CN204685875U - A kind of manipulator - Google Patents

A kind of manipulator Download PDF

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Publication number
CN204685875U
CN204685875U CN201520110923.2U CN201520110923U CN204685875U CN 204685875 U CN204685875 U CN 204685875U CN 201520110923 U CN201520110923 U CN 201520110923U CN 204685875 U CN204685875 U CN 204685875U
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CN
China
Prior art keywords
servomotor
control subject
rotating
reductor
lifter plate
Prior art date
Application number
CN201520110923.2U
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Chinese (zh)
Inventor
王皓
刘亚兴
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符迎利
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Priority to CN201520110923.2U priority Critical patent/CN204685875U/en
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Publication of CN204685875U publication Critical patent/CN204685875U/en

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Abstract

The utility model relates to a kind of manipulator, especially relates to a kind of manipulator that can be used for pressing equipment process in industry, relates to field of industrial machinery.A kind of manipulator, comprise telescoping mechanism 1, swing mechanism 2, elevating mechanism 3, rotating mechanism 4, control subject 026 and base mechanism 5, it is characterized in that: be followed successively by rotating mechanism 4, telescoping mechanism 1, swing mechanism 2, elevating mechanism 3, base mechanism 5 from top to bottom.The beneficial effects of the utility model are: control subject is responsible for the work of each mechanism of controller mechanical arm, make staff reach safe effect away from working region, elevating mechanism can with differing heights reconditioner mechanical arm height, make mechanical arm in differing heights operation; Swing mechanism can the angle of reconditioner mechanical arm work, and telescoping mechanism can increase or shorten the working range of mechanical arm, and rotating mechanism can help dial rotation, and rotating disk has sucker can adsorbent article, and then these absorbate product mobile.To sum up, it is simple that this mechanical arm has making, easy to operate, effect applied widely.

Description

A kind of manipulator

Technical field

The utility model relates to a kind of manipulator, especially relates to a kind of manipulator that can be used for pressing equipment process in industry, relates to field of industrial machinery.

Background technology

In prior art, the operation of current pressing equipment mainly completes by hand, by manually material being put into pressing equipment, manual operation punching press, is taken out by shaping workpiece again after punching press completes by artificial.Staff is in the working region of pressing equipment, and careless manipulation can cause industrial accident; Meanwhile, staff action need operating personnel keep the high concentration of notice and action is single, easily make people produce fatigue.Punching automation equipment main is at present the link manipulator that whole production line is fixedly connected with manipulator, and this link manipulator installation complexity is not easy to dismounting and moves; If use prosthetic robot, then because cost is too high, be difficult to extensive use in punching press field.

Summary of the invention:

A kind of manipulator, comprise telescoping mechanism, swing mechanism, elevating mechanism, rotating mechanism, control subject and base mechanism, its design feature is: be followed successively by rotating mechanism, telescoping mechanism, swing mechanism, elevating mechanism, base mechanism from top to bottom; Described base mechanism comprises underframe, upper bracket, vavuum pump, and described elevating mechanism comprises servomotor one, lifting decelerator structure, ballscrew nut fitting one, lifter plate, and wherein elevating mechanism entirety is positioned at this base mechanism; Described upper bracket is installed on the top of underframe, and underframe inside is provided with vavuum pump, and this vavuum pump is electrically connected with control subject; This ballscrew nut fitting one is threaded with nut one for ball screw one, and both can relative radial motion; The deceleration input of lifting decelerator structure is connected with the clutch end of servomotor one, deceleration delivery outlet in lifting decelerator structure is connected with ball screw one, nut one is fixedly connected with bottom lifter plate, lifter plate is movably connected on the upper bracket of base mechanism, this lifter plate can move up and down along upper bracket, thus drive lifter plate moves up and down and rotating mechanism, telescoping mechanism and the swing mechanism be installed on lifter plate moves up and down; Control subject is positioned at base mechanism side, and described control subject is to the drive singal of servomotor one transmission speed and position, and servomotor one is to control subject feedback speed and position signalling simultaneously;

The telescoping mechanism be positioned on described lifter plate comprises: servomotor three, ballscrew nut fitting two, telescopic arm, and this ballscrew nut fitting two forms for ball screw two is threaded with nut two, and both can relative radial motion; One end of ball screw two is connected with the Power output mouth of servomotor three, and nut two is fixedly connected with telescopic arm; Control subject to the drive singal of servomotor three speed and position, servomotor three-dimensional control subject feedback speed and position signalling;

Described swing mechanism comprises servomotor two, swings reductor and trunnion, and the deceleration input swinging reductor is connected with the clutch end of servomotor two, swings the deceleration output of reductor and is connected with the rotary actuation end of trunnion; Control subject is to the drive singal of servomotor two transmission speed and angle, and servomotor two is to control subject feedback speed and position signalling simultaneously, and reductor link with servomotor two drives trunnion to move, thus drive is installed on the manipulator rotation on trunnion;

The rotating mechanism of integral installation on described telescopic arm comprises: be installed on the stepper motor on telescopic arm, rotate reductor, bevel gear set, be installed on the rotating disk of the telescopic arm other end, with the hard-wired synchronous wheels of rotating disk and the Timing Belt connecting synchronous wheels and bevel gear set, the clutch end of described stepper motor connects the deceleration input rotating reductor, the deceleration output rotating reductor is connected with bevel gear set, synchronous wheels are fixedly installed in the top of rotary turnplate, the teeth portion of Timing Belt close contact bevel gear set and the teeth portion of synchronous wheels; Control subject to the drive singal Driving Stepping Motor of stepper motor transmission speed and position, thus drives the reductor that links with it and bevel gear set to rotate, and drives dial rotation by Timing Belt;

Be provided with multiple vacuum cup under described rotating disk, vacuum cup is connected with vacuum-pump line, and pipeline leads to vacuum cup through machine internal.

Further, be provided with to organize line slide rail one between described upper bracket and lifter plate more.

Further, a contact panel is also comprised and described control subject communicates to connect; Carry out man-machine docking by contact panel, and touch panel makes robot work by data line transfer control signal to control subject.

The beneficial effects of the utility model are: control subject is responsible for the work of each mechanism of controller mechanical arm, make staff reach safe effect away from working region, elevating mechanism can with differing heights reconditioner mechanical arm height, make mechanical arm in differing heights operation; Swing mechanism can the angle of reconditioner mechanical arm work, and telescoping mechanism can increase or shorten the working range of mechanical arm, and rotating mechanism can help dial rotation, and rotating disk has sucker can adsorbent article, and then these absorbate product mobile.To sum up, it is simple that this mechanical arm has making, easy to operate, effect applied widely.

Accompanying drawing illustrates:

Fig. 1 is stereogram 1 of the present utility model

Fig. 2 is stereogram 2 of the present utility model

Fig. 3 is rear elevation view of the present utility model

Fig. 4 is side view of the present utility model

Wherein 1. telescoping mechanism, 2. swing mechanism, 3. elevating mechanism, 4. rotating mechanism, 5. base mechanism

Detailed description of the invention:

Specifically the utility model is set forth below in conjunction with the present embodiment and accompanying drawing:

A kind of manipulator, comprise telescoping mechanism 1, swing mechanism 2, elevating mechanism 3, rotating mechanism 4, control subject 026 and base mechanism 5, it is characterized in that: be followed successively by rotating mechanism 4, telescoping mechanism 1, swing mechanism 2, elevating mechanism 3, base mechanism 5 from top to bottom; Described base mechanism comprises underframe 001, upper bracket 002, vavuum pump 003, and described elevating mechanism comprises servomotor 1, lifting decelerator structure 005, ballscrew nut fitting one, lifter plate 008, and wherein elevating mechanism 3 entirety is positioned at this base mechanism 5; Described upper bracket 002 is installed on the top of underframe 001, and underframe 001 inside is provided with vavuum pump 003, and this vavuum pump 003 is electrically connected with control subject; This ballscrew nut fitting one is threaded with nut 1 for ball screw 1, and both can relative radial motion; The deceleration input of lifting decelerator structure 005 is connected with the clutch end of servomotor 1, deceleration delivery outlet in lifting decelerator structure 005 is connected with ball screw 1, nut 1 is fixedly connected with bottom lifter plate 008, lifter plate is movably connected on the upper bracket 002 of base mechanism, this lifter plate 008 can move up and down along upper bracket 002, thus drive lifter plate 008 moves up and down and rotating mechanism 4, telescoping mechanism 1 and the swing mechanism 2 be installed on lifter plate 008 moves up and down; Control subject 026 is positioned at base mechanism 5 side, and described control subject 026 is to the drive singal of servomotor 1 transmission speed and position, and servomotor 1 is to control subject 026 feedback speed and position signalling simultaneously;

The telescoping mechanism 1 be positioned on described lifter plate 008 comprises: servomotor 3 014, ballscrew nut fitting two, telescopic arm 013, and this ballscrew nut fitting two forms for ball screw 2 015 is threaded with nut 2 016, and both can relative radial motion; One end of ball screw 2 015 is connected with the Power output mouth of servomotor 3 014, and nut 2 016 is fixedly connected with telescopic arm 013; Control subject 026 is to the drive singal of servomotor 3 014 speed and position, and servomotor 3 014 is to control subject 026 feedback speed and position signalling;

