CN206588991U - A kind of safeguard protection manipulator - Google Patents
A kind of safeguard protection manipulator Download PDFInfo
- Publication number
- CN206588991U CN206588991U CN201720243107.8U CN201720243107U CN206588991U CN 206588991 U CN206588991 U CN 206588991U CN 201720243107 U CN201720243107 U CN 201720243107U CN 206588991 U CN206588991 U CN 206588991U
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- China
- Prior art keywords
- fixedly connected
- shell
- lifting
- slide rail
- leading screw
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Abstract
The utility model provides a kind of safeguard protection manipulator, including transverse arm component, lifting assembly, shell and conveying assembly；Described shell is located at the lower section of the transverse arm component, and described lifting assembly is located at the inside of described shell, through described upper surface of outer cover, is fixedly connected with described transverse arm component；Described transverse arm component be located at described lifting assembly top, one end with lifting assembly be fixedly connected；Described conveying assembly be located at shell inside, through the both side surface of described shell, be fixedly connected with described shell.A kind of safeguard protection manipulator that the utility model is provided; pass through the high-speed starting and stopping of servomotor; cooperative mechanical is driven; ensure manipulator can on slide rail rapid starting/stopping and it is determined that position is accurately positioned; at in-position, limit switch is opened and closes motor, and now manipulator stops at once; it will not be continued to move to because of machinery inertials such as gear drives, improve production efficiency.
Description
Technical field
The utility model is related to a kind of manipulator, more particularly to a kind of safeguard protection manipulator.
Background technology
Manipulator has been widely used in processing, is used in various fields, and common manipulator is typically fixed
In equipment, part is captured come adjustment position by cantilever, the accurate location of part is obtained by position sensor, in work shape
Motor operation typically is used during state, the purpose quickly moved can be reached, but in the process, if there is power failure or motor
Failure, will cause the motion of manipulator to stop, if occurring surprisingly, will result directly in manipulator shut-down during crawl,
And conventional manipulator will slide at this moment, the loss for causing to retrieve to equipment and product.
Utility model content
Technical problem to be solved in the utility model is：Protected for the action component of manipulator, it is ensured that
In the case that accidental power failure or motor can not run well, keep manipulator position, it is ensured that machinery can stop motion, will not
There is the damage phenomenon such as fall produced because of self gravitation.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of safeguard protection manipulator, including transverse arm
Component, lifting assembly, shell and conveying assembly；Described shell is located at the lower section of the transverse arm component, described lifting assembly
Positioned at the inside of described shell, through described upper surface of outer cover, it is fixedly connected with described transverse arm component；Described transverse arm
Component be located at described lifting assembly top, one end with lifting assembly be fixedly connected, the other end stretches out, and vacantly exists
The top of product；Described conveying assembly be located at shell inside, it is and described through the both side surface of described shell
Shell is fixedly connected.
Described lifting assembly includes lifting line slide rail, cylinder column, leading screw, contiguous block, lifting power transmission shaft, transmission skin
Band, driven runner, driving runner and lift servo motor；Described cylinder column run through described shell, upper end with it is described
Transverse arm component is fixedly connected, and lower end is fixedly connected with the lower surface of described shell；Described leading screw is vertical positioned at described cylinder
The right side of post, through described shell, upper end is fixedly connected with described transverse arm component, and lower end is connected with described contiguous block；
Described lifting line slide rail is located at the both sides of described cylinder column and leading screw, and upper and lower ends are fixed with described shell to be connected
Connect；Described contiguous block is located at the lower inside of described shell, and one end is connected with described leading screw, one section with described lifting
Power transmission shaft is fixedly connected；Described lifting power transmission shaft runs through the lower surface of described shell, is secured with described driven runner
Connection；Described driven runner is located at the lower section of described shell, and position is corresponding with described leading screw；Described driving belt
Positioned at described driven runner and driving runner it is cylindrical on, with described driven runner and drive runner be brought into close contact；It is described
Lift servo motor be located at described shell the inside lower right corner, be fixedly connected with described shell, through described shell
Lower surface, be fixedly connected with described driving runner；Described driving runner is located at the lower section of described lift servo motor,
Simultaneously positioned at the lower section of described shell, position is corresponding with described lift servo motor.
Further, upper fixed seat, lower fixed seat and lifting slider are provided between described lifting line slide rail；It is described
Upper fixed seat be located at the top of described lifting slider, across described cylinder column and leading screw, described cylinder column and
Leading screw is fixedly connected；Described lower fixed seat is located at the lower section of described lifting slider, across described cylinder column and leading screw,
Described cylinder column is fixedly connected with leading screw；Described lifting sliding rail is located on described lifting line slide rail, and described
Lifting line slide rail is engaged, and slidably, is fixedly connected thereon with described upper fixed seat and lower fixed seat.
Further, the quantity of described lifting line slide rail is two, is symmetrically distributed in described cylinder column and silk
The both sides of thick stick.
Further, the quantity of described lifting slider is four, is symmetrically distributed in described cylinder column and leading screw
Both sides.
Further, it is provided with pressure retaining valve below described cylinder column；Described pressure retaining valve and described cylinder column
It is fixedly connected.
Further, described transverse arm component includes crossbeam, left support, intermediate supports, right support and mechanical gripping；Described
Crossbeam be located at lifting assembly top, be fixedly connected with described lifting assembly；Described left support is located at described horizontal stroke
The left position of beam, is fixedly connected with described crossbeam；Described intermediate supports be located at crossbeam centre position, it is and described
Crossbeam be fixedly connected；Described right support is located at the right-hand member of described crossbeam, is fixedly connected with described crossbeam；Described machine
Machinery claw is located at the lower section of described left support, intermediate supports and right support, solid with described left support, intermediate supports and right support
Fixed connection.
Further, described gripper has four, symmetrical two-by-two, in the lower section of described intermediate supports, phase
It is symmetrical with mechanical gripping below described left support and right support respectively to the gripper described in distribution two.
Further, described conveying assembly includes conveying servomotor, upper crossbearer, driving Double-axis slide, driving pair
Axle center slide rail, slide rail connecting seat, lower cross frame, driven Double-axis slide rail and driven Double-axis slide；Described conveying servomotor
Positioned at the centre position of described enclosure, it is fixedly connected with described shell；Described driving Double-axis slide rail crosses institute
The shell stated, positioned at the top of described conveying servomotor, is fixed in equipment；Described driving Double-axis slide is located at institute
Driving Double-axis slide rail on, coordinate with described driving Double-axis slide rail, slidably；Described upper crossbearer is located at described
The top of Double-axis slide, is fixedly connected with described shell, while being fixedly connected with described driving Double-axis slide；It is described
Lower cross frame be located at described shell lower inside, be fixedly connected with described shell；Described driven Double-axis slide position
In the lower section of described lower cross frame, it is fixedly connected with described lower cross frame, while on described driven Double-axis slide rail certainly
By sliding；Described driven Double-axis slide rail crosses described shell, is fixed in equipment.
Compared with prior art, a kind of safeguard protection manipulator that the utility model is provided, aids in rising by cylinder column
Drop, and provided with pressure retaining valve, when motor is stalled, cylinder column just can keep manipulator by stable gas pressure transverse arm component
Position, will not cause product and transverse arm to drop, and produce damage, no longer worked even if cylinder and also have pressure retaining valve closing gas
Air pressure in road, holding cylinder is constant, and position is constant.
Brief description of the drawings
Fig. 1 shows front view of the present utility model.
Fig. 2 shows right view of the present utility model.
Wherein：1. transverse arm component, 2. lifting assemblies, 3. shells, 4. conveying assemblies, 5. crossbeams, 6. left supports, in the middle of 7.
