CN104669236A - Side-obtaining truss tri-axial servo robot - Google Patents
Side-obtaining truss tri-axial servo robot Download PDFInfo
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- CN104669236A CN104669236A CN201310620061.3A CN201310620061A CN104669236A CN 104669236 A CN104669236 A CN 104669236A CN 201310620061 A CN201310620061 A CN 201310620061A CN 104669236 A CN104669236 A CN 104669236A
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- truss
- slide block
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Abstract
The invention discloses a servo motor and particularly relates to a side-obtaining truss tri-axial servo robot. The servo motor aims at overcoming the technical defects that special manipulators for injection molding machines are mounted on fixed molds of the injection molding machines and have requirements for the whole workshop storey height and are not applicable to low workshop, and only one degree of freedom exists within operation space, so that the usage limitation is large. The servo motor comprises a rack seat, a transverse gun barrel, a drawing guiding beam, an arm seat, an arm and an electric control cabinet. The transverse gun barrel is connected onto the arm seat and can move vertically relatively along the arm seat, the drawing guiding beam is connected with the lower end of the arm and can move back and forth relatively along the wide direction of the transverse gun barrel, and the electric control cabinet is fixed on the ground. The servo motor is used for completing material obtaining and discharging on injection molding machines.
Description
Technical field
The present invention relates to a kind of servo robot, particularly truss three axle servo robot is got in a kind of side.
Background technology
Manipulator is 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.
In the prior art, Special manipulator for injection molding machine is all placed on injection machine cover half, and it has requirement to the story height in whole workshop, is not suitable for short workshop; Said structure manipulator generally only has one degree of freedom in its operating space simultaneously, uses limitation large.
Summary of the invention
The object of the invention is to provide a kind of workshop in lower floor also to settle to solve above-mentioned the deficiencies in the prior art, truss three axle servo robot is got in the side simultaneously possessing three operation frees degree.
To achieve these goals, truss three axle servo robot is got in side designed by the present invention, it comprises frame seat, walk crosswise gun tube, pulling beam, arm seat, arm and electric cabinet, walking crosswise gun tube is set up on frame seat, arm seat is connected to be walked crosswise on gun tube, and can along the length direction relative motion back and forth walking crosswise gun tube, arm is connected on arm seat, and can according to setting about the upper and lower relative motion of arm seat, pulling beam is connected to the lower end of arm, and can along the cross direction relative motion back and forth walking crosswise gun tube, electric cabinet fixes on the ground.
Said structure can be installed in the workshop of lower floor, and simultaneously after installation manipulator on pulling beam of the present invention, manipulator can have three different frees degree.
As preferably, be fixed with First Line rail walking crosswise on gun tube in the present invention, arm seat is fixed with the first slide block, and above-mentioned First Line rail and the first slide block cooperatively interact; The arm joint face of arm seat is fixed with the second line rail, is fixed with the second slide block at the arm seat of arm on face, above-mentioned second line rail and the second slide block cooperatively interact; Be fixed with the 3rd slide block in the bottom surface of arm, be fixed with the 3rd line rail at the arm of pulling beam on face, above-mentioned 3rd line rail and the 3rd slide block cooperatively interact.Above-mentioned preferably preferred plan of the present invention, its structure is simple, and dismounting is easy to maintenance.
When arm and the upper and lower relative motion of arm seat, in order to lifter motion precision, the arm joint face of the seat of arm described in the present invention is also fixed with slip jacket casing, the side of arm is fixed with leading screw holder, run through in leading screw holder and have leading screw, described leading screw coordinates with above-mentioned slip jacket casing.
Conveniently connect manipulator, in the present invention, on pulling beam, be also fixed with connection base of mechanical hand.
Truss three axle servo robot is got in the side that the present invention obtains, and it does not need to be installed on the cover half of injection machine in use, therefore can settle in the workshop that floor is lower yet; Simultaneously in the present invention, arm, pulling beam and walking crosswise between gun tube can move relatively, makes the manipulator be arranged on pulling beam can have three different frees degree; Also have the present invention to have and pick and place material, the function of side direction feeding at a high speed, the examination efficiency of injecting products can be promoted.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of embodiment 1;
Fig. 2 is the overall structure schematic diagram of embodiment 2;
Fig. 3 is the partial enlarged drawing at A place in Fig. 2;
Fig. 4 is the partial enlarged drawing at B place in Fig. 2;
Fig. 5 is the overall structure schematic diagram of embodiment 3;
Fig. 6 is the overall structure schematic diagram of embodiment 4.
In figure: frame seat 1, walk crosswise gun tube 2, arm seat 3, arm 4, pulling beam 5, electric cabinet 6, leading screw 7, leading screw holder 8, slip jacket casing 9, handwheel 10, connection base of mechanical hand 11, manipulator 12, first slide block 13, First Line rail 14, second slide block 15, second line rail 16, the 3rd slide block 17, the 3rd line rail 18.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
Embodiment 1:
Truss three axle servo robot is got in side as shown in Figure 1, it comprises frame seat 1, walk crosswise gun tube 2, pulling beam 5, arm seat 3, arm 4 and electric cabinet 6, walking crosswise gun tube 2 is set up on frame seat 1, arm seat 3 is connected to be walked crosswise on gun tube 2, and can along the length direction relative motion back and forth walking crosswise gun tube 2, arm 4 is connected on arm seat 3, and can according to setting about arm seat about 3 relative motion, pulling beam 5 is connected to the lower end of arm 4, and can along the cross direction relative motion back and forth walking crosswise gun tube 2, electric cabinet 6 fixes on the ground.
When work, arm 4 acts on to walk crosswise on gun tube 2 by servomotor and belt and moves, and regulates arm 4 walking crosswise the height on gun tube 2 by leading screw 7.Pulling beam 5 acts on arm 4 lower end by servomotor and belt and moves around.
Said structure can be installed in the workshop of lower floor, and simultaneously toward installation manipulator 12 on the pulling beam 5 of the present embodiment after, manipulator 12 can have three different frees degree, can facilitate, the taking-up completing product of dexterity and putting into.
Embodiment 2:
Truss three axle servo robot is got in side as shown in Figure 2, Figure 3 and Figure 4, its general structure is consistent with embodiment 1, but in order to structure is simple, easy disassembly and maintenance, First Line rail 14 is fixed with walking crosswise on gun tube 2 in the present embodiment, arm seat 3 is fixed with the first slide block 13, and above-mentioned First Line rail 14 and the first slide block 13 cooperatively interact; Arm 4 joint face of arm seat 3 is fixed with the second line rail 16, is fixed with the second slide block 15 at the arm seat 3 of arm 4 on face, above-mentioned second line rail 16 and the second slide block 15 cooperatively interact; Be fixed with the 3rd slide block 17 in the bottom surface of arm 4, be fixed with the 3rd line rail 18 at the arm 4 of pulling beam 5 on face, above-mentioned 3rd line rail 18 and the 3rd slide block 17 cooperatively interact.
Embodiment 3:
Truss three axle servo robot is got in side as shown in Figure 5, its general structure is consistent with embodiment 1, but when arm 4 and about 3 relative motion of arm seat, in order to lifter motion precision, arm 4 joint face of the seat of arm described in the present embodiment 3 is also fixed with slip jacket casing 9, the side of arm 4 is fixed with leading screw holder 8, and running through in leading screw holder 8 has leading screw 7, and described leading screw 7 coordinates with above-mentioned slip jacket casing 9.
In concrete use, operator can, by the handwheel 10 on adjusting screw 7, regulate arm 4 walking crosswise the height on gun tube 2.
Embodiment 4:
Truss three axle servo robot is got in side as shown in Figure 6, and its general structure is consistent with embodiment 1, but conveniently connects manipulator 12, is also fixed with connection base of mechanical hand 11 in the present embodiment on pulling beam 5.
Claims (5)
1. truss three axle servo robot is got in a side, it is characterized in that: it comprises frame seat (1), walk crosswise gun tube (2), pulling beam (5), arm seat (3), arm (4) and electric cabinet (6), walking crosswise gun tube (2) is set up on frame seat (1), arm seat (3) is connected to be walked crosswise on gun tube (2), and can along the length direction relative motion back and forth walking crosswise gun tube (2), arm (4) is connected on arm seat (3), and can according to setting about arm seat (3) relative motion up and down, pulling beam (5) is connected to the lower end of arm (4), and can along the cross direction relative motion back and forth walking crosswise gun tube (2), electric cabinet (6) fixes on the ground.
2. truss three axle servo robot is got in side according to claim 1, it is characterized in that: be fixed with First Line rail (14) walking crosswise on gun tube (2), arm seat (3) is fixed with the first slide block (13), and above-mentioned First Line rail (14) and the first slide block (13) cooperatively interact; The arm joint face of arm seat (3) is fixed with the second line rail (16), is fixed with the second slide block (15) at the arm seat (3) of arm (4) on face, above-mentioned second line rail (16) and the second slide block (15) cooperatively interact; Be fixed with the 3rd slide block (17) in the bottom surface of arm (4), be fixed with the 3rd line rail (18) at the arm (4) of pulling beam (5) on face, above-mentioned 3rd line rail (18) and the 3rd slide block (17) cooperatively interact.
3. truss three axle servo robot is got in side according to claim 1 and 2, it is characterized in that: arm (4) joint face of described arm seat (3) is also fixed with slip jacket casing (9), the side of arm (4) is fixed with leading screw holder (8), run through in leading screw holder (8) and have leading screw (7), described leading screw (7) coordinates with above-mentioned slip jacket casing (9).
4. truss three axle servo robot is got in side according to claim 1 and 2, it is characterized in that: on pulling beam (5), be also fixed with connection base of mechanical hand (11).
5. truss three axle servo robot is got in side according to claim 3, it is characterized in that: on pulling beam (5), be also fixed with connection base of mechanical hand (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310620061.3A CN104669236A (en) | 2013-11-29 | 2013-11-29 | Side-obtaining truss tri-axial servo robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310620061.3A CN104669236A (en) | 2013-11-29 | 2013-11-29 | Side-obtaining truss tri-axial servo robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104669236A true CN104669236A (en) | 2015-06-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310620061.3A Pending CN104669236A (en) | 2013-11-29 | 2013-11-29 | Side-obtaining truss tri-axial servo robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN104669236A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664261A (en) * | 2019-01-17 | 2019-04-23 | 宁波伟立机器人科技股份有限公司 | A kind of manipulator |
| CN110271024A (en) * | 2019-06-26 | 2019-09-24 | 中日龙(襄阳)机电技术开发有限公司 | Single armed manipulator side-draw |
| CN111438679A (en) * | 2020-02-26 | 2020-07-24 | 中创智造(苏州)智能装备科技有限公司 | Long-stroke heavy-load high-precision multi-angle truss series-parallel robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60189413A (en) * | 1984-03-09 | 1985-09-26 | Star Seiki:Kk | Automatic removing device of injection molded article |
| EP0241820A2 (en) * | 1986-04-18 | 1987-10-21 | Battenfeld GmbH | Injected part take-out device for injection-moulding machines |
| DE4127446A1 (en) * | 1991-08-16 | 1993-02-18 | Mannesmann Ag | Space-saving portal robot with additional carrier-arm movement - has a double grab attachment on a carrier arm that can move linearly 500 mm at right-angles to the bridge, all movements being NC controlled |
| CN101890709A (en) * | 2009-05-20 | 2010-11-24 | 怡锋工业设备（深圳）有限公司 | Double-cutter head assembly mechanical hand of four-wheeled grass cutter |
| CN102133752A (en) * | 2011-01-04 | 2011-07-27 | 宁波伟立机器人科技有限公司 | Novel rotating arm type robot |
| CN202684307U (en) * | 2012-05-30 | 2013-01-23 | 上汽通用五菱汽车股份有限公司 | Welding manipulator feeding device |
| CN102922520A (en) * | 2012-11-28 | 2013-02-13 | 苏州久工自动化科技有限公司 | Structure of truss manipulator |
| CN103264312A (en) * | 2013-06-07 | 2013-08-28 | 上海发那科机器人有限公司 | Truss traveling guide rail for hoisting robot |
-
2013
- 2013-11-29 CN CN201310620061.3A patent/CN104669236A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60189413A (en) * | 1984-03-09 | 1985-09-26 | Star Seiki:Kk | Automatic removing device of injection molded article |
| EP0241820A2 (en) * | 1986-04-18 | 1987-10-21 | Battenfeld GmbH | Injected part take-out device for injection-moulding machines |
| DE4127446A1 (en) * | 1991-08-16 | 1993-02-18 | Mannesmann Ag | Space-saving portal robot with additional carrier-arm movement - has a double grab attachment on a carrier arm that can move linearly 500 mm at right-angles to the bridge, all movements being NC controlled |
| CN101890709A (en) * | 2009-05-20 | 2010-11-24 | 怡锋工业设备（深圳）有限公司 | Double-cutter head assembly mechanical hand of four-wheeled grass cutter |
| CN102133752A (en) * | 2011-01-04 | 2011-07-27 | 宁波伟立机器人科技有限公司 | Novel rotating arm type robot |
| CN202684307U (en) * | 2012-05-30 | 2013-01-23 | 上汽通用五菱汽车股份有限公司 | Welding manipulator feeding device |
| CN102922520A (en) * | 2012-11-28 | 2013-02-13 | 苏州久工自动化科技有限公司 | Structure of truss manipulator |
| CN103264312A (en) * | 2013-06-07 | 2013-08-28 | 上海发那科机器人有限公司 | Truss traveling guide rail for hoisting robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664261A (en) * | 2019-01-17 | 2019-04-23 | 宁波伟立机器人科技股份有限公司 | A kind of manipulator |
| CN110271024A (en) * | 2019-06-26 | 2019-09-24 | 中日龙(襄阳)机电技术开发有限公司 | Single armed manipulator side-draw |
| CN111438679A (en) * | 2020-02-26 | 2020-07-24 | 中创智造(苏州)智能装备科技有限公司 | Long-stroke heavy-load high-precision multi-angle truss series-parallel robot |
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Application publication date: 20150603 |
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| RJ01 | Rejection of invention patent application after publication |