CN206811952U - The axis robot of half shaft line four - Google Patents
The axis robot of half shaft line four Download PDFInfo
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- CN206811952U CN206811952U CN201720367626.5U CN201720367626U CN206811952U CN 206811952 U CN206811952 U CN 206811952U CN 201720367626 U CN201720367626 U CN 201720367626U CN 206811952 U CN206811952 U CN 206811952U
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Abstract
It the utility model is related to a kind of axis robot of half shaft line four, including mechanical arm, fixed mount, slide and clip claw assembly；The mechanical arm is slidably connected with fixed mount along Z axis；The slide and mechanical arm are slidably connected along Y-axis；The clamping jaw is rotatably connected with slide；X-axis motor and Z axis motor are provided with the fixed mount, the Z axis motor can drive mechanical arm to be relatively fixed frame and be moved along a straight line along Z axis；The side of the mechanical arm is provided with y-axis motor, and it can drive slide relative mechanical arm to be moved along a straight line along Y-axis；R spindle motors are provided with the slide, it can drive clip claw assembly to be rotated relative to slide；The clip claw assembly includes clamping jaw fixed plate, at least one clamping jaw and at least one clamping jaw cylinder, and the clamping jaw fixed plate is rotatably connected with slide, and clamping jaw and the clamping jaw cylinder is fixed on clamping jaw fixed plate bottom surface, and clamping jaw cylinder driving clamping jaw does open and close movement.The manipulator can Multidirectional-moving, improve production efficiency, reduce manual operation.
Description
Technical field
Manufacturing field is the utility model is related to, more particularly to a kind of axis robot of half shaft line four.
Background technology
It is the axle for connecting differential mechanism and driving wheel that semiaxis, which is also drive shaft,.Semiaxis is gearbox decelerator and driving
Transmit the axle of moment of torsion between wheel, its interior outer end respectively have a universal joint respectively by the spline on universal joint and reducer gear and
Hub bearing inner ring connects.
Semiaxis generally includes axis body, and its one end is provided with ring flange, and the other end is machined with spline.The torsion of automobile axle shaft is tired
The labor life-span is a crucial performance index of automobile axle shaft, and in order to improve production efficiency, the current semiaxis that produces is usually using machine
Tool hand is as aid, and current manipulator is usually two axis robots, can only move in the two directions, is producing
Manual operation is needed to aid in journey, it is produced the quality of semiaxis and is difficult to ensure that production efficiency is also not high enough.
Utility model content
Based on this, the purpose of this utility model is, there is provided it is a kind of being capable of the high drive axle of Multidirectional-moving, production efficiency
The axis robot of half axis four.
A kind of axis robot of half shaft line four, including mechanical arm, fixed mount, slide and clip claw assembly；The machinery
Arm is slidably connected with fixed mount along Z axis；The slide and mechanical arm are slidably connected along Y-axis；The clamping jaw is rotatably connected with slide；
X-axis motor and Z axis motor are provided with the fixed mount, the Z axis motor can drive mechanical arm to be relatively fixed frame along Z axis straight line
Motion；The side of the mechanical arm is provided with y-axis motor, and it can drive slide relative mechanical arm to be moved along a straight line along Y-axis；It is described
R spindle motors are provided with slide, it can drive clip claw assembly to be rotated relative to slide；The clip claw assembly include clamping jaw fixed plate,
At least one clamping jaw and at least one clamping jaw cylinder, the clamping jaw fixed plate are rotatably connected with slide, clamping jaw and the clamping jaw gas
Cylinder is fixed on clamping jaw fixed plate bottom surface, and clamping jaw cylinder driving clamping jaw does open and close movement.Manipulator described in the utility model can
Multidirectional-moving so that the crawl structure on manipulator is more steady reliable and accurate to the pick-and-place of workpiece, improves production efficiency, subtracts
Manual operation is lacked.
Further, balance cylinder is also included, the balance cylinder is arranged on fixed mount along Z axis, its piston rod
End and the mechanical arm are affixed.Install balance cylinder energy auxiliary mechanical arm and more steady, reduction Z axis motor is moved along Z axis
Load.
Further, the utility model also includes R shaft gears and R axle reduction gearing；R shaft gears and R the axle reducing gear
Wheel intermeshes；R shaft gears and R spindle motors are affixed；The R axles reduction gearing and clamping jaw fixed plate are affixed, and with the slide
Rotatable connection.
Further, the utility model also includes X-axis reductor, Y-axis reductor and Z axis reductor；The X-axis reductor
It is connected with X-axis motor, the Y-axis reductor connects with y-axis motor transmission, and the Z axis reductor connects with the transmission of Z axis motor.
Further, the utility model includes containment vessel, and the containment vessel and the fixed mount are affixed, and it is covered in described
Outside Z axis motor, Z axis reductor and Z axis gear.The setting can avoid dust and foreign matter during robot work from entering, and cause
Accident or damage machine.
Further, the utility model also includes Y-axis gear, Y-axis rack and stopper, the Y-axis gear and Y-axis rack
Engagement；Y-axis gear and y-axis motor are affixed, and Y-axis rack is fixed on slide top surface along Y direction, and the stopper is arranged on Y-axis
Rack end is simultaneously affixed with slide.
Further, the utility model also includes mounting seat, and the mounting seat is set in mechanical arm lower end, itself and the cunning
Seat is slidably connected, and the y-axis motor is arranged in mounting seat.
Further, each clamping jaw includes two relative fixture blocks, and the opposite face of each fixture block is the flank of tooth.The setting
Make clamping jaw grabbing workpiece more firm, prevent from skidding.
Compared to prior art, the axis robot of half shaft line four described in the utility model is simple and reasonable, energy
More than enough angle, Multidirectional-moving so that the crawl structure on manipulator is more steady reliable and accurate to the pick-and-place of workpiece, improves life
Efficiency is produced, reduces manual operation.
In order to more fully understand and implement, the utility model is described in detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the stereogram of the axis robot of half shaft line four described in the utility model；
Fig. 2 is the close-up schematic view of M in Fig. 1；
Fig. 3 is the front view of the axis robot of half shaft line four described in the utility model；
Fig. 4 is the right view of the axis robot of half shaft line four described in the utility model；
Fig. 5 is the close-up schematic view of N in Fig. 4.
Embodiment
As shown in Figures 1 to 5, Fig. 1 be the axis robot of half shaft line four described in the utility model stereogram, Fig. 2
For the close-up schematic view of M in Fig. 1, Fig. 3 is the front view of the axis robot of half shaft line four described in the utility model, is schemed
4 be the right view of the axis robot of half shaft line four described in the utility model, and Fig. 5 is the close-up schematic view of N in Fig. 4.
A kind of axis robot of half shaft line four, including mechanical arm 1, fixed mount 2, slide 3 and clip claw assembly；The machine
Tool arm 1 is slidably connected with fixed mount 2 along Z axis；The slide 3 and mechanical arm 1 are slidably connected along Y-axis；The clip claw assembly and cunning
Seat 3 is rotatably connected；X-axis motor 4 and Z axis motor 5 are provided with the fixed mount 2, when fixed mount 2 coordinates the X-axis on production line
After track, the X-axis motor 5 can drive whole manipulator to be moved along a straight line along X-axis, and the Z axis motor 5 can drive mechanical arm 1
Frame 2 is relatively fixed to move along a straight line along Z axis；The side of the mechanical arm 1 is provided with y-axis motor 6, and it can drive slide 3 with respect to machine
Tool arm 1 moves along a straight line along Y-axis；R spindle motors 7 are provided with the slide 3, it can drive clip claw assembly to be rotated relative to slide 3.
After the mechanical arm 1 grips half shaft-like work, half shaft-like work can be made to do the reciprocal of straight line on three directions along X axles, Y-axis, Z axis respectively
Motion, moreover it is possible to make half shaft-like work, 360 ° of rotations, under the operation of the manipulator, half shaft-like work can carry out a variety of processing, improve life
Produce efficiency.
Specifically, the X-axis motor 4 is arranged on the top of fixed mount 2, and its lower end is connected with an X-axis gear 8, in manipulator
During using with production line, X-axis rack is provided with the frame of production line, X-axis gear 8 engages with X-axis rack, and X-axis motor 4 is
Can driving manipulator move along the x-axis.
The side of the fixed mount 2 is provided with Z axis and fixes sliding block, and the couple positioned opposite of the mechanical arm 1 and fixed mount 2 has
Z axis slide rail, Z axis fixes sliding block and Z axis slide rail is worked in coordination so that mechanical arm 1 can be relatively fixed frame 2 and do straight line fortune along Z axis
It is dynamic.The Z axis motor 5 is arranged on fixed mount 2 along Z-direction, and is provided with a Z axis gear 9, mechanical arm 1 and Z axis motor
5 couple positioned opposite has Z axis rack 10, and Z axis gear 9 engages with Z axis rack 10, when Z axis motor 5 is run, can drive machinery
Arm 1 moves along Z axis.
The lower end of the mechanical arm 1 is arranged with mounting seat 12, and the bottom surface of mounting seat 12 is connected with least two Y-axis cunning
Block, it is symmetrically arranged four Y-axis sliding blocks two-by-two in ability embodiment, the top surface of slide 3 is symmetrically arranged with two Y-axis and slided
Rail, the Y-axis sliding block is engaged with Y-axis slide rail to be slidably connected.The y-axis motor 6 is fixed in the mounting seat 12, its one end
Through mounting seat and a Y-axis gear 13 is connected with, the top surface of slide 3 is provided with a Y-axis rack 14, and the Y-axis rack 14 is set
Between two Y-axis slide rails, the Y-axis gear 13 engages with the Y-axis rack 14.Therefore, when y-axis motor 6 is run, can drive
The relative mechanical arm 1 of slide 3 moves along Y-axis.
The R spindle motors 7 are fixed on slide 3, and its one end passes through slide 3, are extended downwardly from and are connected with a R shaft gears
15.The clip claw assembly includes clamping jaw fixed plate 16, R axles reduction gearing 17, at least one clamping jaw 18 and at least one clamping jaw gas
Cylinder 19.The R axles reduction gearing 17 is fixed in clamping jaw fixed plate 16, and is rotatably connected with the slide 3.Each clamping jaw
18 are arranged on the bottom of clamping jaw fixed plate 16 and drive it to do open and close movement by clamping jaw cylinder 19.
Manipulator described in the utility model also includes balance cylinder 20, balance cylinder 20 be using weight gravity and
Inner pressure of air cylinder reaches balance to realize the pneumatic haulage equipment by heavy lift or decline, former using this of balance cylinder 20
Reason, operating efficiency can be improved, reduce labor strength, its is simple in construction, and part is few, and cost is low, can be adapted to
Used in bad working environments environment.The balance cylinder 20 is arranged on fixed mount along Z axis, the end of its piston rod with it is described
Mechanical arm is affixed.Because whole manipulator volume and weight is all larger, when being moved along Z-direction, the load of Z axis motor is larger,
Install the energy auxiliary mechanical arm 1 of balance cylinder 20 and more steady, the load of reduction Z axis motor is moved along Z axis.
Preferably, in addition to X-axis reductor, Y-axis reductor and Z axis reductor.The X-axis reductor passes with X-axis motor
Dynamic connection, X-axis pinion rotation is driven by adjustment of rotational speed to appropriate speed again；The Y-axis reductor is connected with y-axis motor,
Adjustment of rotational speed to appropriate speed is driven into Y-axis pinion rotation again；Similarly, the Z axis reductor is connected with Z axis motor, will
Adjustment of rotational speed drives Z axis pinion rotation to appropriate speed again.
The Y-axis rack end is additionally provided with stopper 21, and the stopper 21 is fixed on the slide, prevents manipulator
Confining spectrum is moved out in Y direction.
The clamping jaw 18 includes two relative fixture blocks, and the opposite face of each fixture block is the flank of tooth.
Containment vessel 22 is additionally provided with outside the fixed mount 2, the containment vessel 22 is covered in the Z axis motor 5, Z axis slows down
Outside machine and Z axis gear, prevent dust or foreign matter from entering, cause part destruction and operating irregularity.
Operation principle：Four axis robot described in the utility model can application drive bridge semiaxis production line, when in use,
The fixed mount is arranged on the crossbeam of production line, and is slidably connected by slide rail and sliding block therebetween, is set on crossbeam
There is the X-axis rack engaged with X-axis gear, when X-axis motor operates, mechanical arm is with regard to that can drive workpiece to be moved along X-direction；Due to
Fixed mount is fixed in Z-direction with respect to production line, and mechanical arm is to be slidably connected in Z-direction with fixed mount, when Z axis electricity
When machine operates, mechanical arm can drive workpiece to be moved along Z-direction；The slide slides relative to mechanical arm in Y direction to be connected
Connect, when y-axis motor moves, slide can drive workpiece to be moved along Y direction；The mechanical gripping slides rotation company with described again
Connect, when R spindle motors operate, the clamping jaw can make workpiece rotary motion.In other words, pressed from both sides by manipulator described in the utility model
The workpiece taken can realize four axes motion.
Compared to prior art, the axis robot of half shaft line four described in the utility model is simple and reasonable, energy
More than enough angle, Multidirectional-moving so that the crawl structure on manipulator is more steady reliable and accurate to the pick-and-place of workpiece, improves life
Efficiency is produced, reduces manual operation.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.
Claims (8)
- A kind of 1. axis robot of half shaft line four, it is characterised in that：Including mechanical arm, fixed mount, slide and clip claw assembly； The mechanical arm is slidably connected with fixed mount along Z axis；The slide and mechanical arm are slidably connected along Y-axis；The clamping jaw and slide Rotatable connection；X-axis motor and Z axis motor are provided with the fixed mount, the Z axis motor can drive mechanical arm to be relatively fixed frame Moved along a straight line along Z axis；The side of the mechanical arm is provided with y-axis motor, and it can drive slide relative mechanical arm to do straight line along Y-axis Motion；R spindle motors are provided with the slide, it can drive clip claw assembly to be rotated relative to slide；The clip claw assembly includes folder Pawl fixed plate, at least one clamping jaw and at least one clamping jaw cylinder, the clamping jaw fixed plate are rotatably connected with slide, the clamping jaw Clamping jaw fixed plate bottom surface is fixed on clamping jaw cylinder, clamping jaw cylinder driving clamping jaw does open and close movement.
- 2. the axis robot of half shaft line four according to claim 1, it is characterised in that：Also include balance cylinder, The balance cylinder is arranged on fixed mount along Z axis, and the end of its piston rod and the mechanical arm are affixed.
- 3. the axis robot of half shaft line four according to claim 2, it is characterised in that：Also include R shaft gears and R axles Reduction gearing；R shaft gears and R the axle reduction gearing is intermeshed；R shaft gears and R spindle motors are affixed；The R axles reducing gear Wheel is affixed with clamping jaw fixed plate, and is rotatably connected with the slide.
- 4. the axis robot of half shaft line four according to claim 3, it is characterised in that：Also include X-axis reductor, Y Axle reductor and Z axis reductor；The X-axis reductor is connected with X-axis motor, and the Y-axis reductor is driven with y-axis motor Even, the Z axis reductor connects with the transmission of Z axis motor.
- 5. the axis robot of half shaft line four according to claim 3, it is characterised in that：Including containment vessel, the guarantor Protective case and the fixed mount are affixed, and it is covered in outside the Z axis motor, Z axis reductor and Z axis gear.
- 6. the axis robot of half shaft line four according to claim 5, it is characterised in that：Also include Y-axis gear, Y-axis Rack and stopper, Y-axis gear and Y-axis the rack engagement；Y-axis gear and Y spindle motors are affixed, and Y-axis rack is along Y direction It is fixed on slide top surface, the stopper is arranged on Y-axis rack end and affixed with slide.
- 7. the axis robot of half shaft line four according to claim 6, it is characterised in that：Also include mounting seat, it is described Mounting seat is set in mechanical arm lower end, and it is slidably connected with the slide, and the y-axis motor is arranged in mounting seat.
- 8. the axis robot of half shaft line four according to claim 7, it is characterised in that：The clamping jaw includes two-phase To fixture block, the opposite face of each fixture block is the flank of tooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720367626.5U CN206811952U (en) | 2017-04-10 | 2017-04-10 | The axis robot of half shaft line four |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720367626.5U CN206811952U (en) | 2017-04-10 | 2017-04-10 | The axis robot of half shaft line four |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206811952U true CN206811952U (en) | 2017-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720367626.5U Active CN206811952U (en) | 2017-04-10 | 2017-04-10 | The axis robot of half shaft line four |
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| Country | Link |
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| CN (1) | CN206811952U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146593A (en) * | 2021-04-22 | 2021-07-23 | 浙江旭辉智能装备有限公司 | Swing arm type manipulator |
-
2017
- 2017-04-10 CN CN201720367626.5U patent/CN206811952U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146593A (en) * | 2021-04-22 | 2021-07-23 | 浙江旭辉智能装备有限公司 | Swing arm type manipulator |
| CN113146593B (en) * | 2021-04-22 | 2023-10-27 | 浙江旭辉智能装备有限公司 | Swing arm type mechanical arm |
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