CN220463912U - High-speed handling manipulator - Google Patents
High-speed handling manipulator Download PDFInfo
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- CN220463912U CN220463912U CN202321876893.7U CN202321876893U CN220463912U CN 220463912 U CN220463912 U CN 220463912U CN 202321876893 U CN202321876893 U CN 202321876893U CN 220463912 U CN220463912 U CN 220463912U
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- gear
- driving
- manipulator
- frame
- servo motor
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 11
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 11
- 239000004411 aluminium Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000010073 coating (rubber) Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 238000012946 outsourcing Methods 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 3
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000012805 post-processing Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920003225 polyurethane elastomer Polymers 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 230000000576 supplementary effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model provides a high-speed carrying manipulator which comprises a frame, an X-axis driving mechanism, a Z-axis driving mechanism and a carrying manipulator, wherein the Z-axis driving mechanism and the X-axis driving mechanism are arranged in the frame, the X-axis driving mechanism is in driving connection with the carrying manipulator to drive the carrying manipulator to move along the X-axis direction, the Z-axis driving mechanism is in driving connection with the carrying manipulator to drive the carrying manipulator to move up and down along the Z-axis, the carrying manipulator comprises a supporting plate, a sliding rod and a plurality of groups of sucker assemblies with the same structure, the sliding rod is arranged on the supporting plate along the X-axis direction and slides on the supporting plate, aluminum sliding rails are respectively arranged at the upper end and the lower end of the sliding rod, and a plurality of aluminum guide wheels with the same structure are respectively arranged at the upper end and the lower end of the supporting plate to collide and slide on the sliding rails. The high-speed carrying manipulator provided by the utility model has a compact layout structure, and adopts high-strength aviation aluminum materials in a large range, so that the carrying manipulator can realize light high-speed and stable operation.
Description
Technical Field
The utility model relates to the technical field of automation equipment, in particular to a high-speed carrying manipulator.
Background
Along with the development of the stamping production line, the stamping production line with manual feeding and discharging is gradually eliminated, and the full-automatic stamping line with the robot is developed in the 21 st century, so that the labor is well liberated, and the production line efficiency and the quality of parts are improved. At present, the carrying manipulator for connecting a plurality of punches of small parts is heavy in structure, unstable in operation and low in speed, and the overall operation efficiency of the carrying manipulator is affected.
Disclosure of Invention
The utility model aims to provide a high-speed carrying manipulator which aims to solve the technical problems in the background technology.
In order to achieve the above object, the present utility model provides the following technical solutions:
the utility model provides a high-speed transport manipulator, includes frame, X axle actuating mechanism, Z axle actuating mechanism and transport manipulator, Z axle actuating mechanism and X axle actuating mechanism all install in the frame, X axle actuating mechanism and transport manipulator drive are connected the drive and are carried the manipulator and move along X axle direction, Z axle actuating mechanism and transport manipulator drive are connected the drive and carry the manipulator along Z axle up-and-down motion, transport manipulator includes backup pad, slide bar and the sucking disc subassembly that a plurality of group structure is the same, the slide bar sets up in the backup pad along X axle direction and slides in the backup pad, the upper and lower both ends of slide bar are equipped with the slide rail of aluminium system respectively, the upper and lower both ends of backup pad are equipped with the guide pulley of aluminium system that a plurality of structure is the same respectively and conflict on the slide rail and slide, be equipped with the indent guide way on the guide pulley, the preceding, back both sides of slide rail are equipped with the conflict face of downward sloping and the guide way lateral wall contact on the guide pulley, the rubber coating cover has been wrapped up in with the rubber coating and is contacted with the slide rail.
The X-axis driving mechanism comprises a first servo motor and a driving rod, the first servo motor is fixed on the frame, the driving rod is in driving connection with the servo motor below the first servo motor, a first gear is fixedly arranged on the driving rod, a rack is arranged on the rear side of the sliding rod, and the first gear is in meshed transmission with the rack on the sliding rod through a second gear.
