CN105479448A - Extensible manipulator with wider moving range - Google Patents
Extensible manipulator with wider moving range Download PDFInfo
- Publication number
- CN105479448A CN105479448A CN201511015974.8A CN201511015974A CN105479448A CN 105479448 A CN105479448 A CN 105479448A CN 201511015974 A CN201511015974 A CN 201511015974A CN 105479448 A CN105479448 A CN 105479448A
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- CN
- China
- Prior art keywords
- manipulator
- longitudinal
- controller
- sliding motion
- longitudinal sliding
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- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an extensible manipulator with a wider moving range. The extensible manipulator comprises a main side rod, a secondary side rod, a longitudinal rod, a transverse slide chamber, a longitudinal slide chamber, a main controller and a manipulator; a slide rod is fixedly mounted at the top of the main side rod, and is slidingly connected with the longitudinal rod; a gear is arranged at the top of the secondary side rod; a gear rod is fixedly mounted at the top of the longitudinal rod; a gear is arranged at the top of the gear rod; the longitudinal slide chamber is formed in the top of the longitudinal rod; a lifting plate is arranged at the top of the longitudinal slide chamber; the main controller is fixedly mounted at the top of the lifting plate; the manipulator is fixedly mounted at the top of the main controller; the bottom of the lifting plate is fixedly connected with a lifting rod; a lifter is arranged at one end of the lifting rod; a longitudinal slide controller is fixedly mounted on one side of the inner wall of the longitudinal slide chamber; and the transverse slide chamber is fixedly mounted at one end of the longitudinal rod. The extensible manipulator with wider moving range is wider in moving range, convenient for use and capable of adapting to different working environments.
Description
Technical field
The present invention is the extensibility manipulator that a kind of scope of activities is larger, belongs to technical field of mechanical equipment.
Background technology
Manipulator is as the visual plant of contemporary mechanization production, very tremendous influence is had to the production work of equipment, but traditional manipulator, because scope of activities is less, impact is caused on its working range, this reduces the speed of production of equipment, impact is caused on the production efficiency of equipment, need to improve traditional manipulator for this reason, to increase the scope of activities of manipulator, increase the working region of manipulator, thus adapt to different working environments, and improve work quality and the operating efficiency of manipulator.
Summary of the invention
For the deficiency that prior art exists, the object of the invention is to provide the larger extensibility manipulator of a kind of scope of activities, and scope of activities of the present invention is comparatively large, easy to use, can adapt to different working environments.
To achieve these goals, the present invention realizes by the following technical solutions: the extensibility manipulator that a kind of scope of activities is larger, comprise master bar, secondary side lever, vertical pole, horizontal slid chamber, longitudinal sliding motion room, master controller and manipulator, Guan County of described master masthead portion dress sliding bar, described sliding bar and vertical pole are slidably connected, described secondary side lever top is provided with gear, described vertical pole top fixed installation rack, described rack top is provided with gear, described vertical pole top is provided with longitudinal sliding motion room, top, described longitudinal sliding motion room is provided with lifter plate, the top fixed installation master controller of described lifter plate, the top fixed installation manipulator of described master controller, described manipulator is electrically connected with master controller, the bottom of described lifter plate is fixedly connected with elevating lever, described elevating lever one end is provided with lifter, the inwall side fixed installation longitudinal sliding motion controller of described longitudinal sliding motion room, described longitudinal sliding motion controller is electrically connected with master controller, described lifter is electrically connected with longitudinal sliding motion controller, the inside of described longitudinal sliding motion room is provided with longitudinal electric machine, described longitudinal electric machine is electrically connected with longitudinal sliding motion controller, the turning cylinder of described longitudinal electric machine is rotationally connected connecting band, the side of described connecting band is provided with longitudinal toothed disc, described longitudinal toothed disc and connecting band are rotationally connected, described rack is connected with a joggle by gear and longitudinal toothed disc, one end of described vertical pole fixedly mounts horizontal slid chamber, the inside top of described horizontal slid chamber is provided with transverse electric motivation, the side of described transverse electric motivation is rotationally connected crawler belt, lateral rotation dish is rotationally connected bottom described crawler belt, described lateral rotation dish side fixed installation transverse teeth wheel disc, fixed axis is rotated in the inside fixed installation of described horizontal slid chamber, the side of described rotation fixed axis is fixedly connected with lateral rotation dish and transverse teeth wheel disc, described secondary side lever is connected with a joggle by gear and transverse teeth wheel disc, the inside bottom of described horizontal slid chamber is provided with horizontal slip controller, described horizontal slip controller is electrically connected with transverse electric motivation, described horizontal slip controller is electrically connected with master controller.
