CN210361301U - Double-arm heavy truss manipulator with balancing device - Google Patents
Double-arm heavy truss manipulator with balancing device Download PDFInfo
- Publication number
- CN210361301U CN210361301U CN201921017908.8U CN201921017908U CN210361301U CN 210361301 U CN210361301 U CN 210361301U CN 201921017908 U CN201921017908 U CN 201921017908U CN 210361301 U CN210361301 U CN 210361301U
- Authority
- CN
- China
- Prior art keywords
- arm
- transverse
- lifting
- heavy
- terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a take balancing unit's heavy truss manipulator of both hands arm, including stand, horizontal portion, arm and terminal tool, horizontal portion sets up at the stand top, the arm is fixed through the slide mechanism that can follow horizontal portion horizontal direction left and right round trip movement on the horizontal portion, just the arm can the oscilaltion, terminal tool is installed the lower extreme of arm, just terminal tool rotary motion. According to the manipulator, the guide rails are installed horizontally in the horizontal movement direction of the transverse arch, so that the distance between the guide rails is increased, the stress of the sliding blocks is reduced, the service life is prolonged, and the operation is more stable; in the vertical movement direction of the arm, a combination of a balance cylinder and a precise pressure regulating valve is additionally arranged, so that the dead weight of the lifting arm can be balanced, and the loading capacity is effectively increased; the servo motor and the planetary reducer are additionally arranged at the tail end of the manipulator, and the placing position of a workpiece can be adjusted by 360 degrees without dead angles through transmission of the rotary support, so that the installation and debugging are convenient, and the working efficiency is improved.
Description
Technical Field
The utility model belongs to the technical field of mechanical equipment, concretely relates to take balancing unit's heavy truss manipulator of both hands arm.
Background
At present, a plurality of defects are found in the using process of common truss manipulators on the market, and the defects are mainly shown in the following steps: firstly, in the left-right horizontal movement direction of the transverse arch, the guide rail is installed in a wall-mounted manner, so that the stress of the sliding block is multiplied, the service life of the sliding block is shortened, and the repeated positioning precision is seriously influenced due to the shaking phenomenon in the operation; secondly, the lifting arm is not provided with a balancing device structurally, so that the clamping capacity is greatly reduced; thirdly, the tail end of the manipulator is not provided with an auxiliary shaft, so that the installation and debugging are inconvenient, time-consuming and labor-consuming.
Disclosure of Invention
Not enough to prior art, the utility model aims to provide a take balancing unit's heavy truss manipulator of both hands arm, the capacity is big, operates steadily, and the repeated positioning precision is high, long service life, the installation and debugging of being convenient for, when the same capacity, can reduce servo motor's power, plays energy saving and emission reduction's efficiency.
In order to achieve the above object, the utility model adopts the following technical scheme: the utility model provides a take balancing unit's heavy truss manipulator of both hands arm, includes stand, horizontal portion, arm and terminal tool, horizontal portion sets up at the stand top, the arm is fixed through the slide mechanism that can follow horizontal portion horizontal direction left and right round trip movement on the horizontal portion, just the arm can the oscilaltion, terminal tool is installed the lower extreme of arm, just terminal tool rotary motion.
Preferably, the portion of violently going is including setting up the violently going arch at the stand top, violently going arch top both sides are provided with two heavy-duty type guide rails that are parallel to each other, and one of them is provided with the violently going rack on the inboard violently going arch of heavy-duty type guide rail, be provided with gliding heavy-duty type slider of making a round trip on the heavy-duty type guide rail, be provided with the sideslip slide on the heavy-duty type slider, be fixed with violently going motor, violently going speed reducer mounting panel on the sideslip slide, violently going speed reducer is connected with the sideslip gear, violently going gear meshes with the sideslip rack mutually, still be fixed with the arm on the sideslip slide and draw group roof beam I and arm and draw group roof beam II, just the side of sideslip.
Preferably, the arm part comprises an arm part I and an arm part II which are identical in structure.
Preferably, the arm part I is connected with an arm I mounting vertical plate through an arm leading and dialing beam I, the arm I mounting vertical plate is arranged on the inner side of the arm leading and dialing beam I, the arm I mounting vertical plate is also provided with an arm I lifting motor, an arm I lifting speed reducer, an arm I speed reducer mounting plate and an arm I lifting slide block, the arm I speed reducer is connected with an arm I lifting gear, the arm I lifting slide block can move up and down along two arm I lifting guide rails in the vertical direction, the two arm I lifting guide rails are arranged on two sides of a lifting column of the arm I in parallel, an arm I lifting rack is fixed on an arm I lifting column on the inner side of one arm I lifting guide rail, i lifting rack of arm meshes with I lifting gear of arm mutually, I lifting column side of arm is provided with I balanced jar of arm, the tailpiece of the piston rod of I balanced thick stick of arm is connected with I lifting column of arm.
Preferably, the terminal jig comprises a terminal jig I and a terminal jig II which are identical in structure.
Preferably, terminal tool I is connected through the bottom of tool connecting plate with I lift post of arm, install terminal servo motor, terminal speed reducer mounting panel and gyration on the tool connecting plate and support, terminal speed reducer is connected with terminal appearance gear of transferring, the gyration is supported and is connected with terminal tool.
Preferably, the stand is provided with four altogether, and equidistant interval sets up.
Compared with the prior art, the beneficial effects of the utility model reside in that:
firstly, in the left-right horizontal movement direction of the transverse arch, the guide rails are horizontally installed instead of the original wall-mounted installation, and the distance between the guide rails is increased, so that the stress of the sliding blocks can be reduced, and the service life is prolonged; meanwhile, the operation is more stable;
secondly, the combination of a balance cylinder and a precise pressure regulating valve is additionally arranged in the vertical movement direction of the arm, so that the dead weight of the lifting arm can be balanced, and the load capacity is effectively increased;
thirdly, the servo motor and the planetary reducer are additionally arranged at the tail end of the manipulator, and the placing position of the workpiece can be adjusted by 360 degrees without dead angles through transmission of the rotary support, so that the installation and debugging are facilitated, and the working efficiency is improved.
Drawings
FIG. 1 is an overall structure diagram of the present invention;
fig. 2 is a split structure diagram of the present invention.
In the figure: 1-upright column; 2-transverse part, 2.1-transverse arch, 2.2-transverse rack, 2.3-heavy-duty guide rail, 2.4-heavy-duty slide block, 2.5-transverse slide plate, 2.6-auxiliary support plate, 2.7-transverse motor, 2.8-transverse speed reducer, 2.9-transverse speed reducer mounting plate, 2.10-transverse gear, 2.11-arm leading beam I and 2.12-arm leading beam II; the lifting device comprises a 3-arm part, a 3.1-arm I lifting motor, a 3.2-arm I lifting speed reducer, a 3.3-arm I lifting speed reducer mounting plate, a 3.4-arm I lifting gear, a 3.5-arm I mounting vertical plate, a 3.6-arm I lifting slide block, a 3.7-arm I lifting guide rail, a 3.8-arm I lifting gear, a 3.9-arm I lifting balance cylinder and a 3.10-arm I lifting column; 4-end jig, 4.1-end servomotor, 4.2-end reducer, 4.3-end attitude adjusting gear, 4.4-end reducer mounting plate, 4.5-jig connecting plate, 4.6-rotary support and 4.7-end jig body.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
As shown in fig. 1 and 2, an embodiment of the present invention: the utility model provides a take balancing unit's heavy truss manipulator of both hands arm, includes stand 1, horizontal portion 2, arm 3 and terminal tool 4, stand 1 is provided with four altogether, and equidistant interval sets up, horizontal portion 2 sets up at stand 1 top, arm 3 is fixed through the slide mechanism that can follow horizontal 2 direction of horizontal portion and control round trip movement horizontal portion 2 is last, just arm 3 can the oscilaltion, terminal tool 4 is installed the lower extreme of arm 3, just terminal tool 4 rotary motion.