The Z-axis driving mechanism comprises a second servo motor, a first driving wheel and a second driving wheel, the first driving wheel is in driving connection with the second servo motor, a cam structure is formed on one side of the second driving wheel, a supporting frame is fixed on the rear side of the supporting plate, a containing groove matched with the position of the second driving wheel is formed below the supporting frame, a limiting assembly used for installing a first gear and a second gear is fixedly arranged above the supporting frame, the limiting assembly comprises a first limiting plate and a second limiting plate, the second limiting plate is arranged below the first limiting plate, the first gear and the second gear are arranged between the first limiting plate and the second limiting plate, a sliding groove is formed on the driving rod along the Z-axis direction, and a key block is arranged on the inner side of the first gear and is matched with the sliding groove.
The sucking disc subassembly includes mounting panel, connecting plate and installs the same vacuum suction nozzle of a plurality of structure on the connecting plate, the rear end and the slide bar fixed connection of mounting panel, connecting plate and installation mutually perpendicular, the front end of mounting panel is fixed in the centre of connecting plate, a plurality of vacuum suction nozzle equipartition is in the both sides of connecting plate, and vacuum generator installs on the mounting panel.
An auxiliary air cylinder is further arranged above the supporting frame and fixed on the frame, and a driving shaft of the auxiliary air cylinder is fixedly connected with the supporting frame.
Compared with the prior art, the high-speed carrying manipulator provided by the utility model has the advantages that the layout structure is compact, and the motor is fixedly kept in the frame, namely, the load of the moving carrying manipulator is reduced; the frame adopts steel sheet welding back heat treatment ageing post-processing, and the material in this application adopts high strength aviation aluminum product on a large scale, and the biggest possible load that reduces the motion part, and the motion part design is light and handy, lets the transport manipulator can realize light high-speed and steady operation.
Drawings
Fig. 1: a schematic perspective structure of the application;
fig. 2: another directional three-dimensional structure schematic diagram of the application
Fig. 3: an X-axis driving mechanism and a Z-axis driving mechanism are installed in a schematic diagram;
fig. 4: the structure of the guide wheel is schematically shown.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.
Specific example 1: referring to fig. 1 to 4, in an embodiment of the present utility model, a high-speed handling manipulator 2 includes a frame 1, an X-axis driving mechanism 8, a Z-axis driving mechanism 10, and a handling manipulator 2, where a base 14 is further installed below the frame 1 to fix the frame 1 on a machine table or the ground, so as to avoid unstable operation caused by shaking or the like during operation of the manipulator; z axle actuating mechanism 10 and X axle actuating mechanism 8 are all installed in frame 1, X axle actuating mechanism 8 is connected with the drive of transport manipulator 2 and is driven transport manipulator 2 along X axle direction and remove, Z axle actuating mechanism 10 is connected with the drive of transport manipulator 2 and is driven transport manipulator 2 along Z axle up-and-down motion, transport manipulator 2 includes backup pad 3, slide bar 4 and the same sucking disc subassembly 7 of a plurality of group structure, slide bar 4 sets up on backup pad 3 along X axle direction and slides on backup pad 3, slide bar 4's upper and lower both ends are equipped with slide rail 5 of aluminium respectively, the upper and lower both ends of backup pad 3 are equipped with the guide pulley 6 of a plurality of aluminium system that the structure is the same respectively and contradict on slide rail 5 and slide, be equipped with indent guide slot 601 on guide pulley 6, the preceding, the back both sides of slide rail 5 are equipped with the contact surface 501 of downward sloping and guide slot 601 lateral wall contact on guide pulley 6, the outer parcel of guide pulley 6 has the rubber coating cover and slide rail 5 contact, the rubber coating cover is high wear resistance polyurethane rubber cover, the overall arrangement of guide pulley 6 through upper and lower two-layer structure, slide bar 4's stability is further strengthened, realize the stability of slide bar 4's slide bar is moved, the stability of this machine tool is guaranteed to make the guide pulley that the whole machine hand is more stable with the guide pulley 5 of this machine hand that moves, the strength is guaranteed simultaneously.
