CN104405843B - A kind of telescopic boom device - Google Patents
A kind of telescopic boom device Download PDFInfo
- Publication number
- CN104405843B CN104405843B CN201410556564.3A CN201410556564A CN104405843B CN 104405843 B CN104405843 B CN 104405843B CN 201410556564 A CN201410556564 A CN 201410556564A CN 104405843 B CN104405843 B CN 104405843B
- Authority
- CN
- China
- Prior art keywords
- direct acting
- belt
- acting portion
- drive
- driving wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of telescopic boom device, including fixed part, the first direct acting portion are slidably connected with fixed part, are slidably connected between the second direct acting portion and the first direct acting portion；First drive division and the second drive division are connected with fixed part, and the first drive division is connected with being fixedly mounted on first toothed timing belt in the first direct acting portion, and drive the first direct acting portion to slide by the first toothed timing belt；Second drive division is connected with being movably arranged on the drive belt teeth belt in the first direct acting portion, and drive belt teeth belt is engaged with being fixedly mounted on second toothed timing belt in the second direct acting portion, and drives the second direct acting portion to slide.A kind of telescopic boom device that the present invention is provided, by the first direct acting portion and the second direct acting portion of setting, coordinates the first drive division and the second drive division being fixedly installed, realizes the structure of multi-stage expansion, so as to realize longer distance of stretch out and draw back with shorter length.The mode driven by using toothed timing belt, simplifies structure, is easy to production and processing.
Description
Technical field
The present invention relates to a kind of drive device of manipulator, particularly a kind of telescopic boom device.
Background technology
Products formed take out apparatus for work be from forming machine, such as injection machine take out products formed device, forming machine into
Type processing, which completes rear mold, to open, and products formed takes out apparatus for work and entered from the top of forming machine inside forming machine during this period
Products formed is taken out, is then departed from outside forming machine carrying out operation.Forming machine, which is in, during this period waits next forming processes
Holding state.In order that the stand-by time of forming machine shortens, the products formed for being taken out the operation of products formed takes out apparatus for work,
Forming machine top is typically mounted on, its specific action is to decline from forming machine upper straight, is taken out after products formed, then on straight line
Rise.
In order to which products formed is got outside forming machine in a linear fashion, if the high size of products formed is L1, forming machine upper end is arrived
The distance of products formed grasping position of manipulator is L2, it is assumed that products formed takes out the position of apparatus for work grasping products formed in L1
Between if, the rising displacement of calculating machine hand is just（L1/2）+ L2, distance of the forming machine upper end far from top roof is also at least
For（L1/2）+L2.And the orthogonal coordinates type machine that products formed takes out the composition of apparatus for work to be combined by direct acting device
There is the manipulator of grasping products formed people, the front end of lifting arm, in addition to also influence whether can for the part of fixed lifting arm itself
Dynamic distance, therefore lifting distance, i.e. distance of the forming machine upper end far from top roof needs more to extend.
As such, it is desirable to which the overall height that installation forming product take out the forming machine of apparatus for work is too high, or forming machine upper end is to upper
In the case that square roof distance is very low, installation forming product take out apparatus for work will be highly difficult or even infeasible, and lifts shifting
Move apart from the lifting moving time greatly also president.Therefore need installation length short but the telescopic boom device of lifting distance length.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of telescopic boom device, can be realized with shorter length longer
Distance of stretch out and draw back, and simple structure is easily installed and controls.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of telescopic boom device, including fixation
Portion, the first direct acting portion is slidably connected with fixed part, is slidably connected between the second direct acting portion and the first direct acting portion；
First drive division and the second drive division are connected with fixed part, and the first drive division is with being fixedly mounted on the first direct acting portion
First toothed timing belt is connected, and drives the first direct acting portion to slide by the first toothed timing belt；
Second drive division is connected with being movably arranged on the drive belt teeth belt in the first direct acting portion, drive belt teeth belt and fixation
The second toothed timing belt installed in the second direct acting portion is engaged, and drives the second direct acting portion to slide.
It is preferred that scheme in, the first toothed timing belt two ends and be respectively and fixedly installed to the first direct acting portion two ends first fix
Wheel is fixedly connected with the second fast pulley；
In first drive division, the first motor is connected with the first reductor, and the first reductor is connected with the first driving wheel,
First toothed timing belt crosses the first driving wheel from inside winding；
First driving wheel is respectively provided on two sides with the first guide wheel A and the first guide wheel B, so that the first toothed timing belt is first
Cornerite on driving wheel is more than 120 °.
It is preferred that scheme in, the second toothed timing belt two ends are bypassed behind the two ends termination in the first direct acting portion by stator respectively
It is fixedly connected with the first direct acting portion.
It is preferred that scheme in, in the second drive division, the second motor is connected with the second reductor, the second reductor and
Two driving wheels are connected；
Drive belt teeth strap lug bypasses the first rotatable first driven pulley in direct acting portion two ends and the second driven pulley, transmission belt
Toothed belt wound the second driving wheel from outside, the second driving wheel periphery provided with the 3rd driven pulley, the 4th driven pulley and the 5th from
Driving wheel, so that cornerite of the drive belt teeth belt on the second driving wheel is more than 120 °.
It is preferred that scheme in, the tooth position of the first toothed timing belt is in the medial surface of belt.
It is preferred that scheme in, the tooth of the second toothed timing belt and drive belt teeth belt is respectively positioned on the lateral surface of belt.
It is preferred that scheme in, the termination in the second direct acting portion is provided with manipulator.
A kind of telescopic boom device that the present invention is provided, by the first direct acting portion and the second direct acting portion of setting, coordinates and fixes
The first drive division and the second drive division set, realizes the structure of multi-stage expansion, so as to be realized with shorter length longer
Distance of stretch out and draw back.The mode driven by using toothed timing belt, simplifies structure, is easy to production and processing.By using drive belt teeth
The mode of belt, the second drive division for realizing to be fixedly mounted is straight by drive belt teeth belt, the driving second of the second toothed timing belt
Dynamic portion stretches, and realizes the fixed installation of the second drive division, without extra using portable cable, simplifies the peace of the second drive division
Fill difficulty.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is dimensional structure diagram of the invention.
Fig. 2 is main structure diagram of the invention.
Fig. 3 is right side structural representation of the invention.
Fig. 4 is Fig. 3 A-A schematic cross-sectional views.
Fig. 5 is Fig. 3 B-B schematic cross-sectional views.
In figure：First direct acting portion 1, the second direct acting portion 2, the second toothed timing belt 21, stator 22, the first drive division 3, first
Motor 31, the first reductor 32, the first toothed timing belt 33, the first fast pulley 34, the second fast pulley 35, the first guide wheel
A36, the first driving wheel 37, the first guide wheel B38, the second drive division 4, the second motor 41, the second reductor 42, transmission belt
Toothed belt 43, the first driven pulley 44, the second driven pulley 45, the 3rd driven pulley 46, the second driving wheel 47, the 4th driven pulley 48, the
Five driven pulleys 49, manipulator 5, fixed part 6.
Embodiment
As in Fig. 1 ~ 5, a kind of telescopic boom device, including fixed part 6, fixed part 6 is typically mounted in frame, the first direct acting
Portion 1 is slidably connected with fixed part 6, is slidably connected between the second direct acting portion 2 and the first direct acting portion 1；Second direct acting portion 2 and first straight
Dynamic portion 1 can be slided relative to length direction of the fixed part 6 along its own, but the first direct acting portion 1 can not depart from fixed part 6
Restriction range, relative can be slided between the second direct acting portion 2 and the first direct acting portion 1, wherein the second direct acting portion 2 can depart from solid
Determine the restriction range in portion 6, but the constraint orientation in the first direct acting portion 1 can not be departed from.Thus structure, when telescopic boom device is stretched completely
Exhibition, nearly equivalent to double length when shrinking.
First drive division 3 and the second drive division 4 are connected with fixed part 6, and the first drive division 3 is with being fixedly mounted on the first direct acting
First toothed timing belt 33 in portion 1 is connected, and drives the first direct acting portion 1 to slide by the first toothed timing belt 33；
Second drive division 4 is connected with being movably arranged on the drive belt teeth belt 43 in the first direct acting portion 1, drive belt teeth belt 43
Engaged with the second toothed timing belt 21 for being fixedly mounted on the second direct acting portion 2, and drive the second direct acting portion 2 to slide.
It is preferred that scheme such as Fig. 5 in, the two ends of the first toothed timing belt 33 and be respectively and fixedly installed to the two ends of the first direct acting portion 1
First fast pulley 34 is fixedly connected with the second fast pulley 35；
In first drive division 3, the first motor 31 is connected with the first reductor 32, the first reductor 32 and the first driving
Wheel 37 is connected, and the first toothed timing belt 33 crosses the first driving wheel 37 from inside winding；Thus structure, by the rotation of the first driving wheel 37
The first direct acting portion 1 is driven to be slided relative to fixed part 6 by the first toothed timing belt 33.
First driving wheel 37 is respectively provided on two sides with the first guide wheel A36 and the first guide wheel B38, so that the first toothed timing belt
33 cornerite on the first driving wheel 37 is more than 120 °.As shown in Figure 5, the outside of the first toothed timing belt 33 bypasses the first guiding
Take turns A36 and the first guide wheel B38.In this example, cornerite of first toothed timing belt 33 on the first driving wheel 37 more than 270 °, so as to
In the moment of torsion that transmission is larger.
It is preferred that scheme such as Fig. 4 in, the two ends of the second toothed timing belt 21 bypass lead to behind the two ends termination in the first direct acting portion 1 respectively
Stator 22 is crossed to be fixedly connected with the first direct acting portion 1.
It is preferred that scheme such as Fig. 4 in, in the second drive division 4, the second motor 41 is connected with the second reductor 42, second
Reductor 42 is connected with the second driving wheel 47；
Drive belt teeth belt 43 surround the rotatable driven pulley of first driven pulley 44 and second in the two ends of the first direct acting portion 1
45, drive belt teeth belt 43 wound the second driving wheel 47 from outside, and the periphery of the second driving wheel 47 is provided with the 3rd driven pulley 46, the
Four driven pulleys 48 and the 5th driven pulley 49, so that cornerite of the drive belt teeth belt 43 on the second driving wheel 47 is more than 120 °.Such as
Shown in Fig. 4, drive belt teeth belt 43 bypasses toothed 3rd driven pulley 46 from outside, toothed second driving wheel 47, afterwards
Drive belt teeth belt 43 bypasses not toothed 4th driven pulley 48 from inner side, and drive belt teeth belt 43 bypasses toothed from outside again
5th driven pulley 49.In this example, cornerite of the drive belt teeth belt 43 on the second driving wheel 47 more than 180 °, in order to transmit compared with
Big moment of torsion.First driven pulley 44 and second driven pulley 45 of the drive belt teeth belt 43 around the two ends in the second direct acting portion 2 are followed
Ring is rotated.
It is preferred that scheme such as Fig. 5 in, the tooth position of the first toothed timing belt 33 is in the medial surface of belt.
It is preferred that scheme such as Fig. 4 in, the tooth of the second toothed timing belt 21 and drive belt teeth belt 43 is respectively positioned on the outside of belt
Face.Thus structure, is easy to engage with the formation of lateral surface toothed second toothed timing belt 21, with transmitting torque.
When first driving wheel 37 of the first drive division 3 is rotated, the first direct acting portion 1 is not only driven to move, simultaneously as linkage,
I.e. the first toothed timing belt 33 and drive belt teeth belt 43 are installed in the first direct acting portion 1, therefore can also drive the second direct acting portion 2 to transport
It is dynamic, cause the first direct acting portion travel to be L when the first drive division is rotated, while the second direct acting portion is relative to the first direct acting portion
Meeting travel L, the i.e. travel of actual machine hand 5 are 2L.Thus structure more effectively improves the speed of service.Such as Fig. 4,
In 5, when the rotate counterclockwise of the first driving wheel 37, the first direct acting portion 1 is descending, when the second driving wheel 47 is slack, with first
Direct acting portion 1 is descending, and now drive belt teeth belt 43 is equivalent to rotating counterclockwise, so as to drive under the second toothed timing belt 21 of engagement
OK, the second direct acting portion 2 is descending therewith, and when the second driving wheel 47 is rotated clockwise, then the second direct acting portion 2 accelerates descending.
It is preferred that scheme in, the termination in the second direct acting portion 2 is provided with manipulator 5.Thus structure, be easy to crawl products formed or its
His workpiece.
The above embodiments are only the preferred technical solution of the present invention for readily appreciating and recording, and are not construed as this hair
Bright limitation, protection scope of the present invention is included in the technology described in claims with the protection domain of claims
The scope that the equivalent technical characteristic of feature is covered is defined.
Claims (2)
1. a kind of telescopic boom device, including fixed part（6）, the first direct acting portion（1）With fixed part（6）It is slidably connected, it is characterized in that：
Second direct acting portion（2）With the first direct acting portion（1）Between be slidably connected, the second direct acting portion（2）Termination be provided with manipulator（5）；
First drive division（3）With the second drive division（4）With fixed part（6）Connection, the first drive division（3）With being fixedly mounted on first
Direct acting portion（1）The first toothed timing belt（33）Connection, and pass through the first toothed timing belt（33）Drive the first direct acting portion（1）Slide；
Second drive division（4）With being movably arranged on the first direct acting portion（1）Drive belt teeth belt（43）Connection, drive belt teeth belt
（43）With being fixedly mounted on the second direct acting portion（2）The second toothed timing belt（21）Engagement, the second toothed timing belt（21）And transmission belt
Toothed belt（43）Tooth be respectively positioned on the lateral surface of belt, and drive the second direct acting portion（2）Slide；
First toothed timing belt（33）Two ends are with being respectively and fixedly installed to the first direct acting portion（1）First fast pulley at two ends（34）With
Two fast pulleys（35）It is fixedly connected；
First drive division（3）In, the first motor（31）With the first reductor（32）Connection, the first reductor（32）With first
Driving wheel（37）Connection, the first toothed timing belt（33）The first driving wheel is crossed from inside winding（37）；
First driving wheel（37）It is respectively provided on two sides with the first guide wheel A（36）With the first guide wheel B（38）, so that first band tooth skin
Band（33）In the first driving wheel（37）On cornerite more than 120 °；
Second toothed timing belt（21）Two ends bypass the first direct acting portion respectively（1）Two ends termination after pass through stator（22）With first
Direct acting portion（1）It is fixedly connected；
Second drive division（4）In, the second motor（41）With the second reductor（42）Connection, the second reductor（42）With second
Driving wheel（47）Connection；
Drive belt teeth belt（43）It surround the first direct acting portion（1）Rotatable first driven pulley in two ends（44）With the second driven pulley
（45）, drive belt teeth belt（43）The second driving wheel was wound from outside（47）, the second driving wheel（47）Periphery provided with the 3rd from
Driving wheel（46）, the 4th driven pulley（48）With the 5th driven pulley（49）, so that drive belt teeth belt（43）In the second driving wheel（47）
On cornerite more than 120 °.
2. a kind of telescopic boom device according to claim 1, it is characterized in that：First toothed timing belt（33）Tooth position in belt
Medial surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410556564.3A CN104405843B (en) | 2014-10-20 | 2014-10-20 | A kind of telescopic boom device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410556564.3A CN104405843B (en) | 2014-10-20 | 2014-10-20 | A kind of telescopic boom device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104405843A CN104405843A (en) | 2015-03-11 |
| CN104405843B true CN104405843B (en) | 2017-07-14 |
Family
ID=52643494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410556564.3A Expired - Fee Related CN104405843B (en) | 2014-10-20 | 2014-10-20 | A kind of telescopic boom device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104405843B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6711911B2 (en) * | 2016-05-31 | 2020-06-17 | ライフロボティクス株式会社 | Linear expansion mechanism |
| KR20180063423A (en) * | 2016-12-01 | 2018-06-12 | 주식회사 탑 엔지니어링 | Apparatus for conveying substrate |
| CN109986596A (en) * | 2019-04-30 | 2019-07-09 | 张含 | A kind of mechanical arm of extensible brachium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3475120B2 (en) * | 1999-05-06 | 2003-12-08 | タツモ株式会社 | Multi-stage slide arm device |
| AT511201B1 (en) * | 2011-07-08 | 2012-10-15 | Engel Austria Gmbh | TELESCOPIC HANDLING ARM |
| CN203738814U (en) * | 2013-12-30 | 2014-07-30 | 泉州梅洋塑胶五金制品有限公司 | Novel telescopic boom of manipulator |
| CN203764822U (en) * | 2014-04-14 | 2014-08-13 | 沈阳众拓机器人设备有限公司 | Telescopic device |
| CN204153082U (en) * | 2014-10-20 | 2015-02-11 | 湖北荆硕自动化设备有限公司 | A kind of telescopic boom device |
-
2014
- 2014-10-20 CN CN201410556564.3A patent/CN104405843B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104405843A (en) | 2015-03-11 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170714 Termination date: 20181020 |
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| CF01 | Termination of patent right due to non-payment of annual fee |