CN202491239U - Atmospheric double-arm manipulator - Google Patents
Atmospheric double-arm manipulator Download PDFInfo
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- CN202491239U CN202491239U CN2011205640699U CN201120564069U CN202491239U CN 202491239 U CN202491239 U CN 202491239U CN 2011205640699 U CN2011205640699 U CN 2011205640699U CN 201120564069 U CN201120564069 U CN 201120564069U CN 202491239 U CN202491239 U CN 202491239U
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- arm assembly
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- forearm
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Abstract
The utility model discloses an atmospheric double-arm manipulator, which comprises a driving device, a transmission device, an arm assembly and an overturn driving device, wherein the driving device drives the arm assembly to act through the transmission device; the arm assembly comprises a left arm assembly and a right arm assembly; and the overturn driving device is used for driving right fingers to turn laterally. When the atmospheric double-arm manipulator is in use, the left arm assembly shifts or stretches vertically under the driving of the driving device, but cannot turn; the right arm assembly not only can shift and stretch vertically but also can turn under the action of the overturn driving device; therefore, multi-task and tasks with overturn requirements can be completed better; the atmospheric double-arm manipulator disclosed by the utility model is capable of overcoming the traditional disadvantages; the problem of completing multi-task is solved; furthermore, tasks with lateral overturn requirements can be completed; namely, the right fingers can laterally turn; furthermore, the right fingers cannot be interfered with a left arm in the overturn process.
Description
Technical field
The utility model relates to the technical field of automatic carrying, specifically, is meant a kind of both arms atmosphere manipulator.
Background technology
Existing atmosphere manipulator arm structure mainly contains two kinds, and a kind of is singlehanded arm, and a kind of is the both hands arms.End effector (finger) but the manipulator of side direction upset only appear in the singlehanded arm mechanical hand, but this mechanical arm can only be accomplished a kind of task of moving, and can not satisfy for the requirement of accomplishing multitask.For example, carry same object to different environment (as dry, moistening etc.), singlehanded arm manipulator just can not be accomplished, the one or more manipulators of needs increase.But,, not only enlarged the space and increased cost again if increase one or more manipulators.Though and both hands arm manipulator has solved the problem of accomplishing multitask,, a lot of now carrying occasions all have the rollover requirement, and both hands arm manipulator can not be accomplished the task that rollover requires.
In addition, existing atmosphere manipulator waterproof construction design is not in place, and the life-span that the manipulator that makes is dripped in easy leakage water inlet is affected.
The utility model content
The main purpose of the utility model is to provide a kind of both arms atmosphere manipulator, and it can overcome existing defective, not only solves the problem of accomplishing multitask, and can accomplish the task that rollover requires.
The secondary objective of the utility model is to provide a kind of both arms atmosphere manipulator, and it in use can prevent that sealing gets into manipulator inside.
For realizing above-mentioned purpose, the utility model adopts following technical scheme:
A kind of both arms atmosphere manipulator; It comprises the arm assembly, be connected with the arm assembly and be used to drive the transmission device of arm assembly action and be connected with transmission device and be used to drive the drive unit of said transmission device; It is characterized in that: described arm assembly comprises left arm assembly and right arm assembly; Said left arm assembly and right arm assembly are connected with said transmission device respectively; Said both arms atmosphere manipulator also further comprises water-tight device, is used to drive the overturning drive device of said right arm assembly rollover, and said water-tight device is located on said transmission device and/or the arm assembly.
Preferably, above-mentioned left arm assembly comprises that the big arm in a left side, left forearm, ancon connector and left hand refer to; Big arm in a described left side and left forearm flexibly connect through the ancon connector; Described left hand refers to be located at the end of described left forearm, and is hinged with described left forearm.
Preferably; Above-mentioned right arm assembly comprises that right big arm, right forearm and the right hand refer to; The ancon of big arm in the described right side and right forearm is hinged, and described overturning drive device is located at the end of described right forearm, and the described right hand refers to link to each other with the output of described overturning drive device.
Preferably, above-mentioned drive unit comprises two motors and control cabinet, and described two motors are located in the described control cabinet, controls the rotation and the up-down of described transmission device respectively.
Preferably; Above-mentioned transmission device comprises lifting assembly, column and arm driven unit, described lifting assembly and column and wherein a motor link to each other; Under described driven by motor, drive described column and be rotated, described arm driven unit links to each other with described column.
Preferably, above-mentioned lifting assembly comprises screw mandrel, slide block, fixed guide, screw and elevating bracket, and described slide block is connected with described column through described elevating bracket; Said screw is engaged on the described screw mandrel, and described screw mandrel links to each other with the output shaft of motor; Described slide block slides on fixed guide.
Preferably; Above-mentioned arm driven unit comprises motor and arm driving box; Described motor is installed in the described arm driving box; Described arm driving box is fixedly connected with described column, and described motor comprises that left motor and right motor are respectively applied for described left arm assembly of control and right arm assembly.
Described water-tight device, it includes wrist ring plate, boss, band seam, anti-water pond, reaches bucker; Refer to leftward and the junction of left forearm, be provided with the wrist ring plate; Outside control cabinet, be provided with bucker; Anti-water pond is set in outside the column; On the arm assembly, be provided with boss, can prevent that sealing gets in the arm; Left and right big arm is provided with the band seam.
After adopting technique scheme; During use, the left arm assembly carries out upper and lower displacement or flexible under the drive of drive unit, but does not overturn; The right arm assembly not only can move up and down; Flexible, and can under the effect of overturning drive device, overturn, thereby can better accomplishing multitask and having upset to require of task.The utility model can overcome existing defective, not only solves the problem of accomplishing multitask, and can accomplish the task that rollover requires, and promptly the right hand refers to and can side direction overturn, and in the process of upset, can realize not interfering with left arm.
Description of drawings
Fig. 1 is the structural representation of the utility model atmosphere manipulator.
Fig. 2 is the partial enlarged drawing of Fig. 1.
Fig. 3 is the cutaway view of the utility model atmosphere manipulator.
Fig. 4 is the partial enlarged drawing of Fig. 3.
Fig. 5 is the vertical view of Fig. 1.
Fig. 6 is the structural representation of the big arm housing of the utility model manipulator.
Fig. 7 is the partial enlarged drawing of Fig. 5.
Fig. 8 is the structural representation of the big arm lid of the utility model manipulator.
Fig. 9 is the arm installation diagram of the utility model manipulator.
Figure 10 is the right arm rollover location diagram of the utility model manipulator.
Figure 11 is the structural representation of the side-looking after the utility model upset.
Figure 12 is the vertical view of the utility model rollover states.
The specific embodiment
For the purpose, technical scheme and the advantage that make the utility model is clearer,, the utility model is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
Shown in figure 1-12, the utility model discloses a kind of both arms atmosphere manipulator, it comprises: drive unit 1, transmission device 2, arm assembly 3, overturning drive device 4 and water-tight device, wherein:
With reference to shown in Figure 3, drive unit 1, it comprises that two motors 11,12 and control cabinet 13, two motors 11,12 are located in the control cabinet 13.
Cooperate shown in Figure 3ly, transmission device 2 comprises lifting assembly 21, column 22 and arm driven unit 23, wherein:
Lifting assembly 21 comprises screw mandrel 211, slide block 212, fixed guide 213, screw (not shown) and elevating bracket 214, and slide block 212 is connected with column 22 through elevating bracket 214; Above-mentioned screw is engaged on the screw mandrel 211, and screw mandrel 211 links to each other with the output shaft of motor 12; Slide block 212 slides on fixed guide 213.During use, screw mandrel 211 rotates under the drive of motor 12, slides on fixed guide 213 thereby drive slide block 212, and column 22 is connected with slide block 212, and therefore, column 22 is under the drive of slide block 212, and in the vertical direction is done elevating movement.
The output shaft of motor 11 is connected with column 22, and it can drive column 22 and rotate.
Arm driven unit 23 comprises motor 231 and arm driving box 232, and motor 231 is installed in the arm driving box 232, and arm driving box 232 is fixedly connected with column 22, with the up-down and the rotation of control arm assembly 3.Motor 231 comprises left motor 2311 and right motor 2312, is respectively applied for control right-hand man arm component;
With reference to figure 1, shown in 3, arm assembly 3, it comprises left arm assembly 31 and right arm assembly 32, left arm assembly 31 comprises that the big arm 311 in a left side, left forearm 312, ancon connector 313 and left hand refer to 314; With reference to figure 6, shown in 8, the big arm 311 in a left side comprises big arm housing 3111 and big arm lid 3112, and big arm lid 3112 lids are located on the big arm housing 3111; Cooperate shown in Figure 4ly, the big arm 311 in a left side links to each other with left motor shaft 2311, and the big arm 311 in a left side and left forearm 312 are through 313 flexible connections of ancon connector; Left hand refers to that 314 are located at the end of left forearm 312, and is hinged with left forearm 312; Right arm assembly 32 comprises that right big arm 321, right forearm 322 and the right hand refer to 323, and right big arm 321 links to each other with right motor shaft 2312, and the ancon of right big arm 321 and right forearm 322 is hinged, and the right hand refers to that 323 are located at the end of right forearm 322, and is hinged with right forearm 322;
The height of ancon connector 313, determined left hand refer to 314 with the right hand refer to 323 at hard Nogata to certain distance is arranged, as shown in Figure 9, two the finger hard Nogata to distance be 10mm, avoided like this two the finger at hard Nogata to bumping.In order not interfere in the process that is implemented in right side finger upset with the left side arm; Position Design to two arms is shown in figure 10; Wherein H1 is the terminal plan range to center line of right side forearm; H2 is the terminal plan range to center line of left side forearm, and the right side finger overturns during and value that given H1 certain minimum as H2.
With reference to figure 5, shown in 11, overturning drive device 4 is located at the end of right forearm 322, refers to that with the right hand 323 link to each other, and it can drive the right hand and refer to that 323 overturn.
In the present embodiment; Water-tight device; It includes wrist ring plate 51, boss 52, band seam 53, anti-water pond 54 and bucker 55, with reference to shown in Figure 2, refer to leftward 314 with the junction of left forearm 312; It is provided with wrist ring plate 51, its can prevent sealing get into left hand refer to 314 with the junction of left forearm 312; With reference to shown in Figure 1, outside control cabinet 13, be provided with bucker 55; In the junction of column 22 with control cabinet 13, be provided with anti-water pond 54, anti-water pond 54 is set in outside the column 22.
With reference to figure 6, shown in 7, in the big arm housing of arm assembly 3, be provided with boss 52, can prevent that sealing gets in the arm.Simultaneously, on the lid of big arm 311,321 about arm assembly 3, also be provided with band seam 53.
In addition, for antiseptic and rustproof all outer surfaces has all been carried out the Teflon processing.
During use, with reference to Figure 11, shown in 12, when with the utility model wafer A being carried, left hand refers to that 314 do not rotate, and during and value that given H1 certain minimum as H2, the right hand refers to that 323 overturn under the drive of overturning drive device 4.The utility model both arms atmosphere manipulator; It can overcome existing defective, not only solves the problem of accomplishing multitask, and can accomplish the task that rollover requires; Be that the right hand refers to that 323 can side direction overturn, and in the process of upset, can realize not interfering with left arm.In addition, the setting of water-tight device makes the utility model waterproof comprehensively.
Claims (8)
1. both arms atmosphere manipulator; It comprises the arm assembly, be connected with the arm assembly and be used to drive the transmission device of arm assembly action and be connected with transmission device and be used to drive the drive unit of said transmission device; It is characterized in that: described arm assembly comprises left arm assembly and right arm assembly; Said left arm assembly and right arm assembly are connected with said transmission device respectively; Said both arms atmosphere manipulator also further comprises water-tight device, is used to drive the overturning drive device of said right arm assembly rollover, and said water-tight device is located on said transmission device and/or the arm assembly.
2. both arms atmosphere manipulator according to claim 1 is characterized in that: described left arm assembly comprises that the big arm in a left side, left forearm, ancon connector and left hand refer to; Big arm in a described left side and left forearm flexibly connect through the ancon connector; Described left hand refers to be located at the end of described left forearm, and is hinged with described left forearm.
3. both arms atmosphere manipulator according to claim 2; It is characterized in that: described right arm assembly comprises that right big arm, right forearm and the right hand refer to; The ancon of big arm in the described right side and right forearm is hinged; Described overturning drive device is located at the end of described right forearm, and the described right hand refers to link to each other with the output of described overturning drive device.
4. both arms atmosphere manipulator according to claim 1, it is characterized in that: described drive unit comprises two motors and control cabinet, described two motors are located in the described control cabinet, control the rotation and the up-down of described transmission device respectively.
5. both arms atmosphere manipulator according to claim 4; It is characterized in that: described transmission device; Comprise lifting assembly, column and arm driven unit; Described lifting assembly and column and wherein a motor link to each other, the described column of drive is rotated under described driven by motor, described arm driven unit links to each other with described column.
6. both arms atmosphere manipulator according to claim 5, it is characterized in that: described lifting assembly comprises screw mandrel, slide block, fixed guide, screw and elevating bracket, described slide block is connected with described column through described elevating bracket; Said screw is engaged on the described screw mandrel, and described screw mandrel links to each other with the output shaft of motor; Described slide block slides on fixed guide.
7. both arms atmosphere manipulator according to claim 5; It is characterized in that: described arm driven unit comprises motor and arm driving box; Described motor is installed in the described arm driving box; Described arm driving box is fixedly connected with described column, and described motor comprises that left motor and right motor are respectively applied for described left arm assembly of control and right arm assembly.
8. both arms atmosphere manipulator according to claim 1 is characterized in that: described water-tight device, and it includes wrist ring plate, boss, band seam, anti-water pond, reaches bucker; Refer to leftward and the junction of left forearm, be provided with the wrist ring plate; Outside control cabinet, be provided with bucker; Anti-water pond is set in outside the column; On the arm assembly, be provided with boss, can prevent that sealing gets in the arm; Left and right big arm is provided with the band seam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205640699U CN202491239U (en) | 2011-12-29 | 2011-12-29 | Atmospheric double-arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205640699U CN202491239U (en) | 2011-12-29 | 2011-12-29 | Atmospheric double-arm manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202491239U true CN202491239U (en) | 2012-10-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205640699U Expired - Lifetime CN202491239U (en) | 2011-12-29 | 2011-12-29 | Atmospheric double-arm manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202491239U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103182710A (en) * | 2011-12-29 | 2013-07-03 | 沈阳新松机器人自动化股份有限公司 | Dual-arm atmospheric manipulator and robot with same |
| CN103803294A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Side tipping device used for carrying plate work piece |
| CN104260090A (en) * | 2014-05-30 | 2015-01-07 | 东莞市三润田自动化设备有限公司 | Multi-degree-of-freedom manipulator |
| CN104354161A (en) * | 2014-10-25 | 2015-02-18 | 东莞市三润田自动化设备有限公司 | Five-shaft manipulator |
| CN117690857A (en) * | 2024-01-31 | 2024-03-12 | 北京锐洁机器人科技有限公司 | Waterproof type wafer transport manipulator |
-
2011
- 2011-12-29 CN CN2011205640699U patent/CN202491239U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103182710A (en) * | 2011-12-29 | 2013-07-03 | 沈阳新松机器人自动化股份有限公司 | Dual-arm atmospheric manipulator and robot with same |
| CN103803294A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Side tipping device used for carrying plate work piece |
| CN103803294B (en) * | 2012-11-08 | 2016-01-20 | 沈阳新松机器人自动化股份有限公司 | For carrying the laterally turning-over device of plate workpiece |
| CN104260090A (en) * | 2014-05-30 | 2015-01-07 | 东莞市三润田自动化设备有限公司 | Multi-degree-of-freedom manipulator |
| CN104354161A (en) * | 2014-10-25 | 2015-02-18 | 东莞市三润田自动化设备有限公司 | Five-shaft manipulator |
| CN104354161B (en) * | 2014-10-25 | 2018-08-10 | 东莞三润田智能科技股份有限公司 | Five axis robots |
| CN117690857A (en) * | 2024-01-31 | 2024-03-12 | 北京锐洁机器人科技有限公司 | Waterproof type wafer transport manipulator |
| CN117690857B (en) * | 2024-01-31 | 2024-05-03 | 北京锐洁机器人科技有限公司 | Waterproof type wafer transport manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121017 |