CN103639316B - Three-dimensional servo feeding manipulator - Google Patents
Three-dimensional servo feeding manipulator Download PDFInfo
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- CN103639316B CN103639316B CN201310618452.1A CN201310618452A CN103639316B CN 103639316 B CN103639316 B CN 103639316B CN 201310618452 A CN201310618452 A CN 201310618452A CN 103639316 B CN103639316 B CN 103639316B
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a three-dimensional servo feeding manipulator. The three-dimensional servo feeding manipulator comprises a servo control system, a first driving device, a second driving device and two driving arms; two ends of each driving arm are connected with the first driving device and the second driving device respectively; the two driving arm are parallel to each other and are provided with clamping jaws which are matched with each other; the first driving device and the second driving device are controlled by the servo control system to perform synchronous actuation to drive the two driving arms to move along the three mutually perpendicular directions; the clamping jaws are driven by the two driving arms to be matched with the actuation to perform multi-station transfer on workpieces. According to the three-dimensional servo feeding manipulator, the manual work is replaced, the workpiece transfer is achieved in a three-axis linkage mode, the workpiece transfer is high in accuracy, the labor productivity is greatly improved, the product quality is improved, the production space is saved, the production cost input is saved, the automatic unmanned machining process is achieved, the functions are perfect, and the structure is simple and compact.
Description
Technical field
The present invention relates to industry mechanical arm field, particularly relate to a kind of three-D servo feeding machinery hand.
Background technology
In life now, Science and Technology Day crescent benefit progress under, manipulator has been widely used in the every field in life, and manipulator can imitate some holding function of staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Manipulator is the industrial robot occurred the earliest; also be the modern machines people occurred the earliest; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
At present, the production model of automobile industry filter box and motor shell manufacturer is still produced based on one-shot sheet operation mostly, the equipment fallen behind and operation are arranged, cause that production capacity is low, quality is unstable, percent defective is high and the problem of industry manpower shortage, and there is certain danger, can not meet the development trend of automated production far away.In addition, also there is simple and crude or the too complicated and incomplete shortcoming of function of structure in existing manipulator, only can realize 2-axis linkage transfer, and the high-precision transporting that cannot realize processing work, also there is the problem that production capacity is low, quality is unstable and percent defective is high, had a strong impact on the development of process automation and manless production.
Therefore, be badly in need of wanting a kind of three-D servo feeding machinery hand to overcome above-mentioned Problems existing.
Summary of the invention
The object of the present invention is to provide a kind of three-D servo feeding machinery hand, the perfect in shape and function of this three-D servo feeding machinery hand, three-shaft linkage transfer workpiece can be realized, and can realize replacing manual working, high-precision transporting workpiece, significantly raise labour productivity, improve product quality, save production space, the automation of save production cost input and process and unmanned.
For realizing above-mentioned object, the invention provides a kind of three-D servo feeding machinery hand, be applicable to carry out multistation transfer to workpiece in punch press, wherein, described three-D servo feeding machinery hand comprises servo-control system, first drive unit, second drive unit and two actuating arms, the two ends of actuating arm described in each are connected with described first drive unit and the second drive unit respectively, and described two actuating arms are arranged in parallel, described two actuating arms are equipped with the jaw cooperatively interacted, described first drive unit and the second drive unit order about described two actuating arms by the start of described servo-control system control synchronization and move along three orthogonal directions, and described two actuating arms drive described jaw to coordinate start to carry out multistation transfer to described workpiece, described first drive unit comprises: X-axis driving mechanism, Y-axis driving mechanism and Z axis driving mechanism, described X-axis driving mechanism order about described two actuating arms in the horizontal direction close to each other or mutually away from direction synchronizing moving, the folder of opening that then described two actuating arms drive described jaw to carry out clamping or discharging described workpiece operates, described Y-axis drive unit orders about described two actuating arms in the horizontal direction and perpendicular to described two actuating arms direction synchronizing moving close to each other, described Z axis driving mechanism orders about described two actuating arms vertically synchronizing moving, described X-axis driving mechanism comprises the first driver, first screw rod, first guide bracket, first guide rail and the first guide post, the output of described first driver is connected to described first screw rod, described first screw rod is arranged along the length direction of described actuating arm, the both sides of described first screw rod are located at respectively by described first guide rail along the direction being parallel to described first screw rod, it is the first nut set of threaded engagement that the lower surface of described first guide bracket is fixed with described first screw rod, described first guide bracket lower surface is also provided with the first slide block, described first slide block is distributed in described first nut set both sides and with described first guide rail in being slidably matched, described first guide post is fixed at the upper end of described first guide bracket, and described first guide post in the horizontal direction and perpendicular to described first screw rod arrange, one end that described two actuating arms stretch into described first drive unit is connected to the two ends of described first guide post.
