CN211615602U

CN211615602U - Three-axis manipulator

Info

Publication number: CN211615602U
Application number: CN201921431671.8U
Authority: CN
Inventors: 赵铭; 谢文魁
Original assignee: Dongguan Baokong Precision Transmission Technology Co ltd
Current assignee: Shanghai Lingjun Technology Co ltd
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2020-10-02
Anticipated expiration: 2029-08-30

Abstract

The utility model discloses a three-axis manipulator, which comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a bracket, a mounting plate and a Y-axis supporting assembly, wherein the bracket comprises an upper square frame, a lower square frame and four vertical rods; the Y-axis moving mechanism and the Y-axis supporting assembly are symmetrically arranged on two sides of the upper square frame, and the Y-axis supporting assembly comprises a Y-axis fixing seat, a Y-axis sliding rail, a Y-axis sliding block, a Y-axis cover plate and a Y-axis fixing plate; the Y-axis support assembly is matched with the Y-axis moving mechanism to support the X-axis moving mechanism together, so that the running stability is effectively improved, the shaking is reduced, and the load-carrying capacity is good; in addition, the support has good overall structure support stability, further improves the working stability, ensures the working precision, ensures the normal work of the manipulator, greatly prolongs the service life, reduces the maintenance or replacement times, reduces the cost and is beneficial to wide popularization and application.

Description

Three-axis manipulator

Technical Field

The utility model relates to a manipulator technique, concretely relates to triaxial manipulator.

Background

With the improvement of the production automation level, the application of the manipulator to automatically execute the production task is more and more. The manipulator can replace heavy labor of people to realize mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to the fields of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

The cartesian robot of selling on the market is various, and it all has different design philosophy separately, strives to reach different users' operation requirement. However, although these manipulators can almost meet the use requirements, the design is not ingenious, however, most of the rectangular coordinate robots in the current market are single-axis manipulators, and the structural design needs to be carried out again for the occasions requiring the three-axis manipulators. And the running of the device is easy to shake, the load capacity is poor, and the working precision is difficult to ensure.

SUMMERY OF THE UTILITY MODEL

Not enough to the aforesaid, the utility model aims to provide a structural design is ingenious, reasonable, and the operation is stable, the triaxial manipulator that the load capacity is good.

In order to achieve the above purpose, the utility model provides a technical scheme is: a three-axis manipulator comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a support, a mounting plate and a Y-axis supporting assembly, wherein the support comprises an upper square frame, a lower square frame and four upright posts, the lower ends of the four upright posts are respectively connected to four corners of the lower square frame, and the upper ends of the four upright posts are respectively connected to four corners of the upper square frame; the Y-axis moving mechanism and the Y-axis supporting assembly are symmetrically arranged on two sides of the upper frame, the Y-axis supporting assembly comprises a Y-axis fixing seat, a Y-axis sliding rail, a Y-axis sliding block, a Y-axis cover plate and a Y-axis fixing plate, a Y-axis mounting cavity for mounting the Y-axis sliding rail is arranged on the Y-axis fixing seat, the Y-axis sliding rail is arranged in the Y-axis mounting cavity, the Y-axis cover plate covers the middle position of an opening of the Y-axis mounting cavity, so that movable grooves are formed in two sides of the opening of the Y-axis mounting cavity, the Y-axis sliding block is movably arranged on the Y-axis sliding rail, two sides of the upper part of the Y-axis sliding block are symmetrically provided with Y supporting parts which extend out of the movable grooves and extend upwards for a certain distance, an upper through groove through which the Y-axis; one end of an X-axis fixing base of the X-axis moving mechanism is fixed on the Y-axis fixing plate, and the other end of the X-axis fixing base is fixed on a Y-axis driving plate of the Y-axis moving mechanism; the back surface of the mounting plate is fixed on an X-axis sliding block of the X-axis moving mechanism; and a Z-axis fixing base of the Z-axis moving mechanism is fixed on the front surface of the mounting plate.

As an improvement of the utility model, four bights of lower square frame all be equipped with the installation breach of the appearance profile looks adaptation of pole setting, the pole setting passes through the screw fixation on this installation breach.

As an improvement of the utility model, the adjusting device comprises four adjusting support legs which are respectively arranged at four corners of the lower frame, the adjusting support legs comprise a round seat, a screw rod, an adjusting nut and a guide rod, the bottom surface of the round seat is provided with an anti-skidding rubber mat, the screw rod is vertically fixed at the central position of the top surface of the round seat, and the guide rod is vertically arranged at the upper end surface of the screw rod; the center of the lower end face of the vertical rod is provided with a positioning hole into which the guide rod extends, the adjusting nut is sleeved on the screw rod, and the upper surface of the adjusting nut is supported on the lower end face of the vertical rod.

As an improvement of the utility model, X axle moving mechanism includes X axle unable adjustment base, X axle slide rail, X axle slider, X axle apron, X axle servo motor, X axle action wheel, X axle from driving wheel and X axle belt, be equipped with the installation on X axle unable adjustment base's the lateral wall the X installation cavity of X axle slide rail, X axle slide rail is fixed the X installation cavity, X axle action wheel and X axle are set up the both ends position in X installation cavity through a pivot respectively from the driving wheel, and pass through X axle belt is connected, X axle slider activity sets up on X axle slide rail, and this X axle slider fixed connection in on the X axle belt, X axle servo motor sets up on X axle unable adjustment base, and can drive X axle action wheel is rotatory, X axle apron lid closes on the opening middle part position of X installation cavity, makes on the opening of installation cavity, The lower edge position forms the movable slot, and the upper and lower edge symmetry of this X axle slider is equipped with the follow stretch out and the certain distance of horizontal extension forms the X supporting part in the movable slot, forms a side through groove that lets the X axle apron pass between two X supporting parts, the mounting panel is fixed on two X supporting parts of X axle slider.

As an improvement of the utility model, the contour of the mounting plate is oblong.

The utility model has the advantages that: the utility model has the advantages of ingenious structural design, reasonable arrangement of the Y-axis supporting component, and effective improvement of the stability of operation, reduction of shaking and good load-carrying capacity by matching the Y-axis supporting component and the Y-axis moving mechanism to support the X-axis moving mechanism together; in addition, the support has good overall structure support stability, further improves the working stability, ensures the working precision, ensures the normal work of the manipulator, greatly prolongs the service life, reduces the maintenance or replacement times, reduces the cost and is beneficial to wide popularization and application.

The present invention will be further explained with reference to the drawings and the embodiments.

Drawings

Fig. 1 is a schematic top view of the present invention.

Fig. 2 is a schematic perspective view of the present invention.

Fig. 3 is a schematic structural view of the middle adjusting leg of the present invention.

Fig. 4 is a schematic structural diagram of the Y-axis support assembly of the present invention.

Fig. 5 is a schematic structural diagram of the X-ray shaft support assembly of the present invention.

Detailed Description

Embodiment, referring to fig. 1 to 5, the present embodiment provides a three-axis robot including an X-axis moving mechanism 1, a Y-axis moving mechanism 2, a Z-axis moving mechanism 3, a support 4, a mounting plate 7, and a Y-axis support assembly 6.

Referring to fig. 2 and 3, the bracket 4 includes an upper frame 41, a lower frame 42, and four uprights 43, wherein the lower ends of the four uprights 43 are respectively connected to four corners of the lower frame 42, and the upper ends of the four uprights 43 are respectively connected to four corners of the upper frame 41. In order to improve the tightness of the fit, mounting notches 421 adapted to the contour of the upright rod 43 are formed at four corners of the lower frame 42, and the upright rod 43 is fixed to the mounting notches 421 by screws.

In order to improve the stability of the support, four corners of the lower frame 42 are respectively provided with an adjusting support leg 5, the adjusting support legs 5 comprise a round seat 51, a screw rod 52, an adjusting nut 53 and a guide rod 54, the bottom surface of the round seat 51 is provided with an anti-skid rubber pad 55, and the bottom surface of the anti-skid rubber pad 55 is provided with a plurality of convex rings with different diameters in a concentric circle, so that the anti-skid effect can be improved. The screw 52 is vertically fixed at the center of the top surface of the round seat 51, and the guide rod 54 is vertically arranged on the upper end surface of the screw 52; the center position of the lower end face of the upright rod 43 is provided with a positioning hole 541 into which the guide rod 54 extends, and the positioning hole 541 into which the guide rod 54 extends effectively improves the positioning effect. The adjusting nut 53 is screwed on the screw 52, and the upper surface of the adjusting nut 53 is supported on the lower end surface of the upright rod 43. When the terrain is uneven, the height position of the adjusting nut 53 can be adjusted by screwing the adjusting nut 53 at each position, so that the four corners of the lower frame 42 are ensured to be at the same horizontal height, and the working stability is further improved.

The Y-axis moving mechanism 2 and the Y-axis support member 6 are symmetrically disposed on both sides of the upper frame 41. Cooperate jointly to support X axle moving mechanism 1 through Y axle support subassembly 6 and Y axle support subassembly 6, effectively promote the stability of operation, reduce and rock, the load capacity is strong. Specifically, referring to fig. 3, the Y-axis supporting assembly 6 includes a Y-axis fixing base 61, a Y-axis sliding rail 62, a Y-axis sliding block 63, a Y-axis cover plate 64 and a Y-axis fixing plate 65, wherein a Y-mounting cavity for mounting the Y-axis sliding rail 62 is provided on the Y-axis fixing base 61, the Y-axis sliding rail 62 is provided in the Y-mounting cavity, the Y-axis cover plate 64 covers the middle position of the opening of the Y-mounting cavity, so that movable grooves are formed at two sides of the opening of the Y-mounting cavity, the Y-axis sliding block 63 is movably provided on the Y-axis sliding rail 62, two sides of the upper portion of the Y-axis sliding block 63 are symmetrically provided with Y-supporting portions 631 extending from the movable grooves and extending upward for a certain distance, and the extending distance is slightly higher than the top surface of. An upper through groove for the Y-axis cover plate 64 to pass through is formed between the two Y-support parts 631, and the Y-axis fixing plate 65 is fixed to the two Y-support parts 631.

One end of an X-axis fixing base of the X-axis moving mechanism 1 is fixed on the Y-axis fixing plate 65, and the other end of the X-axis fixing base is fixed on a Y-axis driving plate 21 of the Y-axis moving mechanism 2.

Referring to fig. 4, the X-axis moving mechanism 1 includes an X-axis fixing base 11, an X-axis sliding rail 12, an X-axis sliding block 13, an X-axis cover plate 14, an X-axis servo motor 15, an X-axis driving wheel, an X-axis driven wheel and an X-axis belt, an X-axis mounting cavity for mounting the X-axis sliding rail 12 is provided on a side wall of the X-axis fixing base 11, the X-axis sliding rail 12 is fixed in the X-axis mounting cavity, the X-axis driving wheel and the X-axis driven wheel are respectively disposed at two ends of the X-axis mounting cavity through a rotating shaft and connected through the X-axis belt, the X-axis sliding block 13 is movably disposed on the X-axis sliding rail 12, the X-axis sliding block 13 is fixedly connected to the X-axis belt, the X-axis servo motor 15 is disposed on the X-axis fixing base 11 and can drive the X-axis driving wheel to rotate, the X-axis cover plate 14 covers, the upper edge and the lower edge of the opening of the mounting cavity form a movable groove, the upper edge and the lower edge of the X-axis sliding block 13 are symmetrically provided with X-axis supporting parts which extend out of the movable groove and horizontally extend for a certain distance, a side through groove for the X-axis cover plate 14 to pass through is formed between the two X-axis supporting parts, and the mounting plate 7 is fixed on the two X-axis supporting parts. The structure of the Y-axis moving mechanism 2 and the structure of the Z-axis moving mechanism 3 are basically consistent with that of the X-axis moving mechanism 1, and only the installation direction and the installation position are different.

In order to enhance the supporting effect and the bearing capacity, the number of the X-axis sliding blocks 13 is two, the X-axis sliding blocks are arranged on the X-axis sliding rails 12 side by side, and the installing plate 7 is oblong in outline, so that the Z-axis moving mechanism 3 is convenient to install and fix. The mounting plate 7 is fixed on two X supporting parts of the X-axis sliding block. And a Z-axis fixing base of the Z-axis moving mechanism 3 is fixed on the front surface of the mounting plate 7. Then, an air cylinder clamping hand or an actuating piece is arranged on a Z-axis slide block of the Z-axis moving mechanism 3 so as to realize grabbing or other required functions.

