CN103203736A - Folding retractable vertical beam for trussed mechanical arm - Google Patents
Folding retractable vertical beam for trussed mechanical arm Download PDFInfo
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- CN103203736A CN103203736A CN2013101581036A CN201310158103A CN103203736A CN 103203736 A CN103203736 A CN 103203736A CN 2013101581036 A CN2013101581036 A CN 2013101581036A CN 201310158103 A CN201310158103 A CN 201310158103A CN 103203736 A CN103203736 A CN 103203736A
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- vertical beam
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Abstract
The invention relates to a folding retractable vertical beam for a trussed mechanical arm. The folding retractable vertical beam is characterized by comprising a support plate (2), wherein the support plate (2) is connected with a first layer of vertical beam (1) by virtue of a guide rail sliding block; the first layer of vertical beam (1) is connected with a second layer of vertical beam (4) by virtue of the guide rail sliding block; the second layer of vertical beam is connected with a third layer of vertical beam (5) by virtue of the guide rail sliding block; a gear (3) and a rack which are matched with each other are respectively arranged on the support plate (2) and the first layer of vertical beam (1) so as to ensure that the first layer of vertical beam (1) moves relative to the support plate (2) under the driving of the gear (3); at least two synchronous pulleys (7) are arranged on the first layer of vertical beam (1); and synchronous belts (6) are arranged on the synchronous pulleys (7). After the folding retractable vertical beam for the trussed mechanical arm is adopted, the total height of the trussed mechanical arm can be reduced, and a structure of the folding retractable vertical beam is compact.
Description
Technical field
The present invention relates to a kind of Foldable telescopic vertical beam for the truss-like manipulator.
Background technology
Through in the past 10 years, China realized numerical controlization substantially, and Digit Control Machine Tool is in day by day the increasing popularized of China, and Digit Control Machine Tool has been realized concentrating of a plurality of operations, can finish processing by a clamping, can guarantee the size positions precision of processing parts.The most producer that is embodied as of numerical controlization has solved the human resources problem of shortage, and serious but the human resources shortage problem can be more and more, a lot of producers can not find sweated employee.They are seeking other outlet: give the lathe loading and unloading with machine, save human cost.This also is the developing direction of following mechanical industry---automation.
Automation refers to machine or device in accordance with regulations program or the instruction process of operating automatically or controlling under unmanned situation of intervening, and its target is " steady, standard, fast ".It has emphasized " unmanned ".The unmanned a lot of artificial factors of automated production meeting minimizing of intervening, the quality of raising converted products, the truss-like manipulator is equipped with Digit Control Machine Tool, the unmanned processing of realization such as feed bin, automatic detection then is very general a kind of form automatically.This time the Foldable telescopic vertical beam of application just is based on a kind of corollary apparatus of truss-like manipulator automated production, mainly is that second as the truss-like manipulator uses.
Most of truss-like manipulators still adopt the form of single rigidity vertical beam above the existing market, use this vertical beam form can cause the manipulator whole height too big, and the factory building lower in some aspect ratios can't use.
Summary of the invention
The purpose of this invention is to provide a kind of Foldable telescopic vertical beam for the truss-like manipulator, can significantly reduce the overall height of manipulator, effectively solve the factory building height restriction and can not use the problem of truss-like manipulator, and guaranteed the repetitive positioning accuracy of manipulator itself.
A kind of Foldable telescopic vertical beam for the truss-like manipulator, its special feature is: comprise supporting plate, this supporting plate is connected with the ground floor vertical beam by the guide rail slide block, this ground floor vertical beam is connected with second layer vertical beam by the guide rail slide block, and this second layer vertical beam is connected with the 3rd layer of vertical beam by the guide rail slide block; On supporting plate and ground floor vertical beam, also be separately installed with supporting gear and tooth bar, thereby can the ground floor vertical beam moved relative to supporting plate; At the ground floor vertical beam at least two synchronous pulleys are installed, at synchronous pulley synchronous band is installed, band is fixedlyed connected with second layer vertical beam with supporting plate respectively synchronously, and at least two synchronous pulleys are installed also on second layer vertical beam, at synchronous pulley synchronous band is installed, this is with synchronously and fixedlys connected with the 3rd layer of vertical beam with the ground floor vertical beam respectively.
Wherein ground floor vertical beam, second layer vertical beam are identical with the shift motion of the 3rd layer of vertical beam.
Wherein the ground floor vertical beam adopts the duralumin, hard alumin ium alloy material, and at this ground floor vertical beam reinforcement is installed.
Wherein second layer vertical beam adopts the sheet metal component material.
Wherein the 3rd layer of vertical beam adopts light-duty aluminium section bar material.
Wherein band adopts the inner rubber strip that adds steel wire synchronously.
The axle of its middle gear is in transmission connection by transmission mechanism and servomotor output shaft, perhaps direct geared be fixedly mounted on the supporting reducer output shaft of servomotor on.
After adopting the Foldable telescopic vertical beam for the truss-like manipulator of the present invention, can reduce the overall height of truss-like manipulator, the concrete height value that reduces can reach 2/3 of vertical beam total kilometres, and make its structure compacter, can be used as the 3rd use of truss-like manipulator, play and reduce the effect that takes up room.Under the equal height size, adopt Foldable telescopic vertical beam of the present invention, its stroke is 3 times of individual layer vertical beam, adopt identical rack-and-pinion transmission, the head translational speed of Foldable telescopic vertical beam is 3 times of individual layer translational speed, can significantly improve the efficient of manipulator like this, also can guarantee the original positioning accuracy of truss-like manipulator simultaneously.
Description of drawings
Accompanying drawing 1 is structural representation of the present invention.
The specific embodiment
As shown in Figure 1, the present invention is a kind of Foldable telescopic vertical beam for the truss-like manipulator, comprise supporting plate 2, this supporting plate 2 is connected with ground floor vertical beam 1 by the guide rail slide block, this ground floor vertical beam 1 is connected with second layer vertical beam 4 by the guide rail slide block, and this second layer vertical beam 4 is connected with the 3rd layer of vertical beam 5 by the guide rail slide block; On supporting plate 2 and ground floor vertical beam 1, also be separately installed with supporting gear 3 and tooth bar, thereby can ground floor vertical beam 1 moved relative to supporting plate 2; At ground floor vertical beam 1 two synchronous pulleys 7 are installed, be equipped with at synchronous pulley 7 and be with 6 synchronously, this is with 6 to fixedly connected with second layer vertical beam 4 with supporting plate 2 respectively synchronously, and two synchronous pulleys 7 are installed also on second layer vertical beam 4, be equipped with at synchronous pulley 7 and be with 6 synchronously, this is with 6 to fixedly connected with the 3rd layer of vertical beam 5 with ground floor vertical beam 1 respectively synchronously.
The axle of its middle gear 3 is by transmission mechanism, shaft coupling or adopt key connected mode etc. and the reducer output shaft of servomotor to be in transmission connection for example, and perhaps direct geared is fixedly mounted on the output shaft of decelerator of servomotor.Ground floor vertical beam 1, second layer vertical beam 4 are identical with the shift motion of the 3rd layer of vertical beam 5 in addition.Ground floor vertical beam 1 adopts the duralumin, hard alumin ium alloy material and increases the structure of reinforcement, to guarantee its rigidity; Welded structure after the 4 employing sheet metal component bendings of second layer vertical beam reduces weight when guaranteeing rigidity; The 3rd layer of vertical beam 5 adopts light-duty aluminium section bar, to reduce weight, reduces cost; Adopted the material that adds steel wire in the rubber strip with 6 synchronously, to increase the tensile strength of synchronous band.
Using method of the present invention and operation principle are:
1, using method of the present invention is: supporting plate 2 is linked to each other with the truss-like manipulator, and the 3rd layer of vertical beam 5 links to each other with needed paw, by control servomotor and paw, realizes the carrying on the part vertical direction.In lower factory building, can promote the use of.
2, operation principle of the present invention is (moving down with vertical beam is example): when ground floor vertical beam 1 moves down by the relative supporting plate 2 of rack-and-pinion, supporting plate 2 moves down by being with 6 pulling second layer vertical beams, 4 relative ground floor vertical beams 1 synchronously, when second layer vertical beam 4 relative ground floor vertical beams 1 moved down, ground floor vertical beam 1 moved down by being with the 3rd layer of vertical beam 5 relative second layer vertical beam 4 of 6 pullings synchronously.
Claims (7)
1. Foldable telescopic vertical beam that is used for the truss-like manipulator, it is characterized in that: comprise supporting plate (2), this supporting plate (2) is connected with ground floor vertical beam (1) by the guide rail slide block, this ground floor vertical beam (1) is connected with second layer vertical beam (4) by the guide rail slide block, and this second layer vertical beam (4) is connected with the 3rd layer of vertical beam (5) by the guide rail slide block; On supporting plate (2) and ground floor vertical beam (1), also be separately installed with supporting gear (3) and tooth bar, thereby ground floor vertical beam (1) is moved relative to supporting plate (2); At ground floor vertical beam (1) at least two synchronous pulleys (7) are installed, at synchronous pulley (7) synchronous band (6) is installed, band (6) is fixedlyed connected with second layer vertical beam (4) with supporting plate (2) respectively synchronously, and at least two synchronous pulleys (7) are installed also on second layer vertical beam (4), at synchronous pulley (7) synchronous band (6) is installed, this is with (6) to fixedly connected with the 3rd layer of vertical beam (5) with ground floor vertical beam (1) respectively synchronously.
2. the Foldable telescopic vertical beam for the truss-like manipulator as claimed in claim 1 is characterized in that: wherein ground floor vertical beam (1), second layer vertical beam (4) are identical with the shift motion of the 3rd layer of vertical beam (5).
3. the Foldable telescopic vertical beam for the truss-like manipulator as claimed in claim 1 is characterized in that: wherein ground floor vertical beam (1) adopts the duralumin, hard alumin ium alloy material, and at this ground floor vertical beam (1) reinforcement is installed.
4. the Foldable telescopic vertical beam for the truss-like manipulator as claimed in claim 1 is characterized in that: wherein second layer vertical beam (4) adopts the sheet metal component material.
5. the Foldable telescopic vertical beam for the truss-like manipulator as claimed in claim 1 is characterized in that: wherein the 3rd layer of vertical beam (5) adopts light-duty aluminium section bar material.
6. the Foldable telescopic vertical beam for the truss-like manipulator as claimed in claim 1 is characterized in that: wherein be with (6) to adopt the inner rubber strip that adds steel wire synchronously.
7. as any described Foldable telescopic vertical beam for the truss-like manipulator in the claim 1 to 6, it is characterized in that: the axle of its middle gear (3) is in transmission connection by transmission mechanism and servomotor output shaft, perhaps gear (3) directly be fixedly mounted on the supporting reducer output shaft of servomotor on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101581036A CN103203736A (en) | 2013-05-02 | 2013-05-02 | Folding retractable vertical beam for trussed mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101581036A CN103203736A (en) | 2013-05-02 | 2013-05-02 | Folding retractable vertical beam for trussed mechanical arm |
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| CN103203736A true CN103203736A (en) | 2013-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013101581036A Pending CN103203736A (en) | 2013-05-02 | 2013-05-02 | Folding retractable vertical beam for trussed mechanical arm |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448054A (en) * | 2013-09-03 | 2013-12-18 | 常熟市惠一机电有限公司 | Transverse servo double-section manipulator |
| CN103753558A (en) * | 2013-12-23 | 2014-04-30 | 哈尔滨工业大学 | Small-scale search-and-rescue robot with function of putting in |
| CN104561922A (en) * | 2015-01-27 | 2015-04-29 | 沈阳慧宇真空技术有限公司 | Automatic connection and rotation telescopic mechanism for multiple vacuum chamber samples |
| CN106078778A (en) * | 2016-07-11 | 2016-11-09 | 苏州长鼎兴智能科技有限公司 | A kind of extended type Jia Bao mechanism |
| CN106113021A (en) * | 2016-07-11 | 2016-11-16 | 苏州长鼎兴智能科技有限公司 | A kind of novel tong |
| CN106346511A (en) * | 2016-11-18 | 2017-01-25 | 南京聚特机器人技术有限公司 | Linear-overlapping large-range rapid telescopic device |
| CN106641158A (en) * | 2016-11-18 | 2017-05-10 | 宿州学院 | Linear linkage telescopic device |
| CN107160378A (en) * | 2017-07-24 | 2017-09-15 | 重庆市臻憬科技开发有限公司 | Table service device for intelligent restaurant |
| CN108792391A (en) * | 2018-07-06 | 2018-11-13 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | A kind of automatic picking mechanism |
| CN108916178A (en) * | 2018-09-18 | 2018-11-30 | 罗伯泰克自动化科技（苏州）有限公司 | Bi-directional expansion arm mechanism |
| CN110181493A (en) * | 2019-04-29 | 2019-08-30 | 广东工业大学 | A kind of right angle coordinate manipulator of folding telescopic structure |
| CN110344571A (en) * | 2019-07-26 | 2019-10-18 | 马鞍山市诸子百家机械设备科技有限公司 | A kind of large-scale cement mortar levelling robot |
| CN110480607A (en) * | 2019-08-16 | 2019-11-22 | 麦特汽车服务股份有限公司 | A kind of collapsible Z beam assembly for truss robot |
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| US5020323A (en) * | 1988-10-03 | 1991-06-04 | Huerlimann Peter | Telescopically extendable and retractable arm |
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| CN202097743U (en) * | 2011-05-13 | 2012-01-04 | 陈烈明 | Double-arm manipulator |
| KR20120013737A (en) * | 2010-08-06 | 2012-02-15 | 대우조선해양 주식회사 | Double side telescopic boom for blasting robot in the double hull |
| CN202781152U (en) * | 2012-06-27 | 2013-03-13 | 上研机电股份有限公司 | Machine arm mechanism capable of translating and lifting |
| CN203210366U (en) * | 2013-05-02 | 2013-09-25 | 宁夏巨能机器人系统有限公司 | Foldable telescopic vertical beam for truss manipulator |
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2013
- 2013-05-02 CN CN2013101581036A patent/CN103203736A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5020323A (en) * | 1988-10-03 | 1991-06-04 | Huerlimann Peter | Telescopically extendable and retractable arm |
| KR20120013737A (en) * | 2010-08-06 | 2012-02-15 | 대우조선해양 주식회사 | Double side telescopic boom for blasting robot in the double hull |
| CN102019618A (en) * | 2010-10-21 | 2011-04-20 | 中国科学院合肥物质科学研究院 | Secondary linear-extension manipulator operated by single person |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448054A (en) * | 2013-09-03 | 2013-12-18 | 常熟市惠一机电有限公司 | Transverse servo double-section manipulator |
| CN103753558A (en) * | 2013-12-23 | 2014-04-30 | 哈尔滨工业大学 | Small-scale search-and-rescue robot with function of putting in |
| CN104561922A (en) * | 2015-01-27 | 2015-04-29 | 沈阳慧宇真空技术有限公司 | Automatic connection and rotation telescopic mechanism for multiple vacuum chamber samples |
| CN104561922B (en) * | 2015-01-27 | 2016-11-23 | 沈阳慧宇真空技术有限公司 | Multiple vacuum chamber samples join rotatory and extending device automatically |
| CN106078778A (en) * | 2016-07-11 | 2016-11-09 | 苏州长鼎兴智能科技有限公司 | A kind of extended type Jia Bao mechanism |
| CN106113021A (en) * | 2016-07-11 | 2016-11-16 | 苏州长鼎兴智能科技有限公司 | A kind of novel tong |
| CN106346511A (en) * | 2016-11-18 | 2017-01-25 | 南京聚特机器人技术有限公司 | Linear-overlapping large-range rapid telescopic device |
| CN106641158A (en) * | 2016-11-18 | 2017-05-10 | 宿州学院 | Linear linkage telescopic device |
| CN106641158B (en) * | 2016-11-18 | 2019-04-16 | 宿州学院 | A kind of linear linkage telescopic device |
| CN107160378A (en) * | 2017-07-24 | 2017-09-15 | 重庆市臻憬科技开发有限公司 | Table service device for intelligent restaurant |
| CN108792391A (en) * | 2018-07-06 | 2018-11-13 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | A kind of automatic picking mechanism |
| CN108916178A (en) * | 2018-09-18 | 2018-11-30 | 罗伯泰克自动化科技（苏州）有限公司 | Bi-directional expansion arm mechanism |
| CN110181493A (en) * | 2019-04-29 | 2019-08-30 | 广东工业大学 | A kind of right angle coordinate manipulator of folding telescopic structure |
| CN110344571A (en) * | 2019-07-26 | 2019-10-18 | 马鞍山市诸子百家机械设备科技有限公司 | A kind of large-scale cement mortar levelling robot |
| CN110480607A (en) * | 2019-08-16 | 2019-11-22 | 麦特汽车服务股份有限公司 | A kind of collapsible Z beam assembly for truss robot |
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Application publication date: 20130717 |