CN2855658Y - Manipulator having two main arms structure - Google Patents
Manipulator having two main arms structure Download PDFInfo
- Publication number
- CN2855658Y CN2855658Y CN 200520087547 CN200520087547U CN2855658Y CN 2855658 Y CN2855658 Y CN 2855658Y CN 200520087547 CN200520087547 CN 200520087547 CN 200520087547 U CN200520087547 U CN 200520087547U CN 2855658 Y CN2855658 Y CN 2855658Y
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- Prior art keywords
- cantilever
- fixed knot
- principal arm
- principal
- manipulator
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- Expired - Fee Related
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- 239000000463 material Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 5
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004377 microelectronic Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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Abstract
The utility model relates to a manipulator with a double-principal-arm structure, which is provided with double principal arms with the same structure that are correspondingly arranged on a cantilever. The double arms can independently realize the operation of the processed parts with the synchronous operating processes; which can effectively improve production efficiency. The manipulator with a double-principal-arm structure is provided with a base, a transverse cantilever that is axially arranged on one horizontal lateral end of the base, and double principal arms that are connected on the cantilever. Each principal arm of the double principal arms of the manipulator has the same structure and is correspondingly provided on the same side of the cantilever. The transverse front lateral face of the cantilever is provided with a cantilever guiding rail. A slider that is nested with the cantilever guiding rail is connected with a cylinder that is fixed on the principal arm. Each principal arm is provided with a fixed node. The outer side of the fixed node is connected with a fixed base of the cylinder that is fixed on the cantilever. The fixed node is parallel provided with an active node. The inner side of the profile frame of the active node is vertically provided with an inner side guiding rail. An inner side slider of the fixed node is nested on the inner side guiding rail of the active node.
Description
Technical field
The utility model relates to a kind of manipulator of novel electromechanical control, and concrete is the mechanical arm architecture advances that adopts two principal arms.
Background technology
At the integrated production scene of injection moulding industry, the manipulator with Electromechanical Control replaces artificial implementation and operation usually at present.
As the patent formerly of following content is disclosed, and the patent No. 99810360.8, patent name is the robot that is used for microelectronic workpiece handling, its organization plan is to adopt the modified transfer system, is used for transmitting microelectronic workpiece at machining tool.Described transfer system includes one, and delivery unit comprises a vertical member at the delivery unit that transmits the guiding of sliding on the guide rail, and its cardinal extremity with two arm formula mechanical arms links to each other.Mechanical arm has an end effector at its end, and it can be driven the periphery sides edge of grabbing workpiece.By first rotating driver that is provided with, make vertical member around its axis rotation, so that the rotation of whole mechanical arm.Also be provided with second rotating driver, make of first arm (110) rotation of second arm of mechanical arm by a belt with respect to mechanical arm.
As the disclosed two arm formula mechanical arms of above-mentioned patent, come branch in fact to comprise two kinds of fit structures of major and minor arm by the robotic arm manipulation operation, two arms are operated successively to same processing component.Different according to manufacturing procedure and operating position, two arms (being major and minor arm) structure there are differences.The project organization of this two arms is suitable for the processing technology of multiple working procedure, and is to operate at different parts or position successively, only can process same parts in a duration.If for simple procedures, above-mentioned single arm can be finished, thereby existing two arms are provided with structure its limitation is obviously arranged, and its production efficiency is not high.
The utility model content
Manipulator with two principal arm structures described in the utility model, its purpose of design is to address the above problem and is provided with same structure and relatively is arranged on two principal arms on the cantilever, both sides' arm can be realized the operation at processing component independently of one another, operational sequence is synchronous, can effectively enhance productivity.
Described manipulator with two principal arm structures is a First Five-Year Plan axle type manipulator, and its primary structure comprises:
One plays the base of basic connection effect;
Axle be located at base level one side, and can be along the reciprocating horizontal cantilever of base support;
And, be arranged on the two principal arms that are connected on the cantilever.
For realizing above-mentioned purpose of design, two principal arms of described manipulator, the structure of each principal arm is identical and relatively be arranged on the same side of described cantilever.
Further improvement project is, the horizontal leading flank of described cantilever is provided with cantilevered rail, is connected with cylinder holder fixing on the slide block of cantilevered rail socket and the described principal arm, thereby the realization principal arm laterally slides along cantilevered rail, and realized fixedlying connected between principal arm and cantilever.
Correspondingly, the structure of described each principal arm comprises:
One vertically disposed fixed knot connects on the export-oriented side of this fixed knot and the fixing cylinder holder of cantilever; Inboard at the section material framework of fixed knot connects an inboard slide block;
With the active section that described fixed knot be arranged in parallel, the inboard of the section material framework of this active section vertically is provided with side rails in, and the inboard slide block of described fixed knot is socketed on the interior side rails of active section; Cylinder is fixed on the cylinder holder of fixed knot sidepiece, to drive described active section along inboard upper and lower the moving of fixed knot.
The bottom of described active section is provided with a upset cylinder, and the cylinder rod of this upset cylinder connects the pawl that turns over of active section bottom, turns over pawl and realize different directions and the rotation of angle ground under the driving of cylinder rod, processes with snapping, the parts that will operate of taking.
Connecting the structure of cylinder holder on the export-oriented side of described fixed knot, can be in the side of fixed knot one vertical guide rail to be set, socket one fixed knot slide block on side guide, and this fixed knot slide block connects described cylinder holder.
As mentioned above, the advantage with manipulator of two principal arm structures is, the two principal arms that are oppositely arranged can be realized operation separately, and operational sequence is synchronous, the production efficiency that can double.
Description of drawings
Fig. 1 is the cantilever of described manipulator and the partial structurtes figure of two principal arms;
Fig. 2 is the plan structure figure of Fig. 1;
Fig. 3 is the structure chart of described single principal arm;
Fig. 4 is the plan structure figure of Fig. 3.
Have cantilever 2, principal arm 3, principal arm 4 as Fig. 1-shown in Figure 4;
Principal arm section bar 31, principal arm stepper motor 32, principal arm encoder 33;
Principal arm section bar 41, principal arm stepper motor 42, principal arm encoder 43,
Fixed knot 5, cylinder holder 51, inboard slide block 52, vertical guide rail 53, fixed knot slide block 54;
Active section 6, interior side rails 61, cylinder 62, upset cylinder 63 turns over pawl 64.
The specific embodiment
Embodiment 1, as shown in Figures 1 to 4, described manipulator with two principal arm structures, above its basis connection base, trunnion axis establishes one can be along the reciprocating horizontal cantilever 2 of base support.
Be connected with structure identical principal arm 3 and principal arm 4 in the same side of cantilever 2, principal arm 3 and principal arm 4 relatively are arranged on the same side of described cantilever 2.
A side that is connected with cantilever 2 is fixedly connected with principal arm stepper motor 32 and principal arm encoder 33 on the principal arm section bar 31, the output shaft of principal arm stepper motor 32 is connected with the gear of its below, and gears engaged is in cantilever tooth bar 23.Manipulator is by the instruction of control, input principal arm encoder 33, can realize that principal arm stepper motor 32 drives the below gears the moving of cantilever tooth bar 23, thereby realize that principal arm 3 is in cantilever 2 reciprocating motion in a lateral direction.
Syndeton between principal arm 4 and the cantilever 2 and type of drive and principal arm 3 identical.
Described principal arm 4 has a fixed knot 5 and an active section 6.
The inboard of the section material framework of vertically disposed fixed knot 5 connects an inboard slide block 52, and a vertical guide rail 53 is set on the export-oriented side of fixed knot 5, socket one fixed knot slide block 54 on side guide 53, and this fixed knot slide block 54 connects cylinder holder 51.
Accordingly, cantilever 2 leading flanks are horizontally arranged with cantilevered rail 22, are connected with cylinder holder 51 with the slide block of cantilevered rail socket, thereby realize that principal arm 4 laterally slides along the guide rail 22 of cantilever 2.
With fixed knot 5 active section 6 is set abreast, the inboard of the section material framework of this active section 6 vertically is provided with side rails 61 in, and fixed knot slide block 54 is socketed on the interior side rails 61.
Cylinder 62 is fixed on the cylinder holder 51, moves along the inboard upper and lower of fixed knot 5 to drive described active section 6.
The bottom of active section 6 is provided with a upset cylinder 63, and what the cylinder rod of this upset cylinder 63 connected the active section bottom turns over pawl 64, turns over pawl 64 and realize that different directions and angle ground rotate under the driving of cylinder rod, with the parts of taking and will operate.
Claims (3)
1, a kind of manipulator with two principal arm structures comprises the base that plays basic connection effect;
Axle be located at base level one side, and can be along the reciprocating horizontal cantilever of base support;
And, be arranged on two principal arms of this cantilever the same side,
It is characterized in that: described pair of principal arm, the structure of each principal arm is identical and relatively be arranged on the same side of described cantilever.
2, the manipulator with two principal arm structures according to claim 1 is characterized in that: the horizontal leading flank of described cantilever is provided with cantilevered rail, is connected with cylinder holder fixing on the slide block of cantilevered rail socket and the described principal arm;
Described each principal arm has a vertically disposed fixed knot, connects on the export-oriented side of this fixed knot and the fixing cylinder holder of cantilever; Inboard at the section material framework of fixed knot connects an inboard slide block;
With the active section that described fixed knot be arranged in parallel, the inboard of the section material framework of this active section vertically is provided with side rails in, and the inboard slide block of described fixed knot is socketed on the interior side rails of active section; Cylinder is fixed on the cylinder holder of fixed knot sidepiece;
The bottom of described active section is provided with a upset cylinder, and the cylinder rod of this upset cylinder connects the pawl that turns over of active section bottom.
3, the manipulator with two principal arm structures according to claim 2 is characterized in that: in the side of fixed knot one vertical guide rail is set, and socket one fixed knot slide block on side guide, this fixed knot slide block connects described cylinder holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520087547 CN2855658Y (en) | 2005-09-24 | 2005-09-24 | Manipulator having two main arms structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520087547 CN2855658Y (en) | 2005-09-24 | 2005-09-24 | Manipulator having two main arms structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2855658Y true CN2855658Y (en) | 2007-01-10 |
Family
ID=37598964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520087547 Expired - Fee Related CN2855658Y (en) | 2005-09-24 | 2005-09-24 | Manipulator having two main arms structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2855658Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502259A (en) * | 2011-09-23 | 2012-06-20 | 东莞市伟创东洋自动化设备有限公司 | Automatic water testing manipulator for LED screen |
| CN103846643A (en) * | 2012-12-06 | 2014-06-11 | 苏州宏瑞达新能源装备有限公司 | Automatic feeding mechanism of frame pressing machine |
| CN104626136A (en) * | 2013-11-12 | 2015-05-20 | 宁夏巨能机器人***有限公司 | Bearing outer ring line double-vertical-shaft mechanical hand |
| CN105082117A (en) * | 2015-09-23 | 2015-11-25 | 淄博纽氏达特机器人***技术有限公司 | Gantry type double-arm truss robot and machining method for arc-shaped plate |
| CN110896188A (en) * | 2019-11-22 | 2020-03-20 | 珠海格力智能装备有限公司 | Injection molding mechanical arm |
-
2005
- 2005-09-24 CN CN 200520087547 patent/CN2855658Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502259A (en) * | 2011-09-23 | 2012-06-20 | 东莞市伟创东洋自动化设备有限公司 | Automatic water testing manipulator for LED screen |
| CN102502259B (en) * | 2011-09-23 | 2014-01-22 | 东莞市伟创东洋自动化设备有限公司 | Automatic water testing manipulator for LED screen |
| CN103846643A (en) * | 2012-12-06 | 2014-06-11 | 苏州宏瑞达新能源装备有限公司 | Automatic feeding mechanism of frame pressing machine |
| CN104626136A (en) * | 2013-11-12 | 2015-05-20 | 宁夏巨能机器人***有限公司 | Bearing outer ring line double-vertical-shaft mechanical hand |
| CN105082117A (en) * | 2015-09-23 | 2015-11-25 | 淄博纽氏达特机器人***技术有限公司 | Gantry type double-arm truss robot and machining method for arc-shaped plate |
| CN110896188A (en) * | 2019-11-22 | 2020-03-20 | 珠海格力智能装备有限公司 | Injection molding mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |