CN209078741U - A kind of truss-like manipulator - Google Patents
A kind of truss-like manipulator Download PDFInfo
- Publication number
- CN209078741U CN209078741U CN201821661967.4U CN201821661967U CN209078741U CN 209078741 U CN209078741 U CN 209078741U CN 201821661967 U CN201821661967 U CN 201821661967U CN 209078741 U CN209078741 U CN 209078741U
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- axis
- mould group
- movement mould
- pedestal
- guide rail
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 30
- 241000252254 Catostomidae Species 0.000 claims abstract description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 21
- 239000010959 steel Substances 0.000 claims description 21
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 9
- 229910052782 aluminium Inorganic materials 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of truss-like manipulators, are related to manipulator technical field；Including X-axis movement mould group, Z axis movement mould group, Y-axis movement mould group and Suction cup assembly；The Z axis movement mould group setting is moved back and forth by the driving that X-axis moves mould group in X-direction in X-axis movement mould group；The Y-axis movement mould group is fixed on the lower section of Z axis movement mould group, is moved back and forth by the driving that Z axis moves mould group in Z-direction；The Y-axis movement mould group includes Y-axis servo motor, Y-axis pedestal, Y-axis sliding block, Y-axis gear, Y-axis guide rail and Y-axis rack gear, and the Suction cup assembly includes multiple suckers, and multiple suckers are fixedly mounted on one end of Y-axis guide rail and Y-axis rack gear；The beneficial effects of the utility model are: the truss-like manipulator is able to achieve the automatic loading/unloading of more machines, processing efficiency is substantially increased.
Description
Technical field
The utility model relates to manipulator technical fields, more specifically, the utility model relates to a kind of truss-like machinery
Hand.
Background technique
Demand with market to manipulator is more and more extensive, and current existing manipulator mostly uses greatly electronic induction instrument
Device easily damages in the case where operating condition complexity, and as failure rate under fugitive dust, electrostatic, wet environment is higher, and maintenance cost is high
It is expensive.It is also mounted on Z axis, dismounting main shaft is inconvenient, and processing efficiency is lower than manual operation, and to be generally double end same for structure
When pick and place, influence stability.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of truss-like manipulator, the truss-like manipulator
It is able to achieve the automatic loading/unloading of more machines, substantially increases processing efficiency.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of truss-like manipulator, improves it
Be in: including X-axis movement mould group, Z axis movement mould group, Y-axis movement mould group and Suction cup assembly；The Z axis moves mould group
Setting is moved back and forth by the driving that X-axis moves mould group in X-direction in X-axis movement mould group；The Y-axis moves mould group
It is fixed on the lower section of Z axis movement mould group, is moved back and forth by the driving that Z axis moves mould group in Z-direction；
The Y-axis movement mould group includes Y-axis servo motor, Y-axis pedestal, Y-axis sliding block, Y-axis gear, Y-axis guide rail and Y
Axis rack gear, the Y-axis pedestal are fixed on the lower end of Z axis movement mould group, and the Y-axis servo motor is fixedly mounted on Y-axis base
On seat, Y-axis gear is fixedly mounted on the motor shaft top of Y-axis servo motor；The Y-axis sliding block is fixed on Y-axis pedestal, and
The Y-axis sliding block is slidably arranged in Y-axis guide rail, and the Y-axis guide rail and Y-axis rack gear are arranged in parallel along the y axis, Y-axis guide rail
It is respectively fixedly connected with the both ends of Y-axis rack gear, the Y-axis gear is meshed with Y-axis rack gear；
The Suction cup assembly includes multiple suckers, and multiple suckers are fixedly mounted on the one of Y-axis guide rail and Y-axis rack gear
End.
In such a configuration, the Suction cup assembly further includes having rotation mounting plate and tumble cylinder；
The rotation mounting plate is fixed on one end of Y-axis guide rail Yu Y-axis rack gear, and the tumble cylinder is fixed on rotation
The side of mounting plate, multiple suckers are installed on the cylinder rod of tumble cylinder.
In such a configuration, the Y-axis pedestal is made of the first pedestal and the second pedestal；
Second pedestal is fixedly mounted on the lower section of the first pedestal, forms along the y axis on the first pedestal
Through slot, the Y-axis sliding block are fixedly mounted in the through slot, and the Y-axis guide rail and Y-axis rack gear are passed through from through slot.
In such a configuration, X-axis movement mould group includes X-axis square steel, robot blade, X-axis slide block, X-axis cunning
Rail, X-axis servo motor, X-axis gear and X-axis rack gear；
Fixed two X-axis slide rails, X-axis rack gear are parallel to X-axis slide rail and are fixed on X-axis side side by side on the X-axis square steel
On steel, the X-axis slide block is slidably mounted in X-axis slide rail, and robot blade is fixedly connected with X-axis slide block；
The X-axis servo motor is fixed in robot blade, and X-axis gear and the motor shaft of X-axis servo motor are fixed
Connection, and X-axis gear is meshed with X-axis rack gear.
In such a configuration, the truss-like manipulator further includes support square steel, and the support square steel is in vertical
Shape supports the top of square steel to be fixed on the lower position at X-axis square steel both ends.
In such a configuration, Z axis movement mould group includes Z axis aluminum profile, Z axis servo motor, Z axis screw rod, silk
Stem nut, Z axis guide rail and Z axis sliding block；
The Z axis servo motor is fixedly mounted on the top of Z axis aluminum profile, and one end of the Z axis screw rod is watched with Z axis
The motor shaft for taking motor is connected, and two Z axis guide rails are parallel to be fixedly mounted on Z axis aluminum profile；
The feed screw nut and Z axis sliding block is fixedly mounted in robot blade, and the Z axis screw rod is from screw rod spiral shell
It is passed through in mother, the Z axis guide rail is slidably arranged on Z axis sliding block.
In such a configuration, Z axis movement mould group further includes feed screw nut's attachment base, and feed screw nut is fixedly mounted
On feed screw nut's attachment base, which is fixed in robot blade.
The beneficial effects of the utility model are: such truss-like manipulator of the utility model, X-axis guide rail and X-axis rack gear
Length can be increased and decreased according to the actual needs, therefore can the public manipulator of more machinery equipments, be able to achieve more
The automatic loading/unloading of platform machine substantially increases processing efficiency, while also having saved equipment cost and manpower for client.
Detailed description of the invention
Fig. 1 is a kind of the first schematic perspective view of truss-like manipulator of the utility model.
Fig. 2 is a kind of the second schematic perspective view of truss-like manipulator of the utility model.
Fig. 3 is the partial enlarged view in Fig. 2 at A.
Fig. 4 is the partial enlarged view in Fig. 2 at B.
Fig. 5 is that a kind of Y-axis of truss-like manipulator of the utility model moves the decomposition diagram of mould group.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
It clearly and completely describes, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments, it is based on the embodiments of the present invention, the skill of this field
Art personnel other embodiments obtained without creative efforts belong to the model of the utility model protection
It encloses.In addition, all connection/connection relationships being related in patent, not singly refer to that component directly connects, and referring to can be according to specific
Performance, by adding or reducing couple auxiliary, Lai Zucheng more preferably coupling structure.Each skill in the utility model creation
Art feature, can be with combination of interactions under the premise of not conflicting conflict.
Referring to figs. 1 to 4, the utility model discloses a kind of truss-like manipulator, specifically, the truss-like is mechanical
Hand includes X-axis movement mould group 10, Z axis movement mould group 20, Y-axis movement mould group 30 and Suction cup assembly 40；The Z axis moves mould
20 setting of group is moved back and forth by the driving that X-axis moves mould group 10 in X-direction in X-axis movement mould group 10；The Y-axis
Movement mould group 30 is fixed on the lower section of Z axis movement mould group 20, is moved back and forth by the driving that Z axis moves mould group 20 in Z-direction.
Mould group 30 is moved for the Y-axis, as shown in figure 5, the utility model provides a specific embodiment, it is described
Y-axis move mould group 30 include Y-axis servo motor 301, Y-axis pedestal 302, Y-axis sliding block 303, Y-axis gear 304, Y-axis guide rail 305 with
And Y-axis rack gear 306, the Y-axis pedestal 302 are fixed on the lower end of Z axis movement mould group 20, the Y-axis servo motor 301 is solid
On Y-axis pedestal 302, Y-axis gear 304 is fixedly mounted on the motor shaft top of Y-axis servo motor 301 for Dingan County；The Y-axis
Sliding block 303 is fixed on Y-axis pedestal 302, and the Y-axis sliding block 303 is slidably arranged in Y-axis guide rail 305, the Y-axis guide rail
305 and Y-axis rack gear 306 be arranged in parallel along the y axis, Y-axis guide rail 305 and the both ends of Y-axis rack gear 306 are respectively fixedly connected with, institute
The Y-axis gear 304 stated is meshed with Y-axis rack gear 306.The Suction cup assembly 40 includes multiple suckers 403, and multiple suckers
403 are fixedly mounted on one end of Y-axis guide rail 305 and Y-axis rack gear 306, specifically, in the present embodiment, the sucker group
Part 40 further includes having rotation mounting plate 401 and tumble cylinder 402；The rotation mounting plate 401 is fixed on Y-axis guide rail 305 and Y
One end of axis rack gear 306, the tumble cylinder 402 are fixed on the side of rotation mounting plate 401, and multiple suckers, which are installed in, to be turned over
On the cylinder rod of rotaring cylinder 402.
In addition, in the above-described embodiment, as shown in figure 5, the Y-axis pedestal 302 is by the first pedestal 3021 and second
Pedestal 3022 is constituted；Second pedestal 3022 is fixedly mounted on the lower section of the first pedestal 3021, on the first pedestal 3021
Through slot along the y axis is formd, the Y-axis sliding block 303 is fixedly mounted in the through slot, the Y-axis guide rail 305 and Y
Axis rack gear 306 is passed through from through slot.
Mould group 10 is moved for the X-axis, as shown in Figure 2 and Figure 3, the X-axis movement mould group 10 includes X-axis square steel
101, robot blade 102, X-axis slide block 103, X-axis slide rail 104, X-axis servo motor 105, X-axis gear 106 and X-axis rack gear
107；Fixed two X-axis slide rails 104, X-axis rack gear 107 are parallel to X-axis slide rail 104 and fix side by side on the X-axis square steel 101
On X-axis square steel 101, the X-axis slide block 103 is slidably mounted in X-axis slide rail 104, and robot blade 102 and X-axis are sliding
Block 103 is fixedly connected；The X-axis servo motor 105 is fixed in robot blade 102, X-axis gear 106 and X-axis servo electricity
The motor shaft of machine 105 is fixedly connected, and X-axis gear 106 is meshed with X-axis rack gear 107.In addition, the truss-like manipulator
It further include support square steel 108, the support square steel 108 is in a vertical shape, and the top of support square steel 108 is fixed on X-axis square steel 101
The lower position at both ends.
On the basis of the above embodiments, mould group 20 is moved for the Z axis, it is specific real the utility model proposes one
Example is applied, the Z axis movement mould group 20 includes Z axis aluminum profile 201, Z axis servo motor 202, Z axis screw rod 203, feed screw nut
204, Z axis guide rail 205 and Z axis sliding block 206；The Z axis servo motor 202 is fixedly mounted on the top of Z axis aluminum profile 201
End, one end of the Z axis screw rod 203 is connected with the motor shaft of Z axis servo motor 202, and two Z axis guide rails 205 are in parallel
It is fixedly mounted on Z axis aluminum profile 201；The feed screw nut 204 and Z axis sliding block 206 is fixedly mounted on robot blade
On 102, the Z axis screw rod 203 is passed through from feed screw nut 204, and the Z axis guide rail 205 is slidably arranged in Z axis sliding block
On 206.In addition, the Z axis movement mould group 20 further includes feed screw nut's attachment base 207, feed screw nut 204 is fixedly mounted on silk
On stem nut attachment base 207, which is fixed in robot blade 102.
By above-mentioned structure, Z axis moves mould group 20, Y-axis movement mould group 30 can move in mould group 10 in X-axis along X-axis
Direction alternating translational, meanwhile, Y-axis moves mould group 30 under the driving of Z axis movement mould group 20, can move back and forth in Z-direction；
Under the driving of Y-axis servo motor 301, tumble cylinder 402 and sucker can be mobile in Y direction, while sucker may be implemented
90 ° of overturning completes workpiece loading and unloading movement in order to sucker workpiece；Such truss-like manipulator of the utility model, X-axis
The length of guide rail and X-axis rack gear 107 can be increased and decreased according to the actual needs, therefore can be more machinery equipments public one
Manipulator is able to achieve the automatic loading/unloading of more machines, substantially increases processing efficiency, at the same also for client saved equipment at
Sheet and manpower.
It is to be illustrated to the preferable implementation of the utility model, but the utility model creation is not limited to institute above
Embodiment is stated, those skilled in the art can also make various be equal without departing from the spirit of the present invention
Deformation or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (7)
1. a kind of truss-like manipulator, it is characterised in that: including X-axis movement mould group, Z axis movement mould group, Y-axis movement mould group and
Suction cup assembly；The Z axis movement mould group setting moves the driving of mould group in X-direction by X-axis in X-axis movement mould group
It moves back and forth；The Y-axis movement mould group is fixed on the lower section of Z axis movement mould group, moves the driving of mould group in Z axis by Z axis
Direction moves back and forth；
The Y-axis movement mould group includes Y-axis servo motor, Y-axis pedestal, Y-axis sliding block, Y-axis gear, Y-axis guide rail and Y-axis tooth
Item, the Y-axis pedestal are fixed on the lower end of Z axis movement mould group, and the Y-axis servo motor is fixedly mounted on Y-axis pedestal,
Y-axis gear is fixedly mounted on the motor shaft top of Y-axis servo motor；The Y-axis sliding block is fixed on Y-axis pedestal, and the Y-axis
Sliding block is slidably arranged in Y-axis guide rail, and the Y-axis guide rail and Y-axis rack gear are arranged in parallel along the y axis, Y-axis guide rail and Y-axis
The both ends of rack gear are respectively fixedly connected with, and the Y-axis gear is meshed with Y-axis rack gear；
The Suction cup assembly includes multiple suckers, and multiple suckers are fixedly mounted on one end of Y-axis guide rail and Y-axis rack gear.
2. a kind of truss-like manipulator according to claim 1, it is characterised in that: the Suction cup assembly further includes having rotation
Turn mounting plate and tumble cylinder；
The rotation mounting plate is fixed on one end of Y-axis guide rail Yu Y-axis rack gear, and the tumble cylinder is fixed on rotation installation
The side of plate, multiple suckers are installed on the cylinder rod of tumble cylinder.
3. a kind of truss-like manipulator according to claim 1, it is characterised in that: the Y-axis pedestal is by the first pedestal
It is constituted with the second pedestal；
Second pedestal is fixedly mounted on the lower section of the first pedestal, and through slot along the y axis is formd on the first pedestal,
The Y-axis sliding block is fixedly mounted in the through slot, and the Y-axis guide rail and Y-axis rack gear are passed through from through slot.
4. a kind of truss-like manipulator according to claim 1, it is characterised in that: the X-axis movement mould group includes X-axis
Square steel, robot blade, X-axis slide block, X-axis slide rail, X-axis servo motor, X-axis gear and X-axis rack gear；
Fixed two X-axis slide rails, X-axis rack gear are parallel to X-axis slide rail and are fixed on X-axis square steel side by side on the X-axis square steel,
The X-axis slide block is slidably mounted in X-axis slide rail, and robot blade is fixedly connected with X-axis slide block；
The X-axis servo motor is fixed in robot blade, and X-axis gear is fixedly connected with the motor shaft of X-axis servo motor,
And X-axis gear is meshed with X-axis rack gear.
5. a kind of truss-like manipulator according to claim 4, it is characterised in that: the truss-like manipulator further includes
Square steel is supported, the support square steel is in a vertical shape, and the top of square steel is supported to be fixed on the lower position at X-axis square steel both ends.
6. a kind of truss-like manipulator according to claim 4, it is characterised in that: the Z axis movement mould group includes Z axis
Aluminum profile, Z axis servo motor, Z axis screw rod, feed screw nut, Z axis guide rail and Z axis sliding block；
The Z axis servo motor is fixedly mounted on the top of Z axis aluminum profile, one end of the Z axis screw rod and Z axis servo electricity
The motor shaft of machine is connected, and two Z axis guide rails are parallel to be fixedly mounted on Z axis aluminum profile；
The feed screw nut and Z axis sliding block is fixedly mounted in robot blade, and the Z axis screw rod is from feed screw nut
It passes through, the Z axis guide rail is slidably arranged on Z axis sliding block.
7. a kind of truss-like manipulator according to claim 6, it is characterised in that: the Z axis moves mould group and further includes
Feed screw nut's attachment base, feed screw nut are fixedly mounted on feed screw nut's attachment base, which is fixed on machinery
On hand-held board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821661967.4U CN209078741U (en) | 2018-10-12 | 2018-10-12 | A kind of truss-like manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821661967.4U CN209078741U (en) | 2018-10-12 | 2018-10-12 | A kind of truss-like manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209078741U true CN209078741U (en) | 2019-07-09 |
Family
ID=67119027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821661967.4U Expired - Fee Related CN209078741U (en) | 2018-10-12 | 2018-10-12 | A kind of truss-like manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209078741U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110695197A (en) * | 2019-09-19 | 2020-01-17 | 神华铁路货车运输有限责任公司 | Stamping production line |
| CN111085732A (en) * | 2019-12-31 | 2020-05-01 | 上海妙鹭智能科技有限公司 | Flexible fluting system of intelligence panel |
| CN111687646A (en) * | 2020-07-23 | 2020-09-22 | 无锡恒尚装饰工程有限公司 | Automatic aluminum profile processing production line and processing technology thereof |
| CN112619940A (en) * | 2020-12-07 | 2021-04-09 | 宿松县焕然机电有限责任公司 | Novel automatic insulating paint pipe paint spraying machine |
| CN112828858A (en) * | 2021-02-24 | 2021-05-25 | 佛山市途磨科技有限公司 | Multi-station mechanical gripper |
| CN113733063A (en) * | 2021-09-17 | 2021-12-03 | 广东工业大学 | Direct-drive high-speed large-stroke truss robot based on inclined plane support |
| CN118299667A (en) * | 2024-04-02 | 2024-07-05 | 东莞哈工自控科技有限公司 | Full-automatic battery core hot press equipment and control system thereof |
-
2018
- 2018-10-12 CN CN201821661967.4U patent/CN209078741U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110695197A (en) * | 2019-09-19 | 2020-01-17 | 神华铁路货车运输有限责任公司 | Stamping production line |
| CN111085732A (en) * | 2019-12-31 | 2020-05-01 | 上海妙鹭智能科技有限公司 | Flexible fluting system of intelligence panel |
| CN111687646A (en) * | 2020-07-23 | 2020-09-22 | 无锡恒尚装饰工程有限公司 | Automatic aluminum profile processing production line and processing technology thereof |
| CN112619940A (en) * | 2020-12-07 | 2021-04-09 | 宿松县焕然机电有限责任公司 | Novel automatic insulating paint pipe paint spraying machine |
| CN112828858A (en) * | 2021-02-24 | 2021-05-25 | 佛山市途磨科技有限公司 | Multi-station mechanical gripper |
| CN113733063A (en) * | 2021-09-17 | 2021-12-03 | 广东工业大学 | Direct-drive high-speed large-stroke truss robot based on inclined plane support |
| CN118299667A (en) * | 2024-04-02 | 2024-07-05 | 东莞哈工自控科技有限公司 | Full-automatic battery core hot press equipment and control system thereof |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210115 Address after: 518000 101, 2300152, west of 9 Yongxin Road, biling community, biling street, Pingshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen giant Allen Holding Co.,Ltd. Address before: 518000 4th floor, factory building, Delphi Industrial Park, north of Jinniu East Road and east of Jinlan Road, No. 50, Jinniu East Road, Longtian street, Pingshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN OCEAN XIANGRUI MACHINERY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210519 Address after: 518000 4th floor, factory building, Delphi Industrial Park, north of Jinniu East Road and east of Jinlan Road, No. 50, Jinniu East Road, Longtian street, Pingshan District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN OCEAN XIANGRUI MACHINERY Co.,Ltd. Address before: 518000 101, 2300152, west of 9 Yongxin Road, biling community, biling street, Pingshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen giant Allen Holding Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190709 |