CN105216011A - A kind of telescopic manipulator device - Google Patents
A kind of telescopic manipulator device Download PDFInfo
- Publication number
- CN105216011A CN105216011A CN201510735770.5A CN201510735770A CN105216011A CN 105216011 A CN105216011 A CN 105216011A CN 201510735770 A CN201510735770 A CN 201510735770A CN 105216011 A CN105216011 A CN 105216011A
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- China
- Prior art keywords
- timing belt
- movable part
- connection block
- standing part
- drive unit
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Abstract
The invention discloses a kind of telescopic manipulator device, comprise standing part and under drive unit drives relative to the movable part of described standing part rectilinear motion, described movable part is provided with the synchronous belt device comprising Timing Belt, and described Timing Belt is provided with the second Timing Belt Connection Block be movably arranged on described movable part being fixedly mounted on the first Timing Belt Connection Block on described standing part and engaging with Timing Belt engaged with Timing Belt.The present invention is by controlling the feeding of the manipulator grabbing claw be arranged on the second Timing Belt Connection Block by synchronous belt device while drive unit feeding, the feed speed of manipulator grabbing claw is promoted greatly, the object of fast feed can be reached in the restricted situation of drive unit helical pitch, its compact conformation, efficiency is high.
Description
Technical field
The invention belongs to mechanical grabbing device, be specifically related to a kind of telescopic manipulator device.
Background technology
Traditional manipulator adopts single servo-drive feeding, or adopts shaping module, but this type of manipulator cannot stretch, and takes up room large, cannot be used in the occasion of some limited space.In order to reach flexible, joint space-efficient object, general telescopic manipulator adopts control subject feeding and the feeding of manipulator grabbing claw respectively of two servo-drive, and namely manipulator grabbing claw coupling part adopts shaping module, and main part adopts screw mandrel or belt drives pattern, this mode not only takes up room greatly, and owing to adopting two motors to drive, make control driving aspect become complicated, increase driver, with high costs, significantly limit its scope of application.
Summary of the invention
The object of this invention is to provide a kind of compact conformation, feed speed is fast, the telescopic manipulator device that efficiency is high.
The technical scheme realizing the object of the invention employing is as follows:
Telescopic manipulator device, comprise standing part and under drive unit drives relative to the movable part of described standing part rectilinear motion, described movable part is provided with the synchronous belt device comprising Timing Belt, and described Timing Belt is provided with the second Timing Belt Connection Block be movably arranged on described movable part being fixedly mounted on the first Timing Belt Connection Block on described standing part and engaging with Timing Belt engaged with Timing Belt.
Described drive unit comprises the servomotor be located on described standing part and the feed screw nut's assembly be connected with described servomotor, and the feed screw nut in described feed screw nut's assembly is connected with described movable part.
Slide block is adopted to match with linear slide rail between described movable part with described standing part.
Feature of the present invention:
1, the present invention is by controlling the feeding of the manipulator grabbing claw be arranged on the second Timing Belt Connection Block by synchronous belt device while drive unit feeding, the feed speed of manipulator grabbing claw is promoted greatly, the object of fast feed can be reached in the restricted situation of drive unit helical pitch, its compact conformation, efficiency is high;
2, because the present invention has abandoned traditional Dual-motors Driving, make to control more simply, more convenient operation, cost is cheaper, takes up room little.
Technical scheme of the present invention is further illustrated below in conjunction with accompanying drawing.
Accompanying drawing explanation
Structural representation when Fig. 1 is extended configuration of the present invention.
Fig. 2 is that the AA of Fig. 1 is to sectional view.
Axonometric drawing when Fig. 3 is extended configuration of the present invention.
Schematic diagram when Fig. 4 is contraction state of the present invention.
Axonometric drawing when Fig. 5 is contraction state of the present invention.
In figure: 1, hold-down support; 2, fixed head; 3, linear guides; 4, ball-screw; 5, feed screw nut; 6, shaft coupling; 7, servomotor; 8, installing plate; 9, synchronous pulley; 10, Timing Belt Connection Block; 11, manipulator installing plate; 12, Timing Belt; 13, Timing Belt Connection Block; 14, synchronous pulley; 15, synchronizing wheel holder; 16, slotted eye; 17, slide block; 18, support wheel.
Detailed description of the invention
Telescopic manipulator device provided by the invention, its structure as shown in Figures 1 to 3, comprise standing part and under drive unit drives relative to the movable part of described standing part rectilinear motion, standing part comprises hold-down support 1, the fixed head 2 be arranged on hold-down support 1, fixed head 2 is provided with drive unit, drive unit comprises feed screw nut's assembly of being made up of screw mandrel 4 and feed screw nut 5 and the servomotor 7 for manipulator Feed servo system, the both sides of fixed head 2 are provided with the line slide rail 3 that guiding increases feeding rigidity, servomotor 7 is connected with screw mandrel 4 by shaft coupling 6, and one end of fixed head 2 is provided with support wheel 18, movable part comprises the installing plate 8 be arranged on above feed screw nut 5, the two ends of installing plate 8 are provided with synchronous pulley 9 and synchronous pulley 14, synchronous pulley 9 is connected by Timing Belt 12 with synchronous pulley 14, Timing Belt 12 adopts the tensioning of Timing Belt strainer (not shown), Timing Belt 12 is provided with the Timing Belt connecting plate 10 be connected with manipulator grabbing claw 11, installing plate 8 is provided with the slide block 17 matched with line slide rail 3 on fixed head 2, installing plate 8 is under the support of support wheel 18 and slide block 17, can be seesawed along the linear guides 3 on fixed head 2 by the effect of feed screw nut 5, Timing Belt 12 left end bottom with to be fixedly mounted on fixed head 2 and to engage through the Timing Belt Connection Block 13 of slotted eye 16 on installing plate 8, right-hand member top is engaged with the Timing Belt Connection Block 10 be movably arranged on installing plate 8, and Timing Belt Connection Block 10 and manipulator installing plate 11 are connected simultaneously.
Operation principle:
Servomotor 7 transfers the motion to screw mandrel 4 by shaft coupling 6, and the rotary motion of screw mandrel 4 is converted into rectilinear motion by feed screw nut 5, and drives installing plate 8 synchro-feed.Therefore after servomotor 7 is energized, all parts (comprising synchronous pulley 9, Timing Belt Connection Block 10, manipulator installing plate 11, Timing Belt 12, synchronous pulley 14, synchronous pulley holder 15) opposing fixed plate 2 mass motion that feed screw nut 5 will drive on installing plate 8 and installing plate 8, also produces relative motion with Timing Belt Connection Block 13 simultaneously.Owing to there is meshing relation between Timing Belt Connection Block 13 and Timing Belt 12, relative motion between the two will make Timing Belt 12 self rotate around synchronous pulley 9,14.Meanwhile also there is meshing relation between Timing Belt 12 and Timing Belt Connection Block 10, therefore Timing Belt 12 will drive Timing Belt Connection Block 10 to move, because manipulator installing plate 11 and Timing Belt Connection Block 10 are connected, be arranged on manipulator on manipulator installing plate 11 thus while moving relative to fixed head 2, also will move relative to installing plate 8.So far whole Movement transmit process completes, as shown in Figure 4, Figure 5.
Use telescopic manipulator equipment of the present invention, while driving ball screw feeding by single servo motor, controlled the feeding of manipulator grabbing claw by mid-ambles band, make the feed speed of manipulator grabbing claw and run stroke all greatly to promote.Can reach object that is quick, Long Distances feeding in the restricted situation of screw lead, compact conformation, efficiency is high.Because single servo motor drives, make to control more simply, more convenient operation, cost is cheaper, takes up room little, is the telescopic manipulator device that a kind of practicality is higher, is significant to the application & development of manipulator.
Claims (3)
1. a telescopic manipulator device, it is characterized in that comprising standing part and under drive unit drives relative to the movable part of described standing part rectilinear motion, described movable part is provided with the synchronous belt device comprising Timing Belt, and described Timing Belt is provided with the second Timing Belt Connection Block be movably arranged on described movable part being fixedly mounted on the first Timing Belt Connection Block on described standing part and engaging with Timing Belt engaged with Timing Belt.
2. telescopic manipulator device according to claim 1, it is characterized in that described drive unit comprises the servomotor be located on described standing part and the feed screw nut's assembly be connected with described servomotor, the feed screw nut in described feed screw nut's assembly is connected with described movable part.
3. telescopic manipulator device according to claim 1 and 2, is characterized in that adopting slide block to match with linear slide rail between described movable part with described standing part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510735770.5A CN105216011A (en) | 2015-11-03 | 2015-11-03 | A kind of telescopic manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510735770.5A CN105216011A (en) | 2015-11-03 | 2015-11-03 | A kind of telescopic manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105216011A true CN105216011A (en) | 2016-01-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510735770.5A Pending CN105216011A (en) | 2015-11-03 | 2015-11-03 | A kind of telescopic manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105216011A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985707A (en) * | 2017-12-28 | 2018-05-04 | 杭州博欣科技有限公司 | A kind of double outlet heparin tube printer-labelers |
| CN108016805A (en) * | 2017-12-28 | 2018-05-11 | 杭州博欣科技有限公司 | A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4342716A1 (en) * | 1993-12-15 | 1995-06-22 | Zasche Foerdertechnik Gmbh | Lifting device for manual manipulator |
| CN2587818Y (en) * | 2002-11-01 | 2003-11-26 | 谢宗昌 | Plate shape work piece conveyer |
| CN202507284U (en) * | 2012-04-17 | 2012-10-31 | 中国航天科技集团公司第五研究院第五一八研究所 | Synchronous transmission telescoping mechanical arm for multistage hollow screw rod |
| CN203245890U (en) * | 2012-12-31 | 2013-10-23 | 东莞艾尔发自动化机械有限公司 | Digital controlled three-section mechanical arm |
| CN203568324U (en) * | 2013-10-10 | 2014-04-30 | 徐州徐工施维英机械有限公司 | Telescoping mechanism, belt conveyor and crushing and sieving equipment |
| CN203764822U (en) * | 2014-04-14 | 2014-08-13 | 沈阳众拓机器人设备有限公司 | Telescopic device |
| JP2015058499A (en) * | 2013-09-18 | 2015-03-30 | 株式会社Ｔａｒａｍａ | Transport device |
| CN204324824U (en) * | 2014-11-13 | 2015-05-13 | 杭州德创电子有限公司 | Formula positioning multi-level bidirectional-movement retractable fork embraced by folder |
| CN204450582U (en) * | 2015-01-14 | 2015-07-08 | 宁波斯曼尔电器有限公司 | Manipulator with in stretch formula arm structure |
| CN205148347U (en) * | 2015-11-03 | 2016-04-13 | 湖南宇环智能装备有限公司 | Telescopic manipulator device |
-
2015
- 2015-11-03 CN CN201510735770.5A patent/CN105216011A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4342716A1 (en) * | 1993-12-15 | 1995-06-22 | Zasche Foerdertechnik Gmbh | Lifting device for manual manipulator |
| CN2587818Y (en) * | 2002-11-01 | 2003-11-26 | 谢宗昌 | Plate shape work piece conveyer |
| CN202507284U (en) * | 2012-04-17 | 2012-10-31 | 中国航天科技集团公司第五研究院第五一八研究所 | Synchronous transmission telescoping mechanical arm for multistage hollow screw rod |
| CN203245890U (en) * | 2012-12-31 | 2013-10-23 | 东莞艾尔发自动化机械有限公司 | Digital controlled three-section mechanical arm |
| JP2015058499A (en) * | 2013-09-18 | 2015-03-30 | 株式会社Ｔａｒａｍａ | Transport device |
| CN203568324U (en) * | 2013-10-10 | 2014-04-30 | 徐州徐工施维英机械有限公司 | Telescoping mechanism, belt conveyor and crushing and sieving equipment |
| CN203764822U (en) * | 2014-04-14 | 2014-08-13 | 沈阳众拓机器人设备有限公司 | Telescopic device |
| CN204324824U (en) * | 2014-11-13 | 2015-05-13 | 杭州德创电子有限公司 | Formula positioning multi-level bidirectional-movement retractable fork embraced by folder |
| CN204450582U (en) * | 2015-01-14 | 2015-07-08 | 宁波斯曼尔电器有限公司 | Manipulator with in stretch formula arm structure |
| CN205148347U (en) * | 2015-11-03 | 2016-04-13 | 湖南宇环智能装备有限公司 | Telescopic manipulator device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985707A (en) * | 2017-12-28 | 2018-05-04 | 杭州博欣科技有限公司 | A kind of double outlet heparin tube printer-labelers |
| CN108016805A (en) * | 2017-12-28 | 2018-05-11 | 杭州博欣科技有限公司 | A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system |
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Application publication date: 20160106 |