CN206335580U - The shaft mechanical arm of full-automatic double digit control two - Google Patents
The shaft mechanical arm of full-automatic double digit control two Download PDFInfo
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- CN206335580U CN206335580U CN201621338689.XU CN201621338689U CN206335580U CN 206335580 U CN206335580 U CN 206335580U CN 201621338689 U CN201621338689 U CN 201621338689U CN 206335580 U CN206335580 U CN 206335580U
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Abstract
The utility model relates to a kind of shaft mechanical arm of full-automatic double digit control two, including two two shaft mechanical arms, connection has u-turn transfer device between two two shaft mechanical arms, each two shaft mechanicals arm includes pedestal, the Chuck top is fixed with the X-axis support arm extended in X direction, X-axis support arm top surface both sides are extended along its length two X-axis guide rails, X-axis tooth bar is fixed between two X-axis guide rails, it is provided with two X-axis guide rails by X-axis slide block seat on X-axis slide, X-axis slide and is vertically and fixedly provided with X-axis servomotor；Z axis fixed seat is fixed with X-axis slide, the side of Z axis fixed seat is provided with Z axis sliding block, and the opposite side of Z axis fixed seat is horizontally installed with Z axis servomotor, Z axis support arm is provided between Z axis sliding block and Z axis servomotor；The bottom of Z axis support arm is rotatably connected to feeding plate, and feeding plate is set side by side with two feeding tongs；Its is simple and reasonable for structure, and high degree of automation, manufacturing cost is relatively low, convenient for installation and maintenance.
Description
Technical field
The utility model is related to the robot manipulator structure field of transfer workpiece, especially a kind of full-automatic double digit control two
Shaft mechanical arm.
Background technology
At present, existing robot manipulator structure, using the combination of rotating seat and multi-section structure arm, realizes different angles, height
The feeding of degree, blowing, but the complex structure, application program are debugged repeatedly, and operator needs to adapt to longer time
Energy skilled operation, and cost is high, and maintenance cost is high；The utility model proposes a kind of easy robot manipulator structure, adapt to
In digital control processing field, workpiece is transferred to the device of digital control processing station from storing station, selected for producer.
Utility model content
The purpose of this utility model is to solve above-mentioned the deficiencies in the prior art, and the utility model provides a kind of structure letter
Single, the rational shaft mechanical arm of full-automatic double digit control two, its high degree of automation, and only moved using twin shaft, you can
The feeding and blowing of workpiece are realized, and by reversing end for end transfer device, workpiece can be caused by a number of units control machine tooling complete one
Transfer to another number of units control machine tooling another part behind part, whole without artificial transfer operation, its high degree of automation,
High precision, and manufacturing cost is relatively low, it is convenient for installation and maintenance.
The utility model solves the technical scheme that its technical problem used：
A kind of shaft mechanical arm of full-automatic double digit control two, including two two shaft mechanical arms, two two axis robots
Connection has u-turn transfer device between arm, it is characterized in that, each two shaft mechanicals arm includes pedestal, it is characterized in that, the pedestal
Top is fixed with the X-axis support arm extended in X direction, and X-axis support arm top surface both sides are extended along its length two X-axis guide rails,
It is fixed between two X-axis guide rails in X-axis tooth bar, two X-axis guide rails and is provided with vertical on X-axis slide, X-axis slide by X-axis slide block seat
X-axis servomotor is fixed with, the output shaft of X-axis servomotor passes through X-axis slide and is connected with the X-axis engaged with X-axis tooth bar and drives
Moving gear；
Be fixed with Z axis fixed seat on X-axis slide, the side of Z axis fixed seat is provided with Z axis sliding block, Z axis fixed seat it is another
Side is horizontally installed with Z axis servomotor, and the output shaft of Z axis servomotor is connected with Z axis drive gear, and Z axis sliding block drives with Z axis
X-axis support arm outside vertical between gear is provided with Z axis support arm, and both sides edge extends vertically direction and is provided with Z axis guide rail and Z axis tooth
Bar, Z axis guide rail is slidably matched with Z axis sliding block, and Z axis tooth bar is engaged with Z axis drive gear；
The bottom of Z axis support arm is rotatably connected to feeding plate, and feeding plate is set side by side with two feeding tongs, Z axis support arm
Feeding tumble cylinder is fixed with, the expansion link of feeding tumble cylinder is connected with the side of feeding plate；
U-turn transfer device includes the Y-axis support arm extended along Y direction, the two ends of Y-axis support arm and two two axis robots
Two supports connection on arm, the top surface of Y-axis support arm is extended to be had along Y direction lead in Y-axis guide rail and Y-axis tooth bar, Y-axis guide rail
Cross Y-axis sliding block and be connected with Y-axis slide, Y-axis slide and be vertically installed with Y-axis servomotor, the output shaft of Y-axis servomotor is passed through
Y-axis slide is simultaneously connected with the Y-axis drive gear engaged with Y-axis tooth bar, and be provided with fixture on Y-axis slide.
Using the mechanical arm of the structure, by setting X-axis guide rail and Z axis guide rail, the extracting jaw on feeding plate can be made
Hand realizes the slip of X-axis and Z-direction, then realizes that upset is swung to feeding plate by feeding tumble cylinder, so that extracting jaw
Hand is transferred to corresponding position more easily by workpiece grabbing, and its is simple and reasonable for structure, X-axis servomotor and Z axis servo
The control of motor, can accurate setting speed, and the transmission of rack and pinion coordinates, and although high transmission accuracy, overall structure adopts
With linear motion, but structure combination is ingenious, workpiece accurately can be transferred into digital control processing station by storing station, effectively improved
Production efficiency.
And the utility model is gone back in addition to realizing and workpiece accurately can be transferred into digital control processing station by storing station
Two two shaft mechanical arms can be applied in combination, and be linked up both by reversing end for end transfer device so that one of them
Two shaft mechanical arms are put the workpiece in a numerically controlled processing equipment after processing, and feeding, is then put into Y by the workpiece of crawl again
On fixture on axle slide, another number of units is transferred to by being transferred to another two shaft mechanicals arm, then by the two shaft mechanicals arm
Other structure is processed in control process equipment, its clever structure, operational efficiency is high, high precision.
Two feeding tongs are set on one feeding plate, are to complete feeding on numerical control machine tool for convenience and put
Material, effectively improves processing efficiency.
The utility model can also be solved using following technical measures：
The bottom of the Z axis support arm is connected with feeding pedestal, and feeding pedestal is turned under being connected to feeding pedestal extension board, feeding
Branch sleeve is installed, feeding plate is set on branch sleeve by rotational sleeve on pedestal extension board；Rotational sleeve be arranged into
In branch sleeve, feeding plate is possessed rotating function, coordinating the driving of feeding tumble cylinder, can quickly realize feeding plate
Overturn feeding, blowing.
The side of feeding plate is fixed with cylinder connector, and the expansion link of feeding tumble cylinder is rotated with cylinder connector to be connected
Connect；Structure connection is simple, installs quick.
The side vertical type of Z axis fixed seat is provided with two Z axis sliding blocks；Two Z axis sliding blocks make structure more stablize.
Z axis fixed seat both sides are provided with the two Z axis fixed supported slabs extended on the outside of X-axis support arm, and Z axis support arm is vertically set on two
Between Z axis fixed supported slab, Z axis sliding block and Z axis servomotor are separately fixed on two Z axis fixed supported slabs；Space layout is rationally, tightly
Gather, two Z axis sliding blocks are set to fix, and Z axis guide rail makees lifting carriage, so as to realize the Z axis oscilaltion of feeding plate.
Chuck top is provided with support base, and X-axis support arm horizontal base is located at support base top surface；Support base possesses extension, can
More to support X-axis support arm, make structure stress more reasonable, X-axis slide, which is slided, more to be stablized, and is slided precision and is guaranteed.
Rotary cylinder is installed, the top of rotary cylinder rotates drive and is connected to fixture, and fixture includes two and lived on the Y-axis slide
Clip slot is constituted between dynamic jig arm, two activity jig arm；The effect of rotary cylinder is to be processed in a numerically controlled processing equipment
The angle that workpiece rotation afterwards is specified, then transfers in another numerically controlled processing equipment and processes another side.
The beneficial effects of the utility model are：
（1）A kind of shaft mechanical arm of full-automatic double digit control two of the utility model, it is simple and reasonable for structure, automate journey
Degree is high, by setting X-axis guide rail and Z axis guide rail, the feeding tong on feeding plate can be made to realize the slip of X-axis and Z-direction,
Upset, which is swung, to be realized to feeding plate by feeding tumble cylinder again, so that feeding tong is more easily by workpiece grabbing, and is turned
Corresponding position is moved on to, its is simple and reasonable for structure, the control of X-axis servomotor and Z axis servomotor can precisely set speed
Degree, and the transmission of rack and pinion coordinates, high transmission accuracy, although overall structure is using linear motion, structure combination is ingenious,
Workpiece accurately can be transferred to digital control processing station by storing station, effectively improve production efficiency.
（2）A kind of shaft mechanical arm of full-automatic double digit control two of the utility model, can be accurately by workpiece except realizing
It is transferred to beyond digital control processing station, two two shaft mechanical arms can also be applied in combination by storing station, and passes through u-turn
Transfer device links up both so that one of them two shaft mechanical arm, which is put the workpiece in a numerically controlled processing equipment, to be added
After work, the workpiece of crawl, is then put on the fixture on Y-axis slide by feeding again, by being transferred to another two axis robot
Arm, then be transferred to by the two shaft mechanicals arm in another numerically controlled processing equipment and process other structure, its clever structure, operation
Efficiency high, high precision.
Brief description of the drawings
Fig. 1 is the structural representation of two shaft mechanical arms in the utility model.
Fig. 2 is the structural representation of two shaft mechanical arms in the utility model.
Fig. 3 is structural representation of the present utility model.
Fig. 4 is the enlarged drawing at E in Fig. 3.
Fig. 5 is the structural representation of u-turn transfer device in the utility model.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.
As shown in Figures 1 to 5, a kind of shaft mechanical arm of full-automatic double digit control two, including two two shaft mechanical arms
Connection has u-turn transfer device D between C, two two shaft mechanical arm C, it is characterized in that, each two shaft mechanicals arm C includes pedestal
C1, the pedestal C1 tops are fixed with the X-axis support arm C2 extended in X direction, and X-axis support arm C2 top surfaces both sides extend along its length
It is provided between two X-axis guide rail C3, two X-axis guide rail C3 and is fixed with X-axis tooth bar C4, two X-axis guide rail C3 by X-axis slide block C5
Provided with X-axis slide C6, X-axis servomotor C7 is vertically and fixedly provided with X-axis slide C6, X-axis servomotor C7 output shaft passes through X-axis
Slide C6 is simultaneously connected with the X-axis drive gear C8 engaged with X-axis tooth bar C4；
Z axis fixed seat C9 is fixed with X-axis slide C6, Z axis fixed seat C9 side is provided with Z axis sliding block C10, and Z axis is solid
Reservation C9 opposite side is horizontally installed with Z axis servomotor C11, and Z axis servomotor C11 output shaft is connected with Z axis sliding tooth
C12 is taken turns, the X-axis support arm C2 outside verticals between Z axis sliding block C10 and Z axis drive gear C12 are provided with Z axis support arm C13, both sides
Along extending vertically, direction is provided with Z axis guide rail C14 and Z axis tooth bar C15, Z axis guide rail C14 are slidably matched with Z axis sliding block C10, Z axis
Tooth bar C15 is engaged with Z axis drive gear C12；
Z axis support arm C13 bottom is rotatably connected to feeding plate C17, and feeding plate C17 is set side by side with two feeding tongs
Feeding tumble cylinder C19, feeding tumble cylinder C19 expansion link and the one of feeding plate C17 are fixed with C18, Z axis support arm C13
Side is connected；
U-turn transfer device D includes the Y-axis support arm D1 extended along Y direction, Y-axis support arm D1 two ends and two two axle machines
Two pedestal D1 connections on tool arm C, Y-axis support arm D1 top surface is extended along Y direction Y-axis guide rail D2 and Y-axis tooth bar
It is connected with D3, Y-axis guide rail D2 by Y-axis sliding block D4 on Y-axis slide D5, Y-axis slide D5 and is vertically installed with Y-axis servomotor
D6, Y-axis servomotor D6 output shaft are through Y-axis slide D5 and are connected with the Y-axis drive gear D7 engaged with Y-axis tooth bar D3,
And fixture D8 is installed on Y-axis slide D5.
Using the mechanical arm of the structure, by setting X-axis guide rail C3 and Z axis guide rail C14, it can make on feeding plate C17
Feeding tong C18 realize the slip of X-axis and Z-direction, then feeding plate C17 realized by feeding tumble cylinder C19 overturn
Swing, so that feeding tong C18 more easily captures workpiece A3, and be transferred to corresponding position, its simple in construction, conjunction
Reason, X-axis servomotor C7 and Z axis servomotor C11 control, can accurate setting speed, and the transmission of rack and pinion is matched somebody with somebody
Close, high transmission accuracy, although overall structure is using linear motion, structure combination is ingenious, can be accurately by workpiece A3 by storing
Station is transferred to digital control processing station, effectively improves production efficiency.
And the utility model except realize workpiece A3 accurately can be transferred to digital control processing station by storing station in addition to,
Two two shaft mechanical arm C in combination can also be used, and be linked up both by reversing end for end transfer device D so that wherein
Workpiece A3 is put into a numerically controlled processing equipment after processing by one two shaft mechanical arm C, again feeding, then by the work of crawl
Part A3 is put on the fixture D8 on Y-axis slide D5, by being transferred to another two shaft mechanicals arm C, then by two shaft mechanicals arm C
It is transferred in another numerically controlled processing equipment and processes other structure, its clever structure, operational efficiency is high, high precision.
Two feeding tong C18 are set on one feeding plate C17, are to complete feeding on numerical control machine tool for convenience
And blowing, effectively improve processing efficiency.
It is used as the more specific embodiment of the present embodiment：
The bottom of the Z axis support arm C13 is connected with feeding pedestal C20, and feeding pedestal C20, which is turned under being connected to feeding pedestal, to be prolonged
Stretch and branch sleeve C22 is installed on plate C21, feeding pedestal extension board C21, feeding plate C17 is set in company by rotational sleeve C23
On female connector cylinder C22；Rotational sleeve C23 is arranged in branch sleeve C22, feeding plate C17 is possessed rotating function, is coordinating feeding
Tumble cylinder C19 driving, can quickly realize feeding plate C17 upset feeding, blowing.
Feeding plate C17 side is fixed with cylinder connector C24, and feeding tumble cylinder C19 expansion link is connected with cylinder
Head C24 rotates connection；Structure connection is simple, installs quick.
Z axis fixed seat C9 side vertical type is provided with two Z axis sliding block C10；Two Z axis sliding block C10 make structure more steady
It is fixed.
Z axis fixed seat C9 both sides are provided with the two Z axis fixed supported slab C901, Z axis support arm C13 extended on the outside of X-axis support arm C2
It is vertically set between two Z axis fixed supported slab C901, Z axis sliding block C10 and Z axis servomotor C11 are separately fixed at two Z axis and fixed
On support plate C901；Space layout is reasonable, compact, and two Z axis sliding block C10 are set to fix, and Z axis guide rail C14 makees lifting carriage, so that
Realize feeding plate C17 along Z axis oscilaltion.
Pedestal C1 tops are provided with support base C25, and X-axis support arm C2 horizontal bases are located at support base C25 top surfaces；Support base C25
Possess extension, can more support X-axis support arm X2, make structure stress more reasonable, X-axis slide C6, which is slided, more to be stablized, sliding
Dynamic precision is guaranteed.
Rotary cylinder D9 is installed, rotary cylinder D9 top rotates drive and is connected to fixture D8, fixture on the Y-axis slide D5
D8 includes constituting clip slot D802 between two activity jig arm D801, two activity jig arm D801；Rotary cylinder D9 effect is by
The angle that workpiece A3 rotations after being processed in one numerically controlled processing equipment are specified, then transfers to another digital control processing and sets
Standby middle processing another side.
The fixture D8 can be controlled by independent cylinder to two activity jig arm D801, make clip slot D802 to workpiece
A3 is clamped.
Particular embodiments described above, only the utility model preferred embodiment, such as according to the utility model
The equivalent arrangements that claim is done, should be technology of the present utility model and are covered.
Claims (7)
1. a kind of shaft mechanical arm of full-automatic double digit control two, including two two shaft mechanical arms（C）, two two axis robots
Arm（C）Between connection have u-turn transfer device（D）, it is characterized in that, each two shaft mechanicals arm（C）Including pedestal（C1）, it is described
Pedestal（C1）Top is fixed with the X-axis support arm extended in X direction（C2）, X-axis support arm（C2）Top surface both sides extend along its length
It is provided with two X-axis guide rails（C3）, two X-axis guide rails（C3）Between be fixed with X-axis tooth bar（C4）, two X-axis guide rails（C3）It is upper to pass through X-axis
Sliding block（C5）Seat is provided with X-axis slide（C6）, X-axis slide（C6）On be vertically and fixedly provided with X-axis servomotor（C7）, X-axis servomotor
（C7）Output shaft pass through X-axis slide（C6）And be connected with and X-axis tooth bar（C4）The X-axis drive gear of engagement（C8）；
X-axis slide（C6）On be fixed with Z axis fixed seat（C9）, Z axis fixed seat（C9）Side Z axis sliding block is installed（C10）, Z
Axle fixed seat（C9）Opposite side be horizontally installed with Z axis servomotor（C11）, Z axis servomotor（C11）Output shaft be connected with
Z axis drive gear（C12）, Z axis sliding block（C10）With Z axis drive gear（C12）Between X-axis support arm（C2）Outside vertical is set
There is Z axis support arm（C13）, both sides edge extends vertically direction and is provided with Z axis guide rail（C14）With Z axis tooth bar（C15）, Z axis guide rail
（C14）With Z axis sliding block（C10）It is slidably matched, Z axis tooth bar（C15）With Z axis drive gear（C12）Engagement；
Z axis support arm（C13）Bottom be rotatably connected to feeding plate（C17）, feeding plate（C17）It is set side by side with two feeding tongs
（C18）, Z axis support arm（C13）On be fixed with feeding tumble cylinder（C19）, feeding tumble cylinder（C19）Expansion link and feeding plate
（C17）Side connection；
Reverse end for end transfer device（D）Including the Y-axis support arm extended along Y direction（D1）, Y-axis support arm（D1）Two ends and two two axles
Mechanical arm（C）On two pedestals（C1）Connection, Y-axis support arm（D1）Top surface along Y direction be extended have Y-axis guide rail（D2）
With Y-axis tooth bar（D3）, Y-axis guide rail（D2）It is upper to pass through Y-axis sliding block（D4）It is connected with Y-axis slide（D5）, Y-axis slide（D5）It is upper vertical
Y-axis servomotor is installed（D6）, Y-axis servomotor（D6）Output shaft pass through Y-axis slide（D5）And be connected with and Y-axis tooth bar
（D3）The Y-axis drive gear of engagement（D7）, and Y-axis slide（D5）On fixture is installed（D8）.
2. the shaft mechanical arm of full-automatic double digit control two according to claim 1, it is characterized in that, the Z axis support arm（C13）
Bottom be connected with feeding pedestal（C20）, feeding pedestal（C20）It is turned under being connected to feeding pedestal extension board（C21）, feeding pedestal
Extension board（C21）On branch sleeve is installed（C22）, feeding plate（C17）Pass through rotational sleeve（C23）It is set in branch sleeve
（C22）On.
3. the shaft mechanical arm of full-automatic double digit control two according to claim 1, it is characterized in that, feeding plate（C17）One
Side is fixed with cylinder connector（C24）, feeding tumble cylinder（C19）Expansion link and cylinder connector（C24）Rotate connection.
4. the shaft mechanical arm of full-automatic double digit control two according to claim 1, it is characterized in that, Z axis fixed seat（C9）'s
Side vertical type is provided with two Z axis sliding blocks（C10）.
5. the shaft mechanical arm of full-automatic double digit control two according to claim 1, it is characterized in that, Z axis fixed seat（C9）Two
Side, which is provided with, extends X-axis support arm（C2）The two Z axis fixed supported slabs in outside（C901）, Z axis support arm（C13）It is vertically set on two Z axis
Fixed supported slab（C901）Between, Z axis sliding block（C10）With Z axis servomotor（C11）It is separately fixed at two Z axis fixed supported slabs
（C901）On.
6. the shaft mechanical arm of full-automatic double digit control two according to claim 1, it is characterized in that, pedestal（C1）Install on top
There is support base（C25）, X-axis support arm（C2）Horizontal base is located at support base（C25）Top surface.
7. the shaft mechanical arm of full-automatic double digit control two according to claim 1, it is characterized in that, the Y-axis slide（D5）
On rotary cylinder is installed（D9）, rotary cylinder（D9）Top rotate drive be connected to fixture（D8）, fixture（D8）Including two activities
Jig arm（D801）, two activity jig arm（D801）Between constitute clip slot（D802）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621338689.XU CN206335580U (en) | 2016-12-07 | 2016-12-07 | The shaft mechanical arm of full-automatic double digit control two |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621338689.XU CN206335580U (en) | 2016-12-07 | 2016-12-07 | The shaft mechanical arm of full-automatic double digit control two |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206335580U true CN206335580U (en) | 2017-07-18 |
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ID=59307985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621338689.XU Active CN206335580U (en) | 2016-12-07 | 2016-12-07 | The shaft mechanical arm of full-automatic double digit control two |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206335580U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705521A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of five axis truss robots |
| CN108705522A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of four axis truss robots |
-
2016
- 2016-12-07 CN CN201621338689.XU patent/CN206335580U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705521A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of five axis truss robots |
| CN108705522A (en) * | 2018-06-26 | 2018-10-26 | 湖北火爆机器人科技有限公司 | A kind of four axis truss robots |
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Address after: 528300 Foshan, Shunde District, Daliang street, the new sand road, No. five, No. 1, Patentee after: Guangdong new NC Equipment Co. Ltd. Address before: 528300 Foshan, Shunde District, Daliang street, the new sand road, No. five, No. 1, Patentee before: Foshan Shengtesi Unmerical Control Co., Ltd. |