CN105313325A - Three axis mechanical arm automatic grabbing device - Google Patents
Three axis mechanical arm automatic grabbing device Download PDFInfo
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- CN105313325A CN105313325A CN201410357626.8A CN201410357626A CN105313325A CN 105313325 A CN105313325 A CN 105313325A CN 201410357626 A CN201410357626 A CN 201410357626A CN 105313325 A CN105313325 A CN 105313325A
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Abstract
The invention relates to a three axis mechanical arm automatic grabbing device. According to a X axis direction moving mechanism of the three axis mechanical arm automatic grabbing device, a driving pedestal and a driven pedestal are provided with a first linear guide rail respectively; each T-shaped sliding block is arranged on a corresponding first linear guide rail; a first servo motor arranged on the driving pedestal is connected with a first lead screw via a first coupler; a first nut engages with the first lead screw is fixedly connected with a first connecting plate; the T-shaped slide block arranged on the driving pedestal is connected with the first connecting plate and a transverse connecting plate. According to a Y axis direction moving mechanism of the three axis mechanical arm automatic grabbing device, two linear guide rails are arranged on the transverse connecting plate; a second servo motor is connected with a second lead screw via a second coupler; a second nut engages with the second lead screw is fixedly connected with a second slide block. According to a Z axis direction moving mechanism of the three axis mechanical arm automatic grabbing device, a third linear guide rail is arranged on a guide block of a second slide block; the top of the third linear guide rail is connected with a cylinder; an expansion link of the cylinder is connected with the second slide block; the bottom of the third linear guide rail is provided with a grabbing cylinder; the grabbing cylinder is connected with a robohand. The three axis mechanical arm automatic grabbing device is simple in structure, and low in manufacturing and application cost.
Description
Technical field
The present invention relates to a kind of three shaft mechanical arm automatic grabbing devices, for car light mounting technology field.
Background technology
The headlamp of motor vehicle is loaded on automobile head both sides, for the illumination of driving at night road.Headlamp is made up of light source, reflective mirror and lens three parts primarily of headlamp, light source, reflective mirror and lens are installed between lamp housing and lampshade, because speculum can be contaminated, the service life of headlight and the brightness of operating period inner light beam can be affected, therefore by after the lamp housing after gluing and lampshade crimping, then with Martin's rifle, nailing is entered lampshade periphery along lamp housing and be fixed.
At present at automobile lamp when assembling, by each several part part transport assembly line, by manually carrying out hand assembled, can assembly quality be had influence on the one hand, namely affecting automobile appearance, the uniformity often criticizing car light can not be ensured.Adopt manual assembly on the other hand, operating personnel are very painstaking, and labour intensity is large, and production efficiency is low.
Summary of the invention
The object of this invention is to provide a kind of structure simple, low cost of manufacture, can improve three shaft mechanical arm automatic grabbing devices of efficiency of assembling.
The present invention is the technical scheme achieved the above object: a kind of three shaft mechanical arm automatic grabbing devices, is characterized in that: comprise x-axis direction motion, y-axis direction motion and Z-direction motion;
Described X-direction motion comprises driven seat, initiatively seat and the first servomotor and the first leading screw, described driven seat and initiatively seat are provided with the first line slideway be parallel to each other, and two T-shaped slide blocks and the first respective line slideway match and can move; The side of described active seat is provided with the first servomotor, the output of the first servomotor is connected with the first leading screw by the first shaft coupling, the both sides of the first leading screw are bearing on the first leading screw bearing respectively, and the first leading screw bearing is arranged on active seat and driven seat respectively, first screw engages with the first leading screw, first screw is fixedly connected with the first connecting plate, and the first connecting plate is connected with cross connecting plate, and two T-shaped slide blocks are arranged on cross connecting plate;
Described y-axis direction motion comprises two the second line slideways, second connecting plate, second slide block and the second servomotor and the second leading screw, described two the second line slideways are transversely arranged on the both sides up and down of cross connecting plate, chute on second connecting plate and two the second line slideways match also along mobile, second servomotor and two the second leading screw bearings are arranged on cross connecting plate, and the output of the second servomotor is connected with the second leading screw by the second shaft coupling, the two-side supporting of the second leading screw is on the second leading screw bearing, the second screw engaged with the second leading screw is fixedly connected with the second slide block, and the second slide block has the guide pad of tape guide groove,
Described Z-direction motion comprises with the cylinder of magnetic switch, cylinder holder and the 3rd line slideway and captures cylinder, can move in the gathering sill that the 3rd described line slideway is arranged on guide pad, the top of the 3rd line slideway is provided with cylinder holder, cylinder is arranged on cylinder holder, and the expansion link of cylinder is connected with the second slide block, the bottom of the 3rd line slideway is provided with crawl cylinder, captures cylinder and is connected with gas pawl.
