Servo manipulator

Abstract

The utility model relates to the technical field of servo manipulators, and particularly discloses a servo manipulator which comprises a supporting seat, a rotating seat, an X-axis linear module and a Y-axis linear module, the X-axis linear module and the Y-axis linear module are vertically connected, a sliding block of the Y-axis linear module is connected with a Z-axis linear module, a mechanical claw is arranged at the bottom of the Z-axis linear module, and the supporting seat comprises a supporting sleeve and a lifting column. The lifting column is inserted into the upper end of the supporting sleeve, a first motor for driving the lifting column is arranged on the side wall of the supporting sleeve, the rotating seat comprises a bottom plate connected with the upper end of the lifting column, the upper end of the bottom plate is connected with a bracket through a supporting rod, the upper end of the bracket is connected with the rotating seat, and the lower end of the bracket is connected with a second motor for driving the rotating seat. The X-axis linear module is in horizontal sliding fit with the rotating seat; compared with an existing three-axis servo mechanical arm, the three-axis servo mechanical arm can work in a larger height range and a larger horizontal range and can work in a circumferential range with the supporting base as the center at the same time, and use flexibility is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to servo manipulator technical field, concretely is a kind of servo manipulator. BACKGROUND

[0002] Servo manipulator is able to imitate human body limb part function and allow to carry out automatic control, make it according to predetermined requirement transport workpiece or operate tool and carry out production operation of automated production equipment.It has action flexible controllable, positioning accurate reliable, load driving force high, environmental adaptability strong etc.Characteristics.At present, multi-degree-of-freedom manipulator is widely used in steel, ocean, petroleum, chemical industry, logistics handling etc.production automation industry, greatly reduce the labor intensity and labor condition of worker, improve production efficiency, stabilize product quality.

[0003] Current servo manipulator is mostly three-axis type, i.e.moving in X, Y, Z direction, such as patent CN205614659U discloses TN series three-axis servo manipulator, its operation range is relatively limited, for some complex operation, then need manipulator to move in larger range, and current three-axis servo manipulator cannot meet use demand. UTILITY MODEL CONTENT

[0004] The utility model is just in view of the above-mentioned insufficient of prior art, provide a kind of servo manipulator, compared with the three-axis servo manipulator of prior art can operate in larger height range and horizontal range, simultaneously can operate in the circumferential range with support seat as center, greatly increase the operation range, meet the use demand of higher requirement, increase the flexibility of use.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] A kind of servo manipulator, including support seat, rotating seat, vertically connected X-axis linear module and Y-axis linear module, the slider of Y-axis linear module is connected with Z-axis linear module, the bottom of Z-axis linear module is equipped with mechanical claw, the support seat includes support sleeve and lifting column, lifting column is inserted in the upper end of support sleeve, first motor for driving lifting column is equipped on the side wall of support sleeve, the rotating seat includes bottom plate connected with the upper end of lifting column, the upper end of bottom plate is connected with support seat by support rod, the upper end of support seat is connected with rotating seat, the lower end of support seat is connected with second motor for driving rotating seat, X-axis linear module and rotating seat horizontal sliding fit.

[0007] Preferably, the bottom of support sleeve is equipped with fixed plate.

[0008] Preferably, the side wall of the supporting sleeve is provided with a clearance hole, one side of the clearance hole is connected with a threaded rod, the threaded rod is connected with the first motor, the side wall of the lifting column is provided with a nut seat, and the nut seat is matched with the threaded rod through the clearance hole.

[0009] Preferably, the upper end of the rotating seat is provided with a guide sleeve, the bottom of the X-axis linear module is provided with a guide rod matched with the guide sleeve, the side wall of the X-axis linear module is provided with a rack, the side wall of the rotating seat is provided with a third motor, and the output shaft of the third motor is provided with a gear matched with the rack.

[0010] Preferably, the maximum rotation angle of the rotating seat is 360°.

[0011] Preferably, the rotating seat and the supporting seat are connected through a bearing.

[0012] Compared with the prior art, the utility model has the advantages that:

[0013] 1、 Compared with the prior art, the utility model can work in a larger height range and horizontal range, can work in the circumferential range with the supporting seat as the center, greatly increases the working range, meets the higher use requirement, and increases the use flexibility.

[0014] 2、 The utility model can adjust the height of the mechanical claw twice through the supporting seat and the Z-axis linear module, and increases the height adjustment range.

[0015] 3、 The utility model realizes the horizontal secondary adjustment of the mechanical claw through the movement of the X-axis linear module and the movement of the Y-axis linear module along the X-axis linear module, and increases the horizontal working range. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the structure diagram of the utility model Figure 1 ;

[0017] Figure 2 It is the structure diagram of the utility model Figure 2 ;

[0018] Figure 3 It is the structure diagram of the supporting seat

[0019] Figure 4 It is the structure diagram of the rotating seat

[0020] Figure 5 It is the structure diagram of the X-axis linear module

[0021] In the figure: 1-support seat; 101-fixed plate; 102-support sleeve; 103-first motor; 104-nut seat; 105-threaded rod; 106-clearance hole; 107-lifting column; 2-rotary seat; 201-bottom plate; 202-second motor; 203-supporting rod; 204-socket; 205-third motor; 206-gear; 207-rotary seat; 208-guide sleeve; 3-X-axis linear module; 301-rack; 302-guide rod; 4-Y-axis linear module; 5-Z-axis linear module; 6-mechanical gripper. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0023] As shown in Figure 1 , Figure 2 , a servo manipulator comprises a support seat 1, a rotary seat 207, an X-axis linear module 3 and a Y-axis linear module 4 connected vertically, a slider of the Y-axis linear module 4 is connected with a Z-axis linear module 5, that is, a three-coordinate linear module, which is the prior art. A mechanical gripper 6 is arranged at the bottom of the Z-axis linear module 5, and the mechanical gripper 6 can be a clamp type or a pneumatic type. The support seat 1 comprises a support sleeve 102 and a lifting column 107, the lifting column 107 is inserted into the upper end of the support sleeve 102, a first motor 103 for driving the lifting column 107 is arranged on the side wall of the support sleeve 102, and the first motor 103 cooperates with the Z-axis linear module 5, so that the height of the mechanical gripper 6 can be adjusted in a larger range. Figure 4 As shown in ,

[0024] the rotary seat 207 comprises a bottom plate 201 connected with the upper end of the lifting column 107, the upper end of the bottom plate 201 is connected with a socket 204 through a supporting rod 203, the upper end of the socket 204 is connected with the rotary seat 207, the lower end of the socket 204 is connected with a second motor 202 for driving the rotary seat 207, and the maximum rotation angle of the rotary seat 207 is 360°. The X-axis linear module 3 is horizontally and slidingly connected with the rotary seat 207.

[0025] As shown in Figure 3 , an axis hole is arranged in the middle of the socket 204, a rotating shaft is arranged at the bottom of the rotary seat 207, the rotating shaft is located in the axis hole, the rotating shaft is connected with the socket 204 through a bearing, and the output shaft of the second motor 202 is connected with the rotating shaft. The second motor 202 drives the rotary seat 207 to rotate, so that the circumferential rotation of the mechanical gripper 6 is realized, and the operation range is increased.As shown in the drawings, the bottom of the support sleeve 102 is provided with a fixing plate 101, and the support seat 1 can be fixed through bolts. The sidewall of the support sleeve 102 is provided with a clearance hole 106, one side of the clearance hole 106 is connected with a threaded rod 105, the threaded rod 105 is connected with a first motor 103, the sidewall of the lifting column 107 is provided with a nut seat 104, the nut seat 104 passes through the clearance hole 106 and is matched with the threaded rod 105, and the height of the lifting column 107 is adjusted through the first motor 103.

[0026] As shown in the drawings, Figure 4 As shown in the drawings, the upper end of the rotating seat 207 is provided with a guide sleeve 208, as shown in the drawings, Figure 5 As shown in the drawings, the bottom of the X-axis linear module 3 is provided with a guide rod 302 matched with the guide sleeve 208, the guide rod 302 and the guide sleeve 208 are two groups, the sidewall of the X-axis linear module 3 is provided with a rack 301, the sidewall of the rotating seat 207 is provided with a third motor 205, the output shaft of the third motor 205 is provided with a gear 206 matched with the rack 301, and the X-axis linear module 3 can be driven to move horizontally under the action of the third motor 205, thereby increasing the working range of the mechanical claw 6 in the horizontal direction.

[0027] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Therefore, if these modifications and variations of the present application belong to the scope of the claims of the present application and the equivalent technology, the present application also intends to include these modifications and variations.

Claims

1. A servo manipulator, comprising a vertically connected X-axis linear module and a Y-axis linear module, wherein a Z-axis linear module is connected to a slider of the Y-axis linear module, and a mechanical gripper is provided at the bottom of the Z-axis linear module, characterized in that: It also includes a support base and a rotating base. The support base includes a support sleeve and a lifting column. The lifting column is inserted into the upper end of the support sleeve. A first motor for driving the lifting column is provided on the side wall of the support sleeve. The rotating base includes a base plate connected to the upper end of the lifting column. A support is connected to the upper end of the base plate through a support rod. The upper end of the support is connected to the rotating base. The lower end of the support is connected to a second motor for driving the rotating base. The X-axis linear module is horizontally slidingly engaged with the rotating base.

2. A servo robot as described in claim 1, characterized in that: The bottom of the support sleeve is provided with a fixing plate.

3. A servo robot as described in claim 1, characterized in that: The support sleeve has a clearance hole on its side wall, and a threaded rod is connected to one side of the clearance hole. The threaded rod is connected to the first motor. The lifting column has a nut seat on its side wall, and the nut seat passes through the clearance hole and engages with the threaded rod.

4. A servo robot as described in claim 1, characterized in that: The upper end of the rotating base is provided with a guide sleeve, the bottom of the X-axis linear module is provided with a guide rod that cooperates with the guide sleeve, the side wall of the X-axis linear module is provided with a rack, the side wall of the rotating base is provided with a third motor, and the output shaft of the third motor is provided with a gear that cooperates with the rack.

5. A servo manipulator as described in claim 1, characterized in that: The maximum rotation angle of the rotating base is 360°.

6. A servo manipulator as described in claim 1, characterized in that: The rotating seat and the support are connected by bearings.

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