CN204844152U - Straight line walking robot - Google Patents
Straight line walking robot Download PDFInfo
- Publication number
- CN204844152U CN204844152U CN201520528546.4U CN201520528546U CN204844152U CN 204844152 U CN204844152 U CN 204844152U CN 201520528546 U CN201520528546 U CN 201520528546U CN 204844152 U CN204844152 U CN 204844152U
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- frame
- steel wire
- straight line
- guider
- wire
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Abstract
The utility model discloses a straight line walking robot, it includes steel wire, pulley tensioning assembly, guider, wire reel rotor, frame, servo motor and switch board, keysets, arm, hookup subassembly. Its frame is the linear type, and guider is located the frame, and the hookup subassembly is located guider to be gone up and be connected with the steel wire, and the arm is fixed on the hookup subassembly, and the keysets is fixed on the arm, and servo motor's output shaft extends goes into in the frame and drive the wire reel rotor, and the winding has the steel wire on the wire reel rotor, and the steel wire still winds simultaneously pulley tensioning assembly round is carried away the article or the part straight line that pick up through the motion of arm and keysets. The rigidity and the shock resistance of total had both been guaranteed to its light and handy nimble characteristics of utilizing steel wire transmission, position accuracy, movement accuracy and the operating efficiency of robot have been improved again.
Description
Technical field
The utility model belongs to robot application technical field, is a kind of straight line moving robot, is specially adapted to the operations such as the automatic loading/unloading of lathe and production line in industrial production, workpiece turning, changing of workpieces sequence, workpiece conveying and civilian intelligence and carries and dispensing.
Background technology
Modern industry and civilian in, automated production more and more becomes main flow, with the Flexible Manufacturing Technology of the artificial main body of machine and automation equipment trend of the times especially.Following industrial production and civilian intelligence will be evolved into the leading automated production of Robotics and operation gradually, and the mankind free from the numerous and diverse manual labor of dullness, are engaged in more creative work.
Existing truss robot running gear moving cell quality is large, acceleration is high, causes vibration and impacts strong; Be only suitable at short-distance movement workpiece, when distance increases, cost increases too many, and error also can superpose, and transmission speed is too slow, and precision is also uncontrollable.
Utility model content
For solving the problems referred to above that prior art exists, the invention provides a kind of straight line moving robot, this system utilizes the light and handy feature flexibly of steel wire drive, overcomes in existing truss robot, moving cell quality is large, shortcoming that acceleration is high.Both rigidity and the shock resistance of total had been ensure that; Adopt again state-of-the-art high-precision servo motor, encoder and sensor technology and product in the world, improve the positional precision of robot, kinematic accuracy; Not only the fast precision of speed is high for it, and distance more far more has cost advantage; This system not only increases the free degree of carrying, and eliminates middle undertaking part, thus reduces cost, improves operating efficiency.
To achieve these goals, the technical solution of the utility model is as follows: a kind of straight line moving robot, and it comprises servomotor, keyset, steel wire, pulley tension assembly, guider, wire reel rotor, frame, mechanical arm, coupling assembly, switch board; Wherein, frame is linear pattern, guider is positioned in frame, coupling assembly to be positioned on guider and to be connected with fixation with steel wire, and mechanical arm is positioned on coupling assembly, and keyset is fixing on the robotic arm, the output shaft of servomotor to extend in frame and drives wire reel rotor, wire reel rotor is wound with steel wire, and steel wire also encloses around described pulley tension assembly one simultaneously, and servomotor is connected with switch board by electric wire.
Further, guider is linear pattern, and extends in the same direction with frame.
Further, guider is the guide rail walked abreast for a pair.
Further, wire reel rotor and pulley tension assembly lay respectively at the two ends of frame.
Further, keyset has jockey, specifically can connect handgrip, sucker, terminal-collecting machine or various nonstandard fixture.
The invention has the beneficial effects as follows:
1, the load-bearing of guide rail and bearing can be reduced, thus save material, reduce the manufacturing cost of robot.Heavy load, cost savings are more; Compared with the kind of drive such as rack-and-pinion or leading screw, robot ambulation distance of the present invention is far away, and price more has superiority.And energy-conserving and environment-protective in running: energy 30-50% can be saved.
2, improve operating efficiency: the speed of travel reaches as high as 15 meter per seconds; And ordinary gear rack-driving, speed is generally no more than 2 meter per seconds.
3, running precision is high, and precision can reach 0.003mm/1000mm, and the precision of rack-and-pinion is generally no more than 0.25mm; And utilizing servomotor and encoder to control, walking and location are all very flexible, can accurately locate or stop on the optional position in movement locus.
4, long service life, be convenient to on-site maintenance.Steel wire wear relaxes and can change, and the cost of steel wire own is not high.And rack-and-pinion is difficult to maintenance, the expense of replacing is too high.
5, reduce the requirement to operating environment, the present invention is less demanding for site work environment, and narrowless and small by working space or the condition such as high temperature low temperature and greasy dirt dust limits.Leading screw or rack pinion for environment for use and purity requirements very high.
6, delivery date short, instant effect.The present invention adopts international advanced technology and standard configuration, shortens delivery date, accelerates the factory automation construction period.
7, applied range, main application fields is: both can be used in the general industry works such as automobile making, Aero-Space, Digit Control Machine Tool, food and drink, medicine equipment and industrial automation; Logistics carrying and the dispensing fields such as port and pier, store management, drugstore dispensing, self-service bookstore, Smart Home, omnipotent supermarket can be used in again.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
In figure: 1, servomotor, 2, keyset, 3, steel wire, 4, pulley tension assembly, 5, linear guide, 6, wire reel rotor, 7, frame, 8, mechanical arm, 9, coupling assembly, 10, switch board.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, a kind of straight line moving robot, it comprises servomotor 1, keyset 2, steel wire 3, pulley tension assembly 4, guider 5, wire reel rotor 6, frame 7, mechanical arm 8, coupling assembly 9, switch board 10; Wherein, frame 7 is linear pattern, guider 5 is positioned in frame 7, coupling assembly 9 to be positioned on guider 5 and to be connected with steel wire 3, and mechanical arm 8 is positioned on coupling assembly 9, and keyset 2 is fixed on mechanical arm 8, the output shaft of servomotor 1 to extend in frame 7 and drives wire reel rotor 6, wire reel rotor 6 is wound with steel wire 3, steel wire 3 also encloses around pulley tension assembly 4 one simultaneously, and servomotor 1 is connected with switch board 10 by electric wire.
Further, guider 5 is linear pattern, extends in the same direction with frame 7.
Further, guider 5 is the guide rail walked abreast for a pair.
Further, wire reel rotor 6 and pulley tension assembly 4 lay respectively at the two ends of described frame 7.
Further, keyset 2 can jockey, specifically can connect handgrip, sucker, terminal-collecting machine or various nonstandard fixture.
Its operation principle is: switch board 10 controls servomotor by control system, servomotor 1 drives wire reel rotor 6 to rotate, and then drive steel wire 3 to move, and then drive coupling assembly 9 to move, mechanical arm 8 and keyset 2 are also thereupon along with steel wire 3 moves simultaneously, coupling assembly 9 moves along guider 5 with mechanical arm 8 and keyset 2, and keyset 2 can connect handgrip, sucker, terminal-collecting machine or various nonstandard fixture, thus the part it picked up transfers out.
Illustrate this patent described in above-described embodiment; though be described by specific term in literary composition; but the protection domain of this patent can not be limited with this; the personage being familiar with this technical field can change it or revise and reach equivalent object after the spirit understanding this patent and principle; and this equivalence is changed and amendment, all should be covered by right and define in category.
Claims (6)
1. a straight line moving robot, is characterized in that: it comprises servomotor (1), keyset (2), steel wire (3), pulley tension assembly (4), guider (5), wire reel rotor (6), frame (7), mechanical arm (8), coupling assembly (9), switch board (10), wherein, described frame (7) is linear pattern, described guider (5) is positioned in described frame (7), described coupling assembly (9) is positioned at described guider (5) and goes up and be fixedly connected with described steel wire (3), described mechanical arm (8) is positioned on described coupling assembly (9), described keyset (2) is fixed on described mechanical arm (8), the output shaft of described servomotor (1) to extend in described frame (7) and drives wire reel rotor (6), described wire reel rotor (6) is wound with described steel wire (3), described steel wire (3) also encloses around described pulley tension assembly (4) simultaneously, described servomotor (1) is connected with described switch board (10) by electric wire.
2. a kind of straight line moving robot according to claim 1, is characterized in that: described guider (5) is linear pattern, extends in the same direction with described frame (7).
3. a kind of straight line moving robot according to claim 2, is characterized in that: described guider (5) is a pair parallel guide rail.
4. a kind of straight line moving robot according to claim 1, is characterized in that: described wire reel rotor (6) and described pulley tension assembly (4) lay respectively at the two ends of described frame (7).
5. a kind of straight line moving robot according to claim 1, is characterized in that: described keyset (2) is connected with fixture.
6. a kind of straight line moving robot according to claim 5, is characterized in that: described fixture comprises handgrip, sucker or terminal-collecting machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520528546.4U CN204844152U (en) | 2015-07-21 | 2015-07-21 | Straight line walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520528546.4U CN204844152U (en) | 2015-07-21 | 2015-07-21 | Straight line walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204844152U true CN204844152U (en) | 2015-12-09 |
Family
ID=54734746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520528546.4U Active CN204844152U (en) | 2015-07-21 | 2015-07-21 | Straight line walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204844152U (en) |
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2015
- 2015-07-21 CN CN201520528546.4U patent/CN204844152U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |