CN221135927U - Flexible triaxial manipulator and truss manipulator - Google Patents
Flexible triaxial manipulator and truss manipulator Download PDFInfo
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- CN221135927U CN221135927U CN202322988463.0U CN202322988463U CN221135927U CN 221135927 U CN221135927 U CN 221135927U CN 202322988463 U CN202322988463 U CN 202322988463U CN 221135927 U CN221135927 U CN 221135927U
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Abstract
The utility model discloses a flexible triaxial manipulator and a truss manipulator, and belongs to the technical field of manipulators. The manipulator includes: a cross frame; the X-axis assembly is arranged on the transverse frame and moves along the length direction of the transverse frame; the Z-axis assembly is carried on the X-axis assembly and used for moving in the vertical direction; the Y-axis assembly is positioned on the Z-axis assembly and is perpendicular to the X-axis assembly; and the grabbing component is arranged on the Y-axis component. This flexible triaxial manipulator and truss manipulator is used for satisfying the triaxial motion who snatchs the subassembly through X axle subassembly, Y axle subassembly and Z axle subassembly, and the height of Y axle can be adjusted along with the drive of Z axle subassembly, and the Z axle subassembly is installed on the X axle, consequently can adjust the snatch position of snatching the mechanism at will, and the installation direction of Z axle can change according to actual conditions, makes it snatch and place the material in lower or higher homoenergetic, further increases the flexibility.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a flexible triaxial manipulator and a truss manipulator.
Background
The manipulator is an automatic operation device which can simulate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program; the method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance.
At present, a triaxial manipulator such as the disclosure with publication number CN109623798a, which comprises a first mechanical shaft, a second mechanical shaft, a third mechanical shaft and a manipulator, wherein the second mechanical shaft which is positioned at the upper part of the first mechanical shaft and is horizontally perpendicular to the first mechanical shaft is connected with the first mechanical shaft through a first connecting component, the third mechanical shaft which is positioned at the side part of the second mechanical shaft and is vertically perpendicular to the second mechanical shaft is connected with the second mechanical shaft through a second connecting component, the manipulator is positioned at the bottom of the third mechanical shaft, and the manipulator is connected with the third mechanical shaft through a third connecting component. The technical scheme of the invention has the beneficial effects that: the technical scheme of the invention can clamp the article very accurately and stably, move up and down and horizontally, send the article to a designated position and place the article at the designated position, and still has the following problems.
The manipulator for grabbing is arranged on the third mechanical shaft, grabbing and placing of materials cannot be carried out at a position higher than the position above the third mechanical shaft, certain limitation is achieved, and some more flexible manipulators are complex in structure and high in use cost in large factories.
Disclosure of utility model
In order to solve the technical problems, the utility model provides a flexible triaxial manipulator and a truss manipulator.
The technical scheme of the utility model is as follows: a flexible triaxial manipulator comprising: a cross frame; the X-axis assembly is arranged on the transverse frame and moves along the length direction of the transverse frame; the Z-axis assembly is carried on the X-axis assembly and used for moving in the vertical direction; the Y-axis assembly is positioned on the Z-axis assembly and is perpendicular to the X-axis assembly; the grabbing component is arranged on the Y-axis component; the X-axis assembly comprises a sliding piece capable of linearly and reciprocally moving along the length direction of the transverse frame, the sliding piece is connected to the transverse frame in a sliding manner through a sliding block, and the sliding piece is used for carrying the Z-axis assembly; two sliding rails fixed on the cross frame and arranged along the length direction of the cross frame, and the sliding rails are in sliding connection with the sliding piece; the tooth row is positioned between the two sliding rails and arranged along the length direction of the tooth row; a gear for meshing with the tooth row is arranged on one side of the sliding piece facing the transverse frame; and the first drag chain is arranged on the transverse frame and fixedly connected with the sliding piece.
Further, the sliding part is provided with a first servo motor for driving, the sliding part is also provided with a first speed reducer in transmission connection with an output shaft of the first servo motor, and an output shaft of the first speed reducer is fixedly connected with the gear.
Further, the Z-axis assembly comprises a connecting frame which is arranged on the sliding piece and linearly reciprocates along the Z-axis direction, and the connecting frame is used for installing the Y-axis assembly; the base is fixedly arranged on the sliding piece and used for sliding the connecting frame; the driving assembly is arranged on the sliding piece and used for driving the connecting frame to move along the Z-axis direction; and the second drag chain is arranged on the sliding piece and fixedly connected with the connecting frame.
Further, the drive assembly includes a second servomotor secured to the slider; the screw rod assembly is in transmission connection with the output shaft of the second servo motor and is used for driving the connecting frame to lift; and the counterweight cylinder is arranged on the second servo motor and connected with the connecting frame.
Further, the Y-axis assembly comprises a connecting frame fixed on the connecting frame; the transmission frame is fixed on the connecting frame; the transmission plate is arranged at the bottom of the transmission frame and moves along the Y-axis direction for installing the grabbing component, and the transmission plate is used for installing the grabbing component; and the synchronous wheel assembly is arranged in the transmission frame and used for enabling the sliding piece to move along the Y axis.
Further, the synchronous wheel assembly consists of a driving wheel, a driven wheel, a guiding wheel and a plurality of synchronous belts.
Further, the grabbing component comprises an extension rod fixed on the transmission plate; an extension frame arranged at one end of the extension rod; and a plurality of sucker assemblies arranged on the expansion frame.
Truss manipulator, including flexible triaxial manipulator, multiunit flexible triaxial manipulator sets gradually along length direction and constitutes the truss manipulator.
The beneficial technical effects of the utility model are as follows: the Y-axis assembly is arranged on the Z-axis assembly, so that the height of the Y-axis can be adjusted along with the driving of the Z-axis assembly, the Z-axis assembly is arranged on the X-axis, the grabbing position of the grabbing assembly can be adjusted at will, the installation direction of the Z-axis can be changed according to actual conditions, the Z-axis assembly can grab and place materials at lower or higher positions, the flexibility is further increased, the X-axis assembly can combine multiple groups of crossbeams along the length direction according to actual conditions, an ultra-long crossbeams are formed, tooth rows are aligned with sliding rails, the movable space of the grabbing assembly is further increased, and the Z, Y-axis assembly is arranged on the crossbeams in a modularized mode, so that the Z-axis assembly is convenient to add or reduce in actual use, and is convenient to use in a large-scale production workshop.
Drawings
FIG. 1 is a schematic perspective view of a flexible triaxial manipulator according to the present utility model;
FIG. 2 is a schematic perspective view of the structure of the X-axis assembly of the present utility model;
FIG. 3 is a schematic side view of the structure of the X-axis assembly of the present utility model;
FIG. 4 is a schematic perspective view of the Z-axis assembly of the present utility model;
FIG. 5 is a schematic side view of the structure of the Z-axis assembly of the present utility model;
FIG. 6 is a schematic perspective view of the Y-axis assembly of the present utility model;
FIG. 7 is a schematic perspective view of the Y-axis assembly and synchronizing wheel assembly of the present utility model;
fig. 8 is a schematic perspective view of the truss manipulator of the present utility model.
Corresponding part names are indicated by numerals and letters in the drawings:
1. A cross frame; 2. a slider; 21. a first tow chain; 22. a tooth row; 23. a slide rail; 24. a first servo motor; 25. a first speed reducer; 26. a gear; 3. a connecting frame; 31. a base; 32. a second servo motor; 33. a lead screw assembly; 34. a counterweight cylinder; 35. a second tow chain; 4. a connection frame; 41. a transmission frame; 42. a drive plate; 43. a synchronizing wheel assembly; 5. an extension rod; 51. an expansion frame; 52. and a suction cup assembly.
Detailed Description
In order that the manner in which the above recited features of the present utility model are attained and can be understood in detail, a more particular description of the utility model, briefly summarized below, may be had by reference to the appended drawings and examples, which are illustrated in their embodiments, but are not intended to limit the scope of the utility model.
Referring to fig. 1-7, the flexible triaxial manipulator according to the present embodiment includes: a transverse frame 1 arranged along the X-axis direction.
Both ends of the transverse frame 1 are combined, so that a plurality of groups of transverse frames 1 can be assembled.
An X-axis component which is arranged on the transverse frame 1 and moves along the length direction of the X-axis component; the Z-axis assembly is carried on the X-axis assembly and used for moving in the vertical direction; the Y-axis assembly is positioned on the Z-axis assembly and is vertical to the X-axis assembly; and the grabbing component is arranged on the Y-axis component.
The X-axis component, the Y-axis component and the Z-axis component are used for meeting the triaxial movement of the grabbing component, so that the movement range of the grabbing component is enlarged, the grabbing component can be placed at a position after grabbing materials, the flexibility is further improved, the grabbing component is suitable for grabbing materials at a plurality of positions, and due to the fact that X, Y, Z multiple shafts are adopted for being combined into one, the grabbing component is simple in structure, convenient to maintain and suitable for operation in various environments, multiple groups of cooperation can be carried out, and complete industrial automation is achieved.
Wherein the X-axis component and the Y-axis component can be adjusted according to actual conditions.
The Y-axis assembly is arranged on the Z-axis assembly, so that the height of the Y-axis can be adjusted along with the driving of the Z-axis assembly, the Z-axis assembly is arranged on the X-axis, the grabbing position of the grabbing assembly can be adjusted at will, the installation direction of the Z-axis can be changed according to actual conditions, the Z-axis assembly can grab and place materials at lower or higher positions, the flexibility is further increased, the X-axis assembly can combine multiple groups of crossbeams along the length direction according to actual conditions, an ultra-long crossbeams are formed, tooth rows are aligned with sliding rails, the movable space of the grabbing assembly is further increased, and the Z, Y-axis assembly is arranged on the crossbeams in a modularized mode, so that the Z-axis assembly is convenient to add or reduce in actual use, and is convenient to use in a large-scale production workshop.
The X-axis assembly comprises a sliding part 2 capable of linearly and reciprocally moving along the length direction of the transverse frame 1, the sliding part 2 is connected to the transverse frame 1 in a sliding way through a sliding block, and the sliding part 2 is used for carrying a Z-axis assembly; two slide rails 23 fixed on the cross frame 1 and arranged along the length direction thereof, and the slide rails 23 are in sliding connection with the sliding piece 2; the tooth row 22 is arranged between the two slide rails 23 and along the length direction thereof; the side of the slider 2 facing the cross frame 1 is provided with a gear 26 for meshing with the row of teeth 22; a first drag chain 21 provided on the cross frame 1 and fixedly connected with the slider 2.
The sliding piece 2 can slide in the X-axis direction through the transverse frame 1, so that the Z-axis component can be driven to realize movement in the X-axis direction.
The sliding part 2 and the transverse frame 1 can be in sliding connection through the arrangement of the two sliding rails 23, so that the sliding part 2 can move along the sliding rails 23, the gear 26 arranged on the sliding part 2 is meshed with the gear row 22, and when the gear 26 rotates, the sliding part 2 can be driven to move along the sliding rails 23 through the fixed gear row 22, so that the self-movement of the sliding part 2 is realized.
Further, the sliding part 2 is provided with a first servo motor 24 for driving, the sliding part 2 is also provided with a first speed reducer 25 in transmission connection with the output shaft of the first servo motor 24, and the output shaft of the first speed reducer 25 is fixedly connected with a gear 26.
When the first servo motor 24 works, the gear 26 is driven to rotate through the first speed reducer 25, the rotating gear 26 and the fixed gear row 22 realize the movement of the sliding part 2, namely, the sliding part 2 can move along the length direction of the cross rod, a PLC control system can be adopted for programming control, and the automatic processing is convenient.
Further, the Z-axis assembly comprises a connecting frame 3 which is arranged on the sliding piece 2 and linearly reciprocates along the Z-axis direction, and the connecting frame 3 is used for installing the Y-axis assembly; the base 31 is fixedly arranged on the sliding piece 2 and used for sliding the connecting frame 3; the driving component is arranged on the sliding piece 2 and used for driving the connecting frame 3 to move along the Z-axis direction; and a second drag chain 35 provided on the slider 2 and fixedly connected to the link 3.
The base 31 is used for sliding connection of the connecting frame 3 with the slider 2.
Further, the drive assembly comprises a second servomotor 32 fixed to the slider 2; the screw rod assembly 33 is in transmission connection with the output shaft of the second servo motor 32, and the screw rod assembly 33 is used for driving the connecting frame 3 to lift; and a counterweight cylinder 34 provided on the second servo motor 32 and connected to the connection frame 3.
The connecting frame 3 can realize the reciprocating motion in the Z-axis direction through the arrangement of the driving component, thereby driving the movement of the Y-axis component.
When the second servo motor 32 works, the lead screw assembly 33 can be driven to work through the output shaft, the connecting frame 3 can reciprocate along the Z axis by utilizing the work of the lead screw assembly 33, the counterweight air cylinder 34 is used for balancing the weight of a machine part, the power and the power consumption required by the second servo motor 32 are reduced, the second servo motor 32 is provided with a brake device, and the height position before shutdown can be maintained to be not fallen when the power is off and the air is stopped.
Further, the Y-axis assembly comprises a connecting frame 4 fixed on the connecting frame 3; a transmission frame 41 fixed to the connection frame 4; the transmission plate 42 is arranged at the bottom of the transmission frame 41 and moves along the Y-axis direction for the installation of the grabbing component, and the transmission plate 42 is used for the installation of the grabbing component; a synchronizing wheel assembly 43 is provided in the drive frame 41 for movement of the slider 2 along the Y-axis.
The connecting frame 4 plays a role in connection, and the reciprocating motion of the transmission plate 42 along the length direction of the transmission frame 41 can be realized through the synchronous wheel assembly 43, so that the grabbing assembly moves along the Y-axis direction.
The ball screw rotates to drive the connecting frame 3 to lift through the screw sleeve, so that the reciprocating motion in the Z-axis direction is realized, wherein the lifting is realized by the existing screw principle preferably, and other lifting modes can be adopted.
Further, the synchronizing wheel assembly 43 is composed of a driving wheel, a driven wheel, a guiding wheel and a plurality of synchronous belts.
The double-stroke structure can be formed by the driving wheel, the driven wheel, the guide wheel and a plurality of synchronous belts, so that the transmission plate 42 can move along the Y axis, the movement distance and speed of the transmission plate 42 can be further increased, the working efficiency of the device can be improved, the specific connection mode and the movement process can refer to the disclosed invention with the publication number CN 115741633A.
Further, the gripping assembly comprises an extension rod 5 on a fixed drive plate 42; an extension bracket 51 provided at one end of the extension rod 5; and a plurality of suction cup assemblies 52 provided on the expansion bracket 51.
The length of the extension rod 5 can be adjusted according to actual conditions, so that the extension rod can adapt to the positions of various materials, the grabbing of the materials is realized through the extension frame 51 and the sucker assembly 52, the grabbing range can be enlarged, the grabbing quantity or grabbing area is increased, and the stability after grabbing is increased.
The truss manipulator, as shown in fig. 8, comprises flexible triaxial manipulators, and a plurality of groups of flexible triaxial manipulators are sequentially arranged along the length direction to form the truss manipulator.
The truss manipulator can be formed by adopting a plurality of groups of flexible triaxial manipulators, so that the manipulators form a complete conveying chain, different functions of the plurality of groups of manipulators are realized, and the full-automatic processing step of the workpiece is completed.
The electrical devices and components not described in detail in this document are all related art, and the control manner and circuits thereof are not described in detail herein.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, and it should be noted that it is possible for those skilled in the art to make several improvements and modifications without departing from the technical principle of the present utility model, and these improvements and modifications should also be regarded as the protection scope of the present utility model.
Claims (8)
1. A flexible triaxial manipulator, comprising:
a cross frame (1);
The X-axis assembly is arranged on the transverse frame (1) and moves along the length direction of the transverse frame;
the Z-axis assembly is carried on the X-axis assembly and used for moving in the vertical direction;
The Y-axis assembly is positioned on the Z-axis assembly and is perpendicular to the X-axis assembly; and
The grabbing component is arranged on the Y-axis component;
The X-axis assembly comprises a sliding piece (2) capable of linearly and reciprocally moving along the length direction of the transverse frame (1), the sliding piece (2) is connected to the transverse frame (1) in a sliding mode through a sliding block, and the sliding piece (2) is used for carrying the Z-axis assembly; two sliding rails (23) fixed on the cross frame (1) and arranged along the length direction of the cross frame, and the sliding rails (23) are in sliding connection with the sliding piece (2); the tooth row (22) is positioned between the two sliding rails (23) and is arranged along the length direction of the tooth row; a gear (26) used for being meshed with the tooth row (22) is arranged on one side of the sliding piece (2) facing the transverse frame (1); and the first drag chain (21) is arranged on the transverse frame (1) and fixedly connected with the sliding piece (2).
2. The flexible triaxial manipulator according to claim 1, characterized in that the sliding part (2) is provided with a first servo motor (24) for driving, the sliding part (2) is further provided with a first speed reducer (25) in transmission connection with an output shaft of the first servo motor (24), and an output shaft of the first speed reducer (25) is fixedly connected with the gear (26).
3. The flexible triaxial manipulator according to claim 1, characterized in that the Z-axis assembly comprises a connecting frame (3) provided on the slider (2) and linearly reciprocating in the Z-axis direction, the connecting frame (3) being used for mounting a Y-axis assembly; the base (31) is fixedly arranged on the sliding piece (2) and used for sliding the connecting frame (3); the driving component is arranged on the sliding piece (2) and used for driving the connecting frame (3) to move along the Z-axis direction; and the second drag chain (35) is arranged on the sliding piece (2) and fixedly connected with the connecting frame (3).
4. A flexible triaxial manipulator according to claim 3, characterized in that the drive assembly comprises a second servomotor (32) fixed to the slider (2); the screw rod assembly (33) is in transmission connection with the output shaft of the second servo motor (32), and the screw rod assembly (33) is used for driving the connecting frame (3) to lift; and a counterweight cylinder (34) which is arranged on the second servo motor (32) and is connected with the connecting frame (3).
5. A flexible triaxial manipulator according to claim 3, characterised in that the Y-axis assembly comprises a connection frame (4) secured to the connection frame (3); a transmission frame (41) fixed on the connection frame (4); the transmission plate (42) is arranged at the bottom of the transmission frame (41) and moves along the Y-axis direction for installing the grabbing component, and the transmission plate (42) is used for installing the grabbing component; and the synchronous wheel assembly (43) is arranged in the transmission frame (41) and used for moving the sliding part (2) along the Y axis.
6. The flexible triaxial manipulator according to claim 5, wherein the synchronizing wheel assembly (43) is composed of a driving wheel, a driven wheel, a guiding wheel and several synchronizing belts.
7. The flexible triaxial manipulator according to claim 5, characterized in that the gripping assembly comprises an extension rod (5) fixed to the drive plate (42); an expansion bracket (51) arranged at one end of the extension rod (5); and a plurality of sucker assemblies (52) arranged on the expansion frame (51).
8. A truss manipulator comprising a flexible triaxial manipulator according to any one of claims 1 to 7, wherein a plurality of groups of flexible triaxial manipulators are arranged in sequence along the length direction to form the truss manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322988463.0U CN221135927U (en) | 2023-11-07 | 2023-11-07 | Flexible triaxial manipulator and truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322988463.0U CN221135927U (en) | 2023-11-07 | 2023-11-07 | Flexible triaxial manipulator and truss manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN221135927U true CN221135927U (en) | 2024-06-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322988463.0U Active CN221135927U (en) | 2023-11-07 | 2023-11-07 | Flexible triaxial manipulator and truss manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221135927U (en) |
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2023
- 2023-11-07 CN CN202322988463.0U patent/CN221135927U/en active Active
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