CN206811951U - Rotate three axle heavy duty manipulators - Google Patents
Rotate three axle heavy duty manipulators Download PDFInfo
- Publication number
- CN206811951U CN206811951U CN201720759839.2U CN201720759839U CN206811951U CN 206811951 U CN206811951 U CN 206811951U CN 201720759839 U CN201720759839 U CN 201720759839U CN 206811951 U CN206811951 U CN 206811951U
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- axis
- unit
- rotation
- heavy duty
- axle
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Abstract
The utility model proposes one kind to rotate three axle heavy duty manipulators, and suitable for carrying heavy wares in job shop, it includes：Base, the hoistable platform unit of the base top side is installed in, is installed in the rotary table unit of the hoistable platform unit top side, is installed in the Z axis unit of the rotary table unit top side, the X-axis unit being installed on the Z axis unit, and the paw being installed on the X-axis unit；Wherein, the X-axis unit drives the X axis of the paw to act, and the Z axis unit drives the Z axis that the X-axis unit drives, and to action, the rotary table unit drives the horizontal rotation of the Z axis unit to act, and can realize the three-shaft linkage of the paw.The application scenarios for carrying heavy wares can be applicable well.
Description
Technical field
It the utility model is related to the equipment that object is carried by a kind of job shop, more particularly to a kind of manipulator.
Background technology
A kind of existing Pneumatic manipulator, including it is metal plate frame, two parallel vertically movable rails, vertically movable frame, vertical
Cylinder, lateral cylinder, frame, vertical cylinder, turntable, rotary cylinder, clamping cylinder are vertically moved, vertically movable rail is located at metal plate
Frame opposite sides, vertically movable frame both ends are hinged on vertically movable rail, vertically movable frame top respectively with lateral cylinder both ends
Fixed, vertically movable frame bottom is provided with cross slide way, and cross slide way is provided with limiting cylinder, and vertical cylinder block is consolidated with metal plate frame
Fixed, vertical cylinder piston rod is fixed with vertically movable frame, and clamping cylinder is fixed on rotary cylinder turning arm, and rotary cylinder is located at
On turntable, turntable is fixed together with vertical cylinder cylinder body, and vertical cylinder piston rod, which is fixed on, to be vertically moved on frame, vertically
Movable stand is fixed on horizontal lateral cylinder.Height is fixed to this metal plate frame in itself, and paw is to extend downwardly, and is rotated
Platform is arranged at paw, it is impossible to is applicable the application scenarios for carrying heavy wares well.
Utility model content
Technical problem to be solved in the utility model is to overcome the shortcomings of present in above-mentioned prior art, and proposes one
Kind three axle heavy duty manipulators of rotation, can be applicable the application scenarios for carrying heavy wares well.
The utility model proposes a kind of three axle heavy duty manipulators of rotation for above-mentioned technical problem, suitable in processing cart
Between carry heavy wares, it includes：Base, the hoistable platform unit of the base top side is installed in, is installed in the hoistable platform list
The rotary table unit of first top side, the Z axis unit of the rotary table unit top side is installed in, be installed on the Z axis unit
X-axis unit, and the paw being installed on the X-axis unit；Wherein, the X-axis unit drives the X axis of the paw to act, the Z
The Z axis that axle unit drives the X-axis unit to drive drives the horizontal rotation of the Z axis unit to move to action, the rotary table unit
Make, the three-shaft linkage of the paw can be realized.
In certain embodiments, the hoistable platform unit includes hoistable platform and lifting drives；The hoistable platform is risen by this
Drop driving is driven, can be with respect to adjustment position above and below the base.
In certain embodiments, the lifting driving include motor, by motor-driven two drive shafts and by this two
Four screw rods that root drive shaft drives.
In certain embodiments, the rotary table unit includes rotary table and rotation driving；The rotary table
Driven, can be rotated horizontally with respect to the hoistable platform by the rotation driving.
In certain embodiments, the rotation driving includes the first cylinder, the rack driven by first cylinder, by the rack
The gear of drive, and the support shaft being connected with the gear；The support shaft is connected with the rotary table.
In certain embodiments, the Z axis unit includes Z axis and Z axis drives；The Z axis is driven by the Z axis, can be along Z
Direction of principal axis straight-line displacement.
In certain embodiments, Z axis driving includes the second cylinder, and the sliding block driven by second cylinder；The cunning
Block is connected with the Z axis.
In certain embodiments, the X-axis unit includes X-axis and X-axis drives；The X-axis is driven by the X-axis, can be along X
Direction of principal axis straight-line displacement.
In certain embodiments, X-axis driving includes the 3rd cylinder, and the sliding block driven by the 3rd cylinder；The cunning
Block is connected with the X-axis, and the paw is installed in the termination of the X-axis.
Wherein, the X-axis is located at horizontal plane, and the paw is to do the action opened/collapsed in the horizontal plane.
Compared with prior art, three axle heavy duty manipulators of rotation of the present utility model on base by dexterously setting
Hoistable platform unit, and drive the X axis of the paw to act by the X-axis unit, the Z axis unit drives the X-axis unit to drive
Z axis to action, the rotary table unit drives the horizontal rotation of the Z axis unit to act, and can realize three axles of the paw
Linkage, so as to be applicable the application scenarios for carrying heavy wares well.
Brief description of the drawings
Fig. 1 is the stereogram at the utility model rotation three axle heavy duty manipulator one visual angle.
Fig. 2 is the stereogram that the utility model rotates three another visual angles of axle heavy duty manipulator, and part enclosure removes.
Fig. 3 is the stereogram that the utility model rotates the three another visual angles of axle heavy duty manipulator, and part enclosure removes.
Wherein, description of reference numerals is as follows：The 10 rotation hoistable platform units of three 1 base of axle heavy duty manipulator 2
The decelerator 225 of 21 hoistable platforms 22 lifting driving 221 motor, 222 pulley drive, 223 power transmission shaft 224 drives
The cylinder 322 of 32 rotation driving of moving axis 226 screw rod, 3 rotary table unit, 31 rotary table 321 first is solid
The Z axis of 41 Z axis of reservation 323 sliding block, 324 slide rail, 325 rack, 326 gear, 327 support shaft, 4 Z axis unit 42 drives
The X-axis of 424 51 X-axis of slide rail 425 first chain, 5 X-axis unit of dynamic 421 second cylinder, 422 support, 423 sliding block 52
Drive the paw of 521 the 3rd cylinder, 522 fixed seat, 523 sliding block, 524 525 second chain of slide rail 6.
Embodiment
Below in conjunction with the accompanying drawing of this specification, give the utility model further elaboration.
Referring to Fig. 1, Fig. 2 and Fig. 3, the utility model proposes one kind to rotate three axle heavy duty manipulators 10, the axle of rotation three
Heavy duty manipulator 10 is applied to carry heavy wares in job shop, and the quality of the heavy wares can reach 200 kilograms.Should
Rotating three axle heavy duty manipulators 10 includes：Base 1, the hoistable platform unit 2 of the top side of base 1 is installed in, is installed in the liter
The rotary table unit 3 of the top side of platform unit 2 is dropped, the Z axis unit 4 of the top side of rotary table unit 3 is installed in, is installed in
X-axis unit 5 on the Z axis unit 4, and the paw 6 being installed on the X-axis unit 5.
The hoistable platform unit 2 includes hoistable platform 21 and lifting driving 22.Wherein, the hoistable platform 21 is driven by the lifting
Dynamic 22 drive, can be with respect to base adjustment position about 1.Specifically, lifting driving 22 includes：Motor 221, with the motor
221 pulley drives 222 being engaged, the power transmission shaft 223 driven by the pulley drive 222, are engaged with power transmission shaft 223
Two decelerators 224, two drive shafts 225 driven respectively by two decelerators 224, and by this two bands of drive shaft 225
Four dynamic screw rods 226.This structure, two drive shafts 225 are driven by common electric machine 221, then by two drive shafts 225
Four screw rods 226 are driven to move up and down, you can the upper-lower position of adjustment hoistable platform 21, to be advantageous in tight space, carrying
Heavy duty.
The rotary table unit 3 includes rotary table 31 and rotation driving 32.Wherein, rotary table 31 is revolved by this
Turn driving 32 to drive, can be rotated horizontally with respect to the hoistable platform 21.Specifically, the rotation driving 32 includes：First cylinder
321, the fixed seat 322 being connected with the piston of first cylinder 321, the sliding block 323 being connected with the fixed seat 322, with the sliding block
323 slide rails 324 being engaged, the rack 325 being connected with the slide rail 324, the gear 326, Yi Jiyu being engaged with the rack 324
The support shaft 327 that the gear 326 and the rotary table 31 are connected.This structure, cunning can be driven by the first cylinder 321
Block 323- slide rails 324 combine straight-line displacement, and then are driven by rack 324 with moving gear 326, finally drive support shaft 327 relative
Hoistable platform 21 rotates.It is understood that the different straight-line displacements by setting sliding block 323, can correspondingly determine to support
The different angle of the rotation setting of axle 327.In other words, the movement angle of rotary table 31 can be according to the row of the first cylinder 321
Journey adjusts.
The Z axis unit 4 includes Z axis 41 and Z axis driving 42.Wherein, Z axis 41 is driven by Z axis driving 42, can be along Z axis
Direction（That is vertical direction）Straight-line displacement.Specifically, Z axis driving 42 includes:Second cylinder 421, with second cylinder 421
The connected support 422 of piston, the sliding block 423 being connected with the support 422, the slide rail 424 being engaged with the sliding block 423, and
First chain 425.This structure, by the second cylinder 421 sliding block 423- slide rails 424 can be driven to combine straight-line displacement, entered
And drive the vertically straight-line displacement of Z axis 41.
The X-axis unit 5 includes X-axis 51 and X-axis driving 52.Wherein, the X-axis 51 is driven by X-axis driving 52, can be along X
Direction of principal axis（That is horizontal direction）Displacement.Specifically, X-axis driving 52 includes：3rd cylinder 521, the work with the 3rd cylinder 521
The connected fixed seat 522 of plug, the sliding block 523 being connected with the fixed seat 522, the slide rail 524 being engaged with the sliding block 523, and
Second chain 525.This structure, by the 3rd cylinder 521 sliding block 523- slide rails 524 can be driven to combine straight-line displacement, entered
And drive the straight-line displacement in the horizontal direction of X-axis 51.In addition, the X-axis 51 is located at horizontal plane, the paw 6 is to open in the horizontal plane
The action opened/collapsed, be advantageous to grasp heavy wares.
It is understood that because the paw 6 is the termination that is installed in the X-axis 51, therefore the X-axis unit 5 can drive
The X axis action of the paw 6；Because the X-axis unit 5 is installed on the Z axis unit 4, therefore the Z axis unit 4 can drive the X
The Z axis of axle unit 5 is to action；Because the Z axis unit 4 is installed on the rotary table unit 3, therefore the rotary table list
Member 3 can drive the horizontal rotation of the Z axis unit 4 to act, so as to realize the three-shaft linkage of the paw 6.
Compared with prior art, three axle heavy duty manipulators 10 of rotation of the present utility model are by dexterously on base 1
Hoistable platform unit 2 is set, and drives the X axis of 5 paws 6 to act by the X-axis unit, the Z axis unit 4 drives the X-axis
For the Z axis that unit 5 drives to action, the rotary table unit 3 drives the horizontal rotation action of the Z axis unit 4, can realize this
The three-shaft linkage of paw 6, so as to be applicable the application scenarios for carrying heavy wares well.
The above is only preferred embodiment of the present utility model, is not intended to limit embodiment of the present utility model,
Those of ordinary skill in the art can very easily carry out corresponding accommodation according to central scope of the present utility model and spirit
Or modification, therefore the scope of protection of the utility model should be defined by the protection domain required by claims.
Claims (10)
1. one kind three axle heavy duty manipulators of rotation, suitable for carrying heavy wares in job shop, it is characterised in that including：
Base, the hoistable platform unit of the base top side is installed in, is installed in the rotary table unit of the hoistable platform unit top side,
The Z axis unit of the rotary table unit top side is installed in, the X-axis unit being installed on the Z axis unit, and it is installed in the X
Paw on axle unit；Wherein, the X-axis unit drives the X axis of the paw to act, and the Z axis unit drives the X-axis unit to drive
Z axis to action, the rotary table unit drives the horizontal rotation of the Z axis unit to act, and can realize three axles of the paw
Linkage.
2. according to the axle heavy duty manipulator of rotation three described in claim 1, it is characterised in that the hoistable platform unit includes rising
Drop platform and lifting drives；The hoistable platform is driven by the lifting, can be with respect to adjustment position above and below the base.
3. according to the axle heavy duty manipulator of rotation three described in claim 2, it is characterised in that lifting driving include motor,
By motor-driven two drive shafts and four screw rods driven by this two drive shafts.
4. according to the axle heavy duty manipulator of rotation three described in claim 2, it is characterised in that the rotary table unit includes
Rotary table and rotation driving；The rotary table is driven by the rotation driving, can be rotated horizontally with respect to the hoistable platform.
5. according to the axle heavy duty manipulator of rotation three described in claim 4, it is characterised in that the rotation driving includes the first gas
Cylinder, the rack driven by first cylinder, by the gear of the rack drives, and the support shaft being connected with the gear；The support
Axle is connected with the rotary table.
6. according to the axle heavy duty manipulator of rotation three described in claim 4, it is characterised in that the Z axis unit includes Z axis and Z
Axle drives；The Z axis is driven by the Z axis, can be along Z-direction straight-line displacement.
7. according to the axle heavy duty manipulator of rotation three described in claim 6, it is characterised in that Z axis driving includes the second gas
Cylinder, and the sliding block driven by second cylinder；The sliding block is connected with the Z axis.
8. according to the axle heavy duty manipulator of rotation three described in claim 6, it is characterised in that the X-axis unit includes X-axis and X
Axle drives；The X-axis is driven by the X-axis, can be along X-direction straight-line displacement.
9. according to the axle heavy duty manipulator of rotation three described in claim 8, it is characterised in that X-axis driving includes the 3rd gas
Cylinder, and the sliding block driven by the 3rd cylinder；The sliding block is connected with the X-axis, and the paw is installed in the termination of the X-axis.
10. according to the axle heavy duty manipulator of rotation three described in any one of claim 1 to 9, it is characterised in that the X-axis is located at
Horizontal plane, the paw are to do the action opened/collapsed in the horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720759839.2U CN206811951U (en) | 2017-06-27 | 2017-06-27 | Rotate three axle heavy duty manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720759839.2U CN206811951U (en) | 2017-06-27 | 2017-06-27 | Rotate three axle heavy duty manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206811951U true CN206811951U (en) | 2017-12-29 |
Family
ID=60762036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720759839.2U Expired - Fee Related CN206811951U (en) | 2017-06-27 | 2017-06-27 | Rotate three axle heavy duty manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206811951U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309864A (en) * | 2017-06-27 | 2017-11-03 | 深圳市引领工业装备有限公司 | Rotate three axle heavy duty manipulators |
| CN108071407A (en) * | 2018-01-05 | 2018-05-25 | 惠安北酷机械科技有限公司 | A kind of tunnel waterproof material layering device |
| CN110587572A (en) * | 2019-09-11 | 2019-12-20 | 深圳深蓝精机有限公司 | Mechanical arm |
-
2017
- 2017-06-27 CN CN201720759839.2U patent/CN206811951U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309864A (en) * | 2017-06-27 | 2017-11-03 | 深圳市引领工业装备有限公司 | Rotate three axle heavy duty manipulators |
| CN108071407A (en) * | 2018-01-05 | 2018-05-25 | 惠安北酷机械科技有限公司 | A kind of tunnel waterproof material layering device |
| CN108071407B (en) * | 2018-01-05 | 2019-03-12 | 福建坤加建设有限公司 | A kind of tunnel waterproof material layering device |
| CN110587572A (en) * | 2019-09-11 | 2019-12-20 | 深圳深蓝精机有限公司 | 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171229 Termination date: 20200627 |