CN206643914U - Three axle robert - Google Patents
Three axle robert Download PDFInfo
- Publication number
- CN206643914U CN206643914U CN201720358472.3U CN201720358472U CN206643914U CN 206643914 U CN206643914 U CN 206643914U CN 201720358472 U CN201720358472 U CN 201720358472U CN 206643914 U CN206643914 U CN 206643914U
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- China
- Prior art keywords
- axis
- module
- mechanical arm
- guide rail
- arm module
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- Expired - Fee Related
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Abstract
Three axle robert,Including base frame and intelligence control system,It is characterized in that,X-axis mechanical arm module is set on the base frame,XY axle fixed seats are provided with the X-axis mechanical arm module,Y-axis mechanical arm module and X-axis servomotor module are set in the XY axles fixed seat,YZ axle fixed seats are set on the Y-axis mechanical arm module,Z axis mechanical arm module and Y-axis servomotor module are set in the YZ axles fixed seat,Rotary clamping mechanism is set below the Z axis mechanical arm module,The rotary clamping mechanism upper end sets Z axis servomotor module,The present embodiment three axle robert,X-axis,Y-axis,Z axis is simultaneously using the gear of servomotor with synchronous chain belt routing motion,To realize that work is carried,The working conditions such as crawl,Cost is low in practical application,Speed is fast,High efficiency,Have good positioning,Precision is accurate,The benefit such as stable.
Description
Technical field
More particularly to a kind of automation equipment field of the utility model, more particularly to three axle robert.
Background technology
With fast-developing today of economic technology, mechanical automation also obtain high speed development.Past this three is certainly
By the manipulator spent assembled by different structures, have plenty of X-axis, Y-axis, Z axis motion in all be by linear gear rack with
Gear cooperating, the problems such as speed is slow, efficiency is low, more single when running work, for this, we invent the three axle frees degree of one kind
Manipulator, it can specifically be realized certainly by three servomotors, three mechanical arms, a rotation or crawl clamp mechanism
By the manipulator spent, it is related to the application fields such as the more middle-size and small-size product crawl of plastic cement industry, carrying, positioning.
Utility model content
The purpose of this utility model is to provide three axle robert, to solve the problems mentioned in the above background technology.
To achieve the above object, the utility model provides following technical scheme, three axle robert, including base frame and intelligence
Control system, it is characterised in that X-axis mechanical arm module is set on the base frame, set on the X-axis mechanical arm module
There are XY axle fixed seats, Y-axis mechanical arm module and X-axis servomotor module, the Y-axis machinery are set in the XY axles fixed seat
YZ axle fixed seats are set on arm module, Z axis mechanical arm module and Y-axis servomotor mould are set in the YZ axles fixed seat
Group, the Z axis mechanical arm module lower section set rotary clamping mechanism, and the rotary clamping mechanism upper end sets Z axis servo electricity
Machine module, the X-axis mechanical arm module mechanism include X-axis armshaft, and the X-axis armshaft side is provided with dee, the X-axis
Two set on armshaft go up silver-colored guide rails, are provided with synchronous band chain between the upper silver-colored guide rail, are provided with the upper silver-colored guide rail
Sliding block, gear is provided with by the synchronous band chain, the Y-axis mechanical arm module includes Y-axis armshaft, the Y-axis armshaft side
Two upper silver-colored guide rails are provided with, sliding block is provided with the upper silver-colored guide rail, synchronous band chain is set between the upper silver-colored guide rail, it is described
Upper silver-colored guide rail one end is provided with stand tube, and the Z axis mechanical arm module includes Z axis armshaft, is provided with the Z axis armshaft
Silver-colored guide rail, sliding block is provided with the upper silver-colored guide rail, is arranged with synchronous band chain, the Z axis armshaft by the upper silver-colored guide rail in parallel
Side is provided with dee.
Preferably, the X-axis, Y-axis and Z axis servomotor module include servomotor, and the servomotor connection becomes
Fast device, the speed changer connection gear.
Preferably, the rotary clamping mechanism includes cylinder, and the cylinder connects swivel plate.
Preferably, the XY axles fixed seat includes row installation flat board, and described row flat board one end sets vertical wing support
Plate, it is described that two pieces of trapezoidal reinforcements are vertically symmetrical arranged on wing fagging, it is provided with horizontal machine below the vertical wing fagging
Wing fagging, the horizontal wing fagging lower section set square reinforcement.
Preferably, the YZ axles fixed seat includes principal arm mounting base, sets principal arm to pacify in the middle part of the principal arm mounting base
Loading board, described principal arm installing plate one end are provided with contiguous block, and the principal arm mounting base side connects the first reductor upper and lower plates,
The first reductor upper and lower plates connect one piece of second reductor upper and lower plates.
Compared with prior art, the beneficial effects of the utility model are：The present embodiment three axle robert, X-axis, Y-axis, Z axis
It is real to realize the working conditions such as work carrying, crawl simultaneously using the gear of servomotor with synchronous chain belt routing motion
Cost is low in the application of border, speed is fast, high efficiency, have good positioning, precision is accurate, the benefit such as stable.
Brief description of the drawings
Fig. 1 is the utility model three axle robert overall structure diagram；
Fig. 2 is the utility model three axle robert X-axis mechanical arm modular structure schematic diagram；
Fig. 3 is the utility model three axle robert Y-axis mechanical arm modular structure schematic diagram；
Fig. 4 is the utility model three axle robert Z axis mechanical arm modular structure schematic diagram；
Fig. 5 is the utility model three axle robert rotary clamping mechanism structural scheme of mechanism；
Fig. 6 is the utility model three axle robert servomotor structural representation；
Fig. 7 is the utility model three axle robert YZ axle fixed seat structure schematic diagrams；
Fig. 8 is the utility model three axle robert XY axle fixed seat structure schematic diagrams.
Wherein, 1, base frame；2nd, X-axis mechanical arm module；21st, silver-colored guide rail in X-axis；22nd, X-axis synchronization band chain；23rd, X-axis
Dee；24th, X-axis slide block；3rd, Y-axis mechanical arm module；31st, silver-colored guide rail in Y-axis；32nd, Y-axis synchronization band chain；33rd, Y-axis drag chain
Groove；34th, Y-axis sliding block；35th, stand tube；4th, Z axis mechanical arm module；41st, silver-colored guide rail on Z axis；42nd, Z axis synchronization band chain；43、Z
Axle dee；44th, Z axis sliding block；4th, drive mechanism is supported；5th, XY axles fixed seat；51st, row installation flat board；52nd, vertical wing support
Plate；512nd, trapezoidal reinforcement；53rd, horizontal wing fagging；531st, square reinforcement；6th, YZ axles fixed seat；61st, principal arm installation bottom
Plate；62nd, the first reductor upper and lower plates；63rd, the second reductor upper and lower plates；63rd, contiguous block；62nd, principal arm installing plate；7th, X, Y, Z axis
Servomotor module；71st, servomotor；72nd, speed changer；73rd, gear；8th, rotary clamping mechanism；81st, cylinder；82nd, swivel plate.
Embodiment
The technical scheme in the embodiment of the utility model is clearly and completely described below, it is clear that described reality
It is only the utility model part of the embodiment to apply example, rather than whole embodiments.Based on the embodiment in the utility model,
The every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, belongs to this reality
With novel protected scope.
Fig. 1, Fig. 2, Fig. 3, Fig. 4, three axle robert, including base frame 1 and intelligence control system are referred to, its feature exists
In, X-axis mechanical arm module 2 is set on the base frame 1, XY axles fixed seat 5 is provided with the X-axis mechanical arm module 2,
Y-axis mechanical arm module 3 and servomotor module 7 are set in the XY axles fixed seat 5, set on the Y-axis mechanical arm module 3
YZ axles fixed seat 6 is put, Z axis mechanical arm module 4 and servomotor module 7, the Z axis machine are set in the YZ axles fixed seat 6
The lower section of tool arm module 4 sets rotary clamping mechanism 8, and the upper end of rotary clamping mechanism 8 sets servomotor module 7, the X
Shaft mechanical arm module mechanism 2 includes the X-axis dee 23 that X-axis mechanical arm side is set, and is set on the X-axis mechanical arm
Two X-axis on silver-colored guide rail 21, be provided with X-axis synchronization band chain 22 in the X-axis between silver-colored guide rail 21, silver-colored guide rail in the X-axis
X-axis slide block 24 is provided with 21, the Y-axis mechanical arm module 3 includes silver in two Y-axis that Y-axis mechanical arm side is set
Guide rail 31, is provided with Y-axis sliding block 34 in the Y-axis on silver-colored guide rail 31, Y-axis timing belt is set between silver-colored guide rail 31 in the Y-axis
Chain 32, silver-colored guide rail 31 is provided at both ends with stand tube 35 in the Y-axis, and the Z axis mechanical arm module is included on Z axis mechanical arm
Silver-colored guide rail 41 on the Z axis of setting, Z axis sliding block 44 is provided with the Z axis on silver-colored guide rail 41, the silver-colored side of guide rail 41 is flat on the Z axis
Row is provided with Z axis synchronization band chain 42, and the Z axis mechanical arm side is provided with Z axis dee 43, the shaft mechanical of the present embodiment three
Hand, structure is by the base frame 1, X-axis mechanical arm module mechanism 2, XY axle fixed seats seat 5, Y-axis mechanical arm module 3, YZ axles
Fixed seat seat mechanism 6, Z axis mechanical arm module mechanism 4, servomotor module 7, rotary clamping mechanism 8 etc. form, X-axis machinery
Arm module mechanism 2 is fixed on the base frame 1, is led in X-axis mechanical arm provided with silver in X-axis stand tube, X-axis limited block, X-axis
Rail 21, X-axis slide block 24, X-axis synchronization chain belt 22, X-axis gear, X-axis inductor, X-axis induction strip, X-axis support chain, X-axis chain supporting groove 23
(part is not shown) etc., it is arranged on X-axis mechanical arm module 2 in the XY axles fixed seat 5, the servomotor module 7 is solid
It is scheduled on the XY axles fixed seat seat 5, the Y-axis mechanical arm module 3 is fixed in the XY axles fixed seat seat 5, Y-axis machinery
Arm module is provided with silver-colored guide rail 31, Y-axis sliding block 34, Y-axis synchronization chain belt 32, Y-axis tooth in Y-axis stand tube 35, Y-axis limited block, Y-axis
Wheel, Y-axis dee 33 etc., the YZ axles fixed seat 6 is fixed on the Y-axis mechanical arm module 3, in the YZ axles fixed seat
The servomotor module 7 is provided with, the Z axis mechanical arm module 4 is arranged on YZ axle fixed seats seat 6, Z axis manipulator
Arm module 4 be provided with Z axis stand tube, Z axis limited block, silver-colored guide rail 41 on Z axis, Z axis sliding block 44, Z axis synchronization chain belt 42, Z axis gear,
Z axis proximity switch, Z axis dee 43 etc., a servomotor module 7 is also finally installed in the YZ axles fixed seat, on
Base frame 1 described in face is fixed with X-axis mechanical arm module 2, the XY axles fixed seat 5 is loaded onto, in the X-axis mechanical arm module
XY axles fixed seat 5 is installed, the X-axis mechanical arm module 2 connects the servomotor module 7, the XY axles fixed seat 5 on 2
Load onto Y-axis mechanical arm module 3 and reach connection, refill a servomotor module 7 with the Y-axis mechanical arm module 3
Connection, the YZ axles fixed seat 6 loads onto Z axis mechanical arm module 4 and reaches connection, refill a servomotor module 7 and
The Z axis mechanical arm module 4 is connected, and during application, with reference to practical condition, each arm free degree is controlled by program coding
Motion path, translational speed, the engineering philosophy of positioning etc., X-axis, Y-axis and Z axis are all by the band of servomotor module 7
Moving gear moves in synchronous chain belt, realizes the work such as the direction of each free degree, speed, positioning, crawl.
Referring to Fig. 6, preferable, the servomotor module 7 includes servomotor 71, and the servomotor 71 connects
Speed changer 72, the connection gear 73 of speed changer 72, this motor module highly efficient durable are functional.
Referring to Fig. 5, preferable, the rotary clamping mechanism 8 includes cylinder 81, and the cylinder 81 connects swivel plate 82,
Simple in construction, it is rotary grasping function to realize work.
Referring to Fig. 8, preferable, the XY axles fixed seat 5 includes row installation flat board 51, and the row installs flat board 51
One end sets vertical wing fagging 52, and two pieces of trapezoidal reinforcements 521 are symmetrical arranged on the vertical wing fagging 52, described vertical
The lower section of wing fagging 52 is provided with horizontal wing fagging 53, and square reinforcement 531 is set below the horizontal wing fagging, this knot
Structure is firm, ensures armshaft motion stabilization.
Referring to Fig. 7, preferable, the YZ axles fixed seat 6 includes principal arm mounting base 61, in the principal arm mounting base
Portion sets principal arm installing plate 64, and described one end of principal arm installing plate 64 is provided with contiguous block 63, the side of principal arm mounting base 61
The first reductor upper and lower plates 62 are connected, the first reductor upper and lower plates 62 connect one piece of second reductor upper and lower plates 63, this knot
Structure is firm, ensures armshaft motion stabilization..
Although the utility model is described in detail with reference to the foregoing embodiments, come for those skilled in the art
Say, it can still be modified to the technical scheme described in foregoing embodiments, or which part technical characteristic is entered
Row equivalent substitution, all within the spirit and principles of the utility model, any modification, equivalent substitution and improvements made etc., all should
Within the scope of protection of the utility model.
Claims (5)
1. three axle robert, including base frame and intelligence control system, it is characterised in that X-axis machinery is set on the base frame
Arm module, XY axle fixed seats are provided with the X-axis mechanical arm module, Y-axis manipulator is set in the XY axles fixed seat
Arm module and X-axis servomotor module, set YZ axle fixed seats on the Y-axis mechanical arm module, in the YZ axles fixed seat
Z axis mechanical arm module and Y-axis servomotor module are set, rotary clamping mechanism is set below the Z axis mechanical arm module,
The rotary clamping mechanism upper end sets Z axis servomotor module, and the X-axis mechanical arm module mechanism includes X-axis armshaft, institute
State X-axis armshaft side and be provided with dee, two set on the X-axis armshaft go up silver-colored guide rail, set between the upper silver-colored guide rail
Synchronous band chain is equipped with, sliding block is provided with the upper silver-colored guide rail, gear, the Y-axis manipulator are provided with by the synchronous band chain
Arm module includes Y-axis armshaft, and the Y-axis armshaft side is provided with two upper silver-colored guide rails, sliding block is provided with the upper silver-colored guide rail,
Synchronous band chain is set between the upper silver-colored guide rail, and described silver-colored guide rail one end is provided with stand tube, the Z axis mechanical arm module
Including Z axis armshaft, silver-colored guide rail is provided with the Z axis armshaft, sliding block, the upper silver-colored guide rail are provided with the upper silver-colored guide rail
Side is arranged with synchronous band chain in parallel, and the Z axis armshaft side is provided with dee.
2. three axle robert according to claim 1, it is characterised in that the X-axis, Y-axis and Z axis servomotor module are equal
Including servomotor, the servomotor connects speed changer, the speed changer connection gear.
3. three axle robert according to claim 1, it is characterised in that the rotary clamping mechanism includes cylinder, described
Cylinder connects swivel plate.
4. three axle robert according to claim 1, it is characterised in that it is flat that the XY axles fixed seat includes row installation
Plate, described row flat board one end set vertical wing fagging, two pieces of trapezoidal reinforcements are symmetrical arranged on the vertical wing fagging,
Horizontal wing fagging is provided with below the vertical wing fagging, square reinforcement is set below the horizontal wing fagging.
5. three axle robert according to claim 1, it is characterised in that the YZ axles fixed seat includes principal arm installation bottom
Plate, the principal arm mounting base middle part set principal arm installing plate, and described principal arm installing plate one end is provided with contiguous block, the principal arm
Mounting base side connects the first reductor upper and lower plates, and the first reductor upper and lower plates are connected above and below one piece of second reductor
Plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720358472.3U CN206643914U (en) | 2017-04-06 | 2017-04-06 | Three axle robert |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720358472.3U CN206643914U (en) | 2017-04-06 | 2017-04-06 | Three axle robert |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206643914U true CN206643914U (en) | 2017-11-17 |
Family
ID=60275018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720358472.3U Expired - Fee Related CN206643914U (en) | 2017-04-06 | 2017-04-06 | Three axle robert |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206643914U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381530A (en) * | 2018-04-25 | 2018-08-10 | 佛山市顺德区晶睿机电科技有限公司 | A kind of glass plate loading and unloading manipulator arm |
| CN108655445A (en) * | 2018-05-15 | 2018-10-16 | 宜昌建林园林工程有限公司 | Building template automates drilling machine and operating method |
| CN109623798A (en) * | 2018-03-14 | 2019-04-16 | 深圳市华正联实业有限公司 | A kind of three axle robert |
| CN109760024A (en) * | 2019-03-05 | 2019-05-17 | 长沙迈迪克智能科技有限公司 | Rotary bell manipulator based on the application of blood station intelligence freezer |
| CN109773772A (en) * | 2019-04-01 | 2019-05-21 | 无锡丹尼克尔自动化科技有限公司 | A kind of multi-spindle machining hand component and multi-spindle machining hand |
| CN110004770A (en) * | 2019-05-24 | 2019-07-12 | 四川锐立文物保护科技有限公司 | A kind of paper deacidification Twin-shaft machinery arm |
| CN111003500A (en) * | 2020-03-10 | 2020-04-14 | 广东顺德为艾斯机器人有限公司 | Automobile engine part truss robot loading and unloading and carrying system |
| CN112828919A (en) * | 2021-01-05 | 2021-05-25 | 赵淑英 | Five-axis manipulator for injection molding machine |
| CN112975927A (en) * | 2021-04-30 | 2021-06-18 | 苏州清智科技装备制造有限公司 | Three-axis intelligent mechanical arm |
-
2017
- 2017-04-06 CN CN201720358472.3U patent/CN206643914U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623798A (en) * | 2018-03-14 | 2019-04-16 | 深圳市华正联实业有限公司 | A kind of three axle robert |
| CN108381530A (en) * | 2018-04-25 | 2018-08-10 | 佛山市顺德区晶睿机电科技有限公司 | A kind of glass plate loading and unloading manipulator arm |
| CN108655445A (en) * | 2018-05-15 | 2018-10-16 | 宜昌建林园林工程有限公司 | Building template automates drilling machine and operating method |
| CN109760024A (en) * | 2019-03-05 | 2019-05-17 | 长沙迈迪克智能科技有限公司 | Rotary bell manipulator based on the application of blood station intelligence freezer |
| CN109773772A (en) * | 2019-04-01 | 2019-05-21 | 无锡丹尼克尔自动化科技有限公司 | A kind of multi-spindle machining hand component and multi-spindle machining hand |
| CN110004770A (en) * | 2019-05-24 | 2019-07-12 | 四川锐立文物保护科技有限公司 | A kind of paper deacidification Twin-shaft machinery arm |
| CN111003500A (en) * | 2020-03-10 | 2020-04-14 | 广东顺德为艾斯机器人有限公司 | Automobile engine part truss robot loading and unloading and carrying system |
| CN112828919A (en) * | 2021-01-05 | 2021-05-25 | 赵淑英 | Five-axis manipulator for injection molding machine |
| CN112975927A (en) * | 2021-04-30 | 2021-06-18 | 苏州清智科技装备制造有限公司 | Three-axis intelligent mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171117 Termination date: 20210406 |
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| CF01 | Termination of patent right due to non-payment of annual fee |