CN108621141B - Gantry type multi-station mechanical arm operation control mechanism - Google Patents
Gantry type multi-station mechanical arm operation control mechanism Download PDFInfo
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- CN108621141B CN108621141B CN201810726339.8A CN201810726339A CN108621141B CN 108621141 B CN108621141 B CN 108621141B CN 201810726339 A CN201810726339 A CN 201810726339A CN 108621141 B CN108621141 B CN 108621141B
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- station
- sleeve
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- seats
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Milling, Drilling, And Turning Of Wood (AREA)
Abstract
The invention discloses a gantry type multi-station manipulator action control mechanism which comprises a left Long Menzhu, a right gantry column and a fixed frame plate which are taken as bases, wherein vertical guide grooves are fixed on the side walls of the two gantry columns, the upper ends of two vertical screws are respectively connected with a driving seat and a driven seat, the driving seat and the driven seat are in transmission connection through belt wheel assemblies, a sliding block pair is arranged on each vertical screw, the sliding block pair is fixedly connected with the fixed frame plate through a front positioning sleeve and a rear positioning seat respectively, a transverse screw is limited between the front positioning sleeve and the rear positioning seat in a rotating way, the transverse screw is connected with a transverse motor, a driving sleeve is sleeved on the outer side of the driving sleeve, a fixed block is sleeved on the outer side of the driving sleeve, a movable frame plate is fixedly supported on the back side of the fixed block, and a multi-station action control assembly is fixed on the movable frame plate. The invention has reasonable structural design, increases the number of stations while realizing the adjustment of vertical and horizontal positions, and the station systems can synchronously and cooperatively work, thereby improving the working efficiency and reducing the labor intensity of staff.
Description
Technical Field
The invention relates to the technical field of mechanical arm control mechanisms, in particular to a gantry type multi-station mechanical arm operation control mechanism.
Background
At present, a gantry manipulator used in the market usually has only one station system, but during production operation, tools or materials to be processed are required to be replaced temporarily due to different types of tools to be adopted, so that the operation progress is directly reduced, and the working efficiency is low.
For this reason, chinese patent with application number CN201621493529.2 discloses a double-station gantry manipulator, which comprises a base, two groups of station systems are arranged on the base, each group of station systems comprises a motor, a driving component and a station part which are connected in a transmission way, and the station part is provided with a travel of transverse, longitudinal and vertical movement on the base. By installing two independent station systems on the base, the two station systems can work separately and synchronously, so that the time consumed by replacing tools or materials on the station systems is reduced, the working efficiency is improved, and the labor intensity of workers is reduced. The double-station gantry manipulator has the defects that although the double-station gantry manipulator is greatly improved compared with the traditional single-station manipulator, the efficiency is still not high enough, and the double-station gantry manipulator needs double driving components, so that the energy consumption is high, and the synchronous operation is not facilitated.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a gantry type multi-station mechanical manual operation control mechanism.
In order to achieve the technical purpose and the technical effect, the invention is realized by the following technical scheme:
the gantry type multi-station manipulator action control mechanism comprises a left Long Menzhu, a right gantry column and a fixed frame plate which are taken as bases, wherein vertical guide grooves are respectively fixed on the side walls of the left Long Menzhu and the right gantry column, vertical screws are limited in rotation in the vertical guide grooves, driving seats with vertical motors are connected to the upper ends of the vertical screws at the left gantry column, driven seats are connected to the upper ends of the vertical screws at the right gantry column, driving seats with the vertical motors are in transmission connection with the driven seats through belt wheel assemblies, sliding block pairs are respectively arranged on the two vertical screws, the two sliding block pairs are respectively fixedly connected with the fixed frame plate through a front positioning sleeve and a rear positioning sleeve, transverse screws are rotationally limited between the front positioning sleeve and the rear positioning sleeve, the ends of the transverse screws penetrate through the transverse motors, driving sleeves for transverse positions are sleeved on the outer sides of the transverse screws, threaded holes matched with the transverse screws are formed in the driving sleeves, fixing blocks capable of transversely moving are sleeved on the outer sides of the driving sleeves, sliding block pairs are arranged on the fixing blocks, a transverse guide rail fixing block is arranged on the fixing block pair, a lower side of the fixing block is provided with a transverse guide rail fixing block, and a movable rail fixing block is arranged on the fixing block, and the fixing frame plate is provided with a movable guide rail fixing structure, and the fixing frame plate is arranged at the fixing side of the fixing frame plate is arranged at the side of the fixing frame plate;
the multi-station motion control assembly comprises a transmission screw, a positioning seat, a transmission sleeve, a rack fixing seat, racks, station seats, driven gear sleeves, a driven shaft and a pneumatic push rod, wherein the transmission screw is fixedly connected with the upper parts of the back sides of the two ends of a movable rack plate through the positioning seats at the two ends, each transmission sleeve is arranged in the rack fixing seat, screw holes matched with the transmission screw are formed in the transmission sleeve, racks are fixedly supported on the back sides of the rack fixing seats together, a plurality of station seats are uniformly fixed on the lower parts of the back sides of the two ends of the movable rack plate, the station seats are limited between the racks and the movable rack plate, the driven gear sleeves are arranged on the upper parts of the station seats, the driven shaft is arranged on the lower parts of the station seats, the lower ends of the driven shaft are connected with a manipulator, the upper ends of the driven gear sleeves are fixedly connected with the driven gear sleeves, a gear ring on the outer sides of the driven gear sleeves are mutually meshed with the racks, one ends of the pneumatic push rod are fixedly connected with the positioning seat, and the other ends of the adjacent rack fixing seats are fixedly connected.
Preferably, in the gantry type multi-station manipulator motion control mechanism, fixed bases are arranged at the lower ends of the left Long Menzhu and right gantry posts.
Preferably, in the gantry type multi-station manipulator motion control mechanism, the vertical guide groove is of a cuboid groove structure with an opening at the front side, a through hole is formed in an upper plate of the groove structure, and a positioning groove is formed in the inner side of a lower plate.
Preferably, in the gantry type multi-station manipulator motion control mechanism, the belt wheel assembly is composed of an annular driving belt and a rotating sleeve respectively positioned in the driving seat and the driven seat.
Preferably, in the gantry type multi-station manipulator motion control mechanism, the outer side of the rotating sleeve is provided with convex teeth, and the inner side of the annular driving belt is provided with tooth grooves matched with the convex teeth; the inner side of the rotating sleeve is provided with a key slot, and the outer side of the upper part of the vertical screw is provided with a spline matched with the key slot.
Preferably, in the gantry type multi-station manipulator motion control mechanism, a pushing block is fixed at the movable end of the pneumatic push rod, a notch matched with the pushing block is formed in the rack fixing seat adjacent to the pneumatic push rod, and the pushing block is fixed in the notch through a fixing piece.
The beneficial effects of the invention are as follows:
the gantry type multi-station manipulator action control mechanism provided by the invention has reasonable structural design, can realize vertical and horizontal position adjustment, and simultaneously increases the number of stations, and the station systems can synchronously and cooperatively work, so that the working efficiency is improved, and the labor intensity of workers is reduced.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic exploded view of the present invention omitting a movable frame plate and a multi-station motion control assembly;
fig. 3 is a schematic view of the structure of the movable frame plate of the present invention;
FIG. 4 is an exploded view of the multi-station motion control assembly of the present invention;
FIG. 5 is a schematic view of the structure of the present invention at another angle;
fig. 6 is an enlarged schematic view of a portion of the structure of fig. 5.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present embodiment is a gantry type multi-station manipulator motion control mechanism, which includes a left gantry column 1, a right gantry column 2 and a fixing frame plate 10 as bases. The lower extreme of left longmen post 1, right longmen post 2 is equipped with unable adjustment base, and the lateral wall of left longmen post 1 and right longmen post 2 is fixed with vertical guide way 3 respectively, and vertical guide way 3 is front side open-ended cuboid form cell body structure, and through-hole has been seted up to the upper plate of this cell body structure, and positioning groove has been seted up to the lower plate inboard.
The vertical guide groove 3 is internally limited with a vertical screw 4 in a rotating way, wherein the upper end of the vertical screw 4 at the left gantry column 1 is connected with a driving seat 6 with a vertical motor, the upper end of the vertical screw at the right gantry column 1 is connected with a driven seat 7, and the driving seat 6 with the vertical motor is in transmission connection with the driven seat 7 through a belt wheel assembly 8. The belt wheel assembly 8 is composed of an annular driving belt and rotating sleeves respectively positioned in the driving seat 6 and the driven seat 7. Convex teeth are arranged on the outer side of the rotating sleeve, and tooth grooves matched with the convex teeth are arranged on the inner side of the annular transmission belt; the key slot is formed in the inner side of the rotating sleeve, and a spline matched with the key slot is arranged on the outer side of the upper portion of the vertical screw 4.
The two vertical screws 4 are respectively provided with a sliding block pair 5, and the two sliding block pairs 5 are respectively fixedly connected with the fixed frame plate 10 through a front positioning sleeve 9 and a rear positioning seat 12. A transverse screw 13 is limited between the front positioning sleeve 9 and the rear positioning seat 10 in a rotating way, and a transverse motor 11 is connected to the end part of the transverse screw 13 penetrating through the front positioning sleeve 9. The outside cover of horizontal screw rod 13 is equipped with the drive cover 16 that horizontal position was used, and the screw hole with horizontal screw rod 13 matched with is seted up to the inside of drive cover 16, and outside cover is equipped with fixed block 17 that can lateral shifting.
The fixed frame plate 10 is provided with a transverse chute 18 which is convenient for the transverse movement of the fixed block 17, guide rails 19 are symmetrically fixed at the upper edge and the lower edge of the transverse chute 18, the upper end and the lower end of the fixed block 17 are respectively provided with a convex structure which is clamped with the guide rails 19, the back side of the fixed block 17 is fixedly supported with a movable frame plate 14, and the movable frame plate 14 is fixedly provided with a multi-station motion control assembly 15.
The multi-station motion control assembly 15 comprises a transmission screw 151, a positioning seat 152, a transmission sleeve 153, a rack fixing seat 154, a rack 155, a station seat 156, a driven gear sleeve 157, a driven shaft 158 and a pneumatic push rod 159, wherein the transmission screw 151 is fixedly connected with the upper parts of the back sides of the two ends of the movable frame plate 14 through the positioning seats 152 at the two ends, a transmission sleeve 153 is arranged in each rack fixing seat 154, and a threaded hole matched with the transmission screw 151 is formed in the transmission sleeve 153. The back side of the rack fixing seat 154 is fixedly supported with racks 155, and four station seats 156 are uniformly fixed at the lower parts of the back sides of the two ends of the movable rack plate 14. The station seat 156 is limited between the rack 155 and the movable rack plate 14, a driven gear sleeve 157 is arranged at the upper part of the station seat 156, a driven shaft 158 is arranged at the lower part of the station seat, the lower end of the driven shaft 158 is connected with a manipulator, the upper end of the driven shaft 158 is fixedly connected with the driven gear sleeve 157, and a gear ring outside the driven gear sleeve 157 is meshed with the rack 155. One end of the pneumatic push rod 159 is fixed with the positioning seat 152, and the other end is fixedly connected with the adjacent rack fixing seat 157. In a specific fixing mode, a pushing block can be fixed at the movable end of the pneumatic push rod 159, a notch matched with the pushing block is formed in the rack fixing seat 157 adjacent to the pneumatic push rod 159, and the pushing block is fixed in the notch through a fixing piece.
The gantry type multi-station manipulator action control mechanism provided by the invention has reasonable structural design, can realize vertical and horizontal position adjustment, and simultaneously increases the number of stations, and the station systems can synchronously and cooperatively work, so that the working efficiency is improved, and the labor intensity of workers is reduced.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (4)
1. The utility model provides a planer-type multistation manipulator action control mechanism which characterized in that: the device comprises a left Long Menzhu, a right gantry column and a fixed frame plate which are taken as bases, wherein vertical guide grooves are respectively fixed on the side walls of the left Long Menzhu and the right gantry column, vertical screws are limited in rotation in the vertical guide grooves, driving seats with vertical motors are connected to the upper ends of the vertical screws at the left gantry column, driven seats are connected to the upper ends of the vertical screws at the right gantry column, driving seats with vertical motors are in transmission connection with the driven seats through belt wheel assemblies, sliding block pairs are respectively arranged on the vertical screws, the two sliding block pairs are respectively fixedly connected with the fixed frame plate through a front positioning sleeve and a rear positioning sleeve, transverse screws are limited in rotation between the front positioning sleeve and the rear positioning sleeve, the transverse screws penetrate through the ends of the front positioning sleeve and are connected with the transverse motors, driving sleeves for transverse positions are sleeved on the outer sides of the transverse screws, threaded holes matched with the transverse screws are formed in the driving sleeves, fixing blocks capable of transversely moving are formed in the fixing blocks, transverse sliding grooves are formed in the fixing blocks, the upper sliding grooves and the fixing blocks are in transverse movement, the fixing blocks are symmetrically connected with the lower guide rail fixing blocks, and the lower guide rail fixing blocks are symmetrically arranged on the fixing rail assemblies, and the fixing rail fixing frames are respectively arranged at the upper side and lower side of the fixing frame plate;
the multi-station motion control assembly comprises a transmission screw, a positioning seat, a transmission sleeve, a rack fixing seat, racks, a station seat, a driven gear sleeve, a driven shaft and a pneumatic push rod, wherein the transmission screw is fixedly connected with the upper parts of the back sides of the two ends of the movable rack plate through the positioning seats at the two ends, each rack fixing seat is internally provided with one transmission sleeve, the inside of each transmission sleeve is provided with a threaded hole matched with the transmission screw, racks are fixedly supported on the back sides of the rack fixing seats together, a plurality of station seats are uniformly fixed on the lower parts of the back sides of the two ends of the movable rack plate, the station seats are limited between the racks and the movable rack plate, the driven gear sleeve is arranged at the upper parts of the station seats, the driven shaft is arranged at the lower parts of the station seats, the lower ends of the driven shaft are connected with a manipulator, the upper ends of the driven gear sleeve are fixedly connected with the driven gear sleeve, a gear ring outside the driven gear sleeve is meshed with the racks, one end of the pneumatic push rod is fixedly connected with the positioning seat, and the other end of the pneumatic push rod is fixedly connected with the adjacent rack fixing seat;
the vertical guide groove is of a cuboid groove body structure with an opening at the front side, a through hole is formed in an upper plate of the groove body structure, and a positioning groove is formed in the inner side of a lower plate of the groove body structure;
the belt wheel assembly consists of an annular driving belt and a rotating sleeve respectively positioned in the driving seat and the driven seat.
2. The gantry type multi-station manipulator motion control mechanism according to claim 1, wherein: the lower ends of the left Long Menzhu and right gantry posts are provided with fixed bases.
3. The gantry type multi-station manipulator motion control mechanism according to claim 1, wherein: convex teeth are arranged on the outer side of the rotating sleeve, and tooth grooves matched with the convex teeth are arranged on the inner side of the annular driving belt; the inner side of the rotating sleeve is provided with a key slot, and the outer side of the upper part of the vertical screw is provided with a spline matched with the key slot.
4. The gantry type multi-station manipulator motion control mechanism according to claim 1, wherein: the movable end of the pneumatic push rod is fixedly provided with a push block, a notch matched with the push block is formed in the rack fixing seat adjacent to the pneumatic push rod, and the push block is fixed in the notch through a fixing piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810726339.8A CN108621141B (en) | 2018-07-04 | 2018-07-04 | Gantry type multi-station mechanical arm operation control mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810726339.8A CN108621141B (en) | 2018-07-04 | 2018-07-04 | Gantry type multi-station mechanical arm operation control mechanism |
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| Publication Number | Publication Date |
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| CN108621141A CN108621141A (en) | 2018-10-09 |
| CN108621141B true CN108621141B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810726339.8A Active CN108621141B (en) | 2018-07-04 | 2018-07-04 | Gantry type multi-station mechanical arm operation control mechanism |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109552816B (en) * | 2018-10-26 | 2020-08-04 | 烟台知兴知识产权咨询服务有限公司 | Lifting mechanism of transfer robot |
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|---|---|---|---|---|
| ES2203852T3 (en) * | 1997-05-08 | 2004-04-16 | Owens-Brockway Glass Container Inc. | OVEN CHARGER WITH ACTUATORS DISPOSED IN A HOUSING. |
| CN103769823A (en) * | 2013-08-24 | 2014-05-07 | 桐乡市易锋机械厂 | Automatic PXE piston production line |
| CN104493819A (en) * | 2014-11-29 | 2015-04-08 | 芜湖银星汽车零部件有限公司 | Workbench for grabbing and separating stacked parts |
| CN204748624U (en) * | 2015-06-23 | 2015-11-11 | 哈尔滨理工大学 | Nursing service robot |
| CN105151683A (en) * | 2015-08-18 | 2015-12-16 | 厦门建霖工业有限公司 | Automatic feeding device for workpiece and working method for automatic feeding device |
| CN106809639A (en) * | 2016-12-14 | 2017-06-09 | 安徽普伦智能装备有限公司 | One kind is used for oblique lifting feeding machine |
| CN206416165U (en) * | 2016-12-30 | 2017-08-18 | 深圳威洛博机器人有限公司 | Double-station gantry manipulator |
| CN108145719A (en) * | 2017-12-07 | 2018-06-12 | 浙江大学 | A mobile robot that assists in changing the material tray of the ribbon loom |
| CN208614781U (en) * | 2018-07-04 | 2019-03-19 | 苏州工业园区新光冶金机械有限公司 | A gantry type multi-station manipulator action control mechanism |
-
2018
- 2018-07-04 CN CN201810726339.8A patent/CN108621141B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2203852T3 (en) * | 1997-05-08 | 2004-04-16 | Owens-Brockway Glass Container Inc. | OVEN CHARGER WITH ACTUATORS DISPOSED IN A HOUSING. |
| CN103769823A (en) * | 2013-08-24 | 2014-05-07 | 桐乡市易锋机械厂 | Automatic PXE piston production line |
| CN104493819A (en) * | 2014-11-29 | 2015-04-08 | 芜湖银星汽车零部件有限公司 | Workbench for grabbing and separating stacked parts |
| CN204748624U (en) * | 2015-06-23 | 2015-11-11 | 哈尔滨理工大学 | Nursing service robot |
| CN105151683A (en) * | 2015-08-18 | 2015-12-16 | 厦门建霖工业有限公司 | Automatic feeding device for workpiece and working method for automatic feeding device |
| CN106809639A (en) * | 2016-12-14 | 2017-06-09 | 安徽普伦智能装备有限公司 | One kind is used for oblique lifting feeding machine |
| CN206416165U (en) * | 2016-12-30 | 2017-08-18 | 深圳威洛博机器人有限公司 | Double-station gantry manipulator |
| CN108145719A (en) * | 2017-12-07 | 2018-06-12 | 浙江大学 | A mobile robot that assists in changing the material tray of the ribbon loom |
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| CN108621141A (en) | 2018-10-09 |
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Address after: 215000 building 18, alloy industrial park, No. 228 Gongtang Road, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Applicant after: Suzhou Mingjun Equipment Manufacturing Co.,Ltd. Address before: 215000 in the private industrial zone, South Airport Road, Suzhou Industrial Park, Jiangsu Province Applicant before: SUZHOU INDUSTRIAL PARK XINGUANG METALLURGICAL MACHINERY Co.,Ltd. |
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