CN209582979U - A kind of three-axis moving mechanism for batten crawl transport - Google Patents

Abstract

The utility model discloses a three-axis motion mechanism for grabbing and transporting wooden strips, which comprises a loading platform, an X-axis moving grabbing mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism; the loading platform is used for Place the plank; the X-axis moving and grabbing mechanism is installed on the Y-axis moving mechanism, and the Y-axis moving mechanism drives the X-axis moving and grabbing mechanism to move along the Y-axis; the Y-axis moving mechanism is installed on the Z-axis moving mechanism, The Z-axis moving mechanism drives the Y-axis moving mechanism to move along the Z-axis; the X-axis moving grabbing mechanism includes jaws on both sides for clamping wood boards and a driving assembly for driving the movement of the jaws. The utility model realizes the precise actions of grabbing, transporting and placing the wooden strips through the movement of the three-axis servo motor. The application of the servo motor in conjunction with the reversing bevel gear set can ensure the center positioning when the size of the wooden strips deviates. Fast, accurate and stable elements can meet the actual production needs.

Description

A three-axis motion mechanism for grabbing and transporting wooden sticks

technical field

The utility model belongs to the technical field of wooden strip processing, and in particular relates to a three-axis motion mechanism for grasping and transporting wooden strips.

Background technique

In some modern factories, wood strips are still used as an indispensable consumable in product raw materials and packaging materials. Today, with the rapid development of science and technology, the processing and transportation equipment of wood strips are still relatively backward, but there is a certain room for improvement. As the weak link in the factory equipment, the design of the stick clamping mechanism has certain feasibility.

Utility model content

The technical problem to be solved by the utility model is to provide a three-axis motion mechanism for grabbing and transporting wooden sticks, so as to realize precise actions of grabbing, transporting and placing wooden sticks.

In order to solve the above technical problems, the utility model adopts the following technical solutions: a three-axis motion mechanism for grabbing and transporting wooden sticks, including a loading platform, an X-axis moving grabbing mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism ; The loading platform is used to place the planks to be grabbed; the X-axis moving and grabbing mechanism is installed on the Y-axis moving mechanism, and the Y-axis moving mechanism drives the X-axis moving and grabbing mechanism to move along the Y-axis; The Y-axis moving mechanism is installed on the Z-axis moving mechanism, and the Z-axis moving mechanism drives the Y-axis moving mechanism to move along the Z-axis; the X-axis moving and grabbing mechanism includes jaws and driving clips on both sides for clamping planks Drive assembly for jaw movement.

Further, a photoelectric switch for detecting whether there is a board on the loading platform is provided on the loading platform.

Further, a position correction device is also set on the loading platform; the position correction device includes a position correction cylinder, a baffle and a baffle jacking cylinder; a baffle is set on one side of the loading platform; the The baffle is connected with the baffle jacking cylinder; the baffle jacking cylinder is fixed on the jacking cylinder fixing bracket; the jacking cylinder fixing bracket is installed on the loading platform; the loading platform is also set There is a position correction cylinder.

Further, the X-axis moving grabbing mechanism is installed on the fixed base plate of the clamping mechanism, including the clamping servo motor, reversing bevel gear I, reversing bevel gear II, reversing bevel gear III, T-shaped Lead screw II and T-shaped lead screw III, gripper I and gripper II; the clamping servo motor is connected to the reversing bevel gear II through a coupling; the reversing bevel gear II is connected to the reversing bevel gear II The bevel gear Ⅰ and the reversing bevel gear Ⅲ mesh, and the reversing bevel gear Ⅰ and the reversing bevel gear Ⅲ are respectively connected with the T-shaped screw Ⅱ and the T-shaped screw Ⅲ through the coupling; the T-shaped screw Ⅱ and the T-shaped lead screw III are screwed with the clamp jaw II and the clamp jaw I.

Further, the reversing bevel gear I, reversing bevel gear II and reversing bevel gear III are installed in the bevel gear commutator case.

