CN215437031U - Three-dimensional running gear and filling manipulator - Google Patents
Three-dimensional running gear and filling manipulator Download PDFInfo
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- CN215437031U CN215437031U CN202121436909.3U CN202121436909U CN215437031U CN 215437031 U CN215437031 U CN 215437031U CN 202121436909 U CN202121436909 U CN 202121436909U CN 215437031 U CN215437031 U CN 215437031U
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Abstract
The utility model provides a three-dimensional walking device and a filling manipulator, wherein the three-dimensional walking device comprises an X-axis motion carrier, a Y-axis motion carrier and a Z-axis motion carrier; the X-axis motion carrier provides support for moving along the X-axis direction, the Y-axis motion carrier provides support for moving along the Y-axis direction of the filling manipulator, and the Z-axis motion carrier provides support for moving along the Z-axis direction; the Z-axis motion carrier is installed on a Y-axis motion carrier, the Y-axis motion carrier is installed on the X-axis motion carrier, and the Z-axis motion carrier moves on the Y-axis motion carrier along with the Y-axis motion carrier. The three-dimensional walking device can carry the filling manipulator thereon to walk in the three-dimensional direction, the occupied space is small, and other functional modules can conveniently work in a cooperative manner.
Description
Technical Field
The utility model relates to the field of post-processing of industrial production, in particular to a three-dimensional walking device and a filling manipulator.
Background
In the field of chemical post-treatment at present, the plane motion equipment or the structure of a filling manipulator is too simple to meet the requirement of accurate positioning; or the positioning precision is high, but the structure is complex, the installation and the maintenance are inconvenient, the manufacturing cost is high, and the occupied space is large. The existing plane motion equipment of the filling manipulator brings much invariance to chemical post-treatment, and restricts the production speed of the chemical post-treatment.
Based on the above problems in the prior art, a need exists for a three-dimensional traveling device and a filling manipulator.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems in the prior art, the utility model provides a three-dimensional walking device and a filling manipulator, wherein the three-dimensional walking device can carry the filling manipulator to walk in the three-dimensional direction, the occupied space is small, and the cooperation of other functional modules is facilitated.
In order to realize the purpose, the following technical scheme is provided:
a three-dimensional walking device comprises an X-axis motion carrier, a Y-axis motion carrier and a Z-axis motion carrier; the X-axis motion carrier provides support for the filling manipulator to move along the X-axis direction, the Y-axis motion carrier provides support for the filling manipulator to move along the Y-axis direction, and the Z-axis motion carrier provides support for the filling manipulator to move along the Z-axis direction; the Z-axis motion carrier is installed on a Y-axis motion carrier, the Y-axis motion carrier is installed on the X-axis motion carrier, and the Z-axis motion carrier moves on the Y-axis motion carrier along with the Y-axis motion carrier.
Further, the X-axis motion carrier comprises an X-axis motion frame and an X-axis driving device.
Furthermore, the upper part of the X-axis motion frame is provided with a Y-axis linear guide groove for the filling manipulator to move along the Y-axis direction; and the lower part of the X-axis motion frame is provided with a Y-axis linear guide rail sliding block.
Furthermore, the X-axis motion rack, the X-axis linear guide rail slide block and the X-axis motion linear guide groove of the X-axis motion frame are arranged on the main machine body.
Further, the Y-axis motion carrier comprises a Y-axis motion mounting plate and a Y-axis driving device.
Furthermore, the Y-axis motion mounting plate is fixed on the Y-axis linear guide rail slide block; the upper part of the Y-axis guide wheel is provided with a Y-axis guide wheel which is matched with the Y-axis linear guide groove for use.
Further, the Z-axis motion carrier comprises a Z-axis motion frame and a Z-axis driving device.
Further, the Z-axis moving frame is fixed with the Y-axis moving mounting plate; and a Z-axis linear guide rail sliding block is arranged on the Z-axis moving frame.
Further, the Z-axis driving device comprises a Z-axis synchronous belt wheel, a Z-axis synchronous belt and a Z-axis driven wheel; the Z-axis driven wheel is fixed on the Z-axis moving frame; the Z-axis synchronous belt wheel is fixed on the Z-axis speed reducer.
The filling manipulator comprises a filling gun and the three-dimensional travelling device, wherein the filling gun is mounted on the three-dimensional travelling device and moves along with the three-dimensional travelling device.
Compared with the prior art, the utility model has the following advantages:
1. the split charging equipment can travel in a three-dimensional space, and the stability is good;
2. the structure is simple and reliable, the processing difficulty is small, and the manufacturing period is short;
2. the installation is convenient, the installation space is small, and other functional modules can work cooperatively conveniently.
Drawings
FIG. 1 is a schematic view of an overall structure of a walking device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an X-axis driving device of a decorating and filling manipulator according to an embodiment of the present invention;
FIG. 3 is a schematic view of a Y-axis motion carrier of a decorating and filling manipulator according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a Y-axis driving device of a decorating and filling manipulator according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a Z-axis driving device of a decorating manipulator according to an embodiment of the present invention;
the automatic feeding device comprises a 36-Y-axis motion carrier, a 37-X-axis driving device, a 38-interchangeable gun device, a 39-Z-axis motion carrier, a 40-X-axis servo motor, a 41-X-axis speed reducer, a 42-X-axis gear, a 43-Y-axis driving device, a 44-X-axis motion frame, a 45-Y-axis linear guide groove, a 46-Y-axis linear guide rail sliding block, a 47-Y-axis servo motor, a 48-Y-axis speed reducer, a 49-Y-axis synchronous pulley, a 50-Y-axis synchronous belt, a 51-Y-axis driven wheel, a 52-Z-axis synchronous pulley, a 53-Z-axis servo motor, a 54-Z-axis speed reducer, a 55-Z-axis synchronous belt, a 56-Y-axis motion mounting plate, a 57-Z-axis linear guide rail sliding block, a 58-Z-axis driven wheel and a 59-Z-axis motion frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the description refers must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the following examples, the X-axis is along the transport direction of the packaging container, the Y-axis is perpendicular to the transport direction of the packaging container, and the Z-axis is perpendicular to the ground.
Example one
The present embodiment provides a three-dimensional walking apparatus including an X-axis moving carrier, a Y-axis moving carrier 36, and a Z-axis moving carrier 39.
The X-axis motion carrier includes an X-axis motion frame 44 and an X-axis drive 37.
The X-axis moving frame 44 is formed by welding a steel pipe and a steel plate and is a carrier which can move along the X-axis direction of the Y-axis moving carrier 36; the upper part of the mechanical arm is provided with a Y-axis linear guide groove 45 for the mechanical arm 9 to move along the Y-axis direction. The Y-axis linear guide groove 45 is fixed with the X-axis moving frame 44 in a bolt connection mode; the lower part of the Y-axis linear guide rail sliding block is provided with a Y-axis linear guide rail sliding block 46 for the filling manipulator 9 to move along the Y-axis direction, and the Y-axis linear guide rail sliding block 46 is fixed with the X-axis moving frame 44 in a bolt connection mode.
The X-axis motion frame 44 is mounted on the main body. An X-axis motion rack, an X-axis linear guide rail slider and an X-axis motion linear guide groove are mounted on the main machine body in a bolt connection mode so as to be matched with the X-axis motion frame 44 to move on the main machine body along the X-axis direction.
The X-axis driving device 37 provides power for the filling manipulator 9 to move along the X-axis direction; the X-axis servo motor is composed of an X-axis servo motor 40, an X-axis speed reducer 41 and an X-axis gear 42. The X-axis speed reducer 41 is fixed on the Y-axis motion carrier 36 in a bolt connection mode; the X-axis servomotor 40 and the X-axis gear 42 are fixed to the X-axis reducer 41 by means of bolts.
The Y-axis moving carrier 36 provides a supporting force for the Z-axis moving carrier 39 to move along the Y-axis direction, and is composed of a Y-axis moving mounting plate 56 and a Y-axis driving device 43.
The Y-axis motion mounting plate 56 is used for supporting the Z-axis motion carrier 39 and is formed by a steel plate welding machine, and the Y-axis motion mounting plate 56 is fixed on the Y-axis linear guide rail sliding block 46 in a bolt connection mode; and the upper part thereof is provided with a Y-axis guide wheel which is fixed on the Y-axis movement mounting plate 56 in a bolt connection manner. The Y-axis guide wheel assists in supporting the Y-axis motion mounting plate 56 for movement along the Y-axis and provides guidance thereto by cooperating with the Y-axis linear guide groove 45 on the X-axis motion frame 44.
The Y-axis driving device 43 provides power for the filling manipulator 9 to move along the Y-axis direction; the device consists of a Y-axis servo motor 47, a Y-axis speed reducer 48, a Y-axis synchronous belt pulley 49, a Y-axis synchronous belt 50 and a Y-axis driven wheel 51. The Y-axis reducer 48 and the Y-axis driven wheel 51 are fixed to the X-axis moving frame 44 by bolts, and the Y-axis servo motor 47 and the Y-axis synchronous pulley 49 are fixed to the Y-axis reducer 48 by bolts. The transmission principle here is the meshing transmission of synchronous belts
The Z-axis moving carrier 39 provides a mounting carrier for the filling manipulator 9 to move along the Z-axis direction, and is composed of a Z-axis moving frame 59 and a Z-axis driving device.
The Z-axis moving frame 59 is formed by welding steel pipes and steel plates and is a carrier for the filling manipulator 9 to move along the Z-axis direction; the Z-axis moving frame 59 is fixed to the Y-axis moving mount plate 56 by means of bolts. A Z-axis linear guide slider 57 is provided on the Z-axis moving frame 59, and the Z-axis linear guide slider 57 and the Z-axis moving frame 59 are fixed by bolting and move in the Z-axis direction.
The filling manipulator 9 of the Z-axis driving device moves along the Z-axis direction to provide power; the device consists of a Z-axis servo motor 53, a Z-axis speed reducer 54, a Z-axis synchronous belt wheel 524, a Z-axis synchronous belt 55 and a Z-axis driven wheel 58. The Z-axis reducer 54 and the Z-axis driven pulley 58 are fixed to a Z-axis moving frame 59 by means of bolts, and the Z-axis servomotor 53 and the Z-axis synchronous pulley 52 are fixed to the Z-axis reducer 54 by means of bolts. The transmission principle here is the meshing transmission of a synchronous belt.
Example two
The present embodiment provides a filling robot, wherein the filling robot 9 is a device for filling material into a packaging container; is fixed on the main machine body in a bolt connection mode.
The filling manipulator 9 consists of a three-dimensional walking device and a filling gun. The three-dimensional walking device can adopt the device in the first embodiment, and can also adopt other three-dimensional walking devices.
The difference between the three-dimensional walking device adopted in the embodiment and the first embodiment is as follows: the X-axis driving device in the embodiment consists of an X-axis speed reducing motor and an X-axis gear; the Y-axis driving device consists of a Y-axis speed reducing motor, a Y-axis synchronous belt wheel, a Y-axis synchronous belt and a Y-axis driven wheel.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A three-dimensional walking device is characterized in that an X-axis motion carrier, a Y-axis motion carrier and a Z-axis motion carrier are arranged; the X-axis motion carrier provides support for the filling manipulator to move along the X-axis direction, the Y-axis motion carrier provides support for the filling manipulator to move along the Y-axis direction, and the Z-axis motion carrier provides support for the filling manipulator to move along the Z-axis direction; the Z-axis motion carrier is installed on a Y-axis motion carrier, the Y-axis motion carrier is installed on the X-axis motion carrier, and the Z-axis motion carrier moves on the Y-axis motion carrier along with the Y-axis motion carrier.
2. The three-dimensional walking device of claim 1, wherein the X-axis motion carrier comprises an X-axis motion frame and an X-axis driving device.
3. The three-dimensional walking device as claimed in claim 2, wherein the upper part of the X-axis moving frame is provided with a Y-axis linear guide groove for the filling manipulator to move along the Y-axis direction; and the lower part of the X-axis motion frame is provided with a Y-axis linear guide rail sliding block.
4. The three-dimensional traveling apparatus according to claim 3, wherein the X-axis moving frame, the X-axis moving rack, the X-axis linear guide slider, and the X-axis moving linear guide groove are installed on the main body.
5. The three-dimensional walking device of claim 1, wherein the Y-axis motion carrier comprises a Y-axis motion mounting plate and a Y-axis drive.
6. The three-dimensional walking device of claim 5, wherein said Y-axis motion mounting plate is fixed to a Y-axis linear guide slider; the upper part of the Y-axis guide wheel is provided with a Y-axis guide wheel which is matched with the Y-axis linear guide groove for use.
7. The three-dimensional walking device of claim 1, wherein said Z-axis motion carrier comprises a Z-axis motion frame and a Z-axis drive.
8. The three-dimensional walking device of claim 7, wherein said Z-axis moving frame is fixed to said Y-axis moving mounting plate; and a Z-axis linear guide rail sliding block is arranged on the Z-axis moving frame.
9. The three-dimensional traveling device according to claim 8, wherein the Z-axis driving means includes a Z-axis synchronous pulley, a Z-axis synchronous belt, and a Z-axis driven pulley; the Z-axis driven wheel is fixed on the Z-axis moving frame; the Z-axis synchronous belt wheel is fixed on the Z-axis speed reducer.
10. Filling manipulator, characterized in that it comprises a filling gun and a three-dimensional walking device according to any one of claims 1 to 9, said filling gun being mounted on said three-dimensional walking device and moving with it.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121314124 | 2021-06-13 | ||
| CN2021213141249 | 2021-06-13 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215437031U true CN215437031U (en) | 2022-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121436909.3U Active CN215437031U (en) | 2021-06-13 | 2021-06-28 | Three-dimensional running gear and filling manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN215437031U (en) |
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2021
- 2021-06-28 CN CN202121436909.3U patent/CN215437031U/en active Active
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