CN202825829U - Mechanical arm vertical kinematic pair and mechanical arm - Google Patents
Mechanical arm vertical kinematic pair and mechanical arm Download PDFInfo
- Publication number
- CN202825829U CN202825829U CN 201220445603 CN201220445603U CN202825829U CN 202825829 U CN202825829 U CN 202825829U CN 201220445603 CN201220445603 CN 201220445603 CN 201220445603 U CN201220445603 U CN 201220445603U CN 202825829 U CN202825829 U CN 202825829U
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- manipulator
- leading screw
- mechanical arm
- elevating bracket
- utility
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Abstract
The utility model discloses a mechanical arm vertical kinematic pair used for a mechanical arm, and further discloses the mechanical arm utilizing the mechanical arm vertical kinematic pair. The mechanical arm vertical kinematic pair comprises a motor, a lead screw, a lead screw nut and a lifting seat. The motor is connected with the lead screw. The lead screw nut is installed on the lead screw in a rotating mode. The lead screw nut is fixed on the lifting seat. The lead screw is installed on the central position of the lifting seat. The mechanical arm vertical kinematic pair is capable of adjusting the height of the mechanical arm, eccentric force does not exist in the vertical moving process, and locating is accurate.
Description
Technical field
The utility model relates to the industry mechanical arm technical field, relates in particular to a kind of auxiliary structure that moves up and down for manipulator, and the utility model also relates to a kind of manipulator.
Background technology
Manipulator is some holding function that can imitate staff and arm, in order to the automatic pilot by fixed routine crawl, carrying object or operation tool.Mechanization and the automation of the heavy work that manipulator can replace the people to realize producing, manipulator has been used for replacing manual work widely in the modern industry, has improved greatly production efficiency.
In the press field, when stamping mechanical arm was transferred product, product needed manipulator to carry out the action of rising usually in the mould the inside, product could be taken out and put into.In the prior art, when using cylinder elevation and subsidence mechanical hand, speed and synchronism aspect Shortcomings; Mechanism's elevation and subsidence mechanical hand then is unfavorable for the adjusting of height and position about the use cam; When using leading screw to move up and down secondary elevation and subsidence mechanical hand, because leading screw is that two bearing blocks are fixed, leading screw can't be installed on the lifting base center, so that the equipment lifting is with eccentric load.
Therefore, provide that a kind of to regulate the manipulator that does not have eccentric force, accurate positioning in arm height, the process that the moves up and down pair that moves up and down be the technical problem that those skilled in the art need solution badly.
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The utility model content
A purpose of the present utility model provides a kind ofly can regulate the manipulator that does not have eccentric force, accurate positioning in arm height, the process that the moves up and down pair that moves up and down, and another purpose of the present utility model provides a kind of manipulator.
In order to realize above-mentioned first purpose, the utility model provides a kind of manipulator for manipulator pair that moves up and down, comprise motor, leading screw, feed screw nut, elevating bracket, described motor is connected with described leading screw, described feed screw nut spinning is on described leading screw, described feed screw nut is fixed on the described elevating bracket, and described leading screw is installed on described elevating bracket center.
Preferably, also comprise shaft coupling, described motor is connected with described leading screw by described shaft coupling.
In order to realize above-mentioned second purpose, the utility model also provides a kind of manipulator, comprises fuselage, sliding seat, mobile transporting body and the above-mentioned manipulator pair that moves up and down, and described elevating bracket, described sliding seat, described mobile transporting body connect successively.
Preferably, also comprise balance cylinder, described balance cylinder is installed on the back both sides of manipulator, and is distributed in described leading screw both sides, and the lever of described balance cylinder is connected with described elevating bracket.
Preferably, also comprise the fixedly holder of leading screw upper end, described holder is fixed on the fuselage.
Compared with prior art, the manipulator provided by the utility model pair that moves up and down, it comprises motor, leading screw, feed screw nut, elevating bracket, described motor is connected with described leading screw, described feed screw nut spinning is on described leading screw, described feed screw nut is fixed on the described elevating bracket, and described leading screw is installed on described elevating bracket center.
Therefore, the described leading screw gyration of described motor driving, described leading screw drives spinning feed screw nut thereon and moves up and down, and move up and down thereby drive described elevating bracket, and it is little to be easy to regulate original position and the guide screw movement noise of elevating bracket; Because described leading screw is installed on described elevating bracket center, described elevating bracket keeps stress balance easily, thereby has eliminated the eccentric force when moving up and down, accurate positioning, and because load is not eccentric, can prolong the service life of leading screw.
In embodiment further preferably, also comprise shaft coupling, described motor is connected with described leading screw by described shaft coupling, can improve the dynamic property that power is conducted between described motor and the described leading screw.
Compared with prior art, manipulator provided by the utility model comprises the above-mentioned manipulator pair that moves up and down, and the move up and down mobile transporting body of secondary elevating bracket, the sliding seat of described manipulator, described manipulator of described manipulator connects successively.
Therefore, can move up and down by the move up and down mobile transporting body of the moving described manipulator of subband of described manipulator, the move up and down technique effect of pair of other technologies effect and above-mentioned manipulator is basic identical, repeats no more herein.
In embodiment further preferably, also comprise balance cylinder, described balance cylinder is installed on the back both sides of manipulator, and be distributed in described leading screw both sides, the lever of described balance cylinder is connected with described elevating bracket, thereby, can share by described balance cylinder the part weight of described elevating bracket, thereby strengthen the fluency of guide screw movement, reduce the power requirement to described motor, prolong the service life of leading screw.
In embodiment further preferably, also comprise the fixedly holder of leading screw upper end, described holder is fixed on the fuselage, therefore, can improve described leading screw in the stability of vertical direction motion by described holder.
Description of drawings
Fig. 1 is the front view of a kind of manipulator that the utility model proposes;
Fig. 2 is the stereogram of a kind of manipulator that the utility model proposes.
The specific embodiment
A purpose of the present utility model provides a kind of for manipulator, can regulate the arm height, not have the manipulator of eccentric force, the accurate positioning pair that moves up and down in the process that moves up and down, and another purpose of the present utility model provides a kind of manipulator.
In order to make those skilled in the art understand better the technical solution of the utility model; below in conjunction with accompanying drawing the utility model is described in detail; the description of this part only is exemplary and explanatory, should any restriction not arranged to protection domain of the present utility model.
Please refer to Fig. 1 and Fig. 2, a kind of be among the embodiment, a kind of manipulator for manipulator provided by the utility model pair that moves up and down, comprise motor 1, leading screw 4, feed screw nut 9, elevating bracket 5, shaft coupling 2, described motor 1 is connected with described leading screw 4 by described shaft coupling 2, described feed screw nut 9 spinnings are on described leading screw 4, and described feed screw nut 9 is fixed on the described elevating bracket 5, and described leading screw 4 is installed on described elevating bracket 5 centers.
During described motor 1 positive and negative rotation, drive described leading screw 4 positive and negative rotations by described shaft coupling 2, move up and down thereby drive described feed screw nut 9, described feed screw nut 9 will drive described elevating bracket 5 and move up and down; Because described leading screw 4 is installed on described elevating bracket 5 centers, thereby so that elevating bracket 5 keeps stress balance easily, and eliminated the eccentric force when moving up and down, and accurate positioning, and load is not eccentric, therefore, can prolong the service life of leading screw 4; Simultaneously, the gyration of adopting leading screw 4 that motor 1 is exported is converted into the rectilinear motion of elevating bracket 5, so that motion noise is little, and the original position that is easy to regulate elevating bracket 5.
Further, by shaft coupling 2 motor 1 is connected with leading screw 4, has improved the dynamic property of power conduction.
The utility model also provides a kind of manipulator, in one embodiment, manipulator provided by the utility model, comprise the above-mentioned manipulator pair that moves up and down, fuselage 10, sliding seat 6, mobile transporting body 8, balance cylinder 7 and the fixing holder 3 of leading screw 4 upper ends, the described manipulator secondary elevating bracket 5 that moves up and down, the sliding seat 6 of described manipulator, the mobile transporting body 8 of described manipulator connects successively, described balance cylinder 7 is installed on the both sides, fuselage 10 top of manipulator, and be distributed in described leading screw 4 both sides, the lever of described balance cylinder 7 is connected with described elevating bracket 5, and described holder 3 is fixed on the fuselage 10.
Therefore, can move up and down by the move up and down mobile transporting body 8 of the moving described manipulator of subband of described manipulator.
Further, can share by described balance cylinder 7 the part weight of described elevating bracket 5, thereby strengthen the fluency of leading screw 4 motions, reduce the power requirement to described motor 1, prolong the service life of leading screw 4.
Further, can improve described leading screw 4 in the stability of vertical direction motion by described holder 3.
Need to prove; the utility model does not limit the actuating unit type; can use motor; also can use other actuating units such as motor, the utility model does not also limit the quantity of balance cylinder, can be two; also can be four; therefore both sides each two or more, adopt the similar structure all should be within the utility model protection domain.
Need to prove, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby not only comprise which key element so that comprise process, method, article or the equipment of a series of key elements, but also comprise other key elements of clearly not listing, or also be included as the intrinsic key element of this process, method, article or equipment.Do not having in the situation of more restrictions, the key element that is limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises key element and also have other identical element.
Used specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present utility model and core concept thereof.The above only is preferred embodiment of the present utility model, should be understood that, because the finiteness of literal expression, and objectively there is unlimited concrete structure, for those skilled in the art, under the prerequisite that does not break away from the utility model principle, can also make some improvement, retouching or variation, also above-mentioned technical characterictic can be made up by rights; These improve retouching, change or combination, or without improving the design of utility model and technical scheme are directly applied to other occasion, all should be considered as protection domain of the present utility model.
Claims (5)
1. manipulator pair that moves up and down, be used for manipulator, it is characterized in that, comprise motor (1), leading screw (4), feed screw nut (9), elevating bracket (5), described motor (1) is connected with described leading screw (4), described feed screw nut (9) spinning is on described leading screw (4), and described feed screw nut (9) is fixed on the described elevating bracket (5), and described leading screw (4) is installed on described elevating bracket (5) center.
2. the manipulator according to claim 1 pair that moves up and down is characterized in that, also comprises shaft coupling (2), and described motor (1) is connected with described leading screw (4) by described shaft coupling (2).
3. manipulator, comprise fuselage (10), sliding seat (6) and mobile transporting body (8), it is characterized in that, comprise that also described elevating bracket (5), described sliding seat (6), described mobile transporting body (8) connect successively such as claim 1 or the manipulator claimed in claim 2 pair that moves up and down.
4. manipulator according to claim 3, it is characterized in that, also comprise balance cylinder (7), described balance cylinder (7) is installed on fuselage (10) both sides, top of manipulator, and be distributed in described leading screw (4) both sides, the lever of described balance cylinder (7) is connected with described elevating bracket (5).
5. manipulator according to claim 3 is characterized in that, also comprises the fixedly holder (3) of leading screw (4) upper end, and described holder (3) is fixed on the fuselage (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220445603 CN202825829U (en) | 2012-09-04 | 2012-09-04 | Mechanical arm vertical kinematic pair and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220445603 CN202825829U (en) | 2012-09-04 | 2012-09-04 | Mechanical arm vertical kinematic pair and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202825829U true CN202825829U (en) | 2013-03-27 |
Family
ID=47937620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220445603 Expired - Fee Related CN202825829U (en) | 2012-09-04 | 2012-09-04 | Mechanical arm vertical kinematic pair and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202825829U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364907A (en) * | 2015-11-17 | 2016-03-02 | 盐城苏工高科机械有限公司 | Heavy type three-axis gantry type manipulator |
| CN106892022A (en) * | 2015-12-18 | 2017-06-27 | 北汽福田汽车股份有限公司 | Fascia module manipulator, vehicle general assembly line and corresponding assembly method |
-
2012
- 2012-09-04 CN CN 201220445603 patent/CN202825829U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364907A (en) * | 2015-11-17 | 2016-03-02 | 盐城苏工高科机械有限公司 | Heavy type three-axis gantry type manipulator |
| CN106892022A (en) * | 2015-12-18 | 2017-06-27 | 北汽福田汽车股份有限公司 | Fascia module manipulator, vehicle general assembly line and corresponding assembly method |
| CN106892022B (en) * | 2015-12-18 | 2019-03-12 | 北京宝沃汽车有限公司 | Fascia module manipulator, vehicle general assembly line and corresponding assembly method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: CHANGSHA HAOYAO ELECTRONIC TECHNOLOGY CO., LTD. Assignor: Zhu Jiang Contract record no.: 2015430000140 Denomination of utility model: Mechanical arm vertical kinematic pair and mechanical arm Granted publication date: 20130327 License type: Exclusive License Record date: 20150923 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20160904 |