Further, beam is fixedly mounted bottom described lifter plate.
Further, described master bar is fixedly connected with support bar with between secondary side lever.
Further, described master controller to be fixed with lifter plate by bolt and to be connected.
Further, described sliding bar uses tungsten steel alloy as raw material.
Beneficial effect of the present invention: the extensibility manipulator that a kind of scope of activities of the present invention is larger, by master controller, carries out master control to manipulator, and control instruction is passed to longitudinal sliding motion controller and horizontal slip controller.By longitudinal sliding motion room, longitudinal adjustment is carried out in the position of manipulator.By longitudinal sliding motion controller, receive the instruction of master controller, and lifter and longitudinal electric machine are controlled.By rack, gear and longitudinal toothed disc, the position of longitudinal sliding motion room is regulated.By horizontal slid chamber, lateral adjustments is carried out to the position of manipulator.By transverse teeth wheel disc and gear, the position of horizontal slid chamber is regulated.By horizontal slip controller, receive the control instruction of master controller, and transverse electric motivation is controlled.By lifter plate, elevating lever and lifter, lift adjustment is carried out to the position of manipulator.By sliding bar, the transverse shifting of auxiliary horizontal slid chamber.By beam, prevent lifter plate causing damage to longitudinal sliding motion room.By support bar, master bar and secondary side lever are fixed.By bolt, facilitate dismounting and the installation of master controller.By tungsten steel alloy as raw material, ensure that the service life of sliding bar.The extensibility manipulator that this scope of activities is larger, scope of activities is comparatively large, easy to use, can adapt to different working environments.
Accompanying drawing explanation
Fig. 1 is the structural representation of the extensibility manipulator that a kind of scope of activities of the present invention is larger;
Fig. 2 is the longitudinal sliding motion chamber interior structural representation of the extensibility manipulator that a kind of scope of activities of the present invention is larger;
The internal structure schematic diagram of the horizontal slid chamber of the extensibility manipulator that the present invention a kind of scope of activities in Fig. 3 position is larger.
In figure: 1-master bar, the secondary side lever of 2-, 3-vertical pole, 4-longitudinal sliding motion room, 5-manipulator, the horizontal slip controller of 6-, the horizontal slid chamber of 7-, 8-sliding bar, 9-gear, 10-rack, 11-lifter plate, 12-bolt, 13-elevating lever, 14-lifter, the longitudinal toothed disc of 15-, 16-connecting band, 17-longitudinal electric machine, 18-transverse electric motivation, 19-crawler belt, 20-lateral rotation dish, 21-transverse teeth wheel disc, 22-rotates fixed axis, 23-master controller, 24-longitudinal sliding motion controller, 25-beam, 26-support bar.
Detailed description of the invention
The technological means realized for making the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with detailed description of the invention, setting forth the present invention further.
Refer to Fig. 1 to Fig. 3, the invention provides a kind of technical scheme: the extensibility manipulator that a kind of scope of activities is larger, comprise master bar 1, secondary side lever 2, vertical pole 3, horizontal slid chamber 7, longitudinal sliding motion room 4, master controller 23 and manipulator 5, described master bar 1 top Guan County dress sliding bar 8, described sliding bar 8 is slidably connected with vertical pole 3, described secondary side lever 2 top is provided with gear 9, described vertical pole 3 top fixed installation rack 10, described rack 10 top is provided with gear 9, described vertical pole 3 top is provided with longitudinal sliding motion room 4, top, described longitudinal sliding motion room 4 is provided with lifter plate 11, the top fixed installation master controller 23 of described lifter plate 11, the top fixed installation manipulator 5 of described master controller 23, described manipulator 5 is electrically connected with master controller 23, the bottom of described lifter plate 11 is fixedly connected with elevating lever 13, described elevating lever 13 one end is provided with lifter 14, the inwall side fixed installation longitudinal sliding motion controller 24 of described longitudinal sliding motion room 4, described longitudinal sliding motion controller 24 is electrically connected with master controller 23, described lifter 14 is electrically connected with longitudinal sliding motion controller 24, the inside of described longitudinal sliding motion room 4 is provided with longitudinal electric machine 17, described longitudinal electric machine 17 is electrically connected with longitudinal sliding motion controller 24, the turning cylinder of described longitudinal electric machine 17 is rotationally connected connecting band 16, the side of described connecting band 16 is provided with longitudinal toothed disc 15, described longitudinal toothed disc 15 is rotationally connected with connecting band 16, described rack 10 is connected with a joggle by gear 9 and longitudinal toothed disc 15, one end of described vertical pole 3 fixedly mounts horizontal slid chamber 7, the inside top of described horizontal slid chamber 7 is provided with transverse electric motivation 18, the side of described transverse electric motivation 18 is rotationally connected crawler belt 19, described crawler belt 19 lower rotation connects lateral rotation dish 20, described lateral rotation dish 20 side fixed installation transverse teeth wheel disc 21, fixed axis 22 is rotated in the inside fixed installation of described horizontal slid chamber 7, the side of described rotation fixed axis 22 is fixedly connected with lateral rotation dish 20 and transverse teeth wheel disc 21, described secondary side lever 2 is connected with a joggle by gear 9 and transverse teeth wheel disc 21, the inside bottom of described horizontal slid chamber 7 is provided with horizontal slip controller 6, described horizontal slip controller 6 is electrically connected with transverse electric motivation 18, described horizontal slip controller 6 is electrically connected with master controller 23.
Beam 25 is fixedly mounted bottom described lifter plate 11.Support bar 26 is fixedly connected with between described master bar 1 with secondary side lever 2.Described master controller 23 to be fixed with lifter plate 11 by bolt 12 and to be connected.Described sliding bar 8 uses tungsten steel alloy as raw material.When needing the working range changing manipulator 5, instruction is assigned by master controller 23 pairs of longitudinal sliding motion controllers 24 and horizontal slip controller 6, longitudinal sliding motion controller 24 pairs of lifters 14 and longitudinal electric machine 17 control, thus regulate the lengthwise position of lifter plate 13 height and longitudinal sliding motion room 4, horizontal slip controller 6 pairs of transverse electric motivations 18 control, under the drive of transverse electric motivation 18, horizontal slip control room 7 meeting transverse shifting, thus change the lateral attitude of manipulator 5, the working range of manipulator 5 is changed with this.
More than show and describe general principle of the present invention and principal character and advantage of the present invention, to those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (5)
1. the extensibility manipulator that a scope of activities is larger, comprise master bar (1), secondary side lever (2), vertical pole (3), horizontal slid chamber (7), longitudinal sliding motion room (4), master controller (23) and manipulator (5), it is characterized in that: described master bar (1) top Guan County dress sliding bar (8), described sliding bar (8) and vertical pole (3) are slidably connected, described secondary side lever (2) top is provided with gear (9), described vertical pole (3) top fixed installation rack (10), described rack (10) top is provided with gear (9), described vertical pole (3) top is provided with longitudinal sliding motion room (4), described longitudinal sliding motion room (4) top is provided with lifter plate (11), top fixed installation master controller (23) of described lifter plate (11), top fixed installation manipulator (5) of described master controller (23), described manipulator (5) is electrically connected with master controller (23), the bottom of described lifter plate (11) is fixedly connected with elevating lever (13), described elevating lever (13) one end is provided with lifter (14), inwall side fixed installation longitudinal sliding motion controller (24) of described longitudinal sliding motion room (4), described longitudinal sliding motion controller (24) is electrically connected with master controller (23), described lifter (14) is electrically connected with longitudinal sliding motion controller (24), the inside of described longitudinal sliding motion room (4) is provided with longitudinal electric machine (17), described longitudinal electric machine (17) is electrically connected with longitudinal sliding motion controller (24), the turning cylinder of described longitudinal electric machine (17) is rotationally connected connecting band (16), the side of described connecting band (16) is provided with longitudinal toothed disc (15), described longitudinal toothed disc (15) and connecting band (16) are rotationally connected, described rack (10) is connected with a joggle by gear (9) and longitudinal toothed disc (15), one end of described vertical pole (3) fixedly mounts horizontal slid chamber (7), the inside top of described horizontal slid chamber (7) is provided with transverse electric motivation (18), the side of described transverse electric motivation (18) is rotationally connected crawler belt (19), described crawler belt (19) lower rotation connects lateral rotation dish (20), described lateral rotation dish (20) side fixed installation transverse teeth wheel disc (21), fixed axis (22) is rotated in described horizontal slid chamber (7) inside fixed installation, the side of described rotation fixed axis (22) is fixedly connected with lateral rotation dish (20) and transverse teeth wheel disc (21), described secondary side lever (2) is connected with a joggle by gear (9) and transverse teeth wheel disc (21), the inside bottom of described horizontal slid chamber (7) is provided with horizontal slip controller (6), described horizontal slip controller (6) is electrically connected with transverse electric motivation (18), described horizontal slip controller (6) is electrically connected with master controller (23).
2. the extensibility manipulator that a kind of scope of activities according to claim 1 is larger, is characterized in that: described lifter plate (11) bottom fixed installation beam (25).
3. the extensibility manipulator that a kind of scope of activities according to claim 1 is larger, is characterized in that: described master bar (1) is fixedly connected with support bar (26) with between secondary side lever (2).
4. the extensibility manipulator that a kind of scope of activities according to claim 1 is larger, is characterized in that: described master controller (23) to be fixed with lifter plate (11) by bolt (12) and to be connected.
5. the extensibility manipulator that a kind of scope of activities according to claim 1 is larger, is characterized in that: described sliding bar (8) uses tungsten steel alloy as raw material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511015974.8A CN105479448A (en) | 2015-12-29 | 2015-12-29 | Extensible manipulator with wider moving range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511015974.8A CN105479448A (en) | 2015-12-29 | 2015-12-29 | Extensible manipulator with wider moving range |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105479448A true CN105479448A (en) | 2016-04-13 |
Family
ID=55666900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511015974.8A Pending CN105479448A (en) | 2015-12-29 | 2015-12-29 | Extensible manipulator with wider moving range |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105479448A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239478A (en) * | 2016-07-12 | 2016-12-21 | 常熟市惠机电有限公司 | A kind of extensibility mechanical hand of big range of activity |
| CN108183362A (en) * | 2018-02-12 | 2018-06-19 | 李志护 | A kind of control system for manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202943636U (en) * | 2012-11-14 | 2013-05-22 | 宁波品上精密机床有限公司 | Trussed type manipulator |
| CN103406899A (en) * | 2013-08-19 | 2013-11-27 | 长沙远大住宅工业有限公司 | Automatic die setting manipulator |
| CN103434850A (en) * | 2013-07-10 | 2013-12-11 | 青岛科捷自动化设备有限公司 | Tire carrying and destacking-stacking system and tire warehousing stacking method |
| CN103600004A (en) * | 2013-11-29 | 2014-02-26 | 中山市奥美森工业有限公司 | Discharging mechanism of pipe bending machine |
| CN203461538U (en) * | 2013-07-10 | 2014-03-05 | 青岛科捷自动化设备有限公司 | Wide-span tyre transporting, unstacking and stacking system |
| DE102013000108A1 (en) * | 2013-01-02 | 2014-07-03 | Hans-Erich Maul | Short-slung strong joint module for robot hand, has axle arranged electromotor, and eccentric cam gear box provided with Oldham-coupling and worm gears, where joint module is movable along rotational axis |
| CN203875884U (en) * | 2014-04-10 | 2014-10-15 | 常州市璟胜自动化科技有限公司 | Five-axis manipulator |
-
2015
- 2015-12-29 CN CN201511015974.8A patent/CN105479448A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202943636U (en) * | 2012-11-14 | 2013-05-22 | 宁波品上精密机床有限公司 | Trussed type manipulator |
| DE102013000108A1 (en) * | 2013-01-02 | 2014-07-03 | Hans-Erich Maul | Short-slung strong joint module for robot hand, has axle arranged electromotor, and eccentric cam gear box provided with Oldham-coupling and worm gears, where joint module is movable along rotational axis |
| CN103434850A (en) * | 2013-07-10 | 2013-12-11 | 青岛科捷自动化设备有限公司 | Tire carrying and destacking-stacking system and tire warehousing stacking method |
| CN203461538U (en) * | 2013-07-10 | 2014-03-05 | 青岛科捷自动化设备有限公司 | Wide-span tyre transporting, unstacking and stacking system |
| CN103406899A (en) * | 2013-08-19 | 2013-11-27 | 长沙远大住宅工业有限公司 | Automatic die setting manipulator |
| CN103600004A (en) * | 2013-11-29 | 2014-02-26 | 中山市奥美森工业有限公司 | Discharging mechanism of pipe bending machine |
| CN203875884U (en) * | 2014-04-10 | 2014-10-15 | 常州市璟胜自动化科技有限公司 | Five-axis manipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239478A (en) * | 2016-07-12 | 2016-12-21 | 常熟市惠机电有限公司 | A kind of extensibility mechanical hand of big range of activity |
| CN108183362A (en) * | 2018-02-12 | 2018-06-19 | 李志护 | A kind of control system for manipulator |
| CN108183362B (en) * | 2018-02-12 | 2019-11-26 | 东阳市善水环境工程有限公司 | A kind of control system for manipulator |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160413 |
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| WD01 | Invention patent application deemed withdrawn after publication |