CN218018519U

CN218018519U - Three-axis manipulator

Info

Publication number: CN218018519U
Application number: CN202222107916.XU
Authority: CN
Inventors: 扈志勇; 陈玉峰; 马岩; 周学军
Original assignee: Californium Ningxia Automation Technology Co ltd
Current assignee: Californium Ningxia Automation Technology Co ltd
Priority date: 2022-08-11
Filing date: 2022-08-11
Publication date: 2022-12-13
Anticipated expiration: 2032-08-11

Abstract

The utility model relates to a three-axis manipulator, which comprises a base unit, a stand column unit rotationally connected with the base unit, a second-stage telescopic arm unit which is arranged on the stand column unit and can vertically move along the stand column unit, a first driving mechanism for driving the stand column unit to rotate in the horizontal plane, a second driving mechanism for driving the second-stage telescopic arm unit to move in the vertical direction, and a third driving mechanism for driving the second-stage telescopic arm unit to stretch in the horizontal direction; the second-stage telescopic arm unit comprises a tray, a first-stage arm and a second-stage arm, the tray is connected with the stand column unit in a sliding mode, the first-stage arm is connected with the tray in a horizontal sliding mode, and the second-stage arm is connected with the first-stage arm in a horizontal sliding mode. The application adopts the two-stage telescopic mechanism, so that the use requirements of small space and long stroke can be met; the secondary arm can synchronously act along with the action of the primary arm, the response speed is high, and the working efficiency can be further improved; the linear motion of this application has the linear guide cooperation, operates steadily, the dependable performance.

Description

Three-axis manipulator

Technical Field

The utility model relates to a manipulator technical field especially relates to three-axis manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.

The manipulator usually has a single axis, two axes, three axes, four axes, five axes, six axes and the like, the single axis, the two axes and the three axes are XYZ coordinate type manipulators, the motion mode is usually linear motion in the XYZ direction, and the motion in a three-dimensional space is realized through multi-directional motion; and the four, five and six upward shafts are joint type manipulators, and the movement mode is simple and generalized to replace the movement of one arm on the human body.

In industrial automatic production, for example, the simple XYZ direction movement of action fixing mechanization, the three-axis manipulator can be applied without changing the product posture or the movement posture. Along with automatic development, XYZ direction's linear motion is not applicable to all circumstances for the lathe material loading, and the manipulator that has rotation function often is more convenient for the lathe material loading, unloading, also can improve work efficiency more.

Chinese patent document CN213918282U discloses a three-axis robot arm, which adopts a structure of two-axis linear motion and single-axis rotational motion, and has a faster response and improved working efficiency to a certain extent. However, the three-axis manipulator arm is difficult to meet the use requirement of long stroke under the condition of limited space.

SUMMERY OF THE UTILITY MODEL

The present application provides a three-axis manipulator for solving the above technical problems.

The application is realized by the following technical scheme:

the three-axis manipulator comprises a base unit, a stand column unit rotationally connected with the base unit, a second-stage telescopic arm unit which is arranged on the stand column unit and can vertically move along the stand column unit, a first driving mechanism used for driving the stand column unit to rotate in a horizontal plane, a second driving mechanism used for driving the second-stage telescopic arm unit to move in the vertical direction, and a third driving mechanism used for driving the second-stage telescopic arm unit to stretch in the horizontal direction. This application adopts second grade telescopic machanism, can satisfy the user demand that the space is little, the stroke is long.

It is worth noting that the three axes in this application are different from the XYZ coordinates in the prior art. Three axes in this application refer to linear movement in the X-axis, Z-axis directions, and rotational movement about the Z-axis.

Optionally, the base unit includes a bottom plate and an external gear rotary bearing connected to the bottom plate, and the bottom of the column unit is rotatably connected to the bottom plate through the external gear rotary bearing; the first driving mechanism comprises a first motor and a first driving gear connected with the first motor, the first motor is arranged on the stand column unit, and the first driving gear is meshed with the outer gear rotary bearing.

