CN104139394B - A kind of cantilever robot manipulator structure - Google Patents
A kind of cantilever robot manipulator structure Download PDFInfo
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- CN104139394B CN104139394B CN201410353254.1A CN201410353254A CN104139394B CN 104139394 B CN104139394 B CN 104139394B CN 201410353254 A CN201410353254 A CN 201410353254A CN 104139394 B CN104139394 B CN 104139394B
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Abstract
The invention discloses a kind of cantilever robot manipulator structure, it uses the structure of slewing frame type, effectively ensure structural strength, do not affected by each pull strength and deformed, it can enter operation in oblique linear space, and the revolution operation in vertical plane can be carried out, its adaptable working environment is big, and its versatility is good.It includes pedestal, bearing, bearing support is on pedestal, bottom rotating shaft it is provided with between bottom centre position and the pedestal of bearing, bearing can rotate relative to pedestal, the top of bearing is disposed with runs through the level of its front and back end to rotating shaft, level can rotate to rotating shaft, level is perpendicular to bottom rotating shaft to rotating shaft and arranges, level is provided with pulling structure to the front end of rotating shaft, it is provided with in pulling structure and is parallel to the level pulling guide rail to rotating shaft, seat is installed in pulling guide rail up and down, and upper and lower seat can move along a straight line along pulling guide rail, and upper and lower seat is fastened with linear drives parts.
Description
Technical field
The present invention relates to the technical field of structures of mechanical hand, be specially a kind of cantilever robot manipulator structure.
Background technology
Existing mechanical hand, after it includes that retained part, retained part are anchored on corresponding base, base props up
Hold in carrying out on X, Y, Z axis three coordinates platform, according to the position of workpiece, adjust three coordinates platforms
Position so that retained part clamps workpiece smoothly, along with modernization development, three Counterbalanced coordinate positioning machines
Tool hands can not meet the demand of modern production, filing date December in 2013 31 days, Application No.
2013107477445, " a kind of four axles for capturing sheet metal component of application publication number CN103707296A
Mechanical hand ", disclose following technology " by a spindle unit, two spindle units, three spindle units, four spindle units and
Electrical control cubicles combines, and wherein a spindle unit achieves the elevating movement of mechanical arm, two spindle units achieve
The gyration of large arm, three spindle units achieve the gyration of forearm, and four spindle units achieve sucker and prop up
The gyration of frame ", i.e. mechanical arm includes large arm, two structures of forearm, thus solves traditional mechanical arm not
The problem being suitable for operation in narrow space, this technology can not make mechanical hand can enter in oblique linear space
Operation, and the revolution operation on vertical can not be carried out, its adaptable working environment is little.
Summary of the invention
For the problems referred to above, the invention provides a kind of cantilever robot manipulator structure, it uses slewing frame type
Structure, effectively ensure structural strength, do not affected by each pull strength and deform, it can enter tiltedly
Operation in linear space, and the revolution operation in vertical plane can be carried out, its adaptable working environment
Greatly, its versatility is good.
A kind of cantilever robot manipulator structure, it is characterised in that: it includes pedestal, bearing, described bearing support
On described pedestal, between bottom centre position and the described pedestal of described bearing, it is provided with bottom rotating shaft,
Described bearing can rotate relative to described pedestal, and the top of described bearing is disposed with the water running through its front and back end
Putting down to rotating shaft, described level can rotate to rotating shaft, and described level is perpendicular to described bottom rotating shaft cloth to rotating shaft
Putting, described level is provided with pulling structure to the front end of rotating shaft, is provided with and is parallel in described pulling structure
Level is to the pulling guide rail of rotating shaft, and upper and lower seat is installed in described pulling guide rail, and upper and lower seat can draw along described
Pulling out guide rail to move along a straight line, described upper and lower seat is fastened with linear drives parts, described linear drives parts
Driving direction is perpendicular to the upper plane of described pulling guide rail, the lower section drive part of described linear drives parts
It is fastenedly connected clamp structure.
It is further characterized by described level after the rear end of rotating shaft externally protrudes out in the upper end of described bearing
Portion, described level is set with angle swivel mount, the lower section swing arm of described angle swivel mount to the rear end of rotating shaft
Connecting the piston end driving cylinder, the base of described driving cylinder is installed in the rear end outer wall of described bearing；
Described pulling structure specifically includes pulling and fixes seat, pulling arm, pulling end shield, pulling cylinder, institute
Stating pulling fixed seating and fill and be anchored on the described level front end to rotating shaft, the both sides of seat are fixed in described pulling
Connected the described pulling end shield of front end by the pulling arm of respective side, the front end of described pulling end shield is disposed with
Pulling cylinder, the cylinder arm of described pulling cylinder is fastenedly connected the front end of described upper and lower seat, both sides described
The inner side correspondence position of pulling arm is respectively disposed with described pulling guide rail, between the described pulling guide rail of both sides
Leave spacing；
Described linear drives parts are specially straight line bounce cylinder, and the pedestal of described straight line bounce cylinder is positioned at
In the installation cavity of described upper and lower seat, the lower end piston rod of described straight line bounce cylinder is fastenedly connected clamp structure
Upper end；
The rear end of described upper and lower seat is provided with line slideway, and described line slideway is parallel to described straight line buffering
Cylinder arrangement, described line slideway is arranged in described upper and lower seat the most in opposite directions, and the side of linear beam is installed in
It is in the guide-track groove of described line slideway, convex in the bottom of described line slideway under the bottom of described linear beam,
The bottom of described linear beam connects the upper end of described clamp structure；
Convex after the rearward end of described upper and lower seat it is disposed with buffer head, wherein the inner side setting-in of the pulling arm of side
Having block, the hub head end of described block is arranged facing to the rear end face of described buffer head；
It also includes that electric cabinet, described electric cabinet are positioned at the one side of described bearing；
The another side of described bearing is disposed with electromagnetic valve fixed plate, the interior intracavity of described electromagnetic valve fixed plate
Being disposed with electromagnetic valve, the upper end position corresponding to described electromagnetic valve fixed plate leads to wave pipe, described wave pipe
Be communicated to lower jacket plate, the lower end of described lower jacket plate be fixed on described line slideway bottom outer end,
The upper end of described linear beam is disposed with upper jacket plate, and the upper end of chain is anchored on described upper jacket plate, chain
Lower end run through the inner side pilot hole of described lower jacket plate after expose, described wave pipe is arranged in described chain
It is relatively distant from the side of described linear beam；
Described clamp structure is specially upper end rotating mechanism, lower section clamping jaw structure, described upper end rotating mechanism
By clamping limb connect below clamping jaw structure；
Under the rotating shaft of described bottom, the convex position installing end face in described pedestal is provided with down convex spanner
Position.
After using the structure of the present invention, between bottom centre position and the pedestal of bearing, it is provided with bottom rotating shaft,
Make the bearing can be around pedestal 360 ° rotation so that the work area of mechanical hand is big；And the top of bearing
Being disposed with the level running through its front and back end can rotate to rotating shaft to rotating shaft, level, level is perpendicular to rotating shaft
Bottom rotating shaft is arranged, i.e. the supporting arm of mechanical hand can rotate so that the clamp structure of mechanical hand can be with
Horizontal plane is arbitrarily angled layout；Level is provided with pulling structure to the front end of rotating shaft, sets in pulling structure
Being equipped with and be parallel to the level pulling guide rail to rotating shaft, upper and lower seat is installed in pulling guide rail, and upper and lower seat can be along
The upper plane of pulling guide rail moves along a straight line, it is ensured that clamp structure can carry out unspecified angle in the horizontal direction
Adjust；Seat is fastened with linear drives parts up and down, and the driving direction of linear drives parts is perpendicular to pulling and leads
The upper plane of rail, the lower section drive part of linear drives parts is fastenedly connected clamp structure, it is ensured that clamping
The expanding-contracting action of structure；To sum up, it uses the structure of slewing frame type, effectively ensures structural strength,
Not affected by each pull strength and deform, it can enter operation in oblique linear space, and can hang down
Revolution operation in straight plane, its adaptable working environment is big, and its versatility is good.
Accompanying drawing explanation
Fig. 1 is axonometric chart structural representation (the pulling arm inside removal and the straight line bounce cylinder of the present invention
Piston rod is in pressed status)；
Fig. 2 is the front view structural representation of the present invention；
Fig. 3 is the rearview structural representation of the present invention；
Fig. 4 is the left view structural representation of the present invention；
Fig. 5 is the right view structural representation of the present invention；
Fig. 6 is the upward view structural representation of the present invention；
Fig. 7 is the top view structural representation of the present invention；
Fig. 8 is that the B-B of Fig. 3 cuts open structural representation；
Fig. 9 is the working state structure schematic diagram of the present invention；
In figure, the title corresponding to each sequence number is as follows: pedestal 1, bearing 2, bottom rotating shaft 3, level are to turning
Axle 4, pulling structure 5, pulling guide rail 6, upper and lower seat 7, clamp structure 8, angle swivel mount 9, lower section
Seat 12, pulling arm 13, pulling end shield 14, pulling cylinder are fixed in swing arm 10, driving cylinder 11, pulling
15, straight line bounce cylinder 16, piston rod 17, line slideway 18, linear beam 19, buffer head 20, gear
Block 21, electric cabinet 22, electromagnetic valve fixed plate 23, wave pipe 24, lower jacket plate 25, upper jacket plate 26,
Chain 27, upper end rotating mechanism 28, lower section clamping jaw structure 29, clamping limb 30, spanner position 31, descending
Buffer head structure 32.
Detailed description of the invention
A kind of cantilever robot manipulator structure, is shown in Fig. 1～Fig. 9: it includes pedestal 1, bearing 2, bearing 2
Hold on pedestal 1, between bottom centre position and the pedestal of bearing 2, be provided with bottom rotating shaft 3, bearing 2
Can rotate relative to pedestal 1, the top of bearing 2 is disposed with the level running through its front and back end to rotating shaft 4, water
Putting down and can rotate to rotating shaft 4, level is perpendicular to bottom rotating shaft 3 to rotating shaft 4 and arranges, level is to rotating shaft 4
Front end is provided with pulling structure 5, is provided with and is parallel to the level pulling guide rail 6 to rotating shaft in pulling structure 5,
Up and down seat 7 is installed in pulling guide rail 6, upper and lower seat 7 can moving along a straight line along pulling guide rail 6, up and down
Seat 7 is fastened with linear drives parts, and the driving direction of linear drives parts is perpendicular to the upper of pulling guide rail 6
Plane, the lower section drive part of linear drives parts is fastenedly connected clamp structure 8.After using above structure,
Clamp structure 8 can enter operation in oblique linear space, and can carry out the revolution operation in vertical plane,
Its adaptable working environment is big, and its versatility is good.
Its preferred structure is as follows:
Level externally protrudes out in the rear portion of the upper end of bearing 2 to the rear end of rotating shaft 4, and level is to the rear end of rotating shaft 4
Being set with angle swivel mount 9, the lower section swing arm 10 of angle swivel mount 9 connects the piston end driving cylinder 11,
The base driving cylinder 11 is installed in the rear end outer wall of bearing 2；Pulling structure 5 specifically includes pulling and fixes
Seat 12, pulling arm 13, pulling end shield 14, pulling cylinder 15, pulling is fixed seat 12 and is set with and is anchored on
Level is to the front end of rotating shaft 4, and pulling is fixed before the both sides of seat 12 are connected by the pulling arm 13 of respective side
The pulling end shield 14 of end, the front end of pulling end shield 14 is disposed with pulling cylinder 15, and pulling cylinder 15 runs through
The centre bore of pulling end shield 14, the cylinder arm of pulling cylinder 15 is fastenedly connected the front end of upper and lower seat 7, and two
The inner side correspondence position of the pulling arm 13 of side is respectively disposed with pulling guide rail 6, the pulling guide rail 6 of both sides it
Between leave spacing；Linear drives parts are specially straight line bounce cylinder 16, the pedestal of straight line bounce cylinder 16
Being positioned at the installation cavity of upper and lower seat 7, the sidepiece of straight line bounce cylinder 16 is disposed with downstream buffer header structure 32,
Downstream buffer header structure 32 makes the upper lower punch power of straight line bounce cylinder 16 reduce for whole mechanical hand
Impact；The lower end piston rod 17 of straight line bounce cylinder 16 is fastenedly connected the upper end of clamp structure 8；Up and down
The rear end of seat 7 is provided with line slideway 18, and line slideway 18 is parallel to the piston of straight line bounce cylinder 16
Bar 17 is arranged, line slideway 18 is vertically arranged in upper and lower seat 7 in opposite directions, and the side of linear beam 19 is installed in
In the guide-track groove of line slideway 18, convex in the bottom of line slideway 18, straight line under the bottom of linear beam 19
The bottom of beam 19 connects the upper end of clamp structure 8；Up and down convex after the rearward end of seat 7 it is disposed with buffer head 20,
Wherein the inner side of the pulling arm 13 of side is embedded with block 21, and the hub head end of block 21 is facing to buffering
The rear end face of 20 is arranged, it is ensured that seat 7 will not strike pulling when moving and fix seat 12 up and down；It also wraps
Including electric cabinet 22, electric cabinet 22 is positioned at the one side of bearing 2；The another side of bearing 2 is disposed with electromagnetism
Valve fixed plate 23, the interior intracavity of electromagnetic valve fixed plate 23 is disposed with electromagnetic valve and (is not drawn in figure, belongs to existing
Have mature structure), the upper end position corresponding to electromagnetic valve fixed plate 23 leads to wave pipe 24, in wave pipe 24
Being disposed with composition gas circuit and the path of circuit, wave pipe 24 is communicated to lower jacket plate 25, lower jacket plate 25
The outer end of the bottom of line slideway 18 is fixed in lower end, and the upper end of linear beam 19 is disposed with upper jacket plate 26,
The upper end of chain 27 is anchored on upper jacket plate 26, and the lower end of chain 27 is run through the inner side of lower jacket plate 25 and led
Exposing behind hole 28, what wave pipe 24 was arranged in chain 27 is relatively distant from linear beam 19 side；Chain 27
Intercept contacting with each other between wave pipe 24 and linear beam 19, line slideway 18, it is ensured that trachea in wave pipe 24
It is not worn by linear beam 19 knee-action with electric wire；Clamp structure 8 is specially upper end rotating mechanism
28, lower section clamping jaw structure 29, upper end rotating mechanism 28 is by clamping jaw structure 29 below clamping limb 30 connection；
Rotating shaft 3 times convex positions installing end face in pedestal 1 in bottom are provided with down convex spanner position 31, convenient
Workman can adjust bottom rotating shaft 3.
Its operation principle is as follows: bearing can do 360 ° of rotations relative to base by bottom rotating shaft 3 so that
The work area of mechanical hand is big；When needs adjust pulling structure 5 and horizontal plane angulation, drive cylinder 11
Action so that drive the piston rod of cylinder 11 eject or shrink, and then drive level rotates to rotating shaft 4,
Make pulling structure 5 unitary rotation so that clamp structure can with horizontal plane be arbitrarily angled layout (
Drive cylinder 11 piston rod effective travel in), and then make clamp structure 8 can enter oblique directly
Operation in space of lines, and the revolution operation in vertical plane can be carried out；Pulling cylinder 15 promotes upper and lower seat 7
Pulling guide rail 6 along both sides does horizontal position adjustment, after horizontal position adjustment puts in place, and straight line cushion gas
The piston rod action of cylinder 16 so that clamp structure 8 extend into predetermined position and clamps, except clamping knot
Outside the inside rotating shaft of structure 8, hold assembly, whole mechanism include two mutually perpendicular rotating shafts, two mutually
Perpendicular linear axis, and structure arrange make the structure collection knee-action of upper and lower seat 7, pulling action,
And be respectively adopted when cylinder class driver part makes action with buffering, use the structure of slewing frame type,
The effective structural strength ensureing upper and lower seat 7, is not affected by each pull strength and is deformed.
Claims (4)
1. a cantilever robot manipulator structure, it is characterised in that: it includes that pedestal, bearing, described bearing prop up
Hold on described pedestal, between bottom centre position and the described pedestal of described bearing, be provided with bottom rotating shaft,
Described bearing can rotate relative to described pedestal, and the top of described bearing is disposed with the water running through its front and back end
Putting down to rotating shaft, described level can rotate to rotating shaft, and described level is perpendicular to described bottom rotating shaft cloth to rotating shaft
Putting, described level is provided with pulling structure to the front end of rotating shaft, is provided with and is parallel in described pulling structure
Level is to the pulling guide rail of rotating shaft, and upper and lower seat is installed in described pulling guide rail, and upper and lower seat can draw along described
Pulling out guide rail to move along a straight line, described upper and lower seat is fastened with linear drives parts, described linear drives parts
Driving direction is perpendicular to the upper plane of described pulling guide rail, the lower section drive part of described linear drives parts
It is fastenedly connected clamp structure；Described level externally protrudes out in the rear portion of the upper end of described bearing to the rear end of rotating shaft,
Described level is set with angle swivel mount to the rear end of rotating shaft, and the lower section swing arm of described angle swivel mount connects
Driving the piston end of cylinder, the base of described driving cylinder is installed in the rear end outer wall of described bearing；Described
Pulling structure specifically includes pulling and fixes seat, pulling arm, pulling end shield, pulling cylinder, and described pulling is solid
Reservation is set with and is anchored on the described level front end to rotating shaft, and described pulling fixes the both sides of seat by correspondence
The pulling arm of side connects the described pulling end shield of front end, and the front end of described pulling end shield is disposed with pulling cylinder,
The cylinder arm of described pulling cylinder is fastenedly connected the front end of described upper and lower seat, the described pulling arm of both sides interior
Side correspondence position is respectively disposed with described pulling guide rail, leaves spacing between the described pulling guide rail of both sides；
Described linear drives parts are specially straight line bounce cylinder, and the pedestal of described straight line bounce cylinder is positioned at described
Up and down in the installation cavity of seat, the lower end piston rod of described straight line bounce cylinder is fastenedly connected the upper of clamp structure
End；The rear end of described upper and lower seat is provided with line slideway, and described line slideway is parallel to described straight line buffering
Cylinder arrangement, described line slideway is arranged in described upper and lower seat the most in opposite directions, and the side of linear beam is installed in
It is in the guide-track groove of described line slideway, convex in the bottom of described line slideway under the bottom of described linear beam,
The bottom of described linear beam connects the upper end of described clamp structure；The another side of described bearing is disposed with electricity
Magnet valve fixed plate, the interior intracavity of described electromagnetic valve fixed plate is disposed with electromagnetic valve, corresponding to described electromagnetic valve
The upper end position of fixed plate leads to wave pipe, and described wave pipe is communicated to lower jacket plate, described lower jacket plate
Lower end be fixed on described line slideway bottom outer end, the upper end of described linear beam is disposed with upper jacket plate,
The upper end of chain is anchored on described upper jacket plate, and the lower end of chain is run through the inner side of described lower jacket plate and guided
Exposing behind hole, described wave pipe is arranged in the side being relatively distant from described linear beam of described chain, described on
Convex after the rearward end of lower seat being disposed with buffer head, wherein the inner side of the pulling arm of side is embedded with block, institute
State the hub head end rear end face layout facing to described buffer head of block.
2. a kind of cantilever robot manipulator structure as claimed in claim 1, it is characterised in that: it also includes electricity
Control case, described electric cabinet is positioned at the one side of described bearing.
3. a kind of cantilever robot manipulator structure as claimed in claim 1, it is characterised in that: described clamping knot
Structure is specially upper end rotating mechanism, lower section clamping jaw structure, and described upper end rotating mechanism is connected by clamping limb
Lower section clamping jaw structure.
4. a kind of cantilever robot manipulator structure as claimed in claim 1, it is characterised in that: described bottom turns
Under axle, the convex position installing end face in described pedestal is provided with down convex spanner position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410353254.1A CN104139394B (en) | 2014-07-23 | 2014-07-23 | A kind of cantilever robot manipulator structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410353254.1A CN104139394B (en) | 2014-07-23 | 2014-07-23 | A kind of cantilever robot manipulator structure |
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| CN104139394A CN104139394A (en) | 2014-11-12 |
| CN104139394B true CN104139394B (en) | 2016-08-24 |
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| CN104440893A (en) * | 2014-11-24 | 2015-03-25 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung three-axis servo mechanical hand |
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| CN105415352A (en) * | 2016-01-19 | 2016-03-23 | 付艺晗 | Six-DOF (degrees of freedom) three-dimensional-manipulation robot |
| CN108188963A (en) * | 2017-12-24 | 2018-06-22 | 佛山尉达科技有限公司 | Mechanically actuated arm |
| CN108994862A (en) * | 2018-07-27 | 2018-12-14 | 南京理工大学 | A kind of size adjustable gear shifting manipulator |
| CN112109107A (en) * | 2020-09-20 | 2020-12-22 | 江西骏川半导体设备有限公司 | Inclined arm manipulator |
| CN114536311A (en) * | 2022-04-27 | 2022-05-27 | 艾尔发智能科技股份有限公司 | Two-shaft inclined arm servo manipulator |
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Address after: 215134 Xiangcheng District, Suzhou, Weitang Town, Yang Cheng Road, No. 3366, No. Patentee after: Alfa intelligent Polytron Technologies Inc Address before: 215134 Xiangcheng District, Suzhou, Weitang Town, Yang Cheng Road, No. 8888, No. Patentee before: Alfa (Suzhou) Automation Technology Limited |