CN202097744U - Manipulator crank arm transmission structure assembly for robot palletizer - Google Patents
Manipulator crank arm transmission structure assembly for robot palletizer Download PDFInfo
- Publication number
- CN202097744U CN202097744U CN2011200638122U CN201120063812U CN202097744U CN 202097744 U CN202097744 U CN 202097744U CN 2011200638122 U CN2011200638122 U CN 2011200638122U CN 201120063812 U CN201120063812 U CN 201120063812U CN 202097744 U CN202097744 U CN 202097744U
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- CN
- China
- Prior art keywords
- arm
- manipulator
- robot palletizer
- crank arm
- forearm
- Prior art date
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- Expired - Fee Related
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Abstract
The utility model discloses a manipulator crank arm transmission structure assembly used for a robot palletizer, which comprises a digital-control turning table, a base, a big arm, a crank arm, a small arm, a connecting rod and a servo motor, wherein the small arm is connected with the big arm; and the manipulator crank arm transmission structure assembly used for the robot palletizer is characterized in that cavities are formed on the left side and the right side of the base respectively, wherein harmonic gears are fixedly arranged in the cavities, the big arm and the small arm are correspondingly connected with the harmonic gears in the cavities on the left side and the right side respectively through intermediate flange plates, and the crank arm and the small arm are connected into a whole through the connecting rod. The big arm, the small arm, the crank arm and the connecting rod are designed into the integral framework structure, so that the rigidity of the integral structure is enhanced, meanwhile, the stability of the manipulator arm of the numerical control robot is enhanced, the rotational speed of the servo motor is decreased through the harmonic gears, the transmission of large torque is formed, and the defect that the traditional robot palletizer fails to carry heavy goods is further overcome.
Description
Technical field
The utility model relates to the assembling of a kind of connecting rod cap and uses instrument, particularly relates to a kind of manipulator that is used for robot palletizer drive mechanism assembly of cranking arm.
Background technology
Manipulator is some holding function of imitation staff and arm; Automatic pilot through fixed routine extracting, carrying object or operation tool; As shown in Figure 1, traditional robot palletizer manipulator comprises numerical control rotating platform 11, pedestal 12, big arm 13, cranks arm, forearm 14, link rod and servomotor 15, and numerical control rotating platform 11 is as the bottom platform of robot; Pedestal 12 is through being bolted on the numerical control rotating platform 11; Big arm 13 is fixed on the pedestal 12 through annexes such as harmonic gears, and forearm 14 is installed on the big arm 13 through annexes such as rolling bearings, and servomotor 15 can drive pedestal 12 to carry out 360 ° and rotate freely motion; Big arm 13 and the direct respectively action of accomplishing swings and moving up and down through servomotor 15 of forearm 14; Make that the structural rigidity of traditional robot palletizer manipulator is poor, can not carrying heavy goods, when grasping weight, often shake.
Because the defective that above-mentioned existing robot palletizer manipulator exists, the design people actively studies innovation, in the hope of the manipulator of the buttress robot of the founding a kind of new structure drive mechanism assembly of cranking arm, makes it have more practicality.
The utility model content
The main purpose of the utility model is; Overcome the defective that existing robot palletizer manipulator exists; And the manipulator that a kind of buttress robot of new structure the is provided drive mechanism assembly of cranking arm, technical problem to be solved is to make the rigidity of its integral device strong, extracting weight that simultaneously can be stable; Thereby be suitable for practicality more, and have the value on the industry.
The purpose of the utility model and solve its technical problem and adopt following technical scheme to realize.The manipulator that is used for robot palletizer that proposes according to the utility model drive mechanism assembly of cranking arm; Comprise numerical control rotating platform, pedestal, big arm, crank arm, forearm, link rod and servomotor; Said forearm is connected with big arm; The left and right sides of said pedestal is provided with die cavity, is set with harmonic gear in the die cavity of the said left and right sides, said big arm and said forearm all through excessive ring flange corresponding respectively be installed in left and right sides die cavity in harmonic gear be connected; Said cranking arm is connected in aggregatesly with said forearm through link rod, said driven by servomotor harmonic gear drives big arm and the rotation of cranking arm is accomplished reaching up and down of mechanical arm and moved forward and backward.
The aforesaid manipulator that the is used for robot palletizer drive mechanism assembly of cranking arm, wherein said cranking arm is connected in aggregates with the connecting pin of said forearm through the link rod two ends.
The aforesaid manipulator that the is used for robot palletizer drive mechanism assembly of cranking arm, wherein said harmonic gear is fixed in the left and right sides of said die cavity through gland.
By technique scheme, the manipulator that the utility model the is used for robot palletizer drive mechanism assembly of cranking arm has advantage at least:
The manipulator that is used for robot palletizer of the utility model drive mechanism assembly of cranking arm; Through with big arm, forearm, crank arm and link rod is designed to the general frame structure; Improve integrally-built rigidity, also promoted the stability of the mechanical arm of numerical control robot simultaneously, utilized harmonic gear that the servomotor rotating speed is reduced; Form the transmission of high pulling torque, overcome the defective that traditional robot palletizer can not carrying heavy goods.
In sum, the manipulator that is used for robot palletizer of the utility model special construction drive mechanism assembly of cranking arm, it has above-mentioned many advantages and practical value, thereby is suitable for practicality more.
Above-mentioned explanation only is the general introduction of the utility model technical scheme, in order more to know the technological means of understanding the utility model, and can implement according to the content of specification, below with the preferred embodiment of the utility model and conjunction with figs. specify as after.
Description of drawings
Fig. 1 is the front view of traditional robot palletizer manipulator;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the crank arm front view of drive mechanism assembly of the described manipulator that is used for robot palletizer of the utility model;
Fig. 4 is the left view of Fig. 3.
The specific embodiment
For further setting forth the utility model is to reach technological means and the effect that predetermined utility model purpose is taked, below in conjunction with accompanying drawing and preferred embodiment, to the specific embodiment of the utility model specify as after.
Like Fig. 3 and shown in Figure 4; The utility model numerical control robot-manipulator drive mechanism assembly of cranking arm; Comprise numerical control rotating platform 201, pedestal 202, big arm 203, forearm 204, crank arm 205, link rod 206 and servomotor 207; The numerical control rotating platform 201 of the utility model is as the bottom platform of robot, and pedestal 202 adopts and is bolted on the numerical control rotating platform 201, carries out 360 ° of revolutions through servomotor 207 driving numerical control rotating platforms 201 drive pedestals 202 and accomplishes spinning movement; First harmonic gear 209 and second harmonic gear 214 are fixed in the die cavity that the left and right sides of pedestal 202 is provided with through gland 208; First harmonic gear 209 in big arm 203 utilizes the first excessive ring flange 210 and is installed in the left side die cavity is connected; forearm 204 utilizes the bearing and first connecting pin 212 to be connected with big arm 203; 205 the second harmonic gears 214 in utilizing the second excessive ring flange 211 and being installed in the right side die cavity of cranking arm are connected; the forearm 204 and 205 first connecting pins 212 through link rod 206 two ends of cranking arm are connected into tetragonal overall structure; will improve the integrally-built rigidity of the utility model; also promoted the stability of the mechanical arm of numerical control robot simultaneously, rotate moving up and down of completion mechanical arms through the big arm 203 of first harmonic gear 209 drives in servomotor 207 driving pedestals 202 die cavities, cranks arm through first harmonic gear 209 drives in servomotor 207 driving pedestals 202 die cavities and 205 rotates moving forward and backward of completion mechanical arms.Utilize first harmonic gear 209 and the rotating speed of second harmonic gear 214 to reduce, formed the transmission of high pulling torque, the perfect piling function of numerical control industrial robot servomotor 207.
The above; It only is the preferred embodiment of the utility model; Not being that the utility model is done any pro forma restriction, though the utility model with the preferred embodiment exposure as above, yet is not in order to limit the utility model; Anyly be familiar with the professional and technical personnel; In not breaking away from the utility model technical scheme scope, make a little change or be modified to the equivalent embodiment of equivalent variations when the technology contents of above-mentioned announcement capable of using, be the content that does not break away from the utility model technical scheme in every case;, all still belong in the scope of the utility model technical scheme any simple modification, equivalent variations and modification that above embodiment did according to the technical spirit of the utility model.
Claims (3)
1. the manipulator that the is used for robot palletizer drive mechanism assembly of cranking arm; Comprise numerical control rotating platform, pedestal, big arm, crank arm, forearm, link rod and servomotor; Said forearm is connected with big arm; It is characterized in that the left and right sides of said pedestal is provided with die cavity, be set with harmonic gear in the die cavity of the said left and right sides; Said big arm and said forearm all through excessive ring flange corresponding respectively be installed in left and right sides die cavity in harmonic gear be connected, said cranking arm is connected in aggregates with said forearm through link rod.
2. the manipulator that the is used for robot palletizer according to claim 1 drive mechanism assembly of cranking arm is characterized in that, said cranking arm is connected in aggregates with the connecting pin of said forearm through the link rod two ends.
3. the manipulator that the is used for robot palletizer according to claim 1 drive mechanism assembly of cranking arm is characterized in that said harmonic gear is fixed in the left and right sides of said die cavity through gland.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200638122U CN202097744U (en) | 2011-08-01 | 2011-08-01 | Manipulator crank arm transmission structure assembly for robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200638122U CN202097744U (en) | 2011-08-01 | 2011-08-01 | Manipulator crank arm transmission structure assembly for robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202097744U true CN202097744U (en) | 2012-01-04 |
Family
ID=45383777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200638122U Expired - Fee Related CN202097744U (en) | 2011-08-01 | 2011-08-01 | Manipulator crank arm transmission structure assembly for robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202097744U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820857A (en) * | 2018-07-18 | 2018-11-16 | 浙江辛帝亚自动化科技有限公司 | A kind of automatic transfer mechanical arm |
| CN112141731A (en) * | 2020-09-17 | 2020-12-29 | 无锡满夫智能装备科技有限公司 | Stacking industrial robot manufactured intelligently |
-
2011
- 2011-08-01 CN CN2011200638122U patent/CN202097744U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820857A (en) * | 2018-07-18 | 2018-11-16 | 浙江辛帝亚自动化科技有限公司 | A kind of automatic transfer mechanical arm |
| CN112141731A (en) * | 2020-09-17 | 2020-12-29 | 无锡满夫智能装备科技有限公司 | Stacking industrial robot manufactured intelligently |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120104 Termination date: 20170801 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |