CN208179525U

CN208179525U - A kind of multiple degrees of freedom thin type manipulator

Info

Publication number: CN208179525U
Application number: CN201820510837.4U
Authority: CN
Inventors: 石维亮
Original assignee: Nanjing Su Bo Prestige Automation Science And Technology Ltd
Current assignee: Nanjing Su Bo Prestige Automation Science And Technology Ltd
Priority date: 2018-04-11
Filing date: 2018-04-11
Publication date: 2018-12-04
Anticipated expiration: 2028-04-11

Abstract

The utility model discloses a kind of multiple degrees of freedom thin type manipulators, mould group is translated including X-axis, R axis turntable, Z axis goes up and down mould group, move arm, manipulator, change pawl arm, the R axis turntable setting is in X-axis translation mould group, the Z axis lifting mould group is arranged on R axis turntable, the movement arm is vertically set on Z axis lifting mould group side, described manipulator one end is movably arranged on movement arm, gripper one is connected below the other end, it is described to change the setting of pawl arm below movement arm, the pawl arm other side is changed equipped with gripper two, manipulator described in the utility model, there are three freedom degrees, pickup of two kinds of clamping jaws to realize different product can be switched by executing end, it is particularly suitable for the loading and unloading of thin slice special body size, and thickness and width are relatively small with overall ratio, facilitate and enters narrow space.

Description

A kind of multiple degrees of freedom thin type manipulator

Technical field

The utility model belongs to automated machine equipment technical field, and in particular to a kind of multiple degrees of freedom thin type manipulator.

Background technique

With the development of society and being constantly progressive for science and technology, information technology, electronic technology, automatic technology and calculating Machine technology increasingly merges, and becomes the mainstay technology of today's society sciemtifec and technical sphere, and wherein microelectric technique is hyundai electronics letter The basis of breath technology, its development have effectively pushed the communication technology, the rapid development of computer technology and network technology, feature It is that small in size, light-weight, high reliablity, operating rate are fast, is needed in process of production between the shifting spare and accessory parts are carried out process It is dynamic, therefore, manipulator be in production process very it is necessary to, but have many sheet parts, Er Qieyou in integrated circuit When working space it is narrow, keep for manipulator activity space to need to improve than relatively limited.

Summary of the invention

To solve the above problems, not jljl can be picked up the utility model discloses a kind of multiple degrees of freedom thin type manipulator Body, and narrow space can be passed in and out, structure is simple, and it is easy to use, it is particularly suitable for the loading and unloading of thin slice special body size.

In order to achieve the above objectives, the technical solution of the utility model is as follows:

A kind of multiple degrees of freedom thin type manipulator, including X-axis translation mould group, R axis turntable, Z axis lifting mould group, movement hand Arm, manipulator change pawl arm, and in X-axis translation mould group, the Z axis lifting mould group setting is revolved in R axis for the R axis turntable setting On turntable, the movement arm is vertically set on Z axis lifting mould group side, and described manipulator one end is movably arranged on movement arm On, gripper one is connected below the other end, it is described to change the setting of pawl arm below movement arm, the pawl arm other side is changed equipped with gripper two.

As a kind of improvement of the utility model, described manipulator one end connects movement arm by rotary cylinder.

As a kind of improvement of the utility model, the gripper one is vacuum chuck or mechanical grip.

As a kind of improvement of the utility model, the gripper two is vacuum chuck or mechanical grip.

As a kind of improvement of the utility model, the X-axis translation mould group, R axis turntable, Z axis lifting mould group, movement hand Arm is all connected with servo motor.

The beneficial effects of the utility model are:

A kind of multiple degrees of freedom thin type manipulator described in the utility model, there are three freedom degree (X, Z, R), and executing end can To switch pickup of two kinds of clamping jaws to realize different product, be particularly suitable for the loading and unloading of thin slice special body size, and thickness with Width is relatively small with overall ratio, facilitates into narrow space.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model.

Fig. 2 is the activity chart of movement arm described in the utility model.

