CN109434814A - Free-standing manipulator - Google Patents
Free-standing manipulator Download PDFInfo
- Publication number
- CN109434814A CN109434814A CN201811365659.1A CN201811365659A CN109434814A CN 109434814 A CN109434814 A CN 109434814A CN 201811365659 A CN201811365659 A CN 201811365659A CN 109434814 A CN109434814 A CN 109434814A
- Authority
- CN
- China
- Prior art keywords
- rotating seat
- crossbeam
- vertical slide
- rack
- synchronous belt
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of free-standing manipulator, is suspended on above the workbench of rack, includes vertical slide, vertical driving mechanism, rotating seat, rotary drive mechanism, first crossbeam, second cross beam, transversal driving mechanism and clip claw mechanism；The vertical slide can be set on front side of the top of rack with vertically slidably reciprocating；The vertical driving mechanism is set in rack and drives vertical slide vertically movable back and forth；The rotating seat can be set to the lower section of vertical slide with rotating back and forth；The rotary drive mechanism is set on vertical slide and rotating seat is driven to rotate back and forth；Each mechanism is utilized by cooperation, realizes that clip claw mechanism vertical movable, rotary moveable and two speeds are laterally movable, this manipulator generally suspension type, structure is simple, and nominal load is big, is reduced up to 30kg, and to the space requirement of working face.
Description
Technical field
The present invention relates to manipulator field technologies, refer in particular to a kind of free-standing manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.Manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
The generally existing defect that structure is complicated, nominal load is small, high to the space requirement of working face of current manipulator.Cause
This, it is necessary to current manipulator is improved.
Summary of the invention
In view of this, in view of the deficiencies of the prior art, the present invention aims to provide a kind of stand alone type is mechanical
Hand can effectively solve the problem that existing robot manipulator structure is complicated, nominal load is small, high to the space requirement of working face.
To achieve the above object, the present invention is using following technical solution:
A kind of stand alone type manipulator, is suspended on above the workbench of rack, includes vertical slide, vertical driving mechanism, rotation
Swivel base, rotary drive mechanism, first crossbeam, second cross beam, transversal driving mechanism and clip claw mechanism；The vertical slide can be vertical
It is set to slidably reciprocating on front side of the top of rack；The vertical driving mechanism is set in rack and vertical slide is driven vertically to come
Return activity；The rotating seat can be set to the lower section of vertical slide with rotating back and forth；The rotary drive mechanism is set to vertical slide
It goes up and rotating seat is driven to rotate back and forth；The first crossbeam can transverse reciprocating be slidingly arranged on rotating seat, set on first crossbeam
It is equipped with synchronous belt mechanism, synchronous belt mechanism is coupled with rotating seat, and first crossbeam transverse reciprocating slides and drives synchronous belt machine
Structure operates back and forth；The second cross beam can transverse reciprocating be slidingly arranged on first crossbeam, second cross beam and synchronous belt mechanism connect
It connects, synchronous belt mechanism drives second cross beam transverse reciprocating on first crossbeam to slide；The transversal driving mechanism is set to rotating seat
It goes up and first crossbeam transverse reciprocating is driven to slide；The clip claw mechanism is set to the outer end of second cross beam.
Preferably, the left and right sides and the back side of the vertical slide pass through line slideway auxiliary and can set with vertically slidably reciprocating
It is placed on front side of the top of rack.
Preferably, it is set to rod-pulling type sensor on front side of the top of the rack, which is located at vertical sliding
By the side of seat.
Preferably, the vertical driving mechanism is oil hydraulic cylinder.
Preferably, the rotary drive mechanism includes retarder and servo motor；The retarder is fixed on vertical slide
Bottom, the output end of retarder couples with rotating seat；The servo motor is fixed on vertical slide and retarder is driven to operate.
Preferably, the transversal driving mechanism includes horizontal tooth bar, motor and gear；The horizontal tooth bar is fixed on
On one crossbeam, which is fixed on rotating seat；The gear couples and ratcheting with row rack gear with the output end of motor.
Preferably, the clip claw mechanism includes that openable and closable two clamping jaw, two clamping jaws are opened and closed each other by cylinder drive each other.
Preferably, the synchronous belt mechanism includes the synchronous belt of two belt pulleys of two belt pulleys and connection, two belt pulley
The side both ends of first crossbeam are installed in rotation on, synchronous belt is provided with pressing plate and latch, and the pressing plate and latch are located at
The two sides of rotating seat simultaneously cooperate with the two sides of rotating seat, and latch and second cross beam are fixedly mounted and connect.
The present invention has obvious advantages and beneficial effects compared with the existing technology, specifically, by above-mentioned technical proposal
Known to:
Each mechanism is utilized by cooperation, it is laterally movable to realize clip claw mechanism vertical movable, rotary moveable and two speeds, this
Manipulator generally suspension type, structure is simple, and nominal load is big, reduces up to 30kg, and to the space requirement of working face.
In order to explain the structural features and functions of the invention more clearly, come with reference to the accompanying drawing with specific embodiment to this hair
It is bright to be described in detail.
Detailed description of the invention
Fig. 1 is the assembling schematic perspective view of the preferred embodiments of the invention；
Fig. 2 is the assembling schematic perspective view of another angle of the preferred embodiments of the invention；
Fig. 3 is the assembling schematic perspective view of the another angle of the preferred embodiments of the invention；
Fig. 4 is the schematic diagram of internal structure of the preferred embodiments of the invention；
Fig. 5 is the exploded view of Fig. 4；
Fig. 6 is the partial structurtes enlarged diagram of the preferred embodiments of the invention；
Fig. 7 is the exploded view of Fig. 6.
Description of drawing identification.
100, rack 101, workbench
102, line slideway auxiliary 103, rod-pulling type sensor
10, vertical slide 20, vertical driving mechanism
30, rotating seat 40, rotary drive mechanism
41, retarder 42, servo motor
50, first crossbeam 51, first straight line guideway
60, second cross beam 61, second straight line guideway
62, third line slideway auxiliary 70, transversal driving mechanism
71, horizontal tooth bar 72, motor
73, gear 80, clip claw mechanism
81, clamping jaw 82, cylinder
90, synchronous belt mechanism 91, belt pulley
92, synchronous belt 93, pressing plate
94, latch.
Specific embodiment
It please refers to shown in Fig. 1 to Fig. 7, that show the specific structures of the preferred embodiments of the invention, are suspended on machine
The top of workbench 101 of frame 100, include vertical slide 10, vertical driving mechanism 20, rotating seat 30, rotary drive mechanism 40,
First crossbeam 50, second cross beam 60, transversal driving mechanism 70 and clip claw mechanism 80.
The vertical slide 10 can be set on front side of the top of rack 100 with vertically slidably reciprocating；In the present embodiment, described
The left and right sides and the back side of vertical slide 10 pass through line slideway auxiliary 102 can be set to rack 100 with vertically slidably reciprocating
On front side of top；Also, it is set to rod-pulling type sensor 103 on front side of the top of the rack 100, the rod-pulling type sensor 103
By the side of vertical slide 10.
The vertical driving mechanism 20 is set in rack 100 and drives vertical slide 10 vertical movable back and forth；In this implementation
In example, the vertical driving mechanism 20 is oil hydraulic cylinder, and it is 0.5m/ that vertical driving mechanism 20, which drives the movable speed of vertical slide 10,
S, stroke 200mm.
The rotating seat 30 can be set to the lower section of vertical slide 10 with rotating back and forth；The rotary drive mechanism 40 is set to perpendicular
To on slide 10 and rotating seat 30 is driven to rotate back and forth；Specifically, the rotary drive mechanism 40 includes 41 He of retarder
Servo motor 42；The retarder 41 is fixed on the bottom of vertical slide 10, and the output end of retarder 41 couples with rotating seat 30, subtracts
Fast device 41 is VR retarder；The servo motor 42 is fixed on vertical slide 10 and retarder 41 is driven to operate, also, rotates and drive
The speed that motivation structure 40 drives rotating seat 30 to rotate is 180 °/S, and rotating range is 0 ° -120 °.
The first crossbeam 50 can transverse reciprocating be slidingly arranged on rotating seat 30, be provided with synchronous belt on first crossbeam 50
Mechanism 90, synchronous belt mechanism 90 are coupled with rotating seat 30, and 50 transverse reciprocating of first crossbeam slides and drives synchronous belt mechanism
90 operate back and forth；The second cross beam 60 can transverse reciprocating be slidingly arranged on first crossbeam 50, second cross beam 60 and synchronous belt
Mechanism 90 connects, and synchronous belt mechanism 90 drives the transverse reciprocating on first crossbeam 50 of second cross beam 60 to slide；Specifically, described
Synchronous belt mechanism 90 includes the synchronous belt 92 of two belt pulleys 91 of two belt pulleys 91 and connection, which rotationally pacifies
Mounted in the side both ends of first crossbeam 50, synchronous belt 92 is provided with pressing plate 93 and latch 94, the pressing plate 93 and latch 94
In rotating seat 30 two sides and cooperate with the two sides of rotating seat 30, and latch 94 and second cross beam 60 are fixedly mounted and connect；With
And the bottom of the first crossbeam 50 can be laterally slidably set on rotating seat 30 by first straight line guideway 51, this second
The bottom of crossbeam 60 can be laterally slidably set on first crossbeam 50 by second straight line guideway 61, and second cross beam 60
Top is slidably installed by third line slideway auxiliary 62 with rotating seat 30, mobile speed of the second cross beam 60 relative to rack 100
Degree is 1.8m/s, stroke 900mm.
The transversal driving mechanism 70 is set on rotating seat 30 and 50 transverse reciprocating of first crossbeam is driven to slide；It is specific and
Speech, the transversal driving mechanism 70 includes horizontal tooth bar 71, motor 72 and gear 73；The horizontal tooth bar 71 is fixed on first
On crossbeam 50, which is fixed on rotating seat 30；The gear 73 couple with the output end of motor 72 and with horizontal tooth bar 71
Ratcheting, which is the servo motor with retarder.
The clip claw mechanism 80 is set to the outer end of second cross beam 60；Specifically, the clip claw mechanism 80 includes each other
Openable and closable two clamping jaw 81, two clamping jaws 81 are opened and closed each other by the drive of cylinder 82.
The working principle that the present embodiment is described in detail is as follows:
In use, as shown in Figure 1 to Figure 3, present invention hanging is mounted on 101 top of workbench of rack 100, for picking up workpiece
And workpiece is moved into scheduled position, specifically, vertical driving mechanism 20, rotary driving machine are controlled by the control system of equipment
70 cooperating of structure 40 and transversal driving mechanism, so that clip claw mechanism 80 moves to corresponding position, using clip claw mechanism 80 by work
Part is clamped, and then, then is controlled with vertical driving mechanism 20, rotary drive mechanism 40 and transversal driving mechanism 70 from control system
Work, puts down workpiece so that clip claw mechanism 80 moves to another location, the maximum weight of workpiece can be 30kg.
Design focal point of the invention is: utilizing each mechanism by cooperation, realizes clip claw mechanism vertical movable, rotation is lived
Dynamic and two speeds are laterally movable, this manipulator generally suspension type, structure is simple, and nominal load is big, reachable 30kg, and right
The space requirement of working face reduces.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (8)
1. a kind of stand alone type manipulator, it is characterised in that: it is suspended on above the workbench of rack, includes vertical slide, perpendicular
To driving mechanism, rotating seat, rotary drive mechanism, first crossbeam, second cross beam, transversal driving mechanism and clip claw mechanism；It should
Vertical slide can be set on front side of the top of rack with vertically slidably reciprocating；The vertical driving mechanism is set in rack and drives
Vertical slide is vertically movable back and forth；The rotating seat can be set to the lower section of vertical slide with rotating back and forth；The rotary drive mechanism
It is set on vertical slide and rotating seat is driven to rotate back and forth；The first crossbeam can transverse reciprocating be slidingly arranged at rotating seat
On, synchronous belt mechanism is provided on first crossbeam, synchronous belt mechanism is coupled with rotating seat, the sliding of first crossbeam transverse reciprocating
And synchronous belt mechanism is driven to operate back and forth；The second cross beam can transverse reciprocating be slidingly arranged on first crossbeam, second cross beam
It is connect with synchronous belt mechanism, synchronous belt mechanism drives second cross beam transverse reciprocating on first crossbeam to slide；The laterally driven machine
Structure is set on rotating seat and first crossbeam transverse reciprocating is driven to slide；The clip claw mechanism is set to the outer end of second cross beam.
2. stand alone type manipulator as described in claim 1, it is characterised in that: the left and right sides and the back side of the vertical slide are equal
It can be set to vertically slidably reciprocating by line slideway auxiliary on front side of the top of rack.
3. stand alone type manipulator as described in claim 1, it is characterised in that: be set to rod-pulling type on front side of the top of the rack
Sensor, the rod-pulling type sensor are located at by the side of vertical slide.
4. stand alone type manipulator as described in claim 1, it is characterised in that: the vertical driving mechanism is oil hydraulic cylinder.
5. stand alone type manipulator as described in claim 1, it is characterised in that: the rotary drive mechanism include retarder and
Servo motor；The retarder is fixed on the bottom of vertical slide, and the output end of retarder couples with rotating seat；The servo motor is solid
Due on vertical slide and retarder being driven to operate.
6. stand alone type manipulator as described in claim 1, it is characterised in that: the transversal driving mechanism includes transverse teeth
Item, motor and gear；The horizontal tooth bar is fixed on first crossbeam, which is fixed on rotating seat；The gear and motor
Output end connection and it is ratcheting with row rack gear.
7. stand alone type manipulator as described in claim 1, it is characterised in that: the clip claw mechanism includes openable and closable each other
Two clamping jaws, two clamping jaws are opened and closed each other by cylinder drive.
8. stand alone type manipulator as described in claim 1, it is characterised in that: the synchronous belt mechanism include two belt pulleys and
The synchronous belt of two belt pulleys is connected, which is installed in rotation on the side both ends of first crossbeam, and synchronous belt is provided with
Pressing plate and latch, the pressing plate and latch are located at the two sides of rotating seat and cooperate with the two sides of rotating seat, and latch and the
Connection is fixedly mounted in two crossbeams.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811365659.1A CN109434814A (en) | 2018-11-16 | 2018-11-16 | Free-standing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811365659.1A CN109434814A (en) | 2018-11-16 | 2018-11-16 | Free-standing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109434814A true CN109434814A (en) | 2019-03-08 |
Family
ID=65553054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811365659.1A Pending CN109434814A (en) | 2018-11-16 | 2018-11-16 | Free-standing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109434814A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11199052A (en) * | 1998-01-12 | 1999-07-27 | Sekisui Chem Co Ltd | Palletizing device |
| CN104308333A (en) * | 2014-09-12 | 2015-01-28 | 新疆威奥科技股份有限公司 | Multifunctional single-cantilever cutting and welding integrated machine |
| CN107160378A (en) * | 2017-07-24 | 2017-09-15 | 重庆市臻憬科技开发有限公司 | Table service device for intelligent restaurant |
| CN209256935U (en) * | 2018-11-16 | 2019-08-16 | 东莞市承恩自动化设备有限公司 | Free-standing manipulator |
-
2018
- 2018-11-16 CN CN201811365659.1A patent/CN109434814A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11199052A (en) * | 1998-01-12 | 1999-07-27 | Sekisui Chem Co Ltd | Palletizing device |
| CN104308333A (en) * | 2014-09-12 | 2015-01-28 | 新疆威奥科技股份有限公司 | Multifunctional single-cantilever cutting and welding integrated machine |
| CN107160378A (en) * | 2017-07-24 | 2017-09-15 | 重庆市臻憬科技开发有限公司 | Table service device for intelligent restaurant |
| CN209256935U (en) * | 2018-11-16 | 2019-08-16 | 东莞市承恩自动化设备有限公司 | Free-standing manipulator |
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