CN203266643U - Lifting rotating device for mechanical hand and mechanical hand applying same - Google Patents
Lifting rotating device for mechanical hand and mechanical hand applying same Download PDFInfo
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- CN203266643U CN203266643U CN 201320326719 CN201320326719U CN203266643U CN 203266643 U CN203266643 U CN 203266643U CN 201320326719 CN201320326719 CN 201320326719 CN 201320326719 U CN201320326719 U CN 201320326719U CN 203266643 U CN203266643 U CN 203266643U
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Abstract
The utility model relates to a lifting rotating device for a mechanical hand and the mechanical hand applying the same. The lifting rotating device for the mechanical hand comprises a vertical shaft, a fixed member, a first transmission device, a second transmission device and teeth, wherein the fixed member is fixedly connected with the outer end of a small rocker arm and is used for limiting the up-and-down movement curve of the vertical shaft; the first transmission device is arranged at the upper part of the outer end of the small rocker arm and is used for driving the vertical shaft to rotate; the second transmission device is arranged in the middle of the outer end of the small rocker arm and is used for driving the vertical shaft to move up and down; the vertical shaft is provided with the teeth moving up and down. The teeth on the vertical shaft are meshed through a gear wheel on the second transmission device to drive the vertical shaft to move up and down. The first transmission device is arranged at the upper part of the outer end of the small rocker arm instead of the upper part of the vertical shaft, so that the gravity load at the upper part of the vertical shaft is prevented, the up-and-down movement of the vertical shaft is flexible, and the stability is high. Meanwhile, the up-and-down movement of a bearing and rotation of an axis are concentrated on one vertical shaft, the device is simple to operate and beneficial to examining and repairing and maintenance.
Description
Technical field
The utility model relates to the automatic welding technique field, is specifically related to a kind of manipulator that is applied to weld the place with lift rotating equipment and uses the manipulator of this device
Background technology
In manufacturing, particularly large-scale machine processing industry, need to be connected and fixed some metalworks or sheet metal, and welding is used more in processing industry as a kind of comparatively stable connected mode.At present, be welded with artificial spot welding, special plane multiple spot welding and Robot Spot Welding etc.Its artificial spot welding weak point is: the one, and the quality of manual welding depends on welder's technical merit and the performance state in when operation, and welding quality is unstable, and labor strength is large, and objective fatiguability directly affects the workmanship of product; The 2nd, the smog that produces during welding produces infringement to people's respiratory system, if careless during welding, eyes are directly observed the light that when welding send, and can produce infringement to people's cornea, the high temperature that produces when welding besides can burn people's face and skin; The 3rd, the production efficiency of manual welding is low.For addressing these problems, Robot Spot Welding has appearred.Robot Spot Welding refer to utilize the robot that is integrated with servo torch by projected path along the surface of the work pointwise welding of moving.It is powerful, and automaticity is high, and kinematic accuracy is high, and quality conformance is good.
﹠lt, b TranNum="60" ﹠gt, the patent that is called " welding manipulator " as Chinese invention patent notification number " CN101569972B " name discloses a kind of welding manipulator, include base and motor, be provided with vertical pivot on described base, be provided with the large rocking arm that can rotate around it on vertical pivot, the hinged small rocker in outer end at large rocking arm, be provided with a vertical shaft in the outer end of small rocker, be outside equipped with outer sleeve at vertical shaft, bottom at vertical shaft is hinged with arc welding gun head, large rocking arm, the lifting of the rotation of small rocker and vertical shaft and vertical shaft and outer sleeve is the driven by motor by independently arranging separately all, and by independently encoder collection or measure its rotational angle and the lifting displacement signal separately, the swing of arc welding gun head is by driven by motor, and by the encoder collection or measure its pendulum angle signal, the displacement of encoder collection or measurement and angle signal are controlled the rotation of each motor to drive large rocking arm by controller, small rocker, vertical shaft, the action of outer sleeve and arc welding gun head.But the motor that drives vertical shaft rotary in this welding manipulator is arranged on the top of vertical shaft, flexibility and stability that the gravity effect of himself moves up and down to vertical shaft, be the gravity of this motor of balance under powering-off state, also need additionally to arrange the clockwork spring balanced controls in the outer end of this small rocker, be connected with the lower end of vertical shaft by cable wire.Simultaneously, for making arc welding gun head move up and down and rotating, need vertical shaft and the outer sleeve acting in conjunction outside vertical shaft, required part is more, also is unfavorable for inspection and maintenance</b>
Summary of the invention
For overcoming defects, the purpose of this utility model namely be to provide a kind of simple in structure, vertical shaft moves up and down and the flexibility of axle rotation and stability strong, a kind of manipulator lift rotating equipment that production efficiency is high.
The purpose of this utility model also is to provide a kind of manipulator that above-mentioned manipulator is used lift rotating equipment of using.
The purpose of this utility model is achieved through the following technical solutions:
A kind of manipulator lift rotating equipment of the present utility model, small rocker on this device and manipulator is flexibly connected, this device comprises: vertical shaft, be fixedly connected on the small rocker outer end and be used for limiting the move up and down fixture of track of vertical shaft, the top that is arranged on the small rocker outer end drives the first transmission device of vertical shaft axle rotation, and the middle part that is arranged on the small rocker outer end drives the second transmission device that vertical shaft moves up and down; Be provided with on described vertical shaft be used to the teeth that move up and down;
Described the first transmission device comprises the first motor, the first drive that is connected with the motor shaft of this first motor, be socketed in the second drive on described vertical shaft, be arranged on the driving-belt between the first drive and the second drive;
Described the second transmission device comprises the second motor, gear, and described gear is arranged on the motor shaft of the second motor, and described gear is meshed with teeth on described vertical shaft
As a kind of improvement of the present utility model, described vertical shaft is splined shaft, and described the second drive is by splined nut and the socket of described vertical shaft.
As further improvement of the utility model, described first and second drive is synchronous pulley, and described driving-belt is Timing Belt.
Further improve as of the present utility model, described the second transmission device also comprises the reductor that is connected with the motor shaft of the second motor, and described gear is arranged on the deboost axle of reductor.
On the basis of said structure, described the second transmission device also comprises the second encoder that is connected with the deboost axle axle, and described the first transmission device also comprises the first encoder that is connected with the motor shaft of the first motor.
Wherein, also be provided with outside described fixture for manually controlling the manual pulley that described vertical shaft moves up and down.
Preferred embodiment a kind of as the utility model, described first and second motor is stepper motor.
As the utility model another preferred embodiment, be provided with first and second bearing for Support Gear two ends deboost axle on described fixture, described fixture upper and lower end parts is provided with for third and fourth bearing that supports vertical shaft.
A kind of manipulator, comprise: base, be arranged on the large rocking arm on base, the small rocker hinged with large rocking arm, lift rotating equipment with the small rocker flexible connection, be arranged on and drive the first power set that large rocking arm rotates on large rocking arm, be arranged on and drive the second power set that small rocker rotates on large rocking arm, described lift rotating equipment is manipulator lift rotating equipment as above.
As a kind of improvement of the present utility model, described the first power set are arranged in described base.
A kind of manipulator that the utility model provides is with lift rotating equipment and use the manipulator of this device, this manipulator comprises with lift rotating equipment: vertical shaft, be fixedly connected on the small rocker outer end and be used for limiting the move up and down fixture of track of vertical shaft, the top that is arranged on the small rocker outer end drives the first transmission device of vertical shaft axle rotation, and the middle part that is arranged on the small rocker outer end drives the second transmission device that vertical shaft moves up and down; Be provided be used to the teeth that move up and down on described vertical shaft.Teeth by on the engagement of the gear on the second transmission device vertical shaft drive vertical shaft and move up and down.The first transmission device be arranged on the top of small rocker outer end and replace being arranged on the top of vertical shaft, having avoided being arranged on the gravity load on vertical shaft top, moving up and down of vertical shaft is more flexible, and stability is higher.Simultaneously carrying being moved up and down, rotation concentrates on a vertical shaft with axle, and its operation is simpler, more is conducive to inspection and maintenance.
Description of drawings
In order to be easy to explanation, the utility model is done to describe in detail by following preferred embodiment and accompanying drawing.
Fig. 1 is the profile that a kind of manipulator of the utility model is used lift rotating equipment;
Fig. 2 is the top view that a kind of manipulator of the utility model is used lift rotating equipment;
Fig. 3 is the cut-away view that a kind of manipulator of the utility model is used lift rotating equipment;
Fig. 4 is the profile of a kind of manipulator of the utility model;
Fig. 5 is the integral installation figure of a kind of manipulator of the utility model.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
Please refer to Fig. 1-3, a kind of manipulator lift rotating equipment of the present utility model, this device is flexibly connected with small rocker 1, and this device comprises: vertical shaft, this vertical shaft is preferably splined shaft 5, and the lower end of this splined shaft 5 is fixed with welding gun.Described small rocker 1 outer end is fixedly connected with to be useful on and limits the move up and down fixture 9 of track of splined shaft 5, is provided with for the 3rd bearing 8 and the 4th bearing 17 that support splined shaft 5 in fixture 9 upper and lower end parts.The top of described small rocker 1 outer end is provided with the first transmission device that drives splined shaft 5 axles rotations, and the middle part of described small rocker 1 outer end is provided with and drives the second transmission device that splined shaft 5 moves up and down.
Wherein, the first transmission device comprises the first motor 3, the first drive 2 that is connected with these the first motor 3 axles, is socketed in the second drive 7 on described splined shaft 5, is arranged on the driving-belt 4 between the first drive 2 and the second drive 7.As optimal way of the present utility model, this first drive 2 and the second drive 7 are synchronous pulley, and described driving-belt 4 is Timing Belt.The second drive 7 is by splined nut 6 and splined shaft 5 sockets.When splined shaft 5 being carried out the axle rotation, start the first motor 3, by the transmission of the first drive 2, driving-belt 4, the second drive 7, and there is splined nut 6 to make the second drive 7 and splined shaft 5 socket chuckings, drive splined shaft 5 and carry out the axle rotation.
The second transmission device comprises that the axle head of the second motor 10, the second motors 10 is connected with reductor 11, is provided with gear 15 on the axle of reductor 11, teeth 18 engagements on this gear 15 and splined shaft 5.When splined shaft 5 is moved up and down, start the second motor 10, this second motor 10 is by the transmission of reductor 11, the rotation of driven gear 15, due to this gear 15 all the time with splined shaft 5 on teeth 18 engagements, make splined shaft 5 to move up and down.Be provided with on the deboost axle of the reductor 11 at the two ends, left and right of gear 15 and make it be supported on clutch shaft bearing 16 and the second bearing 14 on fixture 9.Outer end at the deboost axle of reductor 11 is connected with the second encoder 12 by shaft coupling 13, also be provided with the first encoder (not shown) that is connected with the first motor 3 axles on the first transmission device, adopt the encoder collection or measure its rotational angle signal, by the rotational angle signal that obtains, set for this splined shaft 5 the both fixed tracks that move up and down with the axle rotation by controller.As preferably, this first motor 3 and the second motor 10 are stepper motor.
Referring to Fig. 5, also be provided with in fixture 9 outsides for manually controlling the manual pulley 29 that described splined shaft 5 moves up and down, can under the second motor 10 breaks down situation, manually make splined shaft 5 move up and down.
Specifically referring to Fig. 4-5, a kind of manipulator, comprise: base 19, be arranged on the large rocking arm 20 on base 19, the small rocker 1 hinged with large rocking arm 20, be arranged on and drive the first power set that large rocking arm 20 rotates on large rocking arm 20, be arranged on and drive the second power set that small rocker 1 rotates on large rocking arm 20, be connected with above-mentioned manipulator lift rotating equipment on small rocker 1.
Wherein, these first power set comprise motor 21, and this motor 21 drives pinion 23 transmission gear wheels 24, makes large rocking arm 20 be rotated, and these first power set also can be arranged in base 19.These second power set comprise motor 25, and this motor 25 drives pinion 27 transmission gear wheels 28, makes small rocker 1 be rotated.These first power set and the second power set are by independently encoder 22 and encoder 26 gather or measure its rotational angle and lifting displacement signal separately.
The above is only preferred embodiment of the present utility model, not in order to limiting the utility model, all any modifications of doing within spirit of the present utility model and principle, is equal to and replaces and improvement etc., within all should being included in protection domain of the present utility model
Claims (10)
1. manipulator lift rotating equipment, small rocker on this device and manipulator is flexibly connected, it is characterized in that, this device comprises: vertical shaft, be fixedly connected on the small rocker outer end and be used for limiting the move up and down fixture of track of vertical shaft, the top that is arranged on the small rocker outer end drives the first transmission device of vertical shaft axle rotation, and the middle part that is arranged on the small rocker outer end drives the second transmission device that vertical shaft moves up and down; Be provided with on described vertical shaft be used to the teeth that move up and down;
Described the first transmission device comprises the first motor, the first drive that is connected with the motor shaft of this first motor, be socketed in the second drive on described vertical shaft, be arranged on the driving-belt between the first drive and the second drive;
Described the second transmission device comprises the second motor, gear, and described gear is arranged on the motor shaft of the second motor, and described gear is meshed with teeth on described vertical shaft.
2. a kind of manipulator lift rotating equipment according to claim 1, is characterized in that, described vertical shaft is splined shaft, and described the second drive is by splined nut and the socket of described vertical shaft.
3. a kind of manipulator lift rotating equipment according to claim 1, is characterized in that, described first and second drive is synchronous pulley, and described driving-belt is Timing Belt.
4. the described a kind of manipulator lift rotating equipment of according to claim 1-3 any one, is characterized in that, described the second transmission device also comprises the reductor that is connected with the motor shaft of the second motor, and described gear is arranged on the deboost axle of reductor.
5. a kind of manipulator lift rotating equipment according to claim 4, is characterized in that, described the second transmission device also comprises the second encoder that is connected with the deboost axle axle; Described the first transmission device also comprises the first encoder that is connected with the motor shaft of the first motor.
6. a kind of manipulator lift rotating equipment according to claim 1, is characterized in that, also is provided with outside described fixture for manually controlling the manual pulley that described vertical shaft moves up and down.
7. a kind of manipulator lift rotating equipment according to claim 1, is characterized in that, described first and second motor is stepper motor.
8. a kind of manipulator lift rotating equipment according to claim 1, it is characterized in that, be provided with first and second bearing for Support Gear two ends deboost axle on described fixture, described fixture upper and lower end parts is provided with for third and fourth bearing that supports vertical shaft.
9. manipulator, comprise: base, be arranged on the large rocking arm on base, the small rocker hinged with large rocking arm, with the lift rotating equipment that small rocker is flexibly connected, be arranged on and drive the first power set that large rocking arm rotates on large rocking arm, be arranged on and drive the second power set that small rocker rotates on large rocking arm, it is characterized in that, described lift rotating equipment is the described manipulator lift rotating equipment of claim 1-8 any one.
10. a kind of manipulator according to claim 9, is characterized in that, described the first power set are arranged in described base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320326719 CN203266643U (en) | 2013-06-07 | 2013-06-07 | Lifting rotating device for mechanical hand and mechanical hand applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320326719 CN203266643U (en) | 2013-06-07 | 2013-06-07 | Lifting rotating device for mechanical hand and mechanical hand applying same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203266643U true CN203266643U (en) | 2013-11-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320326719 Expired - Fee Related CN203266643U (en) | 2013-06-07 | 2013-06-07 | Lifting rotating device for mechanical hand and mechanical hand applying same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203266643U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317506A (en) * | 2013-06-07 | 2013-09-25 | 深圳华意隆电气股份有限公司 | Lifting and rotation device for manipulator and manipulator adopting same |
| CN103722325A (en) * | 2013-11-28 | 2014-04-16 | 无锡华联科技集团有限公司 | Lifting mechanism for electroslag welding with wire electrodes |
| CN104440896A (en) * | 2014-12-05 | 2015-03-25 | 重庆朗正科技有限公司 | Cylindrical coordinate robot |
-
2013
- 2013-06-07 CN CN 201320326719 patent/CN203266643U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317506A (en) * | 2013-06-07 | 2013-09-25 | 深圳华意隆电气股份有限公司 | Lifting and rotation device for manipulator and manipulator adopting same |
| CN103722325A (en) * | 2013-11-28 | 2014-04-16 | 无锡华联科技集团有限公司 | Lifting mechanism for electroslag welding with wire electrodes |
| CN103722325B (en) * | 2013-11-28 | 2015-07-22 | 无锡华联科技集团有限公司 | Lifting mechanism for electroslag welding with wire electrodes |
| CN104440896A (en) * | 2014-12-05 | 2015-03-25 | 重庆朗正科技有限公司 | Cylindrical coordinate robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151221 Address after: Nanshan District Shenzhen Hing Guangdong streets of 518000 cities in Guangdong province and three Shenzhen Virtual University Park University industry building A205-206 room Patentee after: Shenzhen Longyuntiandi Information Technology Co., LTD. Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili town honghualing industrial district three district four, six floor, first building Patentee before: Shenzhen Huayilong Industrial Development Co., Ltd |
|
| 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: 20131106 Termination date: 20190607 |