CN204689090U - Robot work platform and manipulator traversing gear thereof - Google Patents
Robot work platform and manipulator traversing gear thereof Download PDFInfo
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- CN204689090U CN204689090U CN201420872714.7U CN201420872714U CN204689090U CN 204689090 U CN204689090 U CN 204689090U CN 201420872714 U CN201420872714 U CN 201420872714U CN 204689090 U CN204689090 U CN 204689090U
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- manipulator
- sensor
- connecting rod
- drive motor
- traversing gear
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Abstract
The utility model provides a kind of robot work platform and manipulator traversing gear thereof, and described manipulator traversing gear comprises: main support, connecting rod assembly and sensor; Wherein, connecting rod assembly is located on described main support, and described connecting rod assembly one end is connected with drive motor, and the other end is connected with manipulator, and described drive motor drives described connecting rod assembly to drive described manipulator to carry out position and moves; Described sensor is multiple, be arranged in the diverse location of described main support, in order to pass through detect the state of kinematic motion of described connecting rod assembly and then obtain the shift position of described manipulator, and control the action of described drive motor and manipulator according to the shift position of described manipulator.The manipulator traversing gear structure that the utility model provides is simple, reliable transmission, stable, can the work efficiency of elevating gear hand.
Description
Technical field
The utility model relates to the technical field of automated production equipment, particularly a kind of robot work platform and manipulator traversing gear thereof.
Background technology
Along with the development of industrial process, automation production flow line is applied in every field more and more, according to Different Industries and concrete station requirement, different design standards is had to the manipulator on automation production flow line and type of belt drive thereof, a kind of structure is simple, and the manipulator traversing gear of reliable transmission can bring very large lifting to the work efficiency of whole automation production flow line.
Utility model content
The utility model provides a kind of robot work platform and manipulator traversing gear thereof, by the simple driving device of structure, can realize the reliable transmission of manipulator, and then the work efficiency of elevating gear hand.
The utility model provides a kind of manipulator traversing gear, it is characterized in that, described manipulator traversing gear comprises: main support, connecting rod assembly and sensor; Wherein, connecting rod assembly is located on described main support, and described connecting rod assembly one end is connected with drive motor, and the other end is connected with manipulator, and described drive motor drives described connecting rod assembly to drive described manipulator to carry out position and moves; Described sensor is multiple, be arranged in the diverse location of described main support, in order to pass through detect the state of kinematic motion of described connecting rod assembly and then obtain the shift position of described manipulator, and control the action of described drive motor and manipulator according to the shift position of described manipulator.
According to the utility model one preferred embodiment, described connecting rod assembly comprises location mainboard, locating piece, slide shaft, waling stripe and vertical connecting rod, and wherein, described location mainboard is fixedly connected with described main support, and described location mainboard is provided with positioning groove; One end of described locating piece is connected with described drive motor, described locating piece is provided with sliding tray, described sliding tray and described positioning groove arranged in a crossed manner, described slide shaft is arranged in described sliding tray and described positioning groove in the crossover location of described sliding tray and described positioning groove, described slide shaft is connected with described waling stripe, and described vertical connecting rod is for connecting described waling stripe and described manipulator; Described drive motor drives described locating piece to swing, and described locating piece drives described slide shaft to slide in described sliding tray and described positioning groove, and then drives described manipulator to move by described waling stripe and described vertical connecting rod.
According to the utility model one preferred embodiment, the other end of described locating piece is provided with induction lug boss, when described locating piece swings under the driving of described drive motor, described induction lug boss is through the induction zone of described sensor, make described sensor the swing position of described locating piece be detected, and then obtain the shift position of manipulator.
According to the utility model one preferred embodiment, described positioning groove comprises horizontal part and is positioned at the vertical portion of described horizontal part both sides, wherein said sensor comprises first sensor, the second sensor and the 3rd sensor, wherein said first sensor is used for responding to described induction lug boss when described slide shaft moves to the midway location of described horizontal part, and described second sensor and described 3rd sensor are responded to described induction lug boss when described slide shaft moves to the desired location in described vertical portion.
According to the utility model one preferred embodiment, described first sensor is used for resetting to described drive motor and manipulator after sensing described induction lug boss in power up, controls described drive motor and carry out rotating backward and control manipulator and capture or release movement workpiece to be processed after described second sensor and described 3rd sensor sense described induction lug boss in the course of the work.
According to the utility model one preferred embodiment, the vertical rack plate that described main support comprises bracket base, is located at the horizontal stand plate on described bracket base top and is located on described horizontal stand plate, described connecting rod assembly is connected with described vertical rack plate.
According to the utility model one preferred embodiment, described vertical connecting rod passes through by slide assemblies and described vertical rack plate sliding block joint.
According to the utility model one preferred embodiment, described slide assemblies comprises vertical sliding shoe, is fixedly connected with block, horizontal slip block and horizontal guide rail, and described vertical sliding shoe and described vertical connecting rod form the sliding pair of vertical direction; Be fixedly connected with block described in described vertical sliding shoe passes through with described horizontal slip block to be fixedly connected with, described horizontal slip block coordinates with described horizontal guide rail and forms horizontal direction sliding pair, and the sliding pair of described vertical direction and described horizontal direction sliding pair make described manipulator realize moving in perpendicular.
According to the utility model one preferred embodiment, main support comprises drive motor support further, and described drive motor support is connected with described vertical rack plate, for fixing described drive motor.
The utility model also provides a kind of robot work platform, and described robot work platform comprises manipulator and above-mentioned manipulator traversing gear.
Relative to prior art, the manipulator traversing gear structure that the utility model provides is simple, reliable transmission, stable, can the work efficiency of elevating gear hand.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structure front elevation of the utility model manipulator traversing gear one preferred embodiment;
Fig. 2 is the structure side view of manipulator traversing gear in Fig. 1 embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only a part of embodiment of the present utility model, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 1 and Fig. 2, Fig. 1 is the structure front elevation of the utility model manipulator traversing gear one preferred embodiment; Fig. 2 is the structure side view of manipulator traversing gear in Fig. 1 embodiment.This main support 100, connecting rod assembly 200 and sensor 300.Connecting rod assembly 200 is located on main support 100, and one end of connecting rod assembly 200 is connected with drive motor (not shown), and the other end is connected with manipulator 500, and drive motor drive link assembly 200 driving mechanical hand 500 carries out position and moves; Wherein, sensor can be multiple, be arranged in the diverse location of main support 100, in order to pass through detect the state of kinematic motion of connecting rod assembly 200 and then obtain the shift position of manipulator 500, and control the action of drive motor and manipulator 500 according to the shift position of manipulator 500.
Specifically, this main support 100 comprises bracket base 110, be located at the horizontal stand plate 120 on bracket base 110 top, be located at vertical rack plate 130 on horizontal stand plate 120 and drive motor support 140, this drive motor support 140 is connected with vertical rack plate 130, for fixed drive motor.Further, this main support 100 also comprises strengthens gusset 150, and this reinforcement gusset 150 one end is connected with horizontal stand plate 120, and the other end is connected with vertical rack plate 130.
This connecting rod assembly 200 comprises location mainboard 210, locating piece 220, slide shaft 230, waling stripe 240 and vertical connecting rod 250.Wherein, location mainboard 210 is fixedly connected with the vertical rack plate 130 of main support 100, and this location mainboard 210 is provided with positioning groove 211; This positioning groove 211 comprises horizontal part 2111 and is positioned at the vertical portion 2112 of horizontal part 2111 both sides.
One end of this locating piece 220 is connected with drive motor by connecting bearing pin, and locating piece 220 is provided with sliding tray 221, and this sliding tray 221 is arranged in a crossed manner with positioning groove 211.The other end of locating piece 220 is provided with induction lug boss 222, when swinging under the driving of locating piece 220 at drive motor, induction lug boss 222, through the induction zone of sensor 300, makes sensor 300 swing position of locating piece 220 be detected, and then obtains the shift position of manipulator 500.
Slide shaft 230 is located at the crossover location of sliding tray 221 and positioning groove 211 and is arranged in sliding tray 221 with in positioning groove 211, wherein, one end of slide shaft 230 abuts the bottom of positioning groove 211, and slides along positioning groove 211, and the other end of slide shaft 230 is connected with waling stripe 240.250, vertical connecting rod is for connecting waling stripe 240 and manipulator 500.
Preferably, this sensor 300 comprises first sensor 310, second sensor 320 and the 3rd sensor 330 further, first, second and the 3rd sensor are connected with vertical rack plate 130 respectively by sensor stand plate (in figure non-label), when wherein first sensor 310 is for moving to horizontal part 2111 midway location of positioning groove 211 at slide shaft 230, induction lug boss 222 is responded to, specifically for resetting to drive motor and manipulator 500 after sensing induction lug boss 222 in drive motor power up.Second sensor 320 and the 3rd sensor 330 are responded to protruding 222 of induction when slide shaft 230 moves to the desired location in the horizontal part 2112 of positioning groove 211, be specially the second sensor 320 and the 3rd sensor 330 in the course of the work, control drive motor after sensing induction lug boss 222 and carry out rotating backward and control manipulator 500 pairs of workpieces to be processed and capture or release movement.
The working process of this manipulator traversing gear is: drive motor drives locating piece 220 to swing, locating piece 220 drives slide shaft 230 to slide in sliding tray 221 with positioning groove 211, and then is moved by waling stripe 240 and vertical connecting rod 250 driving mechanical hand 500.
The structure of the manipulator traversing gear that the present embodiment provides is simple, reliable transmission, stable, can the work efficiency of elevating gear hand.
Further, this manipulator traversing gear also comprises slide assemblies 400.This slide assemblies 400 is for the vertical connecting rod 250 of sliding block joint and vertical rack plate 130.Wherein, this slide assemblies 400 comprises vertical sliding shoe 410 further, is fixedly connected with block 420, horizontal slip block 430 and horizontal guide rail 440, and this vertical sliding shoe 410 and vertical connecting rod 250 form the sliding pair of vertical direction; This vertical sliding shoe 410 is fixedly connected with by being fixedly connected with block 420 with horizontal slip block 430, this horizontal slip block 430 coordinates with horizontal guide rail 440 and forms horizontal direction sliding pair, when waling stripe 240 driving mechanical hand 500 moves, the sliding pair of vertical direction and horizontal direction sliding pair make manipulator 500 realize the motion in perpendicular.By arranging slide assemblies 400 vertical connecting connecting rod 250 and vertical rack plate 130, strengthening connecting rod assembly 200 and the Joint strenght of main support 100, the kinematic accuracy of manipulator 500 can be ensured better.
In addition, the embodiment of the present invention also provides a kind of robot work platform, this robot work platform comprises the manipulator traversing gear in manipulator above-described embodiment, about other part-structure features of robot work platform within the scope of the understanding of those skilled in the art, repeats no more herein.
The foregoing is only section Example of the present utility model; not thereby protection domain of the present utility model is limited; every utilize the utility model specification sheets and accompanying drawing content to do equivalent device or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (10)
1. a manipulator traversing gear, is characterized in that, described manipulator traversing gear comprises:
Main support;
Connecting rod assembly, is located on described main support, and described connecting rod assembly one end is connected with drive motor, and the other end is connected with manipulator, and described drive motor drives described connecting rod assembly to drive described manipulator to carry out position and moves;
Sensor, described sensor is multiple, be arranged in the diverse location of described main support, in order to pass through detect the state of kinematic motion of described connecting rod assembly and then obtain the shift position of described manipulator, and control the action of described drive motor and manipulator according to the shift position of described manipulator.
2. manipulator traversing gear according to claim 1, it is characterized in that, described connecting rod assembly comprises location mainboard, locating piece, slide shaft, waling stripe and vertical connecting rod, wherein, described location mainboard is fixedly connected with described main support, and described location mainboard is provided with positioning groove; One end of described locating piece is connected with described drive motor, described locating piece is provided with sliding tray, described sliding tray and described positioning groove arranged in a crossed manner, described slide shaft is arranged in described sliding tray and described positioning groove in the crossover location of described sliding tray and described positioning groove, described slide shaft is connected with described waling stripe, and described vertical connecting rod is for connecting described waling stripe and described manipulator; Described drive motor drives described locating piece to swing, and described locating piece drives described slide shaft to slide in described sliding tray and described positioning groove, and then drives described manipulator to move by described waling stripe and described vertical connecting rod.
3. manipulator traversing gear according to claim 2, it is characterized in that, the other end of described locating piece is provided with induction lug boss, when described locating piece swings under the driving of described drive motor, described induction lug boss is through the induction zone of described sensor, make described sensor the swing position of described locating piece be detected, and then obtain the shift position of manipulator.
4. manipulator traversing gear according to claim 3, it is characterized in that, described positioning groove comprises horizontal part and is positioned at the vertical portion of described horizontal part both sides, wherein said sensor comprises first sensor, the second sensor and the 3rd sensor, wherein said first sensor is used for responding to described induction lug boss when described slide shaft moves to the midway location of described horizontal part, and described second sensor and described 3rd sensor are responded to described induction lug boss when described slide shaft moves to the desired location in described vertical portion.
5. manipulator traversing gear according to claim 4, it is characterized in that, described first sensor is used for resetting to described drive motor and manipulator after sensing described induction lug boss in power up, controls described drive motor and carry out rotating backward and control manipulator and capture or release movement workpiece to be processed after described second sensor and described 3rd sensor sense described induction lug boss in the course of the work.
6. manipulator traversing gear according to claim 2, it is characterized in that, the vertical rack plate that described main support comprises bracket base, is located at the horizontal stand plate on described bracket base top and is located on described horizontal stand plate, described connecting rod assembly is connected with described vertical rack plate.
7. manipulator traversing gear according to claim 6, is characterized in that, described vertical connecting rod is by by slide assemblies and described vertical rack plate sliding block joint.
8. manipulator traversing gear according to claim 7, is characterized in that, described slide assemblies comprises vertical sliding shoe, is fixedly connected with block, horizontal slip block and horizontal guide rail, and described vertical sliding shoe and described vertical connecting rod form the sliding pair of vertical direction; Be fixedly connected with block described in described vertical sliding shoe passes through with described horizontal slip block to be fixedly connected with, described horizontal slip block coordinates with described horizontal guide rail and forms horizontal direction sliding pair, and the sliding pair of described vertical direction and described horizontal direction sliding pair make described manipulator realize moving in perpendicular.
9. manipulator traversing gear according to claim 8, it is characterized in that, main support comprises drive motor support further, and described drive motor support is connected with described vertical rack plate, for fixing described drive motor.
10. a robot work platform, described robot work platform comprises manipulator and the manipulator traversing gear described in any one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420872714.7U CN204689090U (en) | 2014-12-31 | 2014-12-31 | Robot work platform and manipulator traversing gear thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420872714.7U CN204689090U (en) | 2014-12-31 | 2014-12-31 | Robot work platform and manipulator traversing gear thereof |
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| Publication Number | Publication Date |
|---|---|
| CN204689090U true CN204689090U (en) | 2015-10-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420872714.7U Expired - Fee Related CN204689090U (en) | 2014-12-31 | 2014-12-31 | Robot work platform and manipulator traversing gear thereof |
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| CN (1) | CN204689090U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691716A (en) * | 2016-04-27 | 2016-06-22 | 天津磁元微电子有限公司 | Automatic magnetic patch distinguishing and packaging equipment |
-
2014
- 2014-12-31 CN CN201420872714.7U patent/CN204689090U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691716A (en) * | 2016-04-27 | 2016-06-22 | 天津磁元微电子有限公司 | Automatic magnetic patch distinguishing and packaging equipment |
| CN105691716B (en) * | 2016-04-27 | 2018-05-04 | 天津磁元微电子有限公司 | A kind of Magnetic adhesive mat automatic distinguishing packaging facilities |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151007 Termination date: 20171231 |