CN208246800U - A kind of tetra- axis servo manipulator of XYZR - Google Patents
A kind of tetra- axis servo manipulator of XYZR Download PDFInfo
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- CN208246800U CN208246800U CN201820641870.0U CN201820641870U CN208246800U CN 208246800 U CN208246800 U CN 208246800U CN 201820641870 U CN201820641870 U CN 201820641870U CN 208246800 U CN208246800 U CN 208246800U
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Abstract
A kind of tetra- axis servo manipulator of XYZR, X-axis, Y-axis and Z axis including being mutually perpendicular to movement, it is provided with the first manipulator and the second manipulator on the Z axis, is additionally provided with telescoping mechanism and connecting rod on Z axis, wherein, the middle part of Z axis is arranged in first manipulator, one end of telescoping mechanism connects with Z axis, and the other end of telescoping mechanism and one end of connecting rod are hinged, is hinged on Z axis in the middle part of connecting rod, the other end of connecting rod and the second manipulator are hinged, and the end of the hinged Z axis of the second manipulator.Second manipulator is hinged on the end of Z axis by first rotating shaft, and the second manipulator is hinged on the other end of connecting rod by the second shaft.The telescoping mechanism is cylinder, and one end of the cylinder connects with Z axis, and the other end of cylinder and one end of connecting rod are hinged；Alternatively, the telescoping mechanism is the rack gear being meshed with gear, gear connects with the shaft of driving motor.The utility model has the characteristics that easy-operating.
Description
Technical field
The utility model relates to a kind of tetra- axis servo manipulators of XYZR.
Background technique
204160476 U of Chinese patent literature CN disclosed a kind of four axis press machine of servo on February 18th, 2015
Tool hand, including manipulator main body, lifting shaft, telescoping mechanism and control electronic box, are provided with rotation between lifting shaft and telescoping mechanism
Mechanism；Lifting shaft upper end is provided with rotation speed reducer, and connect with telescoping mechanism, rotation speed reducer driving telescoping mechanism rotation；
It is provided with elevating mechanism in manipulator main body, drives rotating mechanism and telescoping mechanism into progress elevating movement；Elevating mechanism, rotating machine
Structure and telescoping mechanism are respectively by control electronic box control.
Utility model content
The purpose of the utility model is to provide a kind of easy-operating tetra- axis servo manipulators of XYZR, to overcome the prior art
In shortcoming.
By the tetra- axis servo manipulator of a kind of XYZR that this purpose designs, X-axis, Y-axis and Z including being mutually perpendicular to movement
Axis, structure feature are that the first manipulator and the second manipulator are provided on the Z axis, be additionally provided on Z axis telescoping mechanism and
Connecting rod, wherein the middle part of Z axis is arranged in the first manipulator, and one end of telescoping mechanism connects with Z axis, the other end of telescoping mechanism
It is hinged with one end of connecting rod, it is hinged on Z axis in the middle part of connecting rod, the other end of connecting rod and the second manipulator are hinged, and the second machine
The end of the hinged Z axis of tool hand.
Further, second manipulator is hinged on the end of Z axis by first rotating shaft, and the second manipulator passes through second turn
Axis is hinged on the other end of connecting rod.
Further, the telescoping mechanism is cylinder, and one end of the cylinder connects with Z axis, the other end of cylinder and connecting rod
One end is hinged；Alternatively, the telescoping mechanism is the rack gear being meshed with gear, gear connects with the shaft of driving motor.
Further, the connecting rod be in U-shape, V-arrangement or W-shaped.
Further, first manipulator is two or more, is spaced setting between adjacent first manipulator.
Further, first manipulator includes more than four clamping gas for clamping clamping jaws and connecting with clamping clamping jaw
Cylinder.
Further, first manipulator further includes the support plate being arranged in push plate, and support plate is arranged in guide post
Side is provided with pushing tow cylinder between support plate and push plate.
Further, second manipulator includes the feeding clamping jaw being arranged on sucker and the feeding to connect with feeding clamping jaw
Cylinder.
It is provided with the first manipulator and the second manipulator on Z axis in the utility model, is additionally provided with telescoping mechanism on Z axis
And connecting rod, wherein the middle part of Z axis is arranged in the first manipulator, and one end of telescoping mechanism connects with Z axis, telescoping mechanism it is another
End is hinged with one end of connecting rod, is hinged on Z axis in the middle part of connecting rod, the other end of connecting rod and the second manipulator are hinged；When Z axis phase
When moving for X-axis or Y-axis, the first manipulator and the second manipulator close or principle object to be processed simultaneously can be driven；By
The middle part of Z axis is set in the first manipulator, the end of the hinged Z axis of the second manipulator, when Z axis moves downward, second is mechanical
Hand can interact by the second manipulator with object to be processed realization first close to object to be processed, such as can be from processed
The first article is removed on object, when further moving downward with Z axis, the first manipulator can pass through close to processing object
One manipulator is interacted with object to be processed realization, for example the second article can be placed on object to be processed, at the same time, second
After manipulator rotates 90 degree under the collective effect of telescoping mechanism and connecting rod, the first article that can be removed is placed on article
Storage area, then Z axis moves upward, the second manipulator and the first manipulator repeat again before movement, in cycles.
In conclusion the utility model have the characteristics that it is easy-operating.
Detailed description of the invention
Fig. 1 is the schematic perspective view of an embodiment of the present invention.
Fig. 2 is that the first manipulator turns over the schematic perspective view after 90 degree.
Fig. 3 is the partial enlargement diagram of the first manipulator.
Fig. 4 is the front-view schematic diagram of Fig. 3.
Fig. 5 is the partial enlargement diagram of the second manipulator.
In figure: 1 is X-axis, and 2 be Z axis, and 2.1 be the first manipulator, and 2.1.1 is clamping clamping jaw, and 2.1.2 is gripper cylinder,
It 2.1.3 is support plate, 2.1.4 is guide post, and 2.1.5 is pushing tow cylinder, and 2.1.6 is push plate, and 2.2 be the second manipulator, 2.2.1
It is Y-axis for sucker, 3.
Specific embodiment
The utility model is further described with reference to the accompanying drawings and embodiments.
Referring to four axis servo manipulator of Fig. 1-Fig. 5, this XYZR, X-axis 1, Y-axis 3 and Z axis 2 including being mutually perpendicular to movement,
It is provided with the first manipulator 2.1 and the second manipulator 2.2 on the Z axis 2, is additionally provided with telescoping mechanism and connecting rod on Z axis 2,
In, the middle part of Z axis 2 is arranged in the first manipulator 2.1, and one end of telescoping mechanism connects with Z axis 2, the other end of telescoping mechanism with
One end of connecting rod is hinged, is hinged on Z axis 2 in the middle part of connecting rod, and the other end of connecting rod and the second manipulator 2.2 are hinged, and second
The end of the hinged Z axis 2 of manipulator 2.2.
In the present embodiment, second manipulator 2.2 is hinged on the end of Z axis 2, the second manipulator by first rotating shaft
2.2 are hinged on the other end of connecting rod by the second shaft.
The telescoping mechanism is cylinder, and one end of the cylinder connects with Z axis 2, and the other end of cylinder and one end of connecting rod are cut with scissors
It connects；Alternatively, the telescoping mechanism is the rack gear being meshed with gear, gear connects with the shaft of driving motor.
The connecting rod is in U-shape, V-arrangement or W-shaped.
First manipulator 2.1 is two or more, is spaced setting between adjacent first manipulator 2.1.
First manipulator 2.1 includes more than four folders for clamping clamping jaw 2.1.1 and connecting with clamping clamping jaw 2.1.1
Hold cylinder 2.1.2.
First manipulator 2.1 further includes the support plate 2.1.3 being arranged on push plate 2.1.6, guide post 2.1.4 setting
Pushing tow cylinder 2.1.5 is provided between the side of support plate 2.1.3, support plate 2.1.3 and push plate 2.1.6.
Second manipulator 2.2 includes the feeding clamping jaw being arranged on sucker 2.2.1 and takes with what feeding clamping jaw connected
Expect cylinder.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed range is defined by the appending claims and its equivalent thereof.
Claims (8)
1. a kind of tetra- axis servo manipulator of XYZR, X-axis (1), Y-axis (3) and Z axis (2) including being mutually perpendicular to movement, feature
It is that the first manipulator (2.1) and the second manipulator (2.2) are provided on the Z axis (2), Z axis is additionally provided with telescoping mechanism on (2)
And connecting rod, wherein the first manipulator (2.1) is arranged at the middle part of Z axis (2), and one end of telescoping mechanism connects with Z axis (2), stretches
The other end of mechanism and one end of connecting rod are hinged, are hinged on Z axis (2) in the middle part of connecting rod, the other end of connecting rod and the second machinery
Hand (2.2) hingedly, and the end of the hinged Z axis (2) of the second manipulator (2.2).
2. tetra- axis servo manipulator of XYZR according to claim 1, it is characterized in that second manipulator (2.2) passes through the
One shaft is hinged on the end of Z axis (2), and the second manipulator (2.2) is hinged on the other end of connecting rod by the second shaft.
3. tetra- axis servo manipulator of XYZR according to claim 1, it is characterized in that the telescoping mechanism is cylinder, the cylinder
One end connect with Z axis (2), the other end of cylinder and one end of connecting rod are hinged；Alternatively, the telescoping mechanism is mutually to nibble with gear
The rack gear of conjunction, gear connect with the shaft of driving motor.
4. tetra- axis servo manipulator of XYZR according to claim 1, it is characterized in that the connecting rod is in U-shape, V-arrangement or W-shaped.
5. tetra- axis servo manipulator of XYZR according to claim 1, it is characterized in that first manipulator (2.1) is two
More than, setting is spaced between adjacent first manipulator (2.1).
6. tetra- axis servo manipulator of XYZR according to any one of claims 1 to 5, it is characterized in that first manipulator
(2.1) gripper cylinder (2.1.2) for including more than four clampings clamping jaw (2.1.1) and connecting with clamping clamping jaw (2.1.1).
7. tetra- axis servo manipulator of XYZR according to claim 6, it is characterized in that first manipulator (2.1) further includes
The support plate (2.1.3) being arranged on push plate (2.1.6), guide post (2.1.4) setting is in the side of support plate (2.1.3), branch
Pushing tow cylinder (2.1.5) is provided between fagging (2.1.3) and push plate (2.1.6).
8. tetra- axis servo manipulator of XYZR according to any one of claims 1 to 5, it is characterized in that second manipulator
It (2.2) include the feeding clamping jaw being arranged on sucker (2.2.1) and the feeding cylinder to connect with feeding clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820641870.0U CN208246800U (en) | 2018-04-28 | 2018-04-28 | A kind of tetra- axis servo manipulator of XYZR |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820641870.0U CN208246800U (en) | 2018-04-28 | 2018-04-28 | A kind of tetra- axis servo manipulator of XYZR |
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| CN208246800U true CN208246800U (en) | 2018-12-18 |
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| CN201820641870.0U Active CN208246800U (en) | 2018-04-28 | 2018-04-28 | A kind of tetra- axis servo manipulator of XYZR |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530159A (en) * | 2019-08-30 | 2019-12-03 | 横店集团东磁股份有限公司 | A kind of octal kiln push plate automatic charging & discharging machine and its implementation |
-
2018
- 2018-04-28 CN CN201820641870.0U patent/CN208246800U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530159A (en) * | 2019-08-30 | 2019-12-03 | 横店集团东磁股份有限公司 | A kind of octal kiln push plate automatic charging & discharging machine and its implementation |
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