CN219522124U

CN219522124U - Four-axis transverse-walking type servo manipulator stable in operation

Info

Publication number: CN219522124U
Application number: CN202223382415.9U
Authority: CN
Inventors: 周岐计; 兰晨; 韦金美; 韦金聪
Original assignee: Guangxi Rongyue Intelligent Equipment Co ltd
Current assignee: Guangxi Rongyue Intelligent Equipment Co ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-08-15
Anticipated expiration: 2032-12-16

Abstract

The utility model discloses a four-axis transverse walking type servo manipulator with stable operation, and relates to the technical field of servo manipulators. The utility model comprises an X axis arranged on the top of a Y axis, the X axis is connected with the Y axis in a sliding way, a first Z axis and a second Z axis are arranged on one side of the X axis, the first Z axis and the second Z axis are both in sliding connection with the X axis, and mechanical claws are arranged at the bottoms of the first Z axis and the second Z axis. According to the utility model, the first servo motor and the second servo motor are arranged in the X axis, the first servo motor is used for controlling the second X thread slide block to move, so that the second Z axis on one side of the second X thread slide block is controlled to move transversely, the second servo motor is used for controlling the first X thread slide block to move transversely, so that the first Z axis on one side of the first X thread slide block is controlled to move transversely, the movable ranges of the first Z axis and the second Z axis are increased, and the working range of the patent is improved.

Description

Four-axis transverse-walking type servo manipulator stable in operation

Technical Field

The utility model belongs to the technical field of servo manipulators, and particularly relates to a four-axis transverse walking type servo manipulator which is stable in operation.

Background

The servo manipulator is an automated production device capable of mimicking the function of a human limb portion and allowing automatic control thereof to cause it to convey a workpiece or to hold a tool for production operations according to predetermined requirements. The hydraulic manipulator adopts hydraulic power and electrohydraulic servo control, has the advantages of flexible action, high load rigidity, high precision, high response speed and large response speed, and is suitable for occasions with high-power load carrying.

The utility model discloses a four-axis servo manipulator for taking material in mould that chinese authorized publication number is CN210589364U, this manipulator carries out the function of multimode work through two anchor clamps cooperation, has promoted the practicality of device, has avoided single manipulator to lead to the product impaired because of stability is poor, but the manipulator of this patent receives the restriction of ball screw length when lateral shifting, can't remove the other end to the fixed plate to the working range of manipulator has been restricted, consequently, we have proposed a smooth-running four-axis and transversely walked servo manipulator.

Disclosure of Invention

The utility model aims to provide a four-axis traversing type servo manipulator which runs stably, so as to solve the existing problems: the utility model discloses a four-axis servo manipulator for taking material in mould that chinese authorized publication number is CN210589364U, this manipulator carries out the function of multimode work through two anchor clamps cooperation, has promoted the practicality of device, has avoided single manipulator to lead to the product impaired because of stability is poor, but the manipulator of this patent receives the restriction of ball screw length when lateral shifting, can't remove to the other end of fixed plate to the working range of manipulator has been restricted.

In order to solve the technical problems, the utility model is realized by the following technical scheme:

the utility model relates to a four-axis traversing type servo manipulator which is stable in operation, comprising an X axis arranged at the top of the Y axis, wherein the X axis is in sliding connection with the Y axis, a first Z axis and a second Z axis are arranged on one side of the X axis, the first Z axis and the second Z axis are both in sliding connection with the X axis, mechanical claws are arranged at the bottoms of the first Z axis and the second Z axis, a first servo motor and a second servo motor are arranged in the X axis, a second X screw and a first X screw are respectively arranged at the output ends of the first servo motor and the second servo motor, a first X slider and a second X screw, a first X thread slider and a second X thread slider are respectively arranged on the surfaces of the second X screw and the first X screw, the first X thread slider and the first X slider are in a group, the second X thread slider and the second X slider are in a group, a chute is formed in the interior of the X axis, and the first X slider and the second X thread slider are both in sliding connection with the first X thread slider and the second X thread slider.

Further, third servo motors are arranged in the first Z shaft and the second Z shaft, Z shaft screws are arranged at the output ends of the two third servo motors, fixed thread sliders are arranged on the surfaces of the two Z shaft screws, and the two fixed thread sliders are fixedly connected with the first X thread sliders, the first X slider, the second X thread sliders and the second X slider respectively.

Further, one side of the first Z axis and one side of the second Z axis are respectively provided with a first sliding rod, the surfaces of the two first sliding rods are respectively provided with a fixed sliding block, the two fixed sliding blocks are respectively in sliding connection with the two first sliding rods, and the two fixed sliding blocks are respectively and fixedly connected with the first X thread sliding block, the first X sliding block, the second X thread sliding block and the second X sliding block.

Further, a fourth servo motor and a second sliding rod are arranged in the Y shaft, and a Y shaft screw rod is arranged at the output end of the fourth servo motor.

Further, a Y-axis threaded slider is arranged on the surface of the Y-axis screw rod, and the Y-axis threaded slider is in threaded connection with the Y-axis screw rod.

