CN213352446U

CN213352446U - Longitudinal-walking six-shaft type mechanical arm

Info

Publication number: CN213352446U
Application number: CN202022095558.6U
Authority: CN
Inventors: 吴木松
Original assignee: Chenyao Intelligent Equipment Xiamen Co ltd
Current assignee: Chenyao Intelligent Equipment Xiamen Co ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2021-06-04
Anticipated expiration: 2030-09-22

Abstract

The utility model discloses a indulge six shaft type manipulators of walking, the on-line screen storage device comprises a base, install the X main shaft on the base, slidable mounting is at the epaxial Y main shaft of X, draw and pull out arm and slidable mounting draw and pull out Z main shaft and Z countershaft on the arm with the Y main shaft is connected, Y main shaft one end is equipped with the connecting plate, be connected the reinforcing plate between this connecting plate and the Y main shaft, draw and pull out arm and X main shaft parallel arrangement, should draw and pull out the arm outside and be equipped with the mounting groove with the connecting plate adaptation, the connecting plate passes through the bolt and installs in this mounting groove, draw and pull out the arm and deviate from connecting plate one side and be equipped with the slider sliding connection's that is connected with Z main shaft and Z countershaft slide rail, inside is equipped with the installation cavity, the top is equipped with the. The utility model has the advantages of simple and reasonable overall structure, installation convenient to use, the action is indulged away in completion that can be fine, fine satisfied in the production process to indulging the user demand of walking the manipulator.

Description

Longitudinal-walking six-shaft type mechanical arm

Technical Field

The utility model relates to a manipulator technical field, concretely relates to indulge away six shaft type manipulators.

Background

The manipulator is a high-tech automation device which is developed rapidly in recent years and is an important branch of industrial robots. The manipulator mainly comprises an operating machine (body), a controller, a driver and a detection device, is a programmable automatic control human-simulated operation process, can complete various repeated operation operations in a three-dimensional space, improves the production efficiency and the product quality, and improves the labor force to play an important role. The mechanical arm equipment has more types, such as a frame type, a side hanging type, a cow head type and the like; the longitudinal walking manipulator mainly longitudinally supports and removes some motion functions simulating human hands and arms, and is an automatic operation device used for grabbing and carrying objects according to a fixed program or longitudinally moving an operation tool.

However, the existing drawing arm of the longitudinal walking manipulator has the problems of complex mounting structure and inconvenient use, and the working efficiency of the manipulator is influenced.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a indulge and walk six shaft type manipulators, it is complicated to solve the current manipulator mounting structure of indulging away at least, and awkward problem has rational in infrastructure, installation convenient to use's advantage.

(II) technical scheme

In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides a indulge and walk six shaft type manipulators, includes the base, installs X main shaft, slidable mounting on the base draw and pull out the arm and slidable mounting draw Z main shaft and Z countershaft on pulling out the arm with Y main shaft connection, Y main shaft one end is equipped with the connecting plate, is connected the reinforcing plate between this connecting plate and the Y main shaft, draw and pull out the arm with X main shaft parallel arrangement, should draw and pull out the arm outside be equipped with the mounting groove of connecting plate adaptation, the connecting plate passes through the bolt and installs in this mounting groove, draw and pull out the arm and deviate from connecting plate one side is equipped with the slider sliding connection's that is connected with Z main shaft and Z countershaft slide rail, and inside is equipped with the installation cavity, and the top is equipped with the viewing aperture that communicates with the installation cavity, and the lid is drawn in the connection of installation cavity one end.

Further, an installation notch is formed in one end, close to the speed reducer cover, of the drawing arm, and the speed reducer cover irradiates the outside of the installation notch.

So set up, can install the motor on this installation breach, it is spacing that the motor passes through the installation breach, and the installation is firm more stable.

And a drag chain plate is further arranged on one side of the drawing arm close to the Y main shaft.

So set up, the tow chain is conveniently placed to the tow chain board, avoids breaking away from to interfere other part installations and use.

Further setting, the frock is taken out in the connection of Z main shaft bottom, should take out the frock include with Z main shaft bottom bolted connection the connecting plate, fix locating piece on the connecting plate, install cylinder on the connecting plate, with the flexible mounting panel of holding the connection of cylinder, connect the sucking disc on the mounting panel and connect the gangbar between the mounting panel, be equipped with the work piece hole of stepping down on locating piece and the connecting plate, the locating piece still be equipped with the sucking disc hole of the hole intercommunication of stepping down, the sucking disc orientation the sucking disc hole sets up, the drive direction of cylinder is the same with the sucking disc orientation.

So set up, place the work piece in the locating piece, through the motion of cylinder drive connecting plate, the sucking disc on the connecting plate is inhaled tightly to the sucking disc hole motion with the locating piece intercommunication to the work piece, and the connecting plate is connected with the manipulator and removes through the manipulator drive, realizes upper and lower material.

Further, the positioning blocks are parallel to each other.

So set up, the locating piece can drive simultaneously through a cylinder, simplifies overall structure.

Further setting, the connecting plate includes the horizontal board and connects the vertical board in horizontal board middle section, the locating piece is installed on the horizontal board, the cylinder is installed on vertical board.

So set up, take out the whole symmetrical structure that is of frock, the atress is even stable, and the action is steady.

Further, a connecting hole is formed in the middle of the longitudinal plate.

So set up, the connecting hole of vertical board and the connecting hole of L template can pass through bolted connection, realize fixedly.

Further setting, the bottom end of the Z auxiliary shaft is connected with a clamp.

So set up, the anchor clamps of Z countershaft bottom make things convenient for devices such as centre gripping water pipe.

(III) advantageous effects

Compared with the prior art, the utility model provides a pair of indulge away six-shaft type manipulator possesses following beneficial effect:

the utility model discloses a indulge and walk six shaft type manipulators and realize the removal of three direction through X main shaft, Y main shaft, Z main shaft and Z countershaft, what the Y main shaft was connected draws and pulls out the arm and is parallel with the X main shaft, forms to indulge away the structure, conveniently indulges away the action, draws and pulls out the connection structure simple and firm of arm and Y main shaft, draws and pulls out the convenient installation and the use of each part of arm self structure. The utility model has the advantages of simple and reasonable overall structure, installation convenient to use, the action is indulged away in completion that can be fine, fine satisfied in the production process to indulging the user demand of walking the manipulator.

Drawings

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

FIG. 2 is a front view of the present invention;

FIG. 3 is a schematic view of the drawing arm according to the present invention;

FIG. 4 is a schematic connection diagram of the take-out tool of the present invention;

fig. 5 is a schematic structural view of the taking-out tool of the present invention;

fig. 6 is a back schematic view of the taking-out tool of the present invention.

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.

Please refer to fig. 1, fig. 2 and fig. 3, wherein fig. 1 is a schematic structural diagram of the present invention, fig. 2 is a front view of the present invention, and fig. 3 is a schematic connection diagram of the pulling arm of the present invention.

The utility model provides a vertically-walking six-shaft type manipulator, which comprises a base 1, an X main shaft 2 arranged on the base 1, a Y main shaft 3 slidably arranged on the X main shaft 2, a drawing arm 4 connected with the Y main shaft 3, and a Z main shaft 5 and a Z auxiliary shaft 6 slidably arranged on the drawing arm 4, wherein one end of the Y main shaft 3 is provided with a connecting plate 30, a reinforcing plate 31 is connected between the connecting plate 30 and the Y main shaft 3, the connecting plate 30 is also provided with a bolt hole, the drawing arm 4 is arranged in parallel with the X main shaft 2, the outer side of the drawing arm 4 is provided with a mounting groove 40 matched with the connecting plate 30, the connecting plate 30 is arranged in the mounting groove 40 through a bolt, one side of the drawing arm 4, which is far away from the connecting plate 30, is provided with a slide rail 41 connected with the slide block and the slide block, the slide block is connected with the Z main shaft 5 and the Z auxiliary shaft 6, the mounting cavity, the other end is bolted to a speed reducer cover 46 through a reinforcing seat 45.

The one end that draws arm 4 to be close to speed reducer cover 46 is equipped with installation breach 400, and speed reducer cover 46 shines outside this installation breach 400, can install the motor on this installation breach 400, and it is spacing that the motor passes through installation breach 400, installs more firmly stably.

One side of the drawing arm 4 close to the Y spindle 3 is also provided with a drag chain plate 47, and the drag chain plate 47 is convenient for placing a drag chain and avoids being separated from interfering with the installation and use of other components.

Referring to fig. 4, 5 and 6, fig. 4 is a schematic view of the taking-out tool of the present invention, fig. 5 is a schematic view of the taking-out tool of the present invention, fig. 6 is a schematic view of the back of the taking-out tool of the present invention, the bottom end of the Z spindle 5 is connected with the taking-out tool 7, the taking-out tool 7 includes a connecting plate 71 bolted to the bottom end of the Z spindle 4, a positioning block 72 fixed on the connecting plate 71, a cylinder 73 mounted on the connecting plate 71, a mounting plate 74 connected to the telescopic end of the cylinder 73, a suction cup 75 connected to the mounting plate 74, and a linkage rod 76 connected between the mounting plates 74, the positioning block 72 and the connecting plate 71 are provided with a workpiece abdicating hole 700, the positioning block 72 is further provided with a suction cup hole 701 communicated with the abdicating hole 700, the suction cup 75 is disposed toward the suction cup hole 701, the connecting plate 71 is driven to move by the air cylinder 73, the suckers 75 on the connecting plate 71 move towards the sucker holes 701 communicated with the abdicating holes 700 to tightly suck workpieces, and the connecting plate 71 is connected with a manipulator and is driven to move by the manipulator to realize feeding and discharging.

The positioning blocks 72 are parallel to each other, and the positioning blocks 72 can be simultaneously driven by one air cylinder 73, thereby simplifying the overall structure.

The connecting plate 71 comprises a transverse plate 711 and a longitudinal plate 712 connected to the middle section of the transverse plate 711, the abdicating hole 700 is installed on the transverse plate 711, the air cylinder 73 is installed on the longitudinal plate 712, the whole taking-out tool 7 is of a symmetrical structure, the stress is uniform and stable, and the action is stable.

The middle part of the longitudinal plate 712 is provided with a connecting hole 702, and the connecting hole 702 of the longitudinal plate 712 and the connecting hole 702 of the L-shaped plate can be connected through a bolt to realize fixation.

The bottom end of the Z auxiliary shaft 6 is connected with a clamp 8, and the clamp 8 at the bottom end of the Z auxiliary shaft 6 is convenient for clamping devices such as a water pipe.

The utility model discloses a indulge and walk six shaft type manipulator during operation, through the removal that X main shaft 2, Y main shaft 3, Z main shaft 5 and Z countershaft 6 realized three direction, the arm 4 is pulled out with X main shaft 2 is parallel to the drawing that Y main shaft 3 is connected, forms and indulges the structure of walking, conveniently indulges the action of walking, draws the connection structure who pulls out arm 4 and Y main shaft 3 simple and firm, draws and pulls out arm 4 self structure and makes things convenient for each parts installation and use.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a indulge and walk six shaft type manipulators, its characterized in that, includes the base, installs X main shaft, slidable mounting on the base and draws and pull out the arm and slidable mounting draw Z main shaft and Z countershaft on drawing and pulling out the arm with Y main shaft connection, Y main shaft one end is equipped with the connecting plate, is connected the reinforcing plate between this connecting plate and the Y main shaft, draw and pull out the arm with X main shaft parallel arrangement, should draw and pull out the arm outside be equipped with the mounting groove of connecting plate adaptation, the connecting plate passes through the bolt and installs in this mounting groove, draw and pull out the arm and deviate from connecting plate one side is equipped with the slide rail of the slider sliding connection who is connected with Z main shaft and Z countershaft, and inside is equipped with the installation cavity, and the top is equipped with the viewing aperture that communicates with the installation cavity, and the lid is drawn in connection of installation.

2. The vertical-travel six-axis manipulator according to claim 1, wherein an installation notch is formed at an end of the drawing arm near the reduction gear housing, and the reduction gear housing is irradiated outside the installation notch.

3. The longitudinally-moving six-axis manipulator as claimed in claim 1, wherein a drag link plate is further provided on the side of the draw arm close to the Y-axis.

4. The longitudinal-moving six-axis manipulator according to claim 1, wherein the Z spindle bottom end is connected with a take-out tool, the take-out tool comprises a connecting plate connected with the Z spindle bottom end through a bolt, a positioning block fixed on the connecting plate, a cylinder installed on the connecting plate, a mounting plate connected with a telescopic end of the cylinder, a sucker connected to the mounting plate, and a linkage rod connected between the mounting plates, the positioning block and the connecting plate are provided with workpiece abdicating holes, the positioning block is further provided with sucker holes communicated with the abdicating holes, the sucker is arranged towards the sucker holes, and the driving direction of the cylinder is the same as the direction of the sucker.

5. The vertical-travel six-axis robot of claim 4, wherein the positioning blocks are parallel to each other.

6. The vertical-travel six-axis robot of claim 5, wherein the connecting plate comprises a transverse plate and a longitudinal plate connected to a middle section of the transverse plate, the positioning block is mounted on the transverse plate, and the cylinder is mounted on the longitudinal plate.

7. The vertical-walking six-axis manipulator according to claim 6, wherein the middle of the longitudinal plate is provided with a connecting hole.

8. The vertical-walking six-axis manipulator of claim 1, wherein the bottom end of the Z auxiliary shaft is connected with a clamp.