Specifically, the violently go portion 2 is including setting up the violently go and encircle 2.1 at 1 top of stand, violently go and encircle 2.1 top both sides and be provided with two heavy-duty type guide rails 2.3 that are parallel to each other, be provided with violently go rack 2.2 on 2.1 of the inboard violently going of one of them heavy-duty type guide rail 2.3, be provided with gliding heavy-duty type slider 2.4 of making a round trip on the heavy-duty type guide rail 2.3, be provided with violently going slide 2.5 on the heavy-duty type slider 2.4, be fixed with violently going motor 2.7 on violently going slide 2.5, violently going speed reducer 2.8, violently going speed reducer mounting panel 2.9, violently going speed reducer 2.8 is connected with violently going gear 2.10, violently going gear 2.10 meshes with violently going rack 2.2 mutually, violently going slide 2.5 is last still to be fixed with arm and to dial I2.11 and arm and to draw the roof beam to dial II 2.12, just the side of violently going slide 2..
When the transverse motor 2.7 is started, the transverse motor 2.7 transmits power to the transverse gear 2.10 through the transverse speed reducer 2.8, the transverse gear 2.10 is meshed with the transverse rack 2.2, the transverse gear 2.10 rotates to drive the transverse rack 2.2 to move left and right back and forth along the horizontal direction, the transverse rack 2.2 drives the heavy-duty slide block 2.4 to move left and right along the heavy-duty guide rail 2.3, and the heavy-duty slide block 2.4 further drives the transverse slide block 2.5 to move left and right back and forth, so that the left and right horizontal movement of the whole device is realized.
The arm part 3 comprises an arm part I and an arm part II which are identical in structure. Taking an arm I as an example for specific description, the arm I is connected with an arm I mounting vertical plate 3.5 through an arm guiding beam I2.11, the arm I mounting vertical plate 3.5 is arranged on the inner side of the arm guiding beam I2.11, an arm I lifting motor 3.1, an arm I lifting speed reducer 3.2, an arm I speed reducer mounting plate 3.3 and an arm I lifting slide block 3.6 are further arranged on the arm I mounting vertical plate 3.5, the arm I speed reducer 3.2 is connected with an arm I lifting gear 3.4, the arm I lifting slide block 3.6 can vertically move along two arm I lifting guide rails 3.7, the two arm I lifting guide rails 3.7 are arranged on two sides of an arm I lifting column 3.10 in parallel, an arm I lifting rack 3.8 is fixed on an arm I lifting column 3.10 on the inner side of one arm I lifting guide rail 3.7, and the arm I lifting rack 3.8 is meshed with the arm I lifting gear 3.4, i lifting column 3.10 side of arm is provided with I balanced jar 3.9 of arm, the tailpiece of the piston rod of I balanced thick stick 3.9 of arm is connected with I lifting column 3.10 of arm.
When starting I lift 3.2.7 of arm, I speed reducer 3.2 of arm gives I lifting gear 3.4 of arm with power transmission, and I lifting gear 3.4 of arm rotates and drives I lifting rack 3.8 of arm and reciprocate in the vertical direction, and I lifting rack 3.8 of arm drives I lifting slide 3.6 of arm and reciprocates in the vertical direction along I lifting guide 3.7 of arm. Simultaneously, I balanced jar 3.9 of arm can balance the dead weight of arm portion I for arm portion I moves from top to bottom more stably.
The terminal jig 4 comprises a terminal jig I and a terminal jig II which are identical in structure. Take terminal tool I as an example, terminal tool I is connected through the bottom of tool connecting plate 4.5 with I lift post 3.10 of arm, install terminal servo motor 4.1, terminal speed reducer 4.2, terminal speed reducer mounting panel 4.4 and gyration on the tool connecting plate 4.5 and support 4.6, terminal speed reducer 4.2 is connected with terminal appearance gear 4.3 of transferring, gyration is supported 4.6 and is connected with terminal tool body 4.7.
When the tail end servo motor 4.1 is started, the tail end servo motor 4.1 transmits power to the tail end posture adjusting gear 4.3 through the tail end speed reducer 4.2, and the tail end posture adjusting gear 4.3 drives the rotary support 4.6 to rotate for 360 degrees, so that the rotary posture adjustment of the tail end jig body 4.7 is realized.
The manipulator is large in load capacity, stable in operation, high in repeated positioning accuracy, long in service life and convenient to install and debug, can reduce the power of the servo motor when the manipulator is at the same load capacity, has the effects of energy conservation and emission reduction, and has good market popularization prospect.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a take balancing unit's heavy truss manipulator of both hands arm, includes stand (1), horizontal portion (2), arm (3) and terminal tool (4), its characterized in that: the horizontal part (2) is arranged at the top of the upright post (1), the arm part (3) is fixed on the horizontal part (2) through a sliding mechanism which can move left and right back and forth along the horizontal direction of the horizontal part (2), the arm part (3) can lift up and down, the terminal jig (4) is arranged at the lower end of the arm part (3), and the terminal jig (4) can move rotationally.
2. The double-arm heavy truss manipulator with the balancing device as claimed in claim 1, wherein: the transverse portion (2) comprises a transverse arch (2.1) arranged at the top of the upright column (1), two heavy-load guide rails (2.3) which are parallel to each other are arranged on two sides above the transverse arch (2.1), a transverse rack (2.2) is arranged on the transverse arch (2.1) on the inner side of one heavy-load guide rail (2.3), a heavy-load sliding block (2.4) capable of sliding back and forth is arranged on the heavy-load guide rail (2.3), a transverse sliding plate (2.5) is arranged on the heavy-load sliding block (2.4), a transverse motor (2.7), a transverse speed reducer (2.8) and a transverse mounting plate (2.9) are fixed on the transverse sliding plate (2.5), the transverse speed reducer (2.8) is connected with a transverse gear (2.10), the transverse gear (2.10) is meshed with the transverse rack (2.2), and a transverse guiding beam I (2.11) and a guiding beam II (12) are further fixed on the arm (2.5), and the side surface of the transverse sliding plate (2.5) is also provided with an auxiliary supporting plate (2.6).
3. The double-arm heavy truss manipulator with the balancing device as claimed in claim 2, wherein: the arm part (3) comprises an arm part I and an arm part II which are identical in structure.
4. The double-arm heavy truss manipulator with the balancing device as claimed in claim 3, wherein: the arm I is connected with an arm I mounting vertical plate (3.5) through an arm leading and dialing beam I (2.11), the arm I mounting vertical plate (3.5) is arranged on the inner side of the arm leading and dialing beam I (2.11), the arm I mounting vertical plate (2.11) is further provided with an arm I lifting motor (3.1), an arm I lifting speed reducer (3.2), an arm I speed reducer mounting plate (3.3) and an arm I lifting sliding block (3.6), the arm I speed reducer (3.2) is connected with an arm I lifting gear (3.4), the arm I lifting sliding block (3.6) can vertically move along two arm I lifting guide rails (3.7), the two arm I lifting guide rails (3.7) are arranged on two sides of the arm I lifting column (3.10) in parallel, an arm I lifting guide rail (3.7) is fixed with an arm I lifting rack (3.8), and the arm I lifting rack (3.8) is meshed with an arm I lifting rack (3.4), i lifting column of arm (3.10) side is provided with I balanced jar of arm (3.9), the tailpiece of the piston rod of I balanced thick stick of arm (3.9) is connected with I lifting column of arm (3.10).
5. The double-arm heavy truss manipulator with the balancing device as claimed in claim 4, wherein: the tail end jig (4) comprises a tail end jig I and a tail end jig II which are identical in structure.
6. The double-arm heavy truss manipulator with the balancing device as claimed in claim 5, wherein: terminal tool I passes through tool connecting plate (4.5) and is connected with the bottom of I lift post of arm (3.10), install terminal servo motor (4.1), terminal speed reducer (4.2), terminal speed reducer mounting panel (4.4) and gyration on tool connecting plate (4.5) and support (4.6), terminal speed reducer (4.2) are connected with terminal appearance gear (4.3) of transferring, gyration is supported (4.6) and is connected with terminal tool body (4.7).
7. The double-arm heavy-duty truss manipulator with a balancing device according to any one of claims 1 to 6, wherein: four upright columns (1) are arranged at equal intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921017908.8U CN210361301U (en) | 2019-07-02 | 2019-07-02 | Double-arm heavy truss manipulator with balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921017908.8U CN210361301U (en) | 2019-07-02 | 2019-07-02 | Double-arm heavy truss manipulator with balancing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210361301U true CN210361301U (en) | 2020-04-21 |
Family
ID=70269646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921017908.8U Active CN210361301U (en) | 2019-07-02 | 2019-07-02 | Double-arm heavy truss manipulator with balancing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210361301U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546370A (en) * | 2020-04-29 | 2020-08-18 | 沈阳清林机械有限公司 | Coupler disassembling and assembling manipulator |
| CN113927575A (en) * | 2021-10-22 | 2022-01-14 | 伯朗特机器人股份有限公司 | Anti-falling manipulator |
-
2019
- 2019-07-02 CN CN201921017908.8U patent/CN210361301U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546370A (en) * | 2020-04-29 | 2020-08-18 | 沈阳清林机械有限公司 | Coupler disassembling and assembling manipulator |
| CN113927575A (en) * | 2021-10-22 | 2022-01-14 | 伯朗特机器人股份有限公司 | Anti-falling manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210361301U (en) | Double-arm heavy truss manipulator with balancing device | |
| CN106044623A (en) | Lifting device for adjusting height based on ball screws | |
| CN201532963U (en) | Frame combining and angle device for solar battery assembly | |
| CN205552529U (en) | Triaxial list arm equipment | |
| CN101862967B (en) | Dual-drive dual-screw rod positioner | |
| CN110295762A (en) | Construction walling robot | |
| CN203184863U (en) | Cantilever type sliding rail mechanism applied to rectangular coordinate system welding robot | |
| CN202448120U (en) | Lifting and manual rotary operating platform | |
| CN102371501A (en) | Workpiece positioning device | |
| CN207076919U (en) | One kind is parallel track forging manipulator | |
| CN208394174U (en) | A kind of liftable carriage | |
| CN208305036U (en) | Turning plate machinery hand | |
| CN208507838U (en) | A kind of elasticity lifting body | |
| CN202212809U (en) | Workpiece positioning device | |
| CN215588312U (en) | Fixing machine tool for welding aluminum plate | |
| CN213888881U (en) | Be used for welded rotatory upset positioning mechanism of car seat steel wire framework | |
| CN205272820U (en) | Biplate glass screen printing fixes a position platform | |
| CN211393729U (en) | Crane for maintaining large-scale wind power equipment | |
| CN210559102U (en) | Electric lifting platform | |
| CN109465587B (en) | Light-load reciprocating rod | |
| CN112196244A (en) | Steel construction removes construction platform | |
| CN218050808U (en) | Welding device | |
| CN213276364U (en) | Frequency converter control panel testing arrangement | |
| CN216336183U (en) | Reinforced gantry crane base | |
| CN214603071U (en) | Metal processing center machine with improved base structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |