Single-section single arm of three-axis manipulator

Abstract

The single-section single arm comprises a bottom supporting plate, the bottom supporting plate is provided with a first sliding block through an X-axis lead screw, the first sliding block is rotationally provided with a Z-axis stand column through a connecting support and a supporting shaft, the Z-axis stand column is provided with a second sliding block through a Z-axis lead screw, and the top of a top supporting plate of the second sliding block is provided with a third sliding block through a Y-axis lead screw. The third sliding block is rotationally provided with a mechanical gripper through a connecting base and a connecting shaft, one end of the connecting shaft is in transmission connection with a first motor through a first gear set, and the mechanical gripper can be driven by the Z-axis lead screw, the X-axis lead screw and the Y-axis lead screw to move and adjust along the X axis, the Y axis and the Z axis to take and place objects. And meanwhile, one end of the connecting shaft is in transmission connection with a first motor through a first gear set, so that the first motor and the first gear set drive the connecting shaft to rotate forwards and backwards for adjustment, longitudinal rotation of the mechanical claw can be adjusted, and then the requirements for taking and placing articles at different inclination angles are met.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical hand technical field, concretely is a single arm of three -axis mechanical hand single section. BACKGROUND

[0002] Mechanical hand is a kind of some action functions that can imitate human hand and arm, to grasp, carry object or operate tool according to fixed program, and it is an automatic operation device, and its characteristics are that it can complete various expected work by programming, and it has the advantages of human and mechanical hand machine respectively in structure and performance, and it is the earliest industrial robot, and it is the earliest modern robot, it can replace human heavy labor to realize production mechanization and automation, and it can operate in harmful environment to protect personal safety, so it is widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy department.

[0003] In prior art, the application number of a three-axis balance type double-section single-arm mechanical hand is 202322872701.1, which comprises a pulling track and a supporting seat group, the surface of the pulling track is connected with a pulling assembly, the left and right sides of the pulling track are connected with a horizontal walking assembly, and a two-way lifting frame is installed at the bottom of the horizontal walking assembly, by using the supporting assembly, on the one hand, the grounding stability of the whole device can be improved, and on the other hand, the impact of the two-way supporting frame on other structural parts when falling during structure expansion can be relieved to the greatest extent, so as to provide certain structural protection, and by installing a multifunctional assembly frame at the bottom of the arm frame, various different clamping mechanisms or operation modules can be assembled according to the use needs, so as to improve the applicability and flexibility of the equipment, but it is inconvenient to adjust the rotation of the mechanical grab, and it is difficult to meet the use and processing of taking and placing objects at different angles. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a three-axis mechanical hand single-section single arm to solve the problem of inconvenient rotation adjustment of the mechanical grab in prior art and difficult to meet the use and processing of taking and placing objects at different angles.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a three-axis mechanical hand single-section single arm, comprising a bottom support plate, a first sliding block is arranged on the upper part of the bottom support plate through an X-axis lead screw, a Z-axis stand is rotatably arranged on the upper side of the first sliding block through a connecting support and a supporting shaft, a second sliding block is arranged in the inner side of the Z-axis stand through a Z-axis lead screw, a top support plate is arranged on one side of the second sliding block, a third sliding block is arranged in the inner top of the top support plate through a Y-axis lead screw, a mechanical grab hand is rotatably arranged on the lower side of the third sliding block through a connecting seat and a connecting shaft, a first motor is connected with a first gear set through a first gear set transmission on one end of the connecting shaft, a gear locking mechanism is arranged on the upper side of the first gear set, and the gear locking mechanism comprises a gear pressing piece arranged through a cylinder and a lifting support.

[0006] Further, the connecting support is fixedly arranged on the upper side of the first sliding block, and one end of the supporting shaft is rotatably connected with the connecting support through a bearing, and the other end of the supporting shaft is fixedly connected with the bottom of the Z-axis vertical column.

[0007] Further, the outer side of the supporting shaft is drivingly connected with a second motor through a second gear set, and the second motor is fixedly arranged on the upper side of one end of the supporting shaft.

[0008] Further, the Z-axis lead screw is longitudinally arranged in parallel with two groups, and the two sides of the second sliding block are slidingly arranged in the limiting sliding groove of the inner wall of the Z-axis vertical column.

[0009] Further, the first gear set comprises a driven gear arranged on the outer side of the connecting shaft, and one end of the first motor is provided with a driving gear engaged with the driven gear.

[0010] Further, the gear pressing plate is an arc-shaped pressing plate, the inner wall of the gear pressing plate is provided with a damping pad, and the lifting support is slidingly arranged through the supporting plate.

[0011] Compared with the prior art, the utility model has the advantages that:

[0012] 1、The Z-axis lead screw, the X-axis lead screw and the Y-axis lead screw arranged in the utility model can drive the mechanical gripper to move along the X-axis, the Y-axis and the Z-axis for adjusting to take and place articles, and one end of the connecting shaft is drivingly connected with the first motor through the first gear set, so that the connecting shaft is driven to rotate in the positive direction and the reverse direction through the first motor and the first gear set, thereby the mechanical gripper can be longitudinally adjusted, and the taking and placing of articles at different inclination angles can be satisfied, and the efficiency of taking and placing articles can be improved.

[0013] 2、The utility model is further provided with the second sliding block arranged in the Z-axis lead screw in the inner side of the Z-axis vertical column, the top supporting plate is arranged on one side of the second sliding block, the Z-axis lead screw is longitudinally arranged in parallel with two groups, and the two sides of the second sliding block are slidingly arranged in the limiting sliding groove of the inner wall of the Z-axis vertical column, so that the second sliding block and the top supporting plate are synchronously driven to adjust the lifting through the two groups of Z-axis lead screws, thereby the stability of the mechanical gripper along the Z-axis for adjusting the lifting can be improved.

[0014] 3、The utility model is provided with the gear locking mechanism arranged on the upper side of the first gear set, the gear locking mechanism comprises the gear pressing plate arranged through the cylinder and the lifting support, the gear pressing plate is an arc-shaped pressing plate, and the inner wall of the gear pressing plate is provided with a damping pad, so that the gear pressing plate is driven to press the outside of the driving gear through the cylinder, the mechanical gripper after the rotation adjustment angle can be locked, and the stability of the angle adjustment of the mechanical gripper can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are used to provide further understanding of the present application, and form a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation on the present application. In the drawings:

[0016] Figure 1 It is a first perspective structural schematic view of the present application;

[0017] Figure 2 It is a second perspective structural schematic view of the present application;

[0018] Figure 3 It is a connecting seat and mechanical gripper structural schematic view of the present application;

[0019] Figure 4 It is a gear locking mechanism structural schematic view of the present application.

[0020] In the figure: 1, bottom support plate; 2, first sliding block; 3, X-axis screw; 4, connecting support; 5, support shaft; 6, Z-axis column; 7, Z-axis screw; 8, second sliding block; 9, top support plate; 10, Y-axis screw; 11, second gear set; 12, second motor; 13, third sliding block; 14, connecting seat; 15, connecting shaft; 16, mechanical gripper; 17, driven gear; 18, first motor; 19, driving gear; 20, support plate; 21, gear pressing sheet; 22, lifting support; 23, air cylinder. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4The utility model discloses a three -axis mechanical hand single section single arm, including bottom support plate 1, the upper portion of bottom support plate 1 is equipped with the first sliding block 2 through X axle screw rod 3, the upper side of first sliding block 2 is rotatory and is equipped with Z axle stand 6 through connecting support 4 and support shaft 5, and the inboard of Z axle stand 6 is equipped with the second sliding block 8 through Z axle screw rod 7, and one side of second sliding block 8 is equipped with top support plate 9, and the inner top of top support plate 9 is equipped with third sliding block 13 through Y axle screw rod 10, and the lower side of third sliding block 13 is rotatory and is equipped with mechanical gripper 16 through connecting seat 14 and connecting shaft 15, and the Z axle screw rod 7, X axle screw rod 3 and Y axle screw rod 10 can drive mechanical gripper 16 to move along X axle, Y axle and Z axle and adjust to take and place the article, and one end of connecting shaft 15 is drivenly connected with first motor 18 through first gear set, and the first gear set includes driven gear 17 arranged on the outer side of connecting shaft 15, and one end of first motor 18 is provided with driving gear 19 engaged with driven gear 17, so that connecting shaft 15 is driven to rotate reversely by first motor 18 and first gear set, thereby can adjust the longitudinal rotation of mechanical gripper 16, and further satisfy the use and processing of different inclination angles of taking and placing the article, and the efficiency of taking and placing the article is improved.

[0023] As Figure 3 and Figure 4 shown, in order to improve the stability of the angle adjustment use of mechanical gripper 16, the upper side of first gear set is provided with gear locking mechanism, and the gear locking mechanism includes gear pressing sheet 21 provided through cylinder 23 and lifting support 22, cylinder 23 is fixedly arranged on the inner wall of connecting seat 14 through support plate 20, gear pressing sheet 21 is arc pressing sheet, and the inner wall of gear pressing sheet 21 is provided with damping pad, and lifting support 22 is slidably penetrated through support plate 20, so that gear pressing sheet 21 is pressed on the outside of driving gear 19 by cylinder 23, and the mechanical gripper 16 after rotation adjustment can be locked, which is beneficial to improve the stability of the angle adjustment use of mechanical gripper 16.

[0024] As Figure 1 and Figure 2 shown, in order to adjust the horizontal rotation of mechanical gripper 16, connecting support 4 is fixedly arranged on the upper side of first sliding block 2, one end of support shaft 5 is rotatably connected with connecting support 4 through bearing, the other end of support shaft 5 is fixedly connected with the bottom of Z axle stand 6, the outer side of support shaft 5 is drivingly connected with second motor 12 through second gear set 11, and second motor 12 is fixedly arranged on the upper side of one end of support shaft 5, so that support shaft 5 is driven to rotate reversely by second motor 12 and second gear set 11, thereby can adjust the horizontal rotation of top support plate 9 and mechanical gripper 16.

[0025] As Figure 1 and Figure 2As shown, in order to improve the stability of the mechanical gripper 16 along the Z-axis lifting adjustment, the Z-axis lead screw 7 is also longitudinally provided with two groups in parallel, and the second sliding block 8 is slidingly arranged with the limiting sliding groove of the inner wall of the Z-axis vertical column 6, so that the second sliding block 8 and the top support plate 9 are driven to lift and adjust synchronously by the two groups of Z-axis lead screws 7, thereby facilitating the stability of the mechanical gripper 16 along the Z-axis lifting adjustment.

[0026] The working principle and use process of the utility model are as follows: when in use, the mechanical gripper 16 can be driven to move and adjust along the X-axis, Y-axis and Z-axis for taking and placing objects through the Z-axis lead screw 7, X-axis lead screw 3 and Y-axis lead screw 10, and the first motor 18 is connected to one end of the connecting shaft 15 through the first gear set, so that the connecting shaft 15 is driven to rotate in the positive and negative directions by the first motor 18 and the first gear set, thereby enabling the longitudinal rotation adjustment of the mechanical gripper 16, and further meeting the use and processing of taking and placing objects at different inclination angles, and facilitating the efficiency of taking and placing objects.

[0027] Finally, it should be noted that: the above only for the preferred embodiments of the utility model, and does not limit the utility model, although the utility model is described in detail with reference to the foregoing embodiments, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement for part of technical features. Any modification, equivalent replacement, improvement etc. within the spirit and principles of the utility model should be included in the protection scope of the utility model.

Claims

1. A single-joint single-arm of a three-axis robot, comprising a bottom support plate (1), characterized in that: The upper part of the bottom support plate (1) is provided with a first sliding block (2) through an X-shaft screw (3), the upper side of the first sliding block (2) is rotatably provided with a Z-axis vertical column (6) through a connecting support (4) and a supporting shaft (5), the inner side of the Z-axis vertical column (6) is provided with a second sliding block (8) through a Z-axis screw (7), one side of the second sliding block (8) is provided with a top support plate (9), the inner top of the top support plate (9) is provided with a third sliding block (13) through a Y-axis screw (10), the lower side of the third sliding block (13) is rotatably provided with a mechanical gripper (16) through a connecting base (14) and a connecting shaft (15), one end of the connecting shaft (15) is drivingly connected with a first motor (18) through a first gear set, the upper side of the first gear set is provided with a gear locking mechanism, and the gear locking mechanism comprises a gear pressing piece (21) provided through an air cylinder (23).

2. A single-joint single-arm of a three-axis robot according to claim 1, characterized in that: The connecting support (4) is fixedly arranged on the upper side of the first sliding block (2), and the supporting shaft (5) is rotatably connected with the connecting support (4) through a bearing at one end, and the other end of the supporting shaft (5) is fixedly connected with the bottom of the Z-axis vertical column (6).

3. A single-joint single-arm of a three-axis robot according to claim 2, characterized in that: The outer side of the supporting shaft (5) is drivingly connected with a second motor (12) through a second gear set (11), and the second motor (12) is fixedly arranged on the upper side of one end of the supporting shaft (5).

4. A single-joint single-arm of a three-axis robot according to claim 1, characterized in that: The Z-axis screw (7) is longitudinally and parallel provided with two groups, and the second sliding block (8) is slidingly arranged on the limiting sliding groove of the inner wall of the Z-axis vertical column (6) on both sides.

5. A single-joint single-arm of a three-axis robot according to claim 1, characterized in that: The first gear set comprises a driven gear (17) arranged on the outer side of the connecting shaft (15), and one end of the first motor (18) is provided with a driving gear (19) engaged with the driven gear (17).

6. A single-joint single-arm of a three-axis robot according to claim 1, characterized in that: The air cylinder (23) is fixedly arranged in the inner wall of the connecting base (14) through a supporting plate (20), the gear pressing piece (21) is an arc-shaped pressing piece, and the inner wall of the gear pressing piece (21) is provided with a damping pad.

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