Optionally, the upright unit includes a column body, the bottom of the column body is connected with the base unit, and a vertical rack and a vertical guide rail are arranged on the column body;

the second driving mechanism comprises a second motor and a second driving gear connected with the second motor, the second motor is mounted on the second-stage telescopic arm unit, the second-stage telescopic arm unit is in sliding fit with the vertical guide rail, and the second driving gear is meshed with the vertical rack.

It should be noted that the second driving mechanism may be a linear driving mechanism, and a common mechanism such as a ball screw driving mechanism and a hydraulic cylinder may be selected.

Particularly, the cylinder is a four-sided upright column, the first driving mechanism is arranged on the front side of the cylinder, the back side of the cylinder is provided with two vertical guide rails, and the vertical rack is arranged on the side surface of the cylinder; the top surface of the column body is provided with or not provided with a hanging ring.

Optionally, the second-stage telescopic arm unit comprises a tray, a first-stage arm and a second-stage arm, the tray is connected with the column unit in a sliding manner, and the second driving mechanism is installed on the tray; the first-stage arm is connected with the tray in a horizontal sliding mode, and the second-stage arm is connected with the first-stage arm in a horizontal sliding mode.

Particularly, the third driving mechanism comprises a third motor, a third driving gear connected with the third motor, a horizontal rack and a synchronous belt mechanism, the third motor is arranged on the tray, the horizontal rack and the synchronous belt mechanism are arranged on the primary arm, and the horizontal rack is meshed with the third driving gear; the synchronous belt mechanism comprises a synchronous belt and a belt wheel, the tray is matched with the synchronous belt through a synchronous belt pressing plate, and the secondary arm is connected with the synchronous belt.

It should be noted that the two-stage telescopic arm unit may also adopt an existing two-stage telescopic mechanism.

Optionally, the tray is provided with a vertical sliding block for sliding connection with the upright unit; a first horizontal guide rail is arranged on the secondary arm, and a horizontal sliding block used for being in sliding connection with the first horizontal guide rail is arranged on the tray.

Particularly, the secondary arm and the primary arm are both of hollow rectangular structures, and one end of the secondary arm is arranged in the primary arm; the front surface and the top surface of the primary arm are respectively provided with a first horizontal guide rail, the horizontal rack is arranged on the front surface of the primary arm, the belt wheel is arranged on the bottom surface of the primary arm, and the synchronous belt is wound on the belt wheel.

Optionally, the secondary arm is provided with a second horizontal guide rail, and the primary arm is provided with a horizontal chute for sliding connection with the second horizontal guide rail.

The working principle of the three-axis manipulator is as follows: the first motor operates to drive the first driving gear to rotate, and the outer gear ring of the outer gear slewing bearing is fixed, so that the first driving gear makes circular motion along the outer gear ring of the outer gear slewing bearing, and then the upright post unit is driven to rotate;

the second motor operates to drive the second driving gear to rotate, and the vertical rack is fixed on the cylinder, so that the second driving gear vertically moves along the vertical rack, and then the second motor and the secondary telescopic arm unit are driven to move up and down;

the third motor operation drives the rotation of third drive gear, and the drive drives rather than the horizontal rack horizontal migration of meshing, drives one-level arm, band pulley synchronous horizontal migration then, simultaneously because the cooperation relation between hold-in range and the tray, hold-in range atress takes place the level for one-level arm to removing, then the pulling second grade arm is for one-level arm horizontal migration to realize that the second grade is flexible.

Compared with the prior art, the method has the following beneficial effects:

the linear movement in the horizontal direction adopts a two-stage telescopic mechanism, so that the use requirements of small space and long stroke can be met;

2, the secondary arm can synchronously act along with the action of the primary arm, the response speed is high, and the working efficiency can be further improved;

3, the linear motion of this application has the linear guide cooperation, operates steadily, the dependable performance.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure, are incorporated in and constitute a part of this disclosure, and do not constitute a limitation on the embodiments of the disclosure.

FIG. 1 is a three-dimensional view of a three-axis robot in an embodiment;

FIG. 2 is a front view of a three axis robot in an embodiment;

FIG. 3 is a side view of an embodiment of a three-axis robot;

FIG. 4 is a rear view of the three-axis robot of the embodiment;

FIG. 5 is a three-dimensional view of a base unit in the embodiment;

FIG. 6 is a three-dimensional view of a column unit at a first view angle in the embodiment;

FIG. 7 is a three-dimensional view of a pillar unit at a second view angle in the embodiment;

FIG. 8 is a three-dimensional view of a secondary telescopic arm unit in the embodiment;

FIG. 9 is a rear view of the secondary telescopic arm unit in the embodiment;

FIG. 10 is a three-dimensional view of a primary arm in an embodiment;

FIG. 11 is a side view of the primary arm in the example;

FIG. 12 is a three-dimensional view of a secondary arm in an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. It is to be understood that the described embodiments are part of the present invention and not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are usually placed when used, or the directions or positional relationships that the persons skilled in the art usually understand, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific directions, be constructed and operated in specific directions, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 4, the three-axis robot disclosed in this embodiment includes a base unit 1, a column unit 2, a two-stage telescopic arm unit 3, a first driving mechanism 4, a second driving mechanism 5, and a third driving mechanism 6.

The bottom of the upright unit 2 is rotatably connected with the base unit 1, and the first driving mechanism 4 is used for driving the upright unit 2 to rotate in a horizontal plane. The second-stage telescopic arm unit 3 is vertically and slidably connected with the upright unit 2, and the second driving mechanism 5 is used for driving the second-stage telescopic arm unit 3 to move in the vertical direction. The telescopic direction of the second-stage telescopic arm unit 3 is the horizontal direction, and the third driving mechanism 6 is used for driving the second-stage telescopic arm unit 3 to stretch.

In one possible design, as shown in fig. 5, the base unit 1 includes a bottom plate 11, an external gear rotary bearing 12 connected to the bottom plate 11, and the bottom of the column unit 2 is connected to the inner ring of the external gear rotary bearing 12.

The first drive mechanism 4 includes a first motor 41 and a first drive gear 42 connected to the first motor 41. The first motor 41 is mounted on the column unit 2, the first driving gear 42 is engaged with the outer gear ring of the external gear slewing bearing 12, and the outer gear ring is fixedly connected with the bottom plate 11.

In one possible design, as shown in fig. 6 and 7, the column unit 2 includes a column body 21, a connecting plate 22 connected to a bottom end of the column body 21, and a first motor mounting plate 23. A plurality of reinforcing ribs 24 are arranged between the connecting disc 22 and the column body 21, the connecting disc 22 is connected with the connecting plate 13 of the base unit 1, and the first motor 41 is arranged on the first motor mounting plate 23.

The second driving mechanism 5 comprises a second motor 51 and a second driving gear connected with the second motor 51, the second motor 51 is mounted on the second-stage telescopic arm unit 3, a vertical rack 25 and a vertical guide rail 26 are arranged on the column body 21, the second driving gear is meshed with the vertical rack 25, and the second-stage telescopic arm unit 3 is in sliding fit with the vertical guide rail 26.

In one possible design, the column 21 is a four-sided column, the first motor mounting plate 23 is located on the front side of the column 21, the back side of the column 21 has two vertical guide rails 26, and the vertical rack 25 is mounted on the side of the column 21. The top surface of the column 21 can be provided with a hanging ring 27 according to the requirement.

In one possible design, as shown in fig. 8 and 9, the secondary telescopic arm unit 3 includes a tray 31, a primary arm 32 and a secondary arm 33, and the tray 31 is slidably connected to the column unit 2. The first-stage arm 32 is horizontally slidably connected to the tray 31, the second-stage arm 33 is horizontally slidably connected to the first-stage arm 32, and the second motor 51 is mounted on the tray 31.

