CN108032321A - Loading and unloading manipulator - Google Patents
Loading and unloading manipulator Download PDFInfo
- Publication number
- CN108032321A CN108032321A CN201810016625.5A CN201810016625A CN108032321A CN 108032321 A CN108032321 A CN 108032321A CN 201810016625 A CN201810016625 A CN 201810016625A CN 108032321 A CN108032321 A CN 108032321A
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- CN
- China
- Prior art keywords
- transmission module
- plate
- driven wheel
- fixed
- screwed
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of loading and unloading manipulator, it is related to Linear transmission mechanical arm technical field.Including main transmission module, first, which increases journey transmission module and second, increases journey transmission module, main transmission module linear slider is provided with the main transmission module, the first increasing journey transmission module fixed plate screw and first, which is provided with, on first increasing journey transmission module increases journey transmission module linear slider, the second increasing journey transmission module fixed plate screw is provided with second increasing journey transmission module, first increasing journey transmission module fixed plate is screwed in two main transmission module linear sliders, second increasing journey transmission module fixed plate is screwed in the first increasing journey transmission module linear slider.The present invention is small, and occupied space is few, and cost is low, highly practical to reach the demand of ultralong-stroke.
Description
Technical field
The present invention relates to Linear transmission mechanical arm technical field, and in particular to a kind of loading and unloading manipulator.
Background technology
In linear gearing arm field, there are three kinds of common kinds of drive, one kind is Ball screw type, Yi Zhongshi
Pinion and-rack, one kind are synchronizing wheel synchronous belt types.The stroke of every kind of driving form be all according to transmission parts come fixed, if
Need that the so such volume ratio stroke of big stroke is big, and occupied space is big, cannot be put to good use in small space.With extended-range manipulator
Arm substitution traditional type arm has large effect.
Therefore, the demand of ultralong-stroke can be reached by designing the mode of a kind of short and small volume and low cost, so as to save
Cost and occupied space is reduced, to apply have some superiority in material grasping robot.
In conclusion the present invention devises a kind of frock loading and unloading used in desk-top dispenser, length stroke therein can
Arbitrarily to be set in the range of formulation, and ensure that precision is reliable, process and stablize loading and unloading manipulator.
The content of the invention
In view of the shortcomings of the prior art, the present invention seeks to be to provide a kind of loading and unloading manipulator, it is small,
Occupied space is few, and cost is low, highly practical to reach the demand of ultralong-stroke.
To achieve these goals, the present invention is to realize by the following technical solutions：Loading and unloading manipulator, including master
Transmission module, first increase journey transmission module and second and increase journey transmission module, and main transmission mould is provided with the main transmission module
Block linear slider, first increasing journey transmission module on be provided with the first increasing journey transmission module fixed plate and first increase journey transmission module it is straight
Line master slider, is provided with the second increasing journey transmission module fixed plate on the second increasing journey transmission module, the first increasing journey transmission module is fixed
Plate is screwed in two main transmission module linear sliders, and the second increasing journey transmission module fixed plate is screwed in
First increases on journey transmission module straight line master slider.
Preferably, the main transmission module include the first fixed plate, linear slide block, main transmission module line slide rail,
Driving wheel, drive coordination band and the first driven wheel, main transmission module line slide rail, planetary reducer, second increase journey transmission module
Belt firm banking, driven wheel mounting base and metal plate protective cover mounting base are installed in the first fixed plate, servomotor and row
Star gear reducer is connected by screw, and driving wheel is fixed on the arbor of planetary reducer, and driving wheel passes through drive coordination band connection
First driven wheel, the first driven wheel are fixed in the first driven wheel fixed seat by contour screw, and second increases journey transmission module skin
Band clamping plate is clamped belt and is mutually fixed by screw and the first driven wheel fixed seat again, two linear slide blocks and main transmission module straight line
Slide is slidably matched.
Passed preferably, the first increasing journey transmission module includes the second fixed plate, first straight line guide rail, the first increasing journey
Dynamic model block linear slider, the first protective plate, the second protective plate, the second driven wheel fixed seat and the 3rd driven wheel fixed seat, second
Fixed plate front has been screwed first straight line guide rail, and two first increase journey transmission module linear slider and led with first straight line
Rail is slidably matched, and the first protective plate, the second protective plate are separately fixed at the second fixed plate both ends by screw, and the second driven wheel is consolidated
Reservation and the 3rd driven wheel fixed seat are fixed on the bottom of the second fixed plate, and the second driven wheel, the 3rd driven wheel pass through respectively
High screw is installed in the second driven wheel fixed seat and the 3rd driven wheel fixed seat, and the second belt clamp panel seat is screwed in
Above second fixed plate, the second belt clamping plate is screwed on the second belt clamp panel seat, and the first belt clamp panel seat passes through
Screw is fixed on below the second fixed plate, and the first belt clamping plate is screwed on the first belt clamp panel seat.
