CN217195331U

CN217195331U - STM17C type multi-axis manipulator

Info

Publication number: CN217195331U
Application number: CN202221110777.XU
Authority: CN
Inventors: 涂焱
Original assignee: Changzhou Sanmuze Precision Machinery Co ltd
Current assignee: Changzhou Sanmuze Precision Machinery Co ltd
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-08-16
Anticipated expiration: 2032-05-10

Abstract

The utility model discloses a STM17C type multi-axis manipulator, its technical scheme main points are: the top surface of the top plate is fixedly provided with two limiting blocks A, and the top surface of the top plate is fixedly provided with two limiting blocks B; the feeding assembly is arranged on the top surface of the top plate and used for conveying materials, linear smooth feeding is achieved through the stepping motor, the first insertion rod and the second feeding insertion rod through the stepping motor, the X truss type rack, the Y truss type rack and the Z truss type rack are arranged, the clamping jaws can move in any direction through the X truss type rack, the Y truss type rack and the Z truss type rack, the clamping jaws are arranged, a one-grabbing one-placing design is adopted through the double-clamping-jaw mechanism of the clamping jaws, the waiting time of feeding and discharging is shortened, a parallel free-state push sheet design is adopted, and the requirement position of a core rod is horizontally pushed into the top surface of the top plate when a tooth blank is fed is ensured.

Description

STM17C type multi-axis manipulator

Technical Field

The utility model relates to a mill tooth machine tooling technical field, concretely relates to manipulator.

Background

The multi-axis manipulator is a mechanical system which is constructed by taking a single-axis mechanical arm driven by a servo motor, a stepping motor, an air cylinder and the like as basic working units and taking a ball screw, a synchronous belt, a gear rack and the like as common transmission modes, and can move a tail end execution tool to any point in a two-dimensional or three-dimensional coordinate system. The multi-axis manipulator can be applied to common industrial production such as dispensing, plastic dripping, spraying, stacking, sorting, packaging, welding, metal processing, carrying, loading and unloading, assembling, printing and the like, and heavy manual labor is replaced. The driving device in the multi-axis manipulator is driven by electric power, and when power is cut off suddenly, a driving part moving in the vertical direction in the multi-axis manipulator is easy to lose control, drops and derails under the action of gravity, and even injures an operator or a production material by crashing.

For example according to chinese patent application No. CN211104078U, a multi-axis robot comprising: an end effector; a horizontal movement mechanism for horizontally moving the end effector; a rotation mechanism connected to the horizontal movement mechanism and configured to rotate an end effector; the vertical moving mechanism is connected with the rotating mechanism and used for vertically moving the tail end execution tool, the vertical moving mechanism comprises a vertical driving piece, a first sliding block and a second sliding block, the second sliding block is driven by the vertical driving piece and moves relative to the first sliding block in the vertical direction, and an elastic piece used for preventing the second sliding block from dropping is connected between the first sliding block and the second sliding block. The utility model provides a multi-axis manipulator, when vertical driving piece cuts off the power supply suddenly, the elastic component can restrict the sudden whereabouts of second slider, prevents that second slider, terminal execution tool from striking people and object around it, also can reduce the mechanical damage of sudden power supply to vertical moving mechanism, but above-mentioned scheme still exists not enoughly, for example the manipulator once only can snatch a article, can't snatch once more when putting down preceding article to lead to work efficiency low.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides a STM17C type multi-axis manipulator has solved the manipulator and once only can snatchs an article, can't snatch once more when putting down preceding article to lead to the problem that work efficiency is low.

The above technical purpose of the present invention can be achieved by the following technical solutions:

an STM17C multi-axis robot comprising: the top surface of the top plate is fixedly provided with two limiting blocks A, and the top surface of the top plate is fixedly provided with two limiting blocks B; the feeding component is arranged on the top surface of the top plate and used for conveying materials.

By adopting the technical scheme, materials can be continuously transmitted to the top plate through the feeding component by arranging the feeding component.

Preferably, the feeding assembly comprises: the feeding device comprises two first feeding insertion rods, two first feeding insertion rods are movably clamped between the interiors of two limiting blocks A respectively, two second feeding insertion rods are movably clamped between the interiors of two limiting blocks B respectively, a stepping motor is fixedly mounted on the top surface of the top plate, and the stepping motor and the two second feeding insertion rods are movably clamped together through gears; the transmission part is arranged on the top surface of the top plate and used for transmitting materials to the feeding inserted rod I.

Through adopting above-mentioned technical scheme, through setting up step motor, realize the smooth pay-off of straight line through step motor and pay-off inserted bar and No. two pay-off inserted bars.

Preferably, the transmission member includes: the utility model discloses a Y truss type rack bar, including Y truss type rack bar, X truss type rack bar, Y truss type rack bar, a plurality of spliced pole equal fixed mounting be in the top surface of roof, the top surface fixed mounting of roof has the supporting shoe, one side fixed mounting of supporting shoe has Y truss type rack bar, the top surface fixed mounting of spliced pole has X truss type rack bar, X truss type rack bar with Y truss type rack gear connects, one side gear connection of Y truss type rack bar has movable block A, the top surface gear connection of Y truss type rack bar has movable block B, one side of movable block A is provided with Z truss type rack bar, movable block A passes through the gear setting and is in one side of Z truss type rack bar, the bottom surface of Z truss type rack bar is provided with the clamping jaw.

Through adopting above-mentioned technical scheme, through setting up X truss-like rack, Y truss-like rack and Z truss-like rack, make the clamping jaw can move about in arbitrary direction through X truss-like rack, Y truss-like rack and Z truss-like rack, this structure operates steadily, and the ball screw structure is greatly compared to gear and rack interlock area, and stability and life improve greatly.

Preferably, the top surface of the clamping jaw is fixedly provided with a manipulator body, and the manipulator body is fixedly arranged on the bottom surface of the Z truss type rack.

By adopting the technical scheme, through setting the clamping jaws, the double-clamping-jaw mechanism of the clamping jaws adopts a grabbing and placing design, the waiting time for feeding and discharging is shortened, and the parallel free-state push sheet design ensures that the tooth blank is horizontally pushed into the core rod required position during feeding.

Preferably, a storage box is fixedly mounted on the bottom surface of the top plate, and a material receiving motor is fixedly mounted on one side of the storage box.

Through adopting above-mentioned technical scheme, through setting up the storage case, can send the material into the inside of receiving the material motor through the clamping jaw after the processing material is accomplished through the storage case, receive the inside of material motor income storage case again by receiving.

Preferably, a driving box is fixedly installed on one side of the Y-truss type rack, and a servo motor is fixedly installed inside the driving box.

Through adopting above-mentioned technical scheme, through setting up servo motor, for X truss-like rack, Y truss-like rack and Z truss-like rack provide the power supply through servo motor for the clamping jaw can move about.

To sum up, the utility model discloses mainly have following beneficial effect:

through setting up the clamping jaw, the design is put through one grabbing of two clamping jaw mechanisms of clamping jaw, shortens the latency of going up unloading, and parallel free state push jack design is guaranteed that the level pushes the plug and is required the position when tooth embryo material loading, and this kind of clamp is got the mode greatly increased work efficiency.

Through setting up X truss-like rack, Y truss-like rack and Z truss-like rack, make the clamping jaw can move about in arbitrary direction through X truss-like rack, Y truss-like rack and Z truss-like rack, this structure operates steadily, and ball screw structure is compared greatly to gear and rack interlock area, and stability and life improve greatly.

Drawings

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

FIG. 2 is a schematic view of the connecting column structure of the present invention;

FIG. 3 is a schematic structural view of a movable block A of the present invention;

fig. 4 is a schematic structural view of the movable block B of the present invention;

FIG. 5 is a schematic view of the supporting block structure of the present invention;

fig. 6 is a schematic view of the top plate structure of the present invention.

Reference numerals: 1. a top plate; 2. a limiting block A; 3. a limiting block B; 4. a support block; 5. a feeding inserted rod I; 6. feeding inserted rods II; 7. a stepping motor; 8. connecting columns; 9. an X truss rack; 10. a Y-truss rack; 11. a movable block A; 12. a movable block B; 13. a Z truss rack; 14. a clamping jaw; 15. a manipulator body; 16. a material storage box; 17. a material receiving motor; 18. a drive box; 19. a servo motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, 2 and 6, an STM17C type multi-axis manipulator comprises a top plate 1, two limit blocks a2 are fixedly installed on the top surface of the top plate 1, two limit blocks B3 are fixedly installed on the top surface of the top plate 1, a feeding assembly is arranged on the top surface of the top plate 1 and used for conveying materials, the feeding assembly comprises two first feeding insertion rods 5, the first feeding insertion rods 5 are of an existing structure and are not described herein, the two first feeding insertion rods 5 are respectively and movably clamped between the interiors of the two limit blocks a2, a second feeding insertion rod 6 is movably and respectively clamped between the interiors of the two limit blocks B3, a stepping motor 7 is fixedly installed on the top surface of the top plate 1, the stepping motor 7 and the two second feeding insertion rods 6 are movably clamped together through gears, a transmission part is arranged on the top surface of the top plate 1 and used for transmitting materials to the first feeding insertion rods 5, and by arranging the stepping motor 7, the linear smooth feeding is realized through the stepping motor 7, the first feeding inserted bar 5 and the second feeding inserted bar 6.

Referring to fig. 1, 3, 4 and 5, the transmission part includes a plurality of connecting columns 8, the connecting columns 8 are all fixedly installed on the top surface of the top plate 1, the top surface of the top plate 1 is fixedly installed with a supporting block 4, one side of the supporting block 4 is fixedly installed with a Y truss rack 10, the top surface of the connecting column 8 is fixedly installed with an X truss rack 9, the X truss rack 9 is an existing structure and is not described herein, the X truss rack 9 is in gear connection with the Y truss rack 10, one side of the Y truss rack 10 is in gear connection with a movable block a11, the top surface of the Y truss rack 10 is in gear connection with a movable block B12, one side of the movable block a11 is provided with a Z truss rack 13, the movable block a11 is arranged on one side of the Z truss rack 13 through a gear, the bottom surface of the Z truss rack 13 is provided with a clamping jaw 14, the clamping jaw 14 is composed of a feeding cylinder, a material taking cylinder, a material detection of the top detection of the top detection, Pushing equipment, stock stop and feeding agencies constitute, the top surface fixed mounting of clamping jaw 14 has manipulator body 15, manipulator body 15 does not do the repeated description here for existing structure, manipulator body 15 and the bottom surface fixed mounting of Z truss-like rack 13, the bottom surface fixed mounting of roof 1 has storage case 16, one side fixed mounting of storage case 16 has receipts material motor 17, receive material motor 17 and do not do the repeated description here for existing structure, one side fixed mounting of Y truss-like rack 10 has drive case 18, the inside fixed mounting of drive case 18 has servo motor 19, servo motor 19 does not do the repeated description here for existing structure, be X truss-like rack 9 through servo motor 19, Y truss-like rack 10 and Z truss-like rack 13 provide the power supply, make clamping jaw 14 can the activity.

The working principle is as follows: referring to fig. 1-6, when the feeding mechanism is used, the stepping motor 7 is started, the first feeding plunger 5 in the limiting block a2 and the second feeding plunger 6 in the limiting block B3 start to rotate synchronously, and at this time, the two servo motors 19 in the driving box 18 are started, so that the Z-truss-type rack 13 drives the manipulator body 15 to move on the X-truss-type rack 9 and the Y-truss-type rack 10 and drives the clamping jaws 14 to clamp the material, the clamping jaws 14 send the material to the top surface of the top plate 1, clamp the processed material, and send the material to one side of the material receiving motor 17, and the material receiving motor 17 is received in the material storage box 16.

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

Claims

1. An STM17C multi-axis robot, comprising:

the top plate (1) is fixedly provided with two limiting blocks A (2), and the top surface of the top plate (1) is fixedly provided with two limiting blocks B (3);

the feeding component is arranged on the top surface of the top plate (1) and used for conveying materials.

2. An STM17C type multi-axis robot as claimed in claim 1, wherein the feed assembly comprises:

the feeding device comprises two first feeding insertion rods (5), wherein the two first feeding insertion rods (5) are movably clamped between the interiors of two limiting blocks A (2) respectively, two second feeding insertion rods (6) are movably clamped between the interiors of two limiting blocks B (3) respectively, a stepping motor (7) is fixedly mounted on the top surface of the top plate (1), and the stepping motor (7) and the two second feeding insertion rods (6) are movably clamped together through gears;

the transmission part is arranged on the top surface of the top plate (1) and used for transmitting materials to the first feeding inserted rod (5).

3. An STM 17C-type multi-axis robot as claimed in claim 2, wherein the transmission comprises:

a plurality of connecting columns (8), a plurality of connecting columns (8) are all fixedly arranged on the top surface of the top plate (1), a supporting block (4) is fixedly arranged on the top surface of the top plate (1), a Y truss type rack (10) is fixedly arranged on one side of the supporting block (4), the top surface of the connecting column (8) is fixedly provided with an X truss type rack (9), the X truss type rack (9) is in gear connection with the Y truss type rack (10), one side of the Y-shaped truss rack (10) is connected with a movable block A (11) through a gear, the top surface gear of the Y truss type rack (10) is connected with a movable block B (12), one side of the movable block A (11) is provided with a Z truss type rack (13), the movable block A (11) is arranged on one side of the Z truss type rack (13) through a gear, and a clamping jaw (14) is arranged on the bottom surface of the Z truss type rack (13).

4. STM17C type multi-axis manipulator according to claim 3, characterized in that the top surface of the clamping jaw (14) is fixedly mounted with a manipulator body (15), and the manipulator body (15) is fixedly mounted with the bottom surface of the Z truss rack (13).

5. The STM17C multi-axis robot of claim 1, wherein a material storage box (16) is fixedly installed on the bottom surface of the top plate (1), and a material receiving motor (17) is fixedly installed on one side of the material storage box (16).

6. STM17C type multi-axis manipulator according to claim 3, characterized in that a driving box (18) is fixedly mounted on one side of the Y-truss rack (10), and a servo motor (19) is fixedly mounted inside the driving box (18).