Further, a Y-axis sliding block is arranged on the surface of the second sliding rod, and the Y-axis sliding block is in sliding connection with the second sliding rod.

Further, a fixed supporting leg is arranged at the bottom of the Y shaft and is fixedly connected with the Y shaft.

Further, the Y-axis sliding block and the Y-axis threaded sliding block are fixedly connected with the X-axis.

The utility model has the following beneficial effects:

1. according to the utility model, the first servo motor and the second servo motor are arranged in the X axis, the first servo motor is used for controlling the second X thread slide block to move, so that the second Z axis on one side of the second X thread slide block is controlled to move transversely, the second servo motor is used for controlling the first X thread slide block to move transversely, so that the first Z axis on one side of the first X thread slide block is controlled to move transversely, the movable ranges of the first Z axis and the second Z axis are increased, and the working range of the patent is improved.

2. According to the utility model, the Z-axis screw is controlled by the third servo motor, so that the first Z axis and the second Z axis can vertically move, meanwhile, the second slide bars are arranged on one sides of the first Z axis and the second Z axis, and are in sliding connection with the fixed slide blocks, the first Z axis and the second Z axis are driven to move by the Z-axis screw, and the second slide bars are limited, so that the first Z axis and the second Z axis can be effectively prevented from moving at will.

Of course, it is not necessary for any one product to practice the utility model to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic partial cross-sectional view of the present utility model;

FIG. 3 is a schematic view of an X-axis cross-section of the present utility model;

FIG. 4 is an enlarged schematic view of the utility model at A;

FIG. 5 is an enlarged schematic view of the present utility model at B;

FIG. 6 is an enlarged schematic view of the present utility model at C.

In the drawings, the list of components represented by the various numbers is as follows:

1. a Y axis; 2. an X axis; 3. a first Z axis; 4. a second Z axis; 5. a mechanical claw; 6. a fixed support leg; 7. a first slide bar; 8. a fixed slide block; 9. a first servo motor; 10. a second servo motor; 11. a first X screw; 12. a second X screw; 13. a first X thread slide; 14. a first X slider; 15. a third servo motor; 16. a Z-axis screw; 17. fixing a threaded slider; 18. a fourth servo motor; 19. a Y-axis screw; 20. a second slide bar; 21. a Y-axis slider; 22. y-axis thread sliding blocks; 23. a second X thread slide; 24. a second X slider; 25. and a sliding groove.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-6, the utility model is a four-axis traversing servo manipulator with stable operation, comprising an X-axis 2 arranged at the top of a Y-axis 1, wherein the X-axis 2 is slidably connected with the Y-axis 1, a first Z-axis 3 and a second Z-axis 4 are arranged at one side of the X-axis 2, the first Z-axis 3 and the second Z-axis 4 are slidably connected with the X-axis 2, a mechanical claw 5 is arranged at the bottom of the first Z-axis 3 and the second Z-axis 4, a first servo motor 9 and a second servo motor 10 are arranged in the X-axis 2, the utility model controls the movement of a second X-thread slider 23 through the first servo motor 9, thereby controlling the movement of a first X-thread slider 13 through the second servo motor 10, thereby controlling the first Z axis 3 at one side of the first X thread slide block 13 to transversely move, further increasing the moving ranges of the first Z axis 3 and the second Z axis 4, improving the working range of the patent, respectively arranging a second X screw rod 12 and a first X screw rod 11 at the output ends of the first servo motor 9 and the second servo motor 10, respectively arranging a first X thread slide block 14 and a second X thread slide block 23, a first X thread slide block 13 and a second X slide block 24 on the surfaces of the second X screw rod 12 and the first X screw rod 11, respectively arranging a group of the first X thread slide block 13 and the first X slide block 14, arranging a group of the second X thread slide block 23 and the second X slide block 24, arranging a slide groove 25 in the X axis 2, respectively arranging the first X thread slide block 14 and the second X screw rod 24 in sliding connection with the slide groove 25, respectively arranging the first X thread slide block 13 and the second X thread slide block 23 in threaded connection with the second X screw rod 12 and the first X screw rod 11, the inside of first Z axle 3 and second Z axle 4 all is provided with third servo motor 15, the output of two third servo motors 15 all is provided with Z axle screw rod 16, the surface of two Z axle screw rods 16 all is provided with fixed screw thread slider 17, two fixed screw thread slider 17 respectively with first X screw thread slider 13 and first X slider 14, second X screw thread slider 23 and second X slider 24 fixed connection, one side of first Z axle 3 and second Z axle 4 all is provided with first slide bar 7, the surface of two first slide bars 7 all is provided with fixed slider 8, two fixed slider 8 all with two first slide bars 7 sliding connection, two fixed slider 8 respectively with first X screw thread slider 13 and first X slider 14, second X screw thread slider 23 and second X slider 24 fixed connection, the inside of Y axle 1 is provided with fourth servo motor 18 and second slide bar 20, the output of fourth servo motor 18 is provided with Y axle screw rod 19, the surface of Y axle screw rod 19 is provided with Y axle screw thread slider 22, Y axle 22 and Y axle 21 sliding connection of Y axle 21 and second Y axle 21, Y axle 21 and Y axle 21 fixed connection and Y axle 20 fixed connection, Y axle 1 and Y axle 21 are provided with the landing leg fixed connection.

