CN204505263U - Three-D feeding mechanical hand - Google Patents
Three-D feeding mechanical hand Download PDFInfo
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- CN204505263U CN204505263U CN201520130130.7U CN201520130130U CN204505263U CN 204505263 U CN204505263 U CN 204505263U CN 201520130130 U CN201520130130 U CN 201520130130U CN 204505263 U CN204505263 U CN 204505263U
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Abstract
The utility model provides a kind of three-D feeding mechanical hand, comprise frame, control device, driving actuating unit and end effector, described control device and described driving actuating unit are installed in described frame, described control device is electrically connected with described driving actuating unit, described end effector is arranged on described driving actuating unit, described control device control described driving actuating unit drive described end effector respectively in X direction, Y-direction and Z-direction move; Wherein, described end effector comprises two mechanical arms be arrangeding in parallel and correspondence and is arranged on jaw on described mechanical arm; Described driving actuating unit comprises X-direction driven unit, Y-direction driven unit and Z-direction driven unit, to realize X-direction, Y direction and Z-direction three-shaft linkage conveying workpieces, ensures the quality of product, enhances productivity, reduces production cost.
Description
Technical field
The utility model relates to feeder equipment field, particularly relates to a kind of three-D feeding mechanical hand of multistation feeding mechanical hand.
Background technology
In current industrial development, automation is applied to every field.Along with the increase of hand labor cost, replace artificial phenomenon with robot more and more general.Under the promotion of science and technology, industrial robot is like a raging fire is applied to industry-by-industry, carries out operation by the action of apish swivel of hand, shoulder joint.By replacing the work that artificial mode decreases the heavy repetition of manual work with robot, decrease the security incident occurred in process of manufacture.Manipulator belongs to the one of industrial robot, has been widely applied to the industries such as manufacturing industry, medical treatment, Aero-Space, electronics.
At present, the production model of the factory of some auto parts and components, also based on one-shot bed, single feeder equipment, even has some factories also with manual work.The equipment of industrial product fallen behind, cause percent defective high, yield poorly down and the phenomenon of manpower shortage.More and more higher along with industrialization degree, traditional production technology can not be met the need of market.And existing manipulator also exists, and frame for movement is too complicated, productivity ratio is lower, product quality is unstable, do not reach the problems such as the requirement of the feeding of high speed and super precision, is unfavorable for the automation demand meeting plant produced.
Utility model content
Based on this, be necessary for the complex structure of existing manipulator, the precision of feeding and speed is not high, production efficiency is lower problem, a kind of three-D feeding mechanical hand that can simplify structure, the precision improving feeding and speed, enhance productivity is provided.
Above-mentioned purpose is achieved through the following technical solutions:
A kind of three-D feeding mechanical hand, comprise frame, control device, driving actuating unit and end effector, described control device and described driving actuating unit are installed in described frame, described control device is electrically connected with described driving actuating unit, described end effector is arranged on described driving actuating unit, and described control device controls described driving actuating unit and drives described end effector to move along X-direction, Y direction and Z-direction respectively;
Wherein, described end effector comprises two mechanical arms be arrangeding in parallel and correspondence and is arranged on jaw on described mechanical arm, described mechanical arm is arranged along X-direction, the output of described X-direction driven unit is connected with the end of described mechanical arm, and the output of described Y-direction driven unit is connected with described mechanical arm;
Described driving actuating unit comprises X-direction driven unit, Y-direction driven unit and Z-direction driven unit, described X-direction driven unit drives described mechanical arm to move in the X-axis direction, described Y-direction driven unit drive described mechanical arm close to each other or mutually away from, described Z-direction driven unit drives described mechanical arm to be synchronized with the movement along Z-direction.
Wherein in an embodiment, described X-direction driven unit comprises X-direction servomotor, X-direction transmission mechanism, X-direction slide block fixed head, guide pillar and connecting plate, the output of described X-direction servomotor is connected with described X-direction transmission mechanism, described X-direction transmission mechanism is connected with described X-direction slide block fixed head, described guide pillar is arranged on X-direction slide block fixed head along Z-direction, and described guide pillar is connected with one end of described mechanical arm by described connecting plate.
Wherein in an embodiment, described X-direction driven unit also comprises X-direction slide rail and X-direction slide block, described X-direction slide rail is set in parallel in described frame along X-direction, one end of described X-direction slide block is arranged on described X-direction slide block fixed head, and the other end of described X-direction slide block is arranged on described X-direction slide rail respectively.
Wherein in an embodiment, described X-direction driven unit also comprises end linear bearing, and described connecting plate is arranged on described guide pillar by described end linear bearing.
Wherein in an embodiment, described X-direction transmission mechanism comprises X-direction ball screw, X-direction screw mandrel holder and X-direction feed screw nut, the output of described X-direction servomotor is connected with described X-direction ball screw, described X-direction ball screw is arranged in described frame by described X-direction screw mandrel holder, described X-direction feed screw nut is sleeved on described X-direction ball screw, described X-direction feed screw nut moves along described X-direction ball screw, and described X-direction feed screw nut is upper installs described X-direction slide block fixed head.
Wherein in an embodiment, described three-D feeding mechanical hand also comprises mobile platform, and described Y-direction driven unit and described Z-direction driven unit drive described manipulator motion by described mobile platform;
Described mobile platform comprises mobile platform slide rail fixed head, mobile platform slide rail, mobile platform slide block and mobile platform slide block fixed head, described mobile platform slide rail is set in parallel on described mobile platform slide rail fixed head, and described mobile platform slide rail is parallel with described mechanical arm, one end of described mobile platform slide block is arranged on described mobile platform slide block fixed head, the other end of described mobile platform slide block is arranged on described mobile platform slide rail, described mobile platform slide rail fixed head is arranged on described mechanical arm, described mobile platform slide block fixed head is arranged on described Y-direction driven unit.
Wherein in an embodiment, the quantity of described Y-direction driven unit is two, and two described Y-direction driven units lay respectively at the below of described mechanical arm;
Described Y-direction driven unit comprises Y-direction servomotor, Y-direction transmission mechanism, the axis of guide and universal bearing, the output of described Y-direction servomotor is connected with described Y-direction transmission mechanism, one end of the described axis of guide is arranged on described Y-direction transmission mechanism, and the other end of the described axis of guide is arranged on described mobile platform slide block fixed head by described universal bearing.
Wherein in an embodiment, described Y-direction transmission mechanism comprises Y-direction ball screw, Y-direction feed screw nut, optical axis, flange linear bearing and nut Linear bearing fixing seat, the output of described Y-direction servomotor is connected with described Y-direction ball screw, described Y-direction ball screw is arranged along Y direction, described Y-direction ball screw and described optical axis be arranged in parallel, and described optical axis is arranged on the both sides of described Y-direction ball screw respectively, described Y-direction ball screw is perpendicular to described mechanical arm, described Y-direction ball screw and described optical axis are each passed through described nut Linear bearing fixing seat, and the two ends of described Y-direction ball screw are fixed in described frame respectively by Y-direction screw mandrel holder, the two ends of described optical axis are fixed in described frame respectively by optical axis holder.
Wherein in an embodiment, described Y-direction driven unit also comprises Y-direction first slide rail and Y-direction first slide block, described Y-direction first slide rail is arranged along Y direction, described Y-direction first slide rail is arranged on described Z-direction driven unit, one end of described Y-direction first slide block is arranged on described Y-direction first slide rail, and the other end of described Y-direction first slide block is connected with described nut Linear bearing fixing seat.
Wherein in an embodiment, described Y-direction driven unit also comprises Y-direction second slide rail and Y-direction second slide block, described Y-direction second slide rail is arranged along Y direction, described Y-direction second slide rail is fixed on described X-direction slide block fixed head, one end of described Y-direction second slide block is arranged on described Y-direction second slide rail, and the other end of described Y-direction second slide block is arranged on described guide pillar.
Wherein in an embodiment, the quantity of described Z-direction driven unit is two, and two described Z-direction driven units are arranged on the below of described Y-direction driven unit respectively;
Described Z-direction driven unit comprises Z-direction servomotor, Z-direction transmission mechanism and Z-direction slide block fixed head, the output of described Z-direction servomotor is connected with described Z-direction transmission mechanism, and described Z-direction transmission mechanism is connected with described Z-direction slide block fixed head.
Wherein in an embodiment, described Z-direction driven unit also comprises Z-direction slide rail and Z-direction slide block, Z-direction slide rail is arranged in described frame along Z-direction, one end of described Z-direction slide block is arranged on described Z-direction slide block fixed head, and the other end of described Z-direction slide block is arranged on Z-direction slide rail.
Wherein in an embodiment, described Z-direction transmission mechanism comprises Z-direction screw mandrel holder, Z-direction ball screw and Z-direction feed screw nut, the output of described Z-direction servomotor is connected with described Z-direction ball screw, described Z-direction ball screw is fixed in described frame by described Z-direction screw mandrel holder, described Z-direction feed screw nut is sleeved on described Z-direction ball screw, described Z-direction screw mandrel moves along described Z-direction ball screw, and described Z-direction feed screw nut is upper installs described Z-direction slide block fixed head.
Wherein in an embodiment, described three-D feeding mechanical hand also comprises checkout gear, and described checkout gear is arranged in described frame, and described control device is electrically connected with described checkout gear.
Wherein in an embodiment, described three-D feeding mechanical hand also comprises EGR, and described EGR is positioned at the below of described mechanical arm, and described control device is electrically connected with described EGR;
Described EGR comprises circulation motor, endless belt is taken turns, conveyer belt, guidance axis, lift cylinder is connected push rod with cylinder, described circulation motor is arranged in described frame, described endless belt wheel is arranged in described frame respectively, and the line of described endless belt wheel is parallel to described mechanical arm, described conveyer belt is sleeved on described endless belt wheel, described guidance axis is arranged on the both sides of described conveyer belt, described lift cylinder is fixed in described frame, the end of described lift cylinder is installed described cylinder and is connected push rod, described cylinder connects push rod and connects described guidance axis by supporting fixed head.
Wherein in an embodiment, described jaw comprises upset jaw and common jaw.
Wherein in an embodiment, described driving actuating unit also comprises spacing Cowhells proximity switch, and described spacing Cowhells proximity switch is separately positioned on the two ends of the two ends of described X-direction slide rail, the two ends of described mobile platform slide rail, the two ends of described Y-direction first slide rail, the two ends of described Y-direction second slide rail and described Z-direction slide rail.
The beneficial effects of the utility model are:
Three-D feeding mechanical hand of the present utility model, structural design advantages of simple, control to drive actuating unit to drive end effector to carry out conveying workpieces by control device, compact conformation, the mechanical arm of end effector be arranged in parallel, drive the X-direction driven unit in actuating unit, Y-direction driven unit and the motion of Z-direction driven unit acting in conjunction driving mechanical arm, realize mechanical arm gripping in the horizontal direction and unclamp workpiece, move along the direction being parallel to mechanical arm, in the vertical direction is elevated, jaw gripping workpiece on mechanical arm, and by X-direction driven unit, workpiece is delivered to assigned address by Y-direction driven unit and Z-direction driven unit driving mechanical arm, realize X-direction, Y direction and Z-direction three-shaft linkage, at a high speed, high accuracy conveying workpieces, ensure the quality of product, enhance productivity, reduce production cost.
Accompanying drawing explanation
Fig. 1 is the front view of the three-D feeding mechanical hand of the utility model one embodiment;
Fig. 2 is for driving the stereogram of actuating unit, end actuating unit and EGR in the three-D feeding mechanical hand shown in Fig. 1;
Fig. 3 is for driving the partial schematic diagram of actuating unit, end actuating unit in the three-D feeding mechanical hand shown in Fig. 1;
Fig. 4 is the driving actuating unit shown in Fig. 3, a partial schematic diagram of end actuating unit;
Fig. 5 is another partial schematic diagram of the driving actuating unit shown in Fig. 3, end actuating unit;
Fig. 6 is the stereogram of EGR shown in Fig. 2;
Wherein:
100-frame;
200-drives actuating unit;
210-X direction driven unit; 211-X direction servomotor; 212-X direction slide block fixed head; 213-X direction slide rail; 214-X direction slide block; 215-guide pillar; 216-connecting plate; 217-X direction ball screw; 218-X direction screw mandrel holder; 219-X direction feed screw nut; 221-slide rail baffle plate; 222-mobile platform slide block fixed head; 223-mobile platform slide rail; 224-mobile platform slide block; 225-X direction slide rail fixed head; 226-end linear bearing; 227-top board;
240-Y direction driven unit; 241-Y direction servomotor; 242-Y direction electric machine stand; 243-Y direction first slide rail; 244-Y direction first slide block; The 245-axis of guide; 246-universal bearing; 247-Y direction ball screw; 248-Y direction screw mandrel holder; 249-Y direction feed screw nut; 251-optical axis; 252-optical axis holder; 253-nut Linear bearing fixing seat; 254-flange linear bearing; 255-Y direction Timing Belt; 256-Y direction regulating wheel; 257-Y direction second slide rail; 258-Y direction second slide block;
270-Z direction driven unit; 271-Z direction servomotor; 272-Z direction slide block fixed head; 273-Z direction slide rail; 274-Z direction slide block; 275-Z direction electric machine stand; 276-Z direction Timing Belt; 277-Z direction ball screw; 278-Z direction feed screw nut;
300-end effector;
310-mechanical arm;
320-jaw; The common jaw of 321-; 322-overturns jaw;
400-EGR;
410-circulation motor; 420-endless belt is taken turns; 430-conveyer belt; 440-guidance axis; 450-lift cylinder;
500-workpiece.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, by the following examples, and by reference to the accompanying drawings, three-D feeding mechanical hand of the present utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
See Fig. 1 to Fig. 6, the three-D feeding mechanical hand of the utility model one embodiment, is applicable to the pay-off of the plant equipment such as punch press, also can be single pay-off, for carrying out multistation conveying to workpiece 500.Three-D feeding mechanical hand of the present utility model comprises frame 100, control device, driving actuating unit 200 and end effector 300.Control device is installed in frame 100 with driving actuating unit 200, control device is electrically connected with driving actuating unit 200, end effector 300 is arranged on and drives on actuating unit 200, workpiece 500 is arranged on end effector 300, control device controls to drive actuating unit 200 to drive end effector 300 respectively along X-direction, Y direction and Z-direction are moved (as shown in Figure 1 in orthogonal X-direction, Y direction and Z-direction, X-direction and Y direction are mutually vertical, the plane that Z-direction is formed perpendicular to X-direction and Y direction), workpiece 500 is delivered to assigned address.
Wherein, actuating unit 200 is driven to comprise X-direction driven unit 210, Y-direction driven unit 240 and Z-direction driven unit 270, X-direction driven unit 210 and Z-direction driven unit 270 are installed in frame 100, and Z-direction driven unit 270 is arranged on Y-direction driven unit 240.Control device can control X-direction driven unit 210, Y-direction driven unit 240 moves with one or several in Z-direction driven unit 270 simultaneously, and then drive end effector 300 to move, realize X-direction, Y direction and Z-direction three-shaft linkage, at a high speed, high accuracy conveying workpieces 500.End effector 300 comprises two mechanical arms 310 be arrangeding in parallel and correspondence and is arranged on jaw 320 on mechanical arm 310, mechanical arm 310 is arranged in X direction, the output of X-direction driven unit 210 is connected with the end of mechanical arm 310, and the output of Y-direction driven unit 240 is connected with mechanical arm 310.Jaw 320 correspondence is arranged on mechanical arm 310, mechanical arm 310 relative motion be arranged in parallel, jaw 320 gripping workpiece 500 can be realized, X-direction driven unit 210, Y-direction driven unit 240 move with Z-direction driven unit 270 driving mechanical arm 310, realize three-D feeding mechanical hand of the present utility model to the conveying of workpiece 500 Three Degree Of Freedom, namely realize three-shaft linkage conveying workpieces 500, flexible movements, the user demand of different process equipment can be met.Further, drive the X-direction driven unit 210 in actuating unit 200, Y-direction driven unit 240 and Z-direction driven unit 270 to be all arranged on the inner side of frame 100, avoid operating personnel to touch and come to harm.
The action that X-direction driven unit 210 driving mechanical arm 310 realizes X-direction transfer is controlled by control device; Action opened by the folder realizing Y direction by control device control Y-direction driven unit 240 driving mechanical arm 310; Control device controls the lifting action that Z-direction driven unit 270 driving mechanical arm 310 realizes Z-direction.X-direction driven unit 210 driving mechanical arm 310 is in the horizontal direction to the direction motion being parallel to mechanical arm 310, X-direction driven unit 210 realizes conveying workpieces 500, X-direction driven unit 210 moves in the X-axis direction, and then driving mechanical arm 310 moves, the workpiece 500 on jaw 320 is transported to assigned address; Y-direction driven unit 240 driving mechanical arm 310 in the horizontal direction close to each other or mutually away from, Y-direction driven unit 240 realizes gripping or unclamps workpiece 500, Y-direction driven unit 240 driving mechanical arm 310 is close to each other in the Y-axis direction, jaw 320 can gripping workpiece 500, Y-direction driven unit 240 driving mechanical arm 310 in the Y-axis direction mutual away from, jaw 320 can unclamp workpiece 500; Z-direction driven unit 270 drives Y-direction driven unit 240 and mechanical arm 310 to be synchronized with the movement along Z-direction, Z-direction driven unit 270 realizes lifting work-piece 500, Y-direction driven unit 240 is arranged on Z-direction driven unit 270, and Y-direction driven unit 240 can be driven when Z-direction driven unit 270 moves together to move.Concrete, coordinate system in corresponding diagram 1, X-direction driven unit 210 driving mechanical arm 310 is synchronized with the movement in X direction, Y-direction driven unit 240 drives synchronous motor mechanical arm 310 to move along Y-direction, Z-direction driven unit 270 driving mechanical arm 310 is synchronized with the movement along Z-direction, the precision of conveying workpieces 500 can be ensured like this, ensure the quality of product.
At present, manipulator exists that frame for movement is too complicated, productivity ratio is lower, product quality is unstable, do not reach the problems such as the requirement of the feeding of high speed and super precision, is unfavorable for the automation demand meeting plant produced.Three-D feeding mechanical hand of the present utility model controls to drive actuating unit 200 to drive end effector 300 to carry out conveying workpieces 500 by control device, compact conformation, the mechanical arm 310 of end effector 300 be arranged in parallel, drive the X-direction driven unit 210 in actuating unit 200, Y-direction driven unit 240 and Z-direction driven unit 270 acting in conjunction driving mechanical arm 310 move, quick conveying workpieces 500, realize mechanical arm 310 gripping in the horizontal direction and unclamp workpiece 500, move along the direction being parallel to mechanical arm 310, in the vertical direction is elevated, jaw 320 gripping workpiece 500 on mechanical arm 310, and by X-direction driven unit 210, workpiece 500 is delivered to assigned address by Y-direction driven unit 240 and the Z-direction driven unit 270 driving mechanical arm 310 that cooperatively interacts, realize X-direction, Y direction and Z-direction three-shaft linkage, at a high speed, high accuracy conveying workpieces 500, ensure the quality of product, enhance productivity, reduce production cost, save the production time.
See Fig. 1 to Fig. 4, as a kind of embodiment, X-direction driven unit 210 comprises X-direction servomotor 211, X-direction transmission mechanism, X-direction slide block fixed head 212, guide pillar 215 and connecting plate 216.Concrete, the output of X-direction servomotor 211 is connected with X-direction transmission mechanism, X-direction transmission mechanism is connected with X-direction slide block fixed head 212, and guide pillar 215 is arranged on X-direction slide block fixed head 212 along Z-direction, and guide pillar 215 is connected with one end of mechanical arm 310 by connecting plate 216.Guide pillar 215 is positioned at (namely parallel with Z-direction) on vertical plane.Further, X-direction driven unit 270 also comprises X-direction slide rail 213 and X-direction slide block 214, X-direction slide rail 213 is set in parallel in frame 100 along X-direction, X-direction slide rail 213 parallel with mechanical arm 310 (i.e. X-direction) is arranged, one end of X-direction slide block 214 is arranged on X-direction slide block fixed head 212, and the other end of X-direction slide block 214 is arranged on X-direction slide rail 213 respectively.Can move in the X-axis direction when ensureing that X-direction transmission mechanism drives X-direction slide block fixed head 212 to move by X-direction slide rail 213 and X-direction slide block 214.
The output of X-direction servomotor 211 drives the motion of X-direction transmission mechanism, and then drive X-direction slide block fixed head 212 to move, X-direction slide block fixed head 212 drive X-direction slide block 214 in X direction slide rail 213 move back and forth, X-direction slide block fixed head 212 also drives guide pillar 215 to move, and guide pillar 215 is moved by connecting plate 216 driving mechanical arm 310.Further, X-direction driven unit 270 also comprises end linear bearing 226, and connecting plate 216 is arranged on guide pillar 215 by end linear bearing 226.Mounting end linear bearing 226 between guide pillar 215 and connecting plate 216, makes connecting plate 216 above can move along guide pillar 215 at vertical direction (i.e. Z-direction) by end linear bearing 226.When Z-direction driven unit 270 moves, Z-direction driven unit 270 can move up and down by driving mechanical arm 310, and then mechanical arm 310 is moved along guide pillar 215 by connecting plate 216, can not interfere with X-direction driven unit 210 when ensureing that Z-direction driven unit 270 moves, ensure stable movement.Certainly, also can ensure that connecting plate 216 moves along guide pillar 215 for matched in clearance between guide pillar 215 and connecting plate 216.
Certainly, X-direction driven unit 210 can also comprise slide rail baffle plate 221 and top board 227.In the utility model, X-direction slide rail 213 symmetry is placed, the quantity of X-direction slide block 214 is identical with the quantity of X-direction slide rail 213, to ensure X-direction slide block 214 all installed by each X-direction slide rail 213, the X-direction slide block 214 be simultaneously arranged on X-direction slide rail 213 is connected by an X-direction slide block fixed head 212, to ensure the synchronism of moving.Slide rail baffle plate 221 is parallel with X-direction slide rail 213, and slide rail baffle plate 221 is arranged on the both sides of X-direction slide rail 213 respectively, also becomes to be symmetrical arranged.Guide pillar 215 is arranged on X-direction slide block fixed head 212 by top board 227, to improve the reliability of guide pillar 215.Such X-direction slide block 214 can ensure X-direction slide block 214 smooth sliding when slide rail 213 moves in X direction, ensure X-direction slide block fixed head 212 stable movement be connected with X-direction slide block 214, and then ensure mechanical arm 310 stable movement, reduce the vibration of mechanical arm 310, improve the precision of conveying workpieces 500.Simultaneously, top board 227 can also move on X-direction slide block fixed head 212, when Y-direction driven unit 240 moves, Y-direction driven unit 240 can driving mechanical arm 310 close to each other or mutually away from, and then mechanical arm 310 drive connecting plate 216 and guide pillar 215 by motion top board 227 in X direction slide block fixed head 212 move, can not interfere with X-direction driven unit 210 when ensureing that Y-direction driven unit 240 moves, ensure stable movement.
Further, X-direction transmission mechanism comprises X-direction Timing Belt, X-direction electric machine stand, X-direction motor gear, X-direction regulating wheel, X-direction ball screw 217, X-direction screw mandrel holder 218 and X-direction feed screw nut 219.The output of X-direction servomotor 211 is connected with X-direction ball screw 217 with X-direction Timing Belt by X-direction motor gear.X-direction servomotor 211 is fixed in frame 100 by X-direction electric machine stand, on the output that X-direction motor gear is arranged on X-direction servomotor 211 respectively and on X-direction ball screw 217, X-direction Timing Belt is sleeved on X-direction motor gear, and the output of X-direction Timing Belt is connected with X-direction ball screw 217.X-direction regulating wheel is arranged on inner side or the outside of X-direction Timing Belt, and when X-direction Timing Belt relaxes, X-direction regulating wheel can improve the tensile force of X-direction Timing Belt, ensures safety, improves service life.X-direction ball screw 217 is arranged in frame 100 by X-direction screw mandrel holder 218, X-direction feed screw nut 219 is sleeved on X-direction ball screw 217, X-direction feed screw nut 219 in X direction ball screw 217 moves, and X-direction feed screw nut 219 installs X-direction slide block fixed head.Certainly, also by rack pinion or Worm Wheel System etc., gyration can be changed into the kind of drive of rectilinear motion in X-direction transmission mechanism.In the present embodiment, adopt the kind of drive of ball screw that gyration is changed into rectilinear motion.Certainly, between the output and X-direction ball screw 217 of X-direction servomotor 211, also decelerator can be installed, replace X-direction transmission mechanism, to reach the object of deceleration, stable drive with decelerator.
In the present embodiment, control device controls X-direction servomotor 211 and moves, X-direction servomotor 211 coordinates X-direction Timing Belt to drive X-direction ball screw 217 to carry out retarded motion by X-direction motor gear, slide rail baffle plate 221 and X-direction line slideway symmetry are placed and are ensured that X-direction slide block 214 operates steadily, and then ensure that X-direction slide block fixed head 212 moves horizontally, X-direction ball screw 217 coordinates X-direction feed screw nut 219 to drive X-direction slide block fixed head 212 to move, drive connecting plate 216 to be connected to mechanical arm 310 by top board 227 and guide pillar 215 again to move, and then mechanical arm 310 drives jaw 320 to realize transfer operation.For ensureing that mechanical arm 310 can move horizontally along X-direction, adopting two groups of mobile platforms, ensureing that mechanical arm 310 can not derail.
As a kind of embodiment, three-D feeding mechanical hand also comprises mobile platform, and Y-direction driven unit 240 is connected with mechanical arm 310 by mobile platform with Z-direction driven unit 270.Mobile platform comprises mobile platform slide rail fixed head 225, mobile platform slide rail 223, mobile platform slide block 224 and mobile platform slide block fixed head 222, mobile platform slide rail 223 is set in parallel on mobile platform slide rail fixed head 225, and mobile platform slide rail 223 is parallel with mechanical arm 310, one end of mobile platform slide block 224 is arranged on mobile platform slide block fixed head 222, the other end of mobile platform slide block 224 is arranged on mobile platform slide rail 223, mobile platform slide rail fixed head is arranged on mechanical arm 310, mobile platform slide block fixed head 222 is arranged on Y-direction driven unit 240.Mobile platform can ensure that mechanical arm 310 can not derail when moving along X-direction, mobile platform can also ensure that X-direction driven unit 210 can not interfere with Y-direction driven unit 240 and Z-direction moving parts when moving, that is X-direction driven unit 210 is when controller mechanical arm 310 moves in the X-axis direction, mobile platform slide rail 223 is driven to slide on mobile platform slide block 224 by mobile platform slide block fixed head 222, Y-direction driven unit 240 and the motion of Z-direction moving parts can not be driven, ensure the precision that workpiece 500 is carried.Simultaneously, Y-direction driven unit 240 and Z-direction moving parts together can be moved by mobile platform driving mechanical arm 310 when moving, and Y-direction driven unit 240 and Z-direction moving parts also realize the synkinesia of mechanical arm 310 in X-direction by mobile platform.
See Fig. 1 to Fig. 5, as a kind of embodiment, the quantity of Y-direction driven unit 240 is two, and two Y-direction driven units 240 lay respectively at the below of mechanical arm 310.Jaw 320 on mechanical arm 310 is close to each other or mutually control away from the Y-direction driven unit 240 identical by two structures, the Y-direction driven unit 240 that two structures are identical is arranged on the both sides below mechanical arm 310 respectively, to ensure the stable movement of Y direction, precision is high.Y-direction driven unit 240 comprises Y-direction servomotor 241, Y-direction transmission mechanism, the axis of guide 245 and universal bearing 246.Concrete, the output of Y-direction servomotor 241 is connected with Y-direction transmission mechanism, and one end of the axis of guide 245 is arranged on Y-direction transmission mechanism, and the other end of the axis of guide 245 is arranged on mobile platform slide block fixed head 222 by universal bearing 246.The axis of guide 245 is positioned at (namely parallel with Z-direction) on vertical plane, the output of Y-direction servomotor 241 drives the motion of Y-direction transmission mechanism, and then driving the axis of guide 245 to move, the axis of guide 245 drives mobile platform slide block fixed head 222 to move along Y direction.When Y-direction driven unit 240 driving mechanical arm 310 is close to each other, universal bearing 246 can ensure there is a predeterminable range between mechanical arm 310, ensure that the mechanical arm 310 that be arranged in parallel can not touch each other, so as not to damage mechanical arm 310 and on jaw 320.
Further, Y-direction transmission mechanism comprises Y-direction motor gear, Y-direction electric machine stand 242, Y-direction Timing Belt 255, Y-direction regulating wheel 256, Y-direction ball screw 247, Y-direction feed screw nut 249, optical axis 251, flange linear bearing 254 and nut Linear bearing fixing seat 253.The output of Y-direction servomotor 241 is connected with Y-direction ball screw 247 with Y-direction Timing Belt 255 by Y-direction motor gear.Y-direction servomotor 241 is arranged on Z-direction driven unit 270 by Y-direction electric machine stand 242, on the output that Y-direction motor gear is arranged on Y-direction servomotor 241 respectively and on Y-direction ball screw 247, Y-direction Timing Belt 255 is sleeved on Y-direction motor gear, Y-direction regulating wheel 256 is arranged on inner side or the outside of Y-direction Timing Belt 255, when Y-direction Timing Belt 255 relaxes, Y-direction regulating wheel 256 can improve the tensile force of Y-direction Timing Belt 255, ensure safety, improve service life.
Y-direction ball screw 247 is arranged along Y direction, Y-direction ball screw 247 and optical axis 251 be arranged in parallel, and optical axis 251 is arranged on the both sides of Y-direction ball screw 247 respectively, Y-direction ball screw 247 is perpendicular to mechanical arm 310 (namely arranging along Y direction), Y-direction ball screw 247 and optical axis 251 are each passed through nut Linear bearing fixing seat 253, and the two ends of Y-direction ball screw 247 are fixed in frame 100 respectively by Y-direction screw mandrel holder 248, the two ends of optical axis 251 are fixed in frame 100 respectively by optical axis holder 252, Y-direction feed screw nut 249 is installed between Y-direction ball screw 247 and nut Linear bearing fixing seat 253, mounting flange linear bearing 254 between optical axis 251 and nut Linear bearing fixing seat 253, the axis of guide 245 is arranged on nut Linear bearing fixing seat 253.Certainly, also decelerator can be installed between the output of servomotor 241 and Y-direction ball screw 247 in the Y direction, replace Y-direction transmission mechanism, to reach the object of deceleration, stable drive with decelerator.
In the present embodiment, control device control Y-direction servomotor 241 is connected on Y-direction ball screw 247 by Y-direction motor gear and Y-direction Timing Belt 255 and slows down.The motion that Y-direction ball screw 247 can drive nut Linear bearing fixing seat 253 to drive the mechanical arm 310 be arranged in parallel to step up simultaneously or open simultaneously by the axis of guide 245.Two optical axis 251 attaching nut Linear bearing fixing seats 253, for providing balanced support when nut Linear bearing fixing seat 253 driving mechanical arm 310 moves, the axis of guide 245 connects universal bearing 246 and is fixed on mobile platform slide block fixed head 222, simultaneously, Y-direction driven unit 240 is when moving, and mobile platform can also carry out the transfer of X-direction by auxiliary manipulator.
Because the structure of two Y-direction driven units 240 is identical, course of action is also identical, therefore, for one of them Y-direction driven unit 240, the course of work of Y-direction driven unit 240 is described.The output of Y-direction servomotor 241 passes motion to Y-direction ball screw 247 by Y-direction motor gear and Y-direction Timing Belt 255, Y-direction feed screw nut 249 moves along Y-direction ball screw 247, and then drive nut Linear bearing fixing seat 253 to move along Y-direction ball screw 247, nut Linear bearing fixing seat 253 is moved along optical axis 251 by flange linear bearing 254, and nut Linear bearing fixing seat 253 drives the axis of guide 245 to move.In order to ensure the net synchronization capability of two Y-direction driven units 240, Y-direction servomotor 241 in control device Synchronization Control two Y-direction driven units 240, adopts Y-direction ball screw 247 can ensure the net synchronization capability of two Y-direction driven units 240 further simultaneously in frame for movement.
Further, Y-direction driven unit 240 also comprises Y-direction first slide rail 243 and Y-direction first slide block 244, Y-direction first slide rail 243 is arranged along Y direction, Y-direction first slide rail 243 is arranged on Z-direction driven unit 270, one end of Y-direction first slide block 244 is arranged on Y-direction first slide rail 243, and the other end of Y-direction first slide block 244 is connected with nut Linear bearing fixing seat 253; Nut Linear bearing fixing seat 253 Sports band action-oriented axle 245 can also drive Y-direction first slide block 244 to move along Y-direction first slide rail 243 when moving.Y-direction first slide rail 243 and Y-direction first slide block 244 can ensure that Y-direction driven unit 240 can not interfere with Z-direction driven unit 270 when moving.Y-direction driven unit 240 in controller mechanical arm 310 close to each other or mutually away from time, moved by nut Linear bearing fixing seat 253 Sports band action-oriented axle 245, the axis of guide 245 drives mobile platform to move along Y-direction; Nut Linear bearing fixing seat 253 can also drive Y-direction first slide block 244 to move along Y-direction first slide rail 243 simultaneously, and Y-direction first slide rail 243 does not move, and Z-direction driven unit 270 can not be driven to move, and ensures the precision that workpiece 500 is carried.
Simultaneously, Y-direction driven unit 240 also comprises and is provided with Y-direction second slide rail 257 and Y-direction second slide block 258, Y-direction second slide rail 257 is arranged along Y direction, Y-direction second slide rail 257 is fixed on X-direction slide block fixed head 212, one end of Y-direction second slide block 258 is arranged on Y-direction second slide rail 257, and the other end of Y-direction second slide block 258 is arranged on guide pillar 215 by top board 227.Top board 227 is moved on X-direction slide block fixed head 212 by Y-direction second slide rail 257 and Y-direction second slide block 258.When Y-direction driven unit 240 moves, Y-direction driven unit 240 can driving mechanical arm 310 close to each other or mutually away from, and then mechanical arm 310 drives connecting plate 216 and guide pillar 215 to drive Y-direction second slide rail 257 of Y-direction second slide block 258 in X direction on slide block fixed head 212 to move by top board 227, can not interfere with X-direction driven unit 210 when ensureing that Y-direction driven unit 240 moves, ensure stable movement.Meanwhile, X-direction driven unit 210 is when moving, and Y-direction second slide rail and Y-direction second slide block can also carry out the transfer of Y direction by auxiliary manipulator.
As a kind of embodiment, the quantity of Z-direction driven unit 270 is two, and two Z-direction driven units 270 are arranged on the below of Y-direction driven unit 240 respectively.Be arranged on Y-direction driven unit 240 during Z-direction driven unit 270, accordingly, the quantity of Z-direction driven unit 270 is also two, the lifting of jaw 320 in the vertical direction on mechanical arm 310 is controlled by the Z-direction driven unit 270 that two structures are identical, the Z-direction driven unit 270 that two structures are identical is arranged on the below of Y-direction driven unit 240 respectively, to ensure the stable movement of Y-direction, precision is high.
Z-direction driven unit 270 comprises Z-direction servomotor 271, Z-direction transmission mechanism and Z-direction slide block fixed head 272.Concrete, the output of Z-direction servomotor 271 is connected with Z-direction transmission mechanism, and Z-direction transmission mechanism is connected with Z-direction slide block fixed head 272, Z-direction slide block fixed head 272 is installed Y-direction first slide rail 243.Further, Z-direction driven unit 270 also comprises Z-direction slide rail 273 and Z-direction slide block 275, Z-direction slide rail 273 is arranged in frame 100 along Z-direction (i.e. vertical direction), one end of Z-direction slide block 275 is arranged on Z-direction slide block fixed head 272, and the other end of Z-direction slide block 275 is arranged on Z-direction slide rail 273.Ensure that Z-direction slide block fixed head 272 moves along Z-direction by Z-direction slide rail 273 and Z-direction slide block 275.
The output of Z-direction servomotor 271 drives the motion of Z-direction transmission mechanism, and then drive Z-direction slide block fixed head 272 to move, Z-direction slide block fixed head 272 drives Z-direction slide block 275 to move back and forth along Z-direction slide rail 273, Z-direction slide block fixed head 272 also drives Y-direction first slide rail 243 to move, Y-direction first slide rail 243 drives nut Linear bearing fixing seat 253 to move along Z-direction by Y-direction first slide block 244, and then drives mobile platform slide block fixed head 222 to move along Z-direction by the axis of guide 245.In the utility model, nut Linear bearing fixing seat 253, the axis of guide 245 are Y-direction driven unit 240 and Z-direction driven unit 270 co-controlling with mobile platform slide block fixed head 222, can realize mechanical arm 310 respectively move to Y direction or Z-direction by nut Linear bearing fixing seat 253, the axis of guide 245 with mobile platform slide block fixed head 222.Meanwhile, Z-direction driven unit 270 is arranged on Y-direction driven unit 240, can also ensure the compact conformation of three-D feeding mechanical hand of the present utility model.
Further, Z-direction transmission mechanism comprises Z-direction electric machine stand 276, Z-direction motor gear, Z-direction Timing Belt 277, Z-direction regulating wheel, Z-direction screw mandrel holder, Z-direction ball screw 277 and Z-direction feed screw nut 278.The output of Z-direction servomotor 271 is connected with Z-direction ball screw 277 with Z-direction Timing Belt 277 by Z-direction motor gear.Z-direction servomotor 271 is arranged in frame 100 by Z-direction electric machine stand 276, on the output that Z-direction motor gear is arranged on Z-direction servomotor 271 respectively and on Z-direction ball screw 277, Z-direction Timing Belt 277 is sleeved on Z-direction motor gear, and the output of Z-direction Timing Belt 277 is connected with Z-direction ball screw 277.Z-direction regulating wheel is arranged on inner side or the outside of Z-direction Timing Belt 277, and when Z-direction Timing Belt 277 relaxes, Z-direction regulating wheel can improve the tensile force of Z-direction Timing Belt 277, ensures safety, improves service life.In the present embodiment, Z-direction ball screw 277 is fixed in frame 100 by Z-direction screw mandrel holder, Z-direction feed screw nut 278 is sleeved on Z-direction ball screw 277, and Z-direction screw mandrel moves along Z-direction ball screw 277, Z-direction feed screw nut 278 installs Z-direction slide block fixed head 272.
Certainly, also by rack pinion or Worm Wheel System etc., gyration can be changed into the kind of drive of rectilinear motion in Z-direction transmission mechanism.In the present embodiment, adopt the kind of drive of ball screw that gyration is changed into rectilinear motion.Certainly, between the output and Z-direction ball screw 277 of Z-direction servomotor 271, also decelerator can be installed, replace Z-direction transmission mechanism, to reach the object of deceleration, stable drive with decelerator.
In the present embodiment, control device control Z-direction servomotor 271 is connected on Z-direction ball screw 277 by Z-direction motor gear and Z-direction Timing Belt 277 and slows down.Z-direction ball screw 277 drives Z-direction slide block fixed head 272 to move by Z-direction feed screw nut 278, and then make Z-direction slide block fixed head 272 drive Z-direction slide block 275 to move along Z-direction, to ensure that Z-direction slide block fixed head 272 is along Z-direction vertical lift.Simultaneously, Z-direction slide block fixed head 272 is arranged Y-direction first slide rail 243, Z-direction driven unit 270 when moving, Y-direction first slide rail 243 can also auxiliary mechanical arm 310 auxiliary realize close to each other or mutually away from gripping or unclamp workpiece 500 action.
Because the structure of two Z-direction driven units 270 is identical, course of action is also identical, therefore, for one of them Z-direction driven unit 270, the course of work of Z-direction driven unit 270 is described.The output of Z-direction servomotor 271 passes motion to Z-direction ball screw 277 by Z-direction motor gear and Z-direction Timing Belt 277, Z-direction ball screw 277 drives Z-direction slide block fixed head 272 to move, simultaneously, Z-direction slide block fixed head 272 drives Z-direction slide block 275 to move back and forth along Z-direction slide rail 273, Z-direction slide block fixed head 272 also drives Y-direction first slide rail 243 to move along Z-direction and moves, Y-direction first slide rail 243 drives nut Linear bearing fixing seat 253 to move along Z-direction by Y-direction first slide block 244, and then drive mobile platform slide block fixed head 222 to move along Z-direction by the axis of guide 245.In order to ensure the net synchronization capability of two Z-direction driven units 270, Z-direction servomotor 271 in control device Synchronization Control two Z-direction driven units 270, adopts Z-direction ball screw 277 can ensure the net synchronization capability of two Z-direction driven units 270 further simultaneously in frame for movement.
See Fig. 2 and Fig. 4, as a kind of embodiment, three-D feeder mechanical arm 310 also comprises EGR 400, and EGR 400 is positioned at the below of mechanical arm 310.When waste product appears in workpiece 500 after processing, by the circulatory system, the circulation of the workpiece 500 of waste product can be transported on mechanical arm 310, until occur that workpiece 500 is qualified.Meanwhile, three-D feeder mechanical arm 310 also should comprise checkout gear, and checkout gear is arranged in frame 100, and control device is electrically connected with checkout gear.Checkout gear for detect workpiece 500 process after whether qualified.It is qualified that checkout gear detects workpiece 500, then workpiece 500 starts to carry out next process; Checkout gear detects workpiece 500 defective (being waste product), and the circulatory system is started working, and is dredged on mechanical arm 310 by underproof workpiece 500 and again carries.
EGR 400 comprises circulation motor 410, circulation synchronous band, endless belt wheel 420, circulation motor gear, conveyer belt 430, guidance axis 440, lift cylinder 450 are connected push rod with cylinder.Circulation motor 410 is arranged in frame 100, simultaneously at the outside mounted motor outer cover of circulation motor 410, ensures safety.Circulation motor 410 gear is arranged on the output shaft of circulation motor 410, passes motion to endless belt wheel 420 by circulation synchronous band.Endless belt wheel 420 is arranged in frame 100 respectively, and the line of endless belt wheel 420 is parallel to mechanical arm 310, and conveyer belt 430 is sleeved on endless belt wheel 420, and guidance axis 440 is arranged on the both sides of conveyer belt 430.Circulation motor 410, circulation synchronous band, circulation motor gear, endless belt wheel 420, conveyer belt 430 and guidance axis 440 form a belt transmission device, and underproof workpiece 500 is delivered on mechanical arm 310 by this belt transmission device.Guidance axis 440 play the guiding role, and makes the transmission in yi word pattern of defective workpiece 500.Lift cylinder 450 is fixed in frame 100, and the end of lift cylinder 450 is installed cylinder and connected push rod, and cylinder connects push rod and connects guidance axis 440 by supporting fixed head.Lift cylinder 450 is connected push rod and forms lowering or hoisting gear with cylinder, for by underproof workpiece 500 jack-up in the jaw 320 of mechanical arm 310.
The output of circulation motor 410 passes motion to belt pulley by circulation synchronous band and circulation motor gear, endless belt wheel 420 drives conveyor belt motion, lift cylinder 450 Sports band dynamic air cylinder connects push rod and moves along guidance axis 440, defective workpiece 500 moves to cylinder and connects push rod, lift cylinder 450 action, by defective workpiece 500 jack-up, realize the conveying again of defective workpiece 500.In the utility model, conveyer belt 430 is two narrow flat belts, defective workpiece 500 be exactly by narrow flat belt between static friction realize transmission.Feeding operation by defective workpiece 500 jack-up, can combine with circulating process, realizes the cyclic process operation of workpiece 500 by lift cylinder 450.Three-D feeding mechanical hand of the present utility model had both completed the conveying operation of workpiece 500, again can when carrying end to occur defective workpiece 500 again carried by EGR 400, improve production efficiency, ensure product quality.
As a kind of embodiment, jaw 320 comprises common jaw 321 and upset jaw 322.Jaw 320 is arranged on mechanical arm 310, and jaw 320 is for gripping workpiece 500, and workpiece 500 is transported to assigned address by X-direction driven unit 210, Y-direction driven unit 240 and Z-direction driven unit 270 acting in conjunction driving mechanical arm 310.Common jaw 321 is for gripping workpiece 500 in the right direction, and upset assembly is used for workpiece 500 true for poor direction to overturn, and saves the operation of artificial upset workpiece 500, then is carried by mechanical arm 310.Jaw 320 is arranged on mechanical arm 310 by jaw plate, to ensure that jaw 320 can become yi word pattern to arrange.
As a kind of embodiment, at the two ends of X-direction slide rail 213, mobile platform slide rail 223, Y-direction first slide rail 243, Y-direction second slide rail 257 and Z-direction slide rail 273, spacing Cowhells proximity switch is all set, ensure that three-D feeding mechanical hand of the present utility model can safe operation, spacing Cowhells proximity switch can ensure three-D feeding mechanical hand clear point, program is made mistakes suddenly stops.The two ends of X-direction slide rail 213 are provided with spacing Cowhells proximity switch, are realized zero, the mechanical breakdown shutdown of X-direction by mounting limit Cowhells proximity switch.The two ends of mobile platform slide rail 223 proximity switch are provided with spacing Cowhells proximity switch, are realized zero, the mechanical breakdown shutdown of X-direction by mounting limit Cowhells proximity switch.The two ends of Y-direction first slide rail 243 are provided with spacing Cowhells proximity switch, are realized zero, the mechanical breakdown shutdown of Y-direction by mounting limit Cowhells proximity switch.The two ends of Z-direction slide rail 273 are provided with spacing Cowhells proximity switch, are realized zero, the mechanical breakdown shutdown of Z-direction by mounting limit Cowhells proximity switch.
In the utility model, at least comprise two mechanical arms, 310, X-direction driven unit, 210, two Y-direction driven units 240 and two Z-direction driven units 270, wherein X-direction driven unit 210 drives two mechanical arms 310 to move in the X-axis direction simultaneously, two Y-direction driven units 240 drive two mechanical arms close to each other or away from, Z-direction driven unit 270 drives two mechanical arms rise simultaneously or decline.It should be noted that, an X-direction driven unit 210, two Y-direction driven units 240 and two Z-direction driven units 270 are arranged on two mechanical arms 310 simultaneously.
The above embodiment only have expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (17)
1. a three-D feeding mechanical hand, it is characterized in that, comprise frame, control device, driving actuating unit and end effector, described control device and described driving actuating unit are installed in described frame, described control device is electrically connected with described driving actuating unit, described end effector is arranged on described driving actuating unit, and described control device controls described driving actuating unit and drives described end effector to move along X-direction, Y direction and Z-direction respectively;
Wherein, described driving actuating unit comprises X-direction driven unit, Y-direction driven unit and Z-direction driven unit, and described end effector comprises two mechanical arms be arrangeding in parallel and correspondence and is arranged on jaw on described mechanical arm;
Described mechanical arm is arranged along X-direction, and the output of described X-direction driven unit is connected with the end of described mechanical arm, and the output of described Y-direction driven unit is connected with described mechanical arm;
Described X-direction driven unit drives described mechanical arm to move in the X-axis direction, described Y-direction driven unit drive described mechanical arm close to each other or mutually away from, described Z-direction driven unit drives described mechanical arm to be synchronized with the movement along Z-direction.
2. three-D feeding mechanical hand according to claim 1, it is characterized in that, described X-direction driven unit comprises X-direction servomotor, X-direction transmission mechanism, X-direction slide block fixed head, guide pillar and connecting plate, the output of described X-direction servomotor is connected with described X-direction transmission mechanism, described X-direction transmission mechanism is connected with described X-direction slide block fixed head, described guide pillar is arranged on X-direction slide block fixed head along Z-direction, and described guide pillar is connected with one end of described mechanical arm by described connecting plate.
3. three-D feeding mechanical hand according to claim 2, it is characterized in that, described X-direction driven unit also comprises X-direction slide rail and X-direction slide block, described X-direction slide rail is set in parallel in described frame along X-direction, one end of described X-direction slide block is arranged on described X-direction slide block fixed head, and the other end of described X-direction slide block is arranged on described X-direction slide rail respectively.
4. three-D feeding mechanical hand according to claim 3, is characterized in that, described X-direction driven unit also comprises end linear bearing, and described connecting plate is arranged on described guide pillar by described end linear bearing.
5. three-D feeding mechanical hand according to claim 3, it is characterized in that, described X-direction transmission mechanism comprises X-direction ball screw, X-direction screw mandrel holder and X-direction feed screw nut, the output of described X-direction servomotor is connected with described X-direction ball screw, described X-direction ball screw is arranged in described frame by described X-direction screw mandrel holder, described X-direction feed screw nut is sleeved on described X-direction ball screw, described X-direction feed screw nut moves along described X-direction ball screw, described X-direction feed screw nut is upper installs described X-direction slide block fixed head.
6. three-D feeding mechanical hand according to claim 3, is characterized in that, described three-D feeding mechanical hand also comprises mobile platform, and described Y-direction driven unit and described Z-direction driven unit drive described manipulator motion by described mobile platform;
Described mobile platform comprises mobile platform slide rail fixed head, mobile platform slide rail, mobile platform slide block and mobile platform slide block fixed head, described mobile platform slide rail is set in parallel on described mobile platform slide rail fixed head, and described mobile platform slide rail is parallel with described mechanical arm, one end of described mobile platform slide block is arranged on described mobile platform slide block fixed head, the other end of described mobile platform slide block is arranged on described mobile platform slide rail, described mobile platform slide rail fixed head is arranged on described mechanical arm, described mobile platform slide block fixed head is arranged on described Y-direction driven unit.
7. three-D feeding mechanical hand according to claim 6, is characterized in that, the quantity of described Y-direction driven unit is two, and two described Y-direction driven units lay respectively at the below of described mechanical arm;
Described Y-direction driven unit comprises Y-direction servomotor, Y-direction transmission mechanism, the axis of guide and universal bearing, the output of described Y-direction servomotor is connected with described Y-direction transmission mechanism, one end of the described axis of guide is arranged on described Y-direction transmission mechanism, and the other end of the described axis of guide is arranged on described mobile platform slide block fixed head by described universal bearing.
8. three-D feeding mechanical hand according to claim 7, it is characterized in that, described Y-direction transmission mechanism comprises Y-direction ball screw, Y-direction feed screw nut, optical axis, flange linear bearing and nut Linear bearing fixing seat, the output of described Y-direction servomotor is connected with described Y-direction ball screw, described Y-direction ball screw is arranged along Y direction, described Y-direction ball screw and described optical axis be arranged in parallel, and described optical axis is arranged on the both sides of described Y-direction ball screw respectively, described Y-direction ball screw is perpendicular to described mechanical arm, described Y-direction ball screw and described optical axis are each passed through described nut Linear bearing fixing seat, and the two ends of described Y-direction ball screw are fixed in described frame respectively by Y-direction screw mandrel holder, the two ends of described optical axis are fixed in described frame respectively by optical axis holder.
9. three-D feeding mechanical hand according to claim 8, it is characterized in that, described Y-direction driven unit also comprises Y-direction first slide rail and Y-direction first slide block, described Y-direction first slide rail is arranged along Y direction, described Y-direction first slide rail is arranged on described Z-direction driven unit, one end of described Y-direction first slide block is arranged on described Y-direction first slide rail, and the other end of described Y-direction first slide block is connected with described nut Linear bearing fixing seat.
10. three-D feeding mechanical hand according to claim 9, it is characterized in that, described Y-direction driven unit also comprises Y-direction second slide rail and Y-direction second slide block, described Y-direction second slide rail is arranged along Y direction, described Y-direction second slide rail is fixed on described X-direction slide block fixed head, one end of described Y-direction second slide block is arranged on described Y-direction second slide rail, and the other end of described Y-direction second slide block is arranged on described guide pillar.
11. three-D feeding mechanical hands according to claim 10, is characterized in that, the quantity of described Z-direction driven unit is two, and two described Z-direction driven units are arranged on the below of described Y-direction driven unit respectively;
Described Z-direction driven unit comprises Z-direction servomotor, Z-direction transmission mechanism and Z-direction slide block fixed head, the output of described Z-direction servomotor is connected with described Z-direction transmission mechanism, and described Z-direction transmission mechanism is connected with described Z-direction slide block fixed head.
12. three-D feeding mechanical hands according to claim 11, it is characterized in that, described Z-direction driven unit also comprises Z-direction slide rail and Z-direction slide block, Z-direction slide rail is arranged in described frame along Z-direction, one end of described Z-direction slide block is arranged on described Z-direction slide block fixed head, and the other end of described Z-direction slide block is arranged on Z-direction slide rail.
13. three-D feeding mechanical hands according to claim 12, it is characterized in that, described Z-direction transmission mechanism comprises Z-direction screw mandrel holder, Z-direction ball screw and Z-direction feed screw nut, the output of described Z-direction servomotor is connected with described Z-direction ball screw, described Z-direction ball screw is fixed in described frame by described Z-direction screw mandrel holder, described Z-direction feed screw nut is sleeved on described Z-direction ball screw, described Z-direction screw mandrel moves along described Z-direction ball screw, described Z-direction feed screw nut is upper installs described Z-direction slide block fixed head.
14. three-D feeding mechanical hands according to any one of claim 1 to 13, it is characterized in that, described three-D feeding mechanical hand also comprises checkout gear, and described checkout gear is arranged in described frame, and described control device is electrically connected with described checkout gear.
15. three-D feeding mechanical hands according to any one of claim 1 to 13, it is characterized in that, described three-D feeding mechanical hand also comprises EGR, and described EGR is positioned at the below of described mechanical arm, and described control device is electrically connected with described EGR;
Described EGR comprises circulation motor, endless belt is taken turns, conveyer belt, guidance axis, lift cylinder is connected push rod with cylinder, described circulation motor is arranged in described frame, described endless belt wheel is arranged in described frame respectively, and the line of described endless belt wheel is parallel to described mechanical arm, described conveyer belt is sleeved on described endless belt wheel, described guidance axis is arranged on the both sides of described conveyer belt, described lift cylinder is fixed in described frame, the end of described lift cylinder is installed described cylinder and is connected push rod, described cylinder connects push rod and connects described guidance axis by supporting fixed head.
16. three-D feeding mechanical hands according to any one of claim 1 to 13, is characterized in that, described jaw comprises upset jaw and common jaw.
17. three-D feeding mechanical hands according to claim 12, it is characterized in that, described driving actuating unit also comprises spacing Cowhells proximity switch, and described spacing Cowhells proximity switch is separately positioned on the two ends of the two ends of described X-direction slide rail, the two ends of described mobile platform slide rail, the two ends of described Y-direction first slide rail, the two ends of described Y-direction second slide rail and described Z-direction slide rail.
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| CN201520130130.7U CN204505263U (en) | 2015-03-06 | 2015-03-06 | Three-D feeding mechanical hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520130130.7U CN204505263U (en) | 2015-03-06 | 2015-03-06 | Three-D feeding mechanical hand |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105750438A (en) * | 2016-04-21 | 2016-07-13 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Three-dimensional punching mechanical arm |
| CN105983963A (en) * | 2015-03-06 | 2016-10-05 | 中国科学院宁波材料技术与工程研究所 | Three-dimensional feeding manipulator |
| CN108942198A (en) * | 2018-10-07 | 2018-12-07 | 海南大学 | Numerical control anury steel-wire screw-socket Fast Installation machine |
| CN110682276A (en) * | 2019-10-24 | 2020-01-14 | 河北工业大学 | Modularization lightweight arm motion platform |
| CN117020045A (en) * | 2023-10-10 | 2023-11-10 | 上海方菱计算机软件有限公司 | Punch device with multi-axis cooperative motion, synchronous feeding method and control system |
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2015
- 2015-03-06 CN CN201520130130.7U patent/CN204505263U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983963A (en) * | 2015-03-06 | 2016-10-05 | 中国科学院宁波材料技术与工程研究所 | Three-dimensional feeding manipulator |
| CN105750438A (en) * | 2016-04-21 | 2016-07-13 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Three-dimensional punching mechanical arm |
| CN108942198A (en) * | 2018-10-07 | 2018-12-07 | 海南大学 | Numerical control anury steel-wire screw-socket Fast Installation machine |
| CN108942198B (en) * | 2018-10-07 | 2023-04-18 | 海南大学 | Numerical control rapid mounting machine for tailless steel wire thread insert |
| CN110682276A (en) * | 2019-10-24 | 2020-01-14 | 河北工业大学 | Modularization lightweight arm motion platform |
| CN117020045A (en) * | 2023-10-10 | 2023-11-10 | 上海方菱计算机软件有限公司 | Punch device with multi-axis cooperative motion, synchronous feeding method and control system |
| CN117020045B (en) * | 2023-10-10 | 2023-12-26 | 上海方菱计算机软件有限公司 | Punch device with multi-axis cooperative motion, synchronous feeding method and control system |
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