CN212502823U - Full-automatic multi-shaft manipulator - Google Patents

Full-automatic multi-shaft manipulator Download PDF

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Publication number
CN212502823U
CN212502823U CN202021053649.7U CN202021053649U CN212502823U CN 212502823 U CN212502823 U CN 212502823U CN 202021053649 U CN202021053649 U CN 202021053649U CN 212502823 U CN212502823 U CN 212502823U
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screw rod
slide
arm
sliding
along
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CN202021053649.7U
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Chinese (zh)
Inventor
林文华
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Fuzhou Yifa Intelligent Technology Co ltd
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Fuzhou Yifa Intelligent Technology Co ltd
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Abstract

The utility model provides a full-automatic multiaxis manipulator, the on-line screen storage device comprises a base, slide on the base is provided with slide and the slide drive arrangement that the drive slide removed along X axle direction, be provided with the main elevating gear who goes up and down along the Z axle on the slide, main elevating gear transmission is connected with along the rotatory main rotary device of Z axle, main rotary device transmission is connected with first arm, it is provided with the arm drive arrangement that second arm and drive second arm removed along Y axle direction to slide on the first arm, the end-to-end rotation of second arm is connected with vacuum chuck device and drives vacuum chuck device along the rotatory sucking disc rotation driving device I of Y axle. The utility model discloses can realize X, Y, Z triaxial removal and triaxial rotation, add up six motions to the full automatization, a equipment just can satisfy process demands such as feeding, ejection of compact, upset and removal simultaneously, need not realize above-mentioned process through a plurality of mechanisms, simple structure, occupation space is little, simple to operate, the precision is high.

Description

Full-automatic multi-shaft manipulator
Technical Field
The utility model relates to a manipulator, in particular to full-automatic multiaxis manipulator.
Background
In the punching press of part, casting and forging production process, can involve a plurality of processes such as feeding, the ejection of compact, upset and removal, present above-mentioned process adopts the mechanical mechanism cooperation realization of a plurality of different functions and actions more, if adopt feed mechanism, discharge mechanism, tilting mechanism and moving mechanism to join in marriage etc. but there are some problems in the complex mode of this kind of multimachine mechanism now, be exactly a plurality of mechanisms, the structure is complicated, area is big, every mechanism all needs the installation and debugging, waste time and energy, a plurality of mechanism cooperations, the precision of every mechanism is different, final whole precision is low.
SUMMERY OF THE UTILITY MODEL
The utility model provides a full-automatic multi-axis manipulator has solved in the punching press of current part, casting and the forging production process, adopts the cooperation of a plurality of mechanical mechanisms to realize processes such as feeding, ejection of compact, upset and removal, and the structure of existence is complicated, and area is big, and installation and debugging are troublesome, defect that the precision is low.
The technical scheme of the utility model is realized like this:
full-automatic multiaxis manipulator, the on-line screen storage device comprises a base, it is provided with the slide and drives the slide drive arrangement that the slide removed along the X axle direction to slide on the base, be provided with the main elevating gear who goes up and down along the Z axle on the slide, main elevating gear transmission is connected with along the rotatory main rotary device of Z axle, main rotary device transmission is connected with first arm, it is provided with the second arm and drives the arm drive arrangement that the second arm removed along the Y axle direction to slide on the first arm, the end-to-end rotation of second arm is connected with vacuum chuck device and drives vacuum chuck device along the rotatory sucking disc rotation driving device I of Y axle.
Furthermore, the slide seat driving device comprises two first slide rails, two first slide blocks and two first power devices, the first slide rails are fixed on the base, the first slide blocks are arranged on the first slide rails in a sliding mode, the first slide blocks are fixedly connected with the slide seat, and the first power devices are connected with the slide seat in a transmission mode.
Further, the first power device is an air cylinder, or the first power device comprises a servo motor I, a screw rod I and a screw rod nut I, the screw rod I is rotatably connected to the base, the screw rod I is parallel to the first sliding rail, the screw rod nut I is arranged on the screw rod I, the screw rod nut I is fixedly connected with the sliding seat, and the servo motor I is in transmission connection with the screw rod I.
Further, main elevating gear is first lift cylinder, main rotary device is step motor.
Furthermore, the mechanical arm driving device comprises two second slide rails, two second slide blocks and two second power devices, the two second slide rails are fixed on the first mechanical arm, the two second slide blocks are arranged on the two second slide rails in a sliding mode, the two second slide blocks are fixedly connected with the second mechanical arm, and the two second power devices are in transmission connection with the second mechanical arm.
Further, the second power device is an air cylinder, or the second power device comprises a servo motor II, a screw rod II and a screw nut II, the screw rod II is rotatably connected to the first mechanical arm, the screw rod II is parallel to the second sliding rail, the screw nut II is arranged on the screw rod II, the screw nut II is fixedly connected with the second mechanical arm, and the servo motor II is in transmission connection with the screw rod II.
Further, the sucker rotation driving device is a stepping motor or a rotary cylinder.
Further, the vacuum chuck device comprises a fixing plate, and the fixing plate is provided with a plurality of vacuum chucks.
Further, still including being used for the drive vacuum chuck device is along the rotatory sucking disc rotary device II of Z axle or X axle, and sucking disc rotary device II connects between sucking disc rotary drive device I and vacuum chuck device, perhaps sucking disc rotary device II connects the second arm with between the sucking disc rotary drive device I.
Further, the sucker rotating device II is a stepping motor or a rotating cylinder.
The utility model has the advantages that: the utility model discloses can realize X, Y, Z triaxial removal and triaxial rotation, add up six motions to the full automatization, a equipment just can satisfy process demands such as feeding, ejection of compact, upset and removal simultaneously, need not realize above-mentioned process through a plurality of mechanisms, simple structure, occupation space is little, simple to operate, the precision is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a perspective view of embodiment 1;
FIG. 2 is a left side view of embodiment 1;
FIG. 3 is a schematic structural view of example 2;
fig. 4 is a schematic structural view of embodiment 3.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1-2, a full-automatic multi-axis manipulator includes a base 1, a slide seat 2 and a slide seat driving device for driving the slide seat 2 to move along an X-axis direction are slidably disposed on the base 1, a main lifting device 3 for lifting along a Z-axis is disposed on the slide seat 2, the main lifting device 3 is in transmission connection with a main rotating device 4 for rotating along the Z-axis, the main rotating device 4 is in transmission connection with a first mechanical arm 5, a second mechanical arm 6 and a mechanical arm driving device for driving the second mechanical arm 6 to move along a Y-axis direction are slidably disposed on the first mechanical arm 5, and a vacuum chuck device 7 and a chuck rotation driving device I8 for driving the vacuum chuck device 7 to rotate along the Y-axis direction are rotatably disposed at the end of the second.
Further, the slide seat driving device comprises two first slide rails 11, two first slide blocks 12 and two first power devices, the first slide rails 11 are fixed on the base 1, the first slide blocks 12 are movably arranged on the first slide rails 11, the first slide blocks 12 are fixedly connected with the slide seat 2, and the first power devices are in transmission connection with the slide seat 2.
Further, first power device is the cylinder, perhaps first power device includes servo motor I, lead screw I13 and screw-nut I, and lead screw I13 rotates to be connected on the base, lead screw I13 with first slide rail 11 is parallel, and screw-nut I sets up on lead screw I13, screw-nut I with slide 2 fixed connection, servo motor I is connected with the transmission of lead screw I13.
Further, the main lifting device 3 is a first lifting cylinder, and the main rotating device 4 is a stepping motor.
Further, the mechanical arm driving device comprises two second slide rails 51, two second slide blocks 52 and two second power devices, the second slide rails 51 are fixed on the first mechanical arm 5, the second slide blocks 52 are slidably arranged on the second slide rails 51, the second slide blocks 52 are fixedly connected with the second mechanical arm 6, and the second power devices are in transmission connection with the second mechanical arm 6.
Further, the second power device is an air cylinder, or the second power device comprises a servo motor II, a screw rod II and a screw nut II, the screw rod II is rotatably connected to the first mechanical arm, the screw rod II is parallel to the second sliding rail, the screw nut II is arranged on the screw rod II, the screw nut II is fixedly connected with the second mechanical arm, and the servo motor II is in transmission connection with the screw rod II.
Further, the suction cup rotation driving device 8 is a stepping motor or a rotary cylinder.
Further, the vacuum chuck device 7 comprises a fixing plate 71, and the fixing plate 71 is provided with a plurality of vacuum chucks 72.
Further, a protective cover is sleeved outside the sliding seat 2.
The utility model discloses can realize X, Y, Z triaxial removal and triaxial rotation, add up six rotation to the full automatization, a equipment just can satisfy process demands such as feeding, ejection of compact, upset and removal simultaneously, need not realize above-mentioned process through a plurality of mechanisms, simple structure, and occupation space is little, simple to operate, and the precision is high.
Example 2
Referring to fig. 3, the present embodiment is different from embodiment 1 in that: the vacuum chuck device 7 is driven to rotate along the Z axis or the X axis by a chuck rotating device II9, a chuck rotating device II9 is connected between the chuck rotating driving device I8 and the vacuum chuck device 7, or a chuck rotating device II8 is connected between the second mechanical arm 6 and the chuck rotating driving device I8.
Further, the sucker rotating device II is a stepping motor or a rotating cylinder.
Example 3
Referring to fig. 4, the present embodiment is different from embodiment 2 in that: the suction cup rotating device II9 is used for driving the vacuum suction cup device 7 to rotate along the X axis.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. Full-automatic multiaxis manipulator, its characterized in that: the automatic vacuum chuck device comprises a base, slide on the base and be provided with the slide drive arrangement that slide and drive slide removed along the X axle direction, be provided with the main elevating gear who goes up and down along the Z axle on the slide, main elevating gear transmission is connected with along the rotatory main rotary device of Z axle, main rotary device transmission is connected with first arm, it is provided with the second arm and drives the arm drive arrangement that the second arm removed along the Y axle direction to slide on the first arm, the end-to-end rotation of second arm is connected with vacuum chuck device and drives the rotatory sucking disc rotary driving device I of vacuum chuck device along the Y axle.
2. The fully automatic multi-axis robot of claim 1, wherein: the sliding seat driving device comprises two first sliding rails, a first sliding block and a first power device, the first sliding rails are fixed on the base, the first sliding block is arranged on the first sliding rails in a sliding mode, the first sliding block is fixedly connected with the sliding seat, and the first power device is in transmission connection with the sliding seat.
3. The fully automatic multi-axis robot of claim 2, wherein: the first power device is an air cylinder, or the first power device comprises a servo motor I, a screw rod I and a screw rod nut I, the screw rod I is rotatably connected to the base, the screw rod I is parallel to the first sliding rail, the screw rod nut I is arranged on the screw rod I, the screw rod nut I is fixedly connected with the sliding seat, and the servo motor I is in transmission connection with the screw rod I.
4. The fully automatic multi-axis robot of claim 1, wherein: the main lifting device is a first lifting cylinder, and the main rotating device is a stepping motor.
5. The fully automatic multi-axis robot of claim 1, wherein: the mechanical arm driving device comprises two second sliding rails, two second sliding blocks and two second power devices, the two second sliding rails are fixed on the first mechanical arm, the second sliding blocks are arranged on the second sliding rails in a sliding mode, the second sliding blocks are fixedly connected with the second mechanical arm, and the second power devices are in transmission connection with the second mechanical arm.
6. The fully automatic multi-axis robot of claim 5, wherein: the second power device is an air cylinder, or the second power device comprises a servo motor II, a screw rod II and a screw nut II, the screw rod II is rotatably connected to the first mechanical arm, the screw rod II is parallel to the second sliding rail, the screw nut II is arranged on the screw rod II, the screw nut II is fixedly connected with the second mechanical arm, and the servo motor II is in transmission connection with the screw rod II.
7. The fully automatic multi-axis robot of claim 1, wherein: the sucking disc rotation driving device is a stepping motor or a rotating cylinder.
8. The fully automatic multi-axis robot of claim 1, wherein: the vacuum chuck device comprises a fixing plate, and the fixing plate is provided with a plurality of vacuum chucks.
9. The fully automatic multi-axis robot of any one of claims 1 to 8, wherein: the vacuum chuck device is characterized by further comprising a chuck rotating device II used for driving the vacuum chuck device to rotate along the Z axis or the X axis, the chuck rotating device II is connected between the chuck rotating driving device I and the vacuum chuck device, or the chuck rotating device II is connected between the second mechanical arm and the chuck rotating driving device I.
10. The fully automatic multi-axis robot of claim 9, wherein: the sucker rotating device II is a stepping motor or a rotating cylinder.
CN202021053649.7U 2020-06-10 2020-06-10 Full-automatic multi-shaft manipulator Active CN212502823U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202021053649.7U CN212502823U (en) 2020-06-10 2020-06-10 Full-automatic multi-shaft manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202021053649.7U CN212502823U (en) 2020-06-10 2020-06-10 Full-automatic multi-shaft manipulator

Publications (1)

Publication Number Publication Date
CN212502823U true CN212502823U (en) 2021-02-09

Family

ID=74394648

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202021053649.7U Active CN212502823U (en) 2020-06-10 2020-06-10 Full-automatic multi-shaft manipulator

Country Status (1)

Country Link
CN (1) CN212502823U (en)

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