CN204772516U - Mechanical hand of light -duty object transport - Google Patents
Mechanical hand of light -duty object transport Download PDFInfo
- Publication number
- CN204772516U CN204772516U CN201520330172.5U CN201520330172U CN204772516U CN 204772516 U CN204772516 U CN 204772516U CN 201520330172 U CN201520330172 U CN 201520330172U CN 204772516 U CN204772516 U CN 204772516U
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- ball
- slide unit
- screw slide
- light
- supporting plate
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Abstract
The utility model relates to a mechanical hand of light -duty object transport, it includes wheeled chassis car, fixedly on the car of wheeled chassis being provided with the supporting seat, lie in fixedly on the supporting seat to be provided with a ball slip table, and ball slip table both sides is respectively through a fixed plate and support connection, fixedly connected with owner's layer board on the slider of a ball slip table, main layer board forms the fluted body structure with vice layer board one end fixed connection, lies in this fluted body structure internal fixation and is provided with cylinder linear guide, be provided with two horizontal sliders on the cylinder linear guide, vice the 2nd ball slip table of layer board other end fixed connection, and be connected with the one end of two connecting rods on the slider of the 2nd ball slip table, a horizontal slider is connected respectively to the other end of two connecting rods, still is connected with an arm lock on the two horizontal sliders respectively. The utility model discloses simple structure, the cost is lower, can realize the direct drive, can wide application in the transport of light -duty box, barrel etc. And pile up neatly field.
Description
Technical field
The utility model relates to a kind of manipulator, particularly about the light-duty object transport manipulator used in a kind of carrying at light-duty casing, cylindrical shell etc. and piling.
Background technology
Divide according to coordinate system, the type of robot has cartesian co-ordinate type, circular cylindrical coordinate type, spherical coordinates type, joint type, wherein, cartesian co-ordinate type only has linear joint, circular cylindrical coordinate type has a cradle head, and spherical coordinates type has two cradle heads, and joint type has three cradle heads.And by free degree classification in cartesian coordinate robot, have Two coordinate, three-dimensional, 4-coordinate, Five Axis, six coordinates robot.
Generally, the part of cartesian coordinate robot has: positioning body section bar, tracks, moving slide block, actuated element, supporting base etc., and wherein positioning body section bar is as the installation support section of track; Tracks is arranged on positioning body section bar, the slide block of direct supporting movement; Moving slide block and track are coupled together by roller or ball, realize the guiding of motion; Supporting base is for installing actuated element and driving unit.And general actuated element has Timing Belt, cog belt, leading screw/ball-screw, tooth bar etc.According to the difference of end effector instrument, Cartesian robot can easily for various automation equipment, complete as welding, carrying, loading and unloading, packaging, piling, de-stacking, detection, flaw detection, classification, assembling, labeling, coding, stamp, spraying, target follow, a series of activities such as explosive.
But do not need complicated and multivariant robot in some occasion, as simple carrying and piling task only need be completed, if adopt complicated and multivariant robot to complete such task can bring waste on cost, therefore just need simplicity of design and transfer robot flexibly.And simplicity of design and transfer robot flexibly, need to consider the coordinate system type of manipulator, Coordinate-free degree number and robot building block number, also need to take into consideration manufacturing cost simultaneously, thus realize production equipment and drop into cost degradation.
Summary of the invention
For the problems referred to above, the purpose of this utility model is to provide a kind of light-duty object transport manipulator, and its structure is simple, and cost is lower, can realize Direct driver, is carried out rapidly flexibly by target object clamping or unclasping.
For achieving the above object, the utility model takes following technical scheme: a kind of light-duty object transport manipulator, is characterized in that: it comprises a wheel undercarriage car, a supporting seat, one first ball-screw slide unit, two fixing plate, a main supporting plate, a secondary supporting plate, a cylindrical linear rail, two cross sliding clocks, one second ball-screw slide unit, two connecting rods and two jig arm; Described wheel undercarriage car is fixedly installed described supporting seat, is positioned on described supporting seat and is fixedly installed described first ball-screw slide unit, and described first ball-screw slide unit both sides are connected with described supporting seat respectively by a described fixing plate; The slide block of described first ball-screw slide unit is fixedly connected with described main supporting plate, and described main supporting plate and described secondary supporting plate one end are fixedly connected to form fluted body structure, are positioned at this fluted body structure internal fixtion and are provided with described cylindrical linear rail; Described cylindrical linear rail is provided with cross sliding clock described in two; The described secondary supporting plate other end is fixedly connected with described second ball-screw slide unit, and the slide block of described second ball-screw slide unit is connected with one end of connecting rod described in two, the other end of connecting rod described in two connects a described cross sliding clock respectively, and cross sliding clock described in two is also connected to jig arm described in.The utility model is based upon the manipulator that rectangular co-ordinate fastens can do oscilaltion campaign along with the free degree on vertical direction, and carries out the clamping of object by the free degree of horizontal direction and unclasp; Carrying and the piling of light-duty object can be completed in conjunction with wheel undercarriage car.
The tie point of described cylindrical linear rail and described fluted body structure is positioned at the central spot of described cylindrical linear rail.
Connection between the slide block of connecting rod described in two and described second ball-screw slide unit, two cross sliding clocks all adopts straight pin to connect.
The top of described first ball-screw slide unit and the top of the second ball-screw slide unit are all provided with a drive motors.
The stroke of described first ball-screw slide unit is greater than the stroke of described second ball-screw slide unit.The effective travel of two ball-screw slide units is different, and two ball screw slide units are all vertically arranged on corresponding supporting plate, and ball screw slide unit, compared with Timing Belt, has structure simple, the direct sorrow point of type of drive.
Be positioned at the described secondary supporting plate other end, be also provided with camera at the described secondary supporting plate back side, described in described camera and two, jig arm homonymy is arranged.
Described wheel undercarriage car adopts rectangle frame structure.
The utility model is owing to taking above technical scheme, and it has the following advantages: 1, few, the structure of number of components that adopts of the utility model is simple, and low cost of manufacture, simultaneously between each parts also than easier to mount and fixing.2, the utility model is according to can localizing objects object rapidly to the control of wheel undercarriage car, and use double-slider linkage and Symmetric Composite thereof carry out the clamping of horizontal direction to target object neatly and unclasp, simultaneously vertical direction the free degree can matching object height and adjust the vertical height of manipulator, action is comparatively flexible.3, the utility model adopts the ball-screw slide unit that two effective travels are different, can need according to task and adjust different strokes on the one hand, can utilize drive motors Direct driver and drive the slide block realize target action be coupled with it on the other hand.4, the double-slider linkage that the utility model adopts can realize cross sliding clock according to the length of connecting rod and arrive different extreme positions, and the change of second ball screw slide unit fixed position on secondary supporting plate simultaneously can change the angle changing of connecting rod and the extreme position of cross sliding clock.The utility model can extensive use in the carrying of light-duty casing, cylindrical shell etc. and piling field.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the rearview of Fig. 1;
Fig. 3 is ball-screw slide unit drive motors of the present utility model and camera installation site schematic diagram.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in detail.
As shown in FIG. 1 to 3, the utility model provides a kind of light-duty object transport manipulator, and it comprises wheel undercarriage car 1, supporting seat 2, a 1 first ball-screw slide unit 3, two fixing plate 4, main supporting plate 5, secondary supporting plate 6, cylindrical linear rail 7, two cross sliding clock 8,1 second ball-screw slide unit 9, two connecting rod 10 and two jig arm 11.
Wheel undercarriage car 1 is fixedly installed supporting seat 2, supports whole robot manipulator structure by supporting seat 2; Be positioned on supporting seat 2 and be fixedly installed the first ball-screw slide unit 3, and the first ball-screw slide unit 3 both sides are connected with supporting seat 2 respectively by a fixing plate 4, strengthen the bonding strength of supporting seat 2 and the first ball-screw slide unit 3, in case the first ball-screw slide unit 3 swings in the course of the work, the vertical bury pipe before and after the first ball-screw slide unit 3 also can be kept.The slide block of the first ball-screw slide unit 3 is fixedly connected with main supporting plate 5, main supporting plate 5 is fixedly connected to form fluted body structure with secondary supporting plate 6 one end, be positioned at this fluted body structure internal fixtion and be provided with cylindrical linear rail 7, and cylindrical linear rail 7 is positioned at the central spot of cylindrical linear rail 7 with the tie point of fluted body structure.Cylindrical linear rail 7 is provided with two cross sliding clocks 8, the slide block 8 be coupled with it can be allowed to slide flexibly by cylindrical linear rail 7, realize the fast clamp of whole manipulator and unclasp.Secondary supporting plate 6 other end is fixedly connected with the second ball-screw slide unit 9, and the slide block of the second ball-screw slide unit 9 is connected with one end of two connecting rods 10, the connection that the other end of two connecting rods 10 connects between the slide block of a cross sliding clock 8, two connecting rod 10 and the second ball-screw slide unit 9, two cross sliding clocks 8 respectively all adopts straight pin to connect.Two cross sliding clocks 8 are also connected to a jig arm 11, realize the clamping of target object by two jig arm 11 or unclasp.
In above-described embodiment, wheel undercarriage car 1 adopts rectangle frame structure, and supporting seat 2 is fixed on rectangle frame, and supporting seat 2 is arranged on rectangle frame hollow part for the position connecting the first ball-screw slide unit 3, adopts hanging structure; Meanwhile, two fixing plates 4 are positioned on rectangle frame with the junction of supporting seat 2, can effectively alleviate overall structure weight like this.
In the various embodiments described above, the center of gravity of the manipulator mechanism that can install according to its top of the installation site of supporting seat 2 on wheel undercarriage car 1 under stress condition and adjusting, to ensure that robot car is not toppled in the course of the work.
In the various embodiments described above, the top of the first ball-screw slide unit 3 and the top of the second ball-screw slide unit 9 are all provided with a drive motors 12, drive two ball-screw slide unit work respectively by each drive motors 12.
In the various embodiments described above, the stroke of the first ball-screw slide unit 3 is greater than the stroke of the second ball-screw slide unit 9.
In the various embodiments described above, two fixing plates 4 are fixed by screws in the back side of the first ball-screw slide unit 3.
In the various embodiments described above, as shown in Figure 3, be positioned at secondary supporting plate 6 other end, be also provided with camera 13 at secondary supporting plate 6 back side, camera 13 and two jig arm 11 homonymies are arranged.The function identified of navigating can be realized by camera 13, manipulator of the present utility model is guided to identify target object, then the appearance position of location adjustment carrier, exactly jig arm 11 is navigated to target object, then clamps target object and unclasps.
In sum, the utility model in use, its operation principle is: the drive motors 12 on the first ball-screw slide unit 3 drives the screw turns of the first ball-screw slide unit 3, and then drive the slide block on the first ball-screw slide unit 3 to move up and down along this leading screw, thus control the oscilaltion of whole manipulator.Drive motors 12 on second ball-screw slide unit 9 drives the screw turns on it, and then drive the slide block on the second ball-screw slide unit 9 to move up and down along this leading screw, and the end motion of the slider-actuated moved up and down connected connecting rod 10 1, thus drive cross sliding clock 8 side-to-side movement be connected with connecting rod 10 other end, just side-to-side movement is passed to the jig arm 11 be attached thereto by cross sliding clock 8, such jig arm 11 just can realize the clamping of target object and unclasp; And the motion of wheel undercarriage car 1 can realize target object to be transported to another position from a position.
The various embodiments described above are only for illustration of the utility model; the structure of each parts, size, setting position and shape all can change to some extent; on the basis of technical solutions of the utility model; all improvement of carrying out individual part according to the utility model principle and equivalents, all should not get rid of outside protection domain of the present utility model.
Claims (8)
1. a light-duty object transport manipulator, is characterized in that: it comprises a wheel undercarriage car, a supporting seat, one first ball-screw slide unit, two fixing plate, a main supporting plate, a secondary supporting plate, a cylindrical linear rail, two cross sliding clocks, one second ball-screw slide unit, two connecting rods and two jig arm;
Described wheel undercarriage car is fixedly installed described supporting seat, is positioned on described supporting seat and is fixedly installed described first ball-screw slide unit, and described first ball-screw slide unit both sides are connected with described supporting seat respectively by a described fixing plate; The slide block of described first ball-screw slide unit is fixedly connected with described main supporting plate, and described main supporting plate and described secondary supporting plate one end are fixedly connected to form fluted body structure, are positioned at this fluted body structure internal fixtion and are provided with described cylindrical linear rail; Described cylindrical linear rail is provided with cross sliding clock described in two; The described secondary supporting plate other end is fixedly connected with described second ball-screw slide unit, and the slide block of described second ball-screw slide unit is connected with one end of connecting rod described in two, the other end of connecting rod described in two connects a described cross sliding clock respectively, and cross sliding clock described in two is also connected to jig arm described in.
2. light-duty object transport manipulator as claimed in claim 1, is characterized in that: the tie point of described cylindrical linear rail and described fluted body structure is positioned at the central spot of described cylindrical linear rail.
3. light-duty object transport manipulator as claimed in claim 1, is characterized in that: the connection between the slide block of connecting rod described in two and described second ball-screw slide unit, two cross sliding clocks all adopts straight pin to connect.
4. light-duty object transport manipulator as claimed in claim 2, is characterized in that: the connection between the slide block of connecting rod described in two and described second ball-screw slide unit, two cross sliding clocks all adopts straight pin to connect.
5. the light-duty object transport manipulator as described in any one of Claims 1 to 4, is characterized in that: the top of described first ball-screw slide unit and the top of the second ball-screw slide unit are all provided with a drive motors.
6. the light-duty object transport manipulator as described in any one of Claims 1 to 4, is characterized in that: the stroke of described first ball-screw slide unit is greater than the stroke of described second ball-screw slide unit.
7. the light-duty object transport manipulator as described in any one of Claims 1 to 4, is characterized in that: be positioned at the described secondary supporting plate other end, and be also provided with camera at the described secondary supporting plate back side, described in described camera and two, jig arm homonymy is arranged.
8. the light-duty object transport manipulator as described in any one of Claims 1 to 4, is characterized in that: described wheel undercarriage car adopts rectangle frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520330172.5U CN204772516U (en) | 2015-05-21 | 2015-05-21 | Mechanical hand of light -duty object transport |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520330172.5U CN204772516U (en) | 2015-05-21 | 2015-05-21 | Mechanical hand of light -duty object transport |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204772516U true CN204772516U (en) | 2015-11-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520330172.5U Expired - Fee Related CN204772516U (en) | 2015-05-21 | 2015-05-21 | Mechanical hand of light -duty object transport |
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| Country | Link |
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| CN (1) | CN204772516U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858854A (en) * | 2015-05-21 | 2015-08-26 | 北京信息科技大学 | Lightweight mechanical arm for carrying objects |
| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
| CN109048992A (en) * | 2018-08-28 | 2018-12-21 | 广东海翔教育科技有限公司 | A kind of working arm for industrial robot used for teaching |
| CN109551676A (en) * | 2017-09-26 | 2019-04-02 | 刘思邦 | Heavy dies automatic open-close mould auxiliary device |
| CN110200704A (en) * | 2019-07-10 | 2019-09-06 | 重庆金山科技（集团）有限公司 | Straight-line motion mechanism and operation trolley |
| CN110831728A (en) * | 2017-04-25 | 2020-02-21 | 川崎重工业株式会社 | Sheet conveying device and sheet conveying method |
| CN111055661A (en) * | 2020-01-02 | 2020-04-24 | 中车青岛四方机车车辆股份有限公司 | Sliding window structure and vehicle with same |
-
2015
- 2015-05-21 CN CN201520330172.5U patent/CN204772516U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858854A (en) * | 2015-05-21 | 2015-08-26 | 北京信息科技大学 | Lightweight mechanical arm for carrying objects |
| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
| CN105565211B (en) * | 2015-12-23 | 2018-02-27 | 南京航空航天大学 | A kind of Intelligent carrier of automatic recognition cargo |
| CN110831728A (en) * | 2017-04-25 | 2020-02-21 | 川崎重工业株式会社 | Sheet conveying device and sheet conveying method |
| CN109551676A (en) * | 2017-09-26 | 2019-04-02 | 刘思邦 | Heavy dies automatic open-close mould auxiliary device |
| CN109048992A (en) * | 2018-08-28 | 2018-12-21 | 广东海翔教育科技有限公司 | A kind of working arm for industrial robot used for teaching |
| CN110200704A (en) * | 2019-07-10 | 2019-09-06 | 重庆金山科技（集团）有限公司 | Straight-line motion mechanism and operation trolley |
| CN110200704B (en) * | 2019-07-10 | 2023-12-22 | 重庆金山医疗机器人有限公司 | Linear motion mechanism and operation trolley |
| CN111055661A (en) * | 2020-01-02 | 2020-04-24 | 中车青岛四方机车车辆股份有限公司 | Sliding window structure and vehicle with same |
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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: 20151118 Termination date: 20180521 |