Support, 8. right supports, 9. grippers, 10. leading screws, 11. cylinder columns, 12. limit switches, crossbearer, 14. driving twin shafts on 13.
Heart slide, 15. driving Double-axis slide rails, 16. connecting seats, 17. conveying servomotors, 18. lifting line slide rails, 19. times horizontal strokes
Frame, 20. driven Double-axis slide rails, 21. driven Double-axis slides, 22. contiguous blocks, 23. lifting power transmission shafts, 24. driven runners,
25. driving belt, 26. driving runners, 27. lift servo motors, 28. lower fixed seats, 29. lifting sliders, 30. upper fixed seats,
31 connecting rods.
Embodiment
As illustrated, a kind of safeguard protection manipulator, including transverse arm component 1, lifting assembly 2, shell 3 and conveying assembly 4；
Described shell 3 is located at the lower section of the transverse arm component 1, and described lifting assembly 2 is located at the inside of described shell 3, run through
The upper surface of described shell 3, is fixedly connected with described transverse arm component 2；Described transverse arm component 1 is located at described lifting group
The top of part 2, one end with lifting assembly 2 be fixedly connected, the other end stretches out, vacantly in the top of product；Described
Conveying assembly 4 be located at shell 3 inside, through the both side surface of described shell 3, be fixedly connected with described shell 3.
Described lifting assembly 2 includes lifting line slide rail 18, cylinder column 11, leading screw 10, contiguous block 22, lifting biography
Moving axis 23, driving belt 25, driven runner 24, driving runner 26 and lift servo motor 27；Described cylinder column 11 runs through
Described shell 3, upper end is fixedly connected with described transverse arm component 2, and lower end is fixedly connected with the lower surface of described shell 3,
For aiding in described transverse arm component 2 to move up and down；Described leading screw 10 is located at the right side of described cylinder column 11, runs through
Described shell 3, upper end is fixedly connected with described transverse arm component 2, and lower end is connected with described contiguous block 22, is risen for providing
The major impetus of drop；Described lifting line slide rail 18 is located at the both sides of described cylinder column 11 and leading screw 10, upper and lower ends
It is fixedly connected, is used as the basis of lifting moving with described shell 3；Described contiguous block 22 is located at described shell 3
Lower inside, one end is connected with described leading screw 10, and one section is fixedly connected with described lifting power transmission shaft 23, for connecting
The lifting power transmission shaft 23 and leading screw 10 stated, transmit power；Described lifting power transmission shaft 23 runs through the lower surface of described shell 3,
Secure and be connected with described driven runner 24, for transmitting power；Described driven runner 24 is located under described shell 3
Side, position is corresponding with described leading screw 10；Described driving belt 25 is located at described driven runner 24 and driving runner 26
It is cylindrical on, with described driven runner 24 and driving runner 26 be brought into close contact, passed for being driven from described driving runner 26
The power passed；Described lift servo motor 27 is located at the inside lower right corner of described shell 3, fixes and connects with described shell 3
Connect, through the lower surface of described shell 3, be fixedly connected with described driving runner 26, for providing power；Described driving
Runner 26 is located at the lower section of described lift servo motor 27, while positioned at the lower section of described shell 3, being watched with described lifting
Take motor 27 to be fixedly connected, for transmitting power
Further, upper fixed seat 30, lower fixed seat 28 and lifting are provided between described lifting line slide rail 18 to slide
Block 29；Described upper fixed seat 30 is located at the top of described lifting slider 29, across described cylinder column 11 and leading screw 10,
Described cylinder column 11 is fixedly connected with leading screw 10, for the cylinder column 11 and leading screw 10 described in fixation；Described is lower solid
Reservation 28 is located at the lower section of described lifting slider 29, across described cylinder column 11 and leading screw 10, described cylinder column
11 are fixedly connected with leading screw 10, for the cylinder column 11 and leading screw 10 described in fixation；Described lifting sliding rail 29 is located at described
Lifting line slide rail 18 on, be engaged with described lifting line slide rail 18, slidably, with described upper fixed seat 30
It is fixedly connected with lower fixed seat 29, for providing the basis slided.
Further, the quantity of described lifting line slide rail 18 is two, is symmetrically distributed in described cylinder column 11
It is that described lifting slider 29 provides track foundation with the both sides of leading screw 10.
Further, the quantity of described lifting slider 29 is four, is symmetrically distributed in described cylinder column 11 and silk
The both sides of thick stick 10, balance is provided to slide.
Further, the described lower section of cylinder column 10 is provided with pressure retaining valve；Described pressure retaining valve is stood with described cylinder
Post is fixedly connected, the air pressure inside for keeping described cylinder column 10 in accident.
Further, described transverse arm component 1 includes crossbeam 5, left support 6, intermediate supports 7, right support 8 and gripper
9；Described crossbeam 5 be located at lifting assembly 2 top, be fixedly connected with described lifting assembly 2, be used as described horizontal stroke
The basis of arm component 1 is used；Described left support 6 is located at the left position of described crossbeam 5, fixes and connects with described crossbeam 5
Connect；Described intermediate supports 7 be located at crossbeam 5 centre position, be fixedly connected with described crossbeam 5；Described right support
8 are located at the right-hand member of described crossbeam 5, are fixedly connected with described crossbeam 5；Described gripper 9 be located at described left support 6,
The lower section of intermediate supports 7 and right support 8, is fixedly connected with described left support 6, intermediate supports 7 and right support 8, for capturing
Product.
Further, described gripper 9 has four, symmetrical two-by-two, in the lower section of described intermediate supports, phase
To the gripper 9 being distributed described in two, the gripper with the described lower section of left support 6 and right support 8 is symmetrical respectively, it is ensured that can
To capture two set products simultaneously.
Further, described conveying assembly 4 include conveying servomotor 17, upper crossbearer 13, driving Double-axis slide 14,
Drive Double-axis slide rail 15, lower cross frame 19, driven Double-axis slide rail 20 and driven Double-axis slide 21；Described conveying servo electricity
Machine 17 is located at the centre position inside described shell 3, is fixedly connected with described shell 3, for providing mobile power；It is described
Driving Double-axis slide rail 15 cross described shell 3, positioned at the top of described conveying servomotor 17, be fixed on equipment
On, used as the mobile basis of manipulator；Described driving Double-axis slide 14 be located at driving Double-axis slide rail 15 on,
Coordinate with described driving Double-axis slide rail 15, slidably, driving mechanical hand is slided together；Described upper crossbearer 13 is located at
The top of described Double-axis slide 14, is fixedly connected with described shell 3, while solid with described driving Double-axis slide 15
Fixed connection, for the driving Double-axis slide 15 described in fixation, makes it drive whole manipulator to slide when sliding；Under described
Crossbearer 19 is located at the lower inside of described shell 3, is fixedly connected with described shell 3, for the driven twin shaft described in fixation
Heart slide 21；Described driven Double-axis slide 21 is located at the lower section of described lower cross frame 19, is fixed with described lower cross frame 19
Connection, while, control machinery hand is integrally transported along slide rail when sliding on described driven Double-axis slide rail 20 slidably
It is dynamic；Described driven Double-axis slide rail 20 crosses described shell, is fixed in equipment, makes as the mobile basis of manipulator
With.
When in use, described lift servo motor 27 is opened, by the described opening movement of lifting assembly 2, described drive
Dynamic runner 26 is rotated, and the described driving belt 25 of drive and driven runner 24 are rotated, and is driven by described contiguous block 22 described
Leading screw 11 rotate, the active force that described leading screw 11 is moved upwards by rotational band, so as to drive described transverse arm component 1
Motion, carry out crawl campaign, realize the function of manipulator, now described cylinder column 10 follows described transverse arm component 1
Motion upwards, upwards, when motor shuts down suddenly, described transverse arm component 1 is because itself weight for the described leading screw 11 of auxiliary
Power needs to move downward, and lifting slider 29 will be on described lifting line slide rail 18 downwards in described lifting assembly 2
Slide, the effect without holding power, described transverse arm component 1 will fall in equipment with product, can not only damage product but also meeting
Equipment is damaged, and now described cylinder column 10 is not influenceed by motor, air pressure will be kept constant, supports described as support
Transverse arm component 1, prevent it from dropping, if while described cylinder column 11 is also affected, described pressure retaining valve will be passed through
The air pressure that (not shown) is closed in gas circuit and the described cylinder column of holding, it is ensured that manipulator will not be moved again, be protected
The safety of equipment and product it is intact.
It is last it should be noted that above example is only to illustrate the technical solution of the utility model and non-limiting skill
Art scheme, it will be understood by those within the art that, those are modified or waited to the technical solution of the utility model
With replacing, without departing from the objective and scope of the technical program, it all should cover among right of the present utility model.
Claims (8)
1. a kind of safeguard protection manipulator, it is characterised in that including transverse arm component, lifting assembly, shell and conveying assembly；It is described
Shell be located at the lower section of the transverse arm component, described lifting assembly is located at the inside of described shell, through described outer
Shell upper surface, is fixedly connected with described transverse arm component；Described transverse arm component is located at the top of described lifting assembly, one end
With lifting assembly be fixedly connected, the other end stretches out, vacantly in the top of product；Described conveying assembly be located at
The inside of shell, through the both side surface of described shell, is fixedly connected with described shell；
Described lifting assembly include lifting line slide rail, cylinder column, leading screw, contiguous block, lifting power transmission shaft, driving belt,
Driven runner, driving runner and lift servo motor；Described cylinder column runs through described shell, upper end and described transverse arm
Component is fixedly connected, and lower end is fixedly connected with the lower surface of described shell；Described leading screw is located at described cylinder column
Right side, through described shell, upper end is fixedly connected with described transverse arm component, and lower end is connected with described contiguous block；It is described
Lifting line slide rail be located at the both sides of described cylinder column and leading screw, upper and lower ends are fixedly connected with described shell；
Described contiguous block is located at the lower inside of described shell, and one end is connected with described leading screw, and one section passes with described lifting
Moving axis is fixedly connected；Described lifting power transmission shaft runs through the lower surface of described shell, and company is secured with described driven runner
Connect；Described driven runner is located at the lower section of described shell, and position is corresponding with described leading screw；Described driving belt position
In described driven runner and driving runner it is cylindrical on, with described driven runner and drive runner be brought into close contact；Described
Lift servo motor is located at the inside lower right corner of described shell, is fixedly connected with described shell, through described shell
Lower surface, is fixedly connected with described driving runner；Described driving runner is located at the lower section of described lift servo motor, together
When positioned at the lower section of described shell, position is corresponding with described lift servo motor.
2. a kind of safeguard protection manipulator as claimed in claim 1, it is characterised in that set between described lifting line slide rail
It is equipped with upper fixed seat, lower fixed seat and lifting slider；Described upper fixed seat is located at the top of described lifting slider, across institute
The cylinder column and leading screw stated, described cylinder column are fixedly connected with leading screw；Described lower fixed seat is located at described lifting
The lower section of sliding block, across described cylinder column and leading screw, described cylinder column is fixedly connected with leading screw；Described lifting is slided
Rail is located on described lifting line slide rail, is engaged with described lifting line slide rail, thereon slidably, and described
Upper fixed seat is fixedly connected with lower fixed seat.
3. a kind of safeguard protection manipulator as claimed in claim 1 or 2, it is characterised in that described lifting line slide rail
Quantity is two, is symmetrically distributed in the both sides of described cylinder column and leading screw.
4. a kind of safeguard protection manipulator as claimed in claim 1 or 2, it is characterised in that the quantity of described lifting slider
For four, the both sides of described cylinder column and leading screw are symmetrically distributed in.
5. a kind of safeguard protection manipulator as claimed in claim 1, it is characterised in that be provided with below described cylinder column
Pressure retaining valve；Described pressure retaining valve is fixedly connected with described cylinder column.
6. a kind of safeguard protection manipulator as claimed in claim 1, it is characterised in that described transverse arm component include crossbeam,
Left support, intermediate supports, right support and gripper；Described crossbeam be located at lifting assembly top, with described lifting
Component is fixedly connected；Described left support is located at the left position of described crossbeam, is fixedly connected with described crossbeam；Described
Intermediate supports be located at crossbeam centre position, be fixedly connected with described crossbeam；Described right support is located at described horizontal stroke
The right-hand member of beam, is fixedly connected with described crossbeam；Described gripper is located at described left support, intermediate supports and right support
Lower section, is fixedly connected with described left support, intermediate supports and right support.
7. a kind of safeguard protection manipulator as claimed in claim 6, it is characterised in that described gripper has four, two
Two is symmetrical, in the lower section of described intermediate supports, the gripper described in Relative distribution two, respectively with described left support
It is symmetrical with gripper below right support.
8. a kind of safeguard protection manipulator as claimed in claim 1, it is characterised in that described conveying assembly is watched including conveying
Take motor, upper crossbearer, driving Double-axis slide, driving Double-axis slide rail, slide rail connecting seat, lower cross frame, driven Double-axis slide rail
With driven Double-axis slide；Described conveying servomotor is located at the centre position of described enclosure, with described shell
It is fixedly connected；Described driving Double-axis slide rail crosses described shell, fixed positioned at the top of described conveying servomotor
In equipment；Described driving Double-axis slide be located at driving Double-axis slide rail on, with described driving Double-axis slide rail
Coordinate, slidably；Described upper crossbearer is located at the top of described Double-axis slide, is fixedly connected with described shell, together
When be fixedly connected with described driving Double-axis slide；Described lower cross frame is located at the lower inside of described shell, and described
Shell be fixedly connected；Described driven Double-axis slide is located at the lower section of described lower cross frame, is fixed with described lower cross frame
Connection, while on described driven Double-axis slide rail slidably；Described driven Double-axis slide rail crosses described outer
Shell, is fixed in equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720243107.8U CN206588991U (en) | 2017-03-14 | 2017-03-14 | A kind of safeguard protection manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720243107.8U CN206588991U (en) | 2017-03-14 | 2017-03-14 | A kind of safeguard protection manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206588991U true CN206588991U (en) | 2017-10-27 |
Family
ID=60124004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720243107.8U Expired - Fee Related CN206588991U (en) | 2017-03-14 | 2017-03-14 | A kind of safeguard protection manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206588991U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737877A (en) * | 2017-03-14 | 2017-05-31 | 苏州聚晶科技有限公司 | A kind of safeguard protection manipulator |
| CN109049008A (en) * | 2018-09-20 | 2018-12-21 | 金石机器人常州股份有限公司 | Truss robot repairs Z axis falling proof device |
-
2017
- 2017-03-14 CN CN201720243107.8U patent/CN206588991U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737877A (en) * | 2017-03-14 | 2017-05-31 | 苏州聚晶科技有限公司 | A kind of safeguard protection manipulator |
| CN109049008A (en) * | 2018-09-20 | 2018-12-21 | 金石机器人常州股份有限公司 | Truss robot repairs Z axis falling proof device |
| CN109049008B (en) * | 2018-09-20 | 2024-04-26 | 金石机器人常州股份有限公司 | Z-axis anti-falling device for truss robot maintenance |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 |