CN217751462U - Gantry variable-pitch manipulator - Google Patents
Gantry variable-pitch manipulator Download PDFInfo
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- CN217751462U CN217751462U CN202123448046.4U CN202123448046U CN217751462U CN 217751462 U CN217751462 U CN 217751462U CN 202123448046 U CN202123448046 U CN 202123448046U CN 217751462 U CN217751462 U CN 217751462U
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Abstract
The utility model discloses a longmen displacement manipulator, including displacement module and the longmen operation arm that can move from top to bottom, the displacement module is including bearing the seat, a drive assembly, rotation axis and two at least first linking pieces, it installs on longmen operation arm to bear the seat, each first linking piece interval slidable mounting bears on the seat, the protruding guide bar that is equipped with of first linking piece, a drive assembly is fixed in on bearing the seat, rotation axis rotation installs on bearing the seat, the rotation axis is connected with a drive assembly, the concave orbit groove that is equipped with a plurality of intervals and sets up of its length direction is followed to the rotation axis, each guide bar inserts respectively in each orbit inslot, when a drive assembly drive rotation axis reciprocating rotation, the guide bar can make the distance increase between two adjacent first linking pieces or reduce at the orbit inslot reciprocating sliding. The utility model discloses can change the distance between the first linking piece of adjacent two, when product quantity is many, can pick up labour saving and time saving to a plurality of products simultaneously.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a longmen displacement manipulator.
Background
In the production process of current product, a lot of products need just can be prepared through multichannel process, and traditional method adopts artifical conveying product and loading and unloading between the machine of different stations, and this kind of working method work efficiency is low, with high costs to there is because the injured condition of personnel that results in of misoperation, along with the continuous input of digit control machine tool and the continuous improvement of automation level, automatic material feeding unit is applied to in the production more and more. The automatic feeding device mostly adopts an automatic mechanical arm to transmit a product from a numerical control machine tool in the previous procedure to a numerical control machine tool in the next procedure, and the mode has high working efficiency, is safe and can realize automatic flow line production.
However, the existing mechanical arms pick up products one by one, and only one product can be picked up at a time, which is time-consuming and labor-consuming and is not suitable for occasions with a large number of products.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a longmen displacement manipulator to solve among the prior art robotic arm and all pick up one to one when picking up the product, can only pick up a product at every turn, waste time and energy like this, the technical problem who is unsuitable for the many occasions of product quantity.
The utility model provides a longmen displacement manipulator, including displacement module and the longmen operation arm that can move from top to bottom, the displacement module is including bearing seat, first drive assembly, rotation axis and two at least first linking pieces, bear the seat install in on the longmen operation arm, each first linking piece interval slidable mounting in bear on the seat, the protruding guide bar that is equipped with of first linking piece, first drive assembly is fixed in bear on the seat, rotation axis rotate install in bear on the seat, the rotation axis with first drive assembly connects, the concave orbit groove that is equipped with a plurality of intervals and sets up of rotation axis along its length direction, each the guide bar inserts respectively in each the orbit inslot, first drive assembly drive during the rotation axis reciprocating motion, the guide bar is in the orbit inslot reciprocating sliding can make adjacent two distance between the first piece increases or reduces.
Furthermore, an accommodating space is formed in the bearing seat, the first driving assembly is located outside the accommodating space, the bearing seat is provided with a window and a first through hole which are communicated with the accommodating space in a penetrating manner, each first connecting block is arranged corresponding to the window, one end of the rotating shaft is located in the accommodating space, and the other end of the rotating shaft is connected with the first driving assembly after penetrating through the first through hole.
Furthermore, the bearing seat comprises a first machine shell connected with the gantry operation arm and two sliding rods arranged at intervals, the accommodating space is located in the first machine shell, the window and the first through hole are respectively arranged on two side faces of the first machine shell, the two sliding rods are transversely fixed on the inner wall of the accommodating space, the sliding rods are arranged close to the window, one of the sliding rods is located below the other sliding rod, and two ends of the first connecting block are respectively connected with the two sliding rods in a sliding mode.
Furthermore, the first linking block comprises a sliding plate and the guide rod, the sliding plate comprises a supporting plate and two convex blocks, the two convex blocks are arranged on one surface of the supporting plate in a protruding mode at intervals, a plurality of mounting holes for mounting tooling jigs are concavely arranged on the other surface of the supporting plate, second through holes are transversely formed in the convex blocks in a penetrating mode, the sliding rod penetrates through the second through holes, the guide rod is connected with the supporting plate, and the guide rod is located between the two convex blocks.
Furthermore, the support plate is positioned outside the bearing seat, and the convex block penetrates through the window and then is connected with the sliding rod.
Furthermore, the pitch-variable module further comprises two bearings, the bearing seat is further transversely provided with a third through hole communicated with the accommodating space in a penetrating manner, the two bearings are respectively arranged on the first through hole and the third through hole, and two ends of the rotating shaft are respectively arranged on the two bearings.
Further, first drive assembly includes that first motor and synchronous belt drive are vice, first motor is fixed in bear on the seat, synchronous belt drive vice one end with first motor is connected, the other end with the swivelling axis is connected.
Furthermore, the gantry operation arm comprises a first moving module for moving in the X-axis direction, a second moving module for moving in the Y-axis direction and a third moving module for moving in the Z-axis direction, the first moving module comprises a second driving assembly, a plurality of second housings and a plurality of second connecting blocks, the second connecting blocks are slidably mounted on the second housings, the second driving assembly is fixed on the second housings, and the second driving assembly is connected with the second connecting blocks to drive the second connecting blocks to reciprocate in the X-axis direction;
the second moving module comprises a third driving assembly, a third shell and a third connecting block, the third shell is fixed on the second connecting block, the third connecting block is slidably mounted on the third shell, the third driving assembly is fixed on the third shell, and the third driving assembly is connected with the third connecting block to drive the third connecting block to reciprocate along the Y-axis direction;
the third removes the module and includes fourth drive assembly, fourth casing and fourth joint piece, the fourth casing is fixed in on the third joint piece, fourth joint piece slidable mounting in on the fourth casing, the fourth drive assembly is fixed in on the fourth casing, the fourth drive assembly with fourth joint piece is connected in order to drive the fourth joint piece is followed the reciprocal operation of Z axle direction, the plummer install in on the fourth joint piece.
The second driving assembly comprises a second motor, a connecting shaft, four bevel gears and two first ball screw transmission pairs, the number of the second housings and the second connecting blocks is two, the two second housings are arranged in parallel, the two first ball screw transmission pairs are respectively rotatably mounted on the two second housings, the second connecting block is connected with the first ball screw transmission pairs, the second motor is fixed on one of the second housings, the connecting shaft is mounted on the output end of the second motor, the two bevel gears are respectively mounted at two ends of the connecting shaft, the other two bevel gears are respectively mounted on the two first ball screw transmission pairs, and the bevel gears on the connecting shaft are meshed with the corresponding bevel gears on the first ball screw transmission pairs.
Further, the third driving assembly includes a third motor and a second ball screw transmission pair, the third motor and the second ball screw transmission pair are both mounted on the third casing, the third engagement block is mounted on the second ball screw transmission pair, and an output end of the third motor is connected with the second ball screw transmission pair to drive the third engagement block to reciprocate; and/or the presence of a gas and/or,
the fourth driving assembly comprises a fourth motor and a third ball screw transmission pair, the fourth motor and the third ball screw transmission pair are installed on the fourth casing, the fourth connecting block is installed on the third ball screw transmission pair, and the output end of the fourth motor is connected with the third ball screw transmission pair to drive the fourth connecting block to reciprocate.
Compared with the prior art, the beneficial effects of the utility model reside in that:
in the utility model, a tooling fixture can be arranged on each first connecting block, when the number of products is large, a plurality of products can be picked up simultaneously, thereby saving time and labor; the number of the first connecting blocks can be set according to needs, and the number of picked products can be selected; when the first driving assembly drives the rotating shaft to rotate in a reciprocating mode, the guide rod slides in the track groove in a reciprocating mode, the distance between every two adjacent first connecting blocks can be increased or reduced, the distance between every two adjacent first connecting blocks can be changed, and the distance between every two adjacent tool fixtures can be changed.
Drawings
Fig. 1 is a schematic structural view of a gantry variable-pitch manipulator provided by the embodiment of the present invention;
fig. 2 is a schematic structural diagram of a pitch changing module according to an embodiment of the present invention;
FIG. 3 is an exploded view of FIG. 2;
fig. 4 is a schematic structural view of a load-bearing seat according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a first joining block according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a gantry operation arm provided by the embodiment of the present invention;
fig. 7 is an exploded view of fig. 6.
In the figure:
10. a variable pitch module; 11. a bearing seat; 111. an accommodating space; 112. a window; 113. a first perforation; 114. a first housing; 115. a slide bar; 116. a third perforation; 12. a first drive assembly; 121. a first motor; 122. a synchronous belt transmission pair; 1221. a synchronizing wheel; 1222. a synchronous belt; 13. a rotating shaft; 131. a track groove; 14. a first engagement block; 141. a slide plate; 1411. a support plate; 1412. a bump; 1413. mounting holes; 1414. a second perforation; 142. a guide rod; 15. a bearing; 16. a safety shield; 17. a limiting ring; 20. a gantry operating arm; 21. a first moving module; 211. a second drive assembly; 2111. a connecting shaft; 212. a second housing; 213. a second engagement block; 22. a second moving module; 221. a third drive assembly; 222. a third housing; 223. a third engagement block; 23. a third moving module; 231. a fourth drive assembly; 232. and a fourth housing.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.
Referring to fig. 1 to 5, an embodiment of the present invention discloses a gantry variable-pitch manipulator, which can be widely applied to industries such as 3C, medical treatment and semiconductor, and the gantry variable-pitch manipulator includes a variable-pitch module 10 and a gantry operation arm 20 capable of moving up and down, and the variable-pitch module 10 is installed on the gantry operation arm 20.
The pitch-variable module 10 includes a bearing seat 11, a first driving assembly 12, a rotating shaft 13 and at least two first connecting blocks 14, the bearing seat 11 is mounted on the gantry operation arm 20, the number of the first connecting blocks 14 is six, each first connecting block 14 is mounted on the bearing seat 11 at intervals, each first connecting block 14 can respectively slide relative to the bearing seat 11, each first connecting block 14 can be mounted with a tooling fixture, such as a suction cup, when the number of products is large, a plurality of products can be picked up at the same time, time and labor are saved, the first connecting block 14 is convexly provided with a guide rod 142, the first driving assembly 12 is fixed on the bearing seat 11, the rotating shaft 13 is rotatably mounted on the bearing seat 11, the rotating shaft 13 is connected with the first driving assembly 12, and the first driving assembly 12 can drive the rotating shaft 13 to rotate.
The rotary shaft 13 is concavely provided with a plurality of track grooves 131 arranged at intervals along the length direction, each guide rod 142 is respectively inserted into each track groove 131, the machine vision is matched, the first driving component 12 drives the rotary shaft 13 to rotate in a reciprocating mode according to the size of a product, the guide rods 142 slide in the track grooves 131 in a reciprocating mode to enable the distance between two adjacent first connecting blocks 14 to be increased or reduced, the distance between two adjacent tooling jigs is enabled to be changed, therefore, the position between two adjacent first connecting blocks 14 can be adjusted according to the distance between the products, the use of the products with different intervals is adapted, and the assembly, disassembly and debugging of the tooling jigs are reduced.
The number of the track grooves 131 in this embodiment may be set as required, and the shape of each track groove 131 may be the same, so that synchronous pitch variation may be performed between the first connection blocks 14, where the synchronous pitch variation is that each first connection block 14 is scattered from the center to both sides, of course, the shape of each track groove 131 may also be different, so that special pitch variation may be performed between the first connection blocks 14, where the special pitch variation includes unilateral synchronous pitch variation, that is, the first connection block 14 on one side is stationary, the other first connection blocks 14 are sequentially separated by a distance, the running distances of the first connection blocks 14 are different, but finally, the first connection blocks 14 are set at equal intervals, so that products with the same interval are sequentially placed into trays or conveying lines or packaging boxes or testing jigs with different intervals, and preferably, the track grooves 131 are spiral.
The bearing seat 11 is provided with an accommodating space 111 therein, the first driving assembly 12 is located outside the accommodating space 111, the bearing seat 11 is provided with a window 112 and a first through hole 113 in a penetrating manner, the window 112 and the first through hole 113 are both communicated with the accommodating space 111, each first connecting block 14 is arranged corresponding to the window 112, one end of the rotating shaft 13 is located in the accommodating space 111, and the other end of the rotating shaft is connected with the first driving assembly 12 after passing through the first through hole 113, and the first driving assembly 12 drives the rotating shaft 13 to rotate.
The bearing seat 11 includes a first housing 114 connected to the gantry arm 20 and two sliding rods 115 arranged at intervals, the accommodating space 111 is located in the first housing 114, the window 112 and the first through hole 113 are respectively arranged on two sides of the first housing 114, the two sliding rods 115 are both transversely fixed on the inner wall of the accommodating space 111, the sliding rods 115 are arranged close to the window 112, one of the sliding rods 115 is located below the other sliding rod 115, two ends of the first connecting block 14 are respectively connected with the two sliding rods 115 in a sliding manner, and the first connecting block 14 can be located in the accommodating space 111 or outside the accommodating space 111.
The first connecting block 14 comprises a sliding plate 141 and a guide rod 142, the sliding plate 141 comprises a supporting plate 1411 and two protrusions 1412, the two protrusions 1412 are arranged on one surface of the supporting plate 1411 in a protruding mode at intervals, a plurality of mounting holes 1413 for mounting tooling fixtures are concavely arranged on the other surface of the supporting plate 1411, the protrusions 1412 are transversely provided with second through holes 1414 in a penetrating mode, the sliding rod 115 penetrates through the second through holes 1414, the guide rod 142 is connected with the supporting plate 1411, and the guide rod 142 is located between the two protrusions 1412 so that the sliding plate 141 can run more stably.
In a preferred embodiment, the support plate 1411 is located outside the bearing seat 11, and the protrusion 1412 passes through the window 112 and is connected to the sliding rod 115, so as to facilitate quick assembly and disassembly of the tooling fixture.
The pitch varying module 10 further includes two bearings 15, the bearing base 11 further transversely penetrates through a third through hole 116 communicated with the accommodating space 111, outer rings of the two bearings 15 are respectively installed on the first through hole 113 and the third through hole 116, and two ends of the rotating shaft 13 are respectively installed on inner rings of the two bearings 15, so that the rotating shaft 13 rotates more stably.
The pitch varying module 10 further includes a safety cover 16 and four limiting rings 17, the safety cover 16 covers the pair 122 of synchronous belt drives to prevent the pair 122 of synchronous belt drives from hurting hands of a person, and the four limiting rings 17 are respectively sleeved at two ends of the sliding rod 115 by taking two limiting rings as a group to limit the stroke of the first connecting blocks 14 at the two ends.
Referring to fig. 6 and 7, in the present embodiment, the gantry handling arm 20 includes a first moving module 21 for moving in the X-axis direction, a second moving module 22 for moving in the Y-axis direction, and a third moving module 23 for moving in the Z-axis direction, the first moving module 21 includes a second driving assembly 211, a plurality of second housings 212, and a plurality of second connecting blocks 213, the second connecting blocks 213 are slidably mounted on the second housings 212, the second driving assembly 211 is fixed on the second housings 212, and the second driving assembly 211 is connected to the second connecting blocks 213 to drive the second connecting blocks 213 to reciprocate along the X-axis direction.
The second moving module 22 includes a third driving element 221, a third housing 222 and a third connecting block 223, the third housing 222 is fixed on the second connecting block 213, the third connecting block 223 is slidably mounted on the third housing 222, the third driving element 221 is fixed on the third housing 222, and the third driving element 221 and the third connecting block 223 are connected to drive the third connecting block 223 to reciprocate along the Y-axis direction.
The third moving module 23 includes a fourth driving assembly 231, a fourth housing 232 and a fourth engaging block, the fourth housing 232 is fixed on the third engaging block 223, the fourth engaging block is slidably mounted on the fourth housing 232, the fourth driving assembly 231 is fixed on the fourth housing 232, the fourth driving assembly 231 is connected to the fourth engaging block to drive the fourth engaging block to move back and forth along the Z-axis direction, the carrying seat 11 is mounted on the fourth engaging block, the three moving modules control the strokes of the pitch changing module 10 in the X-direction, the Y-direction and the Z-direction, and can determine the working range of the pitch changing module 10 according to the actual situation to drive the pitch changing module 10 to pick up the appropriate product according to the requirement.
In a preferred embodiment, the second driving assembly 211 includes a second motor, a first chain transmission pair, an engagement shaft 2111, four bevel gears, and two first ball screw transmission pairs, wherein the number of the second housings 212 and the second engagement blocks 213 is two, the two second housings 212 are arranged in parallel, the two first ball screw transmission pairs are respectively rotatably mounted on the two second housings 212, the second engagement blocks 213 are connected with the first ball screw transmission pairs, the second motor is fixed on one of the second housings 212, the engagement shaft 2111 is mounted on the output end of the second motor through the first chain transmission pair, the engagement shaft 2111 and the second housing 212 are arranged vertically, the engagement shaft 2111 and the second housing 212 are also rotatably connected, two bevel gears are respectively mounted on two ends of the engagement shaft 2111, the other two bevel gears are respectively mounted on the two first ball screw transmission pairs, the bevel gear on the engagement shaft 2111 is engaged with the bevel gear on the corresponding first ball screw transmission pair, and the connected two bevel gears are in a vertical structure to transmit power to the first ball screw transmission pair 2111.
Specifically, the first ball screw transmission pair comprises a first screw and a first ball arranged on the first screw, wherein the first screw is rotatably arranged on the second casing 212, a bevel gear is arranged on the first screw, the second connection block 213 is fixed on the ball, and when the second motor is started, the power on the second motor is transmitted to the first screw through the connection shaft 2111 and the two bevel gears, so as to indirectly drive the second connection block 213 to reciprocate.
The first chain transmission pair comprises two first chain wheels and a first chain sleeved on the two first chain wheels, and the two first chain wheels are respectively arranged on the output ends of the rotating shaft 13 and the first motor 121.
The third driving assembly 221 includes a third motor and a second ball screw transmission pair, the third motor and the second ball screw transmission pair are both installed on the third casing 222, the third joining block 223 is installed on the second ball screw transmission pair, and an output end of the third motor is connected with the second ball screw transmission pair to drive the third joining block 223 to reciprocate.
The second ball screw transmission pair comprises a second screw and a second ball arranged on the second screw, wherein the second screw is rotatably arranged on the third machine shell 222, the third connecting block 223 is arranged on the second ball, and the output end of the third motor is connected with the second screw so as to indirectly drive the third connecting block 223 to reciprocate.
The fourth driving assembly 231 includes a fourth motor and a third ball screw transmission pair, the fourth motor and the third ball screw transmission pair are both installed on the fourth casing 232, the fourth engaging block is installed on the third ball screw transmission pair, and an output end of the fourth motor is connected with the third ball screw transmission pair to drive the fourth engaging block to reciprocate.
The third ball screw transmission pair comprises a third screw and a third ball arranged on the third screw, wherein the third screw is rotatably arranged on the fourth shell 232, the fourth linking block is arranged on the third ball, and the output end of the fourth motor is connected with the third screw so as to indirectly drive the fourth linking block to reciprocate.
To sum up, in the utility model, a tooling fixture can be installed on each first connecting block 14, when the number of products is large, a plurality of products can be picked up simultaneously, and time and labor are saved;
the number of the first splicing blocks 14 can be set according to requirements, and the number of picked products can be selected;
the gantry operation arm 20 comprises a first moving module 21 for moving in the X-axis direction, a second moving module 22 for moving in the Y-axis direction and a third moving module 23 for moving in the Z-axis direction, and the working range of the variable pitch module 10 is adjustable;
when the first driving assembly 12 drives the rotating shaft 13 to rotate in a reciprocating manner, the guide rod 142 slides in the track groove 131 in a reciprocating manner, so that the distance between two adjacent first connecting blocks 14 can be increased or decreased, the distance between two adjacent first connecting blocks 14 can be changed, and the distance between two adjacent tooling jigs can be changed, so that the distance between two adjacent tooling jigs can be adjusted according to the distance between products, and the distance between the adjacent first connecting blocks 14 can be controlled, so that the tooling jigs are suitable for products with different distances.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention.
Claims (10)
1. A gantry distance-changing manipulator is characterized by comprising a distance-changing module and a gantry operation arm capable of moving up and down, wherein the distance-changing module comprises a bearing seat, a first driving assembly, a rotating shaft and at least two first connecting blocks, the bearing seat is installed on the gantry operation arm, the first connecting blocks are installed on the bearing seat in a sliding mode at intervals, guide rods are convexly arranged on the first connecting blocks, the first driving assembly is fixed on the bearing seat, the rotating shaft is installed on the bearing seat in a rotating mode, the rotating shaft is connected with the first driving assembly, a plurality of track grooves arranged at intervals are concavely arranged on the rotating shaft in the length direction of the rotating shaft, the guide rods are respectively inserted into the track grooves, and when the first driving assembly drives the rotating shaft to rotate in a reciprocating mode, the guide rods slide in the track grooves in a reciprocating mode to enable the distance between every two adjacent first connecting blocks to be increased or decreased.
2. The gantry robot of claim 1, wherein the carrying seat has an accommodating space therein, the first driving assembly is located outside the accommodating space, the carrying seat is provided with a window and a first through hole in communication with the accommodating space, each of the first engaging blocks is disposed corresponding to the window, one end of the rotating shaft is located in the accommodating space, and the other end of the rotating shaft is connected to the first driving assembly after passing through the first through hole.
3. A gantry robot as claimed in claim 2, wherein the supporting base comprises a first housing connected to the gantry arm and two spaced apart slide bars, the accommodating space is located in the first housing, the window and the first through hole are respectively disposed on two sides of the first housing, the two slide bars are both transversely fixed to an inner wall of the accommodating space, the slide bars are disposed adjacent to the window, one of the slide bars is located below the other slide bar, and two ends of the first connecting block are respectively slidably connected to the two slide bars.
4. The gantry pitch-changing manipulator according to claim 3, wherein the first connecting block includes a sliding plate and the guiding rod, the sliding plate includes a supporting plate and two projections, the two projections are protruded on one surface of the supporting plate at intervals, a plurality of mounting holes for mounting tooling fixtures are concavely arranged on the other surface of the supporting plate, the projections are transversely provided with second through holes in a penetrating manner, the sliding rod penetrates through the second through holes, the guiding rod is connected with the supporting plate, and the guiding rod is located between the two projections.
5. The gantry pitch manipulator of claim 4, wherein the support plate is located outside the bearing seat, and the projection passes through the window and is connected to the slide rod.
6. A gantry robot as claimed in claim 2, wherein the pitch module further comprises two bearings, the bearing base further has a third through hole passing through the bearing base, the third through hole is in communication with the accommodating space, the two bearings are respectively mounted on the first through hole and the third through hole, and two ends of the rotating shaft are respectively mounted on the two bearings.
7. The gantry variable-pitch manipulator of claim 1, wherein the first driving assembly comprises a first motor and a synchronous belt transmission pair, the first motor is fixed on the bearing seat, one end of the synchronous belt transmission pair is connected with the first motor, and the other end of the synchronous belt transmission pair is connected with the rotating shaft.
8. The gantry distance-changing manipulator of claim 1, wherein the gantry operation arm comprises a first moving module for moving in an X-axis direction, a second moving module for moving in a Y-axis direction, and a third moving module for moving in a Z-axis direction, the first moving module comprises a second driving assembly, a plurality of second housings, and a plurality of second engaging blocks, the second engaging blocks are slidably mounted on the second housings, the second driving assembly is fixed on the second housings, and the second driving assembly is connected with the second engaging blocks to drive the second engaging blocks to reciprocate in the X-axis direction;
the second moving module comprises a third driving assembly, a third shell and a third connecting block, the third shell is fixed on the second connecting block, the third connecting block is slidably mounted on the third shell, the third driving assembly is fixed on the third shell, and the third driving assembly is connected with the third connecting block to drive the third connecting block to reciprocate along the Y-axis direction;
the third removes the module and includes fourth drive assembly, fourth casing and fourth linking piece, the fourth casing is fixed in on the third linking piece, fourth linking piece slidable mounting in on the fourth casing, the fourth drive assembly is fixed in on the fourth casing, the fourth drive assembly with fourth linking piece is connected in order to drive the fourth linking piece is along the reciprocal operation of Z axle direction, the plummer install in on the fourth linking piece.
9. The gantry robot of claim 8, wherein the second driving assembly includes a second motor, two connecting shafts, four bevel gears, and two first ball screw transmission pairs, the number of the second housings and the second connecting blocks is two, the two second housings are disposed in parallel, the two first ball screw transmission pairs are rotatably mounted on the two second housings, the second connecting blocks are connected to the first ball screw transmission pairs, the second motor is fixed to one of the second housings, the connecting shafts are mounted on output ends of the second motor, two bevel gears are mounted on two ends of the connecting shafts, the other two bevel gears are mounted on the two first ball screw transmission pairs, and the bevel gears on the shafts are engaged with the corresponding bevel gears on the first ball screw transmission pairs.
10. The gantry pitch manipulator of claim 8, wherein the third driving assembly comprises a third motor and a second ball screw transmission pair, the third motor and the second ball screw transmission pair are both mounted on the third housing, the third engagement block is mounted on the second ball screw transmission pair, and an output end of the third motor is connected with the second ball screw transmission pair to drive the third engagement block to reciprocate; and/or the presence of a gas in the atmosphere,
the fourth driving assembly comprises a fourth motor and a third ball screw transmission pair, the fourth motor and the third ball screw transmission pair are installed on the fourth casing, the fourth connecting block is installed on the third ball screw transmission pair, and the output end of the fourth motor is connected with the third ball screw transmission pair to drive the fourth connecting block to reciprocate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123448046.4U CN217751462U (en) | 2021-12-30 | 2021-12-30 | Gantry variable-pitch manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123448046.4U CN217751462U (en) | 2021-12-30 | 2021-12-30 | Gantry variable-pitch manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN217751462U true CN217751462U (en) | 2022-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202123448046.4U Active CN217751462U (en) | 2021-12-30 | 2021-12-30 | Gantry variable-pitch manipulator |
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| CN (1) | CN217751462U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117104880A (en) * | 2023-10-13 | 2023-11-24 | 深圳铭创智能装备有限公司 | Realize full-automatic inserted sheet equipment |
-
2021
- 2021-12-30 CN CN202123448046.4U patent/CN217751462U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117104880A (en) * | 2023-10-13 | 2023-11-24 | 深圳铭创智能装备有限公司 | Realize full-automatic inserted sheet equipment |
| CN117104880B (en) * | 2023-10-13 | 2024-04-12 | 深圳铭创智能装备有限公司 | Realize full-automatic inserted sheet equipment |
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