The third driving mechanism 6 includes a third motor 61, a third driving gear connected to the third motor 61, a horizontal rack 62 and a timing belt mechanism, the third motor 61 is mounted on the tray 31, the horizontal rack 62 and the timing belt mechanism are mounted on the first-stage arm 32, and the horizontal rack 62 is engaged with the third driving gear.

The synchronous belt mechanism comprises a synchronous belt 64 and a belt wheel 63, a first synchronous belt pressing plate 314 is arranged on the tray 31, when the primary arm 32 moves, the first synchronous belt pressing plate 314 and the synchronous belt 64 are fixed relatively, the synchronous belt 64 drives the synchronous belt wheel 63 to rotate, the synchronous belt 64 connected with the secondary arm 33 is driven to move, a second synchronous belt pressing plate 332 is arranged on the secondary arm 33 in a similar mode, and the synchronous belt 64 and the secondary arm 33 are connected. Of course, the first timing belt press plate 314 and the second timing belt press plate 332 are located at the lower side and the upper side of the timing belt 64, respectively.

In one possible design, the tray 31 has vertical sliders 311 for sliding connection with the vertical rails 26, and the third motor 61 is mounted on a third motor mounting plate 312 on the tray 31.

In one possible design, as shown in fig. 8-11, the secondary arm 33 has a first horizontal rail 321, and the tray 31 has a horizontal slider 313 slidably connected to the first horizontal rail 321.

In one possible design, as shown in fig. 12, the secondary arm 33 has a second horizontal rail 331, and the primary arm 32 has a slider 322 for slidably connecting with the second horizontal rail 331.

Particularly, the secondary arm 33 and the primary arm 32 are both hollow rectangular structures, one end of the secondary arm 33 is installed in the primary arm 32, the front surface and the top surface of the primary arm 32 are respectively provided with a first horizontal guide rail 321, the front surface of the secondary arm 33 is provided with two second horizontal guide rails 331, and correspondingly, the inner side wall of the primary arm 32 is provided with a sliding block 322 which is matched with the inner side wall of the primary arm. The horizontal rack 62 is arranged on the front surface of the primary arm 32, the belt pulley 63 is arranged on the bottom surface of the primary arm 32, and the synchronous belt 64 is wound on the belt pulley 63.

The working principle of the three-axis manipulator is as follows: the first motor 41 runs to drive the first driving gear 42 to rotate, and the outer gear ring of the outer gear slewing bearing 12 is fixed, so that the first driving gear 42 makes a circular motion along the outer gear ring of the outer gear slewing bearing 12, and then the stand column unit 2 is driven to rotate;

the second motor 51 operates to drive the second driving gear to rotate, and the vertical rack 25 is fixed on the column body 21, so that the second driving gear vertically moves along the vertical rack 25, and then the second motor 51 and the secondary telescopic arm unit 3 are driven to move up and down;

the third motor 61 runs to drive the third driving gear to rotate, the horizontal rack 62 meshed with the third driving gear is driven to horizontally move, then the first-stage arm 32 and the belt wheel 63 are driven to synchronously and horizontally move, meanwhile, due to the matching relation between the synchronous belt 64 and the tray 31, the synchronous belt 64 is stressed to horizontally move relative to the first-stage arm 32, then the second-stage arm 33 is pulled to horizontally move relative to the first-stage arm 32, and therefore secondary extension and retraction are achieved.

The above embodiments, further detailed description of the objects, technical solutions and advantages of the present application, it should be understood that the above embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. Triaxial manipulator, its characterized in that: the method comprises the following steps:

a base unit (1);

the upright post unit (2) is rotatably connected with the base unit (1);

the secondary telescopic arm unit (3) is arranged on the upright post unit (2) and can vertically move along the upright post unit (2);

a first driving mechanism (4) for driving the column unit (2) to rotate in a horizontal plane;

the second driving mechanism (5) is used for driving the second-stage telescopic arm unit (3) to move in the vertical direction;

and the third driving mechanism (6) is used for driving the secondary telescopic arm unit (3) to stretch in the horizontal direction.

2. The three-axis robot of claim 1, wherein: the base unit (1) comprises a bottom plate (11) and an external gear rotary bearing (12) connected with the bottom plate (11), and the bottom of the upright column unit (2) is rotatably connected with the bottom plate (11) through the external gear rotary bearing (12);

the first driving mechanism (4) comprises a first motor (41) and a first driving gear (42) connected with the first motor (41), the first motor (41) is arranged on the stand column unit (2), and the first driving gear (42) is meshed with the outer gear rotary bearing (12).

3. The three-axis robot of claim 1 or 2, wherein: the upright post unit (2) comprises a post body (21), the bottom of the post body (21) is connected with the base unit (1), and a vertical rack (25) and a vertical guide rail (26) are arranged on the post body (21);

the second driving mechanism (5) comprises a second motor (51) and a second driving gear connected with the second motor (51), the second motor (51) is arranged on the second-stage telescopic arm unit (3), the second-stage telescopic arm unit (3) is in sliding fit with the vertical guide rail (26), and the second driving gear is meshed with the vertical rack (25).

4. The three-axis robot of claim 3, wherein: the cylinder (21) is a four-sided upright column, the first driving mechanism (4) is arranged on the front surface of the cylinder (21), the back surface of the cylinder (21) is provided with two vertical guide rails (26), and the vertical rack (25) is arranged on the side surface of the cylinder (21); the top surface of the column body (21) is provided with or not provided with a hanging ring (27).

5. The three-axis robot of claim 1, 2 or 4, wherein: the two-stage telescopic arm unit (3) comprises a tray (31), a first-stage arm (32) and a second-stage arm (33), the tray (31) is connected with the upright unit (2) in a sliding manner, and the second driving mechanism (5) is arranged on the tray (31);

the first-stage arm (32) is horizontally connected with the tray (31) in a sliding mode, and the second-stage arm (33) is horizontally connected with the first-stage arm (32) in a sliding mode.

6. The three-axis robot of claim 5, wherein: the third driving mechanism (6) comprises a third motor (61), a third driving gear connected with the third motor (61), a horizontal rack (62) and a synchronous belt mechanism, the third motor (61) is installed on the tray (31), the horizontal rack (62) and the synchronous belt mechanism are installed on the primary arm (32), and the horizontal rack (62) is meshed with the third driving gear;

the synchronous belt mechanism comprises a synchronous belt (64) and a belt wheel (63), the tray (31) is connected with the synchronous belt (64) through a first synchronous belt pressing plate (314), and the secondary arm (33) is connected with the synchronous belt (64).

7. The three-axis robot of claim 6, wherein: a vertical sliding block (311) which is used for being connected with the upright post unit (2) in a sliding manner is arranged on the tray (31);

the second-stage arm (33) is provided with a first horizontal guide rail (321), and the tray (31) is provided with a horizontal sliding block (313) which is connected with the first horizontal guide rail (321) in a sliding manner.

8. The three-axis robot of claim 7, wherein: the secondary arm (33) and the primary arm (32) are both of hollow rectangular structures, and one end of the secondary arm (33) is arranged in the primary arm (32);

the front surface and the top surface of the primary arm (32) are respectively provided with a first horizontal guide rail (321), the horizontal rack (62) is arranged on the front surface of the primary arm (32), the belt wheel (63) is arranged on the bottom surface of the primary arm (32), and the synchronous belt (64) is wound on the belt wheel (63).

9. The three-axis robot of claim 6, 7 or 8, wherein: the second level arm (33) is provided with a second horizontal guide rail (331), and the first level arm (32) is provided with a sliding block (322) which is used for being connected with the second horizontal guide rail (331) in a sliding way.

10. The three-axis robot of claim 9, wherein: two second horizontal guide rails (331) are arranged on the front surface of the secondary arm (33).