CN204980334U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN204980334U CN204980334U CN201520546480.1U CN201520546480U CN204980334U CN 204980334 U CN204980334 U CN 204980334U CN 201520546480 U CN201520546480 U CN 201520546480U CN 204980334 U CN204980334 U CN 204980334U
- Authority
- CN
- China
- Prior art keywords
- transmission arm
- manipulator
- drive gear
- support
- transmission
- 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
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Abstract
The utility model relates to a manipulator, including the transmission arm, set up the drive gear who holds in the clamping jaw and the setting of the first end of transmission arm at the transmission arm second, still include to set up the support of serving at the transmission arm second and rotate the drive gear of setting on the support, transmission arm support relatively rotates, drive gear is littleer than drive gear, drive gear is with drive gear meshing transmission and be used for the actuation transmission arm to rotate. The utility model discloses with the help of the size configuration of drive gear with drive gear, can make drive gear speed reduction back speed more stable to inertia impact force when reducing pneumatic motor and stopping has been solved the prior art medium hard and has been connected inertia and strike the pneumatic motor that the brings problem of disconnected axle easily.
Description
[technical field]
The utility model relates to a kind of mechanical equipment, particularly relate to a kind of can various dimensions motion manipulator.
[background technology]
Current manipulator is the function reaching multi-aspect motion, usually can arrange manipulator and rotate, and generally rotate by motor Direct driver manