CN203712695U - 2.5 axis horizontal joint manipulator - Google Patents
2.5 axis horizontal joint manipulator Download PDFInfo
- Publication number
- CN203712695U CN203712695U CN201420097884.2U CN201420097884U CN203712695U CN 203712695 U CN203712695 U CN 203712695U CN 201420097884 U CN201420097884 U CN 201420097884U CN 203712695 U CN203712695 U CN 203712695U
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- axis
- operating mechanism
- action component
- cylinder
- operating component
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Abstract
The utility model discloses a 2.5 axis horizontal joint manipulator which comprises an X-axis operating component capable of moving left and right and a Z-axis operating component, capable of moving up and down and arranged on the X-axis operating component; corresponding driving mechanisms are arranged in the X-axis operating component and Z-axis operating component; an operation mechanism is arranged at the end part of the Z-axis operating component; a driving mechanism of the Z-axis operating component is an air cylinder; the operation mechanism is driven by the air cylinder to move up and down; a spring used for adjusting downward pressure and stroke and a positioning optical axis used for ensuring operation precision of the operation mechanism are mounted on one side of the operation mechanism. According to the 2.5 axis horizontal joint manipulator, based on the up-and-down movement of the Z-axis, the main structural design that the air cylinder is matched with optical axis and the spring is additionally arranged is adopted, up-and-down movement speed is increased effectively, the weight of the integral structure is reduced, the running speed is increased, height errors can be effectively compensated as the optical axis is matched with the spring, therefore, the 2.5 axis horizontal joint manipulator has the advantages of high speed, high precision and reasonable price in application.
Description
Technical field
The utility model relates to a kind of manipulator, is specifically related to a kind of 2.5 axle flapping articulation manipulators.
Background technology
No matter all flapping articulation manipulators of industry are manufactured by external import or domestic production at present, and the structural design of Z axis (direction moves up and down) all adopts ball screw to coordinate motor to reach the object moving up and down.Although it has advantages of high precision, but because cost is higher, reduced the ability to accept of common customer end, and because mechanism's overall weight is heavier, reduced the sensitivity of bearing capacity and the horizontal motion of mechanical arm, owing to moving up and down, be simultaneously to adopt ball screw structural design, while doing above-below direction motion, the motor of the screw rod helical pitch of only having advanced of often turn-taking, causes speed slower.
Utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, and a kind of simple and reasonable, horizontal movement positioning precision is high, own wt is lighter 2.5 axle flapping articulation manipulators are provided.
A kind of 2.5 axle flapping articulation manipulators, comprise the X-axis action component that can move left and right and be placed on X-axis action component, Z axis action component moving up and down, is equipped with corresponding driving mechanism in described X-axis action component and Z axis action component, and described Z axis action component end is provided with operating mechanism; The driving mechanism of described Z axis action component is cylinder, by cylinder, drives moving up and down of described operating mechanism.
Further improvement as technique scheme:
The driving mechanism of described X-axis action component consists of servomotor and decelerator.
Further improvement as technique scheme:
Described X-axis action component comprises rotary swinging arm, and described rotary swinging arm one end lower hinge is in the rotating shaft of lower turntable, and the other end upper articulation of described rotary swinging arm is in the rotating shaft of upper turntable.
Further improvement as technique scheme:
Described cylinder is placed in turntable, the piston end of cylinder is through upper turntable base, be connected in operating mechanism, described operating mechanism is arranged on the below of upper turntable base by operating mechanism's holder, by the piston driving operating mechanism holder of cylinder, realize moving up and down of operating mechanism.
Further improvement as technique scheme:
One side of described operating mechanism is provided with spring, and described spring is placed between turntable base and operating mechanism's holder.
Further improvement as technique scheme:
The opposite side of described operating mechanism is installed the location optical axis paralleling with it, and described location optical axis is connected between the sidewall and operating mechanism's holder of cylinder.
The utility model has adopted cylinder to coordinate optical axis to add the design that spring is primary structure by Z axis (moving up and down), not only effectively promoted the speed of moving up and down, alleviate overall structure weight and promoted the speed of service, optical axis and the error that more can effectively absorb height coordinating of spring, 2.5 axle flapping articulation manipulators are picked and placeed at automatic locking screw and automatic plane in the application of workpiece has had speed fast, precision is high, the more rational advantage of price.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of Z axis action component in the utility model.
The specific embodiment
Referring to Fig. 1, a kind of 2.5 axle flapping articulation manipulators that the utility model provides, comprise the X-axis action component 1 that can move left and right and be placed on X-axis action component 1, Z axis action component 2 moving up and down, described Z axis action component 2 ends are provided with operating mechanism 3, in described X-axis action component 1 and Z axis action component 2, are equipped with corresponding driving mechanism.
In the present embodiment, described X-axis action component 1 comprises rotary swinging arm 11, described rotary swinging arm 11 one end lower hinge are in the rotating shaft of lower turntable 12, the other end upper articulation of described rotary swinging arm 11 is in the rotating shaft of upper turntable 13, rotating shaft by upper and lower turntable drives, and rotary swinging arm 11 completes the motion in manipulator horizontal direction.The driving mechanism of X-axis action component 1 consists of servomotor 14 and decelerator 15, for the rotating shaft of upper and lower turntable provides power.
In order to solve in background technology the technical problem about manipulator Z-direction, driving mechanism in the utility model in Z axis action component 2 adopts cylinder 21 to replace ball screw of the prior art and motor, and described cylinder 21 drives operating mechanism 3 to realize moving along Z-direction.
Be specially: described Z axis action component 2 comprises the cylinder 21 that is placed in turntable 13, in conjunction with Fig. 2, the piston end of described cylinder 21, through upper turntable base 131, is connected in operating mechanism 3.In the present embodiment, described operating mechanism 3 is electric screw driver 31, can complete the actions such as lock screw by the horizontal joint Manipulator of cooperation.Described electric screw driver 31 is arranged on the below of upper turntable base 131 by operating mechanism's holder 32, by the piston driving operating mechanism holder 32 of cylinder 21, realize moving up and down of electric screw driver 31.
The utility model is in order further to improve its structure, and structure of the present utility model in the specific implementation, can also, on above-described technical scheme basis, adopt the following examples:
Embodiment 1
For the ease of regulating the dynamics that presses down and the stroke of operating mechanism 3, the technical scheme of the present embodiment is, a side mounting spring 4 in described operating mechanism 3, described spring 4 is placed between turntable base 131Yu operating mechanism holder 32, spring 4 utilizes its telescopic nature, plays the function of buffering and adjusting pressure and stroke.
Embodiment 2
In order to ensure the speed of service and precision, the other end of the present embodiment Hai operating mechanism 3 is installed the location optical axis 33 paralleling with it, and in conjunction with Fig. 1, described location optical axis 33 is connected between the sidewall and operating mechanism's holder 32 of cylinder 21.Be mainly operating mechanism 3 and play guiding and the effect of location up and down.
The above is only preferred embodiment of the present utility model, and protection domain of the present utility model is also not only confined to above-described embodiment, and all technical schemes belonging under the utility model thinking all belong to protection domain of the present utility model.It should be pointed out that for those skilled in the art, in the some improvements and modifications that do not depart under the utility model principle prerequisite, these improvements and modifications also should be considered as protection domain of the present utility model.。
Claims (6)
1. an axle flapping articulation manipulator, comprise the X-axis action component that can move left and right and be placed on X-axis action component, Z axis action component moving up and down, in described X-axis action component and Z axis action component, be equipped with corresponding driving mechanism, described Z axis action component end is provided with operating mechanism, it is characterized in that: the driving mechanism of described Z axis action component is cylinder, by cylinder, drives moving up and down of described operating mechanism.
2. 2.5 axle flapping articulation manipulators according to claim 1, is characterized in that: the driving mechanism of described X-axis action component consists of servomotor and decelerator.
3. 2.5 axle flapping articulation manipulators according to claim 1 and 2, it is characterized in that: described X-axis action component comprises rotary swinging arm, described rotary swinging arm one end lower hinge is in the rotating shaft of lower turntable, and the other end upper articulation of described rotary swinging arm is in the rotating shaft of upper turntable.
4. 2.5 axle flapping articulation manipulators according to claim 3, it is characterized in that: described cylinder is placed in turntable, the piston end of cylinder is through upper turntable base, be connected in operating mechanism, described operating mechanism is arranged on the below of upper turntable base by operating mechanism's holder, by the piston driving operating mechanism holder of cylinder, realize moving up and down of operating mechanism.
5. 2.5 axle flapping articulation manipulators according to claim 4, is characterized in that: a side of described operating mechanism is provided with spring, and described spring is placed between turntable base and operating mechanism's holder.
6. according to 2.5 axle flapping articulation manipulators described in claim 4 or 5, it is characterized in that: a side of described operating mechanism is installed the location optical axis paralleling with it, and described location optical axis is connected between the sidewall and operating mechanism's holder of cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420097884.2U CN203712695U (en) | 2014-03-06 | 2014-03-06 | 2.5 axis horizontal joint manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420097884.2U CN203712695U (en) | 2014-03-06 | 2014-03-06 | 2.5 axis horizontal joint manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203712695U true CN203712695U (en) | 2014-07-16 |
Family
ID=51151890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420097884.2U Expired - Fee Related CN203712695U (en) | 2014-03-06 | 2014-03-06 | 2.5 axis horizontal joint manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203712695U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227706A (en) * | 2014-09-24 | 2014-12-24 | 烟台拓伟机械有限公司 | Vertical crossing-arm type joint robot system for spraying pressure tank |
| CN104908029A (en) * | 2015-05-14 | 2015-09-16 | 浙江理工大学 | Low-cost modularized SCARA robot |
| CN106553013A (en) * | 2016-12-05 | 2017-04-05 | 无锡明珠增压器制造有限公司 | A kind of adjustable driving welding gun robot manipulator structure |
-
2014
- 2014-03-06 CN CN201420097884.2U patent/CN203712695U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227706A (en) * | 2014-09-24 | 2014-12-24 | 烟台拓伟机械有限公司 | Vertical crossing-arm type joint robot system for spraying pressure tank |
| CN104908029A (en) * | 2015-05-14 | 2015-09-16 | 浙江理工大学 | Low-cost modularized SCARA robot |
| CN106553013A (en) * | 2016-12-05 | 2017-04-05 | 无锡明珠增压器制造有限公司 | A kind of adjustable driving welding gun robot manipulator structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140716 Termination date: 20150306 |
|
| EXPY | Termination of patent right or utility model |