CN205058066U - Preceding rear transmission of manipulator - Google Patents
Preceding rear transmission of manipulator Download PDFInfo
- Publication number
- CN205058066U CN205058066U CN201520727704.9U CN201520727704U CN205058066U CN 205058066 U CN205058066 U CN 205058066U CN 201520727704 U CN201520727704 U CN 201520727704U CN 205058066 U CN205058066 U CN 205058066U
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- support body
- manipulator
- driving
- belt
- driven pulley
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Abstract
The utility model discloses a preceding rear transmission of manipulator locates on the support body of manipulator. Preceding rear transmission of manipulator includes action wheel, follow driving wheel, motor, drive belt and front and back sliding seat. On the support body was located along the fore -and -aft direction cunning of support body to the front and back sliding seat, the motor was installed on the support body, and the output shaft of motor arranges along the left and right sides orientation of support body that action wheel and the fore -and -aft direction from the driving wheel along the support body are arranging of tandem. The action wheel is installed on the output shaft of motor, and the pin joint of follow driving wheel is on the support body, and the axial lead of the output shaft of the center of rotation line of follow driving wheel and motor parallels. The drive belt arranges the duplex winding along the fore -and -aft direction of support body and locates action wheel and driven taking turns to, and the drive belt is sliding seat fixed connection around with still to the more steady reliable just precision of the slip of sliding seat on the support body is high around making.
Description
Technical field
The utility model relates to manipulator field, particularly relates to a kind of front and back transmission mechanism improving the manipulator of stable drive reliability.
Background technology
Along with the development of economy and the continuous progress of science and technology, development for enterprise provides strong economy and technology pillar, enterprise is impelled to stride forward towards intelligent and highly integrated etc. direction, and a kind of in the manipulator intelligentized product that to be exactly enterprise research and develop.
As everyone knows, in order to alleviate the burden of operating personnel, or alternative operating personnel carry out dangerous operation, all be unable to do without the application of manipulator.Gone the operation of alternative operating personnel by manipulator, thus reach the object improving effect or protection operating personnel, therefore make manipulator be applied widely in the occasion of automated production.
Wherein, for manipulator, because it has the function of multiaxial motion, therefore manipulator is with multiple drive unit, and front and back transmission device is exactly the one in drive unit.Wherein, by front and back transmission device, the cantilever of manipulator is made to do the motion of front and back, thus make the vacuum slot device being arranged on the arm on cantilever also do the motion of front and back, the vacuum slot device reached on auxiliary arm goes the object discharging workpiece, thus makes manipulator can mate the various technological requirements of the workpiece in automation generation operation.But, the complicated structure of existing front and back transmission device, and transmission is not steady and precision is low.
Therefore, be badly in need of wanting the front and back transmission mechanism of the high manipulator of a kind of compact conformation, stable drive and precision to overcome above-mentioned defect.
Utility model content
The purpose of this utility model is to provide the front and back transmission mechanism of the manipulator that a kind of compact conformation, stable drive and precision are high.
For realizing above-mentioned object, the utility model provides a kind of front and back transmission mechanism of manipulator, is located on the support body of manipulator, and the front and back transmission mechanism of manipulator of the present utility model comprises driving wheel, driven pulley, motor, driving-belt and slide anteroposterior seat.Described slide anteroposterior seat is slidedly arranged on described support body along the fore-and-aft direction of described support body, and described motor is arranged on described support body, and the output shaft of described motor is arranged along the left and right directions of described support body.Described driving wheel and driven pulley are tandem layout along the fore-and-aft direction of described support body, described driving wheel is arranged on the output shaft of described motor, described driven pulley is articulated on described support body, and the rotary centerline of described driven pulley parallels with the axial line of the output shaft of described motor, described driving-belt is arranged along the fore-and-aft direction of described support body and is set around on described driving wheel and driven pulley, and described driving-belt is also fixedly connected with described slide anteroposterior seat.
Preferably, the front and back transmission mechanism of manipulator of the present utility model also comprises rotation installation shaft, first breast wheel and the second breast wheel, described rotation installation shaft is articulated on described support body, described rotation installation shaft is adjacent with described driving wheel establishes, the output shaft of described rotation installation shaft and described motor is in layout one on the other, the axial line of described rotation installation shaft parallels with the axial line of the output shaft of described motor, described first breast wheel is arranged on one end place of described rotation installation shaft and corresponding with described driving wheel, described second breast wheel is arranged on the other end place of described rotation installation shaft and corresponding with described driven pulley, described driving-belt comprises the first driving-belt and the second driving-belt, described first driving-belt is set around on described driving wheel and the first breast wheel, described second driving-belt is set around on described second breast wheel and driven pulley, described second driving-belt is fixedly connected with described slide anteroposterior seat.
Preferably, the output shaft of described motor is positioned at directly over described rotation installation shaft.
Preferably, the rotary centerline of described driven pulley and the axial line of described rotation installation shaft are in same level height.
Preferably, described support body has the mounting blocks installed for described driven pulley, described mounting blocks offers the host cavity for described driven pulley collecting, the two side that described host cavity is longitudinally arranged offers tipper, described tipper is tilted towards this direction away from described driving wheel by below to the top of described support body, and the pivotal axis of described driven pulley is placed in described tipper.
Preferably, described mounting blocks is dismountable setting.
Preferably, the rotary centerline of described driven pulley and the rotary centerline of described driving wheel are in same level height.
Preferably, described support body is provided with the guide rail that the fore-and-aft direction along this support body is arranged, described slide anteroposterior seat is provided with the slide block coordinated with described guide rail accordingly, and described slide block set to be located on described guide rail and along this slide.
Preferably, described slide anteroposterior seat comprise horizontal seat board and by the left and right sides of described horizontal seat board respectively to the downward biside plate stretched out, described slide block is positioned on described side plate, and described driving-belt is positioned at the below of described horizontal seat board, and described driving-belt is between described side plate.
Preferably, described support body is also provided with the Tensioning structure to described driving-belt tensioner, described Tensioning structure is positioned at the below of described horizontal seat board, and described Tensioning structure is also between described side plate.
Compared with prior art, because motor of the present utility model just can drive slide anteroposterior seat to do reciprocal slip along the fore-and-aft direction of support body by driving wheel, driven pulley and driving-belt, thus more steadily reliably also precision is high to make the slip of slide anteroposterior seat on support body, also make the sliding scale of slide anteroposterior seat larger, be suitable for the occasion that large distance steadily transmits; Just because motor of the present utility model just can drive the cantilever of the manipulator be installed on slide anteroposterior seat to slide by driving wheel, driven pulley and driving-belt, therefore make the structure of the front and back transmission mechanism of manipulator of the present utility model simple and compact.
Accompanying drawing explanation
Fig. 1 is the perspective view of the front and back transmission mechanism of manipulator of the present utility model.
Fig. 2 is the enlarged drawing of part A in Fig. 1.
Fig. 3 is the planar structure schematic diagram of the front and back transmission mechanism shown in Fig. 1.
Detailed description of the invention
In order to describe technology contents of the present utility model, structural feature in detail, accompanying drawing is coordinated to be described further below in conjunction with embodiment.
Refer to Fig. 1 and Fig. 3, the front and back transmission mechanism 100 of manipulator of the present utility model is located on the support body 210 of manipulator, comprises driving wheel (not marking in figure), driven pulley 20, motor 30, driving-belt 40 and slide anteroposterior seat 50.Slide anteroposterior seat 50 is slidedly arranged on support body 210 along the fore-and-aft direction of support body 210, particularly, in the present embodiment, realizing the more excellent mode that slide anteroposterior seat 50 is slidedly arranged on support body 210 is: support body 210 is provided with the guide rail 215 that the fore-and-aft direction along this support body 210 is arranged, slide anteroposterior seat 50 is provided with the slide block 51 coordinated with guide rail 215 accordingly, slide block 51 to be sheathed on guide rail 215 and to slide along this guide rail 215, improves stationarity and accuracy that slide anteroposterior seat 50 slides on support body 210 further; Preferably, guide rail 215 is the left and right sides places being positioned at support body 210, is preferentially positioned on the sidewall of the left and right sides of support body 210, to simplify structure.More specifically, slide anteroposterior seat 50 comprise horizontal seat board 50a and by the left and right sides of horizontal seat board 50a respectively to the downward biside plate 50b stretched out, slide block 51 is positioned on side plate 50b, thus makes slide anteroposterior seat 50 surround guide rail 215 and simplify structure, but not as limit.
As shown in Figures 1 and 3, motor 30 is arranged on support body 210, and preferably, motor 30 is chosen as servomotor to improve transmission accuracy, and the output shaft of motor 30 is arranged along the left and right directions of support body 210, the axial line of the output shaft of motor 30 is arranged along the left and right directions of support body 210.Driving wheel and driven pulley 20 are tandem layout along the fore-and-aft direction of support body 210, make to be spaced certain distance along the fore-and-aft direction of support body 210 between driving wheel and driven pulley 20; Driving wheel is arranged on the output shaft of motor 30, and driven pulley 20 is articulated on support body 210, and the rotary centerline of driven pulley 20 parallels with the axial line of the output shaft of motor 30, to guarantee that the installation site of driving wheel and driven pulley 20 matches.Driving-belt 40 is arranged along the fore-and-aft direction of support body 210 and is set around on driving wheel and driven pulley 20, and driving-belt 40 is also fixedly connected with slide anteroposterior seat 50, is with slide anteroposterior seat 50 to slide by driving-belt 40.Particularly, as a preferred embodiment of the present utility model, the front and back transmission mechanism 100 of manipulator also comprises rotation installation shaft 60, first breast wheel 70 and the second breast wheel 80, rotating installation shaft 60 is articulated on support body 210, rotate that installation shaft 60 is adjacent with driving wheel establishes, rotate the output shaft of installation shaft 60 and motor 30 in layout one on the other, be preferably, the output shaft of motor 30 is positioned at and rotates directly over installation shaft 60, more rationally compact to make motor 30 and to rotate the installation of installation shaft 60 on support body 210, reduce support body 210 respective volume.The axial line rotating installation shaft 60 also parallels with the axial line of the output shaft of motor 30, first breast wheel 70 is arranged on and rotates one end place of installation shaft 60 and corresponding with driving wheel, second breast wheel 80 is arranged on and rotates the other end place of installation shaft 60 and corresponding with driven pulley 20, be preferably, the rotary centerline of driven pulley 20 is in same level height with the axial line rotating installation shaft 60, is in same level height to make driven pulley 20 and the second breast wheel 70.Driving-belt 40 comprises the first driving-belt 41 and the second driving-belt 42, first driving-belt 41 is set around on driving wheel and the first breast wheel 60, second driving-belt 42 is set around on the second breast wheel 80 and driven pulley 20, second driving-belt 42 is also fixedly connected with slide anteroposterior seat 50, to make motor 30 obtain better speed and power by the cooperation of driving wheel, the first breast wheel 70, second breast wheel 80, first driving-belt 41, second driving-belt 42 and driven pulley 20 6, thus more can guarantee the reliability that slide anteroposterior seat 50 slides.Will be understood that, when the front and back transmission mechanism 100 of manipulator also comprises rotation installation shaft 60, first breast wheel 70 and the second breast wheel 80, the second driving-belt 42 is now positioned at the below of horizontal seat board 50a, and between side plate 50b; In order to make the transmission of the second driving-belt 42 more reliable, therefore support body 210 is also provided with the Tensioning structure 90 to the second driving-belt 42 tensioner, Tensioning structure 90 is positioned at the below of horizontal seat board 50a, and Tensioning structure 90 is also between side plate 50b; Driving wheel and driven pulley 20 are chosen as synchronous pulley, and driving-belt 40 is chosen as Timing Belt.Certainly, in other embodiments, the front and back transmission mechanism 100 of manipulator can not comprise rotation installation shaft 60, first breast wheel 70 and the second breast wheel 80, then driving-belt 40 now does not comprise the first driving-belt 41 and the second driving-belt 42, so time the rotary centerline of driven pulley 20 and the rotary centerline of driving wheel be in same level height, driving wheel is directly installed on the output shaft of motor 30, accordingly, driving-belt 40 is in the below of horizontal seat board 50a and between side plate 50b, the Tensioning structure 90 that support body 210 is provided with carries out tensioner to driving-belt 40.
As shown in Figures 1 and 2, support body 210 has the mounting blocks 211 installed for driven pulley 20, mounting blocks 211 offers the host cavity 212 of accommodating for driven pulley 20, the two side 213 that this host cavity 212 is longitudinally arranged offers tipper 214, tipper 214 is tilted towards this direction away from driving wheel by below to the top of support body 210, the pivotal axis of driven pulley 20 is placed in tipper 214, so that the rapid-assembling/disassembling of driven pulley 20, and simplifies the package assembly of driven pulley 20.Particularly, mounting blocks 211 is dismountable setting, so that mounting blocks 211 is in the quick installation of support body 210.
By reference to the accompanying drawings, front and back sliding seat 50 principle of the front and back transmission mechanism of manipulator of the present utility model is described: when will do slide anteroposterior on support body 210, motor 30 now works, driving wheel is passed through by the motor 30 worked, first driving-belt 41 and the first breast wheel 70 drive rotation installation shaft 60 to rotate, rotate in installation shaft 60 because the second breast wheel 80 is arranged on, therefore make the second breast wheel 80 follow the first breast wheel 70 to do the rotation coordinated, gone to drive slide anteroposterior seat 50 to slide by driven pulley 20 and the second driving-belt 42 by the second breast wheel 80 rotated again, realize the object that slide anteroposterior seat 50 slides on support body 210.
Compared with prior art, because motor 30 of the present utility model just can drive slide anteroposterior seat 50 to do reciprocal slip along the fore-and-aft direction of support body 210 by driving wheel, driven pulley 20 and driving-belt 40, thus more steadily reliably also precision is high to make the slip of slide anteroposterior seat 50 on support body 210, also make the sliding scale of slide anteroposterior seat 50 larger, be suitable for the occasion that large distance steadily transmits; Just because motor 30 of the present utility model just can drive the cantilever of the manipulator be installed on slide anteroposterior seat 50 to slide by driving wheel, driven pulley 20 and driving-belt 40, therefore make the structure of the front and back transmission mechanism 100 of manipulator of the present utility model simple and compact.
Above disclosedly be only preferred embodiment of the present utility model, certainly can not limit the interest field of the utility model with this, therefore according to the equivalent variations that the utility model claim is done, still belong to the scope that the utility model is contained.
Claims (10)
1. the front and back transmission mechanism of a manipulator, be located on the support body of manipulator, the front and back transmission mechanism of described manipulator comprises driving wheel, driven pulley, motor, driving-belt and slide anteroposterior seat, it is characterized in that, described slide anteroposterior seat is slidedly arranged on described support body along the fore-and-aft direction of described support body, described motor is arranged on described support body, and the output shaft of described motor is arranged along the left and right directions of described support body, described driving wheel and driven pulley are tandem layout along the fore-and-aft direction of described support body, described driving wheel is arranged on the output shaft of described motor, described driven pulley is articulated on described support body, and the rotary centerline of described driven pulley parallels with the axial line of the output shaft of described motor, described driving-belt is arranged along the fore-and-aft direction of described support body and is set around on described driving wheel and driven pulley, described driving-belt is also fixedly connected with described slide anteroposterior seat.
2. the front and back transmission mechanism of manipulator as claimed in claim 1, it is characterized in that, also comprise rotation installation shaft, first breast wheel and the second breast wheel, described rotation installation shaft is articulated on described support body, described rotation installation shaft is adjacent with described driving wheel establishes, the output shaft of described rotation installation shaft and described motor is in layout one on the other, the axial line of described rotation installation shaft parallels with the axial line of the output shaft of described motor, described first breast wheel is arranged on one end place of described rotation installation shaft and corresponding with described driving wheel, described second breast wheel is arranged on the other end place of described rotation installation shaft and corresponding with described driven pulley, described driving-belt comprises the first driving-belt and the second driving-belt, described first driving-belt is set around on described driving wheel and the first breast wheel, described second driving-belt is set around on described second breast wheel and driven pulley, described second driving-belt is fixedly connected with described slide anteroposterior seat.
3. the front and back transmission mechanism of manipulator as claimed in claim 2, it is characterized in that, the output shaft of described motor is positioned at directly over described rotation installation shaft.
4. the front and back transmission mechanism of manipulator as claimed in claim 2, it is characterized in that, the rotary centerline of described driven pulley and the axial line of described rotation installation shaft are in same level height.
5. the front and back transmission mechanism of manipulator as claimed in claim 1, it is characterized in that, described support body has the mounting blocks installed for described driven pulley, described mounting blocks offers the host cavity for described driven pulley collecting, the two side that described host cavity is longitudinally arranged offers tipper, described tipper is tilted towards this direction away from described driving wheel by below to the top of described support body, and the pivotal axis of described driven pulley is placed in described tipper.
6. the front and back transmission mechanism of manipulator as claimed in claim 5, it is characterized in that, described mounting blocks is dismountable setting.
7. the front and back transmission mechanism of manipulator as claimed in claim 1, it is characterized in that, the rotary centerline of described driven pulley and the rotary centerline of described driving wheel are in same level height.
8. the front and back transmission mechanism of manipulator as claimed in claim 1, it is characterized in that, described support body is provided with the guide rail that the fore-and-aft direction along this support body is arranged, described slide anteroposterior seat is provided with the slide block coordinated with described guide rail accordingly, and described slide block set to be located on described guide rail and along this slide.
9. the front and back transmission mechanism of manipulator as claimed in claim 8, it is characterized in that, described slide anteroposterior seat comprise horizontal seat board and by the left and right sides of described horizontal seat board respectively to the downward biside plate stretched out, described slide block is positioned on described side plate, described driving-belt is positioned at the below of described horizontal seat board, and described driving-belt is between described side plate.
10. the front and back transmission mechanism of manipulator as claimed in claim 9, it is characterized in that, described support body is also provided with the Tensioning structure to described driving-belt tensioner, described Tensioning structure is positioned at the below of described horizontal seat board, and described Tensioning structure is also between described side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520727704.9U CN205058066U (en) | 2015-09-18 | 2015-09-18 | Preceding rear transmission of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520727704.9U CN205058066U (en) | 2015-09-18 | 2015-09-18 | Preceding rear transmission of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205058066U true CN205058066U (en) | 2016-03-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520727704.9U Expired - Fee Related CN205058066U (en) | 2015-09-18 | 2015-09-18 | Preceding rear transmission of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205058066U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106144576A (en) * | 2016-08-12 | 2016-11-23 | 橙果信息技术有限公司 | A kind of Traverse Displacement Unit |
| CN107598895A (en) * | 2017-09-15 | 2018-01-19 | 苏州欣航微电子有限公司 | A kind of reciprocating motion actuation means for boosting manipulator |
| CN108691251A (en) * | 2018-05-21 | 2018-10-23 | 广东科捷龙机器人有限公司 | The automatic transfer equipment of paper matrix band net intelligence and the automatic transfer robot arm of paper matrix band net |
| CN109531779A (en) * | 2018-11-23 | 2019-03-29 | 浙江臻泰电子科技有限公司 | High precision small casting machine |
-
2015
- 2015-09-18 CN CN201520727704.9U patent/CN205058066U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106144576A (en) * | 2016-08-12 | 2016-11-23 | 橙果信息技术有限公司 | A kind of Traverse Displacement Unit |
| CN107598895A (en) * | 2017-09-15 | 2018-01-19 | 苏州欣航微电子有限公司 | A kind of reciprocating motion actuation means for boosting manipulator |
| CN108691251A (en) * | 2018-05-21 | 2018-10-23 | 广东科捷龙机器人有限公司 | The automatic transfer equipment of paper matrix band net intelligence and the automatic transfer robot arm of paper matrix band net |
| CN109531779A (en) * | 2018-11-23 | 2019-03-29 | 浙江臻泰电子科技有限公司 | High precision small casting machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 523000 Guangdong city of Dongguan Province Town Green Lake Industrial Park West Foxconn nishiura Industrial Park 2 Building No. 2 Patentee after: Dongguan runtitan intelligent Polytron Technologies Inc three Address before: 523660 Guangdong city of Dongguan Province Town Green Lake Industrial Park West Foxconn nishiura Industrial Park 2 Building No. 2 Patentee before: Dongguan Sanruntian Automation Devices Co., Ltd. |
|
| CP03 | Change of name, title or address |
Address after: 523660 Room 101, No.39, Dali Xinxing 1st Road, Qingxi Town, Dongguan City, Guangdong Province Patentee after: Dongguan sanruntian Intelligent Technology Co.,Ltd. Address before: 523000 No.2, building 2, Honghai Xipu Industrial Park, west section of Qinghu Industrial Park, Qingxi Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN SANNIAN INTELLIGENT TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20200918 |
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| CF01 | Termination of patent right due to non-payment of annual fee |