CN203945366U - A kind of cantilever robot manipulator structure - Google Patents
A kind of cantilever robot manipulator structure Download PDFInfo
- Publication number
- CN203945366U CN203945366U CN201420407564.2U CN201420407564U CN203945366U CN 203945366 U CN203945366 U CN 203945366U CN 201420407564 U CN201420407564 U CN 201420407564U CN 203945366 U CN203945366 U CN 203945366U
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- pulling
- rotating shaft
- bearing
- level
- lower seat
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 25
- 238000009434 installation Methods 0.000 claims description 6
- 210000003414 extremity Anatomy 0.000 description 3
- 230000000717 retained effect Effects 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of cantilever robot manipulator structure, it adopts the structure of slewing frame type, effectively ensure structural strength, be not subject to the impact of each tractive force and be out of shape, it can enter operation in oblique straight line space, and can carry out the revolution operation in vertical plane, its adaptable working environment is large, and its versatility is good.It comprises pedestal, bearing, bearing support is in pedestal, between the bottom centre position of bearing and pedestal, be provided with bottom rotating shaft, bearing can rotate with respect to pedestal, the top of bearing is furnished with the level that runs through its front and back end to rotating shaft, level can rotate to rotating shaft, level is arranged perpendicular to bottom rotating shaft to rotating shaft, level is provided with pulling structure to the front end of rotating shaft, in pulling structure, be provided with and be parallel to the pulling guide rail of level to rotating shaft, upper and lower seat is installed in pulling guide rail, and upper and lower seat can do rectilinear motion along pulling guide rail, and upper and lower seat is fastened with linear drives parts.
Description
Technical field
The utility model relates to the technical field of structures of manipulator, is specially a kind of cantilever robot manipulator structure.
Background technology
Existing manipulator, it comprises retained part, retained part is anchored on after corresponding base, base support is in carrying out X, Y, on Z axis three-dimensional platform, according to the position of workpiece, adjust the position of three-dimensional platform, make the smooth holding workpiece of retained part, along with modernization development, three-dimensional positioning mechanical arm can not meet the demand of modern production, the applying date is on December 31st, 2013, application number is 2013107477445, " a kind of for capturing four axis robot of sheet metal component " of application publication number CN103707296A, following technology is disclosed " by a spindle unit, two spindle units, three spindle units, four spindle units and electrical control cubicles combine, wherein a spindle unit has been realized the elevating movement of mechanical arm, two spindle units have been realized the gyration of large arm, three spindle units have been realized the gyration of forearm, four spindle units have been realized the gyration of sucker stand ", be that mechanical arm comprises large arm, two structures of forearm, thereby solve traditional mechanical arm and be not suitable for the problem of operation in narrow space, this technology can not make manipulator can enter operation in oblique straight line space, and can not carry out the revolution operation on vertical plane, its adaptable working environment is little.
Summary of the invention
For the problems referred to above, the utility model provides a kind of cantilever robot manipulator structure, it adopts the structure of slewing frame type, effectively ensure structural strength, be not subject to the impact of each tractive force and be out of shape, it can enter operation in oblique straight line space, and can carry out the revolution operation in vertical plane, its adaptable working environment is large, and its versatility is good.
A kind of cantilever robot manipulator structure, it is characterized in that: it comprises pedestal, bearing, described bearing support is in described pedestal, between the bottom centre position of described bearing and described pedestal, be provided with bottom rotating shaft, described bearing can rotate with respect to described pedestal, the top of described bearing is furnished with the level that runs through its front and back end to rotating shaft, described level can rotate to rotating shaft, described level is arranged perpendicular to the rotating shaft of described bottom to rotating shaft, described level is provided with pulling structure to the front end of rotating shaft, in described pulling structure, be provided with and be parallel to the pulling guide rail of level to rotating shaft, upper and lower seat is installed in described pulling guide rail, upper and lower seat can do rectilinear motion along described pulling guide rail, described upper and lower seat is fastened with linear drives parts, the driving direction of described linear drives parts is perpendicular to the upper plane of described pulling guide rail, the below drive part of described linear drives parts is fastenedly connected clamp structure.
It is further characterized in that: described level is to the rear end evagination of rotating shaft in the rear portion of the upper end of described bearing, described level is set with angle swivel mount to the rear end of rotating shaft, the below swing arm of described angle swivel mount connects the piston end that drives cylinder, and the base of described driving cylinder is installed in the rear end outer wall of described bearing;
Described pulling structure specifically comprises pulling holder, pulling arm, pulling end shield, pulling cylinder, described pulling holder is set with and is anchored on the front end of described level to rotating shaft, the both sides of described pulling holder connect the described pulling end shield of front end by the pulling arm of respective side, the front end of described pulling end shield is furnished with pulling cylinder, the cylinder arm of described pulling cylinder is fastenedly connected the front end of described upper and lower seat, the inner side correspondence position of the described pulling arm of both sides is furnished with respectively described pulling guide rail, between the described pulling guide rail of both sides, leaves spacing;
Described linear drives parts are specially straight line bounce cylinder, and the pedestal of described straight line bounce cylinder is positioned at the installation cavity of described upper and lower seat, and the lower end piston rod of described straight line bounce cylinder is fastenedly connected the upper end of clamp structure;
The rear end of described upper and lower seat is provided with line slideway, described line slideway is parallel to described straight line bounce cylinder and arranges, described line slideway is vertically arranged in described upper and lower seat in opposite directions, one side of linear beam is installed in the guide-track groove of described line slideway, protruding in the bottom of described line slideway under the bottom of described linear beam, the bottom of described linear beam connects the upper end of described clamp structure;
The protruding buffer head that is furnished with after the rearward end of described upper and lower seat, wherein the inner side of the pulling arm of a side is embedded with block, and the hub head end of described block is arranged facing to the rear end face of described buffer head;
It also comprises electric cabinet, and described electric cabinet is positioned at a side of described bearing;
The another side of described bearing is furnished with magnetic valve fixed head, in the inner chamber of described magnetic valve fixed head, be furnished with magnetic valve, lead to wave pipe corresponding to the upper end position of described magnetic valve fixed head, described unrestrained pipe is communicated to lower jacket plate, the lower end of described lower jacket plate be fixed on described line slideway bottom outer end, the upper end of described linear beam is furnished with upper jacket plate, the upper end of chain is anchored on described upper jacket plate, expose after running through the inner side pilot hole of described lower jacket plate the lower end of chain, described unrestrained pipe is arranged in a relative side away from described linear beam of described chain,
Described clamp structure is specially upper end rotating mechanism, below clamping jaw structure, and described top rotating mechanism connects below clamping jaw structure by clamping limb;
The position of the lower protruding installation end face in described pedestal of described bottom rotating shaft is provided with lower protruding spanner position.
Adopt after structure of the present utility model, between the bottom centre position of bearing and pedestal, be provided with bottom rotating shaft, make bearing around 360 ° of rotations of pedestal, to make the work area of manipulator large; And the top of bearing is furnished with the level that runs through its front and back end to rotating shaft, level can rotate to rotating shaft, level is to rotating shaft perpendicular to bottom rotating shaft layout, and the supporting arm of manipulator can rotate, and makes the clamp structure of manipulator to be arbitrarily angled layout with horizontal plane; Level is provided with pulling structure to the front end of rotating shaft, in pulling structure, be provided with and be parallel to the pulling guide rail of level to rotating shaft, upper and lower seat is installed in pulling guide rail, and upper and lower seat can do rectilinear motion along the upper plane of pulling guide rail, guarantees that clamp structure can carry out unspecified angle adjustment in the horizontal direction; Upper and lower seat is fastened with linear drives parts, and the driving direction of linear drives parts is perpendicular to the upper plane of pulling guide rail, and the below drive part of linear drives parts is fastenedly connected clamp structure, has guaranteed the expanding-contracting action of clamp structure; To sum up, it adopts the structure of slewing frame type, effectively ensures structural strength, be not subject to the impact of each tractive force and be out of shape, it can enter operation in oblique straight line space, and can carry out the revolution operation in vertical plane, its adaptable working environment is large, and its versatility is good.
Brief description of the drawings
Fig. 1 is stereogram structural representation of the present utility model (removing the pulling arm of inner side and the piston rod of straight line bounce cylinder in pressed status);
Fig. 2 is front view structural representation of the present utility model;
Fig. 3 is rearview structural representation of the present utility model;
Fig. 4 is left view structural representation of the present utility model;
Fig. 5 is right view structural representation of the present utility model;
Fig. 6 is upward view structural representation of the present utility model;
Fig. 7 is top view structural representation of the present utility model;
Fig. 8 is that the B-B of Fig. 3 cuts open structural representation;
Fig. 9 is working state structure schematic diagram of the present utility model;
In figure, the corresponding title of each sequence number is as follows: pedestal 1, bearing 2, bottom rotating shaft 3, level is to rotating shaft 4, pulling structure 5, pulling guide rail 6, upper and lower seat 7, clamp structure 8, angle swivel mount 9, below swing arm 10, drive cylinder 11, pulling holder 12, pulling arm 13, pulling end shield 14, pulling cylinder 15, straight line bounce cylinder 16, piston rod 17, line slideway 18, linear beam 19, buffer head 20, block 21, electric cabinet 22, magnetic valve fixed head 23, wave pipe 24, lower jacket plate 25, upper jacket plate 26, chain 27, upper end rotating mechanism 28, below clamping jaw structure 29, clamping limb 30, spanner position 31, descending buffer head structure 32.
Detailed description of the invention
A kind of cantilever robot manipulator structure, see Fig. 1～Fig. 9: it comprises pedestal 1, bearing 2, bearing 2 is supported on pedestal 1, between the bottom centre position of bearing 2 and pedestal, be provided with bottom rotating shaft 3, bearing 2 can rotate with respect to pedestal 1, the top of bearing 2 is furnished with the level that runs through its front and back end to rotating shaft 4, level can rotate to rotating shaft 4, level is arranged perpendicular to bottom rotating shaft 3 to rotating shaft 4, level is provided with pulling structure 5 to the front end of rotating shaft 4, in pulling structure 5, be provided with and be parallel to the pulling guide rail 6 of level to rotating shaft, upper and lower seat 7 is installed in pulling guide rail 6, upper and lower seat 7 can be along the rectilinear motion that does of pulling guide rail 6, upper and lower seat 7 is fastened with linear drives parts, the driving direction of linear drives parts is perpendicular to the upper plane of pulling guide rail 6, the below drive part of linear drives parts is fastenedly connected clamp structure 8.Adopt after above structure, clamp structure 8 can enter operation in oblique straight line space, and can carry out the revolution operation in vertical plane, and its adaptable working environment is large, and its versatility is good.
Its preferred structure is as follows:
Level is to the rear end evagination of rotating shaft 4 in the rear portion of the upper end of bearing 2, level is set with angle swivel mount 9 to the rear end of rotating shaft 4, the below swing arm 10 of angle swivel mount 9 connects the piston end that drives cylinder 11, drives the base of cylinder 11 to be installed in the rear end outer wall of bearing 2, pulling structure 5 specifically comprises pulling holder 12, pulling arm 13, pulling end shield 14, pulling cylinder 15, pulling holder 12 is set with and is anchored on the front end of level to rotating shaft 4, the both sides of pulling holder 12 connect the pulling end shield 14 of front end by the pulling arm 13 of respective side, the front end of pulling end shield 14 is furnished with pulling cylinder 15, pulling cylinder 15 runs through the centre bore of pulling end shield 14, the cylinder arm of pulling cylinder 15 is fastenedly connected the front end of upper and lower seat 7, the inner side correspondence position of the pulling arm 13 of both sides is furnished with respectively pulling guide rail 6, between the pulling guide rail 6 of both sides, leave spacing, linear drives parts are specially straight line bounce cylinder 16, the pedestal of straight line bounce cylinder 16 is positioned at the installation cavity of upper and lower seat 7, the sidepiece of straight line bounce cylinder 16 is furnished with descending buffer head structure 32, and descending buffer head structure 32 makes the upper lower punch power of straight line bounce cylinder 16 reduce the impact for whole manipulator, the lower end piston rod 17 of straight line bounce cylinder 16 is fastenedly connected the upper end of clamp structure 8, the rear end of upper and lower seat 7 is provided with line slideway 18, line slideway 18 is parallel to the piston rod 17 of straight line bounce cylinder 16 and arranges, line slideway 18 is vertically arranged in upper and lower seat 7 in opposite directions, one side of linear beam 19 is installed in the guide-track groove of line slideway 18, protruding in the bottom of line slideway 18 under the bottom of linear beam 19, the bottom of linear beam 19 connects the upper end of clamp structure 8, the protruding buffer head 20 that is furnished with after the rearward end of upper and lower seat 7, wherein the inner side of the pulling arm 13 of a side is embedded with block 21, and the hub head end of block 21 is arranged facing to the rear end face of buffer head 20, can not strike pulling holder 12 while guaranteeing upper and lower seat 7 motion, it also comprises electric cabinet 22, and electric cabinet 22 is positioned at a side of bearing 2, the another side of bearing 2 is furnished with magnetic valve fixed head 23, in the inner chamber of magnetic valve fixed head 23, be furnished with magnetic valve (not shown in FIG., belong to existing mature structure), lead to wave pipe 24 corresponding to the upper end position of magnetic valve fixed head 23, in wave pipe 24, be furnished with the path that forms gas circuit and circuit, wave pipe 24 is communicated to lower jacket plate 25, the outer end of the bottom of line slideway 18 is fixed in the lower end of lower jacket plate 25, the upper end of linear beam 19 is furnished with upper jacket plate 26, the upper end of chain 27 is anchored on upper jacket plate 26, expose after running through the inner side pilot hole 28 of lower jacket plate 25 lower end of chain 27, wave pipe 24 be arranged in chain 27 relatively away from linear beam 19 1 sides, chain 27 intercepts being in contact with one another between wave pipe 24 and linear beam 19, line slideway 18, guarantees in wave pipe 24 that tracheae and electric wire are not subject to linear beam 19 knee-actions and are worn, clamp structure 8 is specially upper end rotating mechanism 28, below clamping jaw structure 29, and top rotating mechanism 28 connects below clamping jaw structure 29 by clamping limb 30, the position of the lower protruding installation end face in pedestal 1 of bottom rotating shaft 3 is provided with lower protruding spanner position 31, facilitates workman can adjust bottom rotating shaft 3.
