CN107598895A - A kind of reciprocating motion actuation means for boosting manipulator - Google Patents
A kind of reciprocating motion actuation means for boosting manipulator Download PDFInfo
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- CN107598895A CN107598895A CN201710830485.0A CN201710830485A CN107598895A CN 107598895 A CN107598895 A CN 107598895A CN 201710830485 A CN201710830485 A CN 201710830485A CN 107598895 A CN107598895 A CN 107598895A
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- fixed
- frame
- slip case
- reciprocating motion
- support tube
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Abstract
The invention discloses a kind of reciprocating motion actuation means for boosting manipulator, including frame, one end of frame is provided with drive mechanism, and the other end of frame is provided with follower, belt is provided between drive mechanism and follower；Frame is provided with slip case, and the inner top of slip case is connected with belt；The outer top of slip case is provided with support tube；The top of slip case is provided with fixed cylinder, and support tube is arranged in fixed cylinder, and the top of support tube is provided with travel mechanism；The present invention can facilitate to be moved back and forth to belt；Realize and move back and forth along frame so as to convenient control slip case；Convenient control travel mechanism, which realizes, to be moved back and forth；So as to which convenient control boosting manipulator realization moves back and forth；It is more flexible that regulation is moved to boosting manipulator.
Description
Technical field
The present invention relates to one kind to move back and forth actuation means, and in particular to a kind of reciprocating motion for boosting manipulator is grasped
Control device.
Background technology
Boosting manipulator be also known as manipulator, balance crane, balance booster, manual transfer machine, be it is a kind of it is novel, for thing
The power assistive device of laborsaving operation when material is carried and installed.The equilibrium principle of its dexterously application of force, operator is set to carry out weight
Corresponding push-and-pull, so that it may in space inner equilibrium running fix.Weight forms quick condition in lifting or decline, ensures by gas circuit
Z-operation power operating physical force is by workpiece weight.Operated without skilled crawl, operator pulls weight, it is possible to weight
Thing is correctly put into any position in space.The boosting manipulator equipment of complete set is mainly made up of three parts：Balance crane
Main frame, crawl fixture and mounting structure.Robotic Host is the agent set for realizing material agravicization quick condition in the air.
Manipulator is then to realize workpiece grabbing, and completes user's accordingly device of carrying and matching requirements.Mounting structure be then according to
Family coverage and field conditions are required to support the mechanism of complete equipment.Existing boosting manipulator is generally fixed peace
Dress, and it is dumb that manipulation is moved to boosting manipulator, it is impossible to control boosting manipulator to be moved back and forth, manipulation effect
Rate is low.
The content of the invention
Can be to power-assisted machinery by upper limit plate and lower limiting board it is an object of the invention to provide a kind of attachment rail
Installation is fixed in hand；It can facilitate and belt is moved back and forth；It is real along frame so as to convenient control slip case
Now move back and forth；Convenient control travel mechanism, which realizes, to be moved back and forth；So as to which convenient control boosting manipulator is realized
Return and move back and forth；Reciprocating motion of the regulation more flexibly for boosting manipulator is moved to boosting manipulator and manipulates dress
Put.
To achieve the above object, the technical scheme is that：
A kind of reciprocating motion actuation means for boosting manipulator, including frame, one end of frame are provided with drive mechanism, machine
The other end of frame is provided with follower, and belt is provided between drive mechanism and follower；Frame is provided with slip case, slip case
Inner top is connected with belt；The outer top of slip case is provided with support tube；The top of slip case is provided with fixed cylinder, and support tube, which is arranged on, to be fixed
On cylinder, the top of support tube is provided with travel mechanism；Drive mechanism includes the first fixed seat, and the back side of the first fixed seat, which is provided with, to be fixed
Case, the rear portion of fixed case are provided with stepper motor, and the front of the first fixed seat is provided with driving wheel, and driving wheel is sleeved on stepper motor
In drive shaft；Follower includes the second fixed seat, and the second fixed seat is provided with driven pulley, and driven pulley is arranged on by driven shaft
In second fixed seat, belt arrangement is between driven pulley and driving wheel；Travel mechanism includes movement pipeline, the middle part of movement pipeline
Position is provided with kink, and the lower end of movement pipeline is provided with fixed disk, and fixed disk is arranged on the end of support tube；Movement pipeline
Upper end is provided with Mobile base, and the front portion of Mobile base is provided with clamping seat, and clamping seat clamping has positioning pipe, and one end of positioning pipe is provided with first
Attachment rail, the other end of positioning pipe are provided with the second attachment rail, the second attachment rail and the first attachment rail in parallel arrangement；
Second attachment rail is identical with the shape size of the first attachment rail, and the top of the first attachment rail is provided with upper limit plate, and first
The bottom of attachment rail is provided with lower limiting board, and guide groove is provided between lower limiting board and upper limit plate；First attachment rail, the upper limit
Position plate and lower limiting board are in I shape.