Wherein: described crawl cylinder is gas pawl cylinder, and described gas pawl is made up of fixed claw and movable claw, and the holder of gas pawl cylinder is connected with the fixed claw of gas pawl, and the sliding seat of gas pawl cylinder is connected with the movable claw of gas pawl.
Described crawl cylinder is straight line cylinder, and described gas pawl is sucker, and the extensible member of straight line cylinder is connected with sucker.
The first described leading screw bearing is arranged on active seat and driven seat respectively by the first cushion block.
The second described leading screw bearing is arranged on cross connecting plate respectively by the second cushion block) on.
Three shaft mechanical arm automatic grabbing devices of the present invention are by servomotor and line slideway and leading screw combination, realize the movement of X-direction and Y-direction, and the movement realized by the stretching motion of cylinder in Z-direction, the pawl of taking offence of the Sports band simultaneously by being connected to the crawl cylinder on the 3rd line slideway realizes the crawl of light fixture.The present invention is combined can be realized X-direction Y by servomotor and leading screw, axial accurate location, and is captured by the light fixture that the cylinder of carrying magnetic switch and the combining structure capturing cylinder achieve Z-direction, and not only structure simply, and action is simple.Servomotor and cylinder combine by the present invention, existing industrial robot cost of comparing are saved obviously, economical and practical, apply traditional workman that compares, in the quality of product, the efficiency aspect of production all improves a lot, and manufactures successful in use cost in addition in reduction.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, embodiments of the invention are described in further detail.
Fig. 1 is the structural representation of the present invention three shaft mechanical arm automatic grabbing device.
Fig. 2 is the structural representation of x-axis direction of the present invention motion.
Fig. 3 is the structural representation of y-axis direction of the present invention motion.
Fig. 4 is the structural representation of z-axis direction of the present invention motion.
Wherein: 1-driven seat, 2-the first line slideway, 3-T-shaped slide block, 3-1-riser, 4-the second leading screw, 5-the second leading screw bearing, 6-the second cushion block, 7-the second line slideway, 8-the three line slideway, 9-cylinder holder, 10-cylinder, 10-1-expansion link, 11-the second connecting plate, 12-the second slide block, 13-the second screw, 14-guide pad, 15-cross connecting plate, 16-the second shaft coupling, 17-the second servomotor, 18-the first servomotor, 19-the first connecting plate, 20-the first screw, 21-the first leading screw, 22-the first leading screw bearing, 23-the first cushion block, 24-initiatively seat, 25-capture cylinder block, 26-capture cylinder, 27-gas pawl, 28-the first shaft coupling, 29-the first motor cabinet, 30-the second motor cabinet.
Detailed description of the invention
See shown in Fig. 1 ~ 4, three shaft mechanical arm automatic grabbing devices of the present invention, comprise x-axis direction motion, y-axis direction motion and Z-direction motion.