Described swing mechanism 2 comprises servomotor 2 009, swings reductor 010 and trunnion 011, the deceleration input swinging reductor 010 is connected with the clutch end of servomotor 2 009, swings the deceleration output of reductor 010 and is connected with the rotary actuation end of trunnion 011; Control subject 026 is to the drive singal of servomotor 2 009 transmission speed and angle, servomotor 2 009 is to control subject 026 feedback speed and position signalling simultaneously, the reductor 010 linked with servomotor 2 009 drives trunnion 011 to move, thus drives the manipulator be installed on trunnion 011 to rotate;

The rotating mechanism of integral installation on described telescopic arm 013 comprises: be installed on the stepper motor 017 on telescopic arm 013, rotate reductor 018, bevel gear set 019, be installed on the rotating disk 020 of telescopic arm 013 other end, with the hard-wired synchronous wheels 022 of rotating disk 020 and the Timing Belt 023 connecting synchronous wheels 022 and bevel gear set 019, the clutch end of described stepper motor 017 connects the deceleration input rotating reductor 018, the deceleration output rotating reductor 018 is connected with bevel gear set 019, synchronous wheels 022 are fixedly installed in the top of rotary turnplate 020, the teeth portion of Timing Belt 023 close contact bevel gear set 019 and the teeth portion of synchronous wheels 022, control subject 026 to the drive singal Driving Stepping Motor 017 of stepper motor 017 transmission speed and position, thus drives the reductor 018 that links with it and bevel gear set 019 to rotate, and drives rotating disk 020 to rotate by Timing Belt 023,

Described rotating disk is provided with multiple vacuum cup 021 for 020 time, and vacuum cup 021 is connected with vavuum pump 003 pipeline, and pipeline 028 leads to vacuum cup 021 through machine internal.

In the present embodiment, be provided with between described upper bracket 002 and lifter plate 008 and organize line slide rail 1 more.

In the present embodiment, also comprise a contact panel 027 and communicate to connect with described control subject 026; Carry out man-machine docking by contact panel 027, and touch panel 027 makes robot work by data line transfer control signal to control subject 026.

Operation principle:

During this robot work, vacuum cup 021 provides negative pressure absorbing workpiece by vavuum pump 003, rotating mechanism can make absorption position more accurately and revise the angle of workpiece, the telescoping mechanism of manipulator is taken out by flexible or put back to workpiece, the swing mechanism of manipulator carries workpiece, and the elevating mechanism of manipulator adjusts operation height.The control system of this manipulator is made up of control subject 026 and contact panel 027; Controlled the operation of manipulator by contact panel 027, the parameter such as speed, position of motor is arranged by contact panel 027, and saves the data in control subject.

The above; be only the utility model preferably specific embodiment; but this uses novel protection domain to be not limited thereto; anyly be familiar with this technical staff in the scope that the utility model discloses; be equal to according to technical solutions of the utility model and utility model design thereof and replace or change, all belong to this and use novel protection domain.This use is novel does not have the content described in detail to be prior art, comprises the line connecting relation of control subject and control panel, controls the communication connection relation of theme and each mechanism, the Workpiece structure relation that each mechanism is independent.

Claims (3)

