CN202952108U - Triaxial moving mechanical arm - Google Patents

Triaxial moving mechanical arm Download PDF

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Publication number
CN202952108U
CN202952108U CN 201220570039 CN201220570039U CN202952108U CN 202952108 U CN202952108 U CN 202952108U CN 201220570039 CN201220570039 CN 201220570039 CN 201220570039 U CN201220570039 U CN 201220570039U CN 202952108 U CN202952108 U CN 202952108U
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China
Prior art keywords
nut
screw
fixed
mounting plate
motor
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CN 201220570039
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Chinese (zh)
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黄品剑
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浙江神舟机器人科技有限公司
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Priority to CN 201220570039 priority Critical patent/CN202952108U/en
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Publication of CN202952108U publication Critical patent/CN202952108U/en

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Abstract

The utility model discloses a triaxial moving mechanical arm which is characterized by comprising a cross beam, a carriage, a mounting plate, a first axial moving component, a second axial moving component, a lifting arm and a third axial moving component. The mounting plate is slidably disposed on the cross beam through the first axial moving component. The carriage is slidably disposed on the mounting plate through the second axial moving component. The lifting arm is slidably disposed on the carriage through the third axial moving component. Compared with the prior art, the triaxial moving mechanical arm is reasonable in structural design, stable in operation, fast, and high in efficiency.

Description

三轴移动机械手臂 Three-axis robot arm to move

技术领域 FIELD

[0001 ] 本实用新型涉及一种三轴移动机械手臂。 [0001] The present invention relates to a three-axis robot arm movement.

背景技术 Background technique

[0002] 在现有工件的生产过程中,很多工件需要经过多道工序才可以制备完成,传统的方法是采用人工在不同工位的机器之间传送工件并装卸,这种工作方式工作效率低、成本高、并且存在由于操作不当导致人员受伤的情况,随着数控机床的不断投入和自动化水平的不断提高,自动化运行的机械手臂被越来越多地应用到生产当中。 [0002] In the conventional production process of the workpiece, many parts require complete can be prepared through many steps, conventional method is to use artificial feeding a workpiece between different machines and loading and unloading stations, the low efficiency of this mode of operation , high cost, and there is due to improper operation resulting in personal injury cases, with the increasing level of automation and continuous investment in CNC machine tools, automatic operation of the robot is increasingly used to produce them. 现有机械手臂在多台设备之间进行运送装配工件,特别是长距离输送传递部件时存在着精度差,速度慢、效率低的问题,这些都极大影响了自动化生产线的总体效率和生产质量。 Conventional robot arm for workpiece transport assembly between multiple devices, particularly the existence of accuracy is poor, slow, inefficient problem short distances transmitting member, which greatly affect the overall efficiency and quality of automated production lines .

实用新型内容 SUMMARY

[0003] 本实用新型的目的在于克服现有技术中存在的上述不足,而提供一种结构设计合理,运行稳定、速度快,效率高的三轴移动机械手臂。 [0003] The present invention aims to overcome the above disadvantages present in the prior art, and to provide a reasonable structure, stable, fast, efficient three-axis movement of the mechanical arm.

[0004] 本实用新型解决上述问题所采用的技术方案是:该三轴移动机械手臂,其特征在于:包括横梁、滑鞍、安装板、第一轴移组件、第二轴移组件、升降臂和第三轴移组件,第一轴移组件包括第一电机、第一丝杆、第一螺母、第一螺母挂接座和第一滑轨套件,第三轴移组件包括电机安装座、第三电机、第三带轮、第三丝杆、第三螺母和第三滑轨套件,所述第一螺母挂接座固定在安装板上,滑鞍通过第二轴移组件安装在安装板上,所述第二轴移组件包括第二丝杆、安装板电机、第二螺母和第二滑轨套件,所述安装板上转动安装第二丝杆,第二丝杆由安装板电机驱动,滑鞍上安装第二螺母,第二螺母和第二丝杆通过螺纹连接,滑鞍和安装板通过第二滑轨套件滑动连接,电机安装座和滑鞍固定连接,第三电机固定在电机安装座上,第三带轮和第三螺母固定 [0004] aspect of the present invention to solve the above problem is that: the three-axis robot movement, characterized by: a beam, carriage, mounting plate, a first shift shaft assembly, the second shift shaft assembly, lift arm and a third shift shaft assembly, the first shift shaft assembly comprises a first motor, a first screw, a first nut, the first nut and the first mount seat rail kit, a third shift shaft assembly includes a motor mount, the first three motors, the third pulley, a third screw, and a third slide nut third kit, the first nut seat mounted to the mounting plate, the mounting plate of the saddle by a second shift shaft assembly a second shaft assembly comprising a second shifting screw, the motor mounting plate, and a second nut of the second rail kit, said mounting plate mounting the second rotatable screw, a second screw driven by a motor mounting plate, a second saddle is mounted on the nut, a second nut and a second screw slidably connected to the second rail kit by screwing, and the mounting plate carriage, and the carriage motor mount is fixedly connected to a third motor mounted fixed to the motor seat, the third pulley and the third nut 接,第三螺母通过轴承转动安装在滑鞍上,所述第三丝杆和第三螺母螺纹连接,第三带轮由第三电机驱动,第一螺母挂接座内固定有第一螺母,机械手滑座装置通过第一滑轨套件和横梁滑动连接;所述横梁上转动安装有第一丝杆,第一丝杆的一端固定有第一带轮,第一带轮由第一电机驱动,第一丝杆和第一螺母螺纹连接;所述升降臂的下端安装有机械手,第三丝杆的上端和下端分别固定着上支座、下支座,上支座、下支座固定在升降臂上,升降臂通过第三滑轨套件和滑鞍滑动连接。 Then, the third nut is rotatably mounted on a bearing carriage, said third screw and nut thread connection the third, a third pulley driven by a third motor, a first nut fixed to the first nut mount seat, robot carriage slidably connected by means of the first package and the cross rail; a first screw rotatably mounted on the beam, a first end of a first lead screw pulley is fixed, a first pulley driven by a first motor, a first screw and a first nut threaded connection; the lower end of the lift arm is attached to the robot, the upper and lower ends of the third screw support are fixed on the lower bearing, on the support, the support fixed to the elevating arm, lift arm and connected by a third carriage sliding rail kit.

[0005] 作为优选,本实用新型所述第一滑轨套件包括两个第一滑轨和两个第一滑套,所述两个第一滑轨固定在横梁上,所述两个第一滑套分别固定在安装板和第一螺母挂接座上,两个第一滑轨和两个第一滑鞍分别滑动套接,所述第二滑轨套件包括两个第二滑轨和两个第二滑套,所述两个第二滑轨固定在安装板上,所述两个第二滑套固定在滑鞍上,两个第二滑轨和两个第二滑鞍分别滑动套接,所述第三滑轨套件包括两个第三滑轨和两个第三滑套,所述两个第三滑轨固定在升降臂上,所述两个第三滑套固定在滑鞍上,两个第三滑轨和两个第三滑套分别滑动套接。 [0005] Advantageously, the present invention, the kit comprises two first slide rails and a first sleeve first two, the two first rails fixed to the beam, the first two sleeve are fixed to a first mounting plate and the nut mount base, two first and two rails, respectively a first carriage slidably sleeved, the kit includes two second slide rails and a second two a second sleeve, the two second rail fixed to the mounting plate, the two second sleeve is fixed to the carriage, and two second rails, respectively, two second saddle sliding sleeve then, the third slide kit comprises two third and two third rails sleeve, the two third slide rail fixed to the lifting arm, the two fixed saddle third sleeve , the two third and two third rails sleeve slidably sleeved respectively.

[0006] 本实用新型与现有技术相比,具有以下优点和效果:结构设计合理,运行稳定、速度快,效率高。 [0006] The present invention compared to the prior art, has the following advantages and effects: reasonable structure, stable operation, high speed and high efficiency.

附图说明 BRIEF DESCRIPTION

[0007] 图1是本实用新型的结构示意图。 [0007] FIG. 1 is a structural diagram of the present invention novel.

具体实施方式 Detailed ways

[0008] 下面结合附图并通过实施例对本实用新型作进一步的详细说明,以下实施例是对本实用新型的解释而本实用新型并不局限于以下实施例。 [0008] conjunction with the accompanying drawings and the following more detailed description of the present invention for the following embodiments by way of examples is to explain the present invention novel and the present invention is not limited to the following embodiments.

[0009] 参见图1,本实施例三轴移动机械手8臂,包括横梁1、滑鞍2、安装板3、第一轴移组件4、第二轴移组件5、第三轴移组件6和升降臂7,第一轴移组件4包括第一电机41、第一丝杆42、第一螺母43、第一螺母挂接座44和第一滑轨套件,第三轴移组件6包括电机安装座、第三电机61、第三带轮、第三丝杆62、第三螺母和第三滑轨套件,第一螺母挂接座44固定在安装板3上,滑鞍2通过第二轴移组件5安装在安装板3上,第二轴移组件5包括第二丝杆51、安装板电机52、第二螺母和第二滑轨套件,安装板3上转动安装第二丝杆51,第二丝杆51由安装板电机52驱动,滑鞍2上安装第二螺母,第二螺母和第二丝杆51通过螺纹连接,滑鞍2和安装板3通过第二滑轨套件滑动连接,电机安装座和滑鞍2固定连接,第三电机61固定在电机安装座上,第三带轮和第三螺母固定连接,第三螺母通 [0009] Referring to Figure 1, a three-axis movement of a robot arm 8 of the present embodiment, comprises a beam, carriage 2, the mounting plate 3, a first shift shaft assembly 4, the second shift shaft assembly 5, the third shaft assembly 6 and the shift lifting arm 7, the first shift shaft assembly 4 includes a first motor 41, a first screw 42, a first nut 43, the first nut 44 and the first mount seat rail kit, the third shaft assembly 6 includes a motor mounted shift Block, the third motor 61, a third pulley, a third screw 62, a third slide nut, and a third kit, the first nut 44 fixed to the mount seat mounting plate 3, a second carriage 2 by shifting the shaft assembly 5 is mounted on the mounting plate 3, a second shift shaft assembly 5 comprises a second screw 51, the motor mounting plate 52, a second screw 51 rotatably mounted on the second nut 3 and a second rail kit, mounting plate, the first two plate mounting screw 51 driven by a motor 52, a second nut mounted on the carriage 2, a second nut and second screw 51 by a threaded connection, the mounting plate and the carriage 2 are connected by a second slide rail kit 3, the motor mount and fixedly connected to the saddle 2, the third motor 61 is fixed to the motor mounting base, the third pulley and the third nut is fixedly connected, through a third nut 轴承转动安装在滑鞍2上,第三丝杆62和第三螺母螺纹连接,第三带轮由第三电机61驱动,第一螺母挂接座44内固定有第一螺母43,机械手8滑座装置通过第一滑轨套件和横梁I滑动连接;横梁I上转动安装有第一丝杆42,第一丝杆42的一端固定有第一带轮,第一带轮由第一电机41驱动,第一丝杆42和第一螺母43螺纹连接;升降臂7的下端安装有机械手8,第三丝杆62的上端和下端分别固定着上支座、下支座,上支座、下支座固定在升降臂7上,升降臂7通过第三滑轨套件和滑鞍2滑动连接。 A bearing rotatably mounted on the carriage 2, third screw threaded nut 62 and the third, a third pulley driven by a third motor 61, a first nut fixed to the first nut 43 mounted within the housing 44, the robot carriage 8 I seat slide device connected by a first beam and a rail kit; screw 42 rotatably mounted on the first I beam, a first end of the screw 42 is fixed to a first pulley, a first pulley driven by a first motor 41 the first screw 42 and the first nut 43 threaded; the lower end of the lifting arm 7 is attached to the robot 8, the third screw rod 62 are respectively upper and lower ends fixed on the support, the support, on the support, the lower support Block 7 is fixed to the lifting arm, the lifting arm 7 is connected by a third rail kit and a sliding carriage. 第一滑轨套件包括两个第一滑轨451和两个第一滑套452,两个第一滑轨451固定在横梁I上,两个第一滑套452分别固定在安装板3和第一螺母挂接座44上,两个第一滑轨451和两个第一滑鞍2分别滑动套接,第二滑轨套件包括两个第二滑轨和两个第二滑套,两个第二滑轨固定在安装板3上,两个第二滑套固定在滑鞍2上,两个第二滑轨和两个第二滑鞍2分别滑动套接,第三滑轨套件包括两个第三滑轨和两个第三滑套,两个第三滑轨固定在升降臂7上,两个第三滑套固定在滑鞍2上,两个第三滑轨和两个第三滑套分别滑动套接。 A first kit comprises two first slide rails 451 and two first runner 452, two first slide rail 451 fixed to the beam I, two of the first sleeve 452 are fixed to the mounting plate 3 and a nut mounted on the base 44, two first and two rails 451 are a first carriage slidably sleeved 2, the second slide kit comprises two second and two second runner rails, two a second rail fixed to the mounting plate 3, two second sliding sleeve is fixed to the carriage 2, two second and two second slide carriage slidably sleeved respectively 2, two third slide kit comprising a third slide rail and two third sleeve, two third slide rail fixed to the lifting arm 7, two third sleeve secured on the saddle 2, two third and two third rails sleeve slidably sleeved respectively.

[0010] 本说明书中所描述的以上内容仅仅是对本实用新型所作的举例说明。 Above [0010] described in the present specification are merely illustrative of the present invention is made. 本实用新型所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代,只要不偏离本实用新型说明书的内容或者超越本权利要求书所定义的范围,均应属于本实用新型的保护范围。 The present invention Those skilled in the art can make various modifications to the specific embodiments described or to supplement or replace a similar manner, without departing from the present invention, the present specification or the claims beyond the defined the range should fall within the scope of the present invention to protect.

Claims (2)

1.一种三轴移动机械手臂,其特征在于:包括横梁、滑鞍、安装板、第一轴移组件、第二轴移组件、升降臂和第三轴移组件,第一轴移组件包括第一电机、第一丝杆、第一螺母、第一螺母挂接座和第一滑轨套件,第三轴移组件包括电机安装座、第三电机、第三带轮、第三丝杆、第三螺母和第三滑轨套件,所述第一螺母挂接座固定在安装板上,滑鞍通过第二轴移组件安装在安装板上,所述第二轴移组件包括第二丝杆、安装板电机、第二螺母和第二滑轨套件,所述安装板上转动安装第二丝杆,第二丝杆由安装板电机驱动,滑鞍上安装第二螺母,第二螺母和第二丝杆通过螺纹连接,滑鞍和安装板通过第二滑轨套件滑动连接,电机安装座和滑鞍固定连接,第三电机固定在电机安装座上,第三带轮和第三螺母固定连接,第三螺母通过轴承转动安装在滑鞍上,所 A three-axis robot movement, characterized by: a beam, carriage, mounting plate, a first shift shaft assembly, the second shift shaft assembly, move the lift arm assembly and the third shaft, the first shift shaft assembly comprising a first motor, a first screw, a first nut, the first nut and the first mount seat rail kit, a third shift shaft assembly includes a motor mount, a third motor, a third pulley, a third screw, the third slide nut and a third kit, the first nut seat mounted to the mounting plate, the mounting plate of the saddle by a second shift shaft assembly, the second assembly comprising a second screw shaft shifting , the motor mounting plate, and a second nut of the second rail kit, said mounting plate mounting the second rotatable screw, a second screw driven by a motor mounting plate, a second nut mounted on the saddle, and the second nut two sliding connection by screwing the screw, and the mounting plate saddle rail by a second package, and the carriage motor mount is fixedly connected to a third motor mounted fixed to the machine base, the third pulley and the third connecting nut , the third nut is rotatably mounted on a bearing saddle, the 第三丝杆和第三螺母螺纹连接,第三带轮由第三电机驱动,第一螺母挂接座内固定有第一螺母,机械手滑座装置通过第一滑轨套件和横梁滑动连接;所述横梁上转动安装有第一丝杆,第一丝杆的一端固定有第一带轮,第一带轮由第一电机驱动,第一丝杆和第一螺母螺纹连接;所述升降臂的下端安装有机械手,第三丝杆的上端和下端分别固定着上支座、下支座,上支座、下支座固定在升降臂上,升降臂通过第三滑轨套件和滑鞍滑动连接。 The third and the third screw threaded nut, a third pulley driven by a third motor, a first nut fixed to the robot carriage means and connected by a first cross rail kit nut slidably mounted within the first seat; the said first upper cross member rotatably mounted screw, a first screw fixed to one end of a first pulley, a first pulley driven by a first motor, a first screw and a first nut threaded connection; the lift arm attached to the lower end of the robot, the upper and lower ends of the third screw support are fixed on the lower bearing, on the support, the support is fixed to the lift arm, the lift arm by a third slide rail and a carriage slidably connected Kits .
2.根据权利要求1所述的三轴移动机械手臂,其特征在于:所述第一滑轨套件包括两个第一滑轨和两个第一滑套,所述两个第一滑轨固定在横梁上,所述两个第一滑套分别固定在安装板和第一螺母挂接座上,两个第一滑轨和两个第一滑鞍分别滑动套接,所述第二滑轨套件包括两个第二滑轨和两个第二滑套,所述两个第二滑轨固定在安装板上,所述两个第二滑套固定在滑鞍上,两个第二滑轨和两个第二滑鞍分别滑动套接,所述第三滑轨套件包括两个第三滑轨和两个第三滑套,所述两个第三滑轨固定在升降臂上,所述两个第三滑套固定在滑鞍上,两个第三滑轨和两个第三滑套分别滑动套接。 The three-axis movement of the robot arm according to claim 1, wherein: said two first slide kit comprises a first slide rail and the two first sleeve, the two first fixed rails on the beam, the first two are fixed to sleeve mounting nut mount base plate and the first, the two first rails and two sockets are provided for sliding the first carriage, said second slide kit comprises two second rails and two second sleeve, the two second rail fixed to the mounting plate, the two second sleeve is fixed to the saddle, two second rails and two second carriage slidably sleeved respectively, said third slide kit comprises two third and two third rails sleeve, the two third slide rail fixed to the lifting arm, the two third sliding sleeve is fixed to the saddle, two third and two third rails sleeve slidably sleeved respectively.
CN 201220570039 2012-11-01 2012-11-01 Triaxial moving mechanical arm CN202952108U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104070404A (en) * 2014-06-03 2014-10-01 杭州正强万向节有限公司 Full-automatic intelligent cardan universal joint processing manipulator
CN104511783A (en) * 2013-09-30 2015-04-15 上银科技股份有限公司 Mechanical arm used for machining device
CN105196104A (en) * 2015-10-16 2015-12-30 广州数控设备有限公司 Material loading and unloading industrial robot for numerical control machine tool and flexible automatic processing unit thereof
CN105417127A (en) * 2015-12-21 2016-03-23 安徽德力日用玻璃股份有限公司 Ball screw bottle pushing machine
CN105522572A (en) * 2016-02-03 2016-04-27 余晓娜 Compact three-axis industrial robot
TWI668073B (en) * 2018-11-22 2019-08-11 陳鵬任 CNC milling machine that can be connected to the retracting robot unit

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104511783A (en) * 2013-09-30 2015-04-15 上银科技股份有限公司 Mechanical arm used for machining device
CN104511783B (en) * 2013-09-30 2016-09-07 上银科技股份有限公司 Mechanical arm for processing machine
CN104070404A (en) * 2014-06-03 2014-10-01 杭州正强万向节有限公司 Full-automatic intelligent cardan universal joint processing manipulator
CN105196104A (en) * 2015-10-16 2015-12-30 广州数控设备有限公司 Material loading and unloading industrial robot for numerical control machine tool and flexible automatic processing unit thereof
CN105417127A (en) * 2015-12-21 2016-03-23 安徽德力日用玻璃股份有限公司 Ball screw bottle pushing machine
CN105522572A (en) * 2016-02-03 2016-04-27 余晓娜 Compact three-axis industrial robot
TWI668073B (en) * 2018-11-22 2019-08-11 陳鵬任 CNC milling machine that can be connected to the retracting robot unit

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