The X-axis driving mechanism 8 comprises a first servo motor 801 and a driving rod 802, the first servo motor 801 is fixed on the frame 1, the driving rod 802 is in driving connection with the servo motor below the first servo motor 801, a first gear 803 is fixedly arranged on the driving rod 802, a rack 9 is arranged on the rear side of the sliding rod 4, the first gear 803 is in meshing transmission with the rack 9 on the sliding rod 4 through a second gear 804, namely, the first gear 803 is in meshing transmission with the second gear 804, and the second gear 804 is in meshing transmission with the rack 9.
The Z-axis driving mechanism 10 comprises a second servo motor 1001, a first driving wheel 1002 and a second driving wheel 1003, the first driving wheel 1002 is in driving connection with the second servo motor 1001, the second driving wheel 1003 is installed on one side of the first driving wheel 1002 to form a cam structure, a supporting frame 11 is fixed on the rear side of the supporting plate 3, an accommodating groove 1101 matched with the position of the second driving wheel 1003 is arranged below the supporting frame 11, the second driving wheel 1003 is limited in the accommodating groove 1101 to drive the whole carrying manipulator 2 to move, a limiting assembly 12 for installing a first gear 803 and a second gear 804 is fixedly arranged above the second driving frame 11, the limiting assembly 12 comprises a first limiting plate 1201 and a second limiting plate 1202, the second limiting plate 1202 is arranged below the first limiting plate 1201, the first gear 803 and the second gear 804 are arranged between the first limiting plate 1201 and the second limiting plate 1202, a sliding groove 802-1 is arranged on the driving rod 802 along the Z-axis direction, and a key block is arranged on the inner side of the first gear 803 to be matched with the sliding groove 802-1 in position. When the second servo motor 1001 drives the first driving wheel 1002 to rotate, the second driving wheel 1003 is eccentrically mounted on the first driving wheel 1002 and the second driving wheel 1003 is clamped in the accommodating groove 1101 of the supporting frame 11, that is, the rotation of the second driving wheel 1003 drives the supporting frame 11 to move up and down, and then drives the first gear 803 and the second gear 804 in the limiting assembly 12 to synchronously move, so that the key block on the first gear 803 slides along the sliding groove 802-1 of the driving rod 802 flower-spreading girl.
The sucking disc subassembly 7 includes mounting panel 701, connecting plate 702 and installs the same vacuum suction nozzle 703 of a plurality of structure on connecting plate 702, the rear end and the slide bar 4 fixed connection of mounting panel 701, connecting plate 702 and installation mutually perpendicular, the front end of mounting panel 701 is fixed in the centre of connecting plate 702, a plurality of vacuum suction nozzle 703 equipartition is in the both sides of connecting plate 702, in this application, the left and right sides of connecting plate 702 is equipped with two vacuum suction nozzles 703 respectively, vacuum generator 704 installs on mounting panel 701, vacuum generator 704 adopts high-capacity high sensitivity trinity vacuum generator, cooperation procedure advance angle, response time is short, realize absorbing the work piece fast.
The auxiliary cylinder 13 is still installed to support frame 11 top, and auxiliary cylinder 13 is fixed in frame 1, and auxiliary cylinder 13's drive shaft and support frame 11 fixed connection set up auxiliary cylinder 13 and can play supplementary effect of borrowing force to Z axle actuating mechanism 10 when the drive backup pad 3 reciprocates, can also avoid Z axle driving piece to appear unusual and lead to carrying manipulator 2 unable continuous operation.
Compared with the prior art, the high-speed carrying manipulator provided by the utility model has the advantages that the layout structure is compact, and the motor is fixedly kept in the frame, namely, the load of the moving carrying manipulator is reduced; the frame adopts steel sheet welding back heat treatment ageing post-processing, and the material in this application adopts high strength aviation aluminum product on a large scale, and the biggest possible load that reduces the motion part, and the motion part design is light and handy, lets the transport manipulator can realize light high-speed and steady operation.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (5)
1. A high-speed transport manipulator, its characterized in that: including frame, X axle actuating mechanism, Z axle actuating mechanism and transport manipulator, Z axle actuating mechanism and X axle actuating mechanism all install in the frame, X axle actuating mechanism and transport manipulator drive are connected the drive and are carried the manipulator and move along X axle direction, Z axle actuating mechanism and transport manipulator drive are connected the drive and carry the manipulator along Z axle up-and-down motion, the transport manipulator includes backup pad, slide bar and the same sucking disc subassembly of a plurality of group structure, the slide bar sets up in the backup pad along X axle direction and slides in the backup pad, the upper and lower both ends of slide bar are equipped with the slide rail of aluminium system respectively, the upper and lower both ends of backup pad are equipped with the guide pulley of aluminium system that a plurality of structure is the same respectively and contradict on the slide rail and slide, be equipped with the indent guide way on the guide pulley, the front and back both sides of slide rail are equipped with the guide way lateral wall contact on the guide pulley of downward sloping, the guide pulley outsourcing has rubber coating cover and slide rail contact.
2. The high-speed handling robot of claim 1, wherein: the X-axis driving mechanism comprises a first servo motor and a driving rod, the first servo motor is fixed on the frame, the driving rod is in driving connection with the servo motor below the first servo motor, a first gear is fixedly arranged on the driving rod, a rack is arranged on the rear side of the sliding rod, and the first gear is in meshed transmission with the rack on the sliding rod through a second gear.
3. The high-speed handling robot of claim 2, wherein: the Z-axis driving mechanism comprises a second servo motor, a first driving wheel and a second driving wheel, the first driving wheel is in driving connection with the second servo motor, a cam structure is formed on one side of the second driving wheel, a supporting frame is fixed on the rear side of the supporting plate, a containing groove matched with the position of the second driving wheel is formed below the supporting frame, a limiting assembly used for installing a first gear and a second gear is fixedly arranged above the supporting frame, the limiting assembly comprises a first limiting plate and a second limiting plate, the second limiting plate is arranged below the first limiting plate, the first gear and the second gear are arranged between the first limiting plate and the second limiting plate, a sliding groove is formed on the driving rod along the Z-axis direction, and a key block is arranged on the inner side of the first gear and is matched with the sliding groove.
4. A high speed handling robot as set forth in claim 3, wherein: the sucking disc subassembly includes mounting panel, connecting plate and installs the same vacuum suction nozzle of a plurality of structure on the connecting plate, the rear end and the slide bar fixed connection of mounting panel, connecting plate and installation mutually perpendicular, the front end of mounting panel is fixed in the centre of connecting plate, a plurality of vacuum suction nozzle equipartition is in the both sides of connecting plate, and vacuum generator installs on the mounting panel.
5. The high-speed handling robot of claim 4, wherein: an auxiliary air cylinder is further arranged above the supporting frame and fixed on the frame, and a driving shaft of the auxiliary air cylinder is fixedly connected with the supporting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321876893.7U CN220463912U (en) | 2023-07-18 | 2023-07-18 | High-speed handling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321876893.7U CN220463912U (en) | 2023-07-18 | 2023-07-18 | High-speed handling manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220463912U true CN220463912U (en) | 2024-02-09 |
Family
ID=89778905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321876893.7U Active CN220463912U (en) | 2023-07-18 | 2023-07-18 | High-speed handling manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220463912U (en) |
-
2023
- 2023-07-18 CN CN202321876893.7U patent/CN220463912U/en active Active
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