CN216328313U - Three-axis manipulator with variable-pitch clamping jaw - Google Patents
Three-axis manipulator with variable-pitch clamping jaw Download PDFInfo
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- CN216328313U CN216328313U CN202122659616.8U CN202122659616U CN216328313U CN 216328313 U CN216328313 U CN 216328313U CN 202122659616 U CN202122659616 U CN 202122659616U CN 216328313 U CN216328313 U CN 216328313U
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Abstract
The utility model discloses a three-axis manipulator with a variable-pitch clamping jaw, which comprises an X-direction sliding table module, a Y-direction sliding table module, a Z-direction sliding table module and a double-clamping-jaw picker, wherein the X-direction sliding table module is connected with the Y-direction sliding table module; the X-direction sliding table module comprises a servo motor, a driving belt pulley, a driven belt pulley, a transmission belt, a first slider sliding rail assembly, a belt clamping plate and a first connecting bracket; the double-clamping-jaw picker is connected with a slide block of the Z-direction sliding table module through the L-shaped connecting plate, the Z-direction sliding table module is connected with a slide block of the Y-direction sliding table module, and the Y-direction sliding table module is connected with the first connecting support to drive the double-clamping-jaw picker to pick up workpieces at different positions on the workbench. With quick-witted one-level linear drive mechanism by the servo slip table module of standard change for through belt drive's slip table module, this slip table module uses support section bar and two guide rails direction, has increased mechanical strength, satisfies workspace's requirement, has reduced manufacturing cost, with the design cost control of whole equipment within the budget, satisfied customer's demand.
Description
Technical Field
The utility model relates to a three-axis manipulator, in particular to a three-axis manipulator with a variable-pitch clamping jaw.
Background
At present, in order to realize a series of automatic production such as die-casting, part taking, cooling, die-cutting and swinging, robots are often required to be matched with the transfer of workpieces among various processes, particularly robots provided with clamping jaw clamp structures are mainly matched with workpiece grabbing in the automatic process from the die-casting of the workpieces to the cooling and then to the die-cutting of the swinging disks.
In the automatic equipment, the application of the clamping jaw mechanism is mature, and the clamping jaw mechanism is mainly used for grabbing and moving workpieces; however, most of the existing gripping jaw grippers adopt a single gripping jaw to grip a workpiece, and the working efficiency is low.
In order to improve the working efficiency, part of the grippers in the prior art comprise two clamping jaws, but the two clamping jaws in the gripper are fixedly connected with the manipulator, the positions of the two clamping jaws are relatively fixed, the two clamping jaws cannot be adjusted according to the distance between the gripped workpieces, and the gripper cannot be applied to the situation that the distance between the two workpieces changes during gripping and releasing.
In addition, in order to facilitate design and assembly, a three-axis manipulator in the prior art is mostly directly driven by a servo sliding table module; but the mechanical strength of servo slip table module is not enough, can not bear the weight of the heavy object, if need satisfy the bearing requirement who bears equipment, then need select the servo slip table module of large size, can not satisfy workspace's requirement on the one hand, and on the other hand has increased design cost, can not be with the design cost control of whole equipment within the budget, can not satisfy customer's demand.
Aiming at the existing problems, the three-axis manipulator in the prior art can not well meet the requirement of realizing automatic production in a workshop, and further improvement is needed.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model aims to provide a three-axis manipulator with a variable-pitch clamping jaw, which is suitable for the situation that the distance between two workpieces changes during grabbing and releasing on the premise of improving the mechanical strength of the manipulator and reducing the cost.
Therefore, the utility model provides a three-axis manipulator with a variable-pitch clamping jaw, which comprises an X-direction sliding table module, a Y-direction sliding table module, a Z-direction sliding table module and a double-clamping-jaw picker, wherein the X-direction sliding table module is connected with the Y-direction sliding table module; the X-direction sliding table module comprises a servo motor, a driving belt pulley, a driven belt pulley, a transmission belt, a first slider sliding rail assembly, a belt clamping plate and a first connecting bracket; the driving belt pulley is in transmission connection with the servo motor through a planetary reducer, and the driven belt pulley is in transmission connection with the driving belt pulley through the transmission belt; the belt clamping plate is fixedly connected with the transmission belt, and the first connecting support is connected with the belt clamping plate and the sliding block sliding rail assembly respectively, so that the first connecting support can move along the X direction.
The double-clamping-jaw picker is connected with the slide block of the Z-direction sliding table module through an L-shaped connecting plate, the Z-direction sliding table module is connected with the slide block of the Y-direction sliding table module, and the Y-direction sliding table module is connected with the first connecting support to drive the double-clamping-jaw picker to pick up workpieces at different positions on the workbench.
Further, X still includes slider guide rail set spare two to the slip table module, slider slide rail set spare one with slider guide rail set spare two is fixed X is to the support section bar at slip table module middle part on, just the slider of slider slide rail set spare one is located its the place ahead, the slider of slider guide rail set spare two is located its top, two sets of sliders respectively with linking bridge one is connected.
Furthermore, the double-clamping-jaw picker comprises a clamping jaw fixing plate, a sliding table module, a sliding table fixing plate, a pair of connecting supports II, a pair of three-jaw cylinders and a pair of linear cylinders which are symmetrically distributed, and further comprises a plurality of three-jaw fingers and a plurality of clamping jaw molds; the sliding table module is provided with a sliding rail and a pair of sliding blocks, the sliding rail of the sliding table module is connected with the sliding table fixing plate, and the sliding table fixing plate is arranged on the rear side of the clamping jaw fixing plate; the three-jaw finger is arranged on the three-jaw cylinder, the clamping jaw mold is fixed on the inner side of the three-jaw finger, and the three-jaw cylinder is arranged at the lower end of the second connecting bracket; the connecting support II is connected with the sliding block on the corresponding side of the sliding table module, the connecting support II is connected with the cylinder rod of the linear cylinder, and the linear cylinder is used for adjusting the gap between the three-jaw cylinders so as to be suitable for the condition that the distance between two workpieces changes when grabbing and releasing.
Further, the linking bridge two includes posterior lateral plate, bottom plate and the outer panel that mutually perpendicular set up, the slider of slip table module with the posterior lateral plate is fixed, sharp cylinder with the outer panel is connected, the three-jaw cylinder with the bottom plate is connected.
Further, a cylinder rod of the linear cylinder is connected with the connecting bracket through a floating joint.
Further, the clamping jaw mould with the detachable fixed connection of three-jaw finger, the clamping jaw mould can be changed according to the shape and the size of the product that is snatched.
Furthermore, a pair of the linear cylinders are respectively connected with the lower ends of the clamping jaw fixing plates.
According to the three-axis manipulator with the variable-pitch clamping jaw, under the condition that the grabbing precision requirement is not high, the primary linear driving mechanism with relatively high requirements on the machine bearing capacity and the mechanical strength is replaced by the standard servo sliding table module through belt transmission, the sliding table module is guided by the supporting section bar and the double guide rails, the mechanical strength is increased, the requirement on the working space is met, the production cost is reduced, the design cost of the whole equipment is controlled within the budget, and the customer requirements are met.
In the preferred scheme of the utility model, the double-clamping-jaw picker is arranged, the pair three-jaw air cylinders of the double-clamping-jaw picker are arranged on the first connecting support and are guided by the sliding table, and the linear air cylinders are driven to adjust the gap between the two three-jaw air cylinders, so that the gap can be adjusted when the distance between the two workpieces is changed during grabbing and releasing, the position between the two clamping jaws can be adjusted according to the distance between the grabbed workpieces, and the requirement of the robot for realizing automatic production is well met.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:
FIG. 1 is a schematic diagram of a three axis robot having a variable pitch gripper according to the present invention;
FIG. 2 is a first schematic structural view of an X-direction sliding table module in a three-axis robot with a variable-pitch clamping jaw according to the present invention;
FIG. 3 is a schematic structural view of a second X-direction sliding table module in the three-axis robot with a variable-pitch clamping jaw according to the present invention;
FIG. 4 is a first schematic diagram of the dual jaw picker of the three axis robot having variable pitch jaws of the present invention;
fig. 5 is a second schematic structural view of a dual jaw picker in a three axis robot having a variable pitch jaw of the present invention.
Description of the reference numerals
1. Supporting the upright post; 2. an X-direction sliding table module; 3. a Z-direction sliding table module; 4. a Y-direction sliding table module; 5. a double jaw picker; 21. a servo motor; 22. a first slide block and slide rail assembly; 23. connecting a first bracket; 24. a drive belt; 25. A second slide block guide rail component; 26. a drive pulley; 27. a driven pulley; 28. a belt clamp plate; 31. an L-shaped connecting plate; 51. a clamping jaw fixing plate; 52. connecting a second bracket; 53. a floating joint; 54. a three-jaw cylinder; 55. a linear cylinder; 56. three-jaw fingers; 57. a jaw mold; 58. a sliding table module; 59. slip table fixed plate.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 5, the three-axis robot with a variable-pitch clamping jaw of the present invention includes an X-direction sliding table module 2, a Z-direction sliding table module 3, a Y-direction sliding table module 4, and a double-clamping jaw picker 5. Wherein, Z adopts standard slip table module group to slip table module 3 and Y to slip table module group 4, and X adopts the slip table module group that has belt drive mechanism to slip table module group 2.
Double-gripper picker 5 is connected to the slider of slip table module 3 through L type connecting plate 31 and Z, can reciprocate, and Z is connected to slip table module 3 and Y to the slider of slip table module 4, can the back-and-forth movement, and Y can be followed lateral shifting to slip table module 4 and X to 23 fixed connection of linking bridge of slip table module 2, and then make things convenient for double-gripper picker 5 to pick up the work piece of different positions on the workstation.
Specifically, as shown in fig. 2 and 3, the X-direction sliding table module 2 includes a servo motor 21, a driving pulley 26, a driven pulley 27, a transmission belt 24, a first slider rail assembly 22, a second slider rail assembly 25, a belt clamping plate 28, and a first connecting bracket 23.
Wherein, the driving belt pulley 26 is in transmission connection with the servo motor 21 through a planetary reducer, and the driven belt pulley 27 is in transmission connection with the driving belt pulley 26 through a transmission belt 24; the belt clamping plate 28 is fixedly connected with the transmission belt 24 and moves along with the transmission belt 24, and the first connecting bracket 23 is fixedly connected with the belt clamping plate 28 through a screw so as to enable the belt clamping plate 28 to move synchronously.
In addition, the first connecting bracket 23 is also respectively connected with the first slider sliding rail assembly 22 and the second slider guide rail assembly 25; the servo motor 21 drives the transmission belt 24 to move, the first connecting support 23 is driven to horizontally move along the first slider sliding rail assembly 22 and the second slider sliding rail assembly 25, and then the Z-direction sliding table module 3, the Y-direction sliding table module 4 and the double-clamping-jaw picker 5 which are installed on the first connecting support 23 are driven to move, so that workpieces at different positions on the workbench can be picked up.
The first sliding block sliding rail assembly 22 and the second sliding block sliding rail assembly 25 are fixed on a supporting section bar in the middle of the X-direction sliding table module 2, a sliding block of the first sliding block sliding rail assembly 22 is located in front of the sliding block sliding rail assembly, and the second sliding block sliding rail assembly 25 is located above the sliding block sliding rail assembly; through setting up the guide rail of two parallels to use the very high support section bar of mechanical strength, can improve X to the bearing capacity of slip table module 2, improve the motion precision simultaneously.
As shown in fig. 4 and 5, the double-jaw picker 5 includes a clamping jaw fixing plate 51, a sliding table module 58, a sliding table fixing plate 59, a pair of connecting brackets 52, a pair of floating joints 53, a pair of three-jaw cylinders 54, a pair of linear cylinders 55, a plurality of three-jaw fingers 56, and a plurality of clamping jaw molds 57, which are symmetrically distributed.
Specifically, the jaw fixing plate 51 is horizontally disposed and fixed to the multi-axis robot by bolts, so that the entire gripper can be moved to grip workpieces at different positions.
Wherein, slip table module 58 level sets up, has slide rail and a pair of slider, and the slide rail of slip table module 58 is installed on slip table fixed plate 59, and slip table fixed plate 59 sets up in clamping jaw fixed plate 51 rear side, and both pass through bolted connection.
The three-jaw air cylinder 54 is arranged at the lower end of the second connecting bracket 52; the second connecting bracket 52 is connected with the slide block on the corresponding side of the sliding table module 58, and the second connecting bracket 52 is connected with the cylinder rod of the linear air cylinder 55.
The second connecting bracket 52 comprises a rear side plate, a bottom plate and an outer side plate which are perpendicular to each other, the rear side plate of the second connecting bracket is fixedly connected with the sliding block on the corresponding side of the sliding table module 58, a cylinder rod of the linear cylinder is connected with the outer side plate of the second connecting bracket, and the three-jaw cylinder 54 is fixed on the bottom plate of the second connecting bracket 52.
The cylinder rod of the linear air cylinder 55 is connected with the second connecting support 52 through the floating joint 53, interference of the two shafts caused by connection errors can be eliminated through the floating joint, errors are eliminated, the sliding table is protected to enable the sliding table to run stably, and the service life is prolonged.
The linear air cylinder 55 is arranged on the lower side of the middle part of the clamping jaw fixing plate 51, the linear air cylinder 55 is connected with the second connecting support 52, and the second connecting support 52 and parts connected with the second connecting support can be driven to horizontally move along the sliding rail, so that the gap between the two three-jaw air cylinders can be adjusted, and the linear air cylinder is suitable for the situation that the distance between the two workpieces changes during grabbing and releasing.
As shown in fig. 5, the three-jaw finger 56 is mounted on the three-jaw cylinder 54, the jaw mold 57 is fixed inside the three-jaw finger 56, and the three-jaw finger can be controlled to clamp or release by the expansion and contraction of the three-jaw cylinder, so as to complete the taking or releasing of the workpiece.
Wherein, the clamping jaw mould 57 is detachably and fixedly connected with the three-jaw finger 56, and the clamping jaw mould 57 can be replaced according to the shape and the size of a grabbed product so as to adapt to the grabbing requirements of different products.
In this scheme, X is equipped with support post 1 to the both ends downside of slip table module 2 for be connected with the workstation, and then make things convenient for two clamping jaws to pick up 5 and pick up the work piece on the workstation.
The working principle and the working process of the utility model are briefly described below with reference to the accompanying drawings.
Under the condition that the precision requirement is not high, the one-level linear driving mechanism with relatively high mechanical strength requirement is replaced by the servo slip table module of standard through belt transmission, and this slip table module uses support section bar and two guide rails direction, has increased mechanical strength, satisfies working space's requirement, has reduced manufacturing cost, with the design cost control of whole equipment within the budget, has satisfied the customer demand.
In addition, the double-clamping-jaw picker can grab workpieces in pairs by arranging the pair of three-jaw cylinders, the pair of three-jaw cylinders are arranged on the connecting support and are guided by the sliding table, and the linear cylinders are driven to adjust the gap between the two three-jaw cylinders, so that the double-clamping-jaw picker is suitable for the situation that the distance between the two workpieces is changed during grabbing and releasing, the position between the two clamping jaws can be adjusted according to the distance between the grabbed workpieces, and the requirement of the robot for realizing automatic production is well met.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A three-axis manipulator with a variable-pitch clamping jaw is characterized by comprising an X-direction sliding table module (2), a Y-direction sliding table module (4), a Z-direction sliding table module (3) and a double-clamping-jaw picker (5);
the X-direction sliding table module (2) comprises a servo motor (21), a driving belt pulley (26), a driven belt pulley (27), a transmission belt (24), a first slider sliding rail assembly (22), a belt clamping plate (28) and a first connecting support (23); the driving belt pulley (26) is in transmission connection with the servo motor (21) through a planetary reducer, and the driven belt pulley (27) is in transmission connection with the driving belt pulley (26) through the transmission belt (24); the belt clamping plate (28) is fixedly connected with the transmission belt (24), and the first connecting bracket (23) is respectively connected with the belt clamping plate (28) and the first slider sliding rail assembly (22) so that the first connecting bracket (23) can move along the X direction;
wherein, two clamping jaw picker (5) through L type connecting plate (31) with Z is connected to the slider of slip table module (3), Z to slip table module (3) with Y is connected to the slider of slip table module (4), and Y to slip table module (4) with linking bridge (23) are connected, in order to drive two clamping jaw picker (5) pick up the work piece of different positions on the workstation.
2. The three-axis manipulator with variable-pitch clamping jaw according to claim 1, characterized in that the X-direction sliding table module (2) further comprises a second slider guide rail assembly (25), the first slider guide rail assembly (22) and the second slider guide rail assembly (25) are fixed on the supporting profile in the middle of the X-direction sliding table module (2), the slider of the first slider guide rail assembly (22) is located in front of the first slider guide rail assembly, the slider of the second slider guide rail assembly (25) is located above the first slider guide rail assembly, and the two sets of sliders are respectively connected with the first connecting bracket (23).
3. The three-axis manipulator with variable-pitch clamping jaws as claimed in claim 1, wherein the double-clamping-jaw picker comprises a clamping jaw fixing plate (51), a sliding table module (58), a sliding table fixing plate (59), a pair of connecting supports II (52), a pair of three-jaw cylinders (54), a pair of linear cylinders (55), a plurality of three-jaw fingers (56) and a plurality of clamping jaw molds (57), which are symmetrically distributed;
the sliding table module (58) is provided with a sliding rail and a pair of sliding blocks, the sliding rail of the sliding table module (58) is connected with the sliding table fixing plate (59), and the sliding table fixing plate (59) is arranged on the rear side of the clamping jaw fixing plate (51); the three-jaw finger (56) is arranged on the three-jaw air cylinder (54), the clamping jaw mold (57) is fixed on the inner side of the three-jaw finger (56), and the three-jaw air cylinder (54) is arranged at the lower end of the second connecting bracket (52);
the second connecting support (52) is connected with the sliding block on the corresponding side of the sliding table module (58), the second connecting support (52) is connected with a cylinder rod of the linear air cylinder (55), and the linear air cylinder (55) is used for adjusting the gap between the two three-jaw air cylinders (54) so as to be suitable for the situation that the distance between two workpieces changes during grabbing and releasing.
4. The three-axis manipulator with variable-pitch clamping jaws as claimed in claim 3, wherein the second connecting bracket (52) comprises a rear side plate, a bottom plate and an outer side plate which are perpendicular to each other, a sliding block of the sliding table module (58) is fixed with the rear side plate, the linear cylinder (55) is connected with the outer side plate, and the three-jaw cylinder (54) is connected with the bottom plate.
5. Three-axis robot with variable-pitch gripper according to claim 3, characterized in that the cylinder rod of the linear cylinder (55) is connected to the second connecting bracket (52) by means of a floating joint (53).
6. Three-axis robot with variable-pitch jaws, according to claim 3, characterized in that said jaw mold (57) is removably fixed to said three-jaw fingers (56), said jaw mold (57) being replaceable according to the shape and size of the product to be gripped.
7. Three-axis robot with variable-pitch jaws, according to claim 3, characterized in that a pair of said linear cylinders (55) are respectively connected to the lower ends of said jaw-holding plates (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122659616.8U CN216328313U (en) | 2021-11-02 | 2021-11-02 | Three-axis manipulator with variable-pitch clamping jaw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122659616.8U CN216328313U (en) | 2021-11-02 | 2021-11-02 | Three-axis manipulator with variable-pitch clamping jaw |
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| Publication Number | Publication Date |
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| CN216328313U true CN216328313U (en) | 2022-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122659616.8U Active CN216328313U (en) | 2021-11-02 | 2021-11-02 | Three-axis manipulator with variable-pitch clamping jaw |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118269065A (en) * | 2024-05-31 | 2024-07-02 | 黑龙江省农业机械工程科学研究院 | Soil fertilizer snatchs manipulator |
-
2021
- 2021-11-02 CN CN202122659616.8U patent/CN216328313U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118269065A (en) * | 2024-05-31 | 2024-07-02 | 黑龙江省农业机械工程科学研究院 | Soil fertilizer snatchs manipulator |
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Effective date of registration: 20221130 Address after: 516, Building 3, Xindi City Square, No. 3669, Luzhou Avenue, Baohe District, Hefei, Anhui, 230000 Patentee after: Hefei Shuanghe Intelligent Technology Co.,Ltd. Address before: 236400 sanliji 10-1, Liuji village committee, Yingxian Town, Linquan County, Fuyang City, Anhui Province Patentee before: Li Jia |
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| TR01 | Transfer of patent right |