CN204054543U - A kind of manipulator with balance cylinder - Google Patents
A kind of manipulator with balance cylinder Download PDFInfo
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- CN204054543U CN204054543U CN201420407579.9U CN201420407579U CN204054543U CN 204054543 U CN204054543 U CN 204054543U CN 201420407579 U CN201420407579 U CN 201420407579U CN 204054543 U CN204054543 U CN 204054543U
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Abstract
The utility model relates to manipulator technical field, particularly relate to a kind of manipulator with balance cylinder, comprise fixed mount and first paragraph moves arm, first paragraph moves arm and is arranged in this fixed mount, first paragraph moves arm and is connected with the Z-axis transmission mechanism moved up and down for driving first paragraph to move arm, described fixed mount is provided with balance cylinder, and the piston rod end of balance cylinder is moved arm through this fixed mount with first paragraph and is fixedly connected with.A kind of manipulator with balance cylinder of the present utility model, when it is applied to injection machine, the first paragraph being applicable to the different size quality of drived control moves arm and moves up and down, because it is provided with balance cylinder, the load of Z-axis transmission mechanism can be reduced on the one hand, thus the energy consumption of Z-axis transmission mechanism can be saved; Can guarantee that Z-axis transmission mechanism drived control first paragraph moves when arm moves up and down on the other hand free more flexibly.
Description
Technical field
The utility model relates to manipulator technical field, particularly relates to a kind of manipulator with balance cylinder.
Background technology
Along with the development of computer and automatic technology, manipulator is generally applied in the industrial production, is used for replacing manual operation.In existing injection molding art, the effect of manipulator of injection machine is taken out in mould by the product of injection formed, saves human and material resources, thus can increase production capacity, reduce costs; And along with the development of manipulator technology, the requirement of industry to manipulator is also more and more higher, the action of manipulator needs to reach very high precision, and will stablize in running, reliably.Wherein, the weight that manipulator of injection machine first paragraph moves arm is often larger, this kind of traditional manipulator of injection machine all adopts motor to drive its first paragraph to move arm and moves up and down, obviously, the weight moving arm when first paragraph is larger, and motor-driven load is larger, consumes electric energy larger, and drive and control of electric machine first paragraph to move the flexibility that arm moves up and down inadequate, working effect is not good; As adopted heavy-duty motor to drive first paragraph to move arm, then used motor volume is very large, and assembling is quite inconvenient.
Utility model content
The purpose of this utility model is to provide a kind of manipulator with balance cylinder for the deficiencies in the prior art, it can move the deadweight of arm by cylinder balancing first paragraph, thus realize reducing the load that transmission mechanism driving first paragraph moves arm, improve the flexibility that transmission mechanism drived control first paragraph moves arm.
For achieving the above object, a kind of manipulator with balance cylinder of the present utility model, comprise fixed mount and first paragraph moves arm, first paragraph moves arm and is arranged in this fixed mount, first paragraph moves arm and is connected with the Z-axis transmission mechanism moved up and down for driving first paragraph to move arm, described fixed mount is provided with balance cylinder, and the piston rod end of balance cylinder is moved arm through this fixed mount with first paragraph and is fixedly connected with.
Wherein, described Z-axis transmission mechanism comprises linear slide rail, motor, synchronizing wheel and Timing Belt; The guide rail of linear slide rail is installed on first paragraph along Z axis and moves arm, the slide block of linear slide rail is fixedly connected with fixed mount, motor is installed on fixed mount, synchronizing wheel is connected with the main shaft drives of motor, the both sides up and down of synchronizing wheel are respectively arranged with an idle pulley, Timing Belt is set around idle pulley and synchronizing wheel, and arm is moved at the two ends of Timing Belt respectively two ends up and down with first paragraph are fixedly connected with.
Wherein, described linear slide rail has two groups, and two groups of parallel first paragraphs that are installed on of linear slide rail move arm.
Wherein, described Timing Belt is set around idle pulley and synchronizing wheel place in " Ω " shape.
Wherein, the bottom that described first paragraph moves arm is connected with second segment and moves arm.
Wherein, the bottom that described second segment moves arm is provided with the posture portion for clamping device.
The beneficial effects of the utility model: a kind of manipulator with balance cylinder of the present utility model, because it is provided with balance cylinder, and the piston rod end of this balance cylinder and first paragraph move arm is fixedly connected with, when Z-axis transmission mechanism drive first paragraph move arm move up and down time, the piston rod of this balance cylinder is followed Z-axis transmission mechanism and is driven first paragraph to move arm to move up and down, thus shares the load that a part of Z-axis transmission mechanism drives first paragraph to move arm to move up and down.A kind of manipulator with balance cylinder of the present utility model, when it is applied to injection machine, the first paragraph being applicable to the different size quality of drived control moves arm and moves up and down, because it is provided with balance cylinder, the load of Z-axis transmission mechanism can be reduced on the one hand, thus the energy consumption of Z-axis transmission mechanism can be saved; Can guarantee that Z-axis transmission mechanism drived control first paragraph moves when arm moves up and down on the other hand free more flexibly.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is another perspective view of the present utility model.
Fig. 3 is the close-up schematic view at A place in Fig. 1.
Fig. 4 is the close-up schematic view at B place in Fig. 2.
Reference numeral comprises:
10-fixed mount, 20-first paragraph moves arm 30-balance cylinder
31-piston rod, 41-guide rail, 42-slide block
43-motor, 44-synchronizing wheel, 45-Timing Belt
46-idle pulley, 50-second segment moves arm 60-posture portion.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail.
As shown in Figures 1 to 4, a kind of manipulator with balance cylinder of the present utility model, comprise fixed mount 10 and first paragraph moves arm 20, first paragraph moves arm 20 and is arranged in this fixed mount 10, first paragraph moves arm 20 and is connected with the Z-axis transmission mechanism moved up and down for driving first paragraph to move arm 20, described fixed mount 10 is provided with balance cylinder 30, and piston rod 31 end of balance cylinder 30 is moved arm 20 through this fixed mount 10 with first paragraph and is fixedly connected with.Concrete, this manipulator can be installed on injection machine, moves moulding or mould template for gripping, and mounting means adopts at right angle setting, and namely first paragraph moves arm 20 at right angle setting; During work, first paragraph moves arm 20 end and can arrange corresponding for clamping the fixture of moulding or mould template, Z-axis transmission mechanism moves up and down for driving arm, namely Z-axis transmission mechanism is the transmission mechanism that can realize driving execution unit vertically movement up and down, and general employing motor 43 is as power source; When driven first paragraph move arm 20 quality excessive time, the load of power source is larger, and the power supply of required consumption is larger, meanwhile, to move arm 20 also more blunt with control first paragraph; And the balance cylinder 30 that the technical program is arranged, the end of the piston rod 31 of balance cylinder 30 is fixedly connected with arm, when Z-axis transmission mechanism drives first paragraph to move while arm 20 moves up and down, balance cylinder 30 also control piston bar 31 moves up and down, namely sharing a part of Z-axis transmission mechanism drives first paragraph to move the load of arm 20, reach the state more balanced, namely making Z-axis transmission mechanism control, first paragraph moves arm 20 moves up and down more freedom and flexibility, structure is simple, reasonable in design.
In the present embodiment, described Z-axis transmission mechanism comprises linear slide rail, motor 43, synchronizing wheel 44 and Timing Belt 45; The guide rail 41 of linear slide rail is installed on first paragraph along Z axis and moves arm 20, the slide block 42 of linear slide rail is fixedly connected with fixed mount 10, motor 43 is installed on fixed mount 10, synchronizing wheel 44 is connected with the main shaft drives of motor 43, the both sides up and down of synchronizing wheel 44 are respectively arranged with an idle pulley 46, Timing Belt 45 is set around idle pulley 46 and synchronizing wheel 44, and arm 20 is moved at the two ends of Timing Belt 45 respectively two ends up and down with first paragraph are fixedly connected with.The Z-axis transmission mechanism of the technical program adopts the slide block 42 of linear slide rail as fixture, and the guide rail 41 of linear slide rail is arranged as the mode of moving member, concrete, the two ends of Timing Belt 45 are fixedly connected on the two ends up and down that first paragraph moves arm 20, wherein, Timing Belt 45 is arranged in the mode being set around idle pulley 46 → synchronizing wheel 44 → idle pulley 46, synchronizing wheel 44 is connected with the main shaft drives of motor 43, Timing Belt 45 and synchronizing wheel 44 all arrange the striped that can mutually be engaged, and motor 43 is fixedly installed in fixed mount 10 belongs to not moving-member, when starter motor 43, the main shaft of motor 43 drives synchronizing wheel 44 to rotate, rub because the striped arranged between synchronizing wheel 44 and Timing Belt 45 exists, namely Timing Belt 45 is in the rotating of synchronizing wheel 44, and move up and down under the effect being set around idle pulley 46, thus make first paragraph move arm 20 to move up and down, moving process is steady, noise is little, wherein, idle pulley 46 mainly plays the effect changing Timing Belt 45 rotation direction.
In the present embodiment, described linear slide rail has two groups, two groups of parallel first paragraphs that are installed on of linear slide rail move arm 20, wherein, Z-axis transmission mechanism adopts two groups of linear slide rail balances to be installed on the setting that first paragraph moves arm 20, can guarantee that controlling first paragraph moves arm 20 with the guide rail 41 of bilinearity slide rail for guiding moves up and down along Z axis, moving process is more steady, there will not be left and right unbalance.
In the present embodiment, described Timing Belt 45 is set around idle pulley 46 and synchronizing wheel 44 place is " Ω " shape, the design of the Timing Belt 45 winding synchronizing wheel 44 that the technical program is special and idle pulley 46, can realize when synchronizing wheel 44 rotates, drive Timing Belt 45 to move up and down, thus drive first paragraph to move arm 20 by this Timing Belt 45 to move up and down, the setting of whole Z-axis transmission mechanism is simpler, while realizing Z-axis transmission, efficiency is higher, and effect is better.
Concrete, the bottom that described first paragraph moves arm 20 is connected with second segment and moves arm 50, the second segment arranged moves the shift motion that arm 50 can increase whole manipulator Z-direction effectively, and its control range is in the vertical direction increased, and the scope of application is wider.
More specifically, the bottom that described second segment moves arm 50 is provided with the posture portion 60 for clamping device, and posture portion 60 is for clamping device, and fixture gripping can move moulding or mould template.
Known the utility model is have above-described good characteristic in sum, is made it in manufacture assembling and uses, and promotes in conventional art the usefulness that do not have and has practicality, becoming the novel product structure that has practical value.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.
Claims (6)
1. the manipulator with balance cylinder, comprise fixed mount (10) and first paragraph moves arm (20), first paragraph moves arm (20) and is arranged in this fixed mount (10), first paragraph moves arm (20) and is connected with the Z-axis transmission mechanism moved up and down for driving first paragraph to move arm (20), it is characterized in that: described fixed mount (10) is provided with balance cylinder (30), piston rod (31) end of balance cylinder (30) is moved arm (20) through this fixed mount (10) with first paragraph and is fixedly connected with.
2. a kind of manipulator with balance cylinder according to claim 1, is characterized in that: described Z-axis transmission mechanism comprises linear slide rail, motor (43), synchronizing wheel (44) and Timing Belt (45); The guide rail (41) of linear slide rail is installed on first paragraph along Z axis and moves arm (20), the slide block (42) of linear slide rail is fixedly connected with fixed mount (10), motor (43) is installed on fixed mount (10), synchronizing wheel (44) is connected with the main shaft drives of motor (43), the both sides up and down of synchronizing wheel (44) are respectively arranged with an idle pulley (46), Timing Belt (45) is set around idle pulley (46) and synchronizing wheel (44), and arm (20) is moved at the two ends of Timing Belt (45) respectively two ends up and down with first paragraph are fixedly connected with.
3. a kind of manipulator with balance cylinder according to claim 2, is characterized in that: described linear slide rail has two groups, and two groups of parallel first paragraphs that are installed on of linear slide rail move arm (20).
4. a kind of manipulator with balance cylinder according to claim 2, is characterized in that: described Timing Belt (45) is set around idle pulley (46) and synchronizing wheel (44) place is " Ω " shape.
5. a kind of manipulator with balance cylinder according to claim 1, is characterized in that: the bottom that described first paragraph moves arm (20) is connected with second segment and moves arm (50).
6. a kind of manipulator with balance cylinder according to claim 5, is characterized in that: the bottom that described second segment moves arm (50) is provided with the posture portion (60) for clamping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420407579.9U CN204054543U (en) | 2014-07-23 | 2014-07-23 | A kind of manipulator with balance cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420407579.9U CN204054543U (en) | 2014-07-23 | 2014-07-23 | A kind of manipulator with balance cylinder |
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| Publication Number | Publication Date |
|---|---|
| CN204054543U true CN204054543U (en) | 2014-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420407579.9U Active CN204054543U (en) | 2014-07-23 | 2014-07-23 | A kind of manipulator with balance cylinder |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070642A (en) * | 2014-07-23 | 2014-10-01 | 广东拓斯达科技股份有限公司 | Mechanical hand with balance cylinder |
| CN108422622A (en) * | 2018-05-11 | 2018-08-21 | 宁波海迈克自动化科技有限公司 | A kind of three-section type manipulator of injection machine |
| CN109664262A (en) * | 2019-02-22 | 2019-04-23 | 广东拓斯达科技股份有限公司 | Manipulator |
-
2014
- 2014-07-23 CN CN201420407579.9U patent/CN204054543U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070642A (en) * | 2014-07-23 | 2014-10-01 | 广东拓斯达科技股份有限公司 | Mechanical hand with balance cylinder |
| CN108422622A (en) * | 2018-05-11 | 2018-08-21 | 宁波海迈克自动化科技有限公司 | A kind of three-section type manipulator of injection machine |
| CN108422622B (en) * | 2018-05-11 | 2024-04-19 | 宁波海天驱动科技有限公司 | Three-section type mechanical arm of injection molding machine |
| CN109664262A (en) * | 2019-02-22 | 2019-04-23 | 广东拓斯达科技股份有限公司 | Manipulator |
| CN109664262B (en) * | 2019-02-22 | 2024-02-06 | 广东拓斯达科技股份有限公司 | Mechanical arm |
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