CN202655984U - Cylinder drive type conveying manipulator - Google Patents
Cylinder drive type conveying manipulator Download PDFInfo
- Publication number
- CN202655984U CN202655984U CN 201220200236 CN201220200236U CN202655984U CN 202655984 U CN202655984 U CN 202655984U CN 201220200236 CN201220200236 CN 201220200236 CN 201220200236 U CN201220200236 U CN 201220200236U CN 202655984 U CN202655984 U CN 202655984U
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- cylinder
- joint mechanical
- slide block
- line rail
- pedestal
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Abstract
The utility model discloses a cylinder drive type conveying manipulator, which comprises a substrate, a servo cylinder, a drive wheel, a conveying strip, a driven wheel, a line rail, a slider block and a five-joint mechanical arm, and is characterized in that the servo cylinder is fixed on the substrate, the drive wheel is hinged with a piston rod of the servo cylinder, the driven wheel is arranged on the upper end face of the substrate, the drive wheel and the driven wheel are provided with the conveying strip, one end of the conveying strip is fixed on the substrate and the other end of the conveying strip is connected with the five-joint mechanical arm; the substrate below the conveying strip is provided with the line rail, the line rail is provided with the slider block, and the five-joint mechanical arm is arranged on the slider block and slides on the line rail along with the slider block. According to the utility model, the conveying manipulator is driven by adopting a cylinder drive mode, a semi-automatic structure is formed by the cylinder, the work piece conveying work in a large-scale automatic production process is realized, the dangerousness of manual operation is reduced, and the whole device has the advantages of compact structure, simple operation and low construction cost.
Description
Technical field
The utility model belongs to the Machining Technology field, specifically just relates to a kind of cylinder driving-type conveying robot for the various workpiece handlings of automated production process.
Background technology
Along with industrial expansion; automation equipment has been widely used in the various production fields; a kind of some holding function that can imitate staff and arm is arranged in the automated production process; in order to grasp by fixed routine; the automatic pilot of carrying object or operation tool is called manipulator; manipulator is the industrial robot that occurs the earliest; also be the modern machines people who occurs the earliest; it can replace people's mechanization and the automation of heavy work to realize producing; can under hostile environment, operate with the protection personal safety, thereby be widely used in machine-building; metallurgical; electronics; the department such as light industry and atomic energy.Manipulator mainly is comprised of hand, motion and control system three parts.Hand is the parts that grasp workpiece (or instrument), according to the shape that is grasped object, size, weight, material and job requirements the various structures form is arranged, such as clamp-type, holding type and absorbent-type etc.Motion makes hand finish various rotations (swing), mobile or compound motion and realizes the action of stipulating changing the position and the posture that are grasped object.The self-movement modes such as the lifting of motion, flexible, rotation are called the free degree of manipulator.In order to grasp the object of optional position and orientation in the space, 6 frees degree need be arranged.The free degree is the key parameter of manipulator design.The free degree is more, and the flexibility of manipulator is larger, and versatility is wider, and its structure is also more complicated.General special manipulator has 2～3 frees degree.Control system is by the control to the motor of each free degree of manipulator, finishes specific action.The receiving sensor feedack forms stable closed-loop control simultaneously.The core of control system normally is made of microcontroller chips such as single-chip microcomputer or DSP, by its programming is realized the function of wanting.The great advantage of manipulator is can be according to predefined movement locus motion, be widely used in lathe, the loading and unloading of production line, fitting turnover, part turns order and anchor clamps change the outfit etc., especially the carrying of auxiliary work-piece, because often tens kilograms of some workpiece, even hundreds of kilograms that weigh, adopt a dead lift clamping, workman's labour intensity is very large, and is easy to occur security incident, and traditional solution is to use row to hang, the auxiliary equipment such as fork truck are used for the carrying of heavy workpiece, but often volume is heavy owing to auxiliary equipment, malfunction, the time-consuming again effort of the clamping of workpiece, be not suitable with the needs of modernized large-scale production, and existing joint Manipulator, although the realization automated handling heavy workpiece of energy easy and flexible, complex structure, cost is higher, is difficult to promote on a large scale.