Preferably, the second increasing journey transmission module includes the 3rd fixed plate, the second increasing journey transmission module straight line is led
Rail, the plate that is slidably installed, the 3rd protective plate, the 4th protective plate, the 3rd driven wheel fixed block, the 4th driven wheel fixed block, the 3rd from
Driving wheel, the 4th driven wheel and second increase journey transmission module linear slider, and second, which increases journey transmission module line slideway, is installed on the 3rd
The front of fixed plate, two second increase journey transmission module linear slider and are slidably matched with the second increasing journey transmission module line slideway,
3rd protective plate, the 4th protective plate are separately mounted to the 3rd fixed plate both ends by screw, the 3rd driven wheel fixed block, the 4th from
Driving wheel fixed block is each attached to above the 3rd fixed plate, and the 3rd driven wheel, the 4th driven wheel are respectively with contour screw installed in the
On three driven wheel fixed blocks, the 4th driven wheel fixed block, the plate that is slidably installed is screwed in two second and increases journey biography dynamic model
In block linear slider；Second synchronous belt connects the 3rd driven wheel and the 4th driven wheel, and clamping plate mounting base is installed on and is slidably installed
On plate, belt clamping plate is clamped the second synchronous belt and is screwed in clamping plate mounting base, limit sensors and cylinder manifold
On the plate that is slidably installed, three solenoid valves are screwed on cylinder manifold, slide limited block and pneumatic structure installation
Plate is screwed on sliding panel respectively, and three pneumatic-fingers are fixed on pneumatic structure installing plate by screw.
Fixed blade guard is installed preferably, being screwed in the metal plate protective cover mounting base, three proofings
Backplate, the 4th protective plate are provided with flexible blade guard by screw, and the first fixed plate both ends have been screwed foot guard
Cover, solenoid valve protective cover is fixed with sliding panel.
The invention has the advantages that：
1st, volume is short and small in the product kind compared to same stroke；
2nd, it is driven using precision synchronous band point three-stage, transmission speed is fast, and formula single hop belt-type is driven the 3 of module speed and stroke
Times；
3rd, it can apply on cartesian coordinate formula machine, can also apply in independent loading and unloading robot.
Brief description of the drawings
It is next with reference to the accompanying drawings and detailed description that the present invention will be described in detail；
Fig. 1 is the decomposition texture schematic diagram of the present invention；
Fig. 2 is the front view of the main transmission module of the present invention；
Fig. 3 is the side view of Fig. 2；
Fig. 4 is the first increasing journey transmission module front view of the present invention；
Fig. 5 is the side view of Fig. 4；
Fig. 6 is the front view of the second increasing journey transmission module of the present invention；
Fig. 7 is the side view of Fig. 6；
Fig. 8 is the stereogram of the second increasing journey transmission module of the present invention；
Fig. 9 is the configuration figure of the present invention；
Figure 10 is the stroke range schematic diagram of the present invention.
Embodiment
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, with reference to
Embodiment, the present invention is further explained.
With reference to Fig. 1-10, present embodiment uses following technical scheme：Loading and unloading manipulator, including main transmission module
1st, first increases 2 and second increasing journey transmission module 3 of journey transmission module, and it is straight to be provided with main transmission module in the main transmission module 1
Line sliding block 3-4, is provided with the first increasing journey transmission module fixed plate 3-6 and first on the first increasing journey transmission module 2 and increases journey and pass dynamic model
Block straight line master slider 3-5, is provided with the second increasing journey transmission module fixed plate 3-7 on the second increasing journey transmission module 3, first, which increases journey, passes
Dynamic model block fixed plate 3-6 is screwed on two main transmission module linear slider 3-4, and the second increasing journey transmission module is consolidated
Fixed board 3-7 is screwed on the first increasing journey transmission module straight line master slider 3-5.
It is worth noting that, the main transmission module 1 includes the first fixed plate 4-1, linear slide block 4-2, main transmission mould
Block line slide rail 4-3, driving wheel 4-4, drive coordination band 4-5 and the first driven wheel 4-6, main transmission module line slide rail 4-3, OK
Star gear reducer 4-7, second increase journey transmission module belt firm banking 4-9, driven wheel mounting base 4-11 and the installation of metal plate protective cover
Seat 4-12 is installed on the first fixed plate 4-1, and servomotor 4-8 is connected with planetary reducer 4-7 by screw, driving wheel 4-
4 are fixed on the arbor of planetary reducer 4-7, and driving wheel 4-4 is by drive coordination band 4-5 the first driven wheels of connection 4-6, and first
Driven wheel 4-6 is fixed on the first driven wheel fixed seat 4-11 by contour screw, and second increases journey transmission module belt clamping plate 4-
10 clamp belt is fixed by screw and the first driven wheel fixed seat 4-11 phases again, two linear slide block 4-2 and main transmission module
Line slide rail 4-3 is slidably matched.
It is worth noting that, the first increasing journey transmission module 2 includes the second fixed plate 5-1, first straight line guide rail 5-
2nd, first increases journey transmission module linear slider 5-3, the first protective plate 5-4, the second protective plate 5-5, the second driven wheel fixed seat 5-6
With the 3rd driven wheel fixed seat 5-7, the second fixed plate 5-1 fronts have been screwed first straight line guide rail 5-2, two first
Increase journey transmission module linear slider 5-3 and first straight line guide rail 5-2 to be slidably matched, the first protective plate 5-4, the second protective plate 5-5
Second fixed plate 5-1 both ends, the second driven wheel fixed seat 5-6 and the 3rd driven wheel fixed seat 5-7 are separately fixed at by screw
It is fixed on the bottom of the second fixed plate 5-1, the second driven wheel 5-8, the 3rd driven wheel 5-9 are installed on the by contour screw respectively
On two driven wheel fixed seat 5-6 and the 3rd driven wheel fixed seat 5-7, the second belt clamp panel seat 5-13 is screwed in second
Above fixed plate 5-1, the second belt clamping plate 5-14 is screwed on the second belt clamp panel seat 5-13, the first belt clamping plate
Seat 5-11 is screwed in below the second fixed plate 5-1, and the first belt clamping plate 5-12 is screwed in the first belt
On clamping plate seat 5-11.Second belt clamping plate 5-14 clamps the second synchronous belt 6-22.First belt clamping plate 5-12 will clamp transmission
Synchronous belt 4-5.First synchronous belt 5-10 will be clamped by the second increasing journey transmission module belt clamping plate 4-10.
It is worth noting that, the second increasing journey transmission module 3 includes the 3rd fixed plate 6-1, the second increasing journey passes dynamic model
Block line slideway 6-2, the plate 6-3 that is slidably installed, the 3rd protective plate 6-4, the 4th protective plate 6-5, the 3rd driven wheel fixed block 6-6,
4th driven wheel fixed block 6-7, the 3rd driven wheel 6-8, the 4th driven wheel 6-9 and second increase journey transmission module linear slider 6-
10, second increases the front that journey transmission module line slideway 6-2 is installed on the 3rd fixed plate 6-1, two second increasing journey transmission modules
Linear slider 6-10 is slidably matched with the second increasing journey transmission module line slideway 6-2, the 3rd protective plate 6-4, the 4th protective plate 6-5
3rd fixed plate 6-1 both ends are separately mounted to by screw, the 3rd driven wheel fixed block 6-6, the 4th driven wheel fixed block 6-7 are equal
Be fixed on above the 3rd fixed plate 6-1, the 3rd driven wheel 6-8, the 4th driven wheel 6-9 respectively with contour screw installed in the 3rd from
On driving wheel fixed block 6-6, the 4th driven wheel fixed block 6-7, the plate 6-3 that is slidably installed is screwed in two second and increases journey biography
On dynamic model block linear slider 6-10；The 3rd driven wheel 6-8 and the 4th driven wheel 6-9 of second synchronous belt 6-22 connections, clamping plate peace
Dress seat 6-20, which is installed on, to be slidably installed on plate 6-3, and belt clamping plate 6-21 clamps the second synchronous belt 6-22 and is screwed
On clamping plate mounting base 6-20, limit sensors 6-17 and cylinder manifold 6-14 are installed on and are slidably installed on plate 6-3, three solenoid valves
6-15 is screwed on cylinder manifold 6-14, and slide limited block 6-13 and pneumatic structure installing plate 6-19 are consolidated with screw respectively
It is scheduled on sliding panel 6-16, three pneumatic-finger 6-18 are fixed on pneumatic structure installing plate 6-19 by screw.
Fixed blade guard 8-1 is installed in addition, being screwed on the metal plate protective cover mounting base 4-12, the 3rd
Protective plate 6-4, the 4th protective plate 6-5 are provided with flexible blade guard 8-2 by screw, and the first fixed plate 4-1 both ends pass through screw
It is fixed with foot guard cover 8-3, sliding panel 6-16 and is fixed with solenoid valve protective cover 8-4.
For present embodiment by the way of precision synchronous divides three-stage to be driven with synchronizing wheel, manipulator is used in desk-top point
The frock loading and unloading of glue machine, length stroke therein can arbitrarily be set in the range of formulation.And ensureing that precision is reliable, processing is steady
It is fixed.
The basic principles, main features and the advantages of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. loading and unloading manipulator, it is characterised in that increase journey transmission module (2) and second including main transmission module (1), first and increase journey
Transmission module (3), main transmission module linear slider (3-4) is provided with the main transmission module (1), and first, which increases journey, passes dynamic model
The first increasing journey transmission module fixed plate (3-6) and first is provided with block (2) and increases journey transmission module straight line master slider (3-5), the
The second increasing journey transmission module fixed plate (3-7) is provided with two increasing journey transmission modules (3), first increases journey transmission module fixed plate
(3-6) is screwed on two main transmission module linear sliders (3-4), and second increases journey transmission module fixed plate (3-7)
It is screwed on the first increasing journey transmission module straight line master slider (3-5).
2. loading and unloading manipulator according to claim 1, it is characterised in that the main transmission module (1) includes first
Fixed plate (4-1), linear slide block (4-2), main transmission module line slide rail (4-3), driving wheel (4-4), drive coordination band (4-5)
With the first driven wheel (4-6), main transmission module line slide rail (4-3), planetary reducer (4-7), second increase journey transmission module skin
Band firm banking (4-9), driven wheel mounting base (4-11) and metal plate protective cover mounting base (4-12) are installed in the first fixed plate
On (4-1), servomotor (4-8) is connected with planetary reducer (4-7) by screw, and driving wheel (4-4) is fixed on planetary reduction gear
On the arbor of machine (4-7), driving wheel (4-4) connects the first driven wheel (4-6), the first driven wheel by drive coordination band (4-5)
(4-6) is fixed in the first driven wheel fixed seat (4-11) by contour screw, and second increases journey transmission module belt clamping plate (4-
10) clamp belt mutually to fix by screw and the first driven wheel fixed seat (4-11) again, two linear slide blocks (4-2) and main transmission
Module line slide rail (4-3) is slidably matched.
3. loading and unloading manipulator according to claim 1, it is characterised in that described first increases journey transmission module (2) bag
Include the second fixed plate (5-1), first straight line guide rail (5-2), the first increasing journey transmission module linear slider (5-3), the first protective plate
(5-4), the second protective plate (5-5), the second driven wheel fixed seat (5-6) and the 3rd driven wheel fixed seat (5-7), the second fixed plate
(5-1) front has been screwed first straight line guide rail (5-2), two first increase journey transmission module linear sliders (5-3) with
First straight line guide rail (5-2) is slidably matched, and the first protective plate (5-4), the second protective plate (5-5) are separately fixed at by screw
Two fixed plates (5-1) both ends, the second driven wheel fixed seat (5-6) and the 3rd driven wheel fixed seat (5-7) are fixed on the second fixation
The bottom of plate (5-1), the second driven wheel 5-8), the 3rd driven wheel (5-9) the second driven wheel is installed on by contour screw respectively
In fixed seat (5-6) and the 3rd driven wheel fixed seat (5-7), it is solid that the second belt clamp panel seat (5-13) is screwed in second
Above fixed board (5-1), the second belt clamping plate (5-14) is screwed on the second belt clamp panel seat (5-13), the first belt
Clamping plate seat (5-11) is screwed in below the second fixed plate (5-1), and the first belt clamping plate (5-12) is screwed
On the first belt clamp panel seat (5-11)；First belt clamping plate (5-12) will clamp drive coordination band (4-5), the first synchronous belt
(5-10) will be clamped by the second increasing journey transmission module belt clamping plate (4-10).
4. loading and unloading manipulator according to claim 1, it is characterised in that described second increases journey transmission module (3) bag
Include the 3rd fixed plate (6-1), the second increasing journey transmission module line slideway (6-2), the plate that is slidably installed (6-3), the 3rd protective plate (6-
4), the 4th protective plate (6-5), the 3rd driven wheel fixed block (6-6), the 4th driven wheel fixed block (6-7), the 3rd driven wheel 6-
8), the 4th driven wheel (6-9) and second increases journey transmission module linear slider (6-10), and second increases journey transmission module line slideway
(6-2) is installed on the front of the 3rd fixed plate (6-1), and two second increase journey transmission module linear slider (6-10) and increase journey with second
Transmission module line slideway (6-2) is slidably matched, and the 3rd protective plate (6-4), the 4th protective plate (6-5) are installed respectively by screw
At the 3rd fixed plate (6-1) both ends, the 3rd driven wheel fixed block (6-6), the 4th driven wheel fixed block (6-7) are each attached to the 3rd
Above fixed plate (6-1), the 3rd driven wheel (6-8), the 4th driven wheel (6-9) are installed on the 3rd driven wheel with contour screw respectively
On fixed block (6-6), the 4th driven wheel fixed block (6-7), the plate that is slidably installed (6-3) is screwed in two second increasing journeys
In transmission module linear slider (6-10)；Second synchronous belt (6-22) connects the 3rd driven wheel (6-8) and the 4th driven wheel (6-
9), clamping plate mounting base (6-20) is installed on and is slidably installed on plate (6-3), and belt clamping plate (6-21) clamps the second synchronous belt (6-
22) and it is screwed in clamping plate mounting base (6-20), limit sensors (6-17) and cylinder manifold (6-14) are installed on and slide
On dynamic installing plate (6-3), three solenoid valves (6-15) are screwed on cylinder manifold (6-14), slide limited block (6-13)
It is screwed in respectively on sliding panel (6-16) with pneumatic structure installing plate (6-19), three pneumatic-fingers (6-18) pass through spiral shell
Silk is fixed on pneumatic structure installing plate (6-19).
5. loading and unloading manipulator according to claim 1, it is characterised in that the metal plate protective cover mounting base (4-12)
On be screwed fixed blade guard (8-1) be installed, the 3rd protective plate (6-4), the 4th protective plate (6-5) are pacified by screw
Equipped with flexible blade guard (8-2), the first fixed plate (4-1) both ends have been screwed foot guard cover (8-3), sliding panel
Solenoid valve protective cover (8-4) is fixed with (6-16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016625.5A CN108032321A (en) | 2018-01-09 | 2018-01-09 | Loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016625.5A CN108032321A (en) | 2018-01-09 | 2018-01-09 | Loading and unloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032321A true CN108032321A (en) | 2018-05-15 |
Family
ID=62099371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810016625.5A Pending CN108032321A (en) | 2018-01-09 | 2018-01-09 | Loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032321A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003127145A (en) * | 2001-10-25 | 2003-05-08 | Star Seiki Co Ltd | Molding demolding machine |
| CN1666854A (en) * | 2004-03-10 | 2005-09-14 | 发那科株式会社 | Molded-product removing device |
| KR20080078270A (en) * | 2007-02-23 | 2008-08-27 | 강민재 | A preparing method of heat pipe and opparatus manufacture |
| CN101539004A (en) * | 2009-04-22 | 2009-09-23 | 濮阳市双发实业有限责任公司 | Epicycloidal beam pumping unit |
| CN208289916U (en) * | 2018-01-09 | 2018-12-28 | 深圳市彼洋自动化科技有限公司 | Loading and unloading manipulator |
-
2018
- 2018-01-09 CN CN201810016625.5A patent/CN108032321A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003127145A (en) * | 2001-10-25 | 2003-05-08 | Star Seiki Co Ltd | Molding demolding machine |
| CN1666854A (en) * | 2004-03-10 | 2005-09-14 | 发那科株式会社 | Molded-product removing device |
| KR20080078270A (en) * | 2007-02-23 | 2008-08-27 | 강민재 | A preparing method of heat pipe and opparatus manufacture |
| CN101539004A (en) * | 2009-04-22 | 2009-09-23 | 濮阳市双发实业有限责任公司 | Epicycloidal beam pumping unit |
| CN208289916U (en) * | 2018-01-09 | 2018-12-28 | 深圳市彼洋自动化科技有限公司 | Loading and unloading manipulator |
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