CN108247629A - A kind of Simple manipulator - Google Patents
A kind of Simple manipulator Download PDFInfo
- Publication number
- CN108247629A CN108247629A CN201810251591.8A CN201810251591A CN108247629A CN 108247629 A CN108247629 A CN 108247629A CN 201810251591 A CN201810251591 A CN 201810251591A CN 108247629 A CN108247629 A CN 108247629A
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- mechanical arm
- length
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- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000012806 monitoring device Methods 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Simple manipulators, vertical frame shape fixed frame is fixed with including gantry base and the upper end, it is by vertical chute that the vertical frame shape fixed frame inner end, which can be equipped with height adjustment device and its, longitudinally connected frame, upright slide block, vertical fastening frame, lifting cylinder, sprocket wheel and chain composition, the vertical fastening frame upper end be hinged with respectively cross-brace frame and its between be equipped with situation monitoring device, the situation monitoring device is by rectangle sliding slot, screw, travelling nut, longitudinal sliding motion block and transmission component composition, the longitudinal sliding motion block one is hinged with main mechanical arm, the two middle part lower end of longitudinal sliding motion block is movably equipped with telescopic cylinder one, the main mechanical arm upper articulation has secondary mechanical arm, the secondary mechanical arm lower hinge has grabbing assembly.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to mechanical manufacturing field more particularly to a kind of Simple manipulators.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument, robotic device structure now is all more complicated, expensive, is not suitable for universal make
With；Manipulator is typically rotation, stress that position is realized by primary and secondary mechanical arm etc., since main mechanical arm is hinged end position not
Become and the stress point of driving main mechanical arm movement is usually fixed setting, so that the power one that main mechanical arm can bear
It is fixed, when the object for encountering crawl is heavier, it is easy to cause the stress overloading of main mechanical arm.
Invention content
The purpose of the present invention is to solve the above problems, devise a kind of Simple manipulator, the robotic device structure
Simply, can realize height adjust, the multiple functions such as situation monitoring and simple crawl, price economy, should, it can be achieved that universal use
Main mechanical arm in robotic device passes through the sliding seat of setting, telescopic cylinder since its hinged end extends downwardly certain length
For controlling the stress point of main mechanical arm, so that the field of load increase of main mechanical arm, working range increase, virtually
The versatility of the equipment of raising.
Realize above-mentioned purpose the technical scheme is that, a kind of Simple manipulator, including gantry base, the frame ground
Seat lower end four corners can be respectively equipped with movable pulley, and the gantry base upper end is fixed with vertical frame shape fixed frame, described vertical
Frame shape fixed frame rear end can be equipped with pushing hands, and the vertical frame shape fixed frame inner end can be equipped with height adjustment device, the height tune
Regulating device is by having along the vertical frame shape fixed frame width direction both sides inner wall and along side before and after its thickness direction
It is located in vertical chute two along the vertical chute one and vertical chute two of its short transverse, both sides sliding end and can be along its height side
The upright slide block slided along its short transverse can be respectively equipped in longitudinally connected frame two, vertical chute one to slip, is slided vertically
Vertical fastening frame that block outer end is fixedly connected with respectively, vertical fastening frame correspond be equipped between the middle part of end it is longitudinally connected
Top and corresponding longitudinally connected two medium position of frame are fixed in frame one, the vertical frame shape fixed frame lifting cylinder, institute
State several sprocket wheels and difference one end that top and corresponding longitudinally connected one position of frame are uniformly fixed in vertical frame shape fixed frame
It connect the other end with longitudinally connected frame two to form across the chain that sprocket wheel is connect with longitudinally connected frame one, on the vertical fastening frame
End has been respectively articulated with cross-brace frame, and the vertical fastening frame lower end is equipped with tilt cylinders one and the tilt cylinders one
Piston rod is connect with the cross-brace frame, and situation monitoring device, the situation monitoring dress are equipped between the cross-brace frame
Put is the rectangle sliding slot of certain length for being corresponded end by the cross-brace frame and being provided with along its length respectively, difference
Separated by a distance one group being cased with respectively outside the screw, screw of its inner cavity along rectangle track length direction moves spiral shell
The longitudinal sliding motion block one and longitudinal sliding motion block two and connect set on longitudinal direction that female, travelling nut is respectively equipped between each other along the longitudinal direction
Connect the transmission component composition on frame one, one middle part of the longitudinal sliding motion block is hinged with main mechanical arm, in the longitudinal sliding motion block two
Subordinate end is movably equipped with telescopic cylinder one, and the main mechanical arm is along its length and its corresponding hinged end position opposite side is hinged
There is secondary mechanical arm, the secondary mechanical arm is along its length and its corresponding hinged end position opposite side is equipped with grabbing assembly, described
Main mechanical arm hinged end and certain length is extended downwardly along its length, the main mechanical arm elongated end and along its length
It is provided with the elongated sliding slot of certain length, the sliding seat slided along its length is equipped in the elongated sliding slot, along described elongated
Track length direction side inner end is fixed with telescopic cylinder two, and sliding seat described in the piston rod end of the telescopic cylinder one
Flexible connection.
