CN211137175U

CN211137175U - Industrial carrying three-axis manipulator

Info

Publication number: CN211137175U
Application number: CN201921368969.9U
Authority: CN
Inventors: 乐崇年; 张书林; 康涛; 杨大成
Original assignee: National-Level Key Vocational School
Current assignee: National-Level Key Vocational School
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2020-07-31
Anticipated expiration: 2029-08-22

Abstract

The utility model relates to an industry transport triaxial manipulator, including base and well seat, the vertical Z axle servo electric jar of installing of well seat lower extreme, the output shaft of the servo electric jar of Z axle passes well seat and links to each other with the lift seat, a plurality of linear bearing has evenly been arranged around the output shaft of the servo electric jar of Z axle between well seat and the lift seat, well seat lower extreme is around the servo electric jar of Z axle and has evenly been arranged a plurality of stand, the lower extreme of a plurality of stand all is fixed with the base, C shaft bracket is installed to the lift seat upper end, C shaft bracket upper end is rotated and is connected with synchronous hidden slide rail, install C axle servo motor and speed reducer in the C shaft bracket, C axle servo motor's output shaft passes through the speed reducer and links to each other with synchronous hidden slide rail, X axle servo motor is installed to synchronous hidden slide rail one end. The utility model discloses X, Z, C three coordinate axis can carry out single action or linkage removal to reach the purpose from a point to another point transport.

Description

Industrial carrying three-axis manipulator

Technical Field

The utility model relates to an industrial robot technical field especially relates to an industry transport triaxial manipulator.

Background

Under the big background of china manufacturing 2025, industrial robot work instead of human work has become a future trend, which can greatly improve the production efficiency and the product quality, especially in the field of manufacturing. However, many stations use 6-axis industrial robots, which causes unnecessary waste for enterprises due to various conditions such as high cost, excessive functions, complex installation and maintenance, high technical requirements for workers and the like. Therefore, it is required to simplify the structure of the industrial robot for easy operation.

Disclosure of Invention

The utility model aims to solve the technical problem that an industry transport triaxial manipulator is provided, X, Z, C three coordinate axes can carry out single action or linkage removal to reach the purpose from a point to another point transport, the terminal electro-magnet that adopts is done the sucking disc as the terminal, can change the terminal according to actual need.

The utility model provides a technical scheme that its technical problem adopted is: the industrial carrying three-axis manipulator comprises a base, a middle base and a lifting base, wherein a Z-axis servo electric cylinder is vertically arranged at the lower end of the middle base, an output shaft of the Z-axis servo electric cylinder penetrates through the middle base to be connected with the lifting base, a plurality of linear bearings are uniformly arranged between the middle base and the lifting base and surround the output shaft of the Z-axis servo electric cylinder, a plurality of stand columns are uniformly arranged at the lower end of the middle base and surround the Z-axis servo electric cylinder, the lower ends of the stand columns are fixed with the base, a C-axis bracket is arranged at the upper end of the lifting base, a synchronous hidden slide rail is rotatably connected at the upper end of the C-axis bracket, a C-axis servo motor and a speed reducer are arranged in the C-axis bracket, the output shaft of the C-axis servo motor is connected with the synchronous hidden slide rail through the speed reducer, an X-axis servo motor is arranged at one end of, the other end of the synchronous hidden slide rail is provided with a taking and placing device.

As a supplement to the technical scheme of the utility model, the base be discoid, the edge of this base has evenly arranged a plurality of installation location breach around the circumference.

As right technical scheme a supplement, the servo motor of Z axle servo electric cylinder in adopt the servo motor who takes the band-type brake.

As right the technical scheme of the utility model a supplement, C axle support upper end and synchronous hidden slide rail between install transition dish.

As right technical scheme a supplement, synchronous hidden slide rail include lower rail and upper rail, the lower rail be the long platelike of U type, the upper rail is installed to this lower rail upper end, the upper rail make a round trip to slide along lower rail length direction, the lower rail in the vertical X axle servo motor of installing of one end, install the action wheel on the output shaft of this X axle servo motor lower extreme, the lower rail in the other end install from the driving wheel, should link to each other through the belt from the driving wheel between with the action wheel, belt one side link to each other with the lower rail bottom, the lower rail keep away from X axle servo motor's one end and install and get the device of putting.

As right technical scheme a supplementary, the lateral wall of upper rail one side on arranged the gib block along length direction, the lower rail install from being provided with the holder that matches with the gib block on its lateral wall of one end of driving wheel.

As right technical scheme one side of lower rail be provided with the collateral branch frame, the sensor is all installed at the both ends of this collateral branch frame, the lateral wall of last rail on install the blend stop, this blend stop lower extreme is located between two sensors.

As right technical scheme a supplement, get put the device for electromagnetic chuck.

Has the advantages that: the utility model relates to an industry transport triaxial manipulator, X, Z, C three coordinate axis can carry out single action or linkage removal to reach the purpose from a point to another point transport, the terminal electro-magnet that adopts is done the sucking disc as the terminal, can change the terminal according to actual need. The utility model also has the advantages of simple structure, convenient use, low manufacturing cost, stable operation, etc.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a partial structural schematic diagram of the present invention;

fig. 3 is a schematic view of a partial structure of the present invention.

The figure is as follows: 1. the base, 2, Z axle servo electric cylinder, 3, stand, 4, well seat, 5, linear bearing, 6, lift seat, 7, C axle servo motor, 8, speed reducer, 9, C axle support, 10, transition dish, 11, X axle servo motor, 12, synchronous hidden slide rail, 13, installation location breach, 14, lower rail, 15, upper rail, 16, blend stop, 17, gib block, 18, holder, 19, side support, 20, sensor, 21, from the driving wheel, 22, belt, 23, action wheel.

Detailed Description

The present invention will be further described with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes and modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope of the appended claims.

The embodiment of the utility model relates to an industrial handling three-axis manipulator, as shown in figures 1-3, comprising a base 1, a middle base 4 and a lifting base 6, wherein a Z-axis servo electric cylinder 2 is vertically arranged at the lower end of the middle base 4, the output shaft of the Z-axis servo electric cylinder 2 passes through the middle base 4 and is connected with the lifting base 6, a plurality of linear bearings 5 are evenly arranged between the middle base 4 and the lifting base 6 around the output shaft of the Z-axis servo electric cylinder 2, a plurality of upright posts 3 are evenly arranged at the lower end of the middle base 4 around the Z-axis servo electric cylinder 2, the lower ends of the upright posts 3 are all fixed with the base 1, a C-axis bracket 9 is arranged at the upper end of the lifting base 6, the upper end of the C-axis bracket 9 is rotationally connected with a synchronous hidden slide rail 12, a C-axis servo motor 7 and a speed reducer 8 are arranged in the C-axis bracket 9, the output shaft of the C-axis servo motor 7, an X-axis servo motor 11 is installed at one end of the synchronous hidden type sliding rail 12, the X-axis servo motor 11 drives the synchronous hidden type sliding rail 12 to slide back and forth, and a taking and placing device is installed at the other end of the synchronous hidden type sliding rail 12.

The utility model discloses total three coordinate axis is the Z axle that reciprocates, the X axle of back-and-forth movement, the C axle of levogyration.

The Z-axis up-and-down motion is completed by the Z-axis servo electric cylinder 2, the Z-axis servo electric cylinder 2 drives the lifting seat 6 to move up and down when extending and retracting, the part above the lifting seat 6 also acts along with the Z-axis servo electric cylinder, and the linear bearing 5 plays a role in guiding and positioning, so that the function of moving the manipulator up and down is achieved.

The C-axis left-right movement is realized by the aid of a C-axis servo motor 7 and a speed reducer 8 to complete the function of left-right rotation, the C-axis servo motor 7 drives a transition disc 10 connected with the C-axis servo motor to transmit the rotation movement to the transition disc 10 and a synchronous hidden sliding rail 12 when working, and therefore the function of left-right rotation is achieved.

The X-axis back and forth movement is realized by taking the X-axis servo motor 11 as a power source, the output shaft of the X-axis servo motor 11 is connected with the synchronous hidden slide rail 12, and the X-axis servo motor 11 drives the synchronous hidden slide rail 12 to move when working. An output shaft of the X-axis servo motor 11 drives the driving wheel 23 to rotate, the driven wheel 21 is connected with the driving wheel 23 through the belt 22, the driving wheel 23 rotates to drive the belt 22 to move back and forth, and the belt 22 drives the lower rail 14 to move together. One end of the lower rail 14 is close to the X-axis servo motor 11, the other end of the lower rail is far away from the X-axis servo motor 11, and an electromagnetic chuck is installed at one end of the lower rail far away from the X-axis servo motor 11.

X, Z, C the three coordinate axes can move singly or in linkage to reach the purpose of carrying from one point to another, the end uses electromagnet as the terminal, and the terminal can be changed according to the actual need.

The Z-axis servo electric cylinder 2, the C-axis servo motor 7 and the X-axis servo motor 11 are all connected with an electric control cabinet. The C-axis servo motor 7 and the X-axis servo motor 11 are of a loose MBDJT2210, and the Z-axis servo electric cylinder 2 is of a loose MBDkT 2510E.

The base 1 is disc-shaped, and a plurality of mounting and positioning notches 13 are uniformly arranged around the circumference of the edge of the base 1. The base 1 is fixed by matching the screws with the mounting and positioning notches 13, and the design of the mounting and positioning notches 13 enables the base 1 to be fixed and allows position deviation within a certain range.

And a servo motor in the Z-axis servo electric cylinder 2 is a servo motor with a band-type brake.

A transition disc 10 is arranged between the upper end of the C-axis bracket 9 and the synchronous hidden slide rail 12. The transition disc 10 is actually a rotating disc, and corresponds to a rotating bearing.

The synchronous hidden type sliding rail 12 comprises a lower rail 14 and an upper rail 15, the lower rail 14 is in a U-shaped long plate shape, the upper rail 15 is installed at the upper end of the lower rail 14, the upper rail 15 slides back and forth along the length direction of the lower rail 14, an X-axis servo motor 11 is vertically installed at one end in the lower rail 14, a driving wheel 23 is installed on an output shaft at the lower end of the X-axis servo motor 11, a driven wheel 21 is installed at the other end in the lower rail 14, the driven wheel 21 is connected with the driving wheel 23 through a belt 22, one side of the belt 22 is connected with the bottom of the lower rail 14, and a taking and placing device is installed at one end, far away from the X-axis servo motor 11, of the lower rail 14.

The lateral wall of one side of the upper rail 15 is provided with a guide strip 17 along the length direction, and the lateral wall of one end of the lower rail 14, which is provided with a driven wheel 21, is provided with a clamping piece 18 matched with the guide strip 17. The clamping piece 18 is matched with the guide strip 17 to ensure the stability of the sliding of the upper rail 15.

A side bracket 19 is arranged on one side of the lower rail 14, sensors 20 are mounted at two ends of the side bracket 19, a barrier strip 16 is mounted on the side wall of the upper rail 15, and the lower end of the barrier strip 16 is located between the two sensors 20. The two sensors 20 define the two extreme positions of sliding of the upper rail 15, which act as safety guards.

The taking and placing device is an electromagnetic chuck.

Claims

1. The utility model provides an industry transport triaxial manipulator, includes base (1), well seat (4) and lift seat (6), its characterized in that: the lower end of the middle base (4) is vertically provided with a Z-axis servo electric cylinder (2), an output shaft of the Z-axis servo electric cylinder (2) penetrates through the middle base (4) to be connected with the lifting base (6), a plurality of linear bearings (5) are uniformly arranged between the middle base (4) and the lifting base (6) and surround the output shaft of the Z-axis servo electric cylinder (2), a plurality of upright columns (3) are uniformly arranged at the lower end of the middle base (4) and surround the Z-axis servo electric cylinder (2), the lower ends of the upright columns (3) are fixed with the base (1), a C-axis bracket (9) is arranged at the upper end of the lifting base (6), the upper end of the C-axis bracket (9) is rotatably connected with a synchronous hidden slide rail (12), a C-axis servo motor (7) and a speed reducer (8) are arranged in the C-axis bracket (9), the output shaft of the C-axis servo motor (7) is connected with the synchronous hidden slide rail (12) through, an X-axis servo motor (11) is installed at one end of the synchronous hidden sliding rail (12), the X-axis servo motor (11) drives the synchronous hidden sliding rail (12) to slide back and forth, and a taking and placing device is installed at the other end of the synchronous hidden sliding rail (12).

2. An industrial handling three-axis robot as recited in claim 1, further comprising: the base (1) is disc-shaped, and a plurality of mounting and positioning notches (13) are uniformly distributed around the circumference of the edge of the base (1).

3. An industrial handling three-axis robot as recited in claim 1, further comprising: a servo motor in the Z-axis servo electric cylinder (2) is a servo motor with a band-type brake.

4. An industrial handling three-axis robot as recited in claim 1, further comprising: a transition disc (10) is arranged between the upper end of the C-axis support (9) and the synchronous hidden slide rail (12).

5. An industrial handling three-axis robot as recited in claim 1, further comprising: synchronous hidden slide rail (12) include lower rail (14) and upper rail (15), lower rail (14) be the long platelike of U type, upper rail (15) are installed to this lower rail (14) upper end, upper rail (15) slide along lower rail (14) length direction round trip, lower rail (14) in one end vertically install X axle servo motor (11), install action wheel (23) on the output shaft of this X axle servo motor (11) lower extreme, lower rail (14) in the other end install from driving wheel (21), link to each other through belt (22) between this follow driving wheel (21) and action wheel (23), belt (22) one side link to each other with lower rail (14) bottom, lower rail (14) keep away from the one end of X axle servo motor (11) and install and get and put the device.

6. An industrial handling three-axis robot as recited in claim 5, further comprising: the side wall of one side of the upper rail (15) is provided with a guide strip (17) along the length direction, and the side wall of one end of the lower rail (14) provided with a driven wheel (21) is provided with a clamping piece (18) matched with the guide strip (17).

7. An industrial handling three-axis robot as recited in claim 5, further comprising: one side of lower rail (14) be provided with side support (19), sensor (20) are all installed at the both ends of this side support (19), the lateral wall of upper rail (15) on install blend stop (16), this blend stop (16) lower extreme is located between two sensor (20).

8. An industrial handling three-axis robot as recited in claim 1, further comprising: the taking and placing device is an electromagnetic chuck.