CN204295679U - Dynamic balancing manipulator - Google Patents
Dynamic balancing manipulator Download PDFInfo
- Publication number
- CN204295679U CN204295679U CN201420635254.6U CN201420635254U CN204295679U CN 204295679 U CN204295679 U CN 204295679U CN 201420635254 U CN201420635254 U CN 201420635254U CN 204295679 U CN204295679 U CN 204295679U
- Authority
- CN
- China
- Prior art keywords
- rotating band
- manipulator
- connector
- runners
- dynamic balancing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to Manipulator Transportation technical field, particularly relate to dynamic balancing manipulator, comprise frame, electric cabinet, the first axle lifting motor and telescopic arm, also comprise dynamic balancer, be provided with spring, a runner, No. two runners, a connector, No. two connectors, a rotating band and No. two rotating band, lower spring end is fixedly connected with frame, and spring upper end is fixedly connected with a rotating band one end; Gripper shoe is fixed in a connector one end, and the other end and a runner are coupling; A rotating band other end is connected with No. two connector one end, and No. two connector other ends and No. two runners are coupling; Frame is fixed in one end of No. two rotating band, and the other end of No. two rotating band is connected with lifting linking member, and lifting linking member is won in succession with lifting and is fixedly connected with.This dynamic balancing manipulator, install dynamic balancer on the opposite of guide rail, allow the gravitational equilibrium of whole moving component bear on both sides, fault is few, and utilize pulley principle, alleviate motor load, manipulator is stable.
Description
Technical field
The utility model relates to Manipulator Transportation technical field, particularly relates to a kind of dynamic balancing manipulator.
Background technology
Existing multi-spindle machining hand, generally comprises rising, rotates, flexible, the conversion of the multiple free degree of X-axis, Y-axis, Z axis, axle rise and fall more common, often adopt be monolateral with screw mandrel and guide rail to support the gravity of whole moving component, and duration of work, high Growth spurt rise and fall, easily cause guide rail, screw mandrel has deviation, cause an axle to move up and down will have some setbacks, even have stuck phenomenon, and drive motors sometimes also can because of overload or bearing block holding capacity excessive and damage.
Summary of the invention
The purpose of this utility model is: for the deficiencies in the prior art, and provides a kind of dynamic balancing manipulator.
To achieve these goals, the technical solution adopted in the utility model is:
Dynamic balancing manipulator, comprise frame, electric cabinet, the first axle lifting motor and telescopic arm, also comprise dynamic balancer, described dynamic balancer is provided with spring, a runner, No. two runners, a connector, No. two connectors, a rotating band and No. two rotating band, described lower spring end is fixedly connected with frame, and described spring upper end is fixedly connected with one end of a described rotating band; Gripper shoe is fixed in described connector one end, and the other end and a described runner are coupling; The other end of a described rotating band is connected with No. two connector one end, and the described No. two connector other ends and described No. two runners are coupling; Described frame is fixed in one end of No. two rotating band, and the other end of No. two rotating band is connected with lifting linking member, and described lifting linking member is won in succession with lifting and is fixedly connected with.
Preferred as technique scheme, a described runner and described rotating band coupling are arranged.
Preferred as technique scheme, described No. two runners and described No. two rotating band coupling are arranged.
Preferred as technique scheme, a described runner and described No. two runners are sprocket wheel.
Preferred as technique scheme, a described rotating band and described No. two rotating band are chain.
Preferred as technique scheme, a described runner and described No. two runners are belt wheel.
Preferred as technique scheme, a described rotating band and described No. two rotating band are Timing Belt.
Compared with prior art, dynamic balancing manipulator of the present utility model, on the opposite of an axis rail, screw mandrel, dynamic balancer is installed, the gravitational equilibrium of whole moving component is allowed to bear on both sides, prevent from only having screw mandrel on one side to bear gravity, it is more smooth and easy in manipulator runs for a long time up and down, not easily produce fault, lower sheave principle in utilization, spring tension is doubled, and the power that when making manipulator one axle rise and fall, motor bears is less, alleviates the load of motor, reduce robotic failure, make manipulator stable.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model.
Fig. 2 is the structural representation at another visual angle of the present utility model.
Fig. 3 is dynamic balancer structural representation of the present utility model.
Fig. 4 is dynamic balancer close-up schematic view of the present utility model.
Fig. 1 to Fig. 4 includes: frame 1; Electric cabinet 2; First axle lifting motor 3; Second axle electric rotating machine 4; 3rd axle telescope motor 5; 4th axle electric rotating machine 6; Telescopic arm 7; Lifting cylinder 8; Dynamic balancer 9;
Gripper shoe 11; Lifting platform 12; Slide rail 13; Screw mandrel 14;
A connector 21; An axis 22; A runner 23; No. two connectors 24; No. two axis 25; No. two runners 26; Lifting linking member 27;
A rotating band 30; No. two rotating band 40; Spring 50; A fixture block 51; No. two fixture blocks 52; Lifting connecting plate 81.
Detailed description of the invention
Below in conjunction with detailed description of the invention and Figure of description, be described in further detail the utility model, but embodiment of the present utility model is not limited to this, we are described for four axis robot.
Embodiment one
Referring to figs. 1 to Fig. 4, dynamic balancing manipulator of the present utility model, comprise frame 1, electric cabinet 2, first axle lifting motor 3, second axle electric rotating machine 4, the 3rd axle telescope motor 5, the 4th axle electric rotating machine 6 and telescopic arm 7, also comprise dynamic balancer 9, described dynamic balancer 9 is provided with spring 50, runner 23, No. two runners 26, connector 21, No. two connectors 24, rotating band 30 and No. two rotating band 40, described spring 50 lower end is fixedly connected with frame 1, and described spring 50 upper end is fixedly connected with one end of a described rotating band 30; Gripper shoe 11 is fixed in described connector 21 one end, and the other end and a described runner 23 are coupling; The other end of a described rotating band 30 is connected with No. two connector 24 one end, and described No. two connector 24 other ends and described No. two runners 26 are coupling; The other end that described frame 1, No. two rotating band 40 are fixed in one end of No. two rotating band 40 is connected with lifting linking member 27, and described lifting linking member 27 is fixedly connected with lifting connecting plate 81.
Described spring 50 lower end is connected by No. two fixture blocks 52 with frame 1, and described spring 50 upper end is connected by No. two fixture blocks 51 with one end of a described rotating band 30;
A described runner 23 and a described rotating band 30 mate setting, described No. two runners 26 and described No. two rotating band 40 mate setting, a described runner 23 and described No. two runners 26 are sprocket wheel, and a described rotating band 30 and described No. two rotating band 40 are chain.
When manipulator runs, electric cabinet 2 provides electric power and control information for whole manipulator, first axle lifting motor 3 is responsible for driving overall rising or decline, driving device face portion horizontal direction rotary motion is on hand responsible for by second axle electric rotating machine 4,3rd axle telescope motor 5 is responsible for the flexible of driving device arm 7, expand carrying scope, the 4th axle electric rotating machine 6 is responsible for driving forearm to rotate pickup.Article two, slide rail 13 is individually fixed in frame 1, and leading screw 14 one end has the first axle lifting motor 3 to drive, and leading screw 14 other end is connected with lifting platform 12, and lifting cylinder 8 is connected with lifting platform 12 by lifting connecting plate 81.
When the first axle lifting motor 3 is responsible for driving overall decline, spring 50 is drawn high, a described runner 23 and described No. two runners 26 adopt the connected mode of movable pulley type, and the present embodiment adopts chain to be connected with sprocket wheel coupling, as shown in Figure 2, due to movable pulley principle, the length that spring 50 is stretched is the general of entire lowering stroke, and in the process declined, the effect due to gravity is that spring 50 elongation becomes laborsaving, reduce the load of lifting motor 3, and the decline of balance and stability can be realized.
When the first axle lifting motor 3 is responsible for driving overall rising, spring 50 is from drawing high state reduction, form power-assisted, a described runner 23 and described No. two runners 26 adopt the connected mode of movable pulley type, as shown in Figure 2, due to movable pulley principle, double the acting on of the power-assisted of spring 50 rises overally, save the operation burden of lifting motor 3, and the rising of balance and stability can be realized.
Embodiment two
Be belt wheel with embodiment one unlike a described runner 23 and described No. two runners 26, a described rotating band 30 and described No. two rotating band 40 are Timing Belt.Other identical with the structure of embodiment 1, repeats no more here.
Compared with prior art, dynamic balancing manipulator of the present utility model, on the opposite of an axis rail, screw mandrel, dynamic balancer is installed, the gravitational equilibrium of whole moving component is allowed to bear on both sides, prevent from only having screw mandrel on one side to bear gravity, it is more smooth and easy in manipulator runs for a long time up and down, not easily produce fault, lower sheave principle in utilization, spring tension is doubled, and the power that when making manipulator one axle rise and fall, motor bears is less, alleviates the load of motor, reduce robotic failure, make manipulator stable.
More than in conjunction with most preferred embodiment, the utility model is described, but the utility model is not limited to the embodiment of above announcement, and amendment that the various essence according to the present embodiment carries out, equivalent combinations should be contained.
Claims (7)
1. dynamic balancing manipulator, comprise frame, electric cabinet, the first axle lifting motor and telescopic arm, it is characterized in that: also comprise dynamic balancer, described dynamic balancer is provided with spring, a runner, No. two runners, a connector, No. two connectors, a rotating band and No. two rotating band, described lower spring end is fixedly connected with frame, and described spring upper end is fixedly connected with one end of a described rotating band; Gripper shoe is fixed in described connector one end, and the other end and a described runner are coupling; The other end of a described rotating band is connected with No. two connector one end, and the described No. two connector other ends and described No. two runners are coupling; Described frame is fixed in one end of described No. two rotating band, and the other end of described No. two rotating band is connected with lifting linking member, and described lifting linking member is won in succession with lifting and is fixedly connected with.
2. dynamic balancing manipulator as claimed in claim 1, is characterized in that: a described runner and described rotating band coupling are arranged.
3. dynamic balancing manipulator as claimed in claim 1, is characterized in that: described No. two runners and described No. two rotating band coupling are arranged.
4. dynamic balancing manipulator as claimed in claim 1, is characterized in that: a described runner and described No. two runners are sprocket wheel.
5. dynamic balancing manipulator as claimed in claim 1, is characterized in that: a described rotating band and described No. two rotating band are chain.
6. dynamic balancing manipulator as claimed in claim 1, is characterized in that: a described runner and described No. two runners are belt wheel.
7. dynamic balancing manipulator as claimed in claim 1, is characterized in that: a described rotating band and described No. two rotating band are Timing Belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420635254.6U CN204295679U (en) | 2014-10-29 | 2014-10-29 | Dynamic balancing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420635254.6U CN204295679U (en) | 2014-10-29 | 2014-10-29 | Dynamic balancing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204295679U true CN204295679U (en) | 2015-04-29 |
Family
ID=53101257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420635254.6U Expired - Fee Related CN204295679U (en) | 2014-10-29 | 2014-10-29 | Dynamic balancing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204295679U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890012A (en) * | 2015-05-30 | 2015-09-09 | 中山火炬职业技术学院 | Automatic mechanism hand drive mechanism used for material turnover |
-
2014
- 2014-10-29 CN CN201420635254.6U patent/CN204295679U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890012A (en) * | 2015-05-30 | 2015-09-09 | 中山火炬职业技术学院 | Automatic mechanism hand drive mechanism used for material turnover |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203611243U (en) | Unloading mechanical arm with mechanical synchronization mechanism | |
| CN101880019B (en) | Lifting platform | |
| CN204019529U (en) | A kind of hanging apparatus | |
| CN201990253U (en) | Falling positioning device for floating type products | |
| CN206357221U (en) | A kind of workshop transfer robot | |
| CN204525482U (en) | A kind of side hanging manipulator | |
| CN204675670U (en) | A kind of balance both arms cantilever crane | |
| CN204295679U (en) | Dynamic balancing manipulator | |
| CN202726920U (en) | Back mechanical arm for cleaning | |
| CN210029281U (en) | Intelligent lifting type stacking robot | |
| CN204109003U (en) | Two telescopic machine mechanical arm | |
| CN207434571U (en) | Disc stack machine device | |
| CN208231829U (en) | A kind of Industrial Robot Manipulator arm | |
| CN203820373U (en) | Lifter | |
| CN203112122U (en) | Electric energy meter tote box taking and putting mechanism | |
| CN203877625U (en) | Stable cable conveying device | |
| CN108163636B (en) | Cable conveying device | |
| CN202241285U (en) | Two-degree-of-freedom X-shaped parallel mechanism | |
| CN214421709U (en) | Distribution valve production equipment | |
| CN203649200U (en) | Handling and palletizing manipulator | |
| CN205294239U (en) | Product handling device | |
| CN111056467A (en) | Multi-arm synchronous lifting structure | |
| CN203427032U (en) | Conveying mechanical hand | |
| CN208120205U (en) | A kind of Stacking Robots | |
| CN203792442U (en) | Wood drilling equipment |
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: 20150429 Termination date: 20191029 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |