CN108032321A - Loading and unloading manipulator - Google Patents

Loading and unloading manipulator Download PDF

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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
Authority
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
Application number
CN201810016625.5A
Other languages
Chinese (zh)
Inventor
周成伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Peter Ocean Automation Technology Co Ltd
Original Assignee
Shenzhen Peter Ocean Automation Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Peter Ocean Automation Technology Co Ltd filed Critical Shenzhen Peter Ocean Automation Technology Co Ltd
Priority to CN201810016625.5A priority Critical patent/CN108032321A/en
Publication of CN108032321A publication Critical patent/CN108032321A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases

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

Loading and unloading manipulator
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).
CN201810016625.5A 2018-01-09 2018-01-09 Loading and unloading manipulator Pending CN108032321A (en)

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)

* Cited by examiner, † Cited by third party
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
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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