CN206733051U - A kind of ox head machine manipulator - Google Patents
A kind of ox head machine manipulator Download PDFInfo
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- CN206733051U CN206733051U CN201720358474.2U CN201720358474U CN206733051U CN 206733051 U CN206733051 U CN 206733051U CN 201720358474 U CN201720358474 U CN 201720358474U CN 206733051 U CN206733051 U CN 206733051U
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- axis
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- mechanical arm
- arm module
- seat
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Abstract
The utility model discloses a kind of ox head machine manipulator,Including X-axis mechanical arm module mechanism,Y-axis mechanical arm module mechanism and Z axis binodal mechanical arm module mechanism,X-axis mechanical arm module mechanism is arranged on base frame,XY axis fixing plate seat mechanisms are installed in X-axis mechanical arm module mechanism,Y-axis mechanical arm module mechanism and X-axis servomotor module mechanism are installed on XY axis fixing plate seat mechanisms,The side of Y-axis mechanical arm module mechanism is provided with Y-axis servomotor module mechanism,YZ axis fixing plate seat mechanisms are installed in Y-axis mechanical arm module mechanism,YZ axis fixing plates seat mechanism includes arm seat upper plate,Riser in arm seat right side plate and arm seat,Z axis binodal mechanical arm module mechanism is installed on YZ axis fixing plate seat mechanisms,The side of Z axis binodal mechanical arm module mechanism is provided with Z axis servomotor module mechanism,The ox head machine manipulator,With speed faster,High efficiency and the characteristics of having good positioning.
Description
Technical field
Machinery equipment field is the utility model is related to, specially a kind of ox head machine manipulator.
Background technology
Medium-sized three freedom degree manipulator, specifically by three servomotors, two mechanical arms, a binodal hand
Arm, a rotation module composition can realize the manipulator of three degree of freedom, are related to the relatively large product crawl of plastic cement industry, remove
The application fields such as fortune, positioning.With fast-developing today of economic technology, mechanical automation also obtain high speed development.Cross
The manipulator of this Three Degree Of Freedom is removed, is all to take single arm type to assemble.Run work when speed is slow, efficiency is low, poor location,
The problems such as stability is bad.
Utility model content
The purpose of this utility model is to provide a kind of ox head machine manipulator, asked with solve to propose in above-mentioned background technology
Topic.
In order to solve the above-mentioned technical problem, the utility model provides following technical scheme：A kind of ox head machine manipulator, including
X-axis mechanical arm module mechanism, Y-axis servomotor module mechanism, Y-axis mechanical arm module mechanism, X-axis servomotor module machine
Structure, Z axis servomotor module mechanism, Z axis binodal mechanical arm module mechanism, base frame, XY axis fixing plates seat mechanism and YZ axles
Fixed plate seat mechanism, the X-axis mechanical arm module mechanism are arranged on base frame, X-axis mechanical arm module mechanism bag
Include first support pipe, the first limited block, silver-colored guide rail, first straight line rack, the first sensing chip, the first proximity switch, on first
One support chain, the first chain supporting groove, the first sliding block, first gear and the first inductor, install in the X-axis mechanical arm module mechanism
There are XY axis fixing plate seat mechanisms, the XY axis fixing plates seat mechanism includes the logical side plate in row side, row side leads to flat board, wing is put down
Plate, upper electronic box flat board and motor mounting plate, Y-axis mechanical arm module mechanism is installed on the XY axis fixing plates seat mechanism
With X-axis servomotor module mechanism, the Y-axis mechanical arm module mechanism includes second support pipe, the second chain supporting groove, second straight
Line rack, silver-colored guide rail, the second limited block, the second sliding block, second gear and the second proximity switch on second, the Y-axis manipulator
The side of arm module mechanism is provided with Y-axis servomotor module mechanism, and YZ axles are provided with the Y-axis mechanical arm module mechanism
Fixed plate seat mechanism, the YZ axis fixing plates seat mechanism include riser in arm seat upper plate, arm seat right side plate and arm seat, institute
State and Z axis binodal mechanical arm module mechanism, the Z axis binodal mechanical arm module mechanism are installed on YZ axis fixing plate seat mechanisms
Including the 3rd stand tube, Z1 axle arms pipe support, Z2 axle arms pipe support, the 3rd linear gear rack, cylinder, rotating mechanism, contiguous block,
Three limited blocks, silver-colored guide rail, the 3rd sliding block, the 3rd gear, timing belt and pipe position part on the 3rd, the Z axis binodal mechanical arm mould
The side of group mechanism is provided with Z axis servomotor module mechanism, and the Z axis servomotor module mechanism is by servomotor, deceleration
Device, fixed plate and gear are formed.
Further, servomotor module mechanism of the X-axis servomotor module mechanism and Y-axis is by servomotor, tune
Fast device, fixed plate and gear are formed.
Further, the motor mounting plate is bolted connection with Y-axis servomotor module mechanism.
Compared with prior art, the beneficial effect that the utility model is reached is：The ox head machine manipulator, what Z axis used
It is binodal synchronization arm mechanism.In actual applications speed faster, high efficiency, have good positioning, precision is accurate, the benefit such as stable.
Brief description of the drawings
Accompanying drawing is used for providing further understanding to of the present utility model, and a part for constitution instruction, with this practicality
New embodiment is used to explain the utility model together, does not form to limitation of the present utility model.In the accompanying drawings：
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is X-axis mechanical arm module mechanism of the present utility model overall structure diagram；
Fig. 3 is Y-axis mechanical arm module mechanism of the present utility model overall structure diagram；
Fig. 4 is Y-axis mechanical arm module mechanism of the present utility model overall structure front view；
Fig. 5 is Y-axis mechanical arm module mechanism of the present utility model overall structure side view；
Fig. 6 is Z axis binodal mechanical arm module mechanism overall structure diagram of the present utility model；
Fig. 7 is riser scheme of installation in arm seat of the present utility model；
Fig. 8 is Z axis binodal mechanical arm module mechanism top view of the present utility model；
Fig. 9 is Z axis servomotor module mechanism of the present utility model overall structure diagram；
In figure：1-X shaft mechanical arm modules mechanism；11- first support pipes；The limited blocks of 12- first；Silver is led on 13- first
Rail；14- first straight line racks；The sensing chips of 15- first；The proximity switches of 16- first；17- the first support chains；The chain supporting grooves of 18- first；
The sliding blocks of 19- first；2-Y axle servomotor modules mechanism；3-Y shaft mechanical arm modules mechanism；31- second support pipes；32- second
Chain supporting groove；33- second straight line racks；Silver-colored guide rail on 34- second；The limited blocks of 35- second；4-X axle servomotor modules mechanism；5-
Z axis servomotor module mechanism；51- servomotors；52- decelerators；53- fixed plates；54- gears；6-Z axle binodal mechanical arms
Module mechanism；The stand tubes of 61- the 3rd；62-Z1 axle arm pipe supports；63-Z2 axle arm pipe supports；The linear gear racks of 64- the 3rd；65- gas
Cylinder；66- rotating mechanisms；67- contiguous blocks；7- base frames；8-XY axis fixing plate seat mechanisms；81- row sides lead to side plate；82- rows
The logical flat board in side；83- wing flat boards；The upper electronic box flat boards of 84-；85- motor mounting plates；9-YZ axis fixing plate seat mechanisms；91- hands
Arm seat upper plate；92- arm seat right side plates；Riser in 93- arm seats.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1-9 are referred to, the utility model provides a kind of technical scheme：A kind of ox head machine manipulator, including X-axis manipulator
Arm module mechanism 1, Y-axis servomotor module mechanism 2, Y-axis mechanical arm module mechanism 3, X-axis servomotor module mechanism 4, Z
Axle servomotor module mechanism 5, Z axis binodal mechanical arm module mechanism 6, base frame 7, XY axis fixing plates seat mechanism 8 and YZ axles
Fixed plate seat mechanism 9, X-axis mechanical arm module mechanism 1 are arranged on base frame 7, and X-axis mechanical arm module mechanism 1 includes the
Silver-colored guide rail 13, first straight line rack 14, the first sensing chip 15, first are close in one stand tube 11, the first limited block 12, first opens
Close the 16, first support chain 17, the first chain supporting groove 18, the first sliding block 19, first gear and the first inductor, X-axis mechanical arm module
XY axis fixing plates seat mechanism 8 is installed, XY axis fixing plates seat mechanism 8 includes row side and leads to side plate 81, row Fang Tongping in mechanism 1
Plate 82, wing flat board 83, upper electronic box flat board 84 and motor mounting plate 85, Y-axis machine is installed on XY axis fixing plates seat mechanism 8
Tool arm module mechanism 3 and X-axis servomotor module mechanism 4, Y-axis mechanical arm module mechanism 3 include second support pipe 31, the
Silver-colored guide rail 34, the second limited block 35, the second sliding block, second gear and second on two chain supporting grooves 32, second straight line rack 33, second
Proximity switch, the side of Y-axis mechanical arm module mechanism 3 are provided with Y-axis servomotor module mechanism 2, Y-axis mechanical arm module
YZ axis fixing plates seat mechanism 9 is installed, YZ axis fixing plates seat mechanism 9 includes arm seat upper plate 91, arm seat right side plate in mechanism 3
92 and arm seat in riser 93, Z axis binodal mechanical arm module mechanism 6, Z axis binodal are installed on YZ axis fixing plates seat mechanism 9
Mechanical arm module mechanism 6 includes the 3rd stand tube 61, Z1 axle arms pipe support 62, Z2 axle arms pipe support 63, the 3rd linear gear rack
64th, cylinder 65, rotating mechanism 66, contiguous block 67, the 3rd limited block, silver-colored guide rail, the 3rd sliding block, the 3rd gear, synchronization on the 3rd
Band and pipe position part, the side of Z axis binodal mechanical arm module mechanism 6 are provided with Z axis servomotor module mechanism 5, Z axis servo electricity
Machine module mechanism 5 is made up of servomotor 51, decelerator 52, fixed plate 53 and gear 54.
Further, X-axis servomotor module mechanism 4 and Y-axis servomotor module mechanism 2 are by servomotor 51, tune
Fast device, fixed plate 53 and gear 54 are formed.
Further, motor mounting plate 85 is bolted connection with Y-axis servomotor module mechanism 2.
Operation principle：During work, the work of motion path, the translational speed of each arm free degree etc. is controlled by program coding
Cheng Yuanli, X-axis and Y-axis are all the principles moved by servomotor with moving gear in linear gear rack, and to belong to binodal same for Z axis
Step motion, when principle of movement is Z1 arm motions, Z2 arms follow sync direction to move.
Finally it should be noted that：Preferred embodiment of the present utility model is the foregoing is only, is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it can still modify to the technical scheme described in foregoing embodiments, or to which part technical characteristic
Carry out equivalent substitution.All any modification, equivalent substitution and improvements within the spirit and principles of the utility model, made etc.,
It should be included within the scope of protection of the utility model.
Claims (3)
1. a kind of ox head machine manipulator, including X-axis mechanical arm module mechanism (1), Y-axis servomotor module mechanism (2), Y-axis
Mechanical arm module mechanism (3), X-axis servomotor module mechanism (4), Z axis servomotor module mechanism (5), Z axis binodal machinery
Arm module mechanism (6), base frame (7), XY axis fixing plates seat mechanism (8) and YZ axis fixing plates seat mechanism (9), its feature exist
In：The X-axis mechanical arm module mechanism (1) is arranged on base frame (7), and the X-axis mechanical arm module mechanism (1) includes
First support pipe (11), the first limited block (12), silver-colored guide rail (13), first straight line rack (14), the first sensing chip on first
(15), the first proximity switch (16), the first support chain (17), the first chain supporting groove (18), the first sliding block (19), first gear and first
Inductor, XY axis fixing plates seat mechanism (8), the XY axis fixing plates seat are installed on the X-axis mechanical arm module mechanism (1)
Mechanism (8) includes row side and leads to side plate (81), row side logical flat board (82), wing flat board (83), upper electronic box flat board (84) and horse
Up to mounting plate (85), Y-axis mechanical arm module mechanism (3) is installed on the XY axis fixing plates seat mechanism (8) and X-axis is watched
Motor module mechanism (4) is taken, the Y-axis mechanical arm module mechanism (3) includes second support pipe (31), the second chain supporting groove
(32), second straight line rack (33), silver-colored guide rail (34), the second limited block (35), the second sliding block, second gear and second on second
Proximity switch, the side of the Y-axis mechanical arm module mechanism (3) are provided with Y-axis servomotor module mechanism (2), the Y-axis
YZ axis fixing plates seat mechanism (9) is installed, the YZ axis fixing plates seat mechanism (9) includes hand in mechanical arm module mechanism (3)
Riser (93) in arm seat upper plate (91), arm seat right side plate (92) and arm seat, install on the YZ axis fixing plates seat mechanism (9)
There is Z axis binodal mechanical arm module mechanism (6), the Z axis binodal mechanical arm module mechanism (6) includes the 3rd stand tube
(61), Z1 axles arm pipe support (62), Z2 axle arm pipe supports (63), the 3rd linear gear rack (64), cylinder (65), rotating mechanism
(66), contiguous block (67), the 3rd limited block, silver-colored guide rail, the 3rd sliding block, the 3rd gear, timing belt and pipe position part on the 3rd, it is described
The side of Z axis binodal mechanical arm module mechanism (6) is provided with Z axis servomotor module mechanism (5), the Z axis servomotor
Module mechanism (5) is made up of servomotor (51), decelerator (52), fixed plate (53) and gear (54).
A kind of 2. ox head machine manipulator according to claim 1, it is characterised in that：The X-axis servomotor module mechanism
(4) formed with Y-axis servomotor module mechanism (2) by servomotor (51), speed regulator, fixed plate (53) and gear (54).
A kind of 3. ox head machine manipulator according to claim 1, it is characterised in that：The motor mounting plate (85) with
Y-axis servomotor module mechanism (2) is bolted connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720358474.2U CN206733051U (en) | 2017-04-06 | 2017-04-06 | A kind of ox head machine manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720358474.2U CN206733051U (en) | 2017-04-06 | 2017-04-06 | A kind of ox head machine manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206733051U true CN206733051U (en) | 2017-12-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720358474.2U Expired - Fee Related CN206733051U (en) | 2017-04-06 | 2017-04-06 | A kind of ox head machine manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206733051U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655445A (en) * | 2018-05-15 | 2018-10-16 | 宜昌建林园林工程有限公司 | Building template automates drilling machine and operating method |
| CN110948455A (en) * | 2019-11-26 | 2020-04-03 | 重庆铁信电气有限公司 | High-speed module mechanism |
| CN111066858A (en) * | 2019-12-27 | 2020-04-28 | 中国农业大学 | Multi-station livestock carcass feeding device |
| CN111096348A (en) * | 2019-12-27 | 2020-05-05 | 中国农业大学 | Livestock carcass clamping device |
| CN111113376A (en) * | 2019-12-02 | 2020-05-08 | 江苏理工学院 | Truss manipulator point fixing device and point fixing method thereof |
-
2017
- 2017-04-06 CN CN201720358474.2U patent/CN206733051U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655445A (en) * | 2018-05-15 | 2018-10-16 | 宜昌建林园林工程有限公司 | Building template automates drilling machine and operating method |
| CN110948455A (en) * | 2019-11-26 | 2020-04-03 | 重庆铁信电气有限公司 | High-speed module mechanism |
| CN111113376A (en) * | 2019-12-02 | 2020-05-08 | 江苏理工学院 | Truss manipulator point fixing device and point fixing method thereof |
| CN111113376B (en) * | 2019-12-02 | 2021-04-13 | 江苏理工学院 | Truss manipulator point fixing device and point fixing method thereof |
| CN111066858A (en) * | 2019-12-27 | 2020-04-28 | 中国农业大学 | Multi-station livestock carcass feeding device |
| CN111096348A (en) * | 2019-12-27 | 2020-05-05 | 中国农业大学 | Livestock carcass clamping device |
| CN111066858B (en) * | 2019-12-27 | 2021-04-02 | 中国农业大学 | Multi-station livestock carcass feeding device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171212 Termination date: 20210406 |