CN104405843A - Telescopic arm device - Google Patents
Telescopic arm device Download PDFInfo
- Publication number
- CN104405843A CN104405843A CN201410556564.3A CN201410556564A CN104405843A CN 104405843 A CN104405843 A CN 104405843A CN 201410556564 A CN201410556564 A CN 201410556564A CN 104405843 A CN104405843 A CN 104405843A
- Authority
- CN
- China
- Prior art keywords
- belt
- direct acting
- drive
- acting portion
- driving wheel
- 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.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
Abstract
The invention provides a telescopic arm device which comprises a fixed part, wherein a first direct moving part is slidably connected with the fixed part; a second direct moving part is slidably connected with the first direct moving part; a first driving part and a second driving part are connected with the fixed part; the first driving part is connected with a first toothed belt fixedly arranged at the first direct moving part and is capable of driving the first direct moving part to slide by virtue of the first toothed belt; the second driving part is connected with a driving belt toothed belt movably arranged at the first direct driving part; the driving belt toothed belt is meshed with a second toothed belt fixedly arranged at the second direct moving part and is capable of driving the second direct moving part to slide. According to the telescopic arm device provided by the invention, a multilevel telescopic structure is achieved by virtue of the first direct moving part and the second direct moving part in combination with the first and second driving parts which are fixedly arranged, so that a relatively long telescopic distance can be achieved with a relatively short length; By virtue of adopting a toothed belt driving mode, the structure is simplified and production and processing are convenient.
Description
Technical field
The present invention relates to a kind of drive unit of mechanism hand, particularly a kind of telescopic boom device.
Background technique
It is from forming machine that products formed takes out apparatus for work, such as, take out the device of products formed in injection machine, the forming processes of forming machine completes rear mold and can open, products formed takes out apparatus for work and enters taking-up products formed in forming machine inside from the top of forming machine during this period, then escape to outside forming machine and carries out operation.Forming machine is in the holding state waiting for next forming processes during this period.In order to make the standby time of forming machine shorten, the products formed carrying out the operation of taking out products formed takes out apparatus for work, is usually arranged on forming machine top, and its concrete action is decline from forming machine upper straight, and after taking out products formed, then straight line rises.
In order to products formed is got outside forming machine in a linear fashion, if the height of products formed is of a size of L1, the distance that forming machine upper end grasps position of manipulator to products formed is L2, suppose that products formed takes out the words that position that apparatus for work grasps products formed is the centre of L1, the rising displacement distance of calculating machine hand is just (L1/2)+L2, and forming machine upper end is also at least (L1/2)+L2 far from the distance on roof, top.And the formation of products formed taking-up apparatus for work is the orthogonal coordinates humanoid robot combined by direct acting device, there is the mechanism hand grasping products formed the front end of elongated boom, in addition in order to the part of fixing elongated boom self also can have influence on movable distance, therefore lifting distance, that is, forming machine upper end needs more to extend far from the distance on roof, top.
Like this, need the overall height of the forming machine of installation forming product taking-up apparatus for work too high, or when forming machine upper end is very low to roof, top distance, installation forming product take out apparatus for work will be very difficult even unfeasible, and lifting moving is apart from large words lifting moving time also president.But therefore need the telescopic boom device that the short lifting distance of length of installation is long.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of telescopic boom device, can realize longer distance of stretch out and draw back with shorter length, and simple structure, be convenient to install and control.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of telescopic boom device, comprises fixing part, and the first direct acting portion and fixing part are slidably connected, and is slidably connected between the second direct acting portion and the first direct acting portion;
First drive portion is connected with fixing part with the second drive portion, and the first drive portion is connected with the first toothed timing belt being fixedly mounted on the first direct acting portion, and drives the first direct acting portion to slide by the first toothed timing belt;
Second drive portion is connected with the drive belt teeth belt being movably arranged on the first direct acting portion, and drive belt teeth belt engages with the second toothed timing belt being fixedly mounted on the second direct acting portion, and drives the second direct acting portion to slide.
In preferred scheme, the first toothed timing belt two ends are fixedly connected with the second fast pulley with the first fast pulley being fixedly mounted on the first two ends, direct acting portion respectively;
In first drive portion, the first drive motor is connected with the first speed reducer, and the first speed reducer is connected with the first driving wheel, and the first toothed timing belt crosses the first driving wheel from inside winding;
First driving wheel both sides are respectively equipped with the first guide wheel A and the first guide wheel B, to make the cornerite of the first toothed timing belt on the first driving wheel more than 120 °.
In preferred scheme, be fixedly connected with the first direct acting portion by fixed plate after the termination, two ends in the first direct acting portion is walked around at the second toothed timing belt two ends respectively.
In preferred scheme, in the second drive portion, the second drive motor is connected with the second speed reducer, and the second speed reducer is connected with the second driving wheel;
Drive belt teeth strap lug walks around the first rotating first follower in two ends, direct acting portion and the second follower, drive belt teeth belt reeled from outside the second driving wheel, second driving wheel periphery is provided with the 3rd follower, the 4th follower and the 5th follower, to make the cornerite of drive belt teeth belt on the second driving wheel more than 120 °.
In preferred scheme, the tooth of the first toothed timing belt is positioned at the inner side surface of belt.
In preferred scheme, the tooth of the second toothed timing belt and drive belt teeth belt is all positioned at the outer side surface of belt.
In preferred scheme, the termination in the second direct acting portion is provided with mechanism hand.
A kind of telescopic boom device provided by the invention, by the first direct acting portion and the second direct acting portion of setting, coordinates the first drive portion and the second drive portion that are fixedly installed, achieves the structure of multi-stage expansion, thus to realize longer distance of stretch out and draw back with shorter length.By the mode adopting toothed timing belt to drive, simplify the structure, be convenient to production and processing.By adopting the mode of drive belt teeth belt, realize driving the second direct acting portion to stretch with hard-wired second drive portion by drive belt teeth belt, the second toothed timing belt, realizing the fixed installation of the second drive portion, without the need to additionally adopting portable cable, simplifying the installation difficulty of the second drive portion.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is perspective view of the present invention.
Fig. 2 is main TV structure schematic diagram of the present invention.
Fig. 3 is right TV structure schematic diagram of the present invention.
Fig. 4 is the A-A cross-sectional schematic of Fig. 3.
Fig. 5 is the B-B cross-sectional schematic of Fig. 3.
In figure: the first direct acting portion 1, second direct acting portion 2, second toothed timing belt 21, fixed plate 22, first drive portion 3, first drive motor 31, first speed reducer 32, first toothed timing belt 33, first fast pulley 34, second fast pulley 35, first guide wheel A36, first driving wheel 37, first guide wheel B38, first drive portion 39, second drive portion 4, second drive motor 41, second speed reducer 42, drive belt teeth belt 43, first follower 44, second follower 45, 3rd follower 46, second driving wheel 47, 4th follower 48, 5th follower 49, mechanism hand 5, fixing part 6.
Embodiment
As in Fig. 1 ~ 5, a kind of telescopic boom device, comprises fixing part 6, and fixing part 6 is arranged in frame usually, and the first direct acting portion 1 is slidably connected with fixing part 6, is slidably connected between the second direct acting portion 2 and the first direct acting portion 1; Can slide relative to the length direction of fixing part 6 along himself in second direct acting portion 2 and the first direct acting portion 1, but the first direct acting portion 1 can not depart from the restriction range of fixing part 6, can relative sliding between second direct acting portion 2 and the first direct acting portion 1, wherein the second direct acting portion 2 can depart from the restriction range of fixing part 6, but can not depart from the constraint orientation in the first direct acting portion 1.Structure thus, when telescopic boom device full extension, is almost equivalent to double length when shrinking.
First drive portion 3 is connected with fixing part 6 with the second drive portion 4, and the first drive portion 3 is connected with the first toothed timing belt 33 being fixedly mounted on the first direct acting portion 1, and drives the first direct acting portion 1 to slide by the first toothed timing belt 33;
Second drive portion 4 is connected with the drive belt teeth belt 43 being movably arranged on the first direct acting portion 1, and drive belt teeth belt 43 engages with the second toothed timing belt 21 being fixedly mounted on the second direct acting portion 2, and drives the second direct acting portion 2 to slide.
Preferred scheme is as in Fig. 5, and the first toothed timing belt 33 two ends are fixedly connected with the second fast pulley 35 with the first fast pulley 34 being fixedly mounted on the first two ends, direct acting portion 1 respectively;
In first drive portion 3, the first drive motor 31 is connected with the first speed reducer 32, and the first speed reducer 32 is connected with the first driving wheel 37, and the first toothed timing belt 33 crosses the first driving wheel 37 from inside winding; Structure thus, namely drives the first direct acting portion 1 to slide relative to fixing part 6 through the first toothed timing belt 33 by the rotation of the first driving wheel 37.
First driving wheel 37 both sides are respectively equipped with the first guide wheel A36 and the first guide wheel B38, to make the cornerite of the first toothed timing belt 33 on the first driving wheel 37 more than 120 °.As shown in Figure 5, the first guide wheel A36 and the first guide wheel B38 is walked around in the outside of the first toothed timing belt 33.In this example, the cornerite of the first toothed timing belt 33 on the first driving wheel 37 is more than 270 °, so that the moment of torsion that transmission is larger.
Preferred scheme, as in Fig. 4, is fixedly connected with the first direct acting portion 1 by fixed plate 22 after the termination, two ends in the first direct acting portion 1 is walked around at the second toothed timing belt 21 two ends respectively.
Preferred scheme is as in Fig. 4, and in the second drive portion 4, the second drive motor 41 is connected with the second speed reducer 42, and the second speed reducer 42 is connected with the second driving wheel 47;
Drive belt teeth belt 43 is around crossing rotating first follower 44 and the second follower 45 in the first two ends, direct acting portion 1, drive belt teeth belt 43 reeled from outside the second driving wheel 47, second driving wheel 47 periphery is provided with the 3rd follower 46, the 4th follower 48 and the 5th follower 49, to make the cornerite of drive belt teeth belt 43 on the second driving wheel 47 more than 120 °.As shown in Figure 4, toothed 3rd follower 46 walked around by drive belt teeth belt 43 from outside, toothed second driving wheel 47, not toothed 4th follower 48 walked around by drive belt teeth belt 43 from inner side afterwards, and toothed 5th follower 49 walked around again by drive belt teeth belt 43 from outside.In this example, the cornerite of drive belt teeth belt 43 on the second driving wheel 47 is more than 180 °, so that the moment of torsion that transmission is larger.Drive belt teeth belt 43 is round first follower 44 and second follower 45 cycle rotation at the two ends in the second direct acting portion 2.
Preferred scheme is as in Fig. 5, and the tooth of the first toothed timing belt 33 is positioned at the inner side surface of belt.
Preferred scheme is as in Fig. 4, and the tooth of the second toothed timing belt 21 and drive belt teeth belt 43 is all positioned at the outer side surface of belt.Structure thus, is convenient to toothed second toothed timing belt 21 with outer side surface and forms engagement, with transmitting torque.
When first driving wheel 37 of the first drive portion 39 rotates, the first direct acting portion 1 is not only driven to move, simultaneously because interlock, namely the first toothed timing belt 33 and drive belt teeth belt 43 are installed in the first direct acting portion 1, therefore the second direct acting portion 2 also can be driven to move, cause the first direct acting portion travel to be L when the first drive portion rotates, simultaneously the second direct acting portion also can travel L relative to the first direct acting portion, and namely the travel of actual machine hand 5 is 2L.Structure is more effective thus improves motion speed.As in Fig. 4,5, when the first driving wheel 37 is rotated counterclockwise, first direct acting portion 1 is descending, when the second driving wheel 47 is slack, along with the first direct acting portion 1 is descending, now drive belt teeth belt 43 is equivalent to rotate counterclockwise, thus drive the second toothed timing belt 21 of engagement descending, second direct acting portion 2 is thereupon descending, and when the second driving wheel 47 rotates clockwise, then the second direct acting portion 2 accelerates descending.
In preferred scheme, the termination in the second direct acting portion 2 is provided with mechanism hand 5.Structure thus, is convenient to capture products formed or other workpiece.
The preferred technical solution of the present invention that the above embodiments are only recorded for ease of understanding; should not be considered as restriction of the present invention; protection scope of the present invention is with the protection domain of claims, and the scope that the equivalent replacement technology feature comprising the technical characteristics recorded in detail in the claims contains is as the criterion.
Claims (7)
1. a telescopic boom device, comprises fixing part (6), and the first direct acting portion (1) and fixing part (6) are slidably connected, and it is characterized in that: be slidably connected between the second direct acting portion (2) and the first direct acting portion (1);
First drive portion (3) is connected with fixing part (6) with the second drive portion (4), first drive portion (3) is connected with the first toothed timing belt (33) being fixedly mounted on the first direct acting portion (1), and drives the first direct acting portion (1) to slide by the first toothed timing belt (33);
Second drive portion (4) is connected with the drive belt teeth belt (43) being movably arranged on the first direct acting portion (1), drive belt teeth belt (43) engages with the second toothed timing belt (21) being fixedly mounted on the second direct acting portion (2), and drives the second direct acting portion (2) to slide.
2. a kind of telescopic boom device according to claim 1, is characterized in that: the first toothed timing belt (33) two ends are fixedly connected with the second fast pulley (35) with the first fast pulley (34) being fixedly mounted on the first direct acting portion (1) two ends respectively;
In first drive portion (3), the first drive motor (31) is connected with the first speed reducer (32), and the first speed reducer (32) is connected with the first driving wheel (37), and the first toothed timing belt (33) crosses the first driving wheel (37) from inside winding;
First driving wheel (37) both sides are respectively equipped with the first guide wheel A(36) and the first guide wheel B(38), to make the cornerite of the first toothed timing belt (33) on the first driving wheel (37) more than 120 °.
3. a kind of telescopic boom device according to claim 1, is characterized in that: be fixedly connected with the first direct acting portion (1) by fixed plate (22) after the termination, two ends in the first direct acting portion (1) is walked around at the second toothed timing belt (21) two ends respectively.
4. a kind of telescopic boom device according to claim 1 or 3, is characterized in that: in the second drive portion (4), and the second drive motor (41) is connected with the second speed reducer (42), and the second speed reducer (42) is connected with the second driving wheel (47);
Drive belt teeth belt (43) is around crossing the first rotating first follower (44) in direct acting portion (1) two ends and the second follower (45), drive belt teeth belt (43) reeled from outside the second driving wheel (47), second driving wheel (47) periphery is provided with the 3rd follower (46), the 4th follower (48) and the 5th follower (49), to make the cornerite of drive belt teeth belt (43) on the second driving wheel (47) more than 120 °.
5. a kind of telescopic boom device according to claim 1, is characterized in that: the tooth of the first toothed timing belt (33) is positioned at the inner side surface of belt.
6. a kind of telescopic boom device according to claim 1, is characterized in that: the tooth of the second toothed timing belt (21) and drive belt teeth belt (43) is all positioned at the outer side surface of belt.
7. a kind of telescopic boom device according to claim 1, is characterized in that: the termination in the second direct acting portion (2) is provided with mechanism hand (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410556564.3A CN104405843B (en) | 2014-10-20 | 2014-10-20 | A kind of telescopic boom device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410556564.3A CN104405843B (en) | 2014-10-20 | 2014-10-20 | A kind of telescopic boom device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104405843A true CN104405843A (en) | 2015-03-11 |
| CN104405843B CN104405843B (en) | 2017-07-14 |
Family
ID=52643494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410556564.3A Expired - Fee Related CN104405843B (en) | 2014-10-20 | 2014-10-20 | A kind of telescopic boom device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104405843B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108128591A (en) * | 2016-12-01 | 2018-06-08 | 塔工程有限公司 | Base plate transfer device |
| CN109153133A (en) * | 2016-05-31 | 2019-01-04 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism |
| CN109986596A (en) * | 2019-04-30 | 2019-07-09 | 张含 | A kind of mechanical arm of extensible brachium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000317875A (en) * | 1999-05-06 | 2000-11-21 | Tatsumo Kk | Multistage slide arm device |
| CN102862267A (en) * | 2011-07-08 | 2013-01-09 | 恩格尔奥地利有限公司 | Telescoping operating arm, operating device and injection moulding device |
| CN203738814U (en) * | 2013-12-30 | 2014-07-30 | 泉州梅洋塑胶五金制品有限公司 | Novel telescopic boom of manipulator |
| CN203764822U (en) * | 2014-04-14 | 2014-08-13 | 沈阳众拓机器人设备有限公司 | Telescopic device |
| CN204153082U (en) * | 2014-10-20 | 2015-02-11 | 湖北荆硕自动化设备有限公司 | A kind of telescopic boom device |
-
2014
- 2014-10-20 CN CN201410556564.3A patent/CN104405843B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000317875A (en) * | 1999-05-06 | 2000-11-21 | Tatsumo Kk | Multistage slide arm device |
| CN102862267A (en) * | 2011-07-08 | 2013-01-09 | 恩格尔奥地利有限公司 | Telescoping operating arm, operating device and injection moulding device |
| CN203738814U (en) * | 2013-12-30 | 2014-07-30 | 泉州梅洋塑胶五金制品有限公司 | Novel telescopic boom of manipulator |
| CN203764822U (en) * | 2014-04-14 | 2014-08-13 | 沈阳众拓机器人设备有限公司 | Telescopic device |
| CN204153082U (en) * | 2014-10-20 | 2015-02-11 | 湖北荆硕自动化设备有限公司 | A kind of telescopic boom device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109153133A (en) * | 2016-05-31 | 2019-01-04 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism |
| CN109153133B (en) * | 2016-05-31 | 2022-04-05 | 生活机器人学股份有限公司 | Direct-acting telescopic mechanism |
| CN108128591A (en) * | 2016-12-01 | 2018-06-08 | 塔工程有限公司 | Base plate transfer device |
| CN109986596A (en) * | 2019-04-30 | 2019-07-09 | 张含 | A kind of mechanical arm of extensible brachium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104405843B (en) | 2017-07-14 |
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| C10 | Entry into substantive examination | ||
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| GR01 | Patent grant | ||
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Granted publication date: 20170714 Termination date: 20181020 |