Further, the clamping jaw II and the clamping jaw I are connected to the fixed bottom plate of the clamping mechanism through a guide assembly.

Further, the Y-axis moving mechanism is fixedly installed on the fixed bottom plate of the forward mechanism, including the fixed bottom plate of the clamping mechanism, the servo motor, and the T-shaped lead screw I; the output end of the servo motor is connected to the T-shaped The screw I is connected; the T-shaped screw I is screwed to the fixed bottom plate of the clamping mechanism; the servo motor drives the T-shaped screw I to rotate, and drives the fixed bottom plate of the clamping mechanism to move along the Y-axis.

Further, the Y-axis moving mechanism also includes a linear slide rail, a forward slide block, and a connecting piece; a linear slide rail is installed on the surface of the fixed bottom plate of the advance mechanism; the advance slide block slides with the linear slide rail Connecting; the advancing slide block is connected with the fixed bottom plate of the clamping mechanism through the connecting piece.

Further, the Z-axis moving mechanism includes a fixed bottom plate of the advancing mechanism, a lifting servo motor, a shaft coupling, a lifting ball screw and a lifting ball screw slider; block; the lifting ball screw is screwed with the lifting ball screw slider; the lifting ball screw is connected to the output end of the lifting servo motor through a coupling, and the lifting servo motor drives the screw to rotate, driving Lifting the ball screw slider moves up and down along the Z-axis together with the fixed bottom plate of the advancing mechanism.

Beneficial effects of the utility model: the utility model realizes the precise action of grabbing, transporting, and placing wooden strips through the movement of the X, Y, and Z three-axis servo motors. The screw and supporting devices have high precision, reversible action, and high efficiency. The characteristics of the utility model can meet the precision requirements of grabbing, transporting and placing wooden strips. The mechanism of the utility model can meet the actual production needs in terms of fastness, accuracy and stability.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the following will briefly introduce the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some implementations recorded in the utility model For example, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Figure 1 is a schematic diagram of the overall structure of the utility model.

Figure 2 is a front view of the loading platform;

Figure 3 is a side view of the loading platform;

Fig. 4 is the front view of three-axis motion mechanism;

Fig. 5 is a side view of the three-axis kinematic mechanism;

Fig. 6 is a top view of the three-axis motion mechanism.

In the figure: 1. Loading plane; 2. Position correction cylinder; 3. Baffle plate jacking cylinder; 4. Baffle plate; 5. Photoelectric switch; 6. Jacking cylinder fixing bracket; 7. Forward slider Ⅰ; Forward slider Ⅱ; 9. T-shaped screw Ⅰ; 10. Coupling Ⅰ; 11. Bearing seat Ⅰ; 12. Reversing bevel gear Ⅰ; 13. Forward slider Ⅲ; 14. Forward slider Ⅳ; 15 , linear slide rail; 16, bearing housing II; 17, servo motor; 18, reversing bevel gear II; 19, reversing bevel gear III; 20, bevel gear commutator box; 21, lifting servo motor Ⅰ; 22. Coupling Ⅱ; 23. Bearing seat Ⅲ; 24. Lifting ball screw Ⅰ; 25. Lifting ball screw slider Ⅰ; 26. Bearing seat Ⅳ; 27. Lifting servo motor Ⅱ; 28. Coupling Ⅲ; 29. Bearing seat Ⅴ; 30. Lifting ball screw Ⅱ; 31. Lifting ball screw slider Ⅱ; 32. Bearing seat Ⅵ; 33. Fixed bottom plate of forward mechanism; 34. Coupling Ⅳ; 35. Clamp Embracing servo motor; 36. Fixed bottom plate of clamping mechanism; 37. Bearing seat Ⅶ; 38. Coupling Ⅵ; 39. Coupling Ⅶ; 40. Bearing seat Ⅷ; , T-type screw Ⅲ; 44, bearing seat Ⅸ; 45, T-type screw Ⅱ; 46, jaw Ⅱ; 47, bearing seat Ⅸ.

Detailed ways

The technical solutions of the present utility model will be clearly and completely described through specific embodiments below.

As shown in Figure 1, a three-axis motion mechanism for grabbing and transporting wooden sticks of the present invention includes a wooden stick loading platform, an X-axis moving grabbing mechanism 01, a Y-axis moving mechanism 02, and a Z-axis moving mechanism 03. The wooden strip loading platform is used to place the wooden strips to be grabbed, and then the X-axis moving grabbing mechanism grabs the wooden strips on the wooden strip loading platform, and the Y-axis moving mechanism and the Z-axis moving mechanism carry out the transportation of the wooden strips. When it is delivered in place, the X-axis moves the grabbing mechanism to place the wooden strips.

As shown in Figures 2 and 3, the utility model wooden strip cargo platform includes a loading plane 1, a position correction cylinder 2, a baffle jacking cylinder 3, a baffle 4, a photoelectric switch 5 and a jacking cylinder fixing bracket 6. The loading plane 1 of the wooden strip loading platform is used to place wooden boards, and a photoelectric switch 5 is installed on the loading plane 1, and the photoelectric switch 5 is used to detect whether wooden strips are placed on the loading plane 1. The utility model installs a position correction cylinder 2 on the loading plane 1 . On the loading plane 1, the cylinder fixing bracket 6 is installed by bolts, the baffle plate jacking cylinder 3 is installed on the cylinder fixing bracket 6, and the baffle plate 4 is fixedly installed on the piston rod of the baffle plate jacking cylinder 3 by screws. The baffle 4 is located on the side of the loading plane 1, the baffle jacking cylinder 3 stretches out, the baffle 4 rises, stretches out on the loading plane 1, and the position correction cylinder 2 protrudes at the same time, and the position correction cylinder 2 drives the correction connected to it. The plate is pressed against the wooden bar, and the correction plate and the baffle act simultaneously to correct the position of the wooden bar on the loading plane 1.

As shown in Figures 4-6, the X-axis moving grabbing mechanism 01 of the present invention is installed on the fixed bottom plate 36 of the clamping mechanism. The X-axis mobile grabbing mechanism includes clamping servo motor 35, coupling IV 34, reversing bevel gear I12, reversing bevel gear II18, reversing bevel gear III19, bevel gear commutator 20, and coupling Ⅵ38, coupling Ⅶ39, T-type screw Ⅱ45, T-type screw Ⅲ43, bearing seat Ⅵ37, bearing seat X47, bearing seat Ⅷ40, bearing seat Ⅸ44, jaw Ⅰ42 and jaw Ⅱ46. The clamping servo motor 35 is fixed on the bottom of the fixed base plate 36 of the clamping mechanism, which provides power for the X-axis moving grabbing mechanism. The bevel gear commutator 20 is fixed on the fixed bottom plate 36 of the clamping mechanism, and the reversing bevel gear I12, the reversing bevel gear II18 and the reversing umbrella are arranged in rotation with the bevel gear commutator 20 box. Shaped gear III19. The output end of the clamping servo motor 35 is connected to the reversing bevel gear II18 through the coupling IV34. commutation function. The reversing bevel gear I12 and the reversing bevel gear III19 are connected with the T-shaped lead screw II45 and the T-shaped lead screw III43 on both sides of the bevel gear commutator 20 through the coupling VI38 and the coupling VII39. The utility model is equipped with bearing seat VII37 and bearing seat X47 on both sides of the T-shaped screw screw II45, and the two ends of the T-shaped screw screw II45 are rotationally connected with the bearing seat VII37 and the bearing seat X47; the two sides of the T-shaped screw screw III43 are installed with bearings Seat Ⅷ 40 and bearing seat Ⅸ 44, the two ends of T-shaped lead screw Ⅲ 43 are rotationally connected with bearing seat Ⅷ 40 and bearing seat Ⅸ 44; four groups of bearing seats are fixed on the fixed base plate 36 of the clamping mechanism by screws. The jaw I42 and the jaw II46 are respectively screwed on the T-shaped lead screw III43 and the T-shaped lead screw II45. The clamping jaw II 46 and the clamping jaw I 42 are connected with the fixed bottom plate 36 of the clamping mechanism through a guide assembly. The guide assembly is connected as a guide slot provided at the bottom of the fixed bottom plate 36 of the clamping mechanism and a guide block provided at the top of the clamping jaw II 46 and the clamping jaw I 42 . It can also be a guide optical axis arranged between the two bearing seats and a shaft hole arranged at the top of the jaw II 46 and the jaw I 42 , or other guiding structures.

When the X-axis mobile grabbing mechanism is working, the clamping servo motor 35 drives the reversing bevel gear II18 to rotate, and the reversing bevel gear II18 drives the reversing bevel gear I12 and reversing bevel gear III19 to rotate, and the reversing bevel gear Ⅰ12 is opposite to the reversing bevel gear III19. The reversing bevel gear I12 and the reversing bevel gear III19 respectively drive the T-shaped lead screw III43 and the T-shaped lead screw II45 connected to it to rotate. The jaws I42 and jaws II46 screwed to the lead screw II45 are opened or clamped.

In order to ensure that the jaws I42 and II46 move in a straight line and prevent the jaws I42 and II46 from rotating with the T-type screw III43 and the T-type screw II45, a guide rod is installed above the T-type screw III43 and the T-type screw II45 , the two ends of the guide rod can be fixed on the bearing seats on both sides, and can also be fixed on the fixed base plate 36 of the clamping mechanism. The tops of the jaws I42 and II46 are provided with guide holes matching the guide rods.

The Y-axis moving mechanism 02 of the utility model includes a linear slide rail 15, a forward slider I7, a forward slider II8, a forward slider III13, a forward slider IV14, a connecting piece 41, a servo motor 17, a coupling I10, and a T-type Lead screw I9, bearing housing I11 and bearing housing II16. The linear slide rail 15 is installed on the surface of the fixed base plate 33 of the advancing mechanism, and the linear slide rails 15 are installed on both sides of the fixed base plate 33 of the advancing mechanism. Advance slide block I7 and advance slide block II8 are installed on the linear slide rail 15 on one side, and advance slide block III13 and advance slide block IV14 are installed on the linear slide rail 15 on the other side. The forward slider I7, the forward slider II8, the forward slider III13 and the forward slider IV14 are all fixed on the connecting piece 41, and are slidably connected with the linear slide rail 15, driving the fixed connecting piece 41 to move linearly along the linear slide rail 15 . The connecting piece 41 of the utility model is fixedly connected with the fixed bottom plate 36 of the clamping mechanism, so that the connecting piece 41 drives the fixed bottom plate 36 of the clamping mechanism to move. The utility model installs bearing seat I11 and bearing seat II16 at both ends of the solid bottom plate 33 of the advancing mechanism, and the two ends of the T-shaped lead screw I9 are installed on the fixed bottom plate 33 of the advancing mechanism through the bearing seat I11 and the bearing seat II16, and are connected with the bearing seat I11 is rotationally connected to the bearing seat II16, and one end of the T-shaped lead screw I9 is connected to the output end of the servo motor 17 through the shaft coupling I10. The fixed base plate 36 of the clamping mechanism is screwed with the T-shaped lead screw I9, and the servo motor 17 can be fixed on the fixed base plate 33 of the advancing mechanism.

When the Y-axis moving mechanism is working, the servo motor 17 drives the T-shaped screw Ⅰ9 to rotate. During the rotation of the T-shaped screw Ⅰ9, the clamping mechanism fixes the bottom plate 36 through the cooperation of the advancing slider and the linear guide rail, and the advancing mechanism fixes the bottom plate 33. move along the Y axis.

