CN217072367U - Three-axis manipulator - Google Patents

Three-axis manipulator Download PDF

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Publication number
CN217072367U
CN217072367U CN202220855738.6U CN202220855738U CN217072367U CN 217072367 U CN217072367 U CN 217072367U CN 202220855738 U CN202220855738 U CN 202220855738U CN 217072367 U CN217072367 U CN 217072367U
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CN
China
Prior art keywords
axis
sliding
supporting seat
screw rod
servo motor
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Active
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CN202220855738.6U
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Chinese (zh)
Inventor
陈伟健
龙际海
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Dongguan Ruidong Intelligent Technology Co ltd
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Dongguan Ruidong Intelligent Technology Co ltd
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Priority to CN202220855738.6U priority Critical patent/CN217072367U/en
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Abstract

The utility model relates to the field of mechanical equipment, in particular to a three-axis manipulator, which comprises a Z-axis supporting seat and an X-axis supporting seat; the end part of the X-axis supporting seat is arranged on the Z-axis supporting seat in a sliding manner; a sliding frame is arranged on the X-axis supporting seat in a sliding manner; a Y-axis main shaft is vertically and slidably arranged on the sliding frame; the bottom end of the Y-axis main shaft is provided with a connecting plate, the connecting plate is provided with two sliding plates in a sliding manner, and the connecting plate is provided with a power mechanism D for driving the two sliding plates to approach or depart from each other; the inner sides of the two sliding plates are connected with clamping devices, and the clamping devices comprise rotating frames, driving assemblies and two clamping plates. The utility model discloses can promote the centre gripping effect to the tube-shape object, can prevent that the phenomenon that the tube-shape object dropped from appearing in the centre gripping in-process, the security is higher.

Description

Three-axis manipulator
Technical Field
The utility model relates to the field of mechanical equipment, especially, relate to a three-axis manipulator.
Background
Under the big background of China manufacturing 2025, the work of industrial robots instead of people becomes the future trend, so that the production efficiency and the product quality can be greatly improved, particularly in the field of manufacturing, more and more production tasks are automatically executed by applying mechanical arms, the mechanical arms can replace the heavy work of people to realize the mechanization and automation of production, can operate under harmful environment to protect the personal safety, and can be widely applied to the fields of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.
When carrying out the centre gripping transportation to the object, current triaxial manipulator sets up two splint and carries out the centre gripping to the object usually, but when carrying some tube-shape objects, splint and tube-shape object's contact surface is less this moment to influence the centre gripping effect of equipment, and the condition that falls appears at the removal in-process very probably by the object of centre gripping, the security is lower.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the technical problem who exists among the background art, the utility model provides a triaxial manipulator.
The technical scheme of the utility model: a three-axis manipulator comprises a Z-axis supporting seat and an X-axis supporting seat; the bottom end of the Z-axis supporting seat is provided with a supporting frame; the end part of the X-axis supporting seat is arranged on the Z-axis supporting seat in a sliding manner, and a power mechanism A for driving the X-axis supporting seat to move is arranged on the Z-axis supporting seat; a sliding frame is arranged on the X-axis supporting seat in a sliding manner, and a power mechanism B for driving the sliding frame to move is arranged on the X-axis supporting seat; a Y-axis main shaft is vertically and slidably arranged on the sliding frame, and a power mechanism C for driving the Y-axis main shaft to move is arranged on the sliding frame; the bottom end of the Y-axis main shaft is provided with a connecting plate, the connecting plate is provided with two sliding plates in a sliding manner, and the connecting plate is provided with a power mechanism D for driving the two sliding plates to approach or depart from each other; the inboard of two sliding plates all is connected with clamping device, clamping device all includes the rotating turret, drive assembly and two grip blocks, the fixed inboard that sets up at the sliding plate of rotating turret, the tip of two grip blocks all rotates with the rotating turret to be connected, and all be provided with the anti-skidding rubber board on two grip blocks, drive assembly includes two-way lead screw B, the knob, two sliding blocks and two connecting rods, the spout has been seted up on the sliding plate, two-way lead screw B rotates and sets up in the spout, the end connection of knob and two-way lead screw B, two sliding block symmetries set up on two-way lead screw B and all with two-way lead screw B threaded connection, two connecting rods rotate with the both sides sliding block respectively and are connected, and the other end of two connecting rods rotates with the grip block of both sides respectively and is connected.
Preferably, the end part of the X-axis supporting seat is fixedly connected with a sliding plate A, the sliding plate A is of an L-shaped structure, a Z-axis lower sliding rail is fixedly arranged on the lower end surface of the Z-axis supporting seat, a limiting sliding block is arranged on the sliding plate A, and the limiting sliding block is connected with the Z-axis lower sliding rail in a sliding manner; a plurality of reinforcing ropes are connected between the sliding plate A and the outer end part of the X-axis supporting seat.
Preferably, the power mechanism A comprises a servo motor A and a screw rod A, two ends of the Z-axis supporting seat are respectively provided with a fixing plate A, the screw rod A is rotatably arranged between the two fixing plates A, the servo motor A is installed on the Z-axis supporting seat, an output shaft of the servo motor A is connected with the screw rod A, the bottom end of the X-axis supporting seat is fixedly provided with a sliding plate B, and the sliding plate B is in threaded connection with the screw rod A; two Z-axis upper sliding rails are connected between the two fixing plates A, two Z-axis sliding blocks are connected to the sliding plate B, and the two Z-axis sliding blocks are respectively in sliding connection with the Z-axis upper sliding rails on the two sides.
Preferably, an X-axis guide rail is arranged on the X-axis supporting seat along the length direction of the X-axis supporting seat, an X-axis sliding block is connected to the sliding frame, and the X-axis sliding block is arranged on the X-axis guide rail in a sliding mode; the power mechanism B comprises a servo motor B and a screw rod B, a fixing plate B is arranged at one end of the X-axis supporting seat, the servo motor B is installed on one side of the X-axis supporting seat, the screw rod B is connected with an output shaft of the servo motor B, the other end of the screw rod B is rotatably arranged on the fixing plate B, and the X-axis sliding block is in threaded connection with the screw rod B.
Preferably, a Y-axis guide rail is arranged on the Y-axis main shaft, and the Y-axis main shaft is connected with the sliding frame in a sliding manner through the Y-axis guide rail; the power mechanism C comprises a servo motor C, a rack, a gear and an installation shaft, wherein the rack is vertically arranged on the side face of the Y-axis main shaft, the installation shaft is rotatably arranged on the sliding frame, the gear is arranged on the installation shaft and is meshed with the rack, and the servo motor C is arranged on the sliding frame and is in transmission connection with the installation shaft through an output shaft of the servo motor C.
Preferably, the power mechanism D comprises a bidirectional screw rod A and a servo motor D, the servo motor D is installed on the connecting plate, the bidirectional screw rod A is connected with an output shaft of the servo motor D, and the two sliding plates are symmetrically arranged on the bidirectional screw rod A and are in threaded connection with the bidirectional screw rod A.
Compared with the prior art, the above technical scheme of the utility model following profitable technological effect has: the clamping device can be driven to move in three axes under the cooperation of the power assembly A, the power assembly B and the power assembly C; when the cylindrical object is required to be clamped, an operator rotates the knob to drive the bidirectional screw rod B to rotate, the bidirectional screw rod B rotates to drive the two sliding blocks to be close to each other, the two clamping plates can be driven to rotate under the matching action of the connecting rod, then the other clamping device is rotated and adjusted according to the method, the contact area between the clamping device and the cylindrical object can be increased due to the structural design, the clamping effect is guaranteed, and the phenomenon that the cylindrical object drops in the clamping process can be prevented.
Drawings
Fig. 1 and fig. 2 are schematic structural diagrams of the present invention.
Fig. 3 is a schematic structural view of the middle clamping device of the present invention.
Reference numerals: 1. a Z-axis bearing support; 2. an X-axis bearing support; 3. a Y-axis main shaft; 4. a support frame; 5. a sliding plate A; 6. a Z-axis upper slide rail; 7. an X-axis guide rail; 8. a Y-axis guide rail; 9. a Z-axis slide block; 10. an X-axis slider; 11. a slide frame; 12. a servo motor A; 13. a servo motor B; 14. a servo motor C; 15. a screw mandrel A; 16. a screw mandrel B; 17. a rack; 18. a gear; 19. installing a shaft; 20. a bidirectional screw rod A; 21. a sliding plate B; 22. fixing a plate A; 23. a fixing plate B; 24. a reinforcing cord; 25. a Z-axis lower slide rail; 26. a rotating frame; 27. a connecting plate; 28. a sliding plate; 281. a chute; 29. a clamping plate; 30. an anti-slip rubber sheet; 31. a bidirectional screw rod B; 32. a knob; 33. a slider; 34. a connecting rod; 35. and a servo motor D.
Detailed Description
Example one
As shown in fig. 1-3, the present invention provides a three-axis manipulator, which includes a Z-axis support 1 and an X-axis support 2; the bottom end of the Z-axis supporting seat 1 is provided with a supporting frame 4; the end part of the X-axis supporting seat 2 is arranged on the Z-axis supporting seat 1 in a sliding mode, a power mechanism A used for driving the X-axis supporting seat 2 to move is arranged on the Z-axis supporting seat 1, the power mechanism A comprises a servo motor A12 and a screw rod A15, fixing plates A22 are arranged at two ends of the Z-axis supporting seat 1, a screw rod A15 is arranged between the two fixing plates A22 in a rotating mode, a servo motor A12 is arranged on the Z-axis supporting seat 1, an output shaft of the servo motor A12 is connected with the screw rod A15, a sliding plate B21 is fixedly arranged at the bottom end of the X-axis supporting seat 2, and the sliding plate B21 is in threaded connection with the screw rod A15; two Z-axis upper sliding rails 6 are connected between the two fixing plates A22, two Z-axis sliding blocks 9 are connected on the sliding plate B21, and the two Z-axis sliding blocks 9 are respectively in sliding connection with the Z-axis upper sliding rails 6 on the two sides.
The X-axis supporting seat 2 is provided with a sliding frame 11 in a sliding mode, the X-axis supporting seat 2 is provided with a power mechanism B used for driving the sliding frame 11 to move, an X-axis guide rail 7 is arranged on the X-axis supporting seat 2 along the length direction of the X-axis supporting seat, the sliding frame 11 is connected with an X-axis sliding block 10, and the X-axis sliding block 10 is arranged on the X-axis guide rail 7 in a sliding mode; the power mechanism B comprises a servo motor B13 and a screw rod B16, a fixing plate B23 is arranged at one end of the X-axis supporting seat, a servo motor B13 is installed at one side of the X-axis supporting seat 2, the screw rod B16 is connected with an output shaft of the servo motor B13, the other end of the screw rod B16 is rotatably arranged on the fixing plate B23, and the X-axis sliding block 10 is in threaded connection with the screw rod B16.
A Y-axis spindle 3 is vertically and slidably arranged on the sliding frame 11, a power mechanism C for driving the Y-axis spindle 3 to move is arranged on the sliding frame 11, a Y-axis guide rail 8 is arranged on the Y-axis spindle 3, and the Y-axis spindle 3 is slidably connected with the sliding frame 11 through the Y-axis guide rail 8; the power mechanism C comprises a servo motor C14, a rack 17, a gear 18 and a mounting shaft 19, wherein the rack 17 is vertically arranged on the side surface of the Y-axis spindle 3, the mounting shaft 19 is rotatably arranged on the sliding frame 11, the gear 18 is arranged on the mounting shaft 19 and is meshed with the rack 17, and the servo motor C14 is arranged on the sliding frame 11 and the output shaft thereof is in transmission connection with the mounting shaft 19.
The bottom of Y axle main shaft 3 is provided with connecting plate 27, it is provided with two sliding plates 28 to slide on connecting plate 27, be provided with the power unit D that is used for driving two sliding plates 28 and is close to each other or keep away from on connecting plate 27, power unit D includes two-way lead screw A20 and servo motor D35, servo motor D35 installs on connecting plate 27, two-way lead screw A20 and servo motor D35's output shaft connection, two sliding plates 28 symmetry set up on two-way lead screw A20 and all with two-way lead screw A20 threaded connection.
The inboard of two sliding plates 28 all is connected with clamping device, clamping device all includes rotating turret 26, drive assembly and two grip blocks 29, rotating turret 26 is fixed to be set up in the inboard of sliding plate 28, the tip of two grip blocks 29 all rotates with rotating turret 26 to be connected, and all be provided with anti-skidding rubber slab 30 on two grip blocks 29, drive assembly includes two-way lead screw B31, knob 32, two sliding blocks 33 and two connecting rods 34, spout 281 has been seted up on the sliding plate 28, two-way lead screw B31 rotates and sets up in spout 281, knob 32 and two-way lead screw B31's end connection, two sliding blocks 33 symmetries set up on two-way lead screw B31 and all with two-way lead screw B31 threaded connection, two connecting rods 34 rotate with both sides sliding block 33 respectively to be connected, and the other end of two connecting rods 34 rotates with the grip block 29 of both sides respectively to be connected.
In the embodiment, the clamping device can be driven to move in three axes under the cooperation of the power assembly A, the power assembly B and the power assembly C; when needing to carry out centre gripping work to the tube-shape object, thereby operating personnel rotates knob 32 and drives two-way lead screw B31 and rotate, two-way lead screw B31 rotate and to drive two sliding blocks 33 and be close to each other, under the mating reaction of connecting rod 34, can drive two grip blocks 29 and produce and rotate, then rotate another clamping device according to above-mentioned method and adjust, the area of contact of clamping device and tube-shape object can be promoted in the design of this structure, guarantee the centre gripping effect, can prevent that the phenomenon that the tube-shape object from dropping from appearing in clamping process.
Example two
As shown in fig. 1-2, compared with the first embodiment, the present invention further includes a sliding plate a5 fixedly connected to an end portion of the X-axis supporting seat 2, the sliding plate a5 is an "L" shaped structure, a Z-axis lower sliding rail 25 is fixedly disposed on a lower end surface of the Z-axis supporting seat 1, a limit slider is disposed on the sliding plate a5, and the limit slider is slidably connected to the Z-axis lower sliding rail 25; a plurality of reinforcing ropes 24 are connected between the sliding plate A5 and the outer end part of the X-axis supporting seat 2; the sliding plate A5 and the reinforcing rope 24 can improve the stability of the X-axis supporting seat 2 during movement and reduce the shaking amplitude of the X-axis supporting seat 2.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made without departing from the gist of the present invention within the scope of knowledge possessed by those skilled in the art.

Claims (6)

1. A three-axis manipulator is characterized by comprising a Z-axis supporting seat (1) and an X-axis supporting seat (2); the bottom end of the Z-axis supporting seat (1) is provided with a supporting frame (4); the end part of the X-axis supporting seat (2) is arranged on the Z-axis supporting seat (1) in a sliding manner, and a power mechanism A for driving the X-axis supporting seat (2) to move is arranged on the Z-axis supporting seat (1); a sliding frame (11) is arranged on the X-axis supporting seat (2) in a sliding manner, and a power mechanism B for driving the sliding frame (11) to move is arranged on the X-axis supporting seat (2); a Y-axis main shaft (3) is vertically and slidably arranged on the sliding frame (11), and a power mechanism C for driving the Y-axis main shaft (3) to move is arranged on the sliding frame (11); a connecting plate (27) is arranged at the bottom end of the Y-axis main shaft (3), two sliding plates (28) are arranged on the connecting plate (27) in a sliding manner, and a power mechanism D for driving the two sliding plates (28) to approach or depart from each other is arranged on the connecting plate (27); the inner sides of the two sliding plates (28) are respectively connected with a clamping device, the clamping devices respectively comprise a rotating frame (26), a driving assembly and two clamping plates (29), the rotating frame (26) is fixedly arranged on the inner sides of the sliding plates (28), the end parts of the two clamping plates (29) are respectively rotatably connected with the rotating frame (26), the two clamping plates (29) are respectively provided with an anti-skidding rubber plate (30), the driving assembly comprises a bidirectional screw rod B (31), a knob (32), two sliding blocks (33) and two connecting rods (34), the sliding plate (28) is provided with a sliding chute (281), the bidirectional screw rod B (31) is rotatably arranged in the sliding chute (281), the knob (32) is connected with the end part of the bidirectional screw rod B (31), the two sliding blocks (33) are symmetrically arranged on the bidirectional screw rod B (31) and are respectively in threaded connection with the bidirectional screw rod B (31), the two connecting rods (34) are respectively rotatably connected with the sliding blocks (33), and the other ends of the two connecting rods (34) are respectively connected with the clamping plates (29) at the two sides in a rotating way.
2. The three-axis manipulator according to claim 1, wherein a sliding plate A (5) is fixedly connected to the end of the X-axis bearing seat (2), the sliding plate A (5) is of an L-shaped structure, a Z-axis lower sliding rail (25) is fixedly arranged on the lower end surface of the Z-axis bearing seat (1), a limiting slide block is arranged on the sliding plate A (5), and the limiting slide block is connected with the Z-axis lower sliding rail (25) in a sliding manner; a plurality of reinforcing ropes (24) are connected between the sliding plate A (5) and the outer end part of the X-axis supporting seat (2).
3. The three-axis manipulator according to claim 1, wherein the power mechanism A comprises a servo motor A (12) and a screw rod A (15), two ends of the Z-axis support base (1) are respectively provided with a fixing plate A (22), the screw rod A (15) is rotatably arranged between the two fixing plates A (22), the servo motor A (12) is installed on the Z-axis support base (1), an output shaft of the servo motor A (12) is connected with the screw rod A (15), the bottom end of the X-axis support base (2) is fixedly provided with a sliding plate B (21), and the sliding plate B (21) is in threaded connection with the screw rod A (15); two Z-axis upper sliding rails (6) are connected between the two fixing plates A (22), two Z-axis sliding blocks (9) are connected to the sliding plate B (21), and the two Z-axis sliding blocks (9) are respectively in sliding connection with the Z-axis upper sliding rails (6) on the two sides.
4. The three-axis manipulator as claimed in claim 1, wherein the X-axis support base (2) is provided with an X-axis guide rail (7) along the length direction thereof, the sliding frame (11) is connected with an X-axis slider (10), and the X-axis slider (10) is slidably arranged on the X-axis guide rail (7); the power mechanism B comprises a servo motor B (13) and a screw rod B (16), a fixing plate B (23) is arranged at one end of the X-axis supporting seat, the servo motor B (13) is installed at one side of the X-axis supporting seat (2), the screw rod B (16) is connected with an output shaft of the servo motor B (13), the other end of the screw rod B (16) is rotatably arranged on the fixing plate B (23), and an X-axis sliding block (10) is in threaded connection with the screw rod B (16).
5. The three-axis manipulator according to claim 1, wherein a Y-axis guide rail (8) is arranged on the Y-axis spindle (3), and the Y-axis spindle (3) is connected with the sliding frame (11) in a sliding mode through the Y-axis guide rail (8); the power mechanism C comprises a servo motor C (14), a rack (17), a gear (18) and an installation shaft (19), wherein the rack (17) is vertically arranged on the side face of the Y-axis main shaft (3), the installation shaft (19) is rotatably arranged on the sliding frame (11), the gear (18) is arranged on the installation shaft (19) and is meshed with the rack (17), the servo motor C (14) is arranged on the sliding frame (11), and an output shaft of the servo motor C is in transmission connection with the installation shaft (19).
6. The three-axis manipulator according to claim 1, wherein the power mechanism D comprises a bidirectional screw A (20) and a servo motor D (35), the servo motor D (35) is installed on the connecting plate (27), the bidirectional screw A (20) is connected with an output shaft of the servo motor D (35), and the two sliding plates (28) are symmetrically arranged on the bidirectional screw A (20) and are in threaded connection with the bidirectional screw A (20).
CN202220855738.6U 2022-04-13 2022-04-13 Three-axis manipulator Active CN217072367U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202220855738.6U CN217072367U (en) 2022-04-13 2022-04-13 Three-axis manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202220855738.6U CN217072367U (en) 2022-04-13 2022-04-13 Three-axis manipulator

Publications (1)

Publication Number Publication Date
CN217072367U true CN217072367U (en) 2022-07-29

Family

ID=82499139

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202220855738.6U Active CN217072367U (en) 2022-04-13 2022-04-13 Three-axis manipulator

Country Status (1)

Country Link
CN (1) CN217072367U (en)

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