The utility model content
The purpose of this utility model provides the semi-automatic structure that a kind of cylinder driving-type conveying robot combines chain drive and manipulator, realize the workpiece handling work in the mass automatic production process, whole compact equipment, easy to operate, cheap, be easy to promote on a large scale.
Technical scheme
In order to solve above-mentioned technical barrier, the utility model designs a kind of cylinder driving-type conveying robot, comprise pedestal, servo cylinder, driving wheel, transmission bar, driven pulley, line rail, slide block and five joint mechanical arms, it is characterized in that: described servo cylinder is fixed on the pedestal, driving wheel and servo cylinder piston rod chain connection, driven pulley is installed in the pedestal upper surface, and the transmission bar is housed on driving wheel and the driven pulley, transmit bar one end and be fixed on the pedestal, the other end is connected with five joint mechanical arms; Transmit on the pedestal of bar correspondence below wired rail is installed, on the line rail slide block is housed, five joint mechanical arms are contained on the slide block and can slide on the online rail of slide block.
Be equipped with on the described line rail slide block quantity at least one, five joint mechanical arms are housed on each slide block.
Described driving wheel and driven pulley are gears, and transmitting bar is chain.
Beneficial effect
The utility model adopts the air cylinder driven pattern, drives conveying robot, utilizes cylinder to form semi-automatic structure, realize the workpiece handling work in the mass automatic production process, reduced manually-operated danger, whole apparatus structure is compact, simple to operate, cheap.
Description of drawings
Accompanying drawing 1 is the front view of the utility model the first embodiment.
Accompanying drawing 2 is top views of the utility model the first embodiment.
Accompanying drawing 3 is front views of the utility model the second embodiment.
Accompanying drawing 4 is top views of the utility model the second embodiment duty.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is described further.
Shown in attached Fig. 1 and 2, the first embodiment of the present utility model, in order to solve above-mentioned technical barrier, the utility model designs a kind of cylinder driving-type conveying robot, comprise pedestal 1, servo cylinder 2, driving wheel 3, transmit bar 4, driven pulley 5, line rail 6, slide block 7 and five joint mechanical arms 8, it is characterized in that: described servo cylinder 2 is fixed on the pedestal 1, driving wheel 3 and servo cylinder 2 piston rod chain connections, driven pulley 5 is installed in pedestal 1 upper surface, be equipped with on driving wheel 3 and the driven pulley 5 and transmit bar 4, transmit bar 4 one ends and be fixed on the pedestal 1, the other end is connected with five joint mechanical arms 8; Transmit on the bar 4 corresponding below pedestals 1 wired rail 6 is installed, slide block 7, five joint mechanical arms 8 are housed on the line rail 6 are contained on the slide block 7 and can on slide block 7 online rails 6, slide.
Described driving wheel 3 and driven pulley 5 are gears, and transmitting bar 3 is chains.
Servo cylinder 2 is fixed on the pedestal 1, driving wheel 3 and servo cylinder 2 piston rod chain connections, chain one end is fixed on the pedestal 1, the other end is connected with five joint mechanical arms 8, line rail 6 is fixed on the pedestal 1, slide block 7 is connected with five joint mechanical arms 8, the piston rod of servo cylinder 2 drives driving wheel 3 and moves up and down, by chain drive, make five joint mechanical arms 8 realize the motion of vertical direction, owing to adopting servo cylinder 2, so five joint mechanical arms 8 can vertically located arbitrarily in the stroke range, and five joint mechanical arms 8 can be around pedestal 360 degree rotations, and this air cylinder driven carrying robot arm can in certain 3D region, be realized the point-to-point carrying of workpiece.
Shown in accompanying drawing 3 and 4, the second embodiment of the present utility model.The quantity that slide block 7 is housed on the described line rail 6 is two, and five joint mechanical arms 8 are housed on each slide block 7.
The utility model adopts the air cylinder driven pattern, drives conveying robot, utilizes cylinder to form semi-automatic structure, realize the workpiece handling work in the mass automatic production process, reduced manually-operated danger, apparatus structure is compact really, simple to operate, cheap.
Claims (3)
1. cylinder driving-type conveying robot, comprise pedestal (1), servo cylinder (2), driving wheel (3), transmit bar (4), driven pulley (5), line rail (6), slide block (7) and five joint mechanical arms (8), it is characterized in that: described servo cylinder (2) is fixed on the pedestal (1), driving wheel (3) and servo cylinder (2) piston rod chain connection, driven pulley (5) is installed in pedestal (1) upper surface, be equipped with on driving wheel (3) and the driven pulley (5) and transmit bar (4), transmit bar (4) one ends and be fixed on the pedestal (1), the other end is connected with five joint mechanical arms (8); Transmit the upper wired rail (6) of installing of bar (4) corresponding below pedestal (1), slide block (7) is housed on the line rail (6), and five joint mechanical arms (8) are contained in can be with upper slip of the online rail (6) of slide block (7) on the slide block (7).
2. a kind of cylinder driving-type conveying robot as claimed in claim 1 is characterized in that: be equipped with on the described line rail (6) slide block (7) quantity at least one, five joint mechanical arms (8) are housed on each slide block (7).
3. a kind of cylinder driving-type conveying robot as claimed in claim 1, it is characterized in that: described driving wheel (3) and driven pulley (5) they are gears, transmitting bar (3) is chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220200236 CN202655984U (en) | 2012-05-05 | 2012-05-05 | Cylinder drive type conveying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220200236 CN202655984U (en) | 2012-05-05 | 2012-05-05 | Cylinder drive type conveying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202655984U true CN202655984U (en) | 2013-01-09 |
Family
ID=47450917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220200236 Expired - Lifetime CN202655984U (en) | 2012-05-05 | 2012-05-05 | Cylinder drive type conveying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202655984U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070539A (en) * | 2013-03-29 | 2014-10-01 | 发那科株式会社 | Multi-joint robot having gas spring, and method for estimating inner pressure of the gas spring |
| CN106013816A (en) * | 2016-06-02 | 2016-10-12 | 济宁山云宇内机电科技有限公司 | Novel stand column robot |
| CN107934549A (en) * | 2017-12-23 | 2018-04-20 | 无锡市创恒机械有限公司 | The device drawn is realized using cylinder |
-
2012
- 2012-05-05 CN CN 201220200236 patent/CN202655984U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070539A (en) * | 2013-03-29 | 2014-10-01 | 发那科株式会社 | Multi-joint robot having gas spring, and method for estimating inner pressure of the gas spring |
| CN104070539B (en) * | 2013-03-29 | 2015-09-09 | 发那科株式会社 | The method of the articulated robot possessing air spring and the interior pressure inferring air spring |
| CN106013816A (en) * | 2016-06-02 | 2016-10-12 | 济宁山云宇内机电科技有限公司 | Novel stand column robot |
| CN106013816B (en) * | 2016-06-02 | 2019-05-10 | 济宁山云宇内机电科技有限公司 | A kind of column robot |
| CN107934549A (en) * | 2017-12-23 | 2018-04-20 | 无锡市创恒机械有限公司 | The device drawn is realized using cylinder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: ZHIYOU ROBOT (SHANGHAI) CO., LTD. Free format text: FORMER OWNER: MARTIN LORD ROBOT (SHANGHAI) CO., LTD. Effective date: 20150519 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 201899 JIADING, SHANGHAI TO: 200131 PUDONG NEW AREA, SHANGHAI |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20150519 Address after: 200131 Shanghai city Chinese (Shanghai) Free Trade Zone No. 399 North Road, building 2, 376 foot position Patentee after: Ideal robot (Shanghai) Co., Ltd. Address before: 201899, room 7, building 333, 1210 Chengbei Road, Shanghai, Jiading District Patentee before: Martin Luther Robotics (Shanghai) Co., Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130109 |