Further, the side locations of the frame are provided with guide rail, and guide rail is arranged on the side of frame by guide rail installing plate
Portion position, top and the bottom of guide rail are equipped with chute；The bottom of slip case is provided with sliding chamber, and slip case is sleeved on frame by sliding chamber
On, two inner sides of slip case are equipped with some clamping wheels, and clamping wheel is arranged on two inner sides of slip case, the periphery of clamping wheel by interior axle
Face is provided with buckling groove, and buckling groove is corresponding with chute, and the interior half part of clamping wheel is connected in chute, and clamping wheel passes through buckling groove card
It is connected on guide rail.
Further, the bottom of the frame is provided with some fixed plates.
Further, the top of the slip case is provided with fixed column, and fixed column is arranged on the outside portion position of support tube.
Further, the outer peripheral face of the support tube is set with the first cover plate and the second cover plate, the first cover plate with second set
Some fix bars are provided between disk.
Further, it is provided with connecting plate between the rear portion of the stepper motor and fixed case.
Further, boss is provided between the lower end of the movement pipeline and fixed disk.
The advantages of the present invention are：Jail can be carried out to stepper motor by the first fixed seat and fixed case
Guan County is filled, and the second fixed seat is firmly installed by driven shaft to driven pulley；Slip case is carried out by support tube to travel mechanism
Fixed support；Fixed disk Mobile base is fixed installation by movement pipeline, and Mobile base is by clamping seat in positioning pipe
Portion carries out clamping, and positioning pipe can carry out location and installation to the first attachment rail and the second attachment rail；Pass through the first mounting rail
Installation boosting manipulator can be fixed in road and the second attachment rail；First attachment rail passes through upper limit plate and lower limit
Installation boosting manipulator can be fixed in plate；Start stepper motor, step motor control driving wheel, which is realized, to be rotated, driving wheel
Realized and rotated by belt drive driven pulley, step motor control driving wheel is realized and rotated counterclockwise, step motor control driving
Wheel realization is rotated clockwise, and driving wheel rotates counterclockwise and rotated clockwise alternating movement, and belt is carried out so as to convenient
Move back and forth；Realize and move back and forth along frame so as to convenient control slip case；Convenient control travel mechanism is real
Now move back and forth；So as to which convenient control boosting manipulator realization moves back and forth；Tune is moved to boosting manipulator
Section is more flexible.
Brief description of the drawings
Fig. 1 is the structural representation of the reciprocating motion actuation means of the present invention for boosting manipulator.
Fig. 2 is Fig. 1 partial enlarged drawing；
Fig. 3 is the details enlarged drawing of B area in Fig. 1；
Fig. 4 is the structural representation of travel mechanism of the present invention；
Fig. 5 is the structural representation of slip case of the present invention.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is further described.Following examples are only
For clearly illustrating technical scheme, and can not be limited the scope of the invention with this.
The technical scheme that the present invention is embodied is：
As shown in Figures 1 to 5, a kind of reciprocating motion actuation means for boosting manipulator, including frame 11, the one of frame 11
End is provided with drive mechanism 13, and the other end of frame 11 is provided with follower 14, between drive mechanism 13 and follower 14
Provided with belt 15；Frame 11 is provided with slip case 18, and the inner top of slip case 18 is connected with belt 15；The outer top of slip case 18 is provided with branch
Support cylinder 19；The top of slip case 18 is provided with fixed cylinder 24, and support tube 19 is arranged in fixed cylinder 24, and the top of support tube 19, which is provided with, to be moved
Motivation structure 25；Drive mechanism 13 includes the first fixed seat 26, and the back side of the first fixed seat 26 is provided with fixed case 27, fixed case 27
Rear portion is provided with stepper motor 28, and the front of the first fixed seat 26 is provided with driving wheel 30, and driving wheel 30 is sleeved on stepper motor 28
In drive shaft；Follower 14 includes the second fixed seat 31, and the second fixed seat 31 is provided with driven pulley 32, driven pulley 32 by from
Moving axis 33 is arranged in the second fixed seat 31, and belt 15 is arranged between driven pulley 32 and driving wheel 30；Travel mechanism 25 includes
Movement pipeline 34, the medium position of movement pipeline 34 are provided with kink 35, and the lower end of movement pipeline 34 is provided with fixed disk 36, fixed
Disk 36 is arranged on the end of support tube 19；The upper end of movement pipeline 34 is provided with Mobile base 38, and the front portion of Mobile base 38 is provided with dress
Holder 39, the clamping of clamping seat 39 have a positioning pipe 40, and one end of positioning pipe 40 is provided with the first attachment rail 41, positioning pipe 40 it is another
End is provided with the second attachment rail 42, the second attachment rail 42 and the first attachment rail 41 in parallel arrangement；Second attachment rail 42
Identical with the shape size of the first attachment rail 41, the top of the first attachment rail 41 is provided with upper limit plate 43, the first mounting rail
The bottom in road 41 is provided with lower limiting board 44, and guide groove 45 is provided between lower limiting board 44 and upper limit plate 43；First attachment rail
41st, upper limit plate 43 and lower limiting board 44 are in I shape；The side locations of frame 11 are provided with guide rail 16, and guide rail 16 passes through
Guide rail installing plate 17 is arranged on the side locations of frame 11, and top and the bottom of guide rail 16 are equipped with chute 50；Under slip case 18
Portion is provided with sliding chamber 46, and slip case 18 is sleeved in frame 11 by sliding chamber 46, and two inner sides of slip case 18 are equipped with some clamping wheels 48,
Clamping wheel 48 is arranged on two inner sides of slip case 18 by interior axle 47, and the outer peripheral face of clamping wheel 48 is provided with buckling groove 49, buckling groove 49
Corresponding with chute 50, the interior half part of clamping wheel 48 is connected in chute 50, and clamping wheel 48 is connected to guide rail by buckling groove 49
On 16；The bottom of frame 11 is provided with some fixed plates 12；The top of slip case 18 is provided with fixed column 20, and fixed column 20 is arranged on support
The outside portion position of cylinder 19；The outer peripheral face of support tube 19 is set with the first cover plate 21 and the second cover plate 22, the first cover plate 21 and
Some fix bars 23 are provided between two cover plates 22；Connecting plate 29 is provided between the rear portion of stepper motor 28 and fixed case 27；It is mobile
Boss 37 is provided between the lower end of pipeline 34 and fixed disk 36.
The present invention is used for the reciprocating motion actuation means of boosting manipulator, can be with by the first fixed seat 26 and fixed case 27
Stepper motor 28 is firmly installed, the second fixed seat 31 is firmly installed by driven shaft 33 to driven pulley 32；Slip case
18 are fixed support by support tube 19 to travel mechanism 25；Fixed disk 36 is consolidated by movement pipeline 34 to Mobile base 38
Dingan County fills, and Mobile base 38 carries out clamping by the middle part of 39 pairs of positioning pipes 40 of clamping seat, and positioning pipe 40 can be to the first mounting rail
The attachment rail 42 of road 41 and second carries out location and installation；Can be to power-assisted by the first attachment rail 41 and the second attachment rail 42
Installation is fixed in manipulator；First attachment rail 41 can be entered by upper limit plate 43 and lower limiting board 44 to boosting manipulator
Row is fixedly mounted；Start stepper motor 28, stepper motor 28 controls driving wheel 30 to realize and rotated, and driving wheel 30 passes through the band of belt 15
Dynamic driven pulley 32, which is realized, to be rotated, and stepper motor 28 controls driving wheel 30 to realize and rotated counterclockwise, and stepper motor 28 controls driving wheel
30 realizations rotate clockwise, and driving wheel 30 rotates counterclockwise and rotated clockwise alternating movement, so as to convenient to belt 15
Moved back and forth；Realize and move back and forth along frame 11 so as to convenient control slip case 18；Convenient control moves
Motivation structure 25 is realized and moved back and forth；So as to which convenient control boosting manipulator realization moves back and forth；To boosting manipulator
It is more flexible to move regulation.
Wherein, the side locations of frame 11 are provided with guide rail 16, and guide rail 16 is arranged on frame 11 by guide rail installing plate 17
Side locations, top and the bottom of guide rail 16 are equipped with chute 50；The bottom of slip case 18 is provided with sliding chamber 46, and slip case 18 passes through sliding chamber
46 are sleeved in frame 11, and two inner sides of slip case 18 are equipped with some clamping wheels 48, and clamping wheel 48 is arranged on by interior axle 47 and slided
Two inner sides of shell 18, the outer peripheral face of clamping wheel 48 are provided with buckling groove 49, and buckling groove 49 is corresponding with chute 50, and interior the half of clamping wheel 48
Part be connected in chute 50, clamping wheel 48 by the clamping of buckling groove 49 on track 16；So slip case 18 passes through the sliding edge of chamber 46
Frame 11 and realize movement, slip case 18 is realized along guide rail 16 by clamping wheel 48 and slided, and can make the sliding stability of slip case 18
Better.
Wherein, the top of slip case 18 is provided with fixed column 20, and fixed column 20 is arranged on the outside portion position of support tube 19；So
The outside portion of support tube 19 can be fixed more firm.
Wherein, the outer peripheral face of support tube 19 is set with the first cover plate 21 and the second cover plate 22, the first cover plate 21 and second set
Some fix bars 23 are provided between disk 22；So can be to the outer peripheral face of support tube 19 by the first cover plate 21 and the second cover plate 22
Firmly it is set with.
Wherein, connecting plate 29 is provided between the rear portion of stepper motor 28 and fixed case 27；The lower end of movement pipeline 34 is with consolidating
Boss 37 is provided between price fixing 36；So it is more firmly mounted.
Described above is only the preferred embodiment of the present invention, it is noted that is come for those skilled in the art
Say, without departing from the technical principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of reciprocating motion actuation means for boosting manipulator, including frame（11）, it is characterised in that：Frame（11）'s
One end is provided with drive mechanism（13）, frame（11）The other end be provided with follower（14）, drive mechanism（13）With it is driven
Mechanism（14）Between be provided with belt（15）；Frame（11）It is provided with slip case（18）, slip case（18）Inner top and belt（15）Even
Connect；Slip case（18）Outer top be provided with support tube（19）；Slip case（18）Top be provided with fixed cylinder（24）, support tube（19）Installation
In fixed cylinder（24）On, support tube（19）Top be provided with travel mechanism（25）；
Drive mechanism（13）Including the first fixed seat（26）, the first fixed seat（26）The back side be provided with fixed case（27）, fixed case
（27）Rear portion be provided with stepper motor（28）, the first fixed seat（26）Front be provided with driving wheel（30）, driving wheel（30）Suit
In stepper motor（28）Drive shaft on；Follower（14）Including the second fixed seat（31）, the second fixed seat（31）It is provided with
Driven pulley（32）, driven pulley（32）Pass through driven shaft（33）Installed in the second fixed seat（31）On, belt（15）It is arranged in driven
Wheel（32）With driving wheel（30）Between；
Travel mechanism（25）Including movement pipeline（34）, movement pipeline（34）Medium position be provided with kink（35）, moving tube
Road（34）Lower end be provided with fixed disk（36）, fixed disk（36）Installed in support tube（19）End on；Movement pipeline（34）'s
Upper end is provided with Mobile base（38）, Mobile base（38）Front portion be provided with clamping seat（39）, clamping seat（39）Clamping has positioning pipe（40）,
Positioning pipe（40）One end be provided with the first attachment rail（41）, positioning pipe（40）The other end be provided with the second attachment rail（42）,
Second attachment rail（42）With the first attachment rail（41）In parallel arrangement；
Second attachment rail（42）With the first attachment rail（41）Shape size it is identical, the first attachment rail（41）Top set
There is upper limit plate（43）, the first attachment rail（41）Bottom be provided with lower limiting board（44）, lower limiting board（44）With upper limit plate
（43）Between be provided with guide groove（45）；First attachment rail（41）, upper limit plate（43）And lower limiting board（44）In I-shaped
Shape.
2. the reciprocating motion actuation means according to claim 1 for boosting manipulator, it is characterised in that：Frame（11）
Side locations be provided with guide rail（16）, guide rail（16）Pass through guide rail installing plate（17）Installed in frame（11）Side locations, lead
Rail（16）Top and bottom be equipped with chute（50）；Slip case（18）Bottom be provided with sliding chamber（46）, slip case（18）Pass through sliding chamber
（46）It is sleeved on frame（11）On, slip case（18）Two inner side be equipped with some clamping wheels（48）, clamping wheel（48）Pass through interior axle
（47）Installed in slip case（18）Two inner side, clamping wheel（48）Outer peripheral face be provided with buckling groove（49）, buckling groove（49）With chute
（50）It is corresponding, clamping wheel（48）Interior half part be connected to chute（50）It is interior, clamping wheel（48）Pass through buckling groove（49）It is connected to
Guide rail（16）On.
3. the reciprocating motion actuation means according to claim 1 for boosting manipulator, it is characterised in that：Frame（11）
Bottom be provided with some fixed plates（12）.
4. the reciprocating motion actuation means according to claim 1 for boosting manipulator, it is characterised in that：Slip case（18）
Top be provided with fixed column（20）, fixed column（20）It is arranged on support tube（19）Outside portion position.
5. the reciprocating motion actuation means according to claim 1 for boosting manipulator, it is characterised in that：Support tube
（19）Outer peripheral face be set with the first cover plate（21）With the second cover plate（22）, the first cover plate（21）With the second cover plate（22）Between set
There are some fix bars（23）.
6. the reciprocating motion actuation means according to claim 1 for boosting manipulator, it is characterised in that：Stepper motor
（28）With fixed case（27）Rear portion between be provided with connecting plate（29）.
7. the reciprocating motion actuation means according to claim 1 for boosting manipulator, it is characterised in that：Movement pipeline
（34）Lower end and fixed disk（36）Between be provided with boss（37）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710830485.0A CN107598895A (en) | 2017-09-15 | 2017-09-15 | A kind of reciprocating motion actuation means for boosting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710830485.0A CN107598895A (en) | 2017-09-15 | 2017-09-15 | A kind of reciprocating motion actuation means for boosting manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107598895A true CN107598895A (en) | 2018-01-19 |
Family
ID=61063968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710830485.0A Pending CN107598895A (en) | 2017-09-15 | 2017-09-15 | A kind of reciprocating motion actuation means for boosting manipulator |
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| Country | Link |
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| CN (1) | CN107598895A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756087A (en) * | 2018-06-13 | 2018-11-06 | 合肥托卡拉图科技有限公司 | A kind of snow-removing device used for vegetable greenhouse |
| CN108860090A (en) * | 2018-04-20 | 2018-11-23 | 力帆实业(集团)股份有限公司 | Floor underlying battery changes method for electrically after a kind of electric car |
| CN110043780A (en) * | 2019-04-25 | 2019-07-23 | 陈炜健 | A kind of home life smart home photographic device |
| CN111852652A (en) * | 2020-08-03 | 2020-10-30 | 全椒县全动机械有限公司 | Movable internal combustion engine flywheel ring blowing cleaning device |
| CN113910195A (en) * | 2021-10-13 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Multi-working-part track robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108860090A (en) * | 2018-04-20 | 2018-11-23 | 力帆实业(集团)股份有限公司 | Floor underlying battery changes method for electrically after a kind of electric car |
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| CN110043780A (en) * | 2019-04-25 | 2019-07-23 | 陈炜健 | A kind of home life smart home photographic device |
| CN111852652A (en) * | 2020-08-03 | 2020-10-30 | 全椒县全动机械有限公司 | Movable internal combustion engine flywheel ring blowing cleaning device |
| CN111852652B (en) * | 2020-08-03 | 2021-07-30 | 临沂文衡信息技术有限公司 | Movable internal combustion engine flywheel ring blowing cleaning device |
| CN113910195A (en) * | 2021-10-13 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Multi-working-part track robot |
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Application publication date: 20180119 |