CN203427031U - Automatic transporter - Google Patents
Automatic transporter Download PDFInfo
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- CN203427031U CN203427031U CN201320397570.XU CN201320397570U CN203427031U CN 203427031 U CN203427031 U CN 203427031U CN 201320397570 U CN201320397570 U CN 201320397570U CN 203427031 U CN203427031 U CN 203427031U
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Abstract
The utility model provides an automatic transporter which comprises a work table, a ball screw assembly, a spline shaft assembly, a mechanical arm and a driving system, wherein the ball screw assembly is connected with the spline shaft assembly, the spline shaft assembly is connected with the mechanical arm, and the driving system drives the ball screw assembly and the spline shaft assembly to move. According to the automatic transporter, the ball screw assembly and the spline shaft assembly enable a grabbing component of the mechanical arm to flexibly move vertically and horizontally. In addition, the motion accuracy of the ball screw assembly and the spline shaft assembly is high, and therefore the accuracy of the grabbing component of the mechanical arm is improved, and the safety performance of the part is guaranteed.
Description
Technical field
The utility model relates to haulage equipment, more specifically relates to a kind of automatic carrying machine working.
Background technology
In life now, under progress scientific and technological with rapid changepl. never-ending changes and improvements, automatic carrying machine working has more and more been subject to people's concern and use.Automatic carrying machine working is recursive does same action, and working strength is higher.In actual use, the operation inertia of automatic carrying machine working is less, highly versatile, can capture the workpiece near support, and the barrier that can walk around between body and work mechanism carries out work.Along with the needs of producing, the flexibility of automatic carrying machine working, positioning precision and working space etc. are proposed to more and more higher requirement.
In order to capture the object of the optional position in space, complete lifting, the self-movement mode such as flexible, the manipulator of automatic carrying machine working needs six-freedom degree.The free degree of the automatic carrying machine working of prior art is less, causes the flexibility of manipulator of automatic carrying machine working not high, positioning precision is lower.
Utility model content
The utility model provides a kind of freedom of motion and the higher automatic carrying machine working of precision.
According to an aspect of the present utility model, a kind of automatic carrying machine working is provided, comprise workbench, ball screw assembly, splined shaft assembly, manipulator and drive system, ball screw assembly is connected with splined shaft assembly, splined shaft assembly is connected with manipulator, the motion of drive systems ball screw assembly, the rotation of drive systems splined shaft assembly.The utility model is realized the movement of freedom and flexibility up and down of the gripper components of manipulator by ball screw assembly and splined shaft assembly, the motion precision of ball screw assembly and splined shaft assembly is higher in addition, thereby improved the accuracy of manipulator crawl parts, guaranteed the security performance of parts.
In some embodiments, automatic carrying machine working also comprises control panel, and control panel is connected with control system, and control system is PLC control system, and PLC control system is connected with drive system.By control panel, carry out control PLC control system, facilitate the operation of staff to the utility model automatic carrying machine working.
In some embodiments, splined shaft assembly is arranged in the first cabinet, and ball screw assembly is arranged in the second cabinet, and the first cabinet is positioned at the top of the second cabinet.
In some embodiments, in the second cabinet, lubricating coupler is installed, lubricating coupler is connected with manipulator with ball screw assembly, splined shaft assembly respectively.Lubricating coupler is lubricated the main motion parts of automatic carrying machine working, extends its service life.
In some embodiments, workbench comprises platform, the first guide post, platform holder, adjusting screw(rod) and guide holder, adjusting screw(rod) is connected with guide holder, first guide post one end is connected on platform, the other end of the first guide post is connected on guide holder, the first guide post is through platform holder, platform fixed seating is between platform and guide holder, platform holder is provided with the first screwed hole, the screw thread of the first screwed hole of the external screw thread on adjusting screw(rod) and platform holder matches, and adjusting screw(rod) is located in the first screwed hole of platform holder.When rotation adjusting screw(rod), adjusting screw(rod) moves up and down in platform holder, drive the guide holder being fixedly connected with adjusting screw(rod) to move up and down, guide holder move up and down moving up and down of the first guide post that drive is fixedly connected with it, thereby moving up and down of the platform that drive is fixedly connected with the first guide post, realizes and will be placed on the transfer of the parts on platform.
