CN107053139A - A kind of automatic braking type truss manipulator - Google Patents
A kind of automatic braking type truss manipulator Download PDFInfo
- Publication number
- CN107053139A CN107053139A CN201710234249.2A CN201710234249A CN107053139A CN 107053139 A CN107053139 A CN 107053139A CN 201710234249 A CN201710234249 A CN 201710234249A CN 107053139 A CN107053139 A CN 107053139A
- Authority
- CN
- China
- Prior art keywords
- axles
- axis
- timing belt
- axle
- pedestal
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present apparatus belongs to automated manufacturing mounting technology field, and there is provided a kind of automatic braking type truss manipulator, column；X-axis；Y-axis；Z axis；Z1 shaft pulley；Z1 axles；3Z2 axles；Z2 shaft brake devices；Guide rail slide block；Z2 axle timing belts B；Z2 axle timing belts A；Z axis belt wheel；Z1 shaft brake devices；Pedestal；Z1 axle timing belts；Timing belt pressing plate；Z2 axle timing belt pressing plates；Brake；Keep plate；Steel wire；Electric wire.The lightweight of safety and equipment in production process, electricity loss brake is installed in the secondary part of truss manipulator, and be connected drive part with secondary part by special timing belt, when the situation that timing belt is broken occurs, secondary part can Braking mode, prevent the generation of security incident and the damage of parts.The function of telescopic manipulator Braking mode at an arbitrary position, serves the effectiveness of security protection, can ensure the safety of personnel and equipment in actual production, it is to avoid security incident and economic loss.
Description
Technical field
The invention belongs to automated manufacturing mounting technology field, it is related to mechanical handing dress involved in processing and manufacturing
Put.
Background technology
At present, the braking of each axle of truss manipulator used in the manufacturing is the brake by motor,
Namely secondary part is without independent brake, and the driving of truss manipulator is to be connected by timing belt with driven member, when using
During, due to ageing equipment or load is overweight cause the timing belt to be broken when, secondary part brakeless device is caused under weight
Fall, easily cause security incident.
The content of the invention
In order to ensure the lightweight of safety and equipment in production process, install and lose in the secondary part of truss manipulator
Electric brake, and be connected drive part with secondary part by special timing belt, when the situation that timing belt is broken occurs,
Secondary part can Braking mode, prevent the generation of security incident and the damage of parts.
The present invention concrete technical scheme be：A kind of automatic braking type truss manipulator, column, which is located at below X-axis, passes through spiral shell
Nail connection, for supporting whole manipulator；X-axis is installed on column, and is connected by guide rail slide block with Y-axis, is installed in X-axis
There is rack；Y-axis is arranged in X-axis by guide rail slide block, is engaged in Y-axis equipped with drive device with moving gear with the rack of X-axis
Drive Y-axis movement；Z axis is arranged in Y-axis by guide rail slide block, drives Z axis to move by timing belt；Pedestal is the pedestal of Z axis,
It is arranged on by guide rail slide block in Y-axis, Z1 axles are arranged on pedestal side by guide rail slide block；Z2 axles are arranged on by guide rail slide block
Z1 axles side；Z axis belt wheel is arranged in the middle part of pedestal by axle；Z1 shaft brake devices are arranged on pedestal side by screw；Z1 axles
Belt wheel is arranged on Z1 axle upper and lower ends by axle；Z1 axle timing belts are open loop timing belts, through the driving pulley and Z axis on pedestal
Belt wheel two ends are fixed on two sides above and below Z1 axles by timing belt pressing plate, and Z1 axles timing belt pulls Z1 axles to move up and down；Z2 axles are same
Step band B is arranged on pedestal downside by lower end Z1 shaft pulley A, Z2 axle timing belt B one end by timing belt pressing plate, and Z2 axles are same
The step band B other ends are arranged on Z2 axles side by Z2 axle timing belts pressing plate；Z2 axle timing belt A pass through upper end Z1 shaft pulley, Z2 axles
Timing belt A one end is arranged on pedestal upper side by timing belt pressing plate, and the Z2 axles timing belt A other ends pass through Z2 axle timing belt pressing plates
Installed in Z2 axles side；Z2 shaft brake devices are arranged on Z2 axles side by screw；Brake is arranged on affixed side；Keep plate is pacified
Mounted in mobile side；Timing belt adds electric wire by steel reinforcement in timing belt.
Wherein, two columns, which are separately mounted on two ends, column install, installs guide rail slide block and rack, Y above X-axis, X-axis
Axle one end installs drive device and the position is arranged on the sliding block of X-axis, and Y-axis can be slided in X-axis, the drive device of Y-axis
It can engage and be driven with the rack in X-axis with moving gear, same above Y-axis to install guide rail slide block, Z axis pedestal is arranged on Y-axis
Sliding block on, pedestal can be slided by drive device driving in Y-axis, and a side of Z1 axles is arranged on pedestal by guide rail slide block
Sideways, perpendicular to Y-axis, Z2 axles are arranged on another side of Z1 axles by guide rail slide block, and Z1 axles pass through on timing belt and pedestal
Drive device connection driving, two belt wheels up and down that the timing belts of Z2 axles bypasses mounted in Z1 axles are finally arranged on above and below pedestal
On two sides and timing belt is pressed on Z2 axles side by timing belt pressing plate, by driving the timing belt of Z1 axles to make Z2
Axle is moved relative to Z1 axles, is stretched so as to form two grades, i.e., what the distance that Z1 axles opposite base is moved was moved with Z2 axles relative to Z1 axles
Apart from identical, the distance of final Z2 axles opposite base movement is two times of Z1 axles, so that a driving drives two axles, and two
Electric wire one end in timing belt is ined succession power supply, and the other end is ined succession the electricity loss brake of Z1 axles and Z2 axles respectively, when timing belt is broken,
Respective electricity loss brake is just braked, so as to complete the function of Braking mode.
The present invention realizes the function of telescopic manipulator Braking mode at an arbitrary position, serves the effect of security protection
With the safety of personnel and equipment can be ensured in actual production, it is to avoid security incident and economic loss.
Brief description of the drawings
The automatic braking type truss manipulator overall structure figure of accompanying drawing 1.
The Z axis overall structure figure of accompanying drawing 2.
The brake device structure figure of accompanying drawing 3.
The timing belt structure chart of accompanying drawing 4.
In figure：PILLAR columns；ARMX X-axis；ARMY Y-axis；ARMZ Z axis；1Z1 shaft pulley；2Z1 axles；3Z2 axles；4Z2
Shaft brake device；5 guide rail slide blocks；6Z2 axle timing belts B；7Z2 axle timing belts A；8Z shaft pulley；9Z1 shaft brake devices；10 pedestals；
11Z1 axle timing belts；12 timing belt pressing plates；13Z2 axle timing belt pressing plates；14 brakes；15 keep plates；16 steel wires；17 electric wires.
Embodiment
Describe the embodiment of the present invention in detail below in conjunction with technical scheme and accompanying drawing.
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall composition of the present invention.
Fig. 2 is Z axis overall structure figure.
Fig. 3 is brake device structure figure.
Fig. 4 is timing belt cross-sectional structure figure.
In figure：Column PILLAR is used to support whole manipulator, and it, which is located at below X-axis ARMX, is connected by screw,；X-axis
ARMX is arranged on column PILLAR, and is connected by guide rail slide block with Y-axis ARMY, and rack is provided with X-axis ARMX；Y-axis
ARMY is arranged on X-axis ARMX by guide rail slide block, and tooth of the drive device with moving gear Yu X-axis ARMX is housed on Y-axis ARMY
Bar engagement drives Y-axis ARMY movements；Z axis ARMZ is arranged on Y-axis ARMY by guide rail slide block, and Z axis is driven by timing belt
ARMZ is moved；Pedestal 10 is Z axis ARMZ pedestal, is arranged on by guide rail slide block on Y-axis ARMY, and a side of Z1 axles 2 leads to
Guide rail slide block 5 is crossed installed in the side of pedestal 10；Z2 axles 3 are arranged on another side of Z1 axles 2 by guide rail slide block 5；Z axis belt wheel
8 are arranged on the middle part of pedestal 10 by axle；Z1 shaft brake devices 9 are arranged on the side of pedestal 10 by screw；Z1 shaft pulley 1 passes through axle
Installed in the upper and lower ends of Z1 axles 2；Z1 axles timing belt 11 is open loop timing belt, through the driving pulley on pedestal 10 and Z axis belt wheel
8 two ends are fixed on Z1 axles by timing belt pressing plate 12, and about 2 two sides, and Z1 axles timing belt 11 can pull Z1 axles 2 to move up and down；Z2
Axle timing belt B 6 is arranged on the downside of pedestal 10, the other end by lower end Z1 shaft pulley A 7, one end by timing belt pressing plate 12
The side of Z2 axles 3 is arranged on by Z2 axle timing belts pressing plate 13；Z2 axle timing belts A 7 is by upper end Z1 shaft pulley 1, and one end passes through same
Step band pressing plate 12 is arranged on the upper side of pedestal 10, and the other end is arranged on the side of Z2 axles 3 by Z2 axle timing belts pressing plate 13；Z2 axle systems
Dynamic device 4 is arranged on the side of Z2 axles 3 by screw.
Wherein, brake 14 is arranged on and is relatively fixed side；Keep plate 15 is arranged on mobile side.
Wherein, timing belt is reinforced by many steel wires 16, and electric wire 17 is added in wherein timing belt, if so synchronous
Band fracture, electric wire 17 can be also broken therewith.
By the Machine Design of truss manipulator, X-axis ARMX is translatable, Y-axis ARMY is translatable, Z axis ARMZ can up and down two
Level is flexible, because above and below Z axis ARMZ is flexible and is driven by timing belt, if to produce safety hidden for timing belt fracture
Suffer from, and the structure of the present invention, secondary part with drive part is connected by special timing belt, one end of electric wire 17 in timing belt
Switch on power, other end connection Z1 shaft brake devices 9 and Z2 shaft brake devices 4, because the two brake apparatus are dead electricity brakings,
When timing belt is broken, electric wire 17 is broken, Z1 shaft brake devices 9 and the dead electricity of Z2 shaft brake devices 4, and brake 14 holds keep plate tightly
15 are braked, so that Z1 axles 2, the stopping of Z2 axles 3 action, complete Braking mode.
Claims (5)
1. a kind of automatic braking type truss manipulator, it is characterised in that column (PILLAR), which is located at below X-axis (ARMX), passes through spiral shell
Nail connection, for supporting whole manipulator；X-axis (ARMX) is installed on column (PILLAR), and passes through guide rail slide block and Y-axis
(ARMY) connect, rack is installed in X-axis (ARMX)；Y-axis (ARMY) is arranged in X-axis (ARMX) by guide rail slide block, in Y
Drive Y-axis (ARMY) movement is engaged with the rack of X-axis (ARMX) with moving gear equipped with drive device on axle (ARMY)；Z axis
(ARMZ) it is arranged on by guide rail slide block in Y-axis (ARMY), drives Z axis (ARMZ) mobile by timing belt；Pedestal (10) is Z axis
(ARMZ) pedestal, is arranged in Y-axis (ARMY) by guide rail slide block, and Z1 axles (2) are arranged on pedestal by guide rail slide block (5)
(10) side；Z2 axles (3) are arranged on Z1 axles (2) side by guide rail slide block (5)；Z axis belt wheel (8) is arranged on pedestal by axle
(10) middle part；Z1 shaft brake devices (9) are arranged on pedestal (10) side by screw；Z1 shaft pulley (1) is arranged on Z1 by axle
Axle (2) upper and lower ends；Z1 axles timing belt (11) is open loop timing belt, through the driving pulley on pedestal (10) and Z axis belt wheel (8)
Two ends are fixed on Z1 axles (2) two sides up and down by timing belt pressing plate (12), and Z1 axles timing belt (11) is pulled to be moved down on Z1 axles (2)
It is dynamic；Z2 axle timing belt B (6) pass through timing belt pressing plate (12) by lower end Z1 shaft pulley A (7), Z2 axle timing belt B (6) one end
Installed in pedestal (10) downside, Z2 axle timing belt B (6) other ends are arranged on Z2 axles (3) by Z2 axle timing belt pressing plates (13)
Sideways；Z2 axle timing belt A (7) are installed by upper end Z1 shaft pulley (1), Z2 axles timing belt A one end by timing belt pressing plate (12)
In pedestal (10) upper side, the Z2 axles timing belt A other ends are arranged on Z2 axles (3) side by Z2 axle timing belt pressing plates (13)；Z2
Shaft brake device (4) is arranged on Z2 axles (3) side by screw；Brake (14) is arranged on affixed side；Keep plate (15) is installed
In mobile side；Timing belt is reinforced by steel wire (16), and electric wire (17) is added in timing belt.
2. a kind of automatic braking type truss manipulator according to claim 1, is further characterized in that, Z axis (ARMZ) is two
Level is flexible, and driving Z1 axles (2) to move up and down by a drive device can make Z2 axles (3) driven and the relative Z1 axles of Z2 axles (3)
(2) mobile distance is identical with the distance that Z1 axles (2) opposite base (10) is mobile.
3. a kind of automatic braking type truss manipulator according to claim 1 or 2, is further characterized in that, in timing belt
The two ends of electric wire (17) connect power supply and Z1 shaft brake devices (9) or Z2 shaft brake devices (4) respectively, when timing belt is broken Z1 axles
Brake apparatus (9) or the braking of Z2 shaft brake devices (4) dead electricity, Z1 axles (2) and Z2 axles (3) stopping action, complete Braking mode.
4. a kind of automatic braking type truss manipulator according to claim 1 or 2, is further characterized in that, above-mentioned fixed peace
Dress is by screw or bolt connection.
5. a kind of automatic braking type truss manipulator according to claim 3, is further characterized in that, above-mentioned fixed installation by
Screw or bolt connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710234249.2A CN107053139A (en) | 2017-04-11 | 2017-04-11 | A kind of automatic braking type truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710234249.2A CN107053139A (en) | 2017-04-11 | 2017-04-11 | A kind of automatic braking type truss manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107053139A true CN107053139A (en) | 2017-08-18 |
Family
ID=59601984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710234249.2A Withdrawn CN107053139A (en) | 2017-04-11 | 2017-04-11 | A kind of automatic braking type truss manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053139A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789388A (en) * | 2018-07-19 | 2018-11-13 | 重庆热谷机器人科技有限责任公司 | A kind of telescopic Z axis structure for truss stabilizer blade coordinates robot |
| CN111941399A (en) * | 2020-08-19 | 2020-11-17 | 连城凯克斯科技有限公司 | double-Z-axis mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08118269A (en) * | 1994-10-25 | 1996-05-14 | Canon Inc | Industrial robot |
| JP2004223689A (en) * | 2003-01-27 | 2004-08-12 | Yaskawa Electric Corp | Industrial robot |
| CN101051775A (en) * | 2006-03-16 | 2007-10-10 | 株式会社安川电机 | Brake-attached motor and robot apparatus having the same |
| US20080064543A1 (en) * | 2006-09-07 | 2008-03-13 | Nsk Ltd. | Three axis drive apparatus |
| JP2008214063A (en) * | 2007-03-06 | 2008-09-18 | Murata Mach Ltd | Belt displacement preventing device |
| CN102303189A (en) * | 2011-08-15 | 2012-01-04 | 佛山市顺德区德芯智能科技有限公司 | IC card welding device for dual-interface welding packaging machine and control method of IC card welding device |
| CN104723323A (en) * | 2015-03-30 | 2015-06-24 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung type three-axis servo manipulator |
| CN104959986A (en) * | 2015-05-29 | 2015-10-07 | 南京理工大学 | Combined track type automatic inspection robot |
| CN105286904A (en) * | 2015-09-21 | 2016-02-03 | 北京国药恒瑞美联信息技术有限公司 | Mammary machine compression device |
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN105983962A (en) * | 2016-06-29 | 2016-10-05 | 无锡市展望自动化贸易有限公司 | Brake device for horizontal multi-joint robot linear shaft |
| CN106429482A (en) * | 2016-11-18 | 2017-02-22 | 山东爱而生智能科技有限公司 | Y-axis driving mechanism and manipulator capable of carrying out variable-speed movement along y axis |
| CN207127872U (en) * | 2017-04-11 | 2018-03-23 | 沈阳翰和科技工程有限公司 | A kind of automatic braking type truss manipulator |
-
2017
- 2017-04-11 CN CN201710234249.2A patent/CN107053139A/en not_active Withdrawn
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08118269A (en) * | 1994-10-25 | 1996-05-14 | Canon Inc | Industrial robot |
| JP2004223689A (en) * | 2003-01-27 | 2004-08-12 | Yaskawa Electric Corp | Industrial robot |
| CN101051775A (en) * | 2006-03-16 | 2007-10-10 | 株式会社安川电机 | Brake-attached motor and robot apparatus having the same |
| US20080064543A1 (en) * | 2006-09-07 | 2008-03-13 | Nsk Ltd. | Three axis drive apparatus |
| JP2008214063A (en) * | 2007-03-06 | 2008-09-18 | Murata Mach Ltd | Belt displacement preventing device |
| CN102303189A (en) * | 2011-08-15 | 2012-01-04 | 佛山市顺德区德芯智能科技有限公司 | IC card welding device for dual-interface welding packaging machine and control method of IC card welding device |
| CN104723323A (en) * | 2015-03-30 | 2015-06-24 | 艾尔发（苏州）自动化科技有限公司 | Laterally-hung type three-axis servo manipulator |
| CN104959986A (en) * | 2015-05-29 | 2015-10-07 | 南京理工大学 | Combined track type automatic inspection robot |
| CN105286904A (en) * | 2015-09-21 | 2016-02-03 | 北京国药恒瑞美联信息技术有限公司 | Mammary machine compression device |
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN105983962A (en) * | 2016-06-29 | 2016-10-05 | 无锡市展望自动化贸易有限公司 | Brake device for horizontal multi-joint robot linear shaft |
| CN106429482A (en) * | 2016-11-18 | 2017-02-22 | 山东爱而生智能科技有限公司 | Y-axis driving mechanism and manipulator capable of carrying out variable-speed movement along y axis |
| CN207127872U (en) * | 2017-04-11 | 2018-03-23 | 沈阳翰和科技工程有限公司 | A kind of automatic braking type truss manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789388A (en) * | 2018-07-19 | 2018-11-13 | 重庆热谷机器人科技有限责任公司 | A kind of telescopic Z axis structure for truss stabilizer blade coordinates robot |
| CN111941399A (en) * | 2020-08-19 | 2020-11-17 | 连城凯克斯科技有限公司 | double-Z-axis mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170818 |
|
| WW01 | Invention patent application withdrawn after publication |