Piston rod in the lifting cylinder is set straight down, and its piston rod end connects with the longitudinally connected frame two
It connects, the gantry base is equipped with variable weights.
The longitudinal sliding motion block one and longitudinal sliding motion block two are equipped with active connection, institute between the travelling nut respectively
It states longitudinal sliding motion block one and is more than the longitudinal sliding motion block two apart from institute apart from the cross-brace frame hinged end air line distance length
State cross-brace frame hinged end air line distance length.
The screw one end and stretches out along its length through the cross-brace frame hinged end, and the transmission component is
The rotary electric machine that is equipped with by one middle part of longitudinally connected frame, is placed on transmission shaft the transmission shaft of rotary electric machine round end connection
One group of driving pulley, set respectively between the driven pulley that is cased with respectively of the screw external part and driving pulley and driven pulley
By belt form.
The transmission shaft activity is stretched out through the longitudinally connected one middle part inner cavity of frame, the driving pulley and driven pulley
Installation position does not influence the movement of the longitudinally connected frame two, and the screw stretches out not shadow through the cross-brace frame hinged end
Ring the rotation of the cross-brace frame.
The piston rod end of the telescopic cylinder two is connect with the sliding seat, and the secondary mechanical arm hinged end upwardly extends
Tilt cylinders two are set between certain length and its elongated end end and the main mechanical arm upper end.
The grabbing assembly be several arch pickup folders for being uniformly movably equipped with by work head, work head lower edge and
The tilt cylinders three being respectively equipped between arch pickup folder and the work head lower face form, the work head and the secondary machine
Tool arm lower end connects.
The gantry base inner cavity is set on control device and supply unit, and the vertical frame shape fixed frame side is equipped with operation
Panel.
The supply unit is set as accumulator group, and the operation panel is equipped with power knob and several operation keys, described
Operation panel and control device are connect by conducting wire with the supply unit power positive cathode.
PLC system is equipped in the control device and controls the lifting cylinder, tilt cylinders one, tilt cylinders respectively
2nd, tilt cylinders three, telescopic cylinder one, telescopic cylinder two, rotary electric machine control module.
The Simple manipulator made using technical scheme of the present invention, the robotic device is simple in structure, can realize height
It adjusts, the multiple functions such as situation monitoring and simple crawl, price economy is, it can be achieved that universal use, in the robotic device
Main mechanical arm is used to control main mechanical since its hinged end extends downwardly certain length by the sliding seat of setting, telescopic cylinder
The stress point of arm so that main mechanical arm field of load increase, working range increase, the equipment virtually improved it is more
The property used.
Description of the drawings
Fig. 1 is the overall structure diagram of Simple manipulator of the present invention；
Fig. 2 is height adjustment device partial schematic diagram of the present invention；
Fig. 3 is one position plane schematic diagram of longitudinally connected frame of the present invention；
Fig. 4 is situation monitoring apparatus structure schematic diagram of the present invention；
Fig. 5 is sliding seat position plane schematic diagram of the present invention；
Fig. 6 is grabbing assembly structure diagram of the present invention；
In figure, 1, gantry base；2nd, movable pulley；3rd, vertical frame shape fixed frame；4th, pushing hands；5th, height adjustment device；6th, it erects
Straight runner one；7th, vertical chute two；8th, longitudinally connected frame two；9th, upright slide block；10th, vertical fastening frame；11st, longitudinally connected frame
One；12nd, lifting cylinder；13rd, chain；14th, cross-brace frame；15th, tilt cylinders one；16th, situation monitoring device；17th, rectangle is slided
Slot；18th, screw；19th, travelling nut；20th, longitudinal sliding motion block one；21st, longitudinal sliding motion block two；22nd, transmission component；23rd, main mechanical
Arm；24th, telescopic cylinder one；25th, secondary mechanical arm；26th, grabbing assembly；27th, elongated sliding slot；28th, sliding seat；29th, telescopic cylinder two；
30th, rotary electric machine；31st, transmission shaft；32nd, driving pulley；33rd, driven pulley；34th, belt；35th, tilt cylinders two；36th, it works
Head；37th, arch pickup folder；38th, tilt cylinders three；39th, sprocket wheel.
Specific embodiment
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in figures 1 to 6, a kind of Simple manipulator, including rack
Pedestal 1, the 1 lower end four corners of gantry base can be respectively equipped with movable pulley 2, and 1 upper end of gantry base is fixed with vertically
Frame shape fixed frame 3, vertical 3 rear end of frame shape fixed frame can be equipped with pushing hands 4, and vertical 3 inner end of frame shape fixed frame can be equipped with
Height adjustment device 5, the height adjustment device 5 are by along the vertical 3 width direction both sides inner wall of frame shape fixed frame and edge
Side has before and after its thickness direction the vertical chute 1 and vertical chute 27 along its short transverse, both sides sliding end position
In vertical chute 27 and it can be respectively equipped with edge along the longitudinally connected frame 28, vertical chute 1 of the slip of its short transverse
It is vertical fastening frame 10 that upright slide block 9 that its short transverse is slided, 9 outer end of upright slide block are fixedly connected with respectively, vertical tight
Gu top and correspondence in the longitudinally connected frame 1 that frame 10 is equipped between corresponding in the middle part of end, the vertical frame shape fixed frame 3
Top and corresponding longitudinal direction in lifting cylinder 12 that longitudinally connected 28 medium position of frame is fixed with, the vertical frame shape fixed frame 3
Several sprocket wheels 39 that one 11 position of link is uniformly fixed with and respectively one end connect the other end with longitudinally connected frame 28 and pass through
Sprocket wheel 39 is formed with the chain 13 that longitudinally connected frame 1 is connect, and vertical 10 upper end of fastening frame is hinged with lateral branch respectively
Support 14, vertical 10 lower end of fastening frame be equipped with tilt cylinders 1 and the piston rod of the tilt cylinders 1 with it is described
Cross-brace frame 14 connects, and situation monitoring device 16 is equipped between the cross-brace frame 14, and the situation monitoring device 16 is
The rectangle sliding slot 17 of certain length held and be provided with along its length respectively, difference are corresponded by the cross-brace frame 14
Separated by a distance one group being cased with respectively outside the screw 18, screw 18 of its inner cavity along 17 length direction of rectangle sliding slot
The longitudinal sliding motion block 1 and longitudinal sliding motion block two that travelling nut 19, travelling nut 19 are respectively equipped between each other along the longitudinal direction
21 and the transmission component 22 on longitudinally connected frame 1 form, one 20 middle part of the longitudinal sliding motion block is hinged with main mechanical arm
23, the 2 21 middle part lower end of longitudinal sliding motion block is movably equipped with telescopic cylinder 1, and the main mechanical arm 23 is along its length
And its corresponding hinged end position opposite side is hinged with time mechanical arm 25, the secondary mechanical arm 25 is along its length and corresponding its is cut with scissors
End position opposite side is connect equipped with grabbing assembly 26,23 hinged end of main mechanical arm and extends downwardly a fixed length along its length
Degree, 23 elongated end of main mechanical arm and the elongated sliding slot 27 for being provided with certain length along its length, the elongated sliding slot 27
It is interior equipped with the sliding seat 28 slided along its length, be fixed with along the elongated 27 length direction side inner end of sliding slot flexible
Cylinder 2 29, and sliding seat 28 is flexibly connected described in the piston rod end of the telescopic cylinder 1；In the lifting cylinder 12
Piston rod set straight down, and its piston rod end is connect with the longitudinally connected frame 28, is set in the gantry base 1
There are variable weights；The longitudinal sliding motion block 1 and longitudinal sliding motion block 2 21 are equipped with activity even between the travelling nut 19 respectively
Fitting, the longitudinal sliding motion block 1 are more than the longitudinal sliding motion apart from the 14 hinged end air line distance length of cross-brace frame
Block 2 21 is apart from the 14 hinged end air line distance length of cross-brace frame；The screw 18 one end and runs through along its length
14 hinged end of cross-brace frame is stretched out, and the transmission component 22 is the rotation being equipped with by longitudinally connected one 11 middle part of frame
Motor 30, the transmission shaft 31 that 30 round end of rotary electric machine connects, one group of driving pulley 32, the screw being placed on transmission shaft 31
The belt 34 being respectively equipped between driven pulley 33 and driving pulley 32 and driven pulley 33 that 18 external parts are cased with respectively forms；
31 activity of transmission shaft is stretched out through the longitudinally connected one 11 middle part inner cavity of frame, the driving pulley 32 and driven pulley 33
Installation position does not influence the movement of the longitudinally connected frame 28, and the screw 18 is stretched through 14 hinged end of cross-brace frame
Going out does not influence the rotation of the cross-brace frame 14；The piston rod end of the telescopic cylinder 2 29 connects with the sliding seat 28
It connects, secondary 25 hinged end of mechanical arm upwardly extends certain length and between its elongated end end and 23 upper end of main mechanical arm
Set on tilt cylinders 2 35；The grabbing assembly 26 is uniformly movably equipped with by work head 36,36 lower edge of work head
The tilt cylinders 3 38 being respectively equipped between several arch pickup folders 37 and arch pickup folder 37 and 36 lower face of the work head
Composition, the work head 36 are connect with secondary 25 lower end of mechanical arm；1 inner cavity of gantry base be set on control device and
Supply unit, vertical 3 side of frame shape fixed frame are equipped with operation panel；The supply unit is set as accumulator group, the behaviour
Make panel equipped with power knob and several operation keys, the operation panel and control device pass through conducting wire and the supply unit
Power positive cathode connects；PLC system is equipped in the control device and controls the lifting cylinder 12, tilt cylinders one respectively
15th, tilt cylinders 2 35, tilt cylinders 3 38, telescopic cylinder 1, telescopic cylinder 2 29, rotary electric machine 30 control module.
The features of the present invention is a kind of Simple manipulator, and including gantry base, gantry base lower end four corners can be set respectively
There is movable pulley, gantry base upper end is fixed with vertical frame shape fixed frame, and vertical frame shape fixed frame rear end can be equipped with pushing hands, vertically
Frame shape fixed frame inner end can be equipped with height adjustment device, and height adjustment device is by along vertical frame shape fixed frame width direction both sides
Inner wall and vertical chute one and vertical chute two, two sideslip along its short transverse being had along side before and after its thickness direction
Moved end is located in vertical chute two and can be respectively equipped in the longitudinally connected frame two that can be slided along its short transverse, vertical chute one
Vertical fastening frame that the upright slide block that is slided along its short transverse, upright slide block outer end are fixedly connected with respectively, vertical fastening
Frame corresponds the longitudinally connected frame one being equipped between the middle part of end, top and corresponding longitudinally connected frame two in vertical frame shape fixed frame
Top and corresponding longitudinally connected one position of frame is uniformly fixed in lifting cylinder that medium position is fixed with, vertical frame shape fixed frame
Several sprocket wheels and difference one end being equipped with connect what the other end was connect across sprocket wheel with longitudinally connected frame one with longitudinally connected frame two
Chain forms, and vertical fastening frame upper end is hinged with cross-brace frame respectively, and vertical fastening frame lower end is equipped with tilt cylinders one
And the piston rod of tilt cylinders one is connect with cross-brace frame, and situation monitoring device, situation monitoring are equipped between cross-brace frame
Device is the rectangle sliding slot of certain length for being corresponded end by cross-brace frame and being provided with along its length respectively, respectively edge
The separated by a distance one group movement spiral shell that rectangle track length direction is cased with respectively outside the screw, screw of its inner cavity
The longitudinal sliding motion block one and longitudinal sliding motion block two and connect set on longitudinal direction that female, travelling nut is respectively equipped between each other along the longitudinal direction
The transmission component composition on frame one is connect, one middle part of longitudinal sliding motion block is hinged with main mechanical arm, and two middle part lower end of longitudinal sliding motion block is lived
Dynamic to be equipped with telescopic cylinder one, main mechanical arm is along its length and its corresponding hinged end position opposite side is hinged with time mechanical arm,
Secondary mechanical arm is along its length and its corresponding hinged end position opposite side is equipped with grabbing assembly, main mechanical arm hinged end and along its
Length direction extends downwardly certain length, main mechanical arm elongated end and the elongated sliding slot for being provided with certain length along its length,
The sliding seat slided along its length is equipped in elongated sliding slot, is fixed with along elongated track length direction side inner end flexible
Cylinder two, and the piston rod end sliding seat flexible connection of telescopic cylinder one, the robotic device is simple in structure, can realize height
It adjusts, the multiple functions such as situation monitoring and simple crawl, price economy is, it can be achieved that universal use, in the robotic device
Main mechanical arm is used to control main mechanical since its hinged end extends downwardly certain length by the sliding seat of setting, telescopic cylinder
The stress point of arm so that main mechanical arm field of load increase, working range increase, the equipment virtually improved it is more
The property used.
In the present invention, the movable pulley being equipped with facilitates the movement of equipment, and the variable weights being equipped with are used for the stabilization of equipment chassis,
Control device controls the running of lifting cylinder, so as to which longitudinally connected frame two be controlled to be slided along two short transverse of vertical chute, longitudinal direction
The movement of link two is realized by chain, sprocket wheel drives longitudinally connected frame one to be slided along one short transverse of vertical chute, so as to
Realize that height is adjusted.Cross-brace frame one end is hinged with vertical fastening frame upper end, is used to adjust by the tilt cylinders one being equipped with
The angle of rotation of cross-brace frame is saved, situation monitoring device is equipped between cross-brace frame, control device controls the fortune of rotary electric machine
Make, by transmission shaft, driving pulley, driven pulley and belt drive be located at rectangle sliding slot in screw rotate, screw it is positive and negative
Turn to drive two straight line back and forth movement of longitudinal sliding block one and longitudinal sliding block by travelling nut, active connection.Telescopic cylinder one
Piston rod end is flexibly connected with sliding seat, and the telescopic cylinder two being equipped with is for regulating and controlling the position of sliding seat, so as to control host
The stressing conditions of tool arm.The tilt cylinders two being equipped with are used to control the inclination angle of time mechanical arm, and the tilt cylinders three being equipped with are used for
Control the opening and collapse state of arch pickup folder.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of which part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. a kind of Simple manipulator, including gantry base (1), which is characterized in that gantry base (1) lower end four corners can divide
Not She You movable pulley (2), gantry base (1) upper end is fixed with vertical frame shape fixed frame (3), and the vertical frame shape is fixed
Frame (3) rear end can be equipped with pushing hands (4), and vertical frame shape fixed frame (3) inner end can be equipped with height adjustment device (5), the height
Degree regulating device (5) is by along vertical frame shape fixed frame (3) the width direction both sides inner wall and along side before and after its thickness direction
What is had is located at vertical chute two along vertical chute one (6) and vertical chute two (7), the both sides sliding end of its short transverse
(7) it in and can be respectively equipped with along its height along the longitudinally connected frame two (8), vertical chute one (6) of the slip of its short transverse
It is vertical fastening frame (10) that upright slide block (9) that direction is slided, upright slide block (9) outer end are fixedly connected with respectively, vertical tight
Gu frame (10) corresponds the longitudinally connected frame one (11) being equipped between the middle part of end, the interior top of the vertical frame shape fixed frame (3)
And correspond to lifting cylinder (12), the interior top of the vertical frame shape fixed frame (3) that longitudinally connected two (8) medium position of frame is fixed with
Several sprocket wheels (39) and distinguish one end and longitudinally connected frame that end and longitudinally connected one (11) position of frame of correspondence are uniformly fixed with
Two (8) connection other end passes through chain (13) composition that sprocket wheel (39) is connect with longitudinally connected frame one (11), the vertical fastening
Frame (10) upper end is hinged with cross-brace frame (14) respectively, and vertical fastening frame (10) lower end is equipped with tilt cylinders one
(15) and the piston rod of the tilt cylinders one (15) is connect with the cross-brace frame (14), the cross-brace frame (14) it
Between be equipped with situation monitoring device (16), the situation monitoring device (16) be by the cross-brace frame (14) correspond end and
The rectangle sliding slot (17) for the certain length being provided with along its length respectively is set on it along rectangle sliding slot (17) length direction respectively
External separated by a distance one group travelling nut (19), the travelling nut being cased with respectively of screw (18), screw (18) of inner cavity
(19) the longitudinal sliding motion block one (20) and longitudinal sliding motion block two (21) that are respectively equipped between each other along the longitudinal direction and set on longitudinal direction
Transmission component (22) composition on link one (11), longitudinal sliding motion block one (20) middle part are hinged with main mechanical arm (23),
Lower end is movably equipped with telescopic cylinder one (24) in the middle part of the longitudinal sliding motion block two (21), and the main mechanical arm (23) is square along its length
To and its corresponding hinged end position opposite side be hinged with time mechanical arm (25), the secondary mechanical arm (25) is along its length and right
Should its hinged end position opposite side be equipped with grabbing assembly (26), main mechanical arm (23) hinged end and along its length downwards
Extend certain length, main mechanical arm (23) elongated end and the elongated sliding slot (27) for being provided with certain length along its length,
The sliding seat (28) slided along its length is equipped in the elongated sliding slot (27), along elongated sliding slot (27) length direction
Side inner end is fixed with telescopic cylinder two (29), and sliding seat (28) described in the piston rod end of the telescopic cylinder one (24)
Flexible connection.
A kind of 2. Simple manipulator according to claim 1, which is characterized in that the piston rod in the lifting cylinder (12)
It sets straight down, and its piston rod end is connect with the longitudinally connected frame two (8), the gantry base (1) is equipped with negative
Pouring weight.
3. a kind of Simple manipulator according to claim 1, which is characterized in that the longitudinal sliding motion block one (20) and longitudinal direction
Sliding shoe two (21) is equipped with active connection, described one (20) distance of longitudinal sliding motion block between the travelling nut (19) respectively
Cross-brace frame (14) hinged end air line distance length is more than the longitudinal sliding motion block two (21) apart from the cross-brace
Frame (14) hinged end air line distance length.
A kind of 4. Simple manipulator according to claim 1, which is characterized in that the screw (18) along its length one
It holds s and is stretched out through cross-brace frame (14) hinged end, the transmission component (22) is by the longitudinally connected frame one
(11) middle part be equipped with rotary electric machine (30), rotary electric machine (30) round end connection transmission shaft (31), be placed on transmission shaft (31)
On one group of driving pulley (32), the driven pulley (33) that is cased with respectively of the screw (18) external part and driving pulley (32) and
Belt (34) composition being respectively equipped between driven pulley (33).
5. a kind of Simple manipulator according to claim 4, which is characterized in that transmission shaft (31) activity is through described
Inner cavity stretching in the middle part of longitudinally connected frame one (11), the driving pulley (32) and driven pulley (33) installation position do not influence described
The movement of longitudinally connected frame two (8), the screw (18) do not influence described through cross-brace frame (14) hinged end stretching
The rotation of cross-brace frame (14).
A kind of 6. Simple manipulator according to claim 1, which is characterized in that the piston rod of the telescopic cylinder two (29)
End is connect with the sliding seat (28), and secondary mechanical arm (25) hinged end upwardly extends certain length and its elongated end end
Tilt cylinders two (35) are set between main mechanical arm (23) upper end.
7. a kind of Simple manipulator according to claim 1, which is characterized in that the grabbing assembly (26) is by work head
(36), several arch pickup folders (37) being uniformly movably equipped at work head (36) lower edge and arch pickup folder (37) and institute
State tilt cylinders three (38) composition being respectively equipped between work head (36) lower face, the work head (36) and described machinery
Arm (25) lower end connects.
8. a kind of Simple manipulator according to claim 1, which is characterized in that gantry base (1) inner cavity is set on control
Device and supply unit processed, vertical frame shape fixed frame (3) side are equipped with operation panel.
9. a kind of Simple manipulator according to claim 1, which is characterized in that the supply unit is set as accumulator group,
The operation panel is equipped with power knob and several operation keys, and the operation panel and control device pass through conducting wire and the electricity
Source device power positive cathode connects.
10. a kind of Simple manipulator according to claim 1, which is characterized in that PLC system is equipped in the control device
And the lifting cylinder (12) is controlled respectively, tilt cylinders one (15), tilt cylinders two (35), tilt cylinders three (38), is stretched
Cylinder one (24), telescopic cylinder two (29), rotary electric machine (30) control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251591.8A CN108247629A (en) | 2018-03-26 | 2018-03-26 | A kind of Simple manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251591.8A CN108247629A (en) | 2018-03-26 | 2018-03-26 | A kind of Simple manipulator |
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| CN108247629A true CN108247629A (en) | 2018-07-06 |
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| CN201810251591.8A Pending CN108247629A (en) | 2018-03-26 | 2018-03-26 | A kind of Simple manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112139377A (en) * | 2020-09-24 | 2020-12-29 | 扬州创动智能科技有限公司 | Automatic robot is snatched in automation of unloading |
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| CN205734910U (en) * | 2016-07-08 | 2016-11-30 | 黄河科技学院 | Three-dimensional jack catchs type robot mechanical arm mechanism |
| CN107139158A (en) * | 2017-06-20 | 2017-09-08 | 芜湖蓝天工程塑胶有限公司 | Removable Simple manipulator |
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- 2018-03-26 CN CN201810251591.8A patent/CN108247629A/en active Pending
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| GB1331634A (en) * | 1969-10-03 | 1973-09-26 | Commissariat Energie Atomique | Manipulator device |
| CN104015198A (en) * | 2014-06-20 | 2014-09-03 | 深圳市杨森精密机械有限公司 | Joint manipulator and M-shaped both-arm robot with same |
| CN205272035U (en) * | 2016-01-21 | 2016-06-01 | 武汉科技大学 | Engineering machine tool arm of force |
| CN205734910U (en) * | 2016-07-08 | 2016-11-30 | 黄河科技学院 | Three-dimensional jack catchs type robot mechanical arm mechanism |
| CN107139158A (en) * | 2017-06-20 | 2017-09-08 | 芜湖蓝天工程塑胶有限公司 | Removable Simple manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112139377A (en) * | 2020-09-24 | 2020-12-29 | 扬州创动智能科技有限公司 | Automatic robot is snatched in automation of unloading |
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