In some embodiments, ball screw assembly comprises ball screw and the first servomotor that drives ball screw to rotate, and ball screw is set in screw rodb base, and screw rodb base is connected with tooth bar support, tooth bar support is provided with the first tooth bar, and one end of the first tooth bar is connected with tooth bar support.Ball screw rotarily drive moving up and down of screw rodb base, screw rodb base move up and down moving up and down of the first tooth bar support that drive is fixedly connected with it, the moving up and down of the first tooth bar support drives the moving up and down of the first tooth bar that is fixed on the first tooth bar support upper end.The frictional force precision less and motion of ball screw is higher, guarantees that the precision of the first tooth bar motion is higher.
In some embodiments, splined shaft assembly comprises splined shaft and the second servomotor that drives splined shaft to rotate, slip cap on splined shaft, slip cap is flexibly connected on the axial direction of splined shaft with splined shaft, slip cap and splined shaft being fixedly connected with in the radial direction at splined shaft, slip cap fixed cover is located in ball guideway, and the periphery of ball guideway is fixedly connected with gear.On splined shaft, offer the first keyway, on slip cap, offer the second keyway, between splined shaft and ball, be provided with steel ball, between first keyway of steel ball on splined shaft and the second keyway on slip cap, roll, slip cap can be moved by the axial direction along splined shaft on splined shaft, and upwards fixing in the footpath of splined shaft.The slip cap movement that moving belt moving gear makes progress the party on splined shaft is axial; Due to slip cap in splined shaft footpath, make progress fixing, make the rotation of splined shaft can drive the rotation of slip cap, thus the rotation of driven gear.
In some embodiments, manipulator comprises axle bar, Suction cup assembly and roller groove support, Suction cup assembly comprises sucker bar and sucker, sucker bar one end is connected with axle bar, the sucker bar other end is connected with sucker, axle bar is arranged in roller groove support, and a plurality of rollers are installed in roller groove support, and axle bar is fastened between a plurality of rollers.In actual applications, roller groove support can move up and down, and axle bar is stuck among the roller in roller groove support, and axle bar comes and goes mobile in roller groove support, and axle bar and roller groove support carry out transmission by roller; Realize axle bar fixing in the radial direction, round the moving freely on axle bar axial direction; Sucker on axle bar holds parts to be carried to carry.Moving up and down of roller groove support drives moving up and down of sucker, and moving left and right of axle bar drives moving left and right of sucker, and manipulator holds parts by sucker, avoids traditional manipulator, in crawl process, parts are caused to damage.
In some embodiments, drive system comprises the first servomotor that drives ball screw and the second servomotor that drives splined shaft rotation.
Accompanying drawing explanation
Fig. 1 is the explosive view of the automatic carrying machine working of the utility model one embodiment;
Fig. 2 is the assembling schematic diagram of the automatic carrying machine working of the utility model one embodiment.
Fig. 3 is the explosive view of workbench of the automatic carrying machine working of the utility model one embodiment;
Fig. 4 is the assembling schematic diagram of workbench of the automatic carrying machine working of the utility model one embodiment;
Fig. 5 is the assembling schematic diagram of guide holder, guide post, adjusting screw(rod) and platform holder of workbench of the automatic carrying machine working of the utility model one embodiment;
Fig. 6 is the explosive view of ball screw of the automatic carrying machine working of the utility model one embodiment;
Fig. 7 is the assembling schematic diagram of ball screw of the automatic carrying machine working of the utility model one embodiment;
Fig. 8 is the explosive view of splined shaft of the automatic carrying machine working of the utility model one embodiment;
Fig. 9 is the manipulator assembly drawing of the automatic carrying machine working of the utility model one embodiment;
Figure 10 is the manipulator explosive view of the automatic carrying machine working of the utility model one embodiment;
Figure 11 is the explosive view of roll wheel assembly of the automatic carrying machine working of the utility model one embodiment;
Figure 12 is the end-view of roller, axle bar and the roller groove support of the automatic carrying machine working of the utility model one embodiment;
Figure 13 is the upward view of roller groove support of the automatic carrying machine working of the utility model one embodiment;
Figure 14 is the structural representation of axle bar of the automatic carrying machine working of the utility model one embodiment;
Figure 15 is the structural representation of cylinder, sucker stand and rack plate of the automatic carrying machine working of the utility model one embodiment.
Figure 16 is the sucker stand of automatic carrying machine working and the structural representation of sucker bar of the utility model one embodiment.
The specific embodiment
As shown in Figure 1-2, the utility model provides a kind of automatic carrying machine working, comprises workbench 1, ball screw assembly 2, splined shaft assembly 3 and manipulator 4.Workbench 1 is connected with the second cabinet 52 of automatic carrying machine working, workbench 1 is positioned at the outside of the second cabinet 52, ball screw assembly 2 is fixedly mounted in the second cabinet 52, and splined shaft assembly 3 is fixedly mounted in the first cabinet 51, and manipulator 4 is positioned at the first cabinet 51 outsides.Ball screw assembly 2 is connected with splined shaft assembly 3, and splined shaft assembly 3 is connected with manipulator 4.
As in Figure 3-5, workbench 1 comprises platform 11, the first guide post 12, platform holder 13, adjusting screw(rod) 14 and guide holder 15.The lower surface of platform 11 is fixedly connected with platform base 17 by screw.Platform base 17 is provided with two the 3rd screwed holes 171, and in the present embodiment, the workbench 1 of automatic carrying machine working is provided with two the first guide posts 12.The first guide post 12 is provided with screwed hole with one end that platform base 17 is connected, thereby on screw precession platform base 17, the screwed hole of the 3rd screwed hole 171 and the first guide post 12 ends is fixed on two the first guide posts 12 on platform base 17.
When needs move up platform 11, the 3rd body of rod 144 on rotation adjusting screw(rod) 14, thereby drive in first screwed hole 134 of threaded rod 141 on platform holder 13, rotate, and platform holder 13 is to be fixed in the frame of automatic carrying machine working, rotation in first screwed hole 134 of the threaded rod 141 of adjusting screw(rod) 14 on platform holder 13 is converted into moving up and down of adjusting screw(rod) 14, moving up and down of adjusting screw(rod) 14 drives moving up and down of guide holder 15, moving up and down of guide holder 15 drives moving up and down of the first guide post 12, moving up and down of the first guide post 12 drives moving up and down of platform base 17, platform base 17 move up and down moving up and down of platform 11 that drive is fixedly connected with it.
The upper surface of platform 11 is flexibly connected a plurality of platform paws 16, and platform paw 16 is place sidewards L shaped.The middle part of platform paw 16 offers the first groove 161, and the upper surface of platform 11 offers the second groove 111, and screw is through the second groove 111 on platform 11 and the first groove 161 on platform paw 16, thereby platform paw 16 and platform 11 are coupled together.Platform paw 16 can rotate around screw in the upper surface of platform 11, can also move along the second groove 111 on platform 11 and the first groove 161 on platform paw 16 simultaneously.A plurality of platform paws 16 can move splicing according to the shape of part to be moved, and part to be moved are placed in the space of a plurality of platform paw 16 splicings, guarantee to treat the safety of moving parts.
As shown in Fig. 6-7, ball screw assembly 2 comprises ball screw 21, screw rodb base 22, tooth bar support 23, the first tooth bar 24, the first servomotor 25 and bounce cylinder 26.