See shown in Fig. 1,2, X-direction motion of the present invention comprises driven seat 1, initiatively seat 24 and the first servomotor 18 and the first leading screw 21, driven seat 1 and initiatively seat 24 are provided with the first line slideway 2, the two T-shaped slide block 3 be parallel to each other match with the first respective line slideway 2 and can move.T-shaped slide block 3 of the present invention is by slide and riser 3-1, and slide is provided with the chute matched with the first line slideway 2, and T-shaped slide block 3 is moved along the first line slideway 2, and riser 3-1 is then connected with cross connecting plate 15.See Fig. 1, shown in 2, the side of the present invention's active seat 24 is provided with the first servomotor 18, first servomotor 18 is arranged on active seat 24 by the first motor cabinet 29, the output of the first servomotor 18 is connected with the first leading screw 21 by the first shaft coupling 28, the both sides of the first leading screw 21 are bearing on the first leading screw bearing 22 respectively, the both sides of the first leading screw 21 are bearing on the first leading screw bearing 22 by bearing, first leading screw bearing 22 is arranged on active seat 24 and driven seat 1 respectively, the present invention can play the supporting role to the first leading screw 21 by two first leading screw seats 22, also axiality when the first leading screw 21 rotates can be ensured, to improve the accuracy of X-direction running fix.See shown in Fig. 1,2, the present invention first leading screw bearing 22 is arranged on active seat 24 and driven seat 1 by the first cushion block 23, can facilitate installation and debugging.See shown in Fig. 1,2, the present invention first screw 20 engages with the first leading screw 21, first screw 20 is fixedly connected with the first connecting plate 19, first screw 20 of the present invention can make integrative-structure with the first connecting plate 19, or adopt Split type structure and connected by securing member, first connecting plate 19 is connected with cross connecting plate 15, and two T-shaped slide blocks 3 are arranged on cross connecting plate 15.See shown in Fig. 1,2, when the first servomotor 18 rotates, the first leading screw 21 is driven to rotate by the first shaft coupling 28, first leading screw 21 drives the first screw 20 to move reciprocatingly on the first leading screw 21 again, first screw 20 is owing to being fixed on the first connecting plate 19, the first connecting plate 19 is made to drive connected cross connecting plate 15 and T-shaped slide block 3, T-shaped slide block 3 is moved along the first line slideway 2, to move reciprocatingly motion in X-direction, and by programme-control first servomotor 18 rotating speed, realize the accuracy of X-direction running fix.
See Fig. 1, shown in 3, y-axis direction of the present invention motion comprises two the second line slideways 7, second connecting plate 11, second slide block 12 and the second servomotor 17 and the second leading screw 4, two the second line slideways 7 are transversely arranged on the both sides up and down of cross connecting plate 15, chute on second connecting plate 11 and two the second line slideways 7 match also along mobile, second servomotor 17 and two the second leading screw bearings 5 are arranged on cross connecting plate 15, second servomotor 17 is arranged on the side of cross connecting plate 15 by the second motor cabinet 30, the output of the second servomotor 17 is connected with the second leading screw 4 by the second shaft coupling 16, the two-side supporting of the second leading screw 4 is on the second leading screw bearing 5, the supporting role to the second leading screw 4 can be played by the second leading screw bearing 5, also axiality when the second leading screw 4 rotates can be ensured, to improve the accuracy of Y direction running fix.The present invention's two the second leading screw bearings 5 are arranged on cross connecting plate 15 by the second respective cushion block 6, can facilitate installation and debugging.See shown in Fig. 1,3, the second screw 13 that the present invention engages with the second leading screw 4 is fixedly connected with the second slide block 12, second screw 13 and the second slide block 12 directly can be made integrative-structure, or be Split type structure and connected by securing member, second slide block 12 is provided with the guide pad 14 of tape guide groove, two guide pads 14 can be arranged on the both sides up and down of the second slide block 12.See shown in Fig. 1,2, y-axis direction of the present invention motion is synchronous with X-direction feed motion at motion process, when the second servomotor 17 rotates, the second leading screw 4 is driven to rotate by the second shaft coupling 16, second leading screw 4 rotates drive second screw 13 and moves reciprocatingly along on the second leading screw 4, because the second screw 13 is fixed on the second slide block 12, and the second slide block 12 is connected with the second connecting plate 11, makes the second connecting plate 11 realize moving back and forth along the Y direction of the second line slideway 7.
See shown in Fig. 1,4, Z-direction motion of the present invention comprises with the cylinder 10 of magnetic switch, cylinder holder 9 and the 3rd line slideway 8 and captures cylinder 26, is controlled the amount of feeding of Z-direction by the magnetic switch on cylinder 10.See Fig. 1, shown in 4, can move in the gathering sill that 3rd line slideway 8 of the present invention is arranged on guide pad 14, the top of the 3rd line slideway 8 is provided with cylinder holder 9, cylinder 10 is arranged on cylinder holder 9, this cylinder 10 can adopt straight line cylinder, the expansion link 10-1 of cylinder 10 is connected with the second slide block 12, by the stretching motion of cylinder 10, the 3rd line slideway 8 is driven to realize moving back and forth up and down along the guide pad 14 on the second slide block 12, see Fig. 1, shown in 4, be provided with bottom 3rd line slideway 8 of the present invention and capture cylinder 26, capture cylinder 26 to be connected with the 3rd line slideway 8 by there being crawl cylinder block 25, capture cylinder 26 to be connected with gas pawl 27.As shown in Figure 4, crawl cylinder 26 of the present invention is gas pawl cylinder, and gas pawl 27 is made up of fixed claw and movable claw, and the holder of gas pawl cylinder is connected with the fixed claw of gas pawl 27, and the sliding seat of gas pawl cylinder is connected with the movable claw of gas pawl.Crawl cylinder 26 of the present invention is straight line cylinder, and gas pawl 27 is sucker, and the extensible member of straight line cylinder is connected with sucker.When the expansion link 10-1 of cylinder 10 carries out stretching motion, because the second slide block 12 maintains static, 3rd line slideway 8 does along guide pad 14 and moves back and forth along Z-direction, make the crawl cylinder 26 lower motion be in the Z-axis direction arranged on bottom the 3rd line slideway 8, and be with by capturing cylinder 26 pawl 27 action of taking offence, achieve the crawl of light fixture, Z-direction motion can be moved up and down along Z-direction, the grasping movement of light fixture can be realized again, improve overall operating efficiency.
Claims (5)
1. three shaft mechanical arm automatic grabbing devices, is characterized in that: comprise x-axis direction motion, y-axis direction motion and Z-direction motion;
Described X-direction motion comprises driven seat (1), initiatively seat (24) and the first servomotor (18) and the first leading screw (21), described driven seat (1) and initiatively seat (24) are provided with the first line slideway (2) be parallel to each other, and two T-shaped slide blocks (3) match with respective the first line slideway (2) and can move, the side of described active seat (24) is provided with the first servomotor (18), the output of the first servomotor (18) is connected with the first leading screw (21) by the first shaft coupling (28), the both sides of the first leading screw (21) are bearing on the first leading screw bearing (22) respectively, and the first leading screw bearing (22) is arranged on active seat (24) and driven seat (1) respectively, first screw (20) engages with the first leading screw (21), first screw (20) is fixedly connected with the first connecting plate (19), first connecting plate (19) is connected with cross connecting plate (15), two T-shaped slide blocks (3) are arranged on cross connecting plate (15),
Described y-axis direction motion comprises two the second line slideways (7), second connecting plate (11), second slide block (12) and the second servomotor (17) and the second leading screw (4), described two the second line slideways (7) are transversely arranged on the both sides up and down of cross connecting plate (15), chute on second connecting plate (11) and two the second line slideways (7) match also along mobile, second servomotor (17) and two the second leading screw bearings (5) are arranged on cross connecting plate (15), and the output of the second servomotor (17) is connected with the second leading screw (4) by the second shaft coupling (16), the two-side supporting of the second leading screw (4) is on the second leading screw bearing (5), the second screw (13) engaged with the second leading screw (4) is fixedly connected with the second slide block (12), and the second slide block (12) has the guide pad (14) of tape guide groove,
Described Z-direction motion comprises the cylinder (10) with magnetic switch, cylinder holder (9) and the 3rd line slideway (8) and capture cylinder (26), can move in the gathering sill that the 3rd described line slideway (8) is arranged on guide pad (14), the top of the 3rd line slideway (8) is provided with cylinder holder (9), cylinder (10) is arranged on cylinder holder (9), and the expansion link (10-1) of cylinder (10) is connected with the second slide block (12), the bottom of the 3rd line slideway (8) is provided with and captures cylinder (26), capture cylinder (26) to be connected with gas pawl (27).
2. according to claim 1 three shaft mechanical arm automatic grabbing devices, it is characterized in that: described crawl cylinder (26) is gas pawl cylinder, described gas pawl (27) is made up of fixed claw and movable claw, the holder of gas pawl cylinder is connected with the fixed claw of gas pawl (27), and the sliding seat of gas pawl cylinder is connected with the movable claw of gas pawl (27).
