CN104385268A - Sidle servo double-section manipulator - Google Patents

Sidle servo double-section manipulator Download PDF

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Publication number
CN104385268A
CN104385268A CN201410480117.4A CN201410480117A CN104385268A CN 104385268 A CN104385268 A CN 104385268A CN 201410480117 A CN201410480117 A CN 201410480117A CN 104385268 A CN104385268 A CN 104385268A
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CN
China
Prior art keywords
arm
manipulator
slide
transverse
mechanical arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201410480117.4A
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Chinese (zh)
Inventor
朱建惠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CHANGSHU HUIYI MECHANICAL AND ELECTRICAL Co Ltd
Original Assignee
CHANGSHU HUIYI MECHANICAL AND ELECTRICAL Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CHANGSHU HUIYI MECHANICAL AND ELECTRICAL Co Ltd filed Critical CHANGSHU HUIYI MECHANICAL AND ELECTRICAL Co Ltd
Priority to CN201410480117.4A priority Critical patent/CN104385268A/en
Publication of CN104385268A publication Critical patent/CN104385268A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a sidle servo double-section manipulator which comprises a base, a cylindrical cross arm, a first sliding base, a longitudinal arm, a second sliding base, a mechanical arm and a clamping jaw, wherein an end part of the cylindrical cross arm is fixed on the base; the cylindrical cross arm is horizontally arranged; the first sliding base is in sliding connection with the cross arm and is capable of sliding along the length direction of the cross arm; the longitudinal arm is fixed on the first sliding base; the second sliding base is in sliding connection with the longitudinal arm and is capable of sliding along the length direction of the longitudinal arm; the mechanical arm is in lifting connection with the second sliding base; the clamping jaw is fixed at the lower end of the mechanical arm; the longitudinal arm is horizontally arranged and is vertical to the cross arm; the cross arm is driven by a servo motor; the longitudinal arm and the mechanical arm are respectively driven by a cylinder; the mechanical arm comprises a first arm part, a second arm part, a fixing plate and a conveying belt; the fixing plate is fixed on the first arm part and sleeves the second arm part; the conveying belt is connected between the upper end of the second arm part and the first arm part. The sidle servo double-section manipulator provided by the invention has the advantages of high taking speed, high efficiency, small vibration and long service life; a control box is integrated with a machine body, so that the space is saved.

Description

A kind of transverse servo double-section manipulator
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 double-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 double-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 double-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 double-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, described mechanical arm comprises the first arm, the second arm, be fixed on the first described arm and be sheathed on fixed head on the second described arm, connect conveyer belt between the second arm upper end and the first arm.
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 ~ 3000mm.
In technique scheme, the stroke up and down of described mechanical arm is 750 ~ 2200mm.
Compared with prior art, transverse servo double-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 double-section manipulator of the present invention;
Fig. 2 is the structural representation of transverse servo double-section manipulator mechanical arm 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 double-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, mechanical arm 6 comprises the first arm 61, second arm 62, be fixed on the first arm 61 and be sheathed on fixed head 63 on the second arm 62, connect conveyer belt 64 between the second arm 62 upper end and the first arm 61.
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 ~ 3000mm.
In technique scheme, the stroke up and down of mechanical arm 6 is 750 ~ 2200mm.
In sum, transverse servo double-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 double-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, described mechanical arm (6) comprises the first arm (61), the second arm (62), it is upper and be sheathed on fixed head (63) on described the second arm (62), connect conveyer belt (64) between the second arm (62) upper end and the first arm (61) to be fixed on described the first arm (61).
2. transverse servo double-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 double-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 double-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 double-section manipulator according to claim 4, is characterized in that: the stroke of walking crosswise of described trailing arm (4) is 1250 ~ 3000mm.
6. transverse servo double-section manipulator according to claim 1, is characterized in that: the stroke up and down of described mechanical arm (6) is 750 ~ 2200mm.
CN201410480117.4A 2014-09-19 2014-09-19 Sidle servo double-section manipulator Pending CN104385268A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410480117.4A CN104385268A (en) 2014-09-19 2014-09-19 Sidle servo double-section manipulator

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Application Number Priority Date Filing Date Title
CN201410480117.4A CN104385268A (en) 2014-09-19 2014-09-19 Sidle servo double-section manipulator

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Cited By (2)

* Cited by examiner, † Cited by third party
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
CN105773591A (en) * 2016-01-26 2016-07-20 深圳市鼎泰智能装备股份有限公司 Novel grabbing robot device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2253434A1 (en) * 2009-05-19 2010-11-24 Kabushiki Kaisha Yaskawa Denki Robot system
CN103406900A (en) * 2013-09-03 2013-11-27 常熟市惠一机电有限公司 Rotating arm type mechanical hand
CN103407793A (en) * 2013-09-03 2013-11-27 常熟市惠一机电有限公司 Low-level coordinate stacking machine
CN103406902A (en) * 2013-09-03 2013-11-27 常熟市惠一机电有限公司 Transverse servo single-section manipulator
CN103419197A (en) * 2013-09-03 2013-12-04 常熟市惠一机电有限公司 Transverse-moving three-axis servo manipulator
CN103448054A (en) * 2013-09-03 2013-12-18 常熟市惠一机电有限公司 Transverse servo double-section manipulator

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2253434A1 (en) * 2009-05-19 2010-11-24 Kabushiki Kaisha Yaskawa Denki Robot system
CN103406900A (en) * 2013-09-03 2013-11-27 常熟市惠一机电有限公司 Rotating arm type mechanical hand
CN103407793A (en) * 2013-09-03 2013-11-27 常熟市惠一机电有限公司 Low-level coordinate stacking machine
CN103406902A (en) * 2013-09-03 2013-11-27 常熟市惠一机电有限公司 Transverse servo single-section manipulator
CN103419197A (en) * 2013-09-03 2013-12-04 常熟市惠一机电有限公司 Transverse-moving three-axis servo manipulator
CN103448054A (en) * 2013-09-03 2013-12-18 常熟市惠一机电有限公司 Transverse servo double-section manipulator

Cited By (2)

* Cited by examiner, † Cited by third party
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
CN105773591A (en) * 2016-01-26 2016-07-20 深圳市鼎泰智能装备股份有限公司 Novel grabbing robot device

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