Its operation principle is as follows: bearing can do 360 ° of rotations with respect to base by bottom rotating shaft 3, makes the work area of manipulator large, in the time that needs are adjusted pulling structure 5 and horizontal plane angulation, drive cylinder 11 to move, make to drive the piston rod of cylinder 11 eject or shrink, and then drive level is rotated to rotating shaft 4, make pulling structure 5 unitary rotation, make clamp structure to be arbitrarily angled layout (in the effective travel of piston rod that drives cylinder 11) with horizontal plane, and then make clamp structure 8 can enter operation in oblique straight line space, and can carry out the revolution operation in vertical plane, pulling cylinder 15 promotes upper and lower seat 7 and does horizontal position adjustment along the pulling guide rail 6 of both sides, after horizontal position adjustment puts in place, the piston rod action of straight line bounce cylinder 16, making clamp structure 8 extend into preposition clamps, except the inside rotating shaft of clamp structure 8, outside hold assembly, whole mechanism comprises two mutually perpendicular rotating shafts, two mutually perpendicular linear axis, and structural configuration makes the structure collection knee-action of upper and lower seat 7, pulling action, and while adopting respectively cylinder class driver part to make to move with buffering, adopt the structure of slewing frame type, effectively ensure the structural strength of upper and lower seat 7, be not subject to the impact of each tractive force and be out of shape.
Claims (10)
1. a cantilever robot manipulator structure, it is characterized in that: it comprises pedestal, bearing, described bearing support is in described pedestal, between the bottom centre position of described bearing and described pedestal, be provided with bottom rotating shaft, described bearing can rotate with respect to described pedestal, the top of described bearing is furnished with the level that runs through its front and back end to rotating shaft, described level can rotate to rotating shaft, described level is arranged perpendicular to the rotating shaft of described bottom to rotating shaft, described level is provided with pulling structure to the front end of rotating shaft, in described pulling structure, be provided with and be parallel to the pulling guide rail of level to rotating shaft, upper and lower seat is installed in described pulling guide rail, upper and lower seat can do rectilinear motion along described pulling guide rail, described upper and lower seat is fastened with linear drives parts, the driving direction of described linear drives parts is perpendicular to the upper plane of described pulling guide rail, the below drive part of described linear drives parts is fastenedly connected clamp structure.
2. a kind of cantilever robot manipulator structure as claimed in claim 1, it is characterized in that: described level is to the rear end evagination of rotating shaft in the rear portion of the upper end of described bearing, described level is set with angle swivel mount to the rear end of rotating shaft, the below swing arm of described angle swivel mount connects the piston end that drives cylinder, and the base of described driving cylinder is installed in the rear end outer wall of described bearing.
3. a kind of cantilever robot manipulator structure as claimed in claim 1 or 2, it is characterized in that: described pulling structure specifically comprises pulling holder, pulling arm, pulling end shield, pulling cylinder, described pulling holder is set with and is anchored on the front end of described level to rotating shaft, the both sides of described pulling holder connect the described pulling end shield of front end by the pulling arm of respective side, the front end of described pulling end shield is furnished with pulling cylinder, the cylinder arm of described pulling cylinder is fastenedly connected the front end of described upper and lower seat, the inner side correspondence position of the described pulling arm of both sides is furnished with respectively described pulling guide rail, between the described pulling guide rail of both sides, leave spacing.
4. a kind of cantilever robot manipulator structure as claimed in claim 3, it is characterized in that: described linear drives parts are specially straight line bounce cylinder, the pedestal of described straight line bounce cylinder is positioned at the installation cavity of described upper and lower seat, and the lower end piston rod of described straight line bounce cylinder is fastenedly connected the upper end of clamp structure.
5. a kind of cantilever robot manipulator structure as claimed in claim 4, it is characterized in that: the rear end of described upper and lower seat is provided with line slideway, described line slideway is parallel to described straight line bounce cylinder and arranges, described line slideway is vertically arranged in described upper and lower seat in opposite directions, one side of linear beam is installed in the guide-track groove of described line slideway, protruding in the bottom of described line slideway under the bottom of described linear beam, the bottom of described linear beam connects the upper end of described clamp structure.
6. a kind of cantilever robot manipulator structure as claimed in claim 3, it is characterized in that: the protruding buffer head that is furnished with after the rearward end of described upper and lower seat, wherein the inner side of the pulling arm of a side is embedded with block, and the hub head end of described block is arranged facing to the rear end face of described buffer head.
7. a kind of cantilever robot manipulator structure as claimed in claim 1, is characterized in that: it also comprises electric cabinet, and described electric cabinet is positioned at a side of described bearing.
8. a kind of cantilever robot manipulator structure as claimed in claim 5, it is characterized in that: the another side of described bearing is furnished with magnetic valve fixed head, in the inner chamber of described magnetic valve fixed head, be furnished with magnetic valve, lead to wave pipe corresponding to the upper end position of described magnetic valve fixed head, described unrestrained pipe is communicated to lower jacket plate, the lower end of described lower jacket plate be fixed on described line slideway bottom outer end, the upper end of described linear beam is furnished with upper jacket plate, the upper end of chain is anchored on described upper jacket plate, expose after running through the inner side pilot hole of described lower jacket plate the lower end of chain, described unrestrained pipe is arranged in a relative side away from described linear beam of described chain.
9. a kind of cantilever robot manipulator structure as claimed in claim 1, is characterized in that: described clamp structure is specially upper end rotating mechanism, below clamping jaw structure, and described top rotating mechanism connects below clamping jaw structure by clamping limb.
10. a kind of cantilever robot manipulator structure as claimed in claim 1, is characterized in that: the position of the lower protruding installation end face in described pedestal of described bottom rotating shaft is provided with lower protruding spanner position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420407564.2U CN203945366U (en) | 2014-07-23 | 2014-07-23 | A kind of cantilever robot manipulator structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420407564.2U CN203945366U (en) | 2014-07-23 | 2014-07-23 | A kind of cantilever robot manipulator structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203945366U true CN203945366U (en) | 2014-11-19 |
Family
ID=51887425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420407564.2U Expired - Lifetime CN203945366U (en) | 2014-07-23 | 2014-07-23 | A kind of cantilever robot manipulator structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203945366U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104139394A (en) * | 2014-07-23 | 2014-11-12 | 艾尔发（苏州）自动化科技有限公司 | Cantilever manipulator structure |
| CN106891478A (en) * | 2017-03-03 | 2017-06-27 | 东莞信易电热机械有限公司 | A kind of single-axis servo spiral arm manipulator |
| CN112108812A (en) * | 2020-10-30 | 2020-12-22 | 山东晨灿机械设备股份有限公司 | Welding head and welding equipment comprising same |
-
2014
- 2014-07-23 CN CN201420407564.2U patent/CN203945366U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104139394A (en) * | 2014-07-23 | 2014-11-12 | 艾尔发（苏州）自动化科技有限公司 | Cantilever manipulator structure |
| CN104139394B (en) * | 2014-07-23 | 2016-08-24 | 艾尔发（苏州）自动化科技有限公司 | A kind of cantilever robot manipulator structure |
| CN106891478A (en) * | 2017-03-03 | 2017-06-27 | 东莞信易电热机械有限公司 | A kind of single-axis servo spiral arm manipulator |
| CN112108812A (en) * | 2020-10-30 | 2020-12-22 | 山东晨灿机械设备股份有限公司 | Welding head and welding equipment comprising same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 215000 Xiangcheng District, Suzhou, Weitang Town, Yang Cheng Road, No. 3366, No. Patentee after: ALFA INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 215134 Xiangcheng District, Suzhou, Weitang Town, Yang Cheng Road, No. 8888, No. Patentee before: Alfa (Suzhou) Automation Technology Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20141119 |