One specific application of this embodiment is: when the X-axis sliding rod is used, the Y-axis screw rod 19 is controlled to rotate through the fourth servo motor 18, so that the Y-axis thread sliding block 22 transversely moves in the Y-axis 1, meanwhile, the top of the Y-axis 1 is driven to transversely move along the X-axis 2, in order to prevent the X-axis 2 from falling, the Y-axis sliding block 21 is further arranged at the bottom of the X-axis 2, the Y-axis sliding block 21 slides on the second sliding rod 20, then the first X-axis screw rod 12 and the first X-axis screw rod 11 are respectively controlled through the first servo motor 9 and the second servo motor 10, the second X-axis screw rod 12 and the first X-axis screw rod 11 are respectively controlled to transversely move through the second X-axis screw rod 23 and the first X-axis screw rod 11, so that the second Z-axis 4 on one side of the second X-thread sliding block 23 and the first Z-axis 3 on one side of the first X-thread sliding block 13 are controlled, therefore, the first servo motor 9 can be controlled to transversely move along the second Z-axis 4, the second servo motor 10 is controlled to transversely move along the first Z-axis 3, finally, the third servo motor 15 inside the first Z-axis screw rod 16 is driven to rotate through the first Z-axis 3 and the first Z-axis 4, and the first Z-axis 4 are driven to transversely move along the first Z-axis 3 and the first Z-axis 4 on one side and the first Z-axis 7.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.

Claims

1. The utility model provides a smooth operation's four-axis walk-across servo manipulator, includes Y axle (1), its characterized in that: the top of Y axle (1) is provided with X axle (2), X axle (2) and Y axle (1) sliding connection, one side of X axle (2) is provided with first Z axle (3) and second Z axle (4), first Z axle (3) and second Z axle (4) all with X axle (2) sliding connection, the bottom of first Z axle (3) and second Z axle (4) all is provided with gripper (5), the inside of X axle (2) is provided with first servo motor (9) and second servo motor (10), the output of first servo motor (9) and second servo motor (10) is provided with second X screw (12) and first X screw (11) respectively, the surface of second X screw (12) and first X screw (11) is provided with first X slider (14) and second X screw slider (23), first X screw slider (13) and second X slider (24) respectively, first X slider (13) and second X slider (24) are provided with first X slider (14) and second X slider (25) respectively, the first X thread slide block (13) and the second X thread slide block (23) are respectively in threaded connection with the second X screw (12) and the first X screw (11).

2. A smooth-running four-axis walk-through servo manipulator according to claim 1, wherein: the novel X-ray machine is characterized in that third servo motors (15) are arranged in the first Z-axis (3) and the second Z-axis (4), Z-axis screws (16) are arranged at the output ends of the two third servo motors (15), fixed thread sliders (17) are arranged on the surfaces of the two Z-axis screws (16), and the two fixed thread sliders (17) are fixedly connected with the first X-ray sliders (13) and the first X-ray sliders (14), the second X-ray thread sliders (23) and the second X-ray sliders (24) respectively.

3. A smooth-running four-axis walk-through servo manipulator according to claim 1, wherein: one side of first Z axle (3) and second Z axle (4) all is provided with first slide bar (7), two the surface of first slide bar (7) all is provided with fixed slider (8), two fixed slider (8) all with two first slide bar (7) sliding connection, two fixed slider (8) respectively with first X screw thread slider (13) and first X slider (14), second X screw thread slider (23) and second X slider (24) fixed connection.

4. A smooth-running four-axis walk-through servo manipulator according to claim 1, wherein: a fourth servo motor (18) and a second sliding rod (20) are arranged in the Y shaft (1), and a Y shaft screw (19) is arranged at the output end of the fourth servo motor (18).

5. A smooth-running four-axis walk-through servo manipulator according to claim 1, wherein: the surface of the Y-axis screw rod (19) is provided with a Y-axis thread slide block (22), and the Y-axis thread slide block (22) is in threaded connection with the Y-axis screw rod (19).

6. The smooth-running four-axis traversing servo manipulator of claim 4, wherein: the surface of the second sliding rod (20) is provided with a Y-axis sliding block (21), and the Y-axis sliding block (21) is in sliding connection with the second sliding rod (20).

7. The smooth-running four-axis walk-through servo manipulator of claim 6, wherein: the bottom of the Y-axis (1) is provided with a fixed supporting leg (6), and the fixed supporting leg (6) is fixedly connected with the Y-axis (1).

8. A smooth-running four-axis walk-through servo manipulator according to claim 1, wherein: the Y-axis sliding block (21) and the Y-axis threaded sliding block (22) are fixedly connected with the X-axis (2).