The Z-axis moving mechanism of the utility model includes the fixed base plate 33 of the advancing mechanism, the lifting servo motor I21, the shaft coupling II22, the bearing seat III23, the lifting ball screw I24, the lifting ball screw slider I25, the bearing seat IV26, and the lifting servo motor Ⅱ27, coupling Ⅲ28, bearing seat Ⅴ29, lifting ball screw Ⅱ30, lifting ball screw slider Ⅱ31, bearing seat Ⅵ32. The lifting servo motor I21 and the lifting servo motor II27 provide power for the entire Z-axis moving mechanism. The output end of the lifting servo motor I21 is connected with the lifting ball screw I24 through the coupling II22, driving the lifting ball screw I24 to rotate, the lifting ball screw I24 is screwed with the lifting ball screw slider I25, and the lifting ball screw slider is lifted I25 is fixed on one end of the fixed base plate 33 of the advancing mechanism, and the upper and lower sides of the lifting ball screw I24 are equipped with bearing blocks III23 and bearing blocks IV26 for fixing both sides of the lifting mechanism. The lifting servo motor II27 is connected with the lifting ball screw II30 through the coupling III28, the lifting ball screw II30 is screwed with the lifting ball screw slider II31, and the lifting ball screw slider II31 is fixedly installed on the fixed bottom plate 33 of the forward mechanism another side. Bearing seat V29 and bearing seat VI32 are installed on the upper and lower sides of the lifting ball screw II30 for fixing both sides of the lifting mechanism. The lifting ball screw I24 and the lifting ball screw II30 on both sides of the fixed bottom plate 33 of the advancing mechanism of the utility model are arranged parallel to each other.

When the Z-axis moving mechanism 03 of the utility model works, the lifting servo motor I21 and the lifting servo motor II27 drive the lifting ball screw I24 and the lifting ball screw II30 at the same time, and the circular motion of the lifting ball screw I24 and the lifting ball screw II30 is converted The linear reciprocating motion of the lifting ball screw slider I25 and the lifting ball screw slider II31 is formed, and the lifting ball screw slider I25 and the lifting ball screw slider II31 move linearly, driving the fixed bottom plate 33 of the forward mechanism to move up and down along the Z axis .

The utility model realizes the precise action of grabbing, transporting, and placing wooden sticks through the movement of the three-axis servo motor. The encoder matched with the servo motor can realize the precise positioning of the moving position of the motor. The clamping servo motor 35 cooperates with the reversing umbrella The application of the gear set can ensure the center positioning when there is a deviation in the size of the wooden strips. This mechanism can meet the actual production needs in terms of speed, accuracy and stability.

The above-mentioned embodiment is only the description of the preferred implementation of the utility model, not to limit the concept and scope of the utility model. Various modifications and improvements made by the new technical solution should fall into the scope of protection of the utility model, and the technical contents claimed for protection in the utility model have all been recorded in the technical requirements document.

Claims (9)

1. a kind of three-axis moving mechanism for batten crawl transport, it is characterised in that: grabbed including article carrying platform (1), X-axis movement Take mechanism (01), Y-axis moving mechanism (02) and Z axis mobile mechanism (03)；The article carrying platform (1) is to be captured for placing Plank；The mobile grasping mechanism of the X-axis is installed in Y-axis moving mechanism, and Y-axis moving mechanism drives the mobile grasping mechanism of X-axis It is moved along Y-axis；The Y-axis moving mechanism is installed in Z axis mobile mechanism, and Z axis mobile mechanism drives Y-axis moving mechanism along Z Axis movement；The mobile grasping mechanism of the X-axis includes that two sides are used to clamp the clamping jaw of plank and the driving group of driving jaw action Part.

2. a kind of three-axis moving mechanism for batten crawl transport according to claim 1, it is characterised in that: described It is provided on article carrying platform (1) for detecting the optoelectronic switch (5) for whether having plank on article carrying platform.

3. a kind of three-axis moving mechanism for batten crawl transport according to claim 1, it is characterised in that: described Article carrying platform also sets up position correcting apparatus on (1)；The position correcting apparatus includes position correction cylinder (2), baffle (4) With baffle jacking cylinder (3)；Baffle (4) are arranged in the side of the article carrying platform (1)；The baffle (4) and baffle jacks gas Cylinder (3) connection；It is fixed bracket (6) that the baffle jacking cylinder (3) is fixed on jacking cylinder；The fixed bracket of the jacking cylinder (6) it is mounted on article carrying platform (1)；Position correction cylinder (2) are additionally provided on the article carrying platform (1).

4. a kind of three-axis moving mechanism for batten crawl transport according to claim 1, it is characterised in that: described The mobile grasping mechanism of X-axis, which is mounted on, to be held on mechanism fixed bottom plate (36), including holds servo motor (35), commutation umbrella gear I (12), commutation umbrella gear II (18), commutation umbrella gear III (19), T-type lead screw II (45) and T-type lead screw III (43), clamping jaw I (42) and clamping jaw II (46)；Described hold servo motor (35) are connect by shaft coupling with commutation umbrella gear II (18)；Institute The commutation umbrella gear II (18) stated is engaged with commutation umbrella gear I (12) and commutation umbrella gear III (19), and commutate umbrella tooth I (12) of wheel and commutation umbrella gear III (19) are connect by shaft coupling with T-type lead screw II (45) and T-type lead screw III (43) respectively；T Be spirally connected clamping jaw II (46) and clamping jaw I (42) on type lead screw II (45) and T-type lead screw III (43).

5. a kind of three-axis moving mechanism for batten crawl transport according to claim 4, it is characterised in that: described Commutation umbrella gear I (12), commutation umbrella gear II (18) and commutation umbrella gear III (19) are installed on umbrella gear commutator In cabinet (20).

6. a kind of three-axis moving mechanism for batten crawl transport according to claim 4, it is characterised in that: described Clamping jaw II (46) and clamping jaw I (42) with hold mechanism fixed bottom plate (36) and connect by guidance set.

7. a kind of three-axis moving mechanism for batten crawl transport according to claim 1, it is characterised in that: described Y-axis moving mechanism is fixedly mounted on advancement mechanism fixed bottom plate (33), including holds mechanism fixed bottom plate (36), servo motor (17), T-type lead screw I (9)；The output end of the servo motor (17) is connect by shaft coupling with T-type lead screw I (9)；Described T-type lead screw I (9) is spirally connected with mechanism fixed bottom plate (36) is held；Servo motor (17) drives T-type lead screw I (9) rotation, drives folder Mechanism fixed bottom plate (36) is embraced to move along Y-axis.

8. a kind of three-axis moving mechanism for batten crawl transport according to claim 7, it is characterised in that: described Y-axis moving mechanism further includes linear slide rail (15), advance sliding block, connector (41)；Fixed bottom plate (33) table of the advancement mechanism Face is equipped with linear slide rail (15)；The advance sliding block is slidably connected with the linear slide rail (15)；The advance is sliding Block is connect by connector (41) with mechanism fixed bottom plate (36) is held.

9. a kind of three-axis moving mechanism for batten crawl transport according to claim 1, it is characterised in that: described Z axis mobile mechanism includes advancement mechanism fixed bottom plate (33), promotes servo motor, shaft coupling, promotes ball-screw and promote rolling Ballscrew sliding block；The both ends of advancement mechanism fixed bottom plate (33), which are fixedly mounted, promotes ball-screw sliding block；The promotion ball Lead screw is spirally connected with the promotion ball-screw sliding block；The ball-screw that promoted passes through shaft coupling and promotion servo motor Output end connection promotes servo motor and drives screw turns, and drives and promotes ball-screw sliding block together with the fixed bottom plate of advancement mechanism (33) it is moved up and down along Z axis.