CN203830589U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN203830589U CN203830589U CN201420235483.9U CN201420235483U CN203830589U CN 203830589 U CN203830589 U CN 203830589U CN 201420235483 U CN201420235483 U CN 201420235483U CN 203830589 U CN203830589 U CN 203830589U
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- CN
- China
- Prior art keywords
- guide rail
- synchronous pulley
- manipulator
- mechanical arm
- rotating machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 230000001360 synchronised effect Effects 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000007306 turnover Effects 0.000 abstract 3
- 238000004080 punching Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 206010000372 Accident at work Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a manipulator. The manipulator comprises a base, a rear housing, a mechanical arm, a mechanical clamping device, a horizontally-moving mechanism, a rotating mechanism, a swing arm movement structure, a turnover mechanism and a perpendicularly-moving mechanism. The perpendicularly-moving mechanism comprises a perpendicular motor, a screw and a lifting block. The rotating mechanism comprises a rotating motor, a synchronous belt, a synchronous belt wheel a, a synchronous belt wheel b and a rotating support. The rotating motor is arranged in the horizontal direction. A first guide rail is arranged on one side inside the rear housing and the other side of the inner portion of the rear housing is provided with a second guide rail and a third guide rail. The first guide rail, the second guide rail and the third guide rail are distributed in a triangular shape. A first sliding block is arranged on one side of the lifting block and the other side of the lifting block is provided with a second sliding block and a third sliding block. A turnover shaft of the turnover mechanism penetrates through a bearing on the lifting block and is fixedly connected with the mechanical arm. The manipulator is guided and supported by the three guide rails, the rotating motor on the mechanical arm is horizontally arranged, the balance performance of the manipulator is improved, and movement of the manipulator is more stable.
Description
Technical field
The utility model relates to a kind of manipulator.
Background technology
The mode that China's mould punching industry great majority adopt artificial loading, reload at present, before each punch press work, workman puts material in punch press into, after treating that punching machine presses work completes, then is taken out by workman; For this kind there is larger potential safety hazard in the mode of artificial loading, feeding, often there will be staff is broken to the industrial accident such as disable.
In view of the above problems, the open CN103465263A of Chinese patent literature discloses a kind of punching press carrying intelligent robot, comprise base and be arranged at the rear casing of base top, one side of described rear casing has been horizontally disposed with mechanical arm, in described base, be provided with the swing arm motion of the upper and lower axial-rotation of driving device arm, in described rear casing, be provided with the flip-flop movement mechanism of driving device arm left and right axial-rotation and the vertical movement mechanism that driving device arm moves up and down, on described mechanical arm, be provided with horizontal mobile mechanism, on the telescopic screw rod nut of described horizontal mobile mechanism, be fixedly connected with rotational motion mechanism, on described rotational motion mechanism, be connected with the runing rest by its driven rotary, mechanical grip equipment is installed on described runing rest, when it efficiently solves punching press, there is larger potential safety hazard in the mode of artificial loading, feeding, often occurs the problem of industrial accident.But, the vertical movement mechanism of above-mentioned punching press carrying intelligent robot adopts two guide rails to carry out guide support, when operation, its balance, less stable, operation noise is larger, and is positioned at electric rotating machine on punching press carrying intelligent robot mechanical arm for being arranged vertically, and balance is poor, make mechanical arm in the time of upset operation, steady not.
Utility model content
The purpose of this utility model is for the problems referred to above, and a kind of manipulator is provided, to solve the problem that original manipulator balance is poor, operation stability is poor.
The purpose of this utility model is to be achieved through the following technical solutions:
A kind of manipulator, comprises base, rear casing, mechanical arm, mechanical grip equipment, horizontal mobile mechanism, rotational motion mechanism, swing arm motion structure, flip-flop movement mechanism, vertical movement mechanism, described vertical movement mechanism comprises motor vertical, the screw rod being in transmission connection with the output shaft of motor vertical and be threaded in the elevator on screw rod, described rotational motion mechanism comprises electric rotating machine, Timing Belt, synchronous pulley a, synchronous pulley b and runing rest, described synchronous pulley a is in transmission connection by Timing Belt and synchronous pulley b, described runing rest is installed on the wheel shaft b of synchronous pulley b, described mechanical grip equipment is installed on runing rest, described electric rotating machine along continuous straight runs is arranged, it is fixed on the cross sliding clock of horizontal mobile mechanism, described horizontal mobile mechanism is fixed on mechanical arm, electric rotating machine is in transmission connection by transmission device and synchronous pulley a, in described rear casing, on the sidewall of a side, be vertically furnished with the first guide rail, on the sidewall of its opposite side, be vertically furnished with the second guide rail, the 3rd guide rail, described the first guide rail, the second guide rail, the distribution triangular in shape of the 3rd guide rail, one side of described elevator is provided with the first slide block being slidably matched with the first guide rail, and the opposite side of elevator is provided with the second slide block being slidably matched with the second guide rail and the 3rd slide block being slidably matched with the 3rd guide rail, the trip shaft of flip-flop movement mechanism passes the bearing on elevator and is fixedly connected with mechanical arm.
As preferred version of the present utility model, described transmission device comprises the driven bevel pinion on the wheel shaft a that is fixed on the driving bevel gear on electric rotating machine output shaft and is fixed on synchronous pulley a, and described driving bevel gear is meshed with driven bevel pinion.
The beneficial effects of the utility model are, described manipulator adopts three guide rails to carry out guide support, make its balance, load is better, good operation stability, and the noise can effectively reduce operation time, and pass through horizontally disposed the electric rotating machine on mechanical arm, further improve its balance, make its operation more steady, by adopting bevel gear transmission, structure is ingenious, increase moment of torsion, compared to original structure, under identical service requirement, can adopt the motor of smaller power, not only reduce cost, and can reduce the volume of motor, weight, make the balance of whole manipulator, stability is better.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of manipulator of the utility model;
Fig. 2 is that the utility model the second guide rail, the 3rd guide rail are arranged schematic diagram;
Fig. 3 is that the utility model the first guide rail is arranged schematic diagram;
Fig. 4 is that the utility model electric rotating machine is arranged schematic diagram.
In figure:
1, base; 2, rear casing; 3, mechanical arm; 4, motor vertical; 5, the second guide rail; 6, the second slide block; 7, the 3rd guide rail; 8, the 3rd slide block; 9, elevator; 10, screw rod; 11, the first slide block; 12, the first guide rail; 13, cross sliding clock; 14, motor mount; 15, electric rotating machine; 16, driving bevel gear; 17, driven bevel pinion.
Detailed description of the invention
Further illustrate the technical solution of the utility model below in conjunction with accompanying drawing and by detailed description of the invention.
Please refer to shown in Fig. 1 to Fig. 4, in the present embodiment, a kind of manipulator, comprise base 1, rear casing 2, mechanical arm 3, mechanical grip equipment, horizontal mobile mechanism, rotational motion mechanism, swing arm motion structure, flip-flop movement mechanism, vertical movement mechanism, described vertical movement mechanism comprises motor vertical 4, the screw rod 10 being in transmission connection with the output shaft of motor vertical 4 and be threaded in the elevator 9 on screw rod 10, described rotational motion mechanism comprises electric rotating machine 15, Timing Belt, synchronous pulley a, synchronous pulley b and runing rest, described synchronous pulley a is in transmission connection by Timing Belt and synchronous pulley b, described runing rest is installed on the wheel shaft b of synchronous pulley b, described mechanical grip equipment is vacuum cup, it is installed on runing rest, described electric rotating machine 15 along continuous straight runs are arranged, it is fixed on by motor mount 14 on the cross sliding clock 13 of horizontal mobile mechanism, described horizontal mobile mechanism is fixed on mechanical arm 3, driving bevel gear 16 is installed on the output shaft of electric rotating machine 15, on the wheel shaft a of described synchronous pulley a, driven bevel pinion 17 is installed, described driving bevel gear 16 is meshed with driven bevel pinion 17, in described rear casing 2, on the sidewall of a side, be vertically furnished with the first guide rail 12, on the sidewall of its opposite side, be vertically furnished with the second guide rail 5, the 3rd guide rail 7, described the first guide rail 12, the second guide rail 5, the distribution triangular in shape of the 3rd guide rail 7, one side of described elevator 9 is provided with the first slide block 11 being slidably matched with the first guide rail 12, and the opposite side of elevator 9 is provided with the second slide block 6 being slidably matched with the second guide rail 5 and the 3rd slide block 8 being slidably matched with the 3rd guide rail 7, the trip shaft of flip-flop movement mechanism passes the bearing on elevator 9 and is fixedly connected with mechanical arm 3.
The utility model adopts three guide rails of the first guide rail, the second guide rail, the 3rd guide rail to carry out support bearing mechanical arm 3, and by horizontal the electric rotating machine on mechanical arm 3 15, make mechanical arm 3 operations get up more balance, stable, simple in structure, be easy to realize.
Above embodiment has just set forth general principle of the present utility model and characteristic; the utility model is not limited by above-described embodiment; do not departing under the prerequisite of the utility model spirit and scope; the utility model also has various variations and change, and these variations and change all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (2)
1. a manipulator, comprises base, rear casing, mechanical arm, mechanical grip equipment, horizontal mobile mechanism, rotational motion mechanism, swing arm motion structure, flip-flop movement mechanism, vertical movement mechanism, described vertical movement mechanism comprises motor vertical, the screw rod being in transmission connection with the output shaft of motor vertical and be threaded in the elevator on screw rod, described rotational motion mechanism comprises electric rotating machine, Timing Belt, synchronous pulley a, synchronous pulley b and runing rest, described synchronous pulley a is in transmission connection by Timing Belt and synchronous pulley b, described runing rest is installed on the wheel shaft b of synchronous pulley b, described mechanical grip equipment is installed on runing rest, it is characterized in that: described electric rotating machine along continuous straight runs is arranged, it is fixed on the cross sliding clock of horizontal mobile mechanism, described horizontal mobile mechanism is fixed on mechanical arm, electric rotating machine is in transmission connection by transmission device and synchronous pulley a, in described rear casing, on the sidewall of a side, be vertically furnished with the first guide rail, on the sidewall of its opposite side, be vertically furnished with the second guide rail, the 3rd guide rail, described the first guide rail, the second guide rail, the distribution triangular in shape of the 3rd guide rail, one side of described elevator is provided with the first slide block being slidably matched with the first guide rail, and the opposite side of elevator is provided with the second slide block being slidably matched with the second guide rail and the 3rd slide block being slidably matched with the 3rd guide rail, the trip shaft of flip-flop movement mechanism passes the bearing on elevator and is fixedly connected with mechanical arm.
2. a kind of manipulator according to claim 1, it is characterized in that: described transmission device comprises the driven bevel pinion on the wheel shaft a that is fixed on the driving bevel gear on electric rotating machine output shaft and is fixed on synchronous pulley a, and described driving bevel gear is meshed with driven bevel pinion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420235483.9U CN203830589U (en) | 2014-05-08 | 2014-05-08 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420235483.9U CN203830589U (en) | 2014-05-08 | 2014-05-08 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203830589U true CN203830589U (en) | 2014-09-17 |
Family
ID=51508480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420235483.9U Expired - Lifetime CN203830589U (en) | 2014-05-08 | 2014-05-08 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203830589U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104646553A (en) * | 2014-12-11 | 2015-05-27 | 中国科学院自动化研究所北仑科学艺术实验中心 | Manipulator structure for work-piece clamping carrying |
| CN104786548A (en) * | 2015-04-28 | 2015-07-22 | 苏州通锦精密工业有限公司 | Special feeding and discharging device for stamping industry |
| CN105290255A (en) * | 2015-12-04 | 2016-02-03 | 文晓阳 | Intelligent hydraulic mechanical arm |
| CN106002157A (en) * | 2016-07-13 | 2016-10-12 | 苏州达力客自动化科技有限公司 | Gantry mechanical arm for automatic assembling of internal combustion engine |
| CN107816970A (en) * | 2017-12-04 | 2018-03-20 | 三洋电梯(珠海)有限公司 | The built-in fitting divergence component and method of a kind of exterior wall elevator |
| CN109823033A (en) * | 2019-02-19 | 2019-05-31 | 郑州丝珂瑞科技有限公司 | Full-automatic sheet material screen printer |
| CN110822915A (en) * | 2019-11-26 | 2020-02-21 | 中国航发沈阳黎明航空发动机有限责任公司 | Multi-station transmission mechanism special for inner die of small and medium-sized vacuum furnace |
| CN111300479A (en) * | 2020-04-14 | 2020-06-19 | 上海福赛特智能科技有限公司 | Mechanical arm |
-
2014
- 2014-05-08 CN CN201420235483.9U patent/CN203830589U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104646553A (en) * | 2014-12-11 | 2015-05-27 | 中国科学院自动化研究所北仑科学艺术实验中心 | Manipulator structure for work-piece clamping carrying |
| CN104646553B (en) * | 2014-12-11 | 2016-11-30 | 中国科学院自动化研究所北仑科学艺术实验中心 | A kind of robot manipulator structure for piece-holder carrying |
| CN104786548A (en) * | 2015-04-28 | 2015-07-22 | 苏州通锦精密工业有限公司 | Special feeding and discharging device for stamping industry |
| CN105290255A (en) * | 2015-12-04 | 2016-02-03 | 文晓阳 | Intelligent hydraulic mechanical arm |
| CN106002157A (en) * | 2016-07-13 | 2016-10-12 | 苏州达力客自动化科技有限公司 | Gantry mechanical arm for automatic assembling of internal combustion engine |
| CN106002157B (en) * | 2016-07-13 | 2018-02-06 | 苏州达力客自动化科技有限公司 | Internal combustion engine assembles gantry mechanical arm automatically |
| CN107816970A (en) * | 2017-12-04 | 2018-03-20 | 三洋电梯(珠海)有限公司 | The built-in fitting divergence component and method of a kind of exterior wall elevator |
| CN109823033A (en) * | 2019-02-19 | 2019-05-31 | 郑州丝珂瑞科技有限公司 | Full-automatic sheet material screen printer |
| CN110822915A (en) * | 2019-11-26 | 2020-02-21 | 中国航发沈阳黎明航空发动机有限责任公司 | Multi-station transmission mechanism special for inner die of small and medium-sized vacuum furnace |
| CN110822915B (en) * | 2019-11-26 | 2021-06-04 | 中国航发沈阳黎明航空发动机有限责任公司 | Multi-station transmission mechanism special for inner die of small and medium-sized vacuum furnace |
| CN111300479A (en) * | 2020-04-14 | 2020-06-19 | 上海福赛特智能科技有限公司 | Mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190325 Address after: 214192 No. 99 Furong Zhongsan Road, Xishan Economic and Technological Development Zone, Wuxi City, Jiangsu Province Patentee after: WUXI WISDOM POWER ROBOT Co.,Ltd. Address before: 214192 Xishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee before: JIANGSU SUNCN PRECISION TOOL TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140917 |
|
| CX01 | Expiry of patent term |