CN208377898U - A kind of efficient four axis robot - Google Patents
A kind of efficient four axis robot Download PDFInfo
- Publication number
- CN208377898U CN208377898U CN201820933531.XU CN201820933531U CN208377898U CN 208377898 U CN208377898 U CN 208377898U CN 201820933531 U CN201820933531 U CN 201820933531U CN 208377898 U CN208377898 U CN 208377898U
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- axis
- mobile mechanism
- efficient
- electric telescopic
- telescopic rod
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Abstract
The utility model discloses a kind of efficient four axis robots, including X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism, Y-axis moving mechanism is equipped with the charging and discharging mechanism moved along Y-axis, and charging and discharging mechanism includes manipulator ontology, vacuum plant and controller, manipulator ontology includes connecting rod, shaft, pawl disk, motion bar and sucker, one end of connecting rod is vertically arranged with Y-axis moving mechanism, and it is moved along Y-axis, and the other end is connected with pawl disk by shaft, pawl disk is equipped with camera and strip shape gob, the top of motion bar is movably disposed in strip shape gob, bottom end is connected with sucker, vacuum plant and controller are respectively arranged on the two sides of connecting rod.The utility model is designed reasonably, structure is simple, easy to operate, has a variety of grasp modes, improves yield and service life that stability in use, positioning accuracy, working efficiency, the product of manipulator are processed.
Description
Technical field
The utility model belongs to machinery equipment field, and in particular to a kind of efficient four axis robot.
Background technique
The effect of manipulator mainly carries out the loading and unloading of product, can not eliminate supplied materials during traditional manipulator clamping
It waits, therefore periodic cycle time is longer, in laminator, due to the miniaturization of electronic industry small product size, to appearance requirement
It is higher, it is beautiful also just at one of the main problem of client's consideration, thus it is very high to the protective film requirement attached in product surface,
The height of pad pasting machine equipment pad pasting precision and the quality of pad pasting depend primarily on two factors, other than positioning accuracy height,
Product and film come discharge position be also it is highly important, product supplied materials is bad, even if what is better again for film supplied materials, can not also reach
To the requirement of client, and manipulator is also not only to apply in electronic industry, is also applied to field of machining, existing machine
Tool hand application range is smaller, and performance is poor, and service life is lower.
Summary of the invention
The purpose of this utility model is to provide a kind of efficient four axis robots, to solve proposed in above-mentioned background technique
The problem of.
To achieve the above object, the utility model is the following technical schemes are provided: a kind of efficient four axis robot, including X-axis
Mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism, wherein Z axis mobile mechanism is mounted in X-axis mobile mechanism, and Y-axis is mobile
Mechanism is mounted in Z axis mobile mechanism, and driving Z axis mobile mechanism of X-axis mobile mechanism and Y-axis moving mechanism move along the x-axis, Z
Axis mobile mechanism driving Y-axis moving mechanism is moved along Z-direction, and structural feature is: Y-axis moving mechanism is equipped with along Y-axis
Mobile charging and discharging mechanism, and charging and discharging mechanism includes manipulator ontology, vacuum plant and controller, manipulator ontology includes connecting
Extension bar, shaft, pawl disk, motion bar and sucker, one end and the Y-axis moving mechanism of connecting rod are vertically arranged, and are moved along Y-axis, and
The other end is connected with pawl disk by shaft, and pawl disk is equipped with camera and strip shape gob, and wherein camera is set at the center of pawl disk, and
Strip shape gob is several, and the outside for the camera being circumferentially evenly arranged, the top of motion bar are movably disposed at strip shape gob
Interior, bottom end is connected with sucker, and vacuum plant and controller are respectively arranged on the two sides of connecting rod, and wherein vacuum plant passes through vacuum
Pipe is connected with sucker, and controller respectively with X-axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism, vacuum plant and take the photograph
As head is connected.
Preferably, X-axis mobile mechanism is connected with pedestal by bottom turntable, wherein X-axis mobile mechanism is installed in bottom
The top of portion's turntable, and bottom turntable is rotatably set to the top of pedestal by motor.
Preferably, connecting rod is equipped with the first driving motor being connected with shaft.
Preferably, shaft is vertically set on the lower section of connecting rod.
Preferably, pawl disk is round or regular polygon.
Preferably, motion bar includes sliding block, fixed plate, the first electric telescopic rod and the second electric telescopic rod, wherein
Sliding block is set to the side of fixed plate, and is movably disposed in strip shape gob by the second driving motor, the first electric telescopic rod
It is arranged in parallel in the other side of fixed plate along its length with the second electric telescopic rod, and the first electric telescopic rod is connected with suction
Disk, the second electric telescopic rod are connected with claw.
Preferably, claw is " < " type, and claw is set to side of the fixed plate at the center of pawl disk.
Preferably, sucker is equipped with alignment sensor, and alignment sensor is that infrared ray alignment sensor or laser are fixed
Level sensor.
Preferably, camera is infrared wide angle camera.
Preferably, controller is PLC controller, and controller respectively with motor, the first driving motor, first electronic
Telescopic rod, the second electric telescopic rod, the second driving motor are connected with alignment sensor.
Compared with prior art, the utility model is designed reasonably, structure is simple, easy to operate, has a variety of grasp modes,
Improve the yield and service life that stability in use, positioning accuracy, working efficiency, the product of manipulator are processed.
Detailed description of the invention
Fig. 1 is the main view of the utility model；
Fig. 2 is the bottom view of the utility model pawl disk；
Fig. 3 is the bottom view of the utility model sucker；
In figure: 1-X axis mobile mechanism, 2-Y axis mobile mechanism, 3-Z axis mobile mechanism, 4- vacuum plant, 5- controller, 6-
Connecting rod, 7- shaft, 8- pawl disk, 9- sucker, 10- camera, 11- strip shape gob, 12- vacuum tube, the bottom 13- turntable, the bottom 14-
Seat, 15- motor, the first driving motor of 16-, 17- sliding block, 18- fixed plate, the first electric telescopic rod of 19-, 20- second is electronic to be stretched
Contracting bar, the second driving motor of 21-, 22- claw, 23- alignment sensor.
Specific embodiment
Explanation is further explained to the utility model with reference to the accompanying drawing, but does not limit the protection model of the utility model
It encloses.
In the description of the present invention, it should be noted that term " on ", "lower", "left", "right", "inner", "outside" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model
It is described with simplifying, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation structure
It makes and operates, therefore should not be understood as limiting the present invention.
Fig. 1-3 is please referred to, it is mobile that the utility model provides a kind of technical solution, a kind of efficient four axis robot, including X-axis
Mechanism 1, Y-axis moving mechanism 2 and Z axis mobile mechanism 3, wherein Z axis mobile mechanism 3 is mounted in X-axis mobile mechanism 1, and Y-axis is moved
Motivation structure 2 is mounted in Z axis mobile mechanism 3, and X-axis mobile mechanism 1 drives Z axis mobile mechanism 3 and Y-axis moving mechanism 2 along X-axis
Mobile, Z axis mobile mechanism 3 drives Y-axis moving mechanism 2 to move along Z-direction, and the Y-axis moving mechanism 2 is equipped with along Y-axis
Mobile charging and discharging mechanism, and charging and discharging mechanism includes manipulator ontology, vacuum plant 4 and controller 5, the manipulator sheet
Body includes connecting rod 6, shaft 7, pawl disk 8, motion bar and sucker 9, and one end of the connecting rod 6 is vertical with Y-axis moving mechanism 2
Setting, and moved along Y-axis, and the other end is connected with pawl disk 8 by shaft 7, the pawl disk 8 is equipped with camera 10 and strip shape gob
11, wherein camera 10 is set at the center of pawl disk 8, and strip shape gob 11 is cameras 10 that are several, and being circumferentially evenly arranged
Outside, the top of the motion bar is movably disposed in strip shape gob 11, and bottom end is connected with sucker 9, and described is true
Empty device 4 and controller 5 are respectively arranged on the two sides of connecting rod 6, and wherein vacuum plant 4 is connected by vacuum tube 12 with sucker 9,
And controller 5 is connected with X-axis mobile mechanism 1, Y-axis moving mechanism 2, Z axis mobile mechanism 3, vacuum plant 4 and camera 10 respectively
It connects.
Wherein, in the present embodiment, the X-axis mobile mechanism 1 is connected with pedestal 14 by bottom turntable 13, wherein X
Axis mobile mechanism 1 is installed in the top of bottom turntable 13, and bottom turntable 13 is rotatably set to pedestal 14 by motor 15
Top.
Wherein, in the present embodiment, the connecting rod 6 is equipped with the first driving motor 16 being connected with shaft 7.
Wherein, in the present embodiment, the shaft 7 is vertically set on the lower section of connecting rod 6.
Wherein, in the present embodiment, the pawl disk 8 is round or regular polygon.
Wherein, in the present embodiment, the motion bar includes sliding block 17, fixed plate 18,19 and of the first electric telescopic rod
Second electric telescopic rod 20, wherein sliding block 17 is set to the side of fixed plate 18, and is movably set by the second driving motor 21
It sets in strip shape gob 11, the first electric telescopic rod 19 and the second electric telescopic rod 20 are arranged in parallel in fixed plate 18 along its length
The other side, and the first electric telescopic rod 19 is connected with sucker 9, and the second electric telescopic rod 20 is connected with claw 22.
Wherein, in the present embodiment, the claw 22 is " < " type, and claw 22 is set to fixed plate 18 close to pawl disk 8
Side at center.
Wherein, in the present embodiment, the sucker 9 is equipped with alignment sensor 23, and alignment sensor 23 is infrared ray
Alignment sensor or laser positioning sensor.
Wherein, in the present embodiment, the camera 10 is infrared wide angle camera.
Wherein, in the present embodiment, the controller 5 be PLC controller, and controller 5 respectively with motor 15, first
Driving motor 16, the first electric telescopic rod 19, the second electric telescopic rod 20, the second driving motor 21 are connected with alignment sensor 23
It connects.
Working principle of the utility model is: first by the relevant information of the shape, structure of article to be grabbed and size, and
The relevant information of raw material frame, product frame and processing district jig is uploaded to controller 5, calculates the best crawl of article to be grabbed
Mode and crawl point, for regular shape and top surface is that the article of plane can be grabbed by vacuum plant 4 and sucker 8,
And article in irregular shape can be grabbed by claw 22, while can also select suitable quantity and suitable as needed
The sucker 8 or claw 22 of position have a variety of grasp modes, expand the scope of application of four axis robots.
Grabbed using sucker 8: motor 15 can drive bottom turntable 13 to link X-axis mobile mechanism 1 in horizontal plane turn
It is dynamic, keep the position of raw material frame and product frame unrestricted, make strong flexibility, when pawl disk 8 is moved to article to be grabbed in raw material frame
Top when, the real time information of article to be grabbed is uploaded to controller 5 by camera 10, and real time information includes article to be grabbed
Angle and distance between position and sucker 8, controller 5 compare the real time information of article to be grabbed and preset value, control
It makes 16 drive shaft 7 of the first driving motor linkage pawl disk 8 to be rotated, makes angle between article and sucker 8 to be grabbed and pre-
If value is consistent, then controls the second driving motor 21 driving sliding block 17 and be moved to corresponding position in strip shape gob 11, and by fixed
Level sensor 23 further determines that crawl position, then controls the elongation of the first electric telescopic rod 19, makes sucker 8 and article table to be grabbed
Face paste is closed, and opens vacuum plant 4, and vacuum plant 4 is connected by vacuum tube 12 with sucker 9, is improved absorption securely and is stablized
Degree, then article to be grabbed is risen and moves to the top of processing district jig, and pass through the according to the preset value of processing district jig position
One driving motor, 16 drive shaft 7 linkage pawl disk 8 is rotated, and the position and processing district jig position one of article to be grabbed are made
It causes, article to be grabbed is put into processing district jig and processed, it finally will be after processing is completed wait grab according to the above method
Article moves to product frame.
Grabbed using claw 22: motor 15 can drive bottom turntable 13 to link X-axis mobile mechanism 1 in horizontal plane turn
It is dynamic, keep the position of raw material frame and product frame unrestricted, make strong flexibility, when claw 22 is moved to article to be grabbed in raw material frame
Top when, the real time information of article to be grabbed is uploaded to controller 5 by camera 10, and real time information includes article to be grabbed
Angle and distance between position and claw 22, controller 5 compare the real time information of article to be grabbed and preset value,
16 drive shaft 7 of the first driving motor linkage pawl disk 8 is controlled to be rotated, make angle between article and claw 22 to be grabbed with
Preset value is consistent, and then controlling the movement in strip shape gob 11 of the second driving motor 21 driving sliding block 17 is located at claw 22 wait grab
The outside of article, and crawl position is further determined that by alignment sensor 23, then control the elongation of the second electric telescopic rod 20, so
After control the second driving motor 21 driving move inward sliding block 17 further, so that claw 22 is caught article to be grabbed completely, can
Secured and stability is adsorbed to improve, then article to be grabbed is risen to the top for moving to processing district jig, and control according to processing district
The preset value of tool position is rotated by 16 drive shaft 7 of the first driving motor linkage pawl disk 8, makes the position of article to be grabbed
With processing district jig position consistency, article to be grabbed is put into processing district jig and processed, it finally will according to the above method
Article to be grabbed after processing is completed moves to product frame.
The utility model is designed reasonably, structure is simple, easy to operate, has a variety of grasp modes, improves manipulator
The yield and service life that stability in use, positioning accuracy, working efficiency, product are processed.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein, and should not treat any reference in the claims as limiting
Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of efficient four axis robot, including X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism, wherein Z axis moves
Motivation structure is mounted in X-axis mobile mechanism, and Y-axis moving mechanism is mounted in Z axis mobile mechanism, and X-axis mobile mechanism drives Z axis
Mobile mechanism and Y-axis moving mechanism move along the x-axis, and Z axis mobile mechanism driving Y-axis moving mechanism is moved along Z-direction, feature
Be: the Y-axis moving mechanism is equipped with the charging and discharging mechanism that moves along Y-axis, and charging and discharging mechanism include manipulator ontology,
Vacuum plant and controller, the manipulator ontology include connecting rod, shaft, pawl disk, motion bar and sucker, the connection
One end of bar is vertically arranged with Y-axis moving mechanism, and is moved along Y-axis, and the other end is connected with pawl disk, the pawl by shaft
Disk is equipped with camera and strip shape gob, and wherein camera is set at the center of pawl disk, and strip shape gob is several, and circumferentially uniform cloth
The top in the outside for the camera set, the motion bar is movably disposed in strip shape gob, and bottom end is connected with sucker, institute
The vacuum plant and controller stated are respectively arranged on the two sides of connecting rod, and wherein vacuum plant is connected by vacuum tube with sucker,
And controller is connected with X-axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism, vacuum plant and camera respectively.
2. efficient four axis robot of one kind according to claim 1, it is characterised in that: the X-axis mobile mechanism passes through
Bottom turntable is connected with pedestal, and wherein X-axis mobile mechanism is installed in the top of bottom turntable, and bottom turntable can be turned by motor
The dynamic top set on pedestal.
3. efficient four axis robot of one kind according to claim 1, it is characterised in that: the connecting rod is equipped with and shaft
The first driving motor being connected.
4. efficient four axis robot of one kind according to claim 1, it is characterised in that: the shaft is vertically set on company
The lower section of extension bar.
5. efficient four axis robot of one kind according to claim 1, it is characterised in that: the pawl disk is round or just more
Side shape.
6. efficient four axis robot of one kind according to claim 1, it is characterised in that: the motion bar include sliding block,
Fixed plate, the first electric telescopic rod and the second electric telescopic rod, wherein sliding block is set to the side of fixed plate, and passes through the second driving
Motor is movably disposed in strip shape gob, and the first electric telescopic rod and the second electric telescopic rod are arranged in parallel in along its length
The other side of fixed plate, and the first electric telescopic rod is connected with sucker, the second electric telescopic rod is connected with claw.
7. efficient four axis robot of one kind according to claim 6, it is characterised in that: the claw is " < " type, and is blocked
Pawl is set to side of the fixed plate at the center of pawl disk.
8. efficient four axis robot of one kind according to claim 1, it is characterised in that: the sucker is equipped with orientation sensing
Device, and alignment sensor is infrared ray alignment sensor or laser positioning sensor.
9. efficient four axis robot of one kind according to claim 1, it is characterised in that: the camera is that infrared ray is wide
Angle camera.
10. efficient four axis robot of one kind according to claim 1, it is characterised in that: the controller is PLC control
Device, and controller respectively with motor, the first driving motor, the first electric telescopic rod, the second electric telescopic rod, the second driving motor
It is connected with alignment sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820933531.XU CN208377898U (en) | 2018-06-15 | 2018-06-15 | A kind of efficient four axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820933531.XU CN208377898U (en) | 2018-06-15 | 2018-06-15 | A kind of efficient four axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208377898U true CN208377898U (en) | 2019-01-15 |
Family
ID=64967752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820933531.XU Expired - Fee Related CN208377898U (en) | 2018-06-15 | 2018-06-15 | A kind of efficient four axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208377898U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109856906A (en) * | 2019-03-11 | 2019-06-07 | 秦存凤 | A kind of dept. of radiology's slice getting device |
| CN109927065A (en) * | 2019-03-05 | 2019-06-25 | 广东技术师范学院天河学院 | A kind of pneumatic Telescopic folding manipulator |
| CN110315523A (en) * | 2019-07-27 | 2019-10-11 | 南京蹑波物联网科技有限公司 | A kind of manipulator of industrial plant automated assembly line |
| CN112691925A (en) * | 2020-12-09 | 2021-04-23 | 安徽机电职业技术学院 | Automatic on-line sorting method for material stacks |
| CN113602810A (en) * | 2021-08-19 | 2021-11-05 | 广德东威科技有限公司 | Sucking disc formula material device of grabbing |
| CN114798873A (en) * | 2022-04-26 | 2022-07-29 | 广州蓝方自动化设备有限公司 | High-speed punch forming process for pipe joint and integrated equipment thereof |
| CN116873434A (en) * | 2023-07-20 | 2023-10-13 | 徐州工程学院 | Storage logistics goods shelf |
-
2018
- 2018-06-15 CN CN201820933531.XU patent/CN208377898U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927065A (en) * | 2019-03-05 | 2019-06-25 | 广东技术师范学院天河学院 | A kind of pneumatic Telescopic folding manipulator |
| CN109927065B (en) * | 2019-03-05 | 2024-03-26 | 广东技术师范学院天河学院 | Pneumatic telescopic folding manipulator |
| CN109856906A (en) * | 2019-03-11 | 2019-06-07 | 秦存凤 | A kind of dept. of radiology's slice getting device |
| CN110315523A (en) * | 2019-07-27 | 2019-10-11 | 南京蹑波物联网科技有限公司 | A kind of manipulator of industrial plant automated assembly line |
| CN112691925A (en) * | 2020-12-09 | 2021-04-23 | 安徽机电职业技术学院 | Automatic on-line sorting method for material stacks |
| CN113602810A (en) * | 2021-08-19 | 2021-11-05 | 广德东威科技有限公司 | Sucking disc formula material device of grabbing |
| CN114798873A (en) * | 2022-04-26 | 2022-07-29 | 广州蓝方自动化设备有限公司 | High-speed punch forming process for pipe joint and integrated equipment thereof |
| CN114798873B (en) * | 2022-04-26 | 2023-03-07 | 广州蓝方自动化设备有限公司 | High-speed punch forming process for pipe joint and integrated equipment thereof |
| CN116873434A (en) * | 2023-07-20 | 2023-10-13 | 徐州工程学院 | Storage logistics goods shelf |
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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: 20190115 Termination date: 20210615 |