Preferably, described X-axis driving mechanism also comprises the second slide block and the second guide post, described second slide block is in the two ends being sheathed on described first guide post be slidably matched, described second guide post is vertically fixedly installed on described second slide block, and one end that actuating arm described in each stretches into described first drive unit is sheathed on corresponding described second guide post in what be slidably matched.
Preferably, described Y-axis driving mechanism comprises the second driver, first driven wheel, first bar shaped tooth, support arm, second guide rail and bracket, the output of described second driver is connected to described first driven wheel, described first bar shaped tooth is in the up and down both sides of being located at described first driven wheel intermeshing with described first driven wheel, and described first bar shaped tooth is all in be horizontally disposed with and perpendicular to the length direction of described actuating arm, described support arm is vertically arranged, and described first bar shaped tooth is fixedly connected with described support arm away from one end of described first driven wheel, described second guide rail lays respectively at the two ends up and down of described support arm along the direction being parallel to described first bar shaped tooth, and the two ends up and down of support arm described in two are equipped with the 3rd slide block, described 3rd slide block and described second guide rail are in being slidably matched, described bracket is connected to the upper end of described support arm, actuating arm described in each is located at a corresponding described bracket along the length direction of this actuating arm in what slide.
Preferably, described Z axis driving mechanism comprises the 3rd driver, second screw rod, 3rd guide rail, second guide bracket and the 3rd guide post, the output of described 3rd driver is connected to described second screw rod, described second screw rod is in vertically arranging, the both sides of described second screw rod are located at respectively by described 3rd guide rail along the direction being parallel to described second screw rod, it is the second nut set of threaded engagement that described second guide bracket is fixed with described second screw rod, and described second guide bracket is provided with Four-slider, described Four-slider and described 3rd guide rail are in being slidably matched, described 3rd guide post is arranged in the direction being parallel to described second screw rod, and described 3rd guide post also along be parallel to described first bar shaped tooth direction slide be located on described second guide bracket, what described support arm also slided along the direction being parallel to described second screw rod is located on the 3rd guide post, described bracket is fixedly installed on described 3rd guide post.
Preferably, described Z axis driving mechanism also comprises four-wheel drive device, the both sides of described second screw rod are located at respectively by described four-wheel drive device, and the output of described four-wheel drive device is connected to the two ends of described second guide bracket, described four-wheel drive device orders about described second guide bracket and slides along the direction being parallel to described second screw rod.
Preferably, described first drive unit also comprises support body, and described X-axis driving mechanism, Y-axis driving mechanism and Z axis driving mechanism are all located on described support body.
Preferably, described first driver, the first guide rail, the second driver, the second guide rail, the 3rd driver, the 3rd guide rail and four-wheel drive device are all fixed on described support body, described first driver, the second driver and the 3rd driver are rotating driver, and described four-wheel drive device is linear actuator.
Preferably, described second drive unit is also provided with described Y-axis driving mechanism and Z axis driving mechanism.
Compared with prior art, because three-D servo feeding machinery hand of the present invention comprises servo-control system, first drive unit, second drive unit and two actuating arms, the two ends of each actuating arm are connected with the first drive unit and the second drive unit respectively, and two actuating arms are arranged in parallel, two actuating arms are equipped with the jaw cooperatively interacted, first drive unit and the second drive unit order about two actuating arms by the start of servo-control system control synchronization and move along three orthogonal directions, and two actuating arms drive jaw to coordinate start to carry out multistation transfer to workpiece.Thus make three-D servo feeding of the present invention machinery hand can realize replacing manual working, three-shaft linkage transfer workpiece, high-precision transporting workpiece, significantly raise labour productivity, improve product quality, save production space, the input that saves production cost and the automation of process and unmanned, and three-D servo feeding of the present invention machinery hand also has perfect in shape and function, advantage simple and compact for structure.
Accompanying drawing explanation
Fig. 1 is the solid combination schematic diagram of three-D servo feeding of the present invention machinery hand.
Fig. 2 is the solid combination schematic diagram after three-D servo feeding of the present invention machinery hand removes protective housing.
Fig. 3 is that the solid after portion chassis removed by the first drive unit of three-D servo feeding of the present invention machinery hand combines schematic diagram.
Fig. 4 is the solid combination schematic diagram at another visual angle of Fig. 3.
Fig. 5 is that the solid after portion chassis removed by the second drive unit of three-D servo feeding of the present invention machinery hand combines schematic diagram.
Fig. 6 is the solid combination schematic diagram at another visual angle of Fig. 5.
Detailed description of the invention
In order to describe technology contents of the present invention, structural feature in detail, accompanying drawing is coordinated to be described further below in conjunction with embodiment.
Refer to Fig. 1 and Fig. 2, three-D servo feeding machinery hand 100 of the present invention is applicable to carry out multistation transfer to workpiece (not shown) in punch press (not shown), wherein, three-D servo feeding machinery hand 100 of the present invention comprises servo-control system (not shown), first drive unit 10, second drive unit 20 and two actuating arms 30, the two ends of each actuating arm 30 are connected with the first drive unit 10 and the second drive unit 20 respectively, and two actuating arms 30 are in arranged in parallel, two actuating arms 30 are equipped with the jaw 31 cooperatively interacted, first drive unit 10 and the second drive unit 20 order about two actuating arms 30 by the start of servo-control system control synchronization, and along three orthogonal directions, (namely shown in Fig. 1 or Fig. 2 is orthogonal X-direction, Y direction and Z-direction) mobile, and two actuating arms 30 drive jaw 31 to coordinate start to carry out multistation transfer to workpiece, thus realize the transfer of three-D servo feeding of the present invention machinery hand 100 pairs of workpiece Three Degree Of Freedoms, namely three-shaft linkage transfer workpiece is realized, action is more flexible, function is more perfect, different process requirements can be met.More excellently be; three-D servo feeding machinery hand 100 of the present invention also comprises two protective housing 40; this two protective housing 40 is in hollow structure; it is inner that one in two protective housing 40 is located at by first drive unit 10; it is inner that another one in two protective housing 40 is located at by second drive unit 20; thus avoid damaging operating personnel; and the impurity such as dust can be reduced enter into the first drive unit 10 or the second drive unit 20, to ensure the normal operation of the first drive unit 10 or the second drive unit 20 and to increase the service life.Particularly, as follows:
Refer to Fig. 2 to Fig. 4, first drive unit 10 comprises: X-axis driving mechanism 11, Y-axis driving mechanism 12 and Z axis driving mechanism 13, X-axis driving mechanism 11 order about two actuating arms 30 in the horizontal direction close to each other or mutually away from direction synchronizing moving, the folder of opening that then two actuating arms 30 drive jaw 31 to carry out clamping or discharging workpiece operates, Y-axis drive unit orders about two actuating arms 30 in the horizontal direction and perpendicular to two actuating arms 30 direction synchronizing moving close to each other, Z axis driving mechanism 13 orders about two actuating arms 30 vertically synchronizing moving, particularly, corresponding to the coordinate in Fig. 2 to Fig. 5, X-axis driving mechanism 11 orders about two actuating arms 30 along X-direction synchronizing moving, Y-axis drive unit orders about two actuating arms 30 along Y direction synchronizing moving, Z axis driving mechanism 13 orders about two actuating arms 30 along Z-direction synchronizing moving.More specifically, as follows:
Wherein, X-axis driving mechanism 11 comprises the first driver 111, first screw rod 113, first guide bracket 114, first guide rail 115 and the first guide post 116, the output of the first driver 111 is connected to the first screw rod 113, particularly, in the present embodiment, first driver 111 is preferably servomotor, first driver 111 is connected to one end of the first screw rod 113 by conveyer belt 112, first screw rod 113 is arranged along the length direction (i.e. X-direction) of actuating arm 30, first guide rail 115 is located at the both sides of the first screw rod 113 respectively along the direction being parallel to the first screw rod 113, the lower surface of the first guide bracket 114 is fixed with and the first first nut set 114a of screw rod 113 in threaded engagement, rectilinear motion is converted to the rotary motion of the output by the first driver 111, structure is more simply compact, drive more accurate.First guide bracket 114 lower surface is also provided with the first slide block 114b, first slide block 114b is distributed in the first nut set 114a both sides and with the first guide rail 115 in being slidably matched, thus the first guide bracket 114 can be stablized slide smoothly, improve kinematic accuracy and stability, first guide post 116 is fixed at the upper end of the first guide bracket 114, and the first guide post 116 in the horizontal direction and arrange perpendicular to the first screw rod 113, one end that two actuating arms 30 stretch into the first drive unit 10 is connected to the two ends of the first guide post 116.Particularly, X-axis driving mechanism 11 also comprises the second slide block 117 and the second guide post 118, second slide block 117 is in the two ends being sheathed on the first guide post 116 be slidably matched, second guide post 118 is vertically fixedly installed on the second slide block 117, and one end that each actuating arm 30 stretches into the first drive unit 10 is sheathed on corresponding second guide post 118 in what be slidably matched.Thus realize X-axis driving mechanism 11 and order about the synchronizing moving of two actuating arms 30 along X-direction, and to be two actuating arms 30 provide guide effect along the synchronizing moving of Z-direction.
Simultaneously, Y-axis driving mechanism 12 comprises the second driver 121, first driven wheel 123, first bar shaped tooth 124, support arm 125, second guide rail 126 and bracket 127, the output of the second driver 121 is connected to the first driven wheel 123, particularly, in the present embodiment, second driver 121 is preferably servomotor, second driver 121 is connected to the first driven wheel 123 by servo deceleration machine 122, first bar shaped tooth 124 is in the up and down both sides of being located at first driven wheel 123 intermeshing with the first driven wheel 123, and the first bar shaped tooth 124 is all in be horizontally disposed with and perpendicular to the length direction of actuating arm 30, namely the first bar shaped tooth 124 is arranged along Y direction, support arm 125 vertically (i.e. Y direction) is arranged, and the first bar shaped tooth 124 is fixedly connected with support arm 125 away from one end of the first driven wheel 123, second guide rail 126 lays respectively at the two ends up and down of support arm 125 along the direction being parallel to the first bar shaped tooth 124, and the two ends up and down of two support arms 125 are equipped with the 3rd slide block 125a, 3rd slide block 125a and the second guide rail 126 are in being slidably matched, thus two support arms 125 can be stablized slide smoothly, improve kinematic accuracy and stability.Bracket 127 is connected to the upper end of support arm 125, each actuating arm 30 is located at a corresponding bracket 127 along the length direction (i.e. X-direction) of this actuating arm 30 in what slide, thus realize Y-axis driving mechanism 12 and order about the synchronizing moving of two actuating arms 30 along Y direction, what realize that two actuating arms 30 drive jaw 31 to carry out clamping or discharge workpiece opens folder operation, and to be two actuating arms 30 provide guide effect along the synchronizing moving of X-direction.
Moreover, Z axis driving mechanism 13 comprises the 3rd driver 131, second screw rod 132, 3rd guide rail 133, second guide bracket 134 and the 3rd guide post 135, the output of the 3rd driver 131 is connected to the second screw rod 132, particularly, in the present embodiment, 3rd driver 131 is preferably servomotor, second screw rod 132 is in vertically (i.e. Z-direction) setting, 3rd guide rail 133 is located at the both sides of the second screw rod 132 respectively along the direction being parallel to the second screw rod 132, being fixed with and second nut set 136 of the second screw rod 132 in threaded engagement of second guide bracket 134, rectilinear motion is converted to the rotary motion of the output by the 3rd driver 131, structure is more simply compact, drive more accurate, and the second guide bracket 134 is provided with Four-slider 134a, Four-slider 134a and the 3rd guide rail 133 in being slidably matched, thus make the second guide bracket 134 to stablize to slide smoothly, improve kinematic accuracy and stability.3rd guide post 135 is arranged in the direction being parallel to the second screw rod 132, and the 3rd guide post 135 also slide along the direction (i.e. X-direction) being parallel to the first bar shaped tooth 124 be located on the second guide bracket 134, specifically, second guide bracket 134 is provided with one the 4th guide rail 134b along Y direction, the bottom of the 3rd guide post 135 is provided with the 5th slide block 135a that the one and the 4th guide rail 134b is slidably matched, namely while the second guide bracket 134 drives the 3rd guide post 135 to move along Z-direction, 3rd guide post 135 can also slide along Y direction, be supplied to the guide effect that the 3rd guide post 135 1 Y direction is slided, what support arm 125 was also slided along the direction being parallel to the second screw rod 132 by a sliding suite 125b is located on the 3rd guide post 135, sliding suite 125b is fixed on support arm 125, namely the guide effect of arm 125 along Z-direction is provided support by the 3rd guide post 135.Particularly, bracket 127 is fixedly installed on the 3rd guide post 135, and namely bracket 127 is connected to support arm 125 by the 3rd guide post 135.Particularly, Z axis driving mechanism 13 also comprises four-wheel drive device 137, the both sides of the second screw rod 132 are located at respectively by four-wheel drive device 137, and the output of four-wheel drive device 137 is connected to the two ends of the second guide bracket 134, four-wheel drive device 137 orders about the second guide bracket 134 and slides along the direction being parallel to the second screw rod 132, to reduce the load of the 3rd driver 131, and then improve the load capacity of Z axis driving mechanism 13.More excellent, four-wheel drive device 137 is preferably linear actuator, is further preferably cylinder.In the present embodiment, the actuating range of Z axis driving mechanism 13, by each mechanical stroke switch restriction up and down, uses induction and program can control transfer and the climb of actuating arm 30 at any time, ensures the synchronization accuracy that actuating arm 30 moves.
Specifically, first drive unit 10 also comprises support body 14, X-axis driving mechanism 11, Y-axis driving mechanism 12 and Z axis driving mechanism 13 are all located on support body 14, make X-axis driving mechanism 11, Y-axis driving mechanism 12 and Z axis driving mechanism 13 have unified positioning datum, improve kinematic accuracy.Particularly, first driver 111, first guide rail 115, second driver 121, second guide rail 126, the 3rd driver 131, the 3rd guide rail 133 and four-wheel drive device 137 are all fixed on support body 14, first driver 111, second driver 121 and the 3rd driver 131 are rotating driver, and four-wheel drive device 137 is linear actuator.
Refer to Fig. 5 and Fig. 6, the second drive unit 20 is also provided with above-mentioned Y-axis driving mechanism 12 and Z axis driving mechanism 13, and structural principle is identical, therefore does not repeat them here.
The person of meriting attention, first driver 111 of three-D servo feeding machinery hand 100 of the present invention, second driver 121 and the 3rd driver 131 are all preferably servomotor, driven by servomotor, adopt servo drive, the motion of each axle can independently control, be independent of each other, avoid use hydraulic drive cause often have more energy loss (friction loss in the course of the work, reveal loss etc., the loss of energy can cause the reduction of movement rate), comparatively large (during oil temperature change by influence of temperature change during work, liquid viscosity changes, cause the change of kinetic characteristic), easy leakage (not only pollutes work-yard, fire casualty may be caused, and impact perform part robust motion and correctness) etc. problem, and in servo drive motion process, drag losses I is ignored, and there is not leakage, servo drive relatively and hydraulic drive is swift in response, flexibility strong, and servo drive movement rate is high, stability is strong.Meanwhile, in the present embodiment, servo-control system additionally uses motion control card, and can change speed and target location in real time in motion, motion control card has large capacity cache space, maximumly can hold 2048 data, ensures running precision; And motion control card scan period, capture velocity and the speed of service are all higher than PLC, multi signal centralized Control mistake proofing campaign can be solved.Actuating arm 30 is more excellent, and in order to select German aluminium section bar, straight line performance is good, and intensity is high, and anti-twist morphotropism is good.In addition, in the present embodiment, servo drive system adopts central system of lubrication, adopts shunting lubrication, ensures the gearing friction of each motion parts, remove the foreign matter of motive position simultaneously.
By reference to the accompanying drawings, the operation principle of three-D servo feeding machinery hand 100 of the present invention is elaborated: the start being controlled the first drive unit 10 and the second drive unit 20 by servo-control system, wherein, Z axis driving mechanism 13 orders about two actuating arms 30 and declines with the level height near workpiece, Y-axis driving mechanism 12 orders about the synchronously close to each other movement of two actuating arms 30 along Y direction, to drive, jaw 31 is close to each other carries out holding workpiece, order about two actuating arms 30 by Z axis driving mechanism 13 again and rise to the suitable mobile height of safety, then, two actuating arms 30 to move to processing work position along X-direction is ordered about by X-axis driving mechanism 11, and order about two actuating arms 30 mutually away from the operation carrying out discharging workpiece by Y-axis driving mechanism 12, after release workpiece to Working position, Y-axis driving mechanism 12 orders about two actuating arm 30 machineries away from opening to safe position, order about two actuating arms 30 by X-axis driving mechanism 11 again to move along X-direction and be reset to initial position, thus complete the operation once transferring workpiece.
Compared with prior art, because three-D servo feeding machinery hand 100 of the present invention comprises servo-control system, first drive unit 10, second drive unit 20 and two actuating arms 30, the two ends of each actuating arm 30 are connected with the first drive unit 10 and the second drive unit 20 respectively, and two actuating arms 30 are in arranged in parallel, two actuating arms 30 are equipped with the jaw 31 cooperatively interacted, first drive unit 10 and the second drive unit 20 order about two actuating arms 30 by the start of servo-control system control synchronization and move along three orthogonal directions, and two actuating arms 30 drive jaw 31 to coordinate start to carry out multistation transfer to workpiece.Thus make three-D servo feeding of the present invention machinery hand 100 can realize replacing manual working, three-shaft linkage transfer workpiece, high-precision transporting workpiece, significantly raise labour productivity, improve product quality, save production space, the input that saves production cost and the automation of process and unmanned, and three-D servo feeding of the present invention machinery hand 100 also has perfect in shape and function, advantage simple and compact for structure.
Above disclosedly be only preferred embodiment of the present invention, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the claims in the present invention are done, still belong to the scope that the present invention is contained.
Claims (8)
1. a three-D servo feeding machinery hand, be applicable to carry out multistation transfer to workpiece in punch press, it is characterized in that, comprise servo-control system, first drive unit, second drive unit and two actuating arms, the two ends of actuating arm described in each are connected with described first drive unit and the second drive unit respectively, and described two actuating arms are arranged in parallel, described two actuating arms are equipped with the jaw cooperatively interacted, described first drive unit and the second drive unit order about described two actuating arms by the start of described servo-control system control synchronization and move along three orthogonal directions, and described two actuating arms drive described jaw to coordinate start to carry out multistation transfer to described workpiece, described first drive unit comprises: X-axis driving mechanism, Y-axis driving mechanism and Z axis driving mechanism, described X-axis driving mechanism order about described two actuating arms in the horizontal direction close to each other or mutually away from direction synchronizing moving, the folder of opening that then described two actuating arms drive described jaw to carry out clamping or discharging described workpiece operates, described Y-axis drive unit orders about described two actuating arms in the horizontal direction and perpendicular to described two actuating arms direction synchronizing moving close to each other, described Z axis driving mechanism orders about described two actuating arms vertically synchronizing moving, described X-axis driving mechanism comprises the first driver, first screw rod, first guide bracket, first guide rail and the first guide post, the output of described first driver is connected to described first screw rod, described first screw rod is arranged along the length direction of described actuating arm, the both sides of described first screw rod are located at respectively by described first guide rail along the direction being parallel to described first screw rod, it is the first nut set of threaded engagement that the lower surface of described first guide bracket is fixed with described first screw rod, described first guide bracket lower surface is also provided with the first slide block, described first slide block is distributed in described first nut set both sides and with described first guide rail in being slidably matched, described first guide post is fixed at the upper end of described first guide bracket, and described first guide post in the horizontal direction and perpendicular to described first screw rod arrange, one end that described two actuating arms stretch into described first drive unit is connected to the two ends of described first guide post.
2. three-D servo feeding machinery hand as claimed in claim 1, it is characterized in that, described X-axis driving mechanism also comprises the second slide block and the second guide post, described second slide block is in the two ends being sheathed on described first guide post be slidably matched, described second guide post is vertically fixedly installed on described second slide block, and one end that actuating arm described in each stretches into described first drive unit is sheathed on corresponding described second guide post in what be slidably matched.
3. three-D servo feeding machinery hand as claimed in claim 2, it is characterized in that, described Y-axis driving mechanism comprises the second driver, first driven wheel, first bar shaped tooth, support arm, second guide rail and bracket, the output of described second driver is connected to described first driven wheel, described first bar shaped tooth is in the up and down both sides of being located at described first driven wheel intermeshing with described first driven wheel, and described first bar shaped tooth is all in be horizontally disposed with and perpendicular to the length direction of described actuating arm, described support arm is vertically arranged, and described first bar shaped tooth is fixedly connected with described support arm away from one end of described first driven wheel, described second guide rail lays respectively at the two ends up and down of described support arm along the direction being parallel to described first bar shaped tooth, and the two ends up and down of support arm described in two are equipped with the 3rd slide block, described 3rd slide block and described second guide rail are in being slidably matched, described bracket is connected to the upper end of described support arm, actuating arm described in each is located at a corresponding described bracket along the length direction of this actuating arm in what slide.
4. three-D servo feeding machinery hand as claimed in claim 3, it is characterized in that, described Z axis driving mechanism comprises the 3rd driver, second screw rod, 3rd guide rail, second guide bracket and the 3rd guide post, the output of described 3rd driver is connected to described second screw rod, described second screw rod is in vertically arranging, the both sides of described second screw rod are located at respectively by described 3rd guide rail along the direction being parallel to described second screw rod, it is the second nut set of threaded engagement that described second guide bracket is fixed with described second screw rod, and described second guide bracket is provided with Four-slider, described Four-slider and described 3rd guide rail are in being slidably matched, described 3rd guide post is arranged in the direction being parallel to described second screw rod, and described 3rd guide post also along be parallel to described first bar shaped tooth direction slide be located on described second guide bracket, what described support arm also slided along the direction being parallel to described second screw rod is located on the 3rd guide post, described bracket is fixedly installed on described 3rd guide post.
5. three-D servo feeding machinery hand as claimed in claim 4, it is characterized in that, described Z axis driving mechanism also comprises four-wheel drive device, the both sides of described second screw rod are located at respectively by described four-wheel drive device, and the output of described four-wheel drive device is connected to the two ends of described second guide bracket, described four-wheel drive device orders about described second guide bracket and slides along the direction being parallel to described second screw rod.
6. three-D servo feeding machinery hand as claimed in claim 5, it is characterized in that, described first drive unit also comprises support body, and described X-axis driving mechanism, Y-axis driving mechanism and Z axis driving mechanism are all located on described support body.
7. three-D servo feeding machinery hand as claimed in claim 6, it is characterized in that, described first driver, the first guide rail, the second driver, the second guide rail, the 3rd driver, the 3rd guide rail and four-wheel drive device are all fixed on described support body, described first driver, the second driver and the 3rd driver are rotating driver, and described four-wheel drive device is linear actuator.
8. the three-D servo feeding machinery hand as described in any one of claim 1 and 3 to 7, it is characterized in that, described second drive unit is also provided with described Y-axis driving mechanism and Z axis driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310618452.1A CN103639316B (en) | 2013-11-26 | 2013-11-26 | Three-dimensional servo feeding manipulator |
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| CN201310618452.1A CN103639316B (en) | 2013-11-26 | 2013-11-26 | Three-dimensional servo feeding manipulator |
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| CN103639316A CN103639316A (en) | 2014-03-19 |
| CN103639316B true CN103639316B (en) | 2015-06-10 |
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| CN112605254B (en) * | 2020-12-30 | 2022-09-13 | 珠海格力智能装备有限公司 | Manipulator and automatic production line |
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