1. a manipulator, comprise telescoping mechanism (1), swing mechanism (2), elevating mechanism (3), rotating mechanism (4), control subject (026) and base mechanism (5), it is characterized in that: be followed successively by rotating mechanism (4), telescoping mechanism (1), swing mechanism (2), elevating mechanism (3), base mechanism (5) from top to bottom, described base mechanism comprises underframe (001), upper bracket (002), vavuum pump (003), described elevating mechanism comprises servomotor one (004), lifting decelerator structure (005), ballscrew nut fitting one, lifter plate (008), and wherein elevating mechanism (3) entirety is positioned at this base mechanism (5), described upper bracket (002) is installed on the top of underframe (001), and underframe (001) inside is provided with vavuum pump (003), and this vavuum pump (003) is electrically connected with control subject, this ballscrew nut fitting one is threaded with nut one (007) for ball screw one (006), and both can relative radial motion, the deceleration input of lifting decelerator structure (005) is connected with the clutch end of servomotor one (004), deceleration delivery outlet in lifting decelerator structure (005) is connected with ball screw one (006), nut one (007) is fixedly connected with lifter plate (008) bottom, lifter plate is movably connected on the upper bracket (002) of base mechanism, this lifter plate (008) can move up and down along upper bracket (002), thus drive lifter plate (008) move up and down and be installed on the rotating mechanism (4) on lifter plate (008), telescoping mechanism (1) and swing mechanism (2) move up and down, control subject (026) is positioned at base mechanism (5) side, described control subject (026) is to the drive singal of servomotor one (004) transmission speed and position, and servomotor one (004) is to control subject (026) feedback speed and position signalling simultaneously,
The telescoping mechanism (1) be positioned on described lifter plate (008) comprising: servomotor three (014), ballscrew nut fitting two, telescopic arm (013), this ballscrew nut fitting two forms for ball screw two (015) is threaded with nut two (016), and both can relative radial motion; One end of ball screw two (015) is connected with the Power output mouth of servomotor three (014), and nut two (016) is fixedly connected with telescopic arm (013); Control subject (026) sends out the drive singal of speed and position to servomotor three (014), and servomotor three (014) is to control subject (026) feedback speed and position signalling;
Described swing mechanism (2) comprises servomotor two (009), swings reductor (010) and trunnion (011), the deceleration input swinging reductor (010) is connected with the clutch end of servomotor two (009), and the deceleration output swinging reductor (010) is connected with the rotary actuation end of trunnion (011); Control subject (026) is to the drive singal of servomotor two (009) transmission speed and angle, servomotor two (009) is to control subject (026) feedback speed and position signalling simultaneously, the reductor (010) linked with servomotor two (009) drives trunnion (011) to move, thus drives the manipulator be installed on trunnion (011) to rotate;
The rotating mechanism of integral installation on described telescopic arm (013) comprises: be installed on the stepper motor (017) on telescopic arm (013), rotate reductor (018), bevel gear set (019), be installed on the rotating disk (020) of telescopic arm (013) other end, with the hard-wired synchronous wheels (022) of rotating disk (020) and the Timing Belt (023) connecting synchronous wheels (022) and bevel gear set (019), the clutch end of described stepper motor (017) connects the deceleration input rotating reductor (018), the deceleration output rotating reductor (018) is connected with bevel gear set (019), synchronous wheels (022) are fixedly installed in the top of rotary turnplate (020), the teeth portion of Timing Belt (023) close contact bevel gear set (019) and the teeth portion of synchronous wheels (022), control subject (026) is to the drive singal Driving Stepping Motor (017) of stepper motor (017) transmission speed and position, thus drive the reductor (018) and bevel gear set (019) rotation that link with it, and rotating disk (020) is driven to rotate by Timing Belt (023),
Multiple vacuum cup (021) is installed under described rotating disk (020), vacuum cup (021) is connected with vavuum pump (003) pipeline, and pipeline (028) leads to vacuum cup (021) through machine internal.
2. a kind of manipulator according to claim 1, is characterized in that: be provided with between described upper bracket (002) and lifter plate (008) and organize line slide rail one (024) more.
3. a kind of manipulator according to claim 1 and 2, is characterized in that: also comprise a contact panel (027) and communicate to connect with described control subject (026); Carry out man-machine docking by contact panel (027), and touch panel (027) makes robot work by data line transfer control signal to control subject (026).
CN201520110923.2U 2015-02-13 2015-02-13 A kind of manipulator CN204685875U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520110923.2U CN204685875U (en) 2015-02-13 2015-02-13 A kind of manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN204685875U true CN204685875U (en) 2015-10-07

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106040898A (en) * 2016-06-30 2016-10-26 浙江顺信机械有限公司 Punching mechanical arm
CN106217111A (en) * 2016-08-29 2016-12-14 浙江柏同机器人科技股份有限公司 The mechanism that man-hour, station automatically switched is added for pipe fitting
WO2017185690A1 (en) * 2016-04-28 2017-11-02 北京峰誉科技有限公司 Liquid-collection device and smart toilet comprising said liquid-collection device
WO2018018755A1 (en) * 2016-07-29 2018-02-01 意力(广州)电子科技有限公司 Automatic sealing device having fully automatic linear robot arm
WO2018018754A1 (en) * 2016-07-29 2018-02-01 意力(广州)电子科技有限公司 Automatic sealing device having fully automatic linear robot arm
CN109795881A (en) * 2019-03-29 2019-05-24 李传聪 A kind of Work sheet conveying device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017185690A1 (en) * 2016-04-28 2017-11-02 北京峰誉科技有限公司 Liquid-collection device and smart toilet comprising said liquid-collection device
CN106040898A (en) * 2016-06-30 2016-10-26 浙江顺信机械有限公司 Punching mechanical arm
WO2018018755A1 (en) * 2016-07-29 2018-02-01 意力(广州)电子科技有限公司 Automatic sealing device having fully automatic linear robot arm
WO2018018754A1 (en) * 2016-07-29 2018-02-01 意力(广州)电子科技有限公司 Automatic sealing device having fully automatic linear robot arm
CN106217111A (en) * 2016-08-29 2016-12-14 浙江柏同机器人科技股份有限公司 The mechanism that man-hour, station automatically switched is added for pipe fitting
CN109795881A (en) * 2019-03-29 2019-05-24 李传聪 A kind of Work sheet conveying device

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C14 Grant of patent or utility model
GR01 Patent grant
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: 20151007

Termination date: 20180213