CN108393875A - Draw overturning truss manipulator - Google Patents

Draw overturning truss manipulator Download PDF

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Publication number
CN108393875A
CN108393875A CN201810510668.9A CN201810510668A CN108393875A CN 108393875 A CN108393875 A CN 108393875A CN 201810510668 A CN201810510668 A CN 201810510668A CN 108393875 A CN108393875 A CN 108393875A
Authority
CN
China
Prior art keywords
manipulator
clamping plate
driving motor
clamping
returning face
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
CN201810510668.9A
Other languages
Chinese (zh)
Inventor
张乐贡
邱正勋
王宪锋
刘志远
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 Wisdom Robot Technology Co Ltd
Original Assignee
Shenzhen Wisdom Robot 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 Wisdom Robot Technology Co Ltd filed Critical Shenzhen Wisdom Robot Technology Co Ltd
Priority to CN201810510668.9A priority Critical patent/CN108393875A/en
Publication of CN108393875A publication Critical patent/CN108393875A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123Linear actuators

Abstract

The invention discloses draw to overturn truss manipulator, belong to manipulator, its structure includes vacsorb manipulator, clamps turning manipulator, manipulator moving drive mechanism and truss, the vacsorb manipulator and clamping turning manipulator is separately positioned on the left and right ends of truss, and is connected respectively with truss by manipulator moving drive mechanism.Compared with prior art; the absorption overturning truss manipulator of the present invention reduces labor intensity with that can save labour, improves production efficiency, avoids the production equipment stop-and-wait time long; the features such as workpiece quality can be made high and stablized, thus there is good application value.

Description

Draw overturning truss manipulator
Technical field
The present invention relates to a kind of manipulator, especially a kind of absorption overturning truss machinery in pcb board production technology Hand.
Background technology
The encapsulated processing technology of the existing nailing of pcb board industry be usually by pre-process copper coin, fibre plate and aluminium film by What artificial nailing and encapsulated two process routes formed.This two lines is independent from each other, and is connected with each other by operating process, From the copper coin pre-processed to encapsulated stacking, nailing process is transported to by workshop travelling bogie, then by manually by fine plate Location hole is sleeved on nailing copper coin pin, then aluminium film is manually put into copper coin another side, is assembled by four encapsulated completion workpiece, I.e.:
Nailing technique:Artificial loading → nailing → stacking;
Encapsulated process:Artificial loading → by fine plate, copper coin and aluminium film fits together → tetra- encapsulated → stackings;
By process above it is found that existing pcb board production technology has the following defects:
It after the completion of copper coin nailing, needs manually to carry out copper coin to be carried to encapsulated process, after the completion of encapsulated, manually will need Pcb board carries out carrying blanking, repeatedly carry and operation of feeding and discharging, production equipment stop-and-wait time are long;Labor intensity Greatly;By repeatedly carrying copper coin and aluminium film scratch surface unstable quality, low production efficiency, people are be easy to cause with operation of feeding and discharging Power cost is higher;Production equipment arrangement dispersion, intersects and is unable to centralized production.
Invention content
The technical assignment of the present invention be for the above-mentioned prior art in deficiency a kind of absorptions be provided overturn truss manipulator, Absorption overturning truss manipulator reduces labor intensity with that can save labour, improves production efficiency, avoids production equipment The stop-and-wait time is long, can make the feature that workpiece quality is high and stablizes.
The technical solution adopted by the present invention to solve the technical problems is:It includes vacsorb manipulator, clamps overturning Manipulator, manipulator moving drive mechanism and truss, the vacsorb manipulator and clamping turning manipulator are respectively set In the left and right ends of truss, and it is connected respectively with truss by manipulator moving drive mechanism.
The vacsorb manipulator includes vacsorb manipulator frame body and draws vacuum cup, and the absorption is true Suction disk is arranged in the lower part of vacsorb manipulator frame body, and top and the manipulator of the vacsorb manipulator frame body move Dynamic driving mechanism is connected.
The clamping turning manipulator includes clamping plate, returning face plate, cylinder clamping jaw, returning face plate rotary drive mechanism, folder The top of tight plate moving drive mechanism and clamping turning manipulator frame body, the clamping turning manipulator frame body is moved with manipulator Dynamic driving mechanism is connected, and clamps the lower part setting of turning manipulator frame body there are two clamping plate, clamping plate drives with clamping plate movement Motivation structure is connected, and the relative inner lower part of two clamping plates is respectively arranged with returning face plate, the left and right sides difference of each returning face plate It is provided with cylinder clamping jaw, each returning face plate is connected with returning face plate rotary drive mechanism respectively.
The returning face plate rotary drive mechanism includes rotary cylinder, returning face plate connecting shaft, rotary cylinder belt wheel, returning face plate Shaft pulley and synchronous belt are connected, the rotary cylinder is arranged on clamping plate, is arranged between the returning face plate and clamping plate There is returning face plate connecting shaft, be provided with rotary cylinder belt wheel in the cylinder rod of the rotary cylinder, in the returning face plate connecting shaft It is provided with returning face plate connection shaft pulley, returning face plate connection shaft pulley is connected with rotary cylinder belt wheel by synchronous belt.
The clamping plate moving drive mechanism include clamping plate movement driving motor, clamping plate move positive and negative tooth leading screw, Clamping plate moves screw, clamping plate mobile guide block and clamping plate moving guide rail, and it is vertical that the clamping plate moves positive and negative tooth leading screw To being arranged in the lower part for clamping turning manipulator frame body, one end is connected with clamping plate movement driving motor, the clamping plate There are two clamping plates to move screw for setting on mobile positive and negative tooth leading screw, and the lower part of each clamping plate movement screw is separately connected one Clamping plate mobile guide block, two clamping plate mobile guide blocks are respectively sleeved on clamping plate moving guide rail, and its underpart respectively with It is connected at the top of clamping plate.
The manipulator moving drive mechanism includes that manipulator moves horizontally driving mechanism and manipulator elevator drive machine Structure, it includes that manipulator moves horizontally driving motor, manipulator moves horizontally driving that the manipulator, which moves horizontally driving mechanism, Motor gear, manipulator move horizontally drive rack, and the manipulator is moved horizontally and is provided on the motor shaft of driving motor Manipulator moves horizontally driving motor gear, and manipulator moves horizontally driving motor gear and moves horizontally drive rack with manipulator It is connected, the manipulator moves horizontally the top that drive rack is horizontally installed on truss, and the manipulator moves horizontally drive Dynamic motor setting is moved horizontally in manipulator on driving motor seat, and the manipulator lift drive mechanism includes manipulator lifting Driving motor, manipulator lifting driving motor gear, manipulator lift drive rack, and the manipulator lifts driving motor Manipulator lifting driving motor gear is provided on motor shaft, manipulator lifts driving motor gear and lifts sliding tooth with manipulator Item is connected, and manipulator lifting drive rack is vertically provided at vacsorb manipulator frame body or/and clamps turning mechanical The top of hand cradle body, the manipulator lift driving motor setting on manipulator lifting driving motor seat, the machinery Hand lifting driving motor seat moves horizontally driving motor seat with manipulator and is connected.
Compared to the prior art the absorption overturning truss manipulator of the present invention, has advantageous effect following prominent:Automatically Loading and unloading can save labour, reduce labor intensity, improve production efficiency, avoid the production equipment stop-and-wait time long, It can make the feature that workpiece quality is high and stablizes.
Description of the drawings
Attached drawing 1 is the stereogram for drawing overturning truss manipulator;
Attached drawing 2 is vacsorb manipulator and manipulator moving drive mechanism connection diagram one;
Attached drawing 3 is vacsorb manipulator and manipulator moving drive mechanism connection diagram two;
Attached drawing 4 is to clamp turning manipulator and manipulator moving drive mechanism connection diagram one;
Attached drawing 5 is to clamp turning manipulator and manipulator moving drive mechanism connection diagram two;
Attached drawing 6 is to clamp turning manipulator stereogram;
Attached drawing 7 is clamping plate moving drive mechanism and returning face plate rotary drive mechanism schematic diagram;
Reference sign:
1, vacsorb manipulator, 11, vacsorb manipulator frame body, 12, draw vacuum cup,
2, turning manipulator is clamped, 21, clamping plate, 22, returning face plate, 23, cylinder clamping jaw, 24, returning face plate rotary driving machine Structure, 241, rotary cylinder, 242, returning face plate connecting shaft, 243, rotary cylinder belt wheel, 244, returning face plate connect shaft pulley, 25, folder Tight plate moving drive mechanism, 251, clamping plate move driving motor, 252, clamping plate move positive and negative tooth leading screw, 253, clamping plate moves Dynamic screw, 254, clamping plate mobile guide block, 255, clamping plate moving guide rail, 26, clamp turning manipulator frame body,
3, manipulator moving drive mechanism, 31, manipulator move horizontally driving mechanism, 311, manipulator move horizontally driving Motor, 312, manipulator move horizontally driving motor gear, 313, manipulator move horizontally drive rack, 314, manipulator it is horizontal Mobile driving motor seat, 32, manipulator lift drive mechanism, 321, manipulator lift driving motor, 322, manipulator lifting drives Dynamic motor gear, 323, manipulator lift drive rack, 324, manipulator lift driving motor seat,
4, truss.
Specific implementation mode
The absorption overturning truss manipulator of the present invention is described in detail below with reference to Figure of description 1 to attached drawing 7.
The present invention absorption overturn truss manipulator, structure include vacsorb manipulator 1, clamp turning manipulator 2, Manipulator moving drive mechanism 3 and truss 4, the vacsorb manipulator 1 and clamping turning manipulator 2 are separately positioned on purlin The left and right ends of frame 4, and be connected respectively with truss 4 by manipulator moving drive mechanism 3.
The vacsorb manipulator 1 includes vacsorb manipulator frame body 11 and draws vacuum cup 12, described Vacuum cup 12 is drawn to be arranged in the lower part of vacsorb manipulator frame body 11, the vacsorb manipulator frame body 11 it is upper Portion is connected with manipulator moving drive mechanism 3.
The clamping turning manipulator 2 includes clamping plate 21, returning face plate 22, cylinder clamping jaw 23, returning face plate rotation driving Mechanism 24, clamping plate moving drive mechanism 25 and clamping turning manipulator frame body 26, the clamping turning manipulator frame body 26 Top be connected with manipulator moving drive mechanism 3, clamp the lower part setting of turning manipulator frame body 26 there are two clamping plate 21, Clamping plate 21 is connected with clamping plate moving drive mechanism 25, and the relative inner lower part of two clamping plates 21 is respectively arranged with returning face plate 22, the left and right sides of each returning face plate 22 is respectively arranged with cylinder clamping jaw 23, and each returning face plate 22 is rotated with returning face plate respectively to be driven Motivation structure 24 is connected.
The returning face plate rotary drive mechanism 24 includes rotary cylinder 241, returning face plate connecting shaft 242, rotary cylinder band Wheel 243, returning face plate connection shaft pulley 244 and synchronous belt, the rotary cylinder 241 are arranged on clamping plate 21, and described turns over It is provided with returning face plate connecting shaft 242 between flap 22 and clamping plate 21, rotation is provided in the cylinder rod of the rotary cylinder 241 Cylinder belt wheel 243 is provided with returning face plate connection shaft pulley 244, returning face plate connection in the returning face plate connecting shaft 242 Shaft pulley 244 is connected with rotary cylinder belt wheel 243 by synchronous belt.
The clamping plate moving drive mechanism 25 includes clamping plate movement driving motor 251, the positive and negative tooth of clamping plate movement Leading screw 252, clamping plate movement screw 253, clamping plate mobile guide block 254 and clamping plate moving guide rail 255, the clamping plate Mobile positive and negative tooth leading screw 252 is disposed longitudinally on the lower part for clamping turning manipulator frame body, one end and clamping plate movement driving electricity Machine 251 is connected, and the clamping plate moves setting on positive and negative tooth leading screw 252, and there are two clamping plates to move screw 253, each to clamp The lower part of plate movement screw 253 is separately connected a clamping plate mobile guide block 254, and two clamping plate mobile guide blocks 254 divide It is not placed on clamping plate moving guide rail 255, and its underpart is connected with 21 top of clamping plate respectively.
The manipulator moving drive mechanism 3 moves horizontally driving mechanism 31 and manipulator lifting driving including manipulator Mechanism 32, the manipulator move horizontally driving mechanism 31 and move horizontally driving motor 311, manipulator level including manipulator Mobile driving motor gear 312, manipulator move horizontally drive rack 313, and the manipulator moves horizontally driving motor 311 Motor shaft on be provided with manipulator and move horizontally driving motor gear 312, manipulator move horizontally driving motor gear 312 with Manipulator moves horizontally drive rack 313 and is connected, and the manipulator moves horizontally drive rack 313 and is horizontally installed on truss 4 Top, the manipulator move horizontally driving motor 311 setting moved horizontally on driving motor seat 314 in manipulator, institute The manipulator lift drive mechanism 32 stated lifts driving motor 321 including manipulator, manipulator lifts driving motor gear 322, Manipulator lifts drive rack 323, and being provided with manipulator lifting on the motor shaft of manipulator lifting driving motor 321 drives Dynamic motor gear 322, manipulator lifting driving motor gear 322 are connected with manipulator lifting drive rack 323, the machinery Hand lifting drive rack 323 is vertically provided at vacsorb manipulator frame body or/and clamps the top of turning manipulator frame body, institute Manipulator lifting driving motor 321 setting stated is on manipulator lifting driving motor seat 324, manipulator lifting driving Motor cabinet 324 moves horizontally driving motor seat 314 with manipulator and is connected.
Vacsorb manipulator 1 is used to draw the copper coin after nailing overturning, and copper coin is delivered on automatic tape-wrapping machine, very When suction takes manipulator 1 to act, starts the manipulator moving drive mechanism 3 being connected with vacsorb manipulator 1, make manipulator liter Dropping driving mechanism 32 drives vacsorb manipulator 1 to decline, and is drawn copper coin by drawing vacuum cup 12, then manipulator liter Dropping driving mechanism 32 drives vacsorb manipulator 1 to rise, and starts manipulator and moves horizontally driving mechanism 31, keeps manipulator horizontal After moving drive mechanism 31 drives vacsorb manipulator 1 to be moved to the encapsulated station of automatic tape-wrapping machine, then pass through manipulator liter Dropping driving mechanism 32 drives vacsorb manipulator 1 to decline, and copper coin is positioned on automatic tape-wrapping machine;
For vacsorb manipulator 1 before copper coin is delivered to automatic tape-wrapping machine, fine plate aluminium film feeding device is first by fine plate It is positioned on automatic tape-wrapping machine, then the copper coin after nailing is positioned over again on fine plate, and then fine plate aluminium film feeding device is again by aluminium Film is positioned over the copper coin top on automatic tape-wrapping machine, and automatic tape-wrapping machine is started to work at this time, is carried out certainly to the workpiece of three's composition Encapsulated operation is moved, after the completion of encapsulated, turning manipulator 2 clamped and acts, starts the manipulator being connected with clamping turning manipulator 2 and moves Dynamic driving mechanism 3 makes the driving of manipulator moving drive mechanism 3 clamp turning manipulator 2 and declines, by cylinder clamping jaw 23 by workpiece Gripping, the then driving of manipulator lift drive mechanism 32 clamp turning manipulator 2 and rise, start manipulator and move horizontally driving machine Structure 31 makes manipulator move horizontally the driving clamping turning manipulator 2 of driving mechanism 31 and is moved to automatic blanking dress at next station When setting top, clamps turning manipulator 2 and pass through the gas on the driving returning face plate 22 of returning face plate rotary drive mechanism 24 and returning face plate 22 Cylinder clamping jaw 23 drives one piece of workpiece to realize 180 degree overturning.
When manipulator lift drive mechanism 32 acts, manipulator lifts driving motor 321 and starts, manipulator lifting driving electricity Machine 321 drives manipulator lifting driving motor gear 322 to rotate, and manipulator lifts drive rack 323 and driven along manipulator lifting Motor gear 322 moves up and down, while driving coupled vacsorb manipulator 1 or/and clamping about 2 turning manipulator It is mobile.
When manipulator moves horizontally the action of driving mechanism 31, manipulator moves horizontally the startup of driving motor 311, manipulator water Translation moves 311 driving manipulator of driving motor and moves horizontally the rotation of driving motor gear 312, while the manipulator on truss 4 It moves horizontally drive rack 313 to move horizontally, while driving coupled vacsorb manipulator 1 or/and clamping tipper Tool hand 2 moves horizontally.
It clamps turning manipulator 2 to act, starts the manipulator moving drive mechanism 3 being connected with clamping turning manipulator 2, make The driving of manipulator moving drive mechanism 3 clamps turning manipulator 2 and declines, then mechanical by cylinder clamping jaw 23 by workpiece holding The driving of hand lift drive mechanism 32 clamps turning manipulator 2 and rises, and starts manipulator and moves horizontally driving mechanism 31, makes manipulator When moving horizontally the driving of driving mechanism 31 and clamping turning manipulator 2 and be moved at next station above automatic blanking device, clamp Turning manipulator 2 drives 23 band of cylinder clamping jaw on returning face plate 22 and returning face plate 22 to start building by returning face plate rotary drive mechanism 24 One piece of part realizes 180 degree overturning.
When clamping the drive workpiece realization 180 degree overturning of turning manipulator 2, the rotary cylinder of returning face plate rotary drive mechanism 24 241 start, and rotary cylinder belt wheel 243 is driven to rotate, and rotary cylinder belt wheel 243 drives returning face plate to connect shaft pulley by synchronous belt 244 rotations, it connecting shaft 242 and the returning face plate that is connected with returning face plate connecting shaft 242 that returning face plate connection shaft pulley 244, which drives returning face plate, 22 rotations, while the cylinder clamping jaw 23 on returning face plate 22 drives one piece of rotation of workpiece.
The distance of two returning face plates 22 is adjusted according to workpiece gauge size, i.e. clamping plate moving drive mechanism 25 works, folder Tight plate movement driving motor 251 starts, and drives coupled clamping plate to move positive and negative tooth leading screw 252 and rotates, clamping plate movement Two clamping plates movement screw 253 on positive and negative tooth leading screw 252 moves horizontally outward inwardly or simultaneously simultaneously, to adjust The distance between two returning face plates 22, to adapt to the workpiece of different model size, clamping plate moves the lower part connection of screw 253 Clamping plate mobile guide block 254 and the cooperation of clamping plate moving guide rail 255 play the guiding role.
Illustrative embodiments listed above are not to technical solution described in the invention only for understanding that the present invention is used Restriction, the those of ordinary skill in relation to field described in claim on the basis of technical solution, can also make a variety of changes Change or deformation, all equivalent variations or deformation should all be covered within the claims of the present invention.The present invention is not Place is described in detail, is the known technology of those skilled in the art of the present technique.

Claims (6)

1. overturning truss manipulator is drawn, it is characterized in that:Including vacsorb manipulator, clamp turning manipulator, manipulator shifting Dynamic driving mechanism and truss, the vacsorb manipulator and clamping turning manipulator are separately positioned on the left and right two of truss End, and be connected respectively with truss by manipulator moving drive mechanism.
2. absorption according to claim 1 overturns truss manipulator, it is characterized in that:The vacsorb manipulator includes Vacsorb manipulator frame body and absorption vacuum cup, the absorption vacuum cup are arranged in vacsorb manipulator frame body The top of lower part, the vacsorb manipulator frame body is connected with manipulator moving drive mechanism.
3. absorption according to claim 1 overturns truss manipulator, it is characterized in that:The clamping turning manipulator includes Clamping plate, returning face plate, cylinder clamping jaw, returning face plate rotary drive mechanism, clamping plate moving drive mechanism and clamping turning manipulator The top of frame body, the clamping turning manipulator frame body is connected with manipulator moving drive mechanism, clamps turning mechanical hand cradle The lower part setting of body is there are two clamping plate, and clamping plate is connected with clamping plate moving drive mechanism, the relative inner of two clamping plates Lower part is respectively arranged with returning face plate, is respectively arranged with cylinder clamping jaw at left and right sides of each returning face plate, each returning face plate respectively with Returning face plate rotary drive mechanism is connected.
4. absorption according to claim 3 overturns truss manipulator, it is characterized in that:The returning face plate rotary drive mechanism Including rotary cylinder, returning face plate connecting shaft, rotary cylinder belt wheel, returning face plate connection shaft pulley and synchronous belt, the rotary pneumatic Cylinder is arranged on clamping plate, and returning face plate connecting shaft is provided between the returning face plate and clamping plate, the rotary cylinder It is provided with rotary cylinder belt wheel in cylinder rod, returning face plate connection shaft pulley is provided in the returning face plate connecting shaft, described turns over Flap connection shaft pulley is connected with rotary cylinder belt wheel by synchronous belt.
5. absorption according to claim 3 overturns truss manipulator, it is characterized in that:The clamping plate moving drive mechanism Including clamping plate movement driving motor, clamping plate move positive and negative tooth leading screw, clamping plate movement screw, clamping plate mobile guide block and Clamping plate moving guide rail, the clamping plate move positive and negative tooth leading screw and are disposed longitudinally on the lower part for clamping turning manipulator frame body, One end is connected with clamping plate movement driving motor, and the clamping plate moves setting on positive and negative tooth leading screw, and there are two clamping plates to move The lower part of dynamic screw, each clamping plate movement screw is separately connected a clamping plate mobile guide block, and two clamping plate movements are led It is respectively sleeved on clamping plate moving guide rail to block, and its underpart is connected with clamping plate top respectively.
6. absorption according to claim 1 overturns truss manipulator, it is characterized in that:The manipulator moving drive mechanism Driving mechanism and manipulator lift drive mechanism are moved horizontally including manipulator, the manipulator moves horizontally driving mechanism packet Include that manipulator moves horizontally driving motor, manipulator moves horizontally driving motor gear, manipulator moves horizontally drive rack, institute The manipulator stated, which moves horizontally, to be provided with manipulator and moves horizontally driving motor gear, manipulator water on the motor shaft of driving motor The dynamic driving motor gear of translation moves horizontally drive rack with manipulator and is connected, and the manipulator moves horizontally drive rack cross To being arranged on the top of truss, the manipulator moves horizontally driving motor setting and moves horizontally driving motor seat in manipulator On, the manipulator lift drive mechanism includes manipulator lifting driving motor, manipulator lifting driving motor gear, machinery Hand lifts drive rack, and manipulator lifting driving motor tooth is provided on the motor shaft of manipulator lifting driving motor Wheel, manipulator lift driving motor gear and are connected with manipulator lifting drive rack, and it is perpendicular that the manipulator lifts drive rack To the top for being arranged in vacsorb manipulator frame body or/and clamping turning manipulator frame body, manipulator lifting driving On manipulator lifting driving motor seat, manipulator lifting driving motor seat moves horizontally drive with manipulator for motor setting Dynamic motor cabinet is connected.
CN201810510668.9A 2018-05-24 2018-05-24 Draw overturning truss manipulator Pending CN108393875A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810510668.9A CN108393875A (en) 2018-05-24 2018-05-24 Draw overturning truss manipulator

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Application Number Priority Date Filing Date Title
CN201810510668.9A CN108393875A (en) 2018-05-24 2018-05-24 Draw overturning truss manipulator

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Publication Number Publication Date
CN108393875A true CN108393875A (en) 2018-08-14

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CN108942909A (en) * 2018-09-13 2018-12-07 安徽华东光电技术研究所有限公司 A kind of crawl transportation manipulator structure
CN109399228A (en) * 2018-11-06 2019-03-01 中国工程物理研究院激光聚变研究中心 A kind of material suitable for clean environment is plugged into transfer device
CN109454664A (en) * 2018-12-19 2019-03-12 浙江杭可科技股份有限公司 A kind of robot device
CN109677912A (en) * 2019-01-21 2019-04-26 深圳智慧者机器人科技有限公司 A kind of multi-layer board brownification matches trigger online
CN109959536A (en) * 2018-09-07 2019-07-02 上海大学 A kind of water quality sampling on-line detecting system suitable for unmanned boat
CN110405739A (en) * 2019-08-18 2019-11-05 宁波易拓智谱机器人有限公司 A kind of manipulator of achievable workpiece turning
CN110745570A (en) * 2019-11-18 2020-02-04 湖南众之强建筑材料有限公司 Steel bar truss stacking device
CN111687646A (en) * 2020-07-23 2020-09-22 无锡恒尚装饰工程有限公司 Automatic aluminum profile processing production line and processing technology thereof
CN112894027A (en) * 2021-01-14 2021-06-04 四川众友机械有限责任公司 Half axle gear merger machining system

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CN110405739A (en) * 2019-08-18 2019-11-05 宁波易拓智谱机器人有限公司 A kind of manipulator of achievable workpiece turning
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