Fig. 3 is the top view of movement arm described in the utility model.

Reference signs list:

1, X-axis translates mould group, 2, R axis turntable, 3, Z axis go up and down mould group, 4, movement arm, 5, manipulator, 6, change pawl arm, 7, gripper one, 8, gripper two, 9, rotary cylinder, 10, servo motor, 11, minimum die cavity open height, 12, gripper switching space Diameter, 13, manipulator revolution space diameter, 14, vertical view minimum movement width.

Specific embodiment

With reference to the accompanying drawings and detailed description, the utility model is furtherd elucidate, it should be understood that following specific embodiment parties Formula is merely to illustrate the utility model rather than limitation the scope of the utility model.It should be noted that making in being described below Word "front", "rear", "left", "right", "up" and "down" refer to that the direction in attached drawing, word "inner" and "outside" respectively refer to Be directed towards or far from geometric center of specific component direction.

As shown, a kind of multiple degrees of freedom thin type manipulator described in the utility model, including X-axis translate mould group 1, R axis Turntable 2, movement arm 4, manipulator 5, changes pawl arm 6 at Z axis lifting mould group 3, and the setting of R axis turntable 2 translates mould in X-axis In group 1, the Z axis lifting mould group 3 is arranged on R axis turntable 2, and the movement arm 4 is vertically set on Z axis lifting mould group 3 Side, described 5 one end of manipulator are movably arranged on movement arm 4, gripper 1 are connected below the other end, the pawl arm 6 that changes is set It sets below movement arm 4, changes the pawl arm other side equipped with gripper 28.

A kind of multiple degrees of freedom thin type manipulator described in the utility model, there are three freedom degree (X, Z, R), and changing pawl arm 6 can With transverse direction, longitudinal direction, rotation, 5 one end of manipulator can also be rotated by rotary cylinder 9, as shown in Fig. 2, enabling manipulator Enough to be loaded unloading to part in narrow range, this movement arm and manipulator thickness are opposite with width with overall ratio Smaller, thickness (corresponding minimum die cavity open height 11) is no more than 20cm, and width (overlooking minimum movement width 14) is no more than 8cm facilitates into narrow space.

A kind of multiple degrees of freedom thin type manipulator described in the utility model, gripper 1 and gripper 28 can be inhaled for vacuum Disk or mechanical grip, the two can be driven by changing pawl arm 6(motor) rotation interchangeable, part can be clamped, it also can be to thin slice Part is moved, applied widely.

X-axis described in the utility model translates mould group 1, R axis turntable 2, Z axis lifting mould group 3, movement arm 4 and is all connected with and watches Motor 10 is taken, running precision is high, promotes working efficiency.

Technological means disclosed in the utility model is not limited only to technological means disclosed in above embodiment, also Including technical solution consisting of any combination of the above technical features.

Claims

1. a kind of multiple degrees of freedom thin type manipulator, it is characterised in that: go up and down mould including X-axis translation mould group, R axis turntable, Z axis Group, movement arm, manipulator change pawl arm, and in X-axis translation mould group, the Z axis lifting mould group is set for the R axis turntable setting It sets on R axis turntable, the movement arm is vertically set on Z axis lifting mould group side, described manipulator one end activity setting On movement arm, gripper one is connected below the other end, it is described to change the setting of pawl arm below movement arm, it changes the pawl arm other side and sets There is gripper two.

2. a kind of multiple degrees of freedom thin type manipulator according to claim 1, it is characterised in that: described manipulator one end passes through Rotary cylinder connection movement arm.

3. a kind of multiple degrees of freedom thin type manipulator according to claim 1, it is characterised in that: the gripper one is vacuum suction Disk or mechanical grip.

4. a kind of multiple degrees of freedom thin type manipulator according to claim 1, it is characterised in that: the gripper two is vacuum suction Disk or mechanical grip.

5. a kind of multiple degrees of freedom thin type manipulator according to claim 1, it is characterised in that: the X-axis translates mould group, R Axis turntable, Z axis lifting mould group, movement arm are all connected with servo motor.