CN217143941U

CN217143941U - Three-axis manipulator

Info

Publication number: CN217143941U
Application number: CN202122110949.5U
Authority: CN
Inventors: 冯鹏飞; 侯焕昀
Original assignee: Huizhou Luohe Tech Co ltd
Current assignee: Huizhou Luohe Tech Co ltd
Priority date: 2021-09-02
Filing date: 2021-09-02
Publication date: 2022-08-09
Anticipated expiration: 2031-09-02

Abstract

The utility model discloses a three-axis manipulator, including the deflector, move material subassembly and drive assembly, the guide way has been seted up on one side of deflector, it includes rotatory piece to move the material subassembly, move material piece and clamping jaw, rotatory piece rotates and sets up on the deflector, it slides and sets up on rotatory piece to move the material piece, and move at least part holding in the guide way of material piece, the clamping jaw sets up on moving the material piece, drive assembly includes rotary driving piece and turning block, rotary driving piece sets up on the other side of deflector, one end of turning block sets up on rotary driving piece's output shaft, the other end of turning block is connected with moving the material piece, when rotary driving piece drives the turning block and rotates, so that the turning block drives and moves the material piece and move along the guide way, so, through setting up the structural shape of guide way, make single driving source can drive the clamping jaw carry out the elevating movement, sideslip motion or rotary motion, since it is not necessary to input excessive parts, the load weight can be effectively reduced, and the cost input can be reduced.

Description

Three-axis manipulator

Technical Field

The utility model relates to the field of machinary, especially, relate to a three-axis manipulator.

Background

The machine is a combination of artificial physical components, and each part of the machine has definite relative motion, so that the part components of the machine move from one position to another position according to a specified motion track.

With the development of automation technology, in order to reduce cost and improve production quality, more and more manufacturing enterprises replace manual production of workers by introducing automation equipment, the automation equipment needs to transfer materials in the production process, the materials are often transferred by compound motion including linear motion, rotary motion and the like, and at present, in order to meet the motion requirements, a plurality of single-motion modules are combined for use, for example, two linear motion modules are combined together to realize motion in two directions of horizontal motion and lifting.

However, there is a problem in that, by combining a plurality of single motion modules, firstly, the load weight is increased by combining a plurality of single motion modules, and thus, after the use reaches a certain number of times, the accuracy is easily lowered; secondly, combining multiple single motion modules requires a power source for each motion direction, resulting in excessive investment costs.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the weak point among the prior art, providing a three-axis manipulator, use single driving source just can satisfy multi-direction motion to can effective reduction load weight, and input that can reduce cost.

The purpose of the utility model is realized through the following technical scheme:

a three-axis robot, comprising:

the guide plate is provided with a guide groove on one side surface;

the material moving assembly comprises a rotating block, a material moving block and a clamping jaw, the rotating block is rotatably arranged on the guide plate, the material moving block is slidably arranged on the rotating block, at least part of the material moving block is accommodated in the guide groove, and the clamping jaw is arranged on the material moving block; and

the drive assembly, the drive assembly includes rotary driving spare and turning block, rotary driving spare set up in on the another side of deflector, the one end of turning block set up in on rotary driving spare's the output shaft, the other end of turning block with it connects to move the material piece, rotary driving spare drives when the turning block rotates, so that the turning block drives move the material piece along the guide way motion.

In one embodiment, the guide groove comprises a lifting section, an arc-shaped section and a transverse section, and two ends of the arc-shaped section are respectively connected with the lifting section and the transverse section.

In one embodiment, the lifting section and the transverse moving section are in a vertical structure.

In one embodiment, the rotating blocks are respectively arranged opposite to the lifting section and the transverse moving section.

In one embodiment, the material moving assembly further comprises a shaft post and two rollers, the shaft post is arranged at one end of the material moving block, the two rollers are respectively rotatably arranged on the shaft post, one of the rollers is accommodated in the guide groove, and the other roller is connected with the rotating block.

In one embodiment, a limiting hole is formed in one end, close to the material moving block, of the rotating block, and the other roller is accommodated in the limiting hole.

In one embodiment, the clamping jaws are provided in two, and a space is provided between the two clamping jaws.

In one embodiment, the rotary drive is an electric motor.

In one embodiment, the three-axis manipulator further comprises a displacement assembly, the displacement assembly comprises a base and a displacement driving member, the guide plate is slidably disposed on the base, the displacement driving member is connected with the guide plate, and the displacement driving member is used for driving the guide plate to reciprocate on the base.

In one embodiment, the displacement driving member includes a displacement motor and a belt, the displacement motor is disposed on the base, and the belt is connected to an output shaft of the displacement motor and the guide plate, respectively.

Compared with the prior art, the utility model discloses at least, following advantage has:

offer the guide way on the deflector, rotatory piece rotates and sets up on the deflector, it slides and sets up on rotatory piece to move the material piece, and move at least part holding of material piece in the guide way, when rotary driving piece drives the turning block and rotates, slide along the guide way with the one end that pushes away the material piece, thereby make the clamping jaw of installing on the other end of moving the material piece can move along the guide way, thus, be vertical structure through setting up the guide way, sideslip structure or arc structure, make and utilize single driving source just can drive the clamping jaw and carry out elevating movement, sideslip motion or rotary motion, need not drop into too much parts, consequently, can effectively reduce load weight, and can reduce cost's input.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a three-axis manipulator according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of the three-axis robot shown in FIG. 1;

FIG. 3 is a partial schematic view of another angle of the three-axis robot shown in FIG. 1;

fig. 4 is a partial structural view of the three-axis robot shown in fig. 1.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings.

Referring to fig. 1 and 2, a three-axis robot 10 includes a guide plate 100, a material moving assembly 200 and a driving assembly 300, wherein a guide groove 110 is formed on one side surface of the guide plate 100, the material moving assembly 200 includes a rotating block 210, a material moving block 220 and a clamping jaw 230, the rotating block 210 is rotatably disposed on the guide plate 100, the material moving block 220 is slidably disposed on the rotating block 210, at least a portion of the material moving block 220 is accommodated in the guide groove 110, and the clamping jaw 230 is disposed on the material moving block 220.

It should be noted that the guide plate 100 has two side surfaces, and one of the side surfaces is provided with the guide groove 110, it should be noted that the guide groove 110 is a groove with a certain depth, and the guide groove 110 has a certain length, and the rotating block 210 is rotatably disposed on the guide plate 100, for example, the rotating block 210 is mounted on the guide plate 100 by a bearing, and can rotate relative to the guide plate 100; the material moving block 220 is slidably disposed on the rotating block 210, for example, a sliding rail is disposed on the rotating block 210, and the material moving block 220 slides in the sliding rail, so that while the material moving block 220 slides in the sliding rail, the rotating block 210 can rotate relative to the guide plate 100, and therefore, the material moving block 220 can also rotate relative to the guide plate 100, further, at least a portion of the material moving block 220 is received in the guide groove 110, for example, an end of the material moving block 220 is received in the guide groove 110, so that when the end of the material moving block 220 slides along the guide groove 110, the material moving block 220 drives the rotating block 210 to rotate and simultaneously slides relative to the rotating block 210, so that a moving track of the other end of the material moving block 220 is the same as that of the guide groove 110, and the clamping jaw 230 is mounted on the other end of the material moving block 220, and therefore, the moving track of the clamping jaw 230 is the same as that of the guide groove 110.

Referring to fig. 1 and 2, the driving assembly 300 includes a rotary driving member 310 and a rotating block 320, the rotary driving member 310 is disposed on the other side surface of the guide plate 100, one end of the rotating block 320 is disposed on the output shaft of the rotary driving member 310, the other end of the rotating block 320 is connected to the material moving block 220, and when the rotary driving member 310 drives the rotating block 320 to rotate, the rotating block 320 drives the material moving block 220 to move along the guide groove 110.

It should be noted that the rotary driving member 310 is fixedly installed on the other side of the guide plate 100, that is, the rotary driving member 310 is not located on the same side as the guide slot 110, in an embodiment, the rotary driving member 310 is a motor, one end of the rotary block 320 is connected to an output shaft of the rotary driving member 310, and the other end of the rotary block 320 is connected to the material moving block 220, such that the rotary driving member 310 drives the rotary block 320 to rotate, such that the rotary block 320 drives the end of the material moving block 220 sunk into the guide slot 110 to slide along the guide slot 110, and therefore the trajectory of the other end of the material moving block 220 is consistent with the guide slot 110, and therefore, by setting the guide slot 110 to be vertical, horizontal and curved, the clamping jaws 230 installed on the other end of the material moving block 220 can correspondingly perform lifting motion, horizontal traversing motion and rotary motion, and thus, a single power source can drive the clamping jaws 230 to perform lifting motion by using the rotary driving member 310, horizontal motion and rotary motion compare and need use at least three power supply to accomplish single motion respectively in traditional, and the part that the triaxial manipulator 10 of this application used is less, and the structure is compacter, can effectively reduce load weight, can reduce cost through reducing the material input moreover.

Referring to fig. 2 and 3, in one embodiment, the guide slot 110 includes a lifting section 111, an arc section 112 and a traverse section 113, and two ends of the arc section 112 are respectively connected to the lifting section 111 and the traverse section 113.

It should be noted that the guide slot 110 is formed by connecting three sections, and specifically includes a lifting section 111 in a vertical structure, the top end of the lifting section 111 is connected to an arc section 112, wherein the angle of the arc section 112 is 90 °, and the other end of the arc section 112 is connected to a traverse section 113, wherein the traverse section 113 is in a horizontal structure, it should be noted that the connection portion between the lifting section 111 and the arc section 112 and the connection portion between the traverse section 113 and the arc section 112 are both in a smooth connection structure, so that when the material moving block 220 slides along the guide slot 110, the material moving block can smoothly slide into the arc section 112 from the lifting section 111/the traverse section 113, or smoothly slide into the lifting section 111/the traverse section 113 from the arc section 112, in an embodiment, the lifting section 111 and the traverse section 113 are in a perpendicular structure.

Referring to fig. 3, in one embodiment, the rotating block 210 is disposed opposite to the lifting section 111 and the traversing section 113.

It should be noted that the rotating block 210 is aligned with the notch of the lifting segment 111, the rotating block 210 is aligned with the notch of the traverse segment 113, the lifting section 111 and the traverse section 113 are perpendicular to each other, so the rotating block 210 is located at the intersection of the lifting section 111 and the traverse section 113, i.e. the intersection of the extension line of the lifting section 111 and the extension line of the traverse section 113, and thus, when one end of the material moving block 220 slides along the elevation section 111, the material moving block 220 itself is in a vertical state, so that the jaw 230 installed on the other end of the material moving block 220 performs an elevation motion, when one end of the material moving block 220 slides along the arc-shaped section 112, the clamping jaw 230 installed at the other end of the material moving block 220 is made to perform a rotating motion, when one end of the transfer block 220 slides along the traverse section 113, the transfer block 220 itself is in a horizontal state, so that the jaw 230 installed at the other end of the transfer block 220 performs a horizontal movement.

Referring to fig. 4, in one embodiment, the material moving assembly 200 further includes a shaft 240 and two rollers 250, the shaft 240 is disposed on one end of the material moving block 220, the two rollers 250 are respectively rotatably disposed on the shaft 240, one roller 250 is accommodated in the guide groove 110, and the other roller 250 is connected to the rotating block 320.

It should be noted that the shaft post 240 is fixedly installed at one end of the material moving block 220 close to the guide groove 110, the shaft post 240 extends into the guide groove 110, two rollers 250 are rotatably installed on the shaft post 240, one of the rollers 250 is located in the guide groove 110, so as to be able to slide along the guide groove 110, and it should be noted that by arranging the roller 250 to roll in the guide groove 110, the smoothness of the material moving block 220 sliding in the guide groove 110 can be improved.

Referring to fig. 2 and 4, in one embodiment, a position-limiting hole 321 is formed at an end of the rotating block 320 close to the material moving block 220, and the other roller 250 is accommodated in the position-limiting hole 321. It should be noted that, for example, the limiting hole 321 is a waist-shaped limiting hole 321, when the rotary driving element 310 drives the rotating block 320 to rotate, at least a portion of the limiting hole 321 and at least a portion of the guide groove 110 are disposed opposite to each other, so that the inner sidewall of the limiting hole 321 pushes the outer sidewall of the roller 250, and further the moving block 220 is driven to slide along the guide groove 110.

In one embodiment, there are two clamping jaws 230, and a space is provided between the two clamping jaws 230. So, move the material simultaneously through setting up two clamping jaws 230, can improve and move material efficiency.

Referring to fig. 1, in one embodiment, the three-axis robot 10 further includes a displacement assembly 400, the displacement assembly 400 includes a base 410 and a displacement driver 420, the guide plate 100 is slidably disposed on the base 410, the displacement driver 420 is connected to the guide plate 100, and the displacement driver 420 is configured to drive the guide plate 100 to reciprocate on the base 410.

It should be noted that, the guide plate 100 is slidably mounted on the base 410, for example, a slide block is mounted on the base 410, a guide rail is mounted on the guide plate 100, the slide block slides along the guide rail, and an output shaft of the displacement driving member 420 is connected to the guide plate 100, so that the guide plate 100 is driven by the displacement driving member 420 to slide on the base 410, for example, the displacement driving member 420 may be a screw rod module driven by a motor, and the guide plate 100 is driven by the screw rod module driven by the motor to slide, which can make the guide plate 100 more stable in the sliding process.

Referring to fig. 1, in one embodiment, the displacement driving member 420 includes a displacement motor 421 and a belt 422, the displacement motor 421 is disposed on the base 410, and the belt 422 is connected to an output shaft of the displacement motor 421 and the guiding plate 100, respectively. It should be noted that, displacement motor 421 fixed mounting is on base 410, install the belt pulley on the output shaft of displacement motor 421, still rotate on base 410 and install the belt pulley, belt 422 cup joints with two belt pulleys respectively, belt 422's part and deflector 100 fixed connection, when displacement motor 421 drives, along with belt 422 rotates, just can drive deflector 100 and slide on base 410, so, through the mode that utilizes the motor drive belt, when can ensure the precision, for the expensive of lead screw module price, the motor drive belt can save the cost more.

The above examples only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A three-axis robot, comprising:

the guide plate is provided with a guide groove on one side surface;

2. The three-axis robot of claim 1, wherein the guide groove comprises a lifting section, an arc-shaped section and a traverse section, and both ends of the arc-shaped section are respectively connected with the lifting section and the traverse section.

3. The three-axis robot of claim 2, wherein the lifting section and the traversing section are in a perpendicular configuration.

4. The three-axis robot of claim 2 or 3, wherein the rotation blocks are disposed opposite to the elevation section and the traverse section, respectively.

5. The three-axis manipulator as claimed in claim 1, wherein the material moving assembly further comprises an axle column and two rollers, the axle column is disposed on one end of the material moving block, the two rollers are respectively rotatably disposed on the axle column, one of the rollers is received in the guide groove, and the other roller is connected to the rotating block.

6. The three-axis manipulator as claimed in claim 5, wherein the turning block has a limiting hole formed at an end thereof adjacent to the material moving block, and the other roller is received in the limiting hole.

7. The three-axis robot of claim 1, wherein there are two of the jaws with a space disposed therebetween.

8. The three-axis robot of claim 1, wherein the rotary drive is a motor.

9. The three-axis manipulator according to claim 1, further comprising a displacement assembly, wherein the displacement assembly includes a base and a displacement driving member, the guide plate is slidably disposed on the base, the displacement driving member is disposed on the base, and the displacement driving member is connected to the guide plate, and the displacement driving member is configured to drive the guide plate to reciprocate on the base.

10. The three-axis manipulator according to claim 9, wherein the displacement driving member comprises a displacement motor and a belt, the displacement motor is disposed on the base, and the belt is connected to an output shaft of the displacement motor and the guide plate, respectively.