CN203993879U - Two, three-D manipulator - Google Patents
Two, three-D manipulator Download PDFInfo
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- CN203993879U CN203993879U CN201420318943.4U CN201420318943U CN203993879U CN 203993879 U CN203993879 U CN 203993879U CN 201420318943 U CN201420318943 U CN 201420318943U CN 203993879 U CN203993879 U CN 203993879U
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- manipulator
- clamping device
- rectangular groove
- arms
- driving
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Abstract
The utility model provides a kind of two, three-D manipulator, comprise the rectangular groove in order to accommodating material, be positioned at the two row folding material paws at described rectangular channel opening place, two mobile arms, driving clamping device and transfer driving device, the described material folding paw of two rows lays respectively at the both sides of described rectangular groove, the described material folding paw of two rows is installed on respectively on two mobile arms, two mobile arms by a driving clamping device realize synchronous in opposite directions or opposing movement, thereby make the described material folding paw of two rows clamp or decontrol the material that is positioned at rectangular groove, two described mobile arms are also realized the synchronous movement along described rectangular slot length direction by described transfer driving device.Not only improve two, three-D manipulator beat uniformity, can also save labour cost, avoid causing equipment, material or personnel's injury.
Description
Technical field
The utility model relates to field of machining, relates in particular to one two, three-D manipulator.
Background technology
Along with scientific and technical development, automation equipment assists the mankind to complete a large amount of heavy, dangerous work at industrial circle.Although also exist and make Quadratic Finite Element manipulator in prior art, but due to the deficiency of mechanical realization and electrical design aspect, cause the beat of manipulator to be difficult to the level that reaches higher, in addition, also easily cause the waste of labour cost, cause equipment, material or personnel's injury.
Summary of the invention
The technical problems to be solved in the utility model is how to improve Quadratic Finite Element manipulator beat uniformity.
In order to solve this technical problem, the utility model provides a kind of two, three-D manipulator, comprise the rectangular groove in order to accommodating material, be positioned at the two row folding material paws at described rectangular channel opening place, two mobile arms, driving clamping device and transfer driving device, the described material folding paw of two rows lays respectively at the both sides of described rectangular groove, the described material folding paw of two rows is installed on respectively on two mobile arms, two mobile arms by a driving clamping device realize synchronous in opposite directions or opposing movement, thereby make the described material folding paw of two rows clamp or decontrol the material that is positioned at rectangular groove, two described mobile arms are also realized the synchronous movement along described rectangular slot length direction by described transfer driving device.
Described driving clamping device has comprised two transmission arms, gear and clamping servomotor motor, described gear drives rotation by described clamping servomotor motor, two described transmission arms are fixedly connected with two described mobile arms respectively, on two described transmission arms, be equipped with identical tooth bar, the tooth bar on two described transmission arms is connected with described gear coupling.
Described driving clamping device also comprises a slide rail, and two described mobile arms do in opposite directions or opposing moving along described slide rail, and described slide rail is connected with described transfer driving device.
At least one end of described slide rail is provided with protective cover.
Described transfer driving device has at least comprised screw mandrel, has transferred servomotor and nut structure, described screw mandrel is rotated by described handover driven by servomotor, described screw mandrel is connected with described nut structure coupling, and realizes the movement of described mobile arm along described long job-hopping length direction by described nut structure along the movement of described screw mandrel.
Described nut structure is connected with described driving clamping device.
Described transfer driving device is by driving described driving clamping device to move and move, start the movement of arm along described rectangular slot length direction described in realization along described rectangular slot length direction.
Described driving clamping device and transfer driving device are all located at one end of described rectangular groove, and the other end of described rectangular groove is provided with auxiliary clamping device.
Described two, three-D manipulator also comprises controlling organization and testing agency, and described controlling organization is connected respectively at described testing agency, driving clamping device and transfer driving device, and described testing agency is located on described rectangular groove.
The utility model is provided with respectively two mobile arms in the both sides of rectangular groove, in order to control two row folding material paws, can clamp a material by the movement in opposite directions between two material folding paws of correspondence position in two rows, material can be transferred to next station by mobile arm along the movement of rectangular slot length direction again, then opposing mobile arm movement can be decontroled to this material, and then return to previous position by the movement of mobile arm, realized multiple materials transports simultaneously, and the displacement of transport, time etc. are all consistent, so not only improve two, three-D manipulator beat uniformity, can also save labour cost, avoid causing equipment, material or personnel's injury.
Brief description of the drawings
Fig. 1 be the utility model one embodiment provide two, the plan structure schematic diagram of three-D manipulator;
Fig. 2 be the utility model one embodiment provide two, the perspective view of three-D manipulator;
Fig. 3 is the structural representation of driving clamping device in the utility model one embodiment;
In figure, the rectangular groove of 1-; 2-material folding paw; 3-moves arm; 4-driving clamping device; 41-slide rail; 42-protective cover; 43-clamping servomotor motor; 44-transmission arm; 45-gear; 5-transfer driving device; 6-auxiliary clamping device; 7-material.
Detailed description of the invention
Below with reference to Fig. 1 to Fig. 3, the utility model is provided two, three-D manipulator is described in detail, it is the utility model one optional embodiment, can think, those skilled in the art, not changing in the scope of the utility model spirit and content, can modify and polish it.
Please refer to Fig. 1 and Fig. 2, the present embodiment provides a kind of two, three-D manipulator, comprise the rectangular groove 1 in order to accommodating material 7, be positioned at two row folding material paws 2 of described rectangular groove 1 opening part, two mobile arms 3, driving clamping device 4 and transfer driving device 5, the described material folding paw 2 of two rows lays respectively at the both sides of described rectangular groove 1, and parallel to each other, the described material folding paw 2 of two rows is installed on respectively on two mobile arms 3, two mobile arms 3 are parallel, two mobile arms 3 by a driving clamping device 4 realize synchronous in opposite directions or opposing movement, thereby make material folding paw described in two rows 2 clamp or decontrol the material 7 that is positioned at rectangular groove 1, two described mobile arms 3 are also realized the synchronous movement along described rectangular groove 1 length direction by described transfer driving device 5, and then make two row folding material paws 2 realize the synchronous movement along described rectangular groove 1 length direction.
The present embodiment is provided with respectively two mobile arms 3 in the both sides of rectangular groove 1, in order to control two row folding material paws 2, can clamp a material 7 by the movement in opposite directions between two material folding paws 2 of correspondence position in two rows, material 7 can be transferred to next station by mobile arm 3 along the movement of rectangular groove 1 length direction again, then the opposing movement of mobile arm 3 can be decontroled to this material 7, and then return to previous position by the movement of mobile arm 3, realized multiple materials transports simultaneously, and the displacement of transport, time etc. are all consistent, so not only improve two, three-D manipulator beat uniformity, can also save labour cost, avoid causing equipment, material or personnel's injury.
Please refer to Fig. 3, and in conjunction with Fig. 1 and Fig. 2, described driving clamping device 4 has comprised two transmission arms 44, gear 45 and clamping servomotor motor 43, described gear 45 drives rotation by described clamping servomotor motor 43, two described transmission arms 44 are fixedly connected with two described mobile arms 3 respectively, on two described transmission arms 44, be equipped with identical tooth bar (not shown), tooth bar on two described transmission arms 44 is connected with described gear 45 couplings, thereby the rotation of gear 5 is converted into the translation of transmission arm 44 by tooth bar, and then drive the translation of mobile arm 3 and material folding paw 2 to clamp.
Further, please refer to Fig. 2 and Fig. 3, described driving clamping device 4 also comprises that 41, two described mobile arms 3 of a slide rail do in opposite directions or opposing moving along described slide rail 41, and described slide rail 41 is connected with described transfer driving device 5.Wherein, described slide rail 41 is perpendicular to the length direction of rectangular groove 1, it is connected with transfer driving device 5, be that transfer driving device 5 drives slide rail 41 to move along the length direction of rectangular groove 1, because mobile arm 3 is synchronized with the movement with slide rail 41 in this direction, and then can drive mobile arm 3 to move along the length direction of rectangular groove 1.In addition, at least one end of described slide rail 41 is provided with protective cover 42.
