CN102626932A - Sliding table transmission mechanism for mechanical arm - Google Patents
Sliding table transmission mechanism for mechanical arm Download PDFInfo
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- CN102626932A CN102626932A CN2012100988892A CN201210098889A CN102626932A CN 102626932 A CN102626932 A CN 102626932A CN 2012100988892 A CN2012100988892 A CN 2012100988892A CN 201210098889 A CN201210098889 A CN 201210098889A CN 102626932 A CN102626932 A CN 102626932A
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Abstract
The invention relates to a sliding table transmission mechanism for a mechanical arm, belonging to the technical field of mechanical arms. The mechanical arm comprises a guide beam arranged on a fixed seat, and a pair of guide rails are fixed on the upward surface of the guide beam. The sliding table transmission mechanism comprises a sliding table, a driving motor and a synchronous belt, wherein the sliding table is matched with the pair of guide rails and moved on the pair of guide rails. The sliding table transmission mechanism is characterized in that a motor base is fixed on one end part of the guide beam, and the driving motor is arranged on the motor base; a driving motor shaft is stretched into a motor base cavity of the motor base through a shaft hole formed in the motor base, and a main synchronous belt wheel is fixed on the driving motor shaft stretched into the motor base cavity; the other end part of the guide beam is provided with a shaft seat plate, and a belt wheel shaft is arranged on the shaft seat plate; a slave synchronous belt wheel is arranged on the belt wheel shaft; and both ends of the synchronous belt are connected to the sliding table, and the middle part is sleeved on the main synchronous belt wheel and the slave synchronous belt wheel. The sliding table transmission mechanism has the advantages of lightening the load of the sliding table, saving energy and avoiding line abrasion of the driving motor in a movement process and is beneficial to protecting the driving motor.
Description
Technical field
The invention belongs to the manipulator technical field, be specifically related to a kind of slide unit transmission mechanism of manipulator
Background technology
The notion of
manipulator is that people are known; Has the function that apish hand of ability and arm are accomplished some action; Be the automatic pilot that grasps, carries object or operation tool in order to by fixed routine, it can replace people's mechanization and the automation of heavy work to realize producing.Particularly: owing to can under harmful operating environment, can protect personal safety, thereby be widely used in fields such as machine-building, metallurgy, electronics, light industry and even atomic energy.
manipulator mainly is made up of hand (the industry custom is claimed paw) and motion.Hand is in order to grasp the parts of workpiece (or instrument), according to the shape that is grasped object, size, weight, material and action request various versions to be arranged, like clamp-type, holding type and absorbent-type or the like.Motion is to ensure that hand completion exercises are as rotating, swing and/or moving and use position and the posture that change is grasped object.The kind of manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type and mechanical type by type of drive, or the like.
Extremely people's the favor of the manipulator of
motorized motions mode, thereby the field of being given an example above being widely used in being not limited to because structure is terse relatively and cheap.Such as industry the reason of knowledge; Manipulator is installed on the slide unit usually by means of robot gantry; And slide unit and crossbeam (also claiming nose girder) are slidingly matched, and under the traction of the synchronous band that is driven by actuating unit, slide unit are moved back and forth on crossbeam; Manipulator is moved between two stations, and under the automatic control of its controlling organization, accomplish extracting and releasing action object.
are shown in Figure 2 to be the slide unit transmission mechanism of the manipulator in the prior art; Described manipulator comprise be installed on the holder 1 and towards on the surface be fixed with a nose girder 2 of pair of guide rails 21 with parallel mode, described slide unit transmission mechanism comprises with described pair of guide rails 21 slide unit 3, drive motors 4 that match and that on guide rail 21, move and is with 5 synchronously.Main synchronous pulley 41 motions that the output shaft (being the drive motors axle) of drive and drive motors 4 fixes under the work of drive motors 4.Owing to be with 5 to cooperate with main synchronous pulley 41 transmissions and is connected synchronously, therefore be with 5 to move synchronously by main synchronous pulley 41 drives with slide unit 3.So under the rotating work of drive motors 4, move back and forth through being with 5 traction slide units about 3 synchronously.Because the execution unit of paw of manipulator and so on is installed on the robot gantry 6, and robot gantry 6 is fixed on the slide unit 3, therefore drives robot gantries 6 motions by slide unit 3 again.
There is following drawback in
said structure: one of which; Noise greatly then influences working environment; Because drive motors 4 is installed on slide unit 3 and moves back and forth with slide unit 3; The noise of its generation constitutes for field operation personnel's mood to be influenced with operating efficiency, for example when abnormal voice appears in miscellaneous equipment, owing to the noise of drive motors 4 is difficult to timely discovery; Its two, slide unit load is big and be unfavorable for saves energy, because be with 5 synchronously when driving slide unit about 3 and move back and forth, except the weight of slide unit 3 self also is attended by the weight of drive motors 4, thereby power consumption is increased; Its three, easy detonator circuit fault because drive motors 4 is with slide unit 3 motions, so both there had been the anxiety of the electric leakage of wear and tear in the circuit that is electrically connected with drive motors 4 or claim that cable is prone to produce friction with nose girder 2, causes troublesome maintenance again and loses the anxiety of safety; Its four, be difficult to the service life of drive motors 4 ensure because drive motors 4 is kept in motion all the time, therefore causes securing member to get loose easily and even influence service life.
The drawback the applicant who exists in view of above-mentioned prior art has done improvement, and the technical scheme that will introduce below produces under this background
Summary of the invention
task of the present invention is to provide a kind of and helps to reduce noise and use the environment that ensures operation field, help reducing the load of slide unit and use and save power consumption, be of value to the circuit of avoiding drive motors and break down and use and embody safety and alleviate the slide unit transmission mechanism of safeguarding intensity and the manipulator in the service life of being convenient to ensure drive motors being arranged.
task of the present invention is accomplished like this; A kind of slide unit transmission mechanism of manipulator; Described manipulator comprise be installed on the holder and towards on the surface be fixed with the nose girder of a pair of parallel guide rail; Described slide unit transmission mechanism comprises slide unit, the drive motors that matches with described pair of guide rails and on pair of guide rails, move and is with synchronously; Characteristics are: the end end at said nose girder is fixed with a motor cabinet, and described drive motors is arranged on this motor cabinet, and the axis hole that the drive motors beam warp of drive motors is opened on the motor cabinet is insinuated in the motor base cavity of motor cabinet; Be fixed with a main synchronous pulley being insinuated on this drive motors axle of motor base cavity; Be provided with an axle bed plate in the other end end of nose girder, this axle bed plate is provided with a belt shaft, on this belt shaft, is provided with one rotationally from synchronous pulley; The two ends of described synchronous band are connected on the slide unit, and the middle part is nested with at main synchronous pulley with from synchronous pulley.
in a concrete embodiment of the present invention, described nose girder is by first, second sidewall and be connected in diapire between first, second sidewall and constitute shape of cross section and be H shape.
are in another concrete embodiment of the present invention; On described nose girder and in fixed-site, a pair of parallel adjustment seat is arranged corresponding to described axle bed plate; Offer a pair of adjustment hole on each adjustment seat, the axle bed plate is fixed with the adjustment hole.
are in another concrete embodiment of the present invention; End end at said nose girder is fixed with one first shrouding; And the other end is fixed with one second shrouding, and on second shrouding, offers a tensioning screw resigning hole, on the axle bed plate and in the fixed-site corresponding to the tensioning screw resigning hole, one tensioning screw is arranged; On this tensioning screw, be equipped with a stop nut, this stop nut contacts with second shrouding.
are provided with a pair roller at described slide unit towards the both sides on a surface of said nose girder and at each pivot of position corresponding to described pair of guide rails in another concrete embodiment of the present invention, roller matches with guide rail.
technical scheme provided by the invention is owing to be installed in drive motors on the end motor cabinet that is positioned at nose girder; Thereby remedied and be arranged at slide unit in the prior art and move and be prone to cause the drawback of noise with slide unit; Both helped to alleviate the load of slide unit and embody energy-conservation and avoid drive motors circuit wearing and tearing in moving process, to occur, helped protecting drive motors again.
Description of drawings
Fig. 1 is the embodiments of the invention structure chart.
Fig. 2 is the slide unit transmission mechanism sketch map of the manipulator in the prior art.
The specific embodiment
can be expressly understood technical spirit of the present invention and beneficial effect more for the auditor that the makes Patent Office especially public; The applicant general elaborates with the mode of embodiment below; But the description to embodiment all is not the restriction to the present invention program, any according to the present invention design done only for pro forma but not substantial equivalent transformation all should be regarded as technical scheme category of the present invention.
please be referring to Fig. 1; A holder 1 and a nose girder 2 have been provided as manipulator; Nose girder 2 is screwed on holder 1; Nose girder 2 is by first, second sidewall 24,25 and be connected in first, second sidewall 24, diapire 26 between 25 constitutes shape of cross section and is H shape, diapire 26 towards on the surface be fixed with pair of guide rails 21, this lays and parallel along the length direction of diapire 26 guide rail 21.
The slide unit transmission mechanism that
provide comprises with aforesaid pair of guide rails 21 slide unit 3, drive motors 4 that match and that on guide rail 21, move and is with 5 synchronously; Main points as technical scheme provided by the invention; At an end of nose girder 2 is that the left end of location status shown in Figure 1 is fixed with a motor cabinet 22; Say that more properly motor cabinet 22 is fixed on the left end of aforementioned diapire 26; On this motor cabinet 22, offer an axis hole 221, drive motors 4 is fixed on the motor cabinet 22, and the drive motors axle 42 of this drive motors 4 is corresponding to axis hole 221 and probe in the motor base cavity 222 of motor cabinet 22; Be fixed with a main synchronous pulley 41 on this drive motors axle 42 in being insinuated into motor base cavity 222; At the other end of nose girder 2 is that the right-hand member of shown position state is provided with an axle bed plate 23, on this axle bed plate 23, is fixed with a belt shaft 231, on belt shaft 231, is provided with one rotationally from synchronous pulley 2311.Preferably, respectively be fixed with an adjustment seat 27, in a pair of adjustment 27, respectively offer an adjustment hole 271 in corresponding both sides, the bottom of the right-hand member (is example with the shown position state) of nose girder 2.Preferably, be fixed with one first shrouding 28 at the left end of nose girder 2, and be fixed with one second shrouding 29, and offer a tensioning bolt resigning hole 291 in the middle position of second shrouding 29 at right-hand member.
aforesaid axle bed plate 23 is fixing with aforesaid adjustment hole 271 through axle bed plate adjustment screw 233; On axle bed plate 23 and in fixed-site, one tensioning screw 232 is arranged corresponding to aforesaid tensioning bolt resigning hole 291; This tensioning screw 232 penetrates (insertion) tensioning screw resigning hole 291 and is equipped with a stop nut 2321, a side contacts of this stop nut 2321 and second shrouding, 29 outwards.Aforesaid synchronously with 5 two ends be fixed on slide unit 3 on synchronous band fixedly ear 32 be connected, and be nested with at main synchronous pulley 41 with from synchronous pulley 2311 with 5 middle part synchronously.
are when being with 5 relaxed condition to occur synchronously; Then unscrew axle bed plate adjustment screw 233; And axle bed plate adjustment screw 233 is moved on adjustment hole 271, when moving right rational position, limit 2321 pairs of tensioning screws 232 of stop nut; And limited on 2331 pairs of axle bed plate adjustment of nut screw 233, vice versa.
are provided with a pair roller 31 at aforesaid slide unit 3 towards the both sides on a surface of nose girder 2 and at each pivot of position corresponding to guide rail 21, and roller 31 matches with guide rail 21.In Fig. 1, also illustrated robot gantry 6, unshowned manipulator in the installation diagram on the robot gantry 6.
When
use is of the present invention; Drive motors 4 (servomotor of drive motors 4) work for having the rotating function; Because main synchronous pulley 41 is fixed on the drive motors axle 42 of drive motors 4, owing to be with 5 to be nested with on master and slave synchronous pulley 41,2311 synchronously, therefore drive main synchronous pulley 41 again by drive motors axle 42; Drive slide unit 3 by main synchronous pulley 41 and move, slide unit 3 is moved on guide rail 21 through roller 31.Under the reciprocating state in slide unit 3 left and right sides, drive robot gantry 6 move left and right by slide unit 3.
In sum, technical scheme provided by the invention has remedied the shortcoming in the prior art, has accomplished the invention task, has embodied the technique effect described in the superincumbent technique effect of the applicant hurdle objectively
Claims (5)
1. the slide unit transmission mechanism of
a kind of manipulator; Described manipulator comprise be installed on the holder (1) and towards on the surface be fixed with the nose girder (2) of a pair of parallel guide rail (21); Described slide unit transmission mechanism comprises slide unit (3), the drive motors (4) that matches with described pair of guide rails (21) and on pair of guide rails (21), move and is with (5) synchronously; It is characterized in that: the end end at said nose girder (2) is fixed with a motor cabinet (22); Described drive motors (4) is arranged on this motor cabinet (22); And the axis hole (221) of the drive motors axle (42) of drive motors (4) on being opened in motor cabinet (22) is insinuated in the motor base cavity (222) of motor cabinet (22); Be fixed with a main synchronous pulley (41) being insinuated on this drive motors axle (42) of motor base cavity (222); Be provided with an axle bed plate (23) in the other end end of nose girder (2), this axle bed plate (23) is provided with a belt shaft (231), on this belt shaft (231), is provided with one rotationally from synchronous pulley (2311); The two ends of described synchronous band (5) are connected on the slide unit (3), and the middle part is nested with at main synchronous pulley (41) with from synchronous pulley (2311).
2. the slide unit transmission mechanism of
manipulator according to claim 1 is characterized in that described nose girder (2) is by first, second sidewall (24,23) be connected in diapire (26) between first, second sidewall (24,23) and constitute shape of cross section and be H shape.
3. the slide unit transmission mechanism of
manipulator according to claim 1; It is characterized in that upward and in fixed-site a pair of parallel adjustment seat (27) being arranged corresponding to described axle bed plate (23) at described nose girder (2); Offer a pair of adjustment hole (271) on each adjustment seat (27), axle bed plate (23) is fixing with adjustment hole (271).
4. the slide unit transmission mechanism of
manipulator according to claim 1; It is characterized in that being fixed with one first shrouding (28) in an end end of said nose girder (2); And the other end is fixed with one second shrouding (29); And on second shrouding (29), offer a tensioning screw resigning hole (291); Upward and in the fixed-site corresponding to tensioning screw resigning hole (291) one tensioning screw (232) is arranged at axle bed plate (23), on this tensioning screw (232), be equipped with a stop nut (2321), this stop nut (2321) contacts with second shrouding (29).
5.
The slide unit transmission mechanism of manipulator according to claim 1; It is characterized in that being provided with a pair roller (31) at described slide unit (3) towards the both sides on a surface of said nose girder (2) and at each pivot of position corresponding to described pair of guide rails (21), roller (31) matches with guide rail (21)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100988892A CN102626932A (en) | 2012-04-06 | 2012-04-06 | Sliding table transmission mechanism for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100988892A CN102626932A (en) | 2012-04-06 | 2012-04-06 | Sliding table transmission mechanism for mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102626932A true CN102626932A (en) | 2012-08-08 |
Family
ID=46585414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100988892A Pending CN102626932A (en) | 2012-04-06 | 2012-04-06 | Sliding table transmission mechanism for mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102626932A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486848A (en) * | 2017-09-13 | 2017-12-19 | 张家港科康智能科技有限公司 | A kind of motor casing automatic charging machinery hand |
| CN109620363A (en) * | 2019-01-02 | 2019-04-16 | 重庆金山医疗机器人有限公司 | Surgical instrument mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07308874A (en) * | 1994-05-16 | 1995-11-28 | Shibaura Eng Works Co Ltd | Industrial robot |
| CN101417422A (en) * | 2008-12-05 | 2009-04-29 | 上海耀皮康桥汽车玻璃有限公司 | Automatic original-glass fetching manipulator of automobile glass pre-treatment production line |
| CN201333694Y (en) * | 2009-01-09 | 2009-10-28 | 芜湖奥托自动化设备有限公司 | Novel mechanical handling device |
| CN201517593U (en) * | 2009-09-14 | 2010-06-30 | 徐州工业职业技术学院 | Belt horizontal spiral tension device |
| CN201851612U (en) * | 2010-11-02 | 2011-06-01 | 济南德佳玻璃机器有限公司 | Transmission belt tensioning mechanism |
| CN102180355A (en) * | 2011-03-11 | 2011-09-14 | 浙江省电力公司 | Electric energy meter carrying manipulator suitable for meter box |
| CN202517473U (en) * | 2012-04-06 | 2012-11-07 | 常熟市惠一机电有限公司 | Sliding table drive mechanism of mechanical arm |
-
2012
- 2012-04-06 CN CN2012100988892A patent/CN102626932A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07308874A (en) * | 1994-05-16 | 1995-11-28 | Shibaura Eng Works Co Ltd | Industrial robot |
| CN101417422A (en) * | 2008-12-05 | 2009-04-29 | 上海耀皮康桥汽车玻璃有限公司 | Automatic original-glass fetching manipulator of automobile glass pre-treatment production line |
| CN201333694Y (en) * | 2009-01-09 | 2009-10-28 | 芜湖奥托自动化设备有限公司 | Novel mechanical handling device |
| CN201517593U (en) * | 2009-09-14 | 2010-06-30 | 徐州工业职业技术学院 | Belt horizontal spiral tension device |
| CN201851612U (en) * | 2010-11-02 | 2011-06-01 | 济南德佳玻璃机器有限公司 | Transmission belt tensioning mechanism |
| CN102180355A (en) * | 2011-03-11 | 2011-09-14 | 浙江省电力公司 | Electric energy meter carrying manipulator suitable for meter box |
| CN202517473U (en) * | 2012-04-06 | 2012-11-07 | 常熟市惠一机电有限公司 | Sliding table drive mechanism of mechanical arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486848A (en) * | 2017-09-13 | 2017-12-19 | 张家港科康智能科技有限公司 | A kind of motor casing automatic charging machinery hand |
| CN109620363A (en) * | 2019-01-02 | 2019-04-16 | 重庆金山医疗机器人有限公司 | Surgical instrument mechanism |
| CN109620363B (en) * | 2019-01-02 | 2024-04-05 | 重庆金山医疗机器人有限公司 | Surgical instrument mechanism |
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Application publication date: 20120808 |