Three-axis truss manipulator

Abstract

The utility model provides a three-axis truss manipulator, and belongs to the technical field of truss manipulators. The truss manipulator solves the problems that an existing truss manipulator conducts guiding sliding through a sliding rail and a sliding block, the sliding rail and the sliding block make close contact, friction between the sliding rail and the sliding block is large, large noise can be generated, the working environment of operators is poor, and the noise greatly influences work of the operators. The three-axis truss manipulator comprises a supporting frame, an X-axis part is fixedly arranged on the supporting frame, a fixing plate is arranged on the X-axis part in a sliding mode, a Y-axis part is arranged on the fixing plate in a sliding mode, a fixing shell is fixedly arranged on the Y-axis part, a Z-axis part is arranged in the fixing shell in a sliding mode, and sliding rails are fixedly arranged on the X-axis part, the Y-axis part and the Z-axis part. The sliding block has the advantages that the contact area between the sliding block and the sliding rail is reduced, the friction area between the sliding block and the sliding rail is further reduced, and therefore the sliding noise between the sliding block and the sliding rail is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of gantry robot technology, and specifically relates to a three-axis gantry robot. Background Technology

[0002] A gantry robot is a fully automated industrial device based on a Cartesian X, Y, and Z coordinate system. It performs functions such as workpiece positioning and trajectory movement. Its control core is implemented through an industrial controller (such as a PLC, motion controller, or microcontroller). The controller analyzes and processes various input signals (from sensors, buttons, etc.), makes logical judgments, and then issues execution commands to various output components (relays, motor drivers, indicator lights, etc.) to complete the coordinated movement between the X, Y, and Z axes, thereby achieving a fully automated operation process.

[0003] Existing gantry robots are guided and slid by slide rails and sliders. The slide rails and sliders are in close contact, resulting in high friction and noise, which makes the working environment of the operator poor and has a significant impact on the operator's work. Therefore, it is of great significance to design a three-axis gantry robot. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems in the existing technology by providing a three-axis gantry robot.

[0005] The objective of this utility model can be achieved through the following technical solution: A three-axis truss manipulator, characterized in that it includes a support frame, an X-axis component fixedly mounted on the support frame, a fixed plate slidably mounted on the X-axis component, a Y-axis component slidably mounted on the fixed plate, a fixed shell fixedly mounted on the Y-axis component, a Z-axis component slidably mounted inside the fixed shell, slide rails fixedly mounted on the X-axis component, Y-axis component and Z-axis component, sliders cooperating with the slide rails fixedly mounted on the fixed plate and the fixed shell, a rolling groove is formed on the inner wall of the slider, and a ball is arranged between the slider and the slide rail, with the ball rolling within the rolling groove.

[0006] In the aforementioned three-axis truss manipulator, a motor is fixedly mounted on the fixed plate, a gear is fixedly mounted on the output shaft of the motor, and a rack is fixedly mounted on the X-axis component, with the gear meshing with the rack.

[0007] In the aforementioned three-axis truss manipulator, a mounting shell is fixedly installed on the fixed plate, a second motor is fixedly installed on the mounting shell, a second gear is fixedly installed on the output shaft of the second motor, and a second rack is fixedly installed on the Y-axis component, with the second gear meshing with the second rack.

[0008] In the aforementioned three-axis gantry machine, a motor is fixedly installed inside the fixed housing, a gear is fixedly installed on the output shaft of the motor, and a rack is fixedly installed on the Z-axis component, with the gear meshing with the rack.

[0009] In the aforementioned three-axis truss manipulator, a connector is fixedly mounted at one end of the Z-axis component, a rotary cylinder is fixedly mounted on the connector, and a gripper is fixedly mounted on the rotary cylinder.

[0010] Compared with existing technologies, this three-axis gantry manipulator has the advantage of reducing the contact area between the slider and the slide rail, thereby reducing the friction area between the slider and the slide rail, and thus reducing the sliding noise between the slider and the slide rail. Attached Figure Description

[0011] Figure 1 This is a three-dimensional schematic diagram of the three-axis gantry robot.

[0012] Figure 2 This is a structural schematic diagram of the Z-axis component of this three-axis gantry robot.

[0013] Figure 3 This is a structural schematic diagram of the X-axis component of this three-axis gantry robot.

[0014] Figure 4 This is a structural schematic diagram of the Y-axis component of this three-axis gantry robot.

[0015] Figure 5 This is a three-axis gantry robot. Figure 4 Schematic diagram of the structure at point A in the middle.

[0016] In the diagram, 1. Support frame; 2. X-axis component; 3. Fixing plate; 4. Y-axis component; 5. Fixing shell; 6. Z-axis component; 7. Slide rail; 8. Slider; 9. Rolling groove; 10. Ball bearing; 11. Motor 1; 12. Gear 1; 13. Rack 1; 14. Mounting shell; 15. Motor 2; 16. Gear 2; 17. Rack 2; 18. Motor 3; 19. Gear 3; 20. Rack 3; 21. Connecting component; 22. Rotary cylinder; 23. Gripper. Detailed Implementation

[0017] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0018] like Figure 1-5As shown, this three-axis truss manipulator includes a support frame 1, an X-axis component 2 fixedly mounted on the support frame 1, a fixed plate 3 slidably mounted on the X-axis component 2, a Y-axis component 4 slidably mounted on the fixed plate 3, a fixed housing 5 fixedly mounted on the Y-axis component 4, and a Z-axis component 6 slidably mounted inside the fixed housing 5. Slide rails 7 are fixedly mounted on the X-axis component 2, Y-axis component 4, and Z-axis component 6. Slider blocks 8, which cooperate with the slide rails 7, are fixedly mounted on both the fixed plate 3 and the fixed housing 5. The inner wall of the slider 8 has a rolling mechanism. A ball bearing 10 is provided between the slider 8 and the slide rail 7 in the groove 9. The ball bearing 10 is rolled in the rolling groove 9. The three-axis orientation of the gripper 23 can be adjusted by the X-axis component 2, Y-axis component 4 and Z-axis component 6. When the orientation is adjusted, the ball bearing 10 provided between the slide rail 7 and the slider 8 can reduce the contact area between the slider 8 and the slide rail 7, thereby reducing the friction area between the slider 8 and the slide rail 7, and thus reducing the noise generated when the slider 8 slides between the slide rail 7.

[0019] Preferably, a motor 11 is fixedly mounted on the fixed plate 3, a gear 12 is fixedly mounted on the output shaft of the motor 11, and a rack 13 is fixedly mounted on the X-axis component 2. The gear 12 meshes with the rack 13. The motor 11 drives the gear 12 to rotate. Through the cooperation of the gear 12 and the rack 13, the Y-axis component 4 can move in the X-axis direction on the X-axis component 2.

[0020] Preferably, a mounting shell 14 is fixedly mounted on the fixing plate 3, a second motor 15 is fixedly mounted on the mounting shell 14, a second gear 16 is fixedly mounted on the output shaft of the second motor 15, and a second rack 17 is fixedly mounted on the Y-axis component 4, with the second gear 16 meshing with the second rack 17. The second motor 15 drives the second gear 16 to rotate, and through the cooperation of the second gear 16 and the second rack 17, the Y-axis component 4 can move in the Y-axis direction.

[0021] Preferably, a motor 318 is fixedly installed inside the fixed housing 5, a gear 319 is fixedly installed on the output shaft of the motor 318, and a rack 320 is fixedly installed on the Z-axis component 6, with the gear 319 meshing with the rack 320. The motor 318 drives the gear 319 to rotate, and through the cooperation of the gear 319 and the rack 320, the Z-axis component 6 can move in the Z-axis direction.

[0022] Preferably, a connector 21 is fixedly provided at one end of the Z-axis component 6, a rotary cylinder 22 is fixedly provided on the connector 21, and a gripper 23 is fixedly provided on the rotary cylinder 22. The rotary cylinder 22 can make the gripper 23 rotate, which facilitates the gripping of objects.

[0023] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0024] Although this document uses a number of technical terms, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of this invention; interpreting them as any additional limitation would contradict the spirit of this invention.

Claims

1. A triaxial truss manipulator characterized by, The utility model provides a kind of three-axis linkage support frame, including support frame (1), the support frame (1) is fixedly provided with X-axis piece (2), the X-axis piece (2) is slidably provided with fixed plate (3), the fixed plate (3) is slidably provided with Y-axis piece (4), the Y-axis piece (4) is fixedly provided with fixed shell (5), the fixed shell (5) is slidably provided with Z-axis piece (6), the X-axis piece (2), Y-axis piece (4) and Z-axis piece (6) are all fixedly provided with slide rail (7), the fixed plate (3) and fixed shell (5) are all fixedly provided with the sliding block (8) of cooperation with slide rail (7), the inner wall of the sliding block (8) is provided with rolling groove (9), the sliding block (8) and slide rail (7) are provided with ball (10), and ball (10) is slidably arranged in rolling groove (9).

2. The tri-axial truss manipulator of claim 1, wherein, The fixed plate (3) is fixedly provided with motor one (11), the output shaft of motor one (11) is fixedly provided with gear one (12), the X-axis piece (2) is fixedly provided with rack one (13), and gear one (12) is engaged with rack one (13).

3. The tri-axial truss manipulator of claim 1, wherein, The fixed plate (3) is fixedly provided with mounting shell (14), the mounting shell (14) is fixedly provided with motor two (15), the output shaft of motor two (15) is fixedly provided with gear two (16), the Y-axis piece (4) is fixedly provided with rack two (17), and gear two (16) is engaged with rack two (17).

4. The tri-axial truss manipulator of claim 1, wherein, The fixed shell (5) is fixedly provided with motor three (18), the output shaft of motor three (18) is fixedly provided with gear three (19), the Z-axis piece (6) is fixedly provided with rack three (20), and gear three (19) is engaged with rack three (20).

5. The tri-axial truss manipulator of claim 1, wherein, The Z-axis piece (6) one end is fixedly provided with connecting piece (21), the connecting piece (21) is fixedly provided with rotary air cylinder (22), the rotary air cylinder (22) is fixedly provided with gripper (23).

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