The upper end of ball screw 21 is provided with the first fixed head 27, and the upper end of ball screw 21 is fixedly connected with the first synchronizing wheel 211 through the first fixed head 27.The first servomotor 25 is arranged on the first fixed head 27 by fixed head 210.The first fixed head 27 is with square breach, and fixed head 210 is fixed by screws in the square breach of the first fixed head 27, and the first servomotor 25 is fixed by screws on fixed head 210.Fixed head 210 is provided with circular hole, and the turning cylinder of the first servomotor 25 is fixedly connected with the second synchronizing wheel 251 through the breach of the first fixed head 27 and the circular hole of fixed head 210.The first synchronizing wheel 211 is connected by Timing Belt 29 with the second synchronizing wheel 251.The rotation of the first servomotor 25 is converted into moving up and down of the first tooth bar 24 by ball screw 21, and the rotation that the first servomotor 25 is ball screw 21 provides power.
The lower end of tooth bar support 23 is connected with bounce cylinder 26 by cylinder nut 261, and the expansion link of bounce cylinder 26 is connected with tooth bar support 23 through the second fixed head 28.Bounce cylinder 26 is fixedly mounted on the second fixed head 28.When there being emergency case to occur; while causing whole ball screw assembly interruption of work, the first tooth bar 24 motional inertias are larger, and the expansion link of bounce cylinder 26 is all the time in stretching out state; withstand the first tooth bar 24 sharply moving down, play the effect of protection ball screw assembly.Between the first fixed head 27 and the second fixed head 28, be vertically installed with two screw mandrel supports, two screw mandrel supports be arranged in parallel, lay respectively at the both sides of ball screw 21.
The first fixed head 27 is fixed by screws on the upper surface of the second cabinet 52 of carrying implement, thereby ball screw assembly 2 is fixed on to and on the upper surface of cabinet 52.
In screw rodb base 22, movable sleeve is provided with the both sides that 221, two the second guide posts 221 of two the second guide posts are positioned at ball screw 21, and two the second guide posts 221 be arranged in parallel with ball screw 21.The second guide post 221 is cylindrical, and screw rodb base 22 is provided with two and is greater than the circular hole that diameter is greater than guide post 221 external diameters, and two guide posts 221 are respectively through two circular holes on screw rodb base 22, and guide post 221 can move by easy on and off in screw rodb base 22.The upper end of guide post 221 is fixed by screws on the first fixed head 27, and the lower end of guide post is fixed by screws on the second fixed head 28.During ball screw 21 work, screw rodb base 22 moves up and down along guide post 221, guarantees that screw rodb base 22 moves along straight line.
On tooth bar support 23, parallel being fixed with on two the first tooth bar 24, the first tooth bars 24 is engaged with gear 241, and gear 241 fixed covers are located on gear shaft 242.Gear shaft 242 can rotate, and gear shaft 242 is vertical with the first tooth bar 24.When the first tooth bar 24 moves up and down, drive the gear 241 being engaged with to rotate, the rotation of gear 241, all the time around gear shaft 242, guarantees that the first tooth bar 24 moves along the track of straight line.
As shown in Figure 8, splined shaft assembly 3 comprises splined shaft 31, slip cap 32, ball guideway 33, gear 34 and the second servomotor 35.
The upper end of ball guideway 33 is fixedly connected with the first gear stand 361, and the lower end of ball guideway 33 is fixedly connected with the second tooth rest 362.The lower end of the second gear stand 362 is provided with tooth bar axle bed 3621.Between the first gear stand 361 and the second tooth rest 362, be provided with gear stand riser 37, the first tooth rest 361 and the second tooth rest 362 be arranged in parallel, the setting vertical with gear stand riser 37 of the first gear stand 361, the two ends of gear stand riser 37 are separately fixed on the first gear stand 361 and the second gear stand 362.The first gear stand 361, the second gear stand 362 and two gear stand risers 37 are positioned at the surrounding of gear 34, gear 34 are played to the effect of protection.
On the second servomotor 35, be connected with decelerator 38, on the turning cylinder of decelerator 38, fixed cover is provided with the second synchronizing wheel 381, and the upper end fixed cover of splined shaft 31 is provided with the first synchronizing wheel 312, the first synchronizing wheels 312 and the second synchronizing wheel 381 passes through Timing Belt 39 transmissions.The rotation of the second servomotor 35 drives the rotation of splined shaft 31 by Timing Belt 39.
The upper end of splined shaft 31 is arranged in the first flange 3131 by bearing, and the first flange 3131 is fixedly mounted on the upper surface of the first cabinet 51 by screw; The lower end of splined shaft 31 is arranged in the second flange by bearing, and the second flange is fixedly mounted on the lower surface of the first cabinet 52 by screw, thereby splined shaft 31 is fixedly mounted in the first cabinet 51.
The upper end of two the first parallel tooth bars 24 on ball screw assembly 2 is fixedly connected with the tooth bar axle bed 3621 of splined shaft assembly 3 lower ends by screw, thereby ball screw assembly 2 and splined shaft assembly 3 are coupled together.
As shown in Fig. 9-16, manipulator 4 comprises axle bar 41, Suction cup assembly 42, roller groove support 43 and over cap 44.Suction cup assembly 42 is positioned at the side of axle bar 41.The second tooth bar 47 and Suction cup assembly 42 lay respectively at the both sides of axle bar 41, and the second tooth bar 47 is fixedly mounted on axle bar 41 by being positioned at the second tooth bar catch 471 at the second tooth bar 47 two ends.Suction cup assembly 42 comprises air cylinder support, sucker stand 422, sucker bar 423 and sucker 424.Air cylinder support comprises stand connection 4211 and rack plate 4212 and air cylinder support 4213.Stand connection 4211 setting vertical with axle bar 41, is fixedly connected with by screw.Rack plate 4212 setting vertical with stand connection 4211, is fixedly connected with by screw.Rack plate 4212 is positioned at the upper surface of air cylinder support 4213, and rack plate 4212 is fixedly connected with by screw with air cylinder support 4213.Air cylinder support 4213 is with the vertical setting of stand connection 4211 and be fixedly connected with by screw.Cylinder 45 is fixedly mounted on support and connects on 4211.The end fixed cover of the expansion link of cylinder 45 is provided with axle sleeve 451, and axle sleeve 451 is convex character shape, and the upper part of the convex character shape of axle sleeve 451 is through the second U-shaped groove 4221 of sucker stand 422, and the lower part of axle sleeve 451 is held sucker stand 422.In the manipulator course of work, the expansion link of cylinder 45 is always in stretching out state, axle sleeve 451 withstands through the second U-shaped groove 4221 of sucker stand 422 rack plate 4212 that is positioned at the second U-shaped groove 4221 upper surfaces, thereby sucker stand 422 is fixed between rack plate 4212 and axle sleeve.
One end of sucker stand 422 is fixedly connected with by screw with the stand connection of air cylinder support 4211, and the other end of sucker stand 422 is fixedly connected with 423, three sucker bars 423 of three sucker bars by screw and be arranged in parallel.One end of sucker bar 423 is fixedly connected on sucker stand 422 by screw, and the other end of sucker bar 422 is arranged with sucker 424.One end of sucker bar 423 connecting suckers 424 is provided with circular hole 4231, and the suction pipe 4241 of sucker 424 is stuck in the circular hole 4231 of sucker bar 423.The suction pipe 4241 of sucker 424 is communicated with vacuum generator 46 by pipeline.When manipulator is worked, 46 pairs of sucker 424 extracting vacuum of vacuum generator, thus parts to be carried are held and carried.
The upper end of axle bar 41 is provided with roller groove support 43, and roller groove support 43 is for falling concavity.In roller groove support 43, roll wheel assembly is installed.Roll wheel assembly comprises roller shaft 435, locking nut 4351, nut 4352, bearing 4353 and roller 434.Four row's roller 434, the four row's rollers 434 that are axially installed with along roller groove support 43 in roller groove support 43 be arranged in parallel, and the four rolling 434 that is positioned at roller groove support 43 ends forms square formation.Axle bar 41 is fastened among four row's rollers 434.Roller 434 comprises the first cylinder 4341 and the second cylinder 4342, the diameter of the first cylinder 4341 is greater than the diameter of the second cylinder 4342, the end face of the first cylinder 4341 is relative with the end face of the second cylinder 4342, the first cylinder 4341 and the second cylinder 4342 be arranged in parallel, and the first cylinder 4341 and the second cylinder 4342 link into an integrated entity by round platform 4343.Roller 434 is set on roller shaft 435, is provided with successively locking nut 4351, nut 4352, bearing 4353 and roller 434 on roller shaft 435.Between locking nut 4351 and nut 4352, be provided with the first pad 4355, between nut 4352 and bearing 4353, be provided with the second pad 4356.The first cylinder 4341 of roller 434 is near bearing 4353.The second cylinder 4342 and the round platform 4343 of roller 434 are pasting axle bar 41.One end that roller shaft 435 is provided with locking nut 4351 is fixedly connected with by screw with roller groove support 43.By the surface of roller 434 and the surface of axle bar 41, fit, axle bar 41 is in mobile process like this, and roller 434 rolls thereupon, in the time of fixed axis bar 41, makes axle bar 41 can in roller groove support 43, come and go movement.In actual applications, roller groove support 43 can move up and down, the second tooth bar 41 is stuck among the row of four in roller groove support 43 roller 434, and axle bar 41 axial direction along axle bar 41 in roller groove support 43 is round mobile, and axle bar 41 carries out transmission with roller groove support 43 by roller; Realize axle bar 41 fixing in the radial direction at axle bar, round the moving freely on axle bar 41 axial directions.Moving up and down of roller groove support 43 drives moving up and down of sucker 424, and moving left and right of axle bar 41 drives moving left and right of sucker 424, and manipulator holds parts by sucker 424, avoids traditional manipulator, in crawl process, parts are caused to damage.
On axle bar 41, be provided with successively the two ends that the first inductor 411, the second inductor 412 and the 3rd inductor 413, the first inductors 411 and the 3rd inductor 413 are positioned at axle bar 41 upper surfaces, the second inductor 412 is positioned at the middle part of axle bar 41 upper surfaces.The one side middle part that roller groove support 43 is relative with axle bar 41 is provided with the first U-shaped groove 430, the both sides of the first U-shaped groove 430 are respectively equipped with first sensor 431, the second sensor 432 and the 3rd sensor 433, first sensor 431 and the 3rd sensor 433 are positioned at a side of the one the first U-shaped grooves 430, and the second sensor 432 is positioned at the opposite side of the first U-shaped groove 430.First sensor 431 is near the first inductor 411, with the work that cooperatively interacts of the first inductor 411; The second sensor 432 is near the second inductor 412, with the second inductor 412 cooperatings; The 3rd sensor 433 is near the 3rd inductor 413, with the 3rd inductor 413 cooperatings.When the direction of axle bar 41 along axial first inductor 411 of axle bar 41 moves, when the 3rd inductor 413 moves to the position of the 3rd sensor 431 along with axle bar 41, the 3rd sensor 431 sends signal, and axle bar 41 is mobile in the other direction; When the first inductor 411 moves to the position of first sensor 431 along with axle bar 41, first sensor 431 sends signal, and axle bar 41 is again mobile in the other direction, when the second inductor 412 moves to the second sensor 432 along with axle bar 41, axle bar 41 stops mobile, completes an action cycle.
Manipulator 4 is positioned at the outside of the first cabinet 51 and the second cabinet 52.Manipulator 4 is fixedly connected with splined shaft assembly 3 by substrate 48.The one side that manipulator 4 is relative with splined shaft assembly 3 is provided with substrate 48, the lower end of substrate 48 is fixedly connected with by screw with the tooth bar axle bed 3621 of splined shaft assembly 3, one side of substrate 48 is fixedly connected with by screw with the roller groove support 43 of manipulator 4, and manipulator 4 and splined shaft assembly 3 lay respectively at the both sides of substrate 48.
The rotation of the first servomotor 25 drives the motion of the ball screw 21 in ball screw assembly 2, the motion of ball screw 21 drives moving up and down of the first tooth bar 24, moving up and down of the tooth bar axle bed 3621 that the moving up and down of the first tooth bar 24 promotes in splined shaft assembly 3, tooth bar axle bed 3621 move up and down moving up and down of driving mechanical hand 4; The rotation of the second servomotor 35 drives the rotation of splined shaft 31, thereby the rotation of driven gear 34, gear 34 and the second tooth bar 47 are intermeshing, and it is mobile that the rotation of gear 34 drives the left and right of the second tooth bar 47 to come and go, mobile thereby the left and right of the sucker 424 on driving mechanical hand 4 comes and goes.
Drive system in the present embodiment is for driving the first servomotor 25 of ball screw 21 and the second servomotor 35 that drives splined shaft 31 to rotate.Control system is PLC control system, and PLC control system is arranged in electronic box 6.Electronic box 6 and workbench 1 lay respectively at the second cabinet 52 both sides.PLC control system is connected with control panel 7, staff is at the enterprising line operate of control panel 6, by the work of PLC control system control-driven system, the movement that the gripper components sucker 424 on final driving device hand 4 carries out up and down, captures parts to be moved.
First by staff, adjust the height of workbench 1 and by the shape that on workbench, a plurality of platform paws 16 splice parts on 1, parts put into wherein.Workbench 1 is positioned at the below of manipulator 4.The sucker 424 that manipulator 4 moves down by manipulator 4 captures parts, and after parts are held, manipulator 4 moves up, then moves left and right parts are put into assigned address.
In addition, in the second cabinet 52, lubricating coupler is also installed, lubricating coupler is connected with ball screw assembly 2, splined shaft assembly 3 and manipulator 4 respectively, and lubricating coupler is lubricated ball screw assembly 2, splined shaft assembly 3 and manipulator 4.
In the present embodiment, adopt the mode of screw to be fixed connection, in actual applications, can also adopt welding to wait other mode to be fixed.
By reference to the accompanying drawings embodiments more of the present utility model are described in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken possessing those of ordinary skills, can also under the prerequisite that does not depart from aim of the present invention, make various variations.
Claims (9)
1. automatic carrying machine working, it is characterized in that, comprise workbench (1), ball screw assembly (2), splined shaft assembly (3), manipulator (4) and drive system, described ball screw assembly (2) is connected with described splined shaft assembly (3), described splined shaft assembly (3) is connected with described manipulator (4), the motion of ball screw assembly (2) described in described drive systems, splined shaft assembly (3) rotates described in described drive systems.
2. automatic carrying machine working according to claim 1, is characterized in that, also comprises control panel (7), and described control panel (7) is connected with control system, and described control system is PLC control system, and described PLC control system is connected with drive system.
3. automatic carrying machine working according to claim 2, it is characterized in that, described splined shaft assembly (3) is arranged in the first cabinet (51), and described ball screw assembly (2) is arranged in the second cabinet (52), and described the first cabinet (51) is positioned at the top of described the second cabinet (52).
4. automatic carrying machine working according to claim 3, is characterized in that, in described the second cabinet (52), lubricating coupler is installed, and described lubricating coupler is connected with described ball screw assembly (2), described splined shaft assembly (3) and described manipulator (4) respectively.
5. automatic carrying machine working according to claim 4, it is characterized in that, described workbench (1) comprises platform (11), the first guide post (12), platform holder (13), adjusting screw(rod) (14) and guide holder (15), described adjusting screw(rod) (14) is connected with described guide holder (15), described the first guide post (12) one end is connected on described platform (11), the other end of described the first guide post (12) is connected on described guide holder (15), described the first guide post (12) is through described platform holder (13), described platform holder (13) is positioned between described platform (11) and described guide holder (15), described platform holder (13) is provided with the first screwed hole (134), the screw thread of first screwed hole (134) of the external screw thread on described adjusting screw(rod) (14) and described platform holder (13) matches, described adjusting screw(rod) (14) is located in first screwed hole (134) of described platform holder (13).
6. automatic carrying machine working according to claim 5, it is characterized in that, described ball screw assembly (2) comprises ball screw (21) and the first servomotor (25) that drives described ball screw to rotate, described ball screw (21) is set in screw rodb base (22), described screw rodb base (22) is connected with tooth bar support (23), described tooth bar support (23) is provided with the first tooth bar (24), and one end of described the first tooth bar (24) is connected with described tooth bar support (23).
7. automatic carrying machine working according to claim 6, it is characterized in that, described splined shaft assembly (3) comprises splined shaft (31) and the second servomotor (35) that drives splined shaft to rotate, slip cap (32) on described splined shaft (31), described slip cap (32) is flexibly connected on the axial direction of splined shaft (31) with described splined shaft (31), described slip cap (32) and described splined shaft (31) being fixedly connected with in the radial direction in splined shaft (31), described slip cap (32) fixed cover is located in ball guideway (33), the periphery of described ball guideway (33) is fixedly connected with gear (34).
8. automatic carrying machine working according to claim 7, it is characterized in that, described manipulator (4) comprises axle bar (41), Suction cup assembly (42) and roller groove support (43), described Suction cup assembly (42) comprises sucker bar (423) and sucker (424), described sucker bar (423) one end is connected with described axle bar (41), described sucker bar (423) other end is connected with described sucker (424), described axle bar (41) is arranged in roller groove support (43), a plurality of rollers (434) are installed in described roller groove support (43), described axle bar (41) is fastened between a plurality of described rollers (434).
9. automatic carrying machine working according to claim 8, is characterized in that, described drive system comprises the first servomotor (25) that drives ball screw (21) and the second servomotor (35) that drives splined shaft (31) rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320397570.XU CN203427031U (en) | 2013-07-05 | 2013-07-05 | Automatic transporter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320397570.XU CN203427031U (en) | 2013-07-05 | 2013-07-05 | Automatic transporter |
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| Publication Number | Publication Date |
|---|---|
| CN203427031U true CN203427031U (en) | 2014-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320397570.XU Expired - Fee Related CN203427031U (en) | 2013-07-05 | 2013-07-05 | Automatic transporter |
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| CN (1) | CN203427031U (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107137847A (en) * | 2017-06-22 | 2017-09-08 | 深圳市晓控通信科技有限公司 | A kind of fire rescue robot based on Internet of Things |
| CN108466854A (en) * | 2018-05-24 | 2018-08-31 | 武汉京山轻机智能装备有限公司 | A kind of corrugated board turnover panel mistake shut-down system |
| CN116512286A (en) * | 2023-04-23 | 2023-08-01 | 九众九机器人有限公司 | Six-degree-of-freedom stamping robot and stamping method thereof |
| CN107953323B (en) * | 2018-01-05 | 2024-03-15 | 合肥神马科技集团有限公司 | Disc feeding manipulator assembly |
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2013
- 2013-07-05 CN CN201320397570.XU patent/CN203427031U/en not_active Expired - Fee Related
Cited By (6)
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| CN107137847A (en) * | 2017-06-22 | 2017-09-08 | 深圳市晓控通信科技有限公司 | A kind of fire rescue robot based on Internet of Things |
| CN107137847B (en) * | 2017-06-22 | 2020-10-30 | 聊城信元通信科技有限公司 | Fire rescue robot based on Internet of things |
| CN107953323B (en) * | 2018-01-05 | 2024-03-15 | 合肥神马科技集团有限公司 | Disc feeding manipulator assembly |
| CN108466854A (en) * | 2018-05-24 | 2018-08-31 | 武汉京山轻机智能装备有限公司 | A kind of corrugated board turnover panel mistake shut-down system |
| CN116512286A (en) * | 2023-04-23 | 2023-08-01 | 九众九机器人有限公司 | Six-degree-of-freedom stamping robot and stamping method thereof |
| CN116512286B (en) * | 2023-04-23 | 2023-11-14 | 九众九机器人有限公司 | Six-degree-of-freedom stamping robot and stamping method thereof |
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