Described transfer driving device 5 has at least comprised screw mandrel, has transferred servomotor and nut structure, described screw mandrel is rotated by described handover driven by servomotor, described screw mandrel is connected with described nut structure coupling, and realizes the movement of described mobile arm along described long job-hopping length direction by described nut structure along the movement of described screw mandrel.Wherein, described screw mandrel is parallel to the length direction of rectangular groove 1.Described nut structure is connected with described driving clamping device 4.
So, can find out, in the present embodiment, described transfer driving device 5 is by driving described driving clamping device 4 to move and realize the movement of described mobile arm 3 along described rectangular groove 1 length direction along described rectangular groove 1 length direction.But, also can utilize by other means and transfer servomotor, screw mandrel and nut structure, for example, in another embodiment of the utility model, can adopt two screw mandrels and two nut structures, each nut structure connects a mobile arm 3, each screw mandrel is all fixedly connected with a driven gear, two driven gears are by a driving gear transmission, and this driving gear, by transferring driven by servomotor, can be realized synchronous movement equally.Because being combined in field of this type screw mandrel and nut structure is common, so not doing diagram, enumerates the present embodiment.
In the present embodiment, described driving clamping device 4 and transfer driving device 5 are all located at one end of described rectangular groove 1, and the other end of described rectangular groove 2 is provided with auxiliary clamping device 6.This is due in the oversize situation of the length of mobile arm 3, one end drive clamp power may be not enough, this auxiliary clamping device 6 can adopt the structure similar with driving clamping device 4, the function of decontroling as long as realizing synchronous clamping.
Described two, three-D manipulator also comprises controlling organization (not shown) and testing agency's (not shown), described controlling organization is connected respectively at described testing agency, driving clamping device 4 and transfer driving device 5, also can connect auxiliary clamping device 6, described testing agency is located on described rectangular groove 1.
In addition, the utility model also can use locating module to realize position and the Acceleration Control of manipulator, thereby realizes accurate crawl and the placement of product.Use encoder to realize the real-time Communication for Power between punch press and manipulator, by interlocking, prevent from interfering between the two, thereby realize defencive function.This two, three-D manipulator moved steadily picking up and put of workpiece by all around of manipulator, then coordinated punch press to complete the processing to workpiece.Manipulator member also comprises man-machine interface and other auxiliary body.Controlling organization adopts Mitsubishi's controller, comprises power module, CPU module, input module, output module, high speed counting module and locating module.Testing agency is mainly approach switch, reports to the police, looks for the function such as initial point, material grasping detection by having or not induced signal to realize.The pulse signal receiving is converted into speed and displacement information output by servomotor.Here using touch-screen as man-machine interface, by touch-screen being write to the program matching with manipulator, thereby realize the functions such as the parameter modification of equipment operation and control, fault monitoring.The utility model is by the general frame of rational mechanical connection and correct electrical connection constitution equipment.
The utility model is integration and the application of prior art, and is innovated.By PLC control system, servo-drive system are combined with detection system, add the robot manipulator structure of optimization, thereby realize safety, the even running of manipulator.Compared with prior art the utility model has been realized the synthesization application of technology, adds rational mechanical realization and electrical design, thereby has solved aborning more complicated technical barrier.The equipment that this invention is designed just efficiently solves beat problem, reach the technical standard of 35 products of crawl per minute, the technology of use 2 dimensions simultaneously realizing, has realized the function of 3 dimension manipulators, successfully improve production efficiency, reduced greatly the cost of investment of equipment.Meet client to the requirement that reduces production costs, enhances productivity.
Claims (9)
1. one kind two, three-D manipulator, it is characterized in that: comprised the rectangular groove in order to accommodating material, be positioned at the two row folding material paws at described rectangular channel opening place, two mobile arms, driving clamping device and transfer driving device, the described material folding paw of two rows lays respectively at the both sides of described rectangular groove, the described material folding paw of two rows is installed on respectively on two mobile arms, two mobile arms by a driving clamping device realize synchronous in opposite directions or opposing movement, thereby make the described material folding paw of two rows clamp or decontrol the material that is positioned at rectangular groove, two described mobile arms are also realized the synchronous movement along described rectangular slot length direction by described transfer driving device.
2. as claimed in claim 1 two, three-D manipulator, it is characterized in that: described driving clamping device has comprised two transmission arms, gear and clamping servomotor motor, described gear drives rotation by described clamping servomotor motor, two described transmission arms are fixedly connected with two described mobile arms respectively, on two described transmission arms, be equipped with identical tooth bar, the tooth bar on two described transmission arms is connected with described gear coupling.
3. as claimed in claim 1 two, three-D manipulator, is characterized in that: described driving clamping device also comprises a slide rail, and two described mobile arms do in opposite directions or opposing moving along described slide rail, and described slide rail is connected with described transfer driving device.
4. as claimed in claim 3 two, three-D manipulator, is characterized in that: at least one end of described slide rail is provided with protective cover.
5. as claimed in claim 1 two, three-D manipulator, it is characterized in that: described transfer driving device has at least comprised screw mandrel, transferred servomotor and nut structure, described screw mandrel is rotated by described handover driven by servomotor, described screw mandrel is connected with described nut structure coupling, and realizes the movement of described mobile arm along described long job-hopping length direction by described nut structure along the movement of described screw mandrel.
6. as claimed in claim 5 two, three-D manipulator, is characterized in that: described nut structure is connected with described driving clamping device.
7. two as described in one of as any in claim 1 to 6, three-D manipulator, is characterized in that: described transfer driving device is by driving described driving clamping device to move and move, start the movement of arm along described rectangular slot length direction described in realization along described rectangular slot length direction.
8. as claimed in claim 1 two, three-D manipulator, is characterized in that: described driving clamping device and transfer driving device are all located at one end of described rectangular groove, and the other end of described rectangular groove is provided with auxiliary clamping device.
9. as claimed in claim 1 two, three-D manipulator, it is characterized in that: also comprise controlling organization and testing agency, described controlling organization is connected respectively at described testing agency, driving clamping device and transfer driving device, and described testing agency is located on described rectangular groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420318943.4U CN203993879U (en) | 2014-06-16 | 2014-06-16 | Two, three-D manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420318943.4U CN203993879U (en) | 2014-06-16 | 2014-06-16 | Two, three-D manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203993879U true CN203993879U (en) | 2014-12-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420318943.4U Expired - Fee Related CN203993879U (en) | 2014-06-16 | 2014-06-16 | Two, three-D manipulator |
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| CN (1) | CN203993879U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105750438A (en) * | 2016-04-21 | 2016-07-13 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Three-dimensional punching mechanical arm |
| CN106826887A (en) * | 2017-03-28 | 2017-06-13 | 常熟市威成自动化科技有限公司 | A kind of two dimension manipulator clamping jaws with lifting function |
| CN107020331A (en) * | 2017-06-29 | 2017-08-08 | 合肥至信机械制造有限公司 | A kind of three-D manipulator production system of body of a motor car punching press sheet metal component |
| CN108543875A (en) * | 2018-06-08 | 2018-09-18 | 中山市新泰五金制品有限公司 | A kind of hardware stamping processing multistation Quadratic Finite Element manipulator |
-
2014
- 2014-06-16 CN CN201420318943.4U patent/CN203993879U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105750438A (en) * | 2016-04-21 | 2016-07-13 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Three-dimensional punching mechanical arm |
| CN106826887A (en) * | 2017-03-28 | 2017-06-13 | 常熟市威成自动化科技有限公司 | A kind of two dimension manipulator clamping jaws with lifting function |
| CN107020331A (en) * | 2017-06-29 | 2017-08-08 | 合肥至信机械制造有限公司 | A kind of three-D manipulator production system of body of a motor car punching press sheet metal component |
| CN108543875A (en) * | 2018-06-08 | 2018-09-18 | 中山市新泰五金制品有限公司 | A kind of hardware stamping processing multistation Quadratic Finite Element manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141210 Termination date: 20150616 |
|
| EXPY | Termination of patent right or utility model |