives a rotating shaft to rotate, the rotating shaft drives a cross frame, a side frame and a manipulator to move around the rotating shaft for rotating an adjusting angle, so that the manipulator can operate according to the arc-shaped track, the pneumatic telescopic rod is driven to stretch and retract by starting a side cylinder to drive the cross frame to move along the direction of a sliding rail, and the cross frame enables the manipulator to realize orbital transfer operation in the moving process.
Compared with the prior art, the invention has the beneficial effects that: because of the existence of the transverse hydraulic cylinder on the transverse frame, the longitudinal hydraulic cylinder on the side frame, the vertical hydraulic cylinder and the steering motor, the whole three-axis manipulator assembly can drive the transverse sliding plate to move back and forth along the direction of the movable groove by starting the transverse hydraulic cylinder and driving the hydraulic rod to stretch by the transverse hydraulic cylinder so as to drive the transverse sliding plate to move back and forth along the direction of the movable groove and further drive the side frame to move back and forth, can drive the longitudinal sliding plate to move left and right along the direction of the sliding groove by starting the longitudinal hydraulic cylinder and driving the longitudinal hydraulic rod to stretch by the longitudinal hydraulic cylinder so as to drive the connecting seat, the vertical hydraulic cylinder, the steering motor and the manipulator to move left and right along the direction of the sliding groove, can drive the vertical hydraulic rod, thereby meeting the requirement of flexible operation of three axes of the manipulator;
when the operation track of the manipulator needs to be adjusted in a small range, due to the existence of the direction adjusting rod, the upper end and the lower end of the direction adjusting rod are both in a threaded structure, the top end of the direction adjusting rod is screwed with a top lock nut, the bottom end of the direction adjusting rod is screwed with a bottom lock nut, one side, adjacent to the bottom lock nut, of the top lock nut is provided with a bearing sleeved on the direction adjusting rod, the outer walls of the two bearings are both provided with a connecting arm, the two connecting arms are connected with a joint together, the side wall of the middle part of the direction adjusting rod is connected with a fixing plate, and the fixing plate is connected with a transverse sliding plate, so that when the top lock nut and the bottom lock nut are unscrewed, the two bearings can normally rotate, the side frame is directly pushed to rotate around the direction adjusting rod to adjust the angle, and the manipulator changes;
when the operation track of the manipulator needs to be adjusted greatly, because the turntable and the slide rail on the turntable exist, and the same pneumatic telescopic rod of the cross frame is connected with the side cylinder, therefore, when the driving motor is started, the rotating shaft can be driven to rotate through the output shaft of the driving motor, the rotating shaft drives the cross frame, the side frame and the manipulator to move around the rotating shaft to rotate and adjust the angle in the rotating process, so that the manipulator can run according to an arc-shaped track, and the side cylinder is started to drive the pneumatic telescopic rod to stretch and retract so as to drive the cross frame to move along the direction of the slide rail, the cross frame enables the manipulator to realize rail-changing operation in the moving process, the whole adjusting process is not required to be manually carried out, and the operation track of manipulator can realize three hundred sixty degrees regulation promptly universal regulation, can realize arc orbit operation, orbital transfer operation simultaneously.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the cross frame structure of the present invention;
FIG. 3 is a schematic side view of FIG. 2 according to the present invention;
FIG. 4 is a front view of FIG. 2 of the present invention;
FIG. 5 is a top view of FIG. 2 in accordance with the present invention;
FIG. 6 is a schematic view of a steering rod according to the present invention;
FIG. 7 is a schematic view of the sideframe of the present invention after rotation;
FIG. 8 is a schematic view of the sideframe of the present invention after rotation;
in the figure: 1. a turntable; 2. a drive motor; 3. a rotating shaft; 4. a side cylinder; 5. a pneumatic telescopic rod; 6. a slide rail; 7. a pulley; 8. a cross frame; 9. a side frame; 10. a longitudinal hydraulic cylinder; 11. a chute; 12. a longitudinal slide; 13. a longitudinal hydraulic rod; 14. a connecting seat; 15. a vertical hydraulic cylinder; 16. a vertical hydraulic rod; 17. a manipulator; 18. a transverse slide plate; 19. a transverse hydraulic cylinder; 20. a direction adjusting rod; 21. a joint; 22. a bearing; 23. a top lock nut; 24. a bottom lock nut; 25. a connecting arm; 26. a fixing plate; 27. a steering motor.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, a three-axis manipulator assembly with a universal adjusting function includes a turntable 1, a cross frame 8, a side frame 9 and a manipulator 17, wherein a driving motor 2 is fixedly installed at the bottom of the turntable 1, an output shaft of the driving motor 2 is connected with a rotating shaft 3 in the middle of the turntable 1, two sides of the rotating shaft 3 are respectively provided with a sliding rail 6 located on the turntable 1, one end of one sliding rail 6, which is close to the outer edge of the turntable 1, is provided with a side cylinder 4 fixed on the turntable 1, the side wall of the side cylinder 4 is connected with a pneumatic telescopic rod 5, the bottom of the cross frame 8 is located on the two sliding rails 6, the bottom of the cross frame 8 is provided with a plurality of pulleys 7 used in cooperation with the sliding rails 6, the side wall, which is close to the side cylinder;
a chute 11 is arranged on the side frame 9, a longitudinal sliding plate 12 positioned on the outer wall of one side of the side frame 9 is arranged on the chute 11, a longitudinal hydraulic cylinder 10 is fixedly arranged on the outer wall of the other side of the side frame 9, a longitudinal hydraulic rod 13 is connected on the side wall of the longitudinal hydraulic cylinder 10, one end of the longitudinal hydraulic rod 13 is connected with the longitudinal sliding plate 12, a connecting seat 14 is fixedly arranged on the side wall of the longitudinal sliding plate 12, a vertical hydraulic cylinder 15 is fixedly arranged on the side wall of the connecting seat 14, the bottom of the vertical hydraulic cylinder 15 is connected with a vertical hydraulic rod 16, the bottom end of the vertical hydraulic rod 16 is connected with a steering motor 27, the output shaft of the steering motor 27 is connected with a manipulator 17 which is vertically arranged downwards, one end of the side frame 9 close to the cross frame 8 is provided with a joint 21, one side of the joint 21, a movable groove is formed in the cross frame 8, the cross frame 8 is arranged on the movable groove, a transverse hydraulic cylinder 19 is fixedly installed on the side wall, away from the side frame 9, of the cross frame 8, and a hydraulic rod of the transverse hydraulic cylinder 19 is connected with a transverse sliding plate 18;
transfer to both ends about pole 20 and be helicitic texture, and transfer to 20 tops of pole and connect a top lock nut 23 soon, transfer to 20 bottoms of pole and connect a bottom lock nut 24 soon, top lock nut 23 all is provided with one with the adjacent one side of bottom lock nut 24 and cup joints bearing 22 on transferring to pole 20, all be provided with a linking arm 25 on two bearing 22 outer walls, two linking arm 25 attach fitting 21 jointly, transfer to be connected with a fixed plate 26 on the 20 middle part lateral walls of pole, fixed plate 26 is connected with transverse sliding plate 18.
Two slide rails 6 are located same water flat line, and equal sliding connection between crossbearer 8 passes through pneumatic telescopic rod 5 and two slide rails 6, when starting driving motor 2, it is rotatory to drive pivot 3 through driving motor 2's output shaft, pivot 3 drives crossbearer 8 at rotatory in-process, the side bearer 9, manipulator 17 removes round 3 rotatory angle of adjustment of pivot, make manipulator 17 can move according to the arc orbit, and can drive pneumatic telescopic rod 5 through starting side cylinder 4 and stretch out and draw back and drive crossbearer 8 along the direction shift position of slide rail 6, crossbearer 8 makes manipulator 17 can realize the orbital transfer operation at the removal in-process.
The two bearings 22 are rotatably connected with the steering rod 20 when the top lock nut 23 and the bottom lock nut 24 are unscrewed. When the top lock nut 23 and the bottom lock nut 24 are unscrewed, the side frame 9 and the cross frame 8 are in rotating connection, so that when the top lock nut 23 and the bottom lock nut 24 are unscrewed, the two bearings 22 can normally rotate, the side frame 9 can be directly pushed to rotate around the steering rod 20 to adjust the angle, the moving direction of the manipulator 17 along the side frame 9 is changed after the side frame 9 rotates, and the moving track of the manipulator 17 is adjusted
The side frame 9 is connected with the cross frame 8 through a transverse sliding plate 18 and a hydraulic rod of a transverse hydraulic cylinder 19 in a sliding mode, and the sliding direction of the side frame 9 is the same as the direction of the movable groove. The longitudinal sliding plate 12 is connected with the connecting seat 14 and the manipulator 17 in a sliding way through the longitudinal hydraulic rod 13 and the side frame 9, and the sliding direction of the longitudinal sliding plate 12 is the same as that of the sliding chute 11. The manipulator 17 is movably connected with the vertical hydraulic cylinder 15 through the vertical hydraulic rod 16, and the manipulator 17 is rotatably connected with the steering motor 27 through an output shaft of the steering motor 27. Whole triaxial manipulator subassembly can be through starting horizontal pneumatic cylinder 19 when using, the direction back-and-forth movement position along the activity groove of horizontal slide 18 is driven to the flexible of utilizing horizontal pneumatic cylinder 19 to drive the hydraulic stem, thereby drive side bearer 9 back-and-forth movement position, can be through starting vertical pneumatic cylinder 10, the flexible of utilizing vertical hydraulic cylinder 10 to drive vertical hydraulic stem 13 drives vertical slide 12 and moves about along spout 11 direction, thereby drive connecting seat 14, vertical pneumatic cylinder 15, turn to motor 27, manipulator 17 moves about along spout 11 direction, can drive vertical hydraulic stem 16 through starting vertical pneumatic cylinder 15 and stretch out and draw back and drive and turn to motor 27, manipulator 17 reciprocates the position along vertical direction, can drive manipulator 17 rotation adjustment direction through starting to turn to motor 27.
A use method of a three-axis manipulator assembly with a universal adjusting function comprises the following steps:
the method comprises the following steps: when the three-axis track runs, the transverse hydraulic cylinder 19 is started, the transverse hydraulic cylinder 19 drives the hydraulic rod to stretch to drive the transverse sliding plate 18 to move back and forth along the direction of the movable groove, so that the side frame 9 is driven to move back and forth, the longitudinal hydraulic cylinder 10 is started, the longitudinal hydraulic cylinder 10 drives the longitudinal hydraulic rod 13 to stretch to drive the longitudinal sliding plate 12 to move left and right along the direction of the sliding groove 11, so that the connecting seat 14, the vertical hydraulic cylinder 15, the steering motor 27 and the manipulator 17 are driven to move left and right along the direction of the sliding groove 11, the vertical hydraulic cylinder 15 is started to drive the vertical hydraulic rod 16 to stretch to drive the steering motor 27 and the manipulator 17 to move up and down along the vertical direction, and the steering motor;
step two: when the moving track of the manipulator 17 needs to be adjusted, the top lock nut 23 and the bottom lock nut 24 are unscrewed, the two bearings 22 can normally rotate, the side frame 9 is directly pushed, the side frame 9 rotates around the steering rod 20 to adjust the angle, the moving direction of the manipulator 17 along the side frame 9 is changed after the side frame 9 rotates, and the top lock nut 23 and the bottom lock nut 24 are screwed after the adjustment is finished;
step three: when the manipulator 17 needs to do the arc orbit operation, when the orbital transfer moves, start driving motor 2, it is rotatory to drive pivot 3 through driving motor 2's output shaft, pivot 3 drives crossbearer 8 at rotatory in-process, side bearer 9, manipulator 17 removes round 3 rotatory angle of adjustment of pivot, make manipulator 17 move according to the arc orbit, and drive the direction shift position of crossbearer 8 along slide rail 6 through starting that pneumatic telescopic rod 5 of side cylinder 4 drive is flexible, crossbearer 8 makes manipulator 17 realize the orbital transfer operation at the removal in-process.
When the invention is used: firstly, a driving motor 2, a side cylinder 4, a longitudinal hydraulic cylinder 10, a vertical hydraulic cylinder 15, a transverse hydraulic cylinder 19 and a steering motor 27 are connected with an external power supply through leads, when the whole three-axis manipulator assembly is used, the transverse hydraulic cylinder 19 can be started, the transverse hydraulic cylinder 19 is used for driving the hydraulic rod to stretch to drive the transverse sliding plate 18 to move back and forth along the direction of a movable groove, so that the side frame 9 is driven to move back and forth, the longitudinal hydraulic cylinder 10 can be started, the longitudinal hydraulic cylinder 10 is used for driving the longitudinal hydraulic rod 13 to stretch to drive the longitudinal sliding plate 12 to move left and right along the direction of a sliding groove 11, so that the connecting seat 14, the vertical hydraulic cylinder 15, the steering motor 27 and the manipulator 17 are driven to move left and right along the direction of the sliding groove 11, the vertical hydraulic cylinder 15 is used for, the steering motor 27 can be started to drive the manipulator 17 to rotate to adjust the direction, when the moving track of the manipulator 17 needs to be adjusted in a small range, due to the existence of the steering rod 20, the upper end and the lower end of the steering rod 20 are both in a threaded structure, the top end of the steering rod 20 is screwed with the top lock nut 23, the bottom end of the steering rod 20 is screwed with the bottom lock nut 24, one side of the top lock nut 23 adjacent to the bottom lock nut 24 is provided with the bearing 22 sleeved on the steering rod 20, the outer walls of the two bearings 22 are respectively provided with the connecting arm 25, the two connecting arms 25 are commonly connected with the joint 21, the side wall in the middle of the steering rod 20 is connected with the fixing plate 26, the fixing plate 26 is connected with the transverse sliding plate 18, when the top lock nut 23 and the bottom lock nut 24 are unscrewed, the two bearings 22 can normally rotate, so that the side frame 9 can be directly pushed to rotate around the steering, after the side frame 9 rotates, the moving direction of the manipulator 17 along the side frame 9 changes, when the moving track of the manipulator 17 needs to be adjusted greatly, due to the existence of the turntable 1 and the slide rail 6 on the turntable 1, and the cross frame 8 is connected with the side cylinder 4 through the same pneumatic telescopic rod 5, when the driving motor 2 is started, the rotating shaft 3 can be driven to rotate through the output shaft of the driving motor 2, the rotating shaft 3 drives the cross frame 8, the side frame 9 and the manipulator 17 to move around the rotating shaft 3 to rotate for adjusting the angle, so that the manipulator 17 can operate according to an arc track, and the cross frame 8 can be driven to move along the direction of the slide rail 6 by starting the pneumatic telescopic rod 5 to stretch and retract through the side cylinder 4, the cross frame 8 enables the manipulator 17 to realize orbital transfer operation in the moving process, and the whole adjusting process does not need manual operation, and the operation track of manipulator 17 can realize the regulation of three hundred sixty degrees, can realize curved track operation, orbital transfer operation simultaneously.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. A three-axis manipulator assembly with universal adjusting function comprises a turntable (1), a cross frame (8), side frames (9) and a manipulator (17), and is characterized in that a driving motor (2) is fixedly mounted at the bottom of the turntable (1), an output shaft of the driving motor (2) is connected with a rotating shaft (3) in the middle of the turntable (1), two sides of the rotating shaft (3) are respectively provided with a sliding rail (6) positioned on the turntable (1), one end, close to the outer edge of the turntable (1), of one sliding rail (6) is provided with a side cylinder (4) fixed on the turntable (1), the side wall of the side cylinder (4) is connected with a pneumatic telescopic rod (5), the bottom of the cross frame (8) is positioned on the two sliding rails (6), and the bottom of the cross frame (8) is provided with a plurality of pulleys (7) which are matched with the sliding rails (6) for, a connecting plate is welded on the side wall of the bottom of the transverse frame (8) close to the side cylinder (4), and the connecting plate is connected with the pneumatic telescopic rod (5);