3. according to claim 1 three shaft mechanical arm automatic grabbing devices, it is characterized in that: described crawl cylinder (26) is straight line cylinder, described gas pawl (27) is sucker, and the extensible member of straight line cylinder is connected with sucker.
4. according to claim 1 three shaft mechanical arm automatic grabbing devices, it is characterized in that: the first described leading screw bearing (22) is arranged on initiatively on seat (24) and driven seat (1) respectively by the first cushion block (23).
5. according to claim 1 three shaft mechanical arm automatic grabbing devices, it is characterized in that: the second described leading screw bearing (5) is arranged on cross connecting plate (15) respectively by the second cushion block (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410357626.8A CN105313325A (en) | 2014-07-24 | 2014-07-24 | Three axis mechanical arm automatic grabbing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410357626.8A CN105313325A (en) | 2014-07-24 | 2014-07-24 | Three axis mechanical arm automatic grabbing device |
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| CN105313325A true CN105313325A (en) | 2016-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410357626.8A Pending CN105313325A (en) | 2014-07-24 | 2014-07-24 | Three axis mechanical arm automatic grabbing device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625641A (en) * | 2017-03-16 | 2017-05-10 | 哈尔滨理工大学 | Automatic loading and unloading manipulator for eccentric adjustment of encoder circular grating |
| CN106865217A (en) * | 2017-03-16 | 2017-06-20 | 浙江厚达智能科技股份有限公司 | Lead sealing transfer device |
| CN108406146A (en) * | 2018-06-13 | 2018-08-17 | 湖北易同科技发展有限公司 | A kind of laser processing Quick Response Code automatic production line manipulator |
| CN108406735A (en) * | 2018-04-10 | 2018-08-17 | 深圳市诚捷智能装备股份有限公司 | Battery core feeding transfer device and method |
| CN108994201A (en) * | 2018-09-28 | 2018-12-14 | 成都飞机工业（集团）有限责任公司 | Punching machine automatic collecting device |
| CN110369920A (en) * | 2019-08-16 | 2019-10-25 | 天津市奥特威德焊接技术有限公司 | A kind of multi-point automatic spot special plane |
| CN112415793A (en) * | 2020-12-08 | 2021-02-26 | 苏州科韵激光科技有限公司 | Automatic crimping method for liquid crystal display screen |
| CN113122964A (en) * | 2021-03-03 | 2021-07-16 | 魏福军 | Auxiliary loading device for geotechnical non-woven fabric plant fibers |
| CN113514839A (en) * | 2021-04-08 | 2021-10-19 | 浙江焜腾红外科技有限公司 | Distance measuring device based on VCSEL (vertical cavity surface emitting laser) and distance measuring method thereof |
| CN114928776A (en) * | 2022-05-27 | 2022-08-19 | 北京瑞祺皓迪技术股份有限公司 | Multi-degree-of-freedom network wiring device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625641A (en) * | 2017-03-16 | 2017-05-10 | 哈尔滨理工大学 | Automatic loading and unloading manipulator for eccentric adjustment of encoder circular grating |
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| CN110369920A (en) * | 2019-08-16 | 2019-10-25 | 天津市奥特威德焊接技术有限公司 | A kind of multi-point automatic spot special plane |
| CN112415793A (en) * | 2020-12-08 | 2021-02-26 | 苏州科韵激光科技有限公司 | Automatic crimping method for liquid crystal display screen |
| CN113122964A (en) * | 2021-03-03 | 2021-07-16 | 魏福军 | Auxiliary loading device for geotechnical non-woven fabric plant fibers |
| CN113514839A (en) * | 2021-04-08 | 2021-10-19 | 浙江焜腾红外科技有限公司 | Distance measuring device based on VCSEL (vertical cavity surface emitting laser) and distance measuring method thereof |
| CN113514839B (en) * | 2021-04-08 | 2022-07-15 | 浙江焜腾红外科技有限公司 | Distance measuring device based on VCSEL (vertical cavity surface emitting laser) and distance measuring method thereof |
| CN114928776A (en) * | 2022-05-27 | 2022-08-19 | 北京瑞祺皓迪技术股份有限公司 | Multi-degree-of-freedom network wiring device |
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Application publication date: 20160210 |