CN104260077A - Transverse servo single-cutting manipulator - Google Patents
Transverse servo single-cutting manipulator Download PDFInfo
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- CN104260077A CN104260077A CN201410480131.4A CN201410480131A CN104260077A CN 104260077 A CN104260077 A CN 104260077A CN 201410480131 A CN201410480131 A CN 201410480131A CN 104260077 A CN104260077 A CN 104260077A
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- arm
- transverse
- slide
- mechanical arm
- servo single
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Abstract
The invention discloses a transverse servo single-cutting manipulator. The transverse servo single-cutting manipulator comprises a pedestal, a horizontally arranged column-shaped transverse arm of which one end is fixed on the pedestal, a first sliding seat connected with the transverse arm in a sliding mode and capable of sliding along the length direction of the transverse arm, a longitudinal arm fixed on the first sliding seat, a second sliding seat connected with the longitudinal arm in a sliding mode and capable of sliding along the length direction of the longitudinal arm, a mechanical arm connected with the second sliding seat in a lifting mode, and a claw fixed at the lower end of the mechanical arm, the longitudinal arm is arranged horizontally and vertical to the transverse arm, the transverse arm is driven by the servo motor, and the longitudinal arm and the mechanical arm are respectively driven by a cylinder. The transverse servo single-cutting manipulator is quick in take-out speed, high in efficiency, small in vibration and long in service time; a control box is integrated with the machine body so that the space is saved.
Description
Technical field
The invention belongs to Control Engineering and technical field of automation, relate to a kind of manipulator, be specifically related to a kind of transverse servo single-section manipulator.
Background technology
Manipulator is a kind of some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Manipulator is the industrial robot occurred the earliest; also be the modern machines people occurred the earliest; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator is primarily of executing agency, driving mechanism and control system three parts composition.Hand is used to the parts grasping workpiece (or instrument), has various structures form according to by grasping the shape of object, size, weight, material and job requirements, as clamp-type, holding type and absorbent-type etc.Motion, makes that hand completes various rotation (swing), mobile or compound motion realizes the action that specifies, change and grasped the position of object and posture.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.In order to capture the object in optional position and orientation in space, 6 frees degree need be had.The free degree is the key parameter of manipulator design.The free degree is more, and the flexibility of manipulator is larger, and versatility is wider, and its structure is also more complicated.General special manipulator has 2 ~ 3 frees degree.Control system is the control by the motor to each free degree of manipulator, has carried out specific action.Receiving sensor feedack, forms stable closed-loop control simultaneously.The core of control system is normally made up of, by wanting function to its programming realization the microcontroller such as single-chip microcomputer or dsp chip.
Existing transverse servo single-section manipulator take-off speed is comparatively slow, usefulness is lower, vibrations are comparatively large, service life is shorter, and control cabinet separates with body and sets up, and takies more space.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of performance more excellent and joint space-efficient transverse servo single-section manipulator, to overcome the deficiencies in the prior art.
In order to realize above-mentioned object, the invention provides following technical scheme:
Transverse servo single-section manipulator of the present invention, comprise base, end winding support is on described base and horizontally disposed cylindrical transverse arm, to be slidably connected on described transverse arm and first slide that can slide along its length, be fixed on the trailing arm on described first slide, to be slidably connected on described trailing arm and second slide that can slide along its length, liftablely be connected to the mechanical arm on described second slide and be fixed on the jaw of described mechanical arm lower end, described trailing arm is horizontally disposed with and perpendicular with described transverse arm, described transverse arm is by servo motor driven, described trailing arm and mechanical arm are respectively by air cylinder driven.
In technique scheme, described trailing arm is provided with the guide rail parallel with trailing arm length direction, be provided with a slide block along guide rail direction, described slide block is connected with described mechanical arm by cylinder, and being slided along its length on guide rail by described cylinder band movable slider controls the motion of the second slide.
In technique scheme, described servo motor is located on base, is connected respectively by data wire with the first described slide, cylinder with mechanical arm.
In technique scheme, described jaw is connected with described mechanical arm by spherical bindiny mechanism.
In technique scheme, the stroke of walking crosswise of described trailing arm is 1250 ~ 2000mm.
In technique scheme, the stroke up and down of described mechanical arm is 600 ~ 1100mm.
Compared with prior art, transverse servo single-section manipulator take-off speed provided by the invention is fast, usefulness is high, it is little to shake, long service life, and control cabinet and body are incorporated into one, save space.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing for the present invention in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of transverse servo single-section manipulator of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be described in detail the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
As shown in Figure 1, transverse servo single-section manipulator of the present invention, comprise base 1, end winding support is on base 1 and horizontally disposed cylindrical transverse arm 2, to be slidably connected on transverse arm 2 and first slide 3 that can slide along its length, be fixed on the trailing arm 4 on described first slide 3, to be slidably connected on trailing arm 4 and second slide 5 that can slide along its length, liftablely be connected to the mechanical arm 6 on the second slide 5 and be fixed on the jaw 7 of mechanical arm 6 lower end, trailing arm 4 is horizontally disposed with and perpendicular with transverse arm 2, transverse arm 2 is driven by servo motor 11, trailing arm 4 and mechanical arm 6 are respectively by air cylinder driven.
In technique scheme, trailing arm 4 is provided with the guide rail 41 parallel with trailing arm 4 length direction, be provided with a slide block 42 along guide rail 41 direction, slide block 42 is connected with mechanical arm 6 by cylinder 9, controls the motion of the second slide 5 by cylinder 9 with movable slider 42 slip along its length on guide rail 41.
In technique scheme, servo motor 11 is located on base 1, is connected respectively by data wire 8 with the first slide 3, cylinder 9 with mechanical arm 6.
In technique scheme, jaw 7 is connected with mechanical arm 6 by spherical bindiny mechanism 10.
In technique scheme, the stroke of walking crosswise of trailing arm 4 is 1250 ~ 2000mm.
In technique scheme, the stroke up and down of mechanical arm 6 is 600 ~ 1100mm.
In sum, transverse servo single-section manipulator take-off speed provided by the invention is fast, usefulness is high, it is little to shake, long service life, and control cabinet and body are incorporated into one, save space.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (6)
1. a transverse servo single-section manipulator, it is characterized in that: comprise base (1), end winding support is gone up and horizontally disposed cylindrical transverse arm (2) in described base (1), be slidably connected to described transverse arm (2) to go up and first slide (3) that can slide along its length, be fixed on the trailing arm (4) on described first slide (3), be slidably connected to described trailing arm (4) to go up and second slide (5) that can slide along its length, liftablely be connected to the mechanical arm (6) on described second slide (5) and be fixed on the jaw (7) of described mechanical arm (6) lower end, described trailing arm (4) is horizontally disposed with and perpendicular with described transverse arm (2), described transverse arm (2) is driven by servo motor (11), described trailing arm (4) and mechanical arm (6) are respectively by air cylinder driven.
2. transverse servo single-section manipulator according to claim 1, it is characterized in that: described trailing arm (4) is provided with the guide rail (41) parallel with trailing arm (4) length direction, a slide block (42) is provided with along guide rail (41) direction, described slide block (42) is connected with described mechanical arm (6) by cylinder (9), and being slided along its length on guide rail (41) by described cylinder (9) band movable slider (42) controls the motion of the second slide (5).
3. transverse servo single-section manipulator according to claim 1, is characterized in that: described servo motor (11) is located on base (1), is connected respectively by data wire (8) with described the first slide (3), cylinder (9) with mechanical arm (6).
4. transverse servo single-section manipulator according to claim 1, is characterized in that: described jaw (7) is connected with described mechanical arm (6) by spherical bindiny mechanism (10).
5. transverse servo single-section manipulator according to claim 4, is characterized in that: the stroke of walking crosswise of described trailing arm (4) is 1250 ~ 2000mm.
6. transverse servo single-section manipulator according to claim 1, is characterized in that: the stroke up and down of described mechanical arm (6) is 600 ~ 1100mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410480131.4A CN104260077A (en) | 2014-09-19 | 2014-09-19 | Transverse servo single-cutting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410480131.4A CN104260077A (en) | 2014-09-19 | 2014-09-19 | Transverse servo single-cutting manipulator |
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| Publication Number | Publication Date |
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| CN104260077A true CN104260077A (en) | 2015-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410480131.4A Pending CN104260077A (en) | 2014-09-19 | 2014-09-19 | Transverse servo single-cutting manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437212A (en) * | 2015-12-18 | 2016-03-30 | 太仓权阡机械自动化有限公司 | Mechanical arm |
| CN106829301A (en) * | 2016-12-20 | 2017-06-13 | 浙江福林国润汽车零部件有限公司 | A kind of gas storage cylinder carrying mechanism |
| CN107414796A (en) * | 2017-08-17 | 2017-12-01 | 柳州福能机器人开发有限公司 | Industrial machine arm |
| CN107433583A (en) * | 2017-08-17 | 2017-12-05 | 柳州福能机器人开发有限公司 | Pinpoint mechanical arm |
| CN113370502A (en) * | 2021-06-16 | 2021-09-10 | 漳州市圣铭工贸股份有限公司 | Linear guide rail guiding type manipulator of bottle blowing machine |
Citations (7)
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| US4778331A (en) * | 1986-10-11 | 1988-10-18 | Mecs Corporation | Carrier system for silicon wafer |
| EP0310481A1 (en) * | 1987-10-02 | 1989-04-05 | Bernard Claude Pierre Eude | Apparatus for moving a manipulator, particularly a gripper, in a vertical plane |
| US5265490A (en) * | 1991-03-20 | 1993-11-30 | Canon Kabushiki Kaisha | Orthogonal two-axis moving apparatus |
| CN2834807Y (en) * | 2005-09-24 | 2006-11-08 | 海尔集团公司 | Manipulator |
| CN201728805U (en) * | 2009-12-21 | 2011-02-02 | 深圳市威远精密技术有限公司 | Five-axis servo injection molding manipulator |
| CN201856908U (en) * | 2010-09-25 | 2011-06-08 | 淄博瑞邦自动化设备有限公司 | Fishing and transferring device for plastic gloves |
| CN103406902A (en) * | 2013-09-03 | 2013-11-27 | 常熟市惠一机电有限公司 | Transverse servo single-section manipulator |
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2014
- 2014-09-19 CN CN201410480131.4A patent/CN104260077A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4778331A (en) * | 1986-10-11 | 1988-10-18 | Mecs Corporation | Carrier system for silicon wafer |
| EP0310481A1 (en) * | 1987-10-02 | 1989-04-05 | Bernard Claude Pierre Eude | Apparatus for moving a manipulator, particularly a gripper, in a vertical plane |
| US5265490A (en) * | 1991-03-20 | 1993-11-30 | Canon Kabushiki Kaisha | Orthogonal two-axis moving apparatus |
| CN2834807Y (en) * | 2005-09-24 | 2006-11-08 | 海尔集团公司 | Manipulator |
| CN201728805U (en) * | 2009-12-21 | 2011-02-02 | 深圳市威远精密技术有限公司 | Five-axis servo injection molding manipulator |
| CN201856908U (en) * | 2010-09-25 | 2011-06-08 | 淄博瑞邦自动化设备有限公司 | Fishing and transferring device for plastic gloves |
| CN103406902A (en) * | 2013-09-03 | 2013-11-27 | 常熟市惠一机电有限公司 | Transverse servo single-section manipulator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437212A (en) * | 2015-12-18 | 2016-03-30 | 太仓权阡机械自动化有限公司 | Mechanical arm |
| CN106829301A (en) * | 2016-12-20 | 2017-06-13 | 浙江福林国润汽车零部件有限公司 | A kind of gas storage cylinder carrying mechanism |
| CN107414796A (en) * | 2017-08-17 | 2017-12-01 | 柳州福能机器人开发有限公司 | Industrial machine arm |
| CN107433583A (en) * | 2017-08-17 | 2017-12-05 | 柳州福能机器人开发有限公司 | Pinpoint mechanical arm |
| CN113370502A (en) * | 2021-06-16 | 2021-09-10 | 漳州市圣铭工贸股份有限公司 | Linear guide rail guiding type manipulator of bottle blowing machine |
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Application publication date: 20150107 |