CN208759553U - A kind of novel ox head manipulator - Google Patents
A kind of novel ox head manipulator Download PDFInfo
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- CN208759553U CN208759553U CN201821113864.4U CN201821113864U CN208759553U CN 208759553 U CN208759553 U CN 208759553U CN 201821113864 U CN201821113864 U CN 201821113864U CN 208759553 U CN208759553 U CN 208759553U
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Abstract
The utility model provides a kind of novel ox head manipulator, including pedestal, X-axis manipulator, Y-axis manipulator, Z axis manipulator, clamping device, the X-axis manipulator setting is on the base, the Y-axis manipulator is arranged in X-axis manipulator, the Z axis manipulator is arranged in Y-axis manipulator, traction mechanism is additionally provided in the Z axis manipulator, the clamping device is arranged on traction mechanism, the utility model structure is simple, design is reasonable, pass through X-axis manipulator, Y-axis manipulator, Z axis manipulator realizes clamping device in X-axis, Y-axis, it is moved on Z axis, to further increase the practicability of manipulator, pass through motor, with belt, linear gear rack matches, further improve the stability and control essence of manipulator Degree, clamping while can realizing multiple products additionally by clamping device.
Description
Technical field
The utility model relates to a kind of manipulator technical field, especially a kind of novel ox head manipulator.
Background technique
Manipulator be it is a kind of the cumbersome duplication of labour of manual work can be replaced to realize the mechanical full-automatic of production, can be
Working at high speed under various environment, and also ensure the automation of personal safety.
With injection molding industrial expansion, manipulator instead of hand labor, for by the product of injection molding from mould
It takes out and is sent in tool in designated place or next production process, avoid human body in high temperature, high pressure, mephitical environment
Lower work, it is ensured that personal safety.In addition, moulding just becomes becoming increasingly complex due to the fast development of Injection Industry, because
And to the pickup of injecting products, stack operation higher requirements are also raised.
Currently, usually transmitting large-sized object using ox head manipulator in actual production.However, single in the prior art
The ox head manipulator being moved forward and backward up and down has not been able to satisfy the automation demanding of present Injection Industry gradually, that is, in the prior art
Ox head manipulator that there are flexibilities is poor, stability is bad and ineffective defect, in addition, existing manipulator is mainly
It is realized and is driven by cylinder, be difficult to control its precision, but also there are low efficiency, the disadvantages of stability is poor.
Summary of the invention
In view of the deficiencies of the prior art, the utility model provides a kind of novel ox head manipulator.
The technical solution of the utility model are as follows: a kind of novel ox head manipulator, including pedestal, X-axis manipulator, Y-axis
Manipulator, Z axis manipulator, clamping device, the X-axis manipulator are arranged on the base, the Y-axis machine
The setting of tool fingerprint block is arranged in Y-axis manipulator in X-axis manipulator, the Z axis manipulator, the Z
Traction mechanism is additionally provided in axis robot module, the clamping device is arranged on traction mechanism.
The X-axis manipulator includes X-axis crossbeam, X-axis slide rail a, X-axis slide rail b, X-axis driving motor, X-axis driving
Belt, X-axis slide plate, the X-axis crossbeam setting on the base, are provided with X-axis slide rail a and X-axis slide rail on the X-axis crossbeam
It is provided with X-axis slide plate on b, the X-axis slide rail a and X-axis slide rail b, X-axis driving motor, institute are provided on the X-axis slide plate
The X-axis driving motor stated is connect with the X-axis pulley drive for being located at X-axis slide plate lower end, has been set on the X-axis belt pulley
X-axis drive belt, the X-axis drive belt both ends are connect with the belt fixing seat being arranged on X-axis crossbeam respectively, pass through X
Axis driving motor drives X-axis pulley rotation, since X-axis drive belt is fixed on X-axis crossbeam, and connect with X-axis belt pulley,
To drive X-axis slide plate to slide on X-axis slide rail a and X-axis slide rail b；
The Y-axis manipulator is including drawing group slide plate, Y-axis draws group beam, Y-axis sliding rail a, Y-axis sliding rail b, Y-axis straight line tooth
Item, Y-axis driving motor, described drawing are dialled slide plate and are arranged on X-axis slide plate, and described drawing dials and be provided with multiple sliding blocks on slide plate,
It is described draw dial slide plate and be slidably connected by multiple sliding blocks with Y-axis sliding rail a, the Y-axis sliding rail b for Y-axis is arranged in drawing bottom end on group beam,
The Y-axis, which draws to dial, is additionally provided with Y-axis linear gear rack on beam, the Y-axis linear gear rack and Y-axis drive gear mesh, described
Y-axis driving gear be sequentially connected with the Y-axis driving motor that is arranged on X-axis slide plate, to drive Y by Y-axis driving motor
Axis drives gear rotation, draws on group beam since Y-axis linear gear rack is mounted on Y-axis, and drive gear mesh with Y-axis, to pass through Y
Axis linear gear rack driving Y-axis draws group beam and horizontally slips on drawing group slide plate.
Described include Z axis manipulator includes that mounting base, Z axis draw and dial beam, Z axis slide rail, Z axis linear gear rack, Z axis and drive
Dynamic motor, Z axis traction mechanism, the mounting base are arranged in Y-axis and draw the end for dialling beam, be provided in the mounting base multiple
Slide, the mounting base by multiple slides be arranged in Z axis draw dial beam lower end Z axis slide rail be slidably connected, the Z axis
Draw and be additionally provided with Z axis linear gear rack on the side wall for dialling beam, the Z axis linear gear rack and Z axis drive gear mesh, the Z
Axis driving gear is sequentially connected with the Z axis driving motor being arranged in mounting base, and the Z axis draws also to be set on another side wall for dialling beam
It is equipped with traction mechanism；
The traction mechanism include traction wheel a, traction wheel b, traction belts, traction belts seat, traction belts fixed plate,
Traction crossbeam, the traction wheel a, traction wheel b are separately positioned on Z axis and draw the both ends for dialling beam, and the traction belts are set in
On traction wheel a, traction wheel b, the traction belts are also connect with traction belts seat and traction belts fixed plate respectively, described
Traction belts seat is arranged in mounting base, and the traction belts fixed plate is arranged in traction crossbeam, the traction crossbeam
Lower end is provided with traction sliding rail, and the traction crossbeam passes through traction sliding rail and draws the sliding block sliding company dialled on beam with Z axis is arranged in
It connects.
The clamping device includes gripper cylinder, grip block, guiding axis, Working-Clip seat, arc clip a, arc clip b,
The grip block is arranged by attachment base in traction crossbeam end, and the lower end of the grip block is provided with gripper cylinder, institute
Fixing seat is provided on the piston rod for the gripper cylinder stated, the fixing seat is upward through the opening being provided on grip block,
And with the guiding axis connection that is located at grip block upper end, multiple Working-Clip seats are provided on the guiding axis, on the Working-Clip seat
It is provided at least two arc clip a, multiple arcs for matching with arc clip a are additionally provided on the grip block
Intermediate plate b is matched with arc clip b by arc clip a, realizes the clamping work of product.
Further, the X-axis crossbeam both ends are additionally provided with X-axis buffer a and X-axis buffer b.
Further, directive wheel a and directive wheel b, the directive wheel a and guiding are additionally provided on the X-axis crossbeam
Wheel b is separately positioned on the left and right sides of X-axis belt pulley, and the X-axis drive belt successively bypasses directive wheel a, X-axis belt
Wheel, directive wheel b.
The utility model has the following beneficial effects: simple structure and reasonable design, passes through X-axis manipulator, Y-axis manipulator
Module, Z axis manipulator realize that clamping device moves on X-axis, Y-axis, Z axis, to further increase the reality of manipulator
It with property, is matched by motor, with belt, linear gear rack, further improves the stability and control precision of manipulator, in addition
Clamping while can realizing multiple products by clamping device.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the utility model X-axis manipulator；
The partial structural diagram of Fig. 3 the utility model X-axis manipulator；
Fig. 4 is the structural schematic diagram of the utility model Y-axis manipulator；
Fig. 5 is the structural schematic diagram of the utility model Z axis manipulator；
Fig. 6 is the structural schematic diagram of the utility model traction mechanism；
Fig. 7 is the structural schematic diagram of the utility model clamping device；
Fig. 8 is another structural schematic diagram of the utility model clamping device.
In figure, 1- pedestal, 2-X axis robot module, 3-Y axis robot module, 4-Z axis robot module, 5- clamping machine
Structure, 20-X axis crossbeam, 21-X axis sliding rail a, 22-X axis sliding rail b, 23-X axis driving motor, 24-X axis drive belt, 25-X axis are sliding
Plate, 26- belt fixing seat, 27-X axis buffer a, 28-X axis buffer b, 29-X shaft pulley, 291- directive wheel a, 292- are led
Draw to wheel b, 30- and dial slide plate, 31-Y axis, which draws, dials beam, 32-Y axis sliding rail a, 33-Y axis linear gear rack, 34-Y axis driving motor, 35-
Mounting base, 40-Z axis, which draws, dials beam, 41-Z axis linear gear rack, 42-Z axis driving motor, 43- traction crossbeam, 44- traction wheel a, 45-
Traction wheel b, 46- traction belts, 47- traction belts seat, 48- traction belts fixed plate, 49- attachment base, 50- grip block, 51- folder
Hold cylinder, 52- guiding axis, 53- Working-Clip seat, 54- arc clip a, 55- arc clip b.
Specific embodiment
Specific embodiment of the present utility model is described further with reference to the accompanying drawing:
As shown in Figure 1, a kind of novel ox head manipulator, including pedestal 1, X-axis manipulator 2, Y-axis manipulator 3,
Z axis manipulator 4, clamping device 5, the X-axis manipulator 2 are arranged on pedestal 1, the Y-axis machinery fingerprint
Block 3 is arranged in X-axis manipulator 2, and the Z axis manipulator 4 is arranged in Y-axis manipulator 3, the Z
Traction mechanism is additionally provided in axis robot module 3, the clamping device 5 is arranged on traction mechanism.
As shown in Figure 2 and Figure 3, the X-axis manipulator 2 includes X-axis crossbeam 20, X-axis slide rail a21, X-axis slide rail
B22, X-axis driving motor 23, X-axis drive belt 24, X-axis slide plate 25, the X-axis crossbeam 20 is arranged on pedestal 1, described
It is provided on X-axis crossbeam 20 on X-axis slide rail a21 and X-axis slide rail b22, the X-axis slide rail a21 and X-axis slide rail b22 and is provided with X
Axis slide plate 25, is provided with X-axis driving motor 23 on the X-axis slide plate 25, the X-axis driving motor 23 with to be located at X-axis sliding
The X-axis belt pulley 29 of 25 lower end of plate is sequentially connected, and has been set in X-axis drive belt 24 on the X-axis belt pulley 29, described
24 both ends of X-axis drive belt are connect with the belt fixing seat 26 being arranged on X-axis crossbeam 20 respectively, pass through X-axis driving motor 23
It drives X-axis belt pulley 29 to rotate, since X-axis drive belt 24 is fixed on X-axis crossbeam 20, and is connect with X-axis belt pulley 29, from
And X-axis slide plate 25 is driven to slide on X-axis slide rail a21 and X-axis slide rail b22,20 both ends of X-axis crossbeam are additionally provided with X-axis
Buffer a27 and X-axis buffer b28 is additionally provided with directive wheel a291 and directive wheel b292 on the X-axis crossbeam 20, described
Directive wheel a291 and directive wheel b292 be separately positioned on the left and right sides of X-axis belt pulley 29, and the X-axis drive belt
24 successively bypass directive wheel a291, X-axis belt pulley 29, directive wheel b292.
As shown in figure 4, the Y-axis manipulator 3 is including drawing group slide plate 30, Y-axis draws group beam 31, Y-axis sliding rail a32, Y
Axis sliding rail b, Y-axis linear gear rack 33, Y-axis driving motor 34, described drawing is dialled slide plate 30 and is arranged on X-axis slide plate 25, described
Draw to dial and be provided with multiple sliding blocks on slide plate 30, described drawing dials slide plate 30 and draw group 31 bottom of beam in Y-axis by multiple sliding blocks and setting
Y-axis sliding rail a32, the Y-axis sliding rail b at end are slidably connected, and the Y-axis, which draws to dial, is additionally provided with Y-axis linear gear rack 33 on beam 31, described
Y-axis linear gear rack 33 and Y-axis drive gear mesh, the described Y-axis driving gear drives with the Y-axis being arranged on X-axis slide plate 25
Dynamic motor 34 is sequentially connected, to drive Y-axis to drive gear rotation by Y-axis driving motor 34, since Y-axis linear gear rack 33 is pacified
Draw mounted in Y-axis and dial on beam 31, and drive gear mesh with Y-axis, exists to drive Y-axis to draw group beam 31 by Y-axis linear gear rack 33
Draw to dial and horizontally slip on slide plate 30, the end that the Y-axis draws group crossbeam is additionally provided with mounting base 35.
As shown in figure 5, described includes that Z axis draws group beam 40, Z axis slide rail, Z axis linear gear rack including Z axis manipulator 4
41, Z axis driving motor 42, traction mechanism, multiple slides are provided in the mounting base 35, and the mounting base 35 passes through more
A slide be arranged in Z axis draw dial 40 lower end of beam Z axis slide rail be slidably connected, the Z axis draw dial beam 40 side wall on also sets
It is equipped with Z axis linear gear rack 41, the Z axis linear gear rack 41 and Z axis drive gear mesh, and the Z axis drives gear and sets
The Z axis driving motor 42 set in mounting base 35 is sequentially connected, and the Z axis, which draws, is additionally provided with traction on another side wall for dialling beam 40
Mechanism；
As shown in fig. 6, the traction mechanism includes traction wheel a44, traction wheel b45, traction belts 46, traction belts seat
47, traction belts fixed plate 48, traction crossbeam 43, the traction wheel a44, traction wheel b45 are separately positioned on Z axis and draw group beam 40
Both ends, the traction belts 46 are set on traction wheel a44, traction wheel b45, the traction belts 46 also respectively with lead
Draw belt holder 47 and traction belts fixed plate 48 connects, the traction belts seat 47 is arranged 35 in mounting base, and described leads
Draw belt fixed plate 48 to be arranged in traction crossbeam 43,43 lower end of traction crossbeam is provided with traction sliding rail, and described leads
Draw crossbeam and is slidably connected by traction sliding rail with Z axis is arranged in drawing the sliding block on group beam 40.
As shown in Figure 7, Figure 8, the clamping device 5 includes gripper cylinder 51, grip block 50, guiding axis 52, Working-Clip seat
53, arc clip a54, arc clip b55, the grip block 50 are arranged by attachment base 49 in 43 end of traction crossbeam, institute
The lower end for the grip block 50 stated is provided with gripper cylinder 51, is provided with fixing seat on the piston rod of the gripper cylinder 51, institute
The fixing seat stated is upward through the opening being provided on grip block 50, and connect with the guiding axis 52 for being located at 50 upper end of grip block,
It is provided with multiple Working-Clip seats 53 on the guiding axis 52, at least two arc clip a54 is provided on the Working-Clip seat 53,
It is additionally provided with multiple arc clip b55 for matching with arc clip a54 on the grip block 50, passes through arc clip
A54 is matched with arc clip b55, realizes the clamping work of product.
The description of the embodiments and the specification only illustrate the principle of the present utility model and most preferred embodiment, is not taking off
Under the premise of from the spirit and scope of the utility model, the utility model also has various changes and improvements, these changes and improvements
It falls within the scope of the claimed invention.
Claims (8)
1. a kind of novel ox head manipulator, it is characterised in that: including pedestal, X-axis manipulator, Y-axis manipulator, Z axis
Manipulator, clamping device, on the base, the Y-axis manipulator setting exists for the X-axis manipulator setting
X-axis manipulator, the Z axis manipulator is arranged in Y-axis manipulator, in the Z axis manipulator
It is additionally provided with traction mechanism, the clamping device is arranged on traction mechanism.
2. a kind of novel ox head manipulator according to claim 1, it is characterised in that: the X-axis manipulator packet
Include X-axis crossbeam, X-axis slide rail a, X-axis slide rail b, X-axis driving motor, X-axis drive belt, X-axis slide plate, the X-axis crossbeam setting
On the base, it is provided on X-axis slide rail a and X-axis slide rail b, the X-axis slide rail a and X-axis slide rail b and sets on the X-axis crossbeam
Be equipped with X-axis slide plate, be provided with X-axis driving motor on the X-axis slide plate, the X-axis driving motor be located under X-axis slide plate
The X-axis pulley drive at end connects, and has been set in X-axis drive belt, the X-axis drive belt on the X-axis belt pulley
Both ends are connect with the belt fixing seat being arranged on X-axis crossbeam respectively.
3. a kind of novel ox head manipulator according to claim 1, it is characterised in that: the Y-axis manipulator packet
It includes to draw to dial slide plate, Y-axis and draw and dials beam, Y-axis sliding rail a, Y-axis sliding rail b, Y-axis linear gear rack, Y-axis driving motor, slide plate is dialled in described drawing
It is arranged on X-axis slide plate, described drawing dials and be provided with multiple sliding blocks on slide plate, and described drawing dials slide plate and pass through multiple sliding blocks and set
It sets to draw in Y-axis and dials Y-axis sliding rail a, the Y-axis sliding rail b of bottom end on beam and be slidably connected, the Y-axis, which is drawn, dials that be additionally provided with Y-axis on beam straight
Line rack gear, the Y-axis linear gear rack and Y-axis drive gear mesh, and the Y-axis driving gear and setting are on X-axis slide plate
Y-axis driving motor transmission connection.
4. a kind of novel ox head manipulator according to claim 1, it is characterised in that: described includes Z axis machinery fingerprint
Block includes that mounting base, Z axis draw and dial beam, Z axis slide rail, Z axis linear gear rack, Z axis driving motor, Z axis traction mechanism, the installation
Seat is arranged in Y-axis and draws the end for dialling beam, and multiple slides are provided in the mounting base, and the mounting base passes through multiple slides
Be arranged in Z axis draw dial beam lower end Z axis slide rail be slidably connected, the Z axis draw dial beam side wall on is additionally provided with Z axis straight line
Rack gear, the Z axis linear gear rack and Z axis drive gear mesh, the Z that the Z axis drives gear and is arranged in mounting base
The transmission connection of axis driving motor, the Z axis, which draws, is additionally provided with traction mechanism on another side wall for dialling beam.
5. a kind of novel ox head manipulator according to claim 1, it is characterised in that: the traction mechanism includes traction
Take turns a, traction wheel b, traction belts, traction belts seat, traction belts fixed plate, traction crossbeam, the traction wheel a, traction wheel b
It is separately positioned on Z axis and draws the both ends for dialling beam, the traction belts are set on traction wheel a, traction wheel b, the traction skin
Band is also connect with traction belts seat and traction belts fixed plate respectively, and the traction belts seat is arranged in mounting base, described
Traction belts fixed plate be arranged in traction crossbeam, the traction crossbeam lower end is provided with traction sliding rail, the traction
Crossbeam is slidably connected by traction sliding rail with Z axis is arranged in drawing the sliding block on group beam.
6. a kind of novel ox head manipulator according to claim 1, it is characterised in that: the clamping device includes clamping
Cylinder, grip block, guiding axis, Working-Clip seat, arc clip a, arc clip b, the grip block are being led by attachment base setting
Draw beam-end, the lower end of the grip block is provided with gripper cylinder, is provided on the piston rod of the gripper cylinder solid
Reservation, the fixing seat are upward through the opening being provided on grip block, and with the guiding axis connection that is located at grip block upper end,
It is provided with multiple Working-Clip seats on the guiding axis, at least two arc clip a, the folder are provided on the Working-Clip seat
It holds and is additionally provided with multiple arc clip b for matching with arc clip a on plate.
7. a kind of novel ox head manipulator according to claim 2, it is characterised in that: the X-axis crossbeam both ends are also set
It is equipped with X-axis buffer a and X-axis buffer b.
8. a kind of novel ox head manipulator according to claim 1, it is characterised in that: also set up on the X-axis crossbeam
There are directive wheel a and directive wheel b, the directive wheel a and directive wheel b to be separately positioned on the left and right sides of X-axis belt pulley, and institute
The X-axis drive belt stated successively bypasses directive wheel a, X-axis belt pulley, directive wheel b.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821113864.4U CN208759553U (en) | 2018-07-13 | 2018-07-13 | A kind of novel ox head manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821113864.4U CN208759553U (en) | 2018-07-13 | 2018-07-13 | A kind of novel ox head manipulator |
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| Publication Number | Publication Date |
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| CN208759553U true CN208759553U (en) | 2019-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821113864.4U Active CN208759553U (en) | 2018-07-13 | 2018-07-13 | A kind of novel ox head manipulator |
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| Country | Link |
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| CN (1) | CN208759553U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111452063A (en) * | 2020-05-08 | 2020-07-28 | 深圳中科捷飞科技有限公司 | Robot between metering chamber and valve group chamber and control method thereof |
| CN111452019A (en) * | 2020-05-08 | 2020-07-28 | 深圳中科捷飞科技有限公司 | Unattended robot between metering room and valve group room and control method thereof |
| CN111452020A (en) * | 2020-05-08 | 2020-07-28 | 深圳中科捷飞科技有限公司 | Unattended robot between metering room and valve group room and control method thereof |
| CN113319834A (en) * | 2021-07-09 | 2021-08-31 | 山东九屹智能科技有限公司 | Multifunctional feeding manipulator |
-
2018
- 2018-07-13 CN CN201821113864.4U patent/CN208759553U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111452063A (en) * | 2020-05-08 | 2020-07-28 | 深圳中科捷飞科技有限公司 | Robot between metering chamber and valve group chamber and control method thereof |
| CN111452019A (en) * | 2020-05-08 | 2020-07-28 | 深圳中科捷飞科技有限公司 | Unattended robot between metering room and valve group room and control method thereof |
| CN111452020A (en) * | 2020-05-08 | 2020-07-28 | 深圳中科捷飞科技有限公司 | Unattended robot between metering room and valve group room and control method thereof |
| CN113319834A (en) * | 2021-07-09 | 2021-08-31 | 山东九屹智能科技有限公司 | Multifunctional feeding manipulator |
| CN113319834B (en) * | 2021-07-09 | 2024-04-16 | 山东九屹智能科技有限公司 | Multifunctional feeding manipulator |
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