During operation, support the X axle moving mechanism 1 jointly through Y axle supporting component 6 and Y axle moving mechanism 2 cooperation, effectively promote the stability of operation, reduce and rock, the bearing capacity is strong, ensures the work precision, guarantees the normal work of manipulator, long service life.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. In addition, although specific terms are used in the present specification, these terms are only used for convenience of description and do not limit the present invention, and other mechanical arms that are the same as or similar to the present invention are also included in the protection scope of the present invention.

Claims

1. A three-axis manipulator comprises an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, and is characterized by further comprising a support, a mounting plate and a Y-axis supporting assembly, wherein the support comprises an upper square frame, a lower square frame and four vertical rods, the lower ends of the four vertical rods are respectively connected to four corners of the lower square frame, and the upper ends of the four vertical rods are respectively connected to four corners of the upper square frame; the Y-axis moving mechanism and the Y-axis supporting assembly are symmetrically arranged on two sides of the upper frame, the Y-axis supporting assembly comprises a Y-axis fixing seat, a Y-axis sliding rail, a Y-axis sliding block, a Y-axis cover plate and a Y-axis fixing plate, a Y-axis mounting cavity for mounting the Y-axis sliding rail is arranged on the Y-axis fixing seat, the Y-axis sliding rail is arranged in the Y-axis mounting cavity, the Y-axis cover plate covers the middle position of an opening of the Y-axis mounting cavity, so that movable grooves are formed in two sides of the opening of the Y-axis mounting cavity, the Y-axis sliding block is movably arranged on the Y-axis sliding rail, two sides of the upper part of the Y-axis sliding block are symmetrically provided with Y supporting parts which extend out of the movable grooves and extend upwards for a certain distance, an upper through groove through which the Y-axis; one end of an X-axis fixing base of the X-axis moving mechanism is fixed on the Y-axis fixing plate, and the other end of the X-axis fixing base is fixed on a Y-axis driving plate of the Y-axis moving mechanism; the back surface of the mounting plate is fixed on an X-axis sliding block of the X-axis moving mechanism; and a Z-axis fixing base of the Z-axis moving mechanism is fixed on the front surface of the mounting plate.

2. The three-axis robot of claim 1, wherein: and four corners of the lower square frame are provided with installation notches matched with the outline of the upright rod, and the upright rod is fixed on the installation notches through screws.

3. The three-axis robot of claim 2, wherein: the adjusting support legs are respectively arranged at four corners of the lower square frame and comprise a round seat, a screw rod, an adjusting nut and a guide rod, an anti-skidding rubber mat is arranged on the bottom surface of the round seat, the screw rod is vertically fixed at the center of the top surface of the round seat, and the guide rod is vertically arranged on the upper end surface of the screw rod; the center of the lower end face of the vertical rod is provided with a positioning hole into which the guide rod extends, the adjusting nut is sleeved on the screw rod, and the upper surface of the adjusting nut is supported on the lower end face of the vertical rod.

4. The three-axis robot of claim 1, wherein: the X-axis moving mechanism comprises an X-axis fixed base, an X-axis slide rail, an X-axis slide block, an X-axis cover plate, an X-axis servo motor, an X-axis driving wheel, an X-axis driven wheel and an X-axis belt, wherein an X-axis installation cavity for installing the X-axis slide rail is arranged on the side wall of the X-axis fixed base, the X-axis slide rail is fixed in the X-axis installation cavity, the X-axis driving wheel and the X-axis driven wheel are respectively arranged at two end positions in the X-axis installation cavity through a rotating shaft and are connected through the X-axis belt, the X-axis slide block is movably arranged on the X-axis slide rail and is fixedly connected to the X-axis belt, the X-axis servo motor is arranged on the X-axis fixed base and can drive the X-axis driving wheel to rotate, the X-axis cover plate covers the middle position of an opening of the X-axis installation cavity, so that the upper edge, the upper edge and the lower edge of the X-axis sliding block are symmetrically provided with X supporting parts which extend out of the movable groove and horizontally extend for a certain distance, a side through groove for the X-axis cover plate to pass through is formed between the two X supporting parts, and the mounting plate is fixed on the two X supporting parts of the X-axis sliding block.

5. The three-axis robot of claim 1 or 4, wherein: the mounting plate is oblong in outline.