the hydraulic lifting mechanism is characterized in that a sliding groove (11) is formed in the side frame (9), a longitudinal sliding plate (12) located on the outer wall of one side of the side frame (9) is installed on the sliding groove (11), a longitudinal hydraulic cylinder (10) is fixedly installed on the outer wall of the other side of the side frame (9), a longitudinal hydraulic rod (13) is connected to the side wall of the longitudinal hydraulic cylinder (10), one end of the longitudinal hydraulic rod (13) is connected with the longitudinal sliding plate (12), a connecting seat (14) is fixedly installed on the side wall of the longitudinal sliding plate (12), a vertical hydraulic cylinder (15) is fixedly installed on the side wall of the connecting seat (14), a vertical hydraulic rod (16) is connected to the bottom of the vertical hydraulic cylinder (15), a steering motor (27) is connected to the bottom end of the vertical hydraulic rod (16), and an output shaft of the steering motor, a joint (21) is arranged at one end, close to the cross frame (8), of the side frame (9), a direction adjusting rod (20) is arranged at one side of the joint (21), a transverse sliding plate (18) is arranged at one side of the direction adjusting rod (20), the transverse sliding plate (18) is installed on the side wall of the cross frame (8), a movable groove is formed in the cross frame (8), the cross frame (8) is arranged on the movable groove, a transverse hydraulic cylinder (19) is fixedly installed on the side wall, far away from the side frame (9), of the cross frame (8), and a hydraulic rod of the transverse hydraulic cylinder (19) is connected with the transverse sliding plate (18);
transfer to both ends are helicitic texture about pole (20), just transfer to pole (20) top and connect one top lock nut (23) soon, transfer to pole (20) bottom and connect one bottom lock nut (24) soon, top lock nut (23) all are provided with one and cup joint bearing (22) of transferring to pole (20) with one side that bottom lock nut (24) are adjacent, two all be provided with a linking arm (25) on bearing (22) outer wall, two linking arm (25) joint (21) jointly, transfer to being connected with one fixed plate (26) on pole (20) middle part lateral wall, fixed plate (26) are connected with transverse sliding plate (18).
2. The three-axis manipulator assembly with the universal adjusting function according to claim 1, wherein the two slide rails (6) are located on the same horizontal line, and the cross frame (8) is slidably connected with the two slide rails (6) through the pneumatic telescopic rod (5).
3. The three-axis manipulator assembly with universal adjustment function according to claim 1, wherein the two bearings (22) are rotatably connected with the steering rod (20) when the top lock nut (23) and the bottom lock nut (24) are unscrewed.
4. The three-axis robot assembly with universal adjustment function according to claim 1, characterized in that when the top lock nut (23) and the bottom lock nut (24) are unscrewed, the side frame (9) and the cross frame (8) are rotatably connected.
5. The triaxial manipulator assembly with a universal adjustment function according to claim 1, wherein the side frame (9) is slidably connected with the cross frame (8) through a transverse sliding plate (18) and a hydraulic rod of a transverse hydraulic cylinder (19), and the sliding direction of the side frame (9) is the same as the direction of the movable slot.
6. The three-axis manipulator assembly with the universal adjusting function is characterized in that the longitudinal sliding plate (12) is connected with the connecting seat (14), the manipulator (17) is connected with the side frame (9) in a sliding mode through the longitudinal hydraulic rod (13), and the sliding direction of the longitudinal sliding plate (12) is the same as that of the sliding groove (11).
7. The three-axis manipulator assembly with the universal adjusting function is characterized in that the manipulator (17) is movably connected with the vertical hydraulic cylinder (15) through a vertical hydraulic rod (16), and the manipulator (17) is rotatably connected with the steering motor (27) through an output shaft of the steering motor (27).
8. A method of using a three-axis robot assembly with gimbal adjustment as claimed in claim 1, comprising the steps of:
the method comprises the following steps: when the three-axis track runs, the transverse hydraulic cylinder (19) is started, the transverse hydraulic cylinder (19) is utilized to drive the hydraulic rod to stretch and retract so as to drive the transverse sliding plate (18) to move back and forth along the direction of the movable groove, thereby driving the side frame (9) to move back and forth, driving the longitudinal sliding plate (12) to move left and right along the direction of the sliding chute (11) by starting the longitudinal hydraulic cylinder (10) and driving the longitudinal hydraulic rod (13) to extend and retract by the longitudinal hydraulic cylinder (10), thereby driving the connecting seat (14), the vertical hydraulic cylinder (15), the steering motor (27) and the manipulator (17) to move left and right along the direction of the chute (11), the vertical hydraulic cylinder (15) is started to drive the vertical hydraulic rod (16) to stretch and retract so as to drive the steering motor (27) and the manipulator (17) to move up and down along the vertical direction, the steering motor (27) is started to drive the manipulator (17) to rotate and adjust the direction;
step two: when the moving track of the manipulator (17) needs to be adjusted, the top lock nut (23) and the bottom lock nut (24) are unscrewed, the two bearings (22) can normally rotate, the side frame (9) is directly pushed to rotate around the direction adjusting rod (20) to adjust the angle, the moving direction of the manipulator (17) along the side frame (9) is changed along with the rotation of the side frame (9), and the top lock nut (23) and the bottom lock nut (24) are screwed after the adjustment is finished;
step three: when manipulator (17) need do the arc orbit operation, when the orbital transfer moves, start driving motor (2), output shaft through driving motor (2) drives pivot (3) rotatory, pivot (3) drive crossbearer (8) at rotatory in-process, side bearer (9), manipulator (17) are removed round pivot (3) rotation angle of adjustment, make manipulator (17) can move according to the arc orbit, and through starting that side cylinder (4) drive pneumatic telescopic link (5) are flexible to drive crossbearer (8) along the direction shift position of slide rail (6), crossbearer (8) make manipulator (17) realize the orbital transfer and move at the removal in-process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010167287.2A CN111300398A (en) | 2020-03-11 | 2020-03-11 | Three-axis manipulator assembly with universal adjusting function and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010167287.2A CN111300398A (en) | 2020-03-11 | 2020-03-11 | Three-axis manipulator assembly with universal adjusting function and using method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776573A (en) * | 2020-07-15 | 2020-10-16 | 界首市鑫华装璜彩印有限公司 | Intelligent carton conveying robot and conveying method thereof |
| CN113246114A (en) * | 2021-06-03 | 2021-08-13 | 山东劳动职业技术学院（山东劳动技师学院） | Real standard equipment of mechatronic machinery tongs |
-
2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776573A (en) * | 2020-07-15 | 2020-10-16 | 界首市鑫华装璜彩印有限公司 | Intelligent carton conveying robot and conveying method thereof |
| CN113246114A (en) * | 2021-06-03 | 2021-08-13 | 山东劳动职业技术学院（山东劳动技师学院） | Real standard equipment of mechatronic machinery tongs |
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