CN208231803U - A kind of multi-stage cylinder formula puma manipulator based on return difference circuit - Google Patents
A kind of multi-stage cylinder formula puma manipulator based on return difference circuit Download PDFInfo
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- CN208231803U CN208231803U CN201820604245.9U CN201820604245U CN208231803U CN 208231803 U CN208231803 U CN 208231803U CN 201820604245 U CN201820604245 U CN 201820604245U CN 208231803 U CN208231803 U CN 208231803U
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- surface edge
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- stage cylinder
- manipulator
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Abstract
The utility model discloses a kind of multi-stage cylinder formula puma manipulator based on return difference circuit, its structure includes multi-stage cylinder, motor, cross bar, control cabinet, pedestal, rotating device, manipulator main body, guide rail, transmission chain, gear-box, control cabinet side Surface Edge is fixedly connected with pedestal side Surface Edge edge along top, cross bar bottom surface edge, which is fastened, connects base top Surface Edge edge, and guide rail side Surface Edge is along insertion motor bottom Surface Edge along set on cross bar top surface.The utility model is equipped with rotating device, rotating base drives shaft to rotate in rotating ring main body through bearing, in shaft rotation, swivel becket control power-assisted ring assists shaft to carry out rotation in rotating ring main body keeps rotation more smooth, rotate shaft to pedestal direction, it avoids the working range of manipulator from being restricted, improves the using effect of manipulator.
Description
Technical field
The utility model is a kind of multi-stage cylinder formula puma manipulator based on return difference circuit, belongs to manipulator field.
Background technique
It is in life now, under the progress of Science and Technology Day crescent benefit, robot and the arm maximum area for having the mankind
It is not that flexibility ratio and resistance to dynamics.
Prior art discloses application No. is: a kind of puma manipulator of CN201621192597.5 is related to manipulator, packet
Main body, main body motor, main body control case, shaft and intelligent fixing piece are included, main body motor connects intelligence by shaft and fixes
Part, intelligent fixing piece is interior to be equipped with power supply, tightening motor, auxiliary connecting rod, retainer plate, fixing buckle and coiling, tightens electronic
Screw rod is connected on machine, there are two mobile disks, mobile disk to connect with auxiliary connecting rod for connection on screw rod, and mobile disk passes through connecting rod
It is connected and fixed plate, retainer plate is located at the top of fixed plate, and retainer plate bottom is equipped with pressure sensitive device, and retainer plate, which is equipped with, to be reinforced
It encloses, is cased with cinch cord on fixing collar, one end of cinch cord is connect with fixing buckle, and the other end of cinch cord is connect with coiling, around
Coil is equipped with gear, and gear is engaged with screw rod, has easy to operate, practical function, can directly sense whether clamp
The advantages of to drill bit, producing electricl energy, ensure that service life, improving the utilization rate of resource.But disadvantage is that nothing
Method, according to circumstances to manipulator direction of rotation, is easily restricted the working range of manipulator in manipulator use process, drop
The using effect of low manipulator.
Utility model content
In view of the deficienciess of the prior art, the utility model aim is to provide a kind of multi-stage cylinder based on return difference circuit
Formula puma manipulator, can not be in manipulator use process according to circumstances to manipulator direction of rotation, easily to solve above equipment
The problem of being restricted the working range of manipulator, reducing the use effect of manipulator.
To achieve the goals above, the utility model is achieved through the following technical solutions: it is a kind of based on return difference electricity
The multi-stage cylinder formula puma manipulator on road, structure include multi-stage cylinder, motor, cross bar, control cabinet, pedestal, rotating device, machine
Tool hand main body, guide rail, transmission chain, gear-box, control cabinet side Surface Edge are fixedly connected with pedestal side Surface Edge along top
Edge, cross bar bottom surface edge, which is fastened, connects base top Surface Edge edge, and guide rail side Surface Edge is along insertion
Motor bottom Surface Edge is located at along cross bar top surface, the base top Surface Edge edge is set to by cross bar both side surface edge
Guide rail bottom surface edge, the two pass through between transmission chain top surface edge without direct connection relational, the motor bottom surface
Gap cooperates cross bar top surface edge, and Surface Edge edge in manipulator main body side, which is arranged, is flexibly connected guide rail side surface；Institute
It states rotating device to be made of shaft, guide wheel, power-assisted ring, bearing, shell, swivel becket, rotating ring main body, the shaft top surface
Edge insertion is threadedly coupled base bottom face center, and guide wheel bottom surface edge is embedded in rotating ring main body by card slot
Top surface both ends, top surface edge are slidably connected base bottom Surface Edge edge, and the power-assisted ring outer surface edge is located at
Rotating ring main body inner surface center, the bearing inner surface central space cooperate shaft outer surface edge, outer surface
Edge fitting is set to shell inner surface center, and the shell concave surface central movable connects shaft bottom Surface Edge edge, institute
It states the insertion of swivel becket outer surface and is located at rotating ring main body inner surface edge center, Surface Edge edge in side is slidably connected outside shaft
Side surface, the rotating ring main body outer surface edge insertion clearance fit shell concave surface center.
Further, gear-box inner surface center is sheathed on transmission chain butting surface edge.
Further, multi-stage cylinder side Surface Edge is fastenedly connected manipulator main body side surface and motor along insertion
Top surface edge.
Further, Surface Edge edge in the transmission chain side is respectively arranged on guide rail and manipulator main body side Surface Edge edge.
Further, control cabinet top surface edge passes through electrical connection motor side Surface Edge edge.
Further, rotating device top surface edge insertion is threadedly coupled base bottom face center.
Further, the model YD280S12/6 of the motor.
Further, the transmission chain and gear-box match.
Beneficial effect
A kind of multi-stage cylinder formula puma manipulator based on return difference circuit of the utility model is equipped with rotating device, rotates bottom
Seat drives shaft to rotate in rotating ring main body through bearing, and in shaft rotation, swivel becket control power-assisted ring is in rotating ring main body
Auxiliary shaft, which carries out rotation, keeps rotation more smooth, rotates shaft to pedestal direction, the working range of manipulator is avoided to be limited
System, improves the using effect of manipulator.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic diagram of the multi-stage cylinder formula puma manipulator based on return difference circuit of the utility model；
Fig. 2 is the rotating device the schematic diagram of the section structure of the utility model.
Fig. 3 is the power-assisted ring partial enlargement diagram of the utility model.
In figure: multi-stage cylinder -1, cross bar -3, control cabinet -4, pedestal -5, rotating device -6, shaft -601, is led at motor -2
Wheel -602, bearing -604, shell -605, swivel becket -606, rotating ring main body -607, manipulator main body -7, is led at power-assisted ring -603
Rail -8, transmission chain -9, gear-box -10.
Specific embodiment
To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below
In conjunction with specific embodiment, the utility model is further described.
Fig. 1-Fig. 3 is please referred to, the utility model provides a kind of technical solution: a kind of multi-stage cylinder formula based on return difference circuit
Puma manipulator, structure include multi-stage cylinder 1, motor 2, cross bar 3, control cabinet 4, pedestal 5, rotating device 6, manipulator main body
7, guide rail 8, transmission chain 9, gear-box 10, the 4 side Surface Edge of control cabinet are fixedly connected with 5 side Surface Edge of pedestal along top
Edge, the 3 bottom surface edge of cross bar, which is fastened, connects 5 top surface edge of pedestal, and the 8 side Surface Edge of guide rail is along embedding
Enter 2 bottom surface edge of motor set on 3 top surface of cross bar, the 5 top surface edge of pedestal passes through 3 both side surface side of cross bar
Along 8 bottom surface edge of guide rail is located at, the two passes through 9 top table of transmission chain without direct connection relational, 2 bottom surface of motor
3 top surface edge of face edge clearance fit cross bar, the 7 side Surface Edge edge of manipulator main body, which is arranged, is flexibly connected guide rail 8
Side surface；The rotating device 6 by shaft 601, guide wheel 602, power-assisted ring 603, bearing 604, shell 605, swivel becket 606,
Rotating ring main body 607 forms, and 601 top surface edge of the shaft insertion is threadedly coupled 5 bottom surface of pedestal center, described to lead
It takes turns 602 bottom surface edges and 607 top surface both ends of rotating ring main body is embedded in by card slot, top surface edge is slidably connected
5 bottom surface edge of pedestal, the 603 outer surface edge of power-assisted ring is located at 607 inner surface of rotating ring main body center, described
604 inner surface central space of bearing cooperates 601 outer surface edge of shaft, and the fitting of outer surface edge is set in shell 605
Side surface is central, 605 concave surface central movable of the shell connection, 601 bottom surface edge of shaft, outside the swivel becket 606
Side surface insertion is located at 607 inner surface edge of rotating ring main body center, and side Surface Edge is along the 601 outside table of shaft that is slidably connected
Face, 607 outer surface edge of rotating ring main body insertion, 605 concave surface of the clearance fit shell center.The gear-box 10
Inner surface center is sheathed on 9 butting surface edge of transmission chain.The 1 side Surface Edge of multi-stage cylinder is fastenedly connected machine along insertion
2 top surface edge of 7 side surface of tool hand main body and motor.The 9 side Surface Edge edge of transmission chain is respectively arranged on guide rail 8 and machine
7 side Surface Edge edge of tool hand main body.The 4 top surface edge of control cabinet passes through electrical connection 2 side Surface Edge edge of motor.It is described
The insertion of 6 top surface edge of rotating device is threadedly coupled 5 bottom surface of pedestal center.
Bearing 604 described in this patent is a kind of important spare part in contemporary mechanical equipment.Its major function is support
Mechanical rotary body reduces the coefficient of friction in its motion process, and guarantees its rotating accuracy.
It is carrying out in use, 6 top surface edge of rotating device is mounted on 5 bottom surface of pedestal center, operation control
Case 4 transmits electric energy and runs to motor 2, and the rotation of motor 2 is moved on cross bar 3 by the cooperation control guide rail 8 of transmission chain 9, transmission chain 9
The operation of manipulator main body 7 is driven under the transmission of motor 2 with gear-box 10 and through return difference circuit cooperation multi-stage cylinder 1 to manipulator master
Body 7 works to object, when needing to turn to pedestal 5, pushes pedestal 5 that shaft 601 is driven to cooperate by bearing 604 in rotating ring
Rotation in main body 607, shaft 601 controls swivel becket 606 and rotates synchronously and rotate through power-assisted ring 603 to shaft 601 auxiliary when rotation
It helps, rotates shaft 601 to 5 direction of pedestal, the working range of manipulator is avoided to be restricted, improve the use effect of manipulator
Fruit.
The utility model solves the problems, such as it is that above equipment can not be in manipulator use process according to circumstances to manipulator
The problem of direction of rotation is easily restricted the working range of manipulator, reduces the use effect of manipulator, the utility model passes through
Above-mentioned component is combined with each other, and is equipped with rotating device, and rotating base drives shaft to rotate in rotating ring main body through bearing, is being turned
Swivel becket control power-assisted ring assists shaft to carry out rotation in rotating ring main body when axis rotates keeps rotation more smooth, makes shaft the bottom of to
Seat direction rotates, and avoids the working range of manipulator from being restricted, improves the using effect of manipulator.It is described in detail below:
601 top surface edge of the shaft insertion is threadedly coupled 5 bottom surface of pedestal center, 602 bottom of guide wheel
Surface Edge is embedded in 607 top surface both ends of rotating ring main body along by card slot, and top surface edge is slidably connected 5 bottom of pedestal
Surface Edge edge, the 603 outer surface edge of power-assisted ring are located at rotating ring main body 607 inner surface center, in the bearing 604
Side surface central space cooperates 601 outer surface edge of shaft, and the fitting of outer surface edge is set in 605 inner surface of shell
Centre, the 605 concave surface central movable of shell connect 601 bottom surface edge of shaft, and 606 outer surface of swivel becket is embedding
Enter to be located at 607 inner surface edge of rotating ring main body center, side Surface Edge is described along 601 outer surface of shaft that is slidably connected
607 outer surface edge of rotating ring main body is embedded in 605 concave surface of clearance fit shell center.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above, for
For those skilled in the art, it is clear that the present invention is not limited to the details of the above exemplary embodiments, and without departing substantially from this
In the case where the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims
All changes are embraced therein.It should not treat any reference in the claims as limiting related right
It is required that.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (6)
1. a kind of multi-stage cylinder formula puma manipulator based on return difference circuit, structure includes multi-stage cylinder (1), motor (2), cross
Bar (3), control cabinet (4), pedestal (5), rotating device (6), manipulator main body (7), guide rail (8), transmission chain (9), gear-box
(10), control cabinet (4) the side Surface Edge is fixedly connected with pedestal (5) side Surface Edge edge along top, it is characterised in that:
Cross bar (3) the bottom surface edge, which is fastened, connects pedestal (5) top surface edge, guide rail (8) side table
Face edge is embedded in motor (2) bottom surface edge and is set to cross bar (3) top surface, and pedestal (5) the top surface edge passes through
Cross bar (3) both side surface edge is located at guide rail (8) bottom surface edge, and the two is without direct connection relational, motor (2) bottom
Surface passes through transmission chain (9) top surface edge clearance fit cross bar (3) top surface edge, manipulator main body (7) side
Square Surface Edge edge, which is arranged, is flexibly connected guide rail (8) side surface；
The rotating device (6) is by shaft (601), guide wheel (602), power-assisted ring (603), bearing (604), shell (605), rotation
Ring (606), rotating ring main body (607) composition, shaft (601) the top surface edge insertion are threadedly coupled pedestal (5) bottom
Face center, guide wheel (602) the bottom surface edge are embedded in rotating ring main body (607) top surface both ends by card slot,
Top surface edge is slidably connected pedestal (5) bottom surface edge, and power-assisted ring (603) the outer surface edge is located at rotating ring
Main body (607) inner surface center, bearing (604) the inner surface central space cooperate shaft (601) outer surface edge,
The fitting of outer surface edge is set to shell (605) inner surface center, and shell (605) the concave surface central movable connection turns
Axis (601) bottom surface edge, swivel becket (606) the outer surface insertion are located at rotating ring main body (607) inner surface side
Along center, side Surface Edge is along shaft (601) outer surface that is slidably connected, rotating ring main body (607) the outer surface edge
It is embedded in clearance fit shell (605) concave surface center.
2. a kind of multi-stage cylinder formula puma manipulator based on return difference circuit according to claim 1, it is characterised in that: institute
It states gear-box (10) inner surface center and is sheathed on transmission chain (9) butting surface edge.
3. a kind of multi-stage cylinder formula puma manipulator based on return difference circuit according to claim 1, it is characterised in that: institute
It states multi-stage cylinder (1) side Surface Edge and is fastenedly connected manipulator main body (7) side surface and motor (2) top surface side along insertion
Edge.
4. a kind of multi-stage cylinder formula puma manipulator based on return difference circuit according to claim 1, it is characterised in that: institute
It states transmission chain (9) side Surface Edge edge and is respectively arranged on guide rail (8) and manipulator main body (7) side Surface Edge edge.
5. a kind of multi-stage cylinder formula puma manipulator based on return difference circuit according to claim 1, it is characterised in that: institute
It states control cabinet (4) top surface edge and passes through electrical connection motor (2) side Surface Edge edge.
6. a kind of multi-stage cylinder formula puma manipulator based on return difference circuit according to claim 1, it is characterised in that: institute
It states the insertion of rotating device (6) top surface edge and is threadedly coupled pedestal (5) bottom surface center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820604245.9U CN208231803U (en) | 2018-04-25 | 2018-04-25 | A kind of multi-stage cylinder formula puma manipulator based on return difference circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820604245.9U CN208231803U (en) | 2018-04-25 | 2018-04-25 | A kind of multi-stage cylinder formula puma manipulator based on return difference circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208231803U true CN208231803U (en) | 2018-12-14 |
Family
ID=64584855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820604245.9U Expired - Fee Related CN208231803U (en) | 2018-04-25 | 2018-04-25 | A kind of multi-stage cylinder formula puma manipulator based on return difference circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208231803U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757483A (en) * | 2019-11-08 | 2020-02-07 | 珠海格力智能装备有限公司 | Embedded type injection molding manipulator control cabinet mounting structure |
-
2018
- 2018-04-25 CN CN201820604245.9U patent/CN208231803U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757483A (en) * | 2019-11-08 | 2020-02-07 | 珠海格力智能装备有限公司 | Embedded type injection molding manipulator control cabinet mounting structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181214 Termination date: 20190425 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |