CN203919087U - Joint Manipulator and there is the M shape tow-armed robot of this joint Manipulator - Google Patents
Joint Manipulator and there is the M shape tow-armed robot of this joint Manipulator Download PDFInfo
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- CN203919087U CN203919087U CN201420334615.3U CN201420334615U CN203919087U CN 203919087 U CN203919087 U CN 203919087U CN 201420334615 U CN201420334615 U CN 201420334615U CN 203919087 U CN203919087 U CN 203919087U
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- material grasping
- driving
- vertical beam
- articulated
- rotationally connected
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Abstract
Joint Manipulator and there is the M shape tow-armed robot of this joint Manipulator, this joint Manipulator comprises, supports vertical beam, is provided with sliding seat on it; Be articulated in the swing arm on sliding seat, the two ends of this swing arm form respectively first and are rotationally connected end and second are rotationally connected end, are provided with a driving wheel of synchronizeing connection with swing arm on pivot, and second is rotationally connected to be articulated with on end and synchronizes the driven pulley of connection with driving wheel; Support link, its one end is articulated with and first is rotationally connected end, the other end is articulated with support vertical beam; Material grasping bar, its upper end be articulated in second be rotationally connected end upper and synchronize with driven pulley connect, the rotating material grasping plate that is provided with in bottom, on material grasping bar, be provided with the driving mechanism for driving material grasping plate to rotate with respect to material grasping bar, goods placement unit is installed on material grasping plate.Driven unit, and for driving driving wheel to rotate.The utility model adopts diaxon full SERVO CONTROL, and accurate positioning, has reduced energy consumption, and simple in structurely has a higher reliability.
Description
Technical field
The utility model relates to manipulator technical field, is specifically related to a kind of joint Manipulator and has the M shape tow-armed robot of this joint Manipulator.
Background technology
In injection moulding field, traditional goods take out the artificial mode of taking out that adopts, and its operating process is comparatively complicated, and the cycle is longer, and the position of putting after taking out is accurate not, affects following process, meanwhile, has larger security risk.
At present, the defect existing in order to overcome artificial taking-up mode, a lot of manufacturers have started to adopt automatic mechanical hand to realize the taking-up of injection-molded item, but, current automatic mechanical hand is all the structures that adopt three-shaft linkage, it needs three axles to move in the time taking out injection-molded item simultaneously, and structure is comparatively complicated, need to adopt controller to control respectively three driver elements, locate not accurate enoughly, and the crawl process of injection-molded item is longer, still can not meet the requirement of the quick die sinking of injection mold.
Utility model content
For the deficiencies in the prior art, one of the purpose of this utility model is to provide a kind of joint Manipulator, and it is simple in structure, accurate positioning, and can shorten the take-off time of injection-molded item.
Two of the purpose of this utility model is, a kind of M shape tow-armed robot with above-mentioned joint Manipulator is provided.
For achieving the above object one, the utility model adopts following technical scheme:
Joint Manipulator, comprises,
Support vertical beam, on this support vertical beam, be provided with the sliding seat that can slide along its short transverse;
Be articulated in the swing arm on sliding seat by a pivot, the two ends of this swing arm form respectively one and first are rotationally connected end and second are rotationally connected end with pivot staggers, on pivot, be provided with one and synchronize the driving wheel connecting with swing arm, second is rotationally connected to be articulated with on end and synchronize the driven pulley of connection with driving wheel;
Support link, its one end is articulated with and first is rotationally connected end, the other end is articulated with support vertical beam;
Material grasping bar, its upper end be articulated in second be rotationally connected end upper and synchronize with driven pulley connect, the rotating material grasping plate that is provided with in bottom, on material grasping bar, be provided with the driving mechanism for driving material grasping plate to rotate with respect to material grasping bar, goods placement unit is installed on material grasping plate.
Driven unit, this driven unit is arranged on sliding seat and for driving driving wheel to rotate.
Driving mechanism comprises and is fixed on material grasping plate and is articulated in that the driven wheel on material grasping bar, the driving tooth bar engaging with driven wheel and cylinder part are fixed on material grasping bar and drive the tooth bar driving cylinder up and down with respect to material grasping bar for driving.
Driven unit comprises the active motor of body partial fixing on sliding seat, and driving wheel is synchronously connected in the rotating shaft of this active motor.
This joint Manipulator also includes an assistant cylinder, the cylinder body of this assistant cylinder is fixed on sliding seat, its expansion link is along supporting the short transverse of vertical beam towards downward-extension, and the expansion link bottom of assistant cylinder forms one and presses for pushing up the top pressure side that supports vertical beam bottom.
Goods placement unit is vacuum cup or handgrip.
For achieving the above object two, the utility model adopts following technical scheme:
M shape tow-armed robot, comprise two above-mentioned joint Manipulators, crossbeam and two driver elements, the support vertical beam of two joint Manipulators is all arranged at crossbeam top, and the bottom and the crossbeam that support vertical beam are slidably matched, two driver elements are respectively used to drive two joint Manipulators to slide at the length direction that supports vertical beam.
Driver element comprises that the driving rack that is fixed on crossbeam and extend along crossbeam length direction, body partial fixing are supporting drive motors on vertical beam, are synchronously being connected in the travelling gear engaging in drive motors rotating shaft and with driving rack.
The two relative sides in support vertical beam bottom are provided with one and prevent the crash bar colliding each other.
The beneficial effects of the utility model are:
Than existing manipulator, joint Manipulator of the present utility model adopts initiatively motor and drive motors drive, the full SERVO CONTROL of diaxon, thereby control accurately goods placement unit, accurate positioning, the rectilinear motion of existing triaxial linkage mechanical hand is changed into curvilinear motion path, reduced energy consumption, and simple in structurely there is higher reliability.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model joint Manipulator;
Fig. 2 is the scheme of installation of joint Manipulator in Fig. 1;
Fig. 3 is a kind of working state schematic representation of joint Manipulator in Fig. 1;
Fig. 4 is the another kind of working state schematic representation of joint Manipulator in Fig. 1;
Fig. 5 is the structural representation of this M shape tow-armed robot;
Wherein: 100, joint Manipulator; 10, support vertical beam; 11, installing plate; 12, slide rail; 13, sliding seat; 131, slide block; 14, crash bar; 20, swing arm; 21, pivot hole; 22, first be rotationally connected end; 23, second be rotationally connected end; 24, driving pulley; 25, driven pulley; 26, driving belt; 27, pivot; 30, support link; 40, material grasping bar; 41, drive cylinder; 42, drive tooth bar; 43, driven wheel; 44, material grasping plate; 50, driven unit; 51, active motor; 52, reductor; 60, drive motors; 61, travelling gear; 70, assistant cylinder; 71, top pressure side; 200, crossbeam; 210, slide rail; 220, driving rack; 230, support.
Detailed description of the invention
Below, by reference to the accompanying drawings and detailed description of the invention, the utility model is described further:
Shown in Fig. 1,2, for a kind of joint Manipulator 100 of the present utility model, it comprises support vertical beam 10, swing arm 20, support link 30, material grasping bar 40 and driven unit 50, wherein, on support vertical beam 10, be provided with the sliding seat 13 that can slide along its short transverse (i.e. Z-direction in diagram), concrete, be respectively arranged with the slide rail 12 extending along its short transverse in the both sides of supporting vertical beam 10, on sliding seat 13, be fixed with the slide block 131 being slidably matched with slide rail 12, swing arm 20 is articulated on sliding seat 13 by pivot 27, concrete is, pivot 27 is articulated in the pivot hole 21 in swing arm 20, the axis of this pivot 27 with diagram in X to consistent, in the plane that the Z-direction that swing arm 20 can be in diagram and Y-direction form, rotate with respect to sliding seat 13, the two ends of this swing arm 20 protrude from respectively sliding seat 13, itself and sliding seat 13 form a leverage, one end of swing arm 20 forms one first and is rotationally connected end 22, the other end forms one second and is rotationally connected end 23, first be rotationally connected end 22 and second be rotationally connected end 23 axis all with the axis misalignment in pivot hole 21, on pivot 27, be provided with one synchronize with swing arm 20 connect driving pulley 24, second is rotationally connected end is articulated with a driven pulley 25 on 23, at it, the driving belt 26 on the two synchronously connects by winding for driving pulley 24 and driven pulley 25.The lower end of support link 30 is articulated with on the installing plate 11 that is fixed on support vertical beam 10 bottoms, upper end is articulated with first and is rotationally connected on end 22.The length direction of material grasping bar 40 is consistent with short transverse (i.e. Z-direction in diagram), and in the time of manipulator start, it remains along short transverse and extends, the upper end of this material grasping bar 40 is articulated in second and is rotationally connected end 23 and synchronizes connection, the rotating material grasping plate 44 that is provided with in bottom with driven pulley 25, and this material grasping plate 44 is provided with the placement unit for capturing injection-molded item.The bottom of material grasping bar 40 is provided with the driving mechanism for driving material grasping plate 44 to rotate, and for making the surface that placement unit on material grasping plate 44 can adaptive injection-molded item, thereby according to different injection-molded items, adjusts the angle of material grasping plate 44.This driving mechanism comprises the driving cylinder 41 that is fixed on material grasping plate 44 and is articulated in the driven wheel 43 on material grasping bar 40, the driving tooth bar 42 engaging with driven wheel 43 and cylinder part and is fixed on material grasping bar 40 bottoms, this driving cylinder 41 drives tooth bar 42 to move up and down in short transverse for driving, in the time driving tooth bar 42 to move up and down, driven wheel 43 drives material grasping plate 44 to rotate, thereby, by driving cylinder 41 to adjust the angle of material grasping plate 44.The driving mechanism that above-mentioned drive material grasping plate 44 rotates also can adopt other mechanisms that can realize rotation to realize, for example, can adopt motor, oscillating cylinder etc.
It should be noted that, in order to realize being synchronized with the movement of above-mentioned driving pulley 24 and driven pulley 25, be not that above-mentioned belt gear can be realized, it can also adopt chain or gear drive to substitute, in a word, as long as can realize driving pulley 24 and driven pulley 25 synchronous, rotating in same directions.
Driven unit 50 is as the major impetus source of whole robot movement, and it can be to comprise initiatively motor 51, and initiatively the body of motor 51 is fixed on sliding seat 13, and connection is synchronizeed in its rotating shaft with driving pulley 24, for driving driving pulley 24 to rotate.Normally work in order to ensure manipulator, a reductor 52 can also be installed between active motor 51 and driving pulley 24, in order to the larger moment of torsion of output.
In addition, above-mentioned joint Manipulator 100 also comprises an assistant cylinder 70, the cylinder body of this assistant cylinder 70 is fixed on sliding seat 13, its expansion link prolongs the short transverse that supports vertical beam 10 to downward-extension, and the bottom of the expansion link of assistant cylinder 70 forms a top pressure side 71, when active motor 51 is applied to moment of torsion deficiency in swing arm 20 so that swing arm 20 while rising along with sliding seat 13, assistant cylinder 70 drives top pressure side 71 upper surface of top pressure installing plate 11 downwards, moves up thereby oppositely promote sliding seat 13.
Referring to Fig. 3, its illustrate above-mentioned joint Manipulator 100 work original state, material grasping bar 40 is positioned at the left side of supporting vertical beam 10, under this state, joint Manipulator 100 drives the goods placement unit on material grasping plate 44 to move downward to capture injection-molded item, concrete is, at the state shown in Fig. 3, initiatively motor 51 forwards, driving pulley 24 and driven pulley 25 all rotate counterclockwise, first of swing arm 20 is rotationally connected end 22 and has with respect to pivot hole 21 trend moving upward, second is rotationally connected 23, end has the trend moving downward with respect to pivot hole 21, due to first be rotationally connected end 22 supported connecting rods 30 pull, thereby the angle between support link 30 and swing arm 20 is reduced gradually, under the pulling of support link 30, sliding seat 13 drives swing arm 20 moving down gradually, because driving pulley 24 and driven pulley 25 are synchronized with the movement, its the two angle turning within the unit interval is consistent, therefore, it is consistent that second of swing arm 20 is rotationally connected the angle of holding 23 angles that rotate to rotate counterclockwise with material grasping bar 40, therefore, drive in the process that swing arm 20 moves down at active motor 51, material grasping bar 40 remains consistent with short transverse and moves towards injection-molded item downwards all the time, finally, make the goods placement unit on material grasping plate 44 capture injection-molded item.After injection-molded item is crawled, initiatively motor 51 rotates backward, just the opposite with said process, now, because support link 30 and the angle of swing arm 20 are less than 90 degree, the moment of torsion that initiatively motor 51 is exported may deficiency so that sliding seat 13 rise, assistant cylinder 70 starts start, sliding seat 13 is moved upward, in the time that swing arm 20 is rocked to the position consistent with short transverse, material grasping bar 40 is just positioned at centre position and its second and is rotationally connected end 23 and continues to swing to the right, now because support link 30 is positioned at left side, initiatively motor 51 continues in counter-rotational situation, sliding seat 13 starts to drive swing arm 20 to move downward to the state shown in Fig. 4, in the time that material grasping bar 40 moves downward extreme lower position, goods placement unit on material grasping plate 44 is positioned over injection-molded item to place on station, complete the action that picks and places of goods.
Referring to Fig. 5 and in conjunction with Fig. 1 and Fig. 2, a kind of M shape tow-armed robot of the present utility model comprises two above-mentioned joint Manipulators 100, crossbeam 200 and two driver elements, wherein, two of two joint Manipulators 100 support vertical beam 10 and are all arranged on crossbeam 200, the bearing of trend of crossbeam 200 with diagram in X to consistent, the below of crossbeam 200 is provided with support 230, the installing plate 11 that supports vertical beam 10 bottoms is slidably matched with crossbeam 200, concrete is, on crossbeam 200, be provided with the slide rail 210 extending along its length, installing plate 11 belows are provided with the slide block coordinating with slide rail 210, thereby, two joint Manipulators 100 can slide along the length direction of crossbeam 200, two above-mentioned driver elements are respectively used to drive two joint Manipulators 100 to slide along the length direction of crossbeam 200, concrete is, driver element comprises the driving rack 220 that is fixed on crossbeam 200 and extends along crossbeam 200 length directions, the drive motors 60 of body partial fixing on installing plate 11, be positioned at installing plate 11 belows and be synchronously connected in the travelling gear 61 in the rotating shaft of drive motors 60, this travelling gear 61 engages with driving rack 220, start drive motors 60, travelling gear 61 coordinates with driving rack 220, can drive joint Manipulator 100 to move along the length direction of crossbeam 200.
Two above-mentioned joint Manipulators 100 move on crossbeam 200, can capture an injection-molded item simultaneously or capture respectively two injection-molded items, in actual use, bump for fear of two joint Manipulators 100, can crash bar 14 be set in the relative side of the installing plate 11 of two support vertical beam 10 bottoms, for avoiding two joint Manipulators 100 to collide.
Than existing manipulator, joint Manipulator 100 of the present utility model adopts active motor 51 and drive motors 60 to drive, the full SERVO CONTROL of diaxon, thereby control accurately goods placement unit, accurate positioning, the rectilinear motion of existing triaxial linkage mechanical hand is changed into curvilinear motion path, reduced energy consumption, and simple in structurely there is higher reliability.
To one skilled in the art, can be according to technical scheme described above and design, make other various corresponding changes and deformation, and within these all changes and deformation all should belong to the protection domain of the utility model claim.
Claims (8)
1. joint Manipulator, is characterized in that, comprises,
Support vertical beam, on this support vertical beam, be provided with the sliding seat that can slide along its short transverse;
Be articulated in the swing arm on sliding seat by a pivot, the two ends of this swing arm form respectively one and first are rotationally connected end and second are rotationally connected end with pivot staggers, on pivot, be provided with one and synchronize the driving wheel connecting with swing arm, second is rotationally connected to be articulated with on end and synchronize the driven pulley of connection with driving wheel;
Support link, its one end is articulated with and first is rotationally connected end, the other end is articulated with support vertical beam;
Material grasping bar, its upper end be articulated in second be rotationally connected end upper and synchronize with driven pulley connect, the rotating material grasping plate that is provided with in bottom, on material grasping bar, be provided with the driving mechanism for driving material grasping plate to rotate with respect to material grasping bar, goods placement unit is installed on material grasping plate;
Driven unit, this driven unit is arranged on sliding seat and for driving driving wheel to rotate.
2. joint Manipulator as claimed in claim 1, it is characterized in that, driving mechanism comprises and is fixed on material grasping plate and is articulated in that the driven wheel on material grasping bar, the driving tooth bar engaging with driven wheel and cylinder part are fixed on material grasping bar and drive the tooth bar driving cylinder up and down with respect to material grasping bar for driving.
3. joint Manipulator as claimed in claim 1, is characterized in that, driven unit comprises the active motor of body partial fixing on sliding seat, and driving wheel is synchronously connected in the rotating shaft of this active motor.
4. joint Manipulator as claimed in claim 1, it is characterized in that, this joint Manipulator also includes an assistant cylinder, the cylinder body of this assistant cylinder is fixed on sliding seat, its expansion link is along supporting the short transverse of vertical beam towards downward-extension, and the expansion link bottom of assistant cylinder forms one and presses for pushing up the top pressure side that supports vertical beam bottom.
5. joint Manipulator as claimed in claim 1, is characterized in that, goods placement unit is vacuum cup or handgrip.
6.M shape tow-armed robot, it is characterized in that, comprise two joint Manipulators as claimed in claim 1, crossbeam and two driver elements, the support vertical beam of two joint Manipulators is all arranged at crossbeam top, and the bottom and the crossbeam that support vertical beam are slidably matched, two driver elements are respectively used to drive two joint Manipulators to slide at the length direction that supports vertical beam.
7. M shape tow-armed robot as claimed in claim 6, it is characterized in that, driver element comprises that the driving rack that is fixed on crossbeam and extend along crossbeam length direction, body partial fixing are supporting drive motors on vertical beam, are synchronously being connected in the travelling gear engaging in drive motors rotating shaft and with driving rack.
8. M shape tow-armed robot as claimed in claim 6, is characterized in that, the two relative sides in support vertical beam bottom are provided with one and prevent the crash bar colliding each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420334615.3U CN203919087U (en) | 2014-06-20 | 2014-06-20 | Joint Manipulator and there is the M shape tow-armed robot of this joint Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420334615.3U CN203919087U (en) | 2014-06-20 | 2014-06-20 | Joint Manipulator and there is the M shape tow-armed robot of this joint Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203919087U true CN203919087U (en) | 2014-11-05 |
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ID=51814960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420334615.3U Withdrawn - After Issue CN203919087U (en) | 2014-06-20 | 2014-06-20 | Joint Manipulator and there is the M shape tow-armed robot of this joint Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203919087U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107934548A (en) * | 2017-12-22 | 2018-04-20 | 无锡市创恒机械有限公司 | A kind of large-scale handling device with manipulator |
-
2014
- 2014-06-20 CN CN201420334615.3U patent/CN203919087U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104015198B (en) * | 2014-06-20 | 2016-04-20 | 深圳市杨森精密机械有限公司 | Joint Manipulator and there is the M shape tow-armed robot of this joint Manipulator |
| CN107934548A (en) * | 2017-12-22 | 2018-04-20 | 无锡市创恒机械有限公司 | A kind of large-scale handling device with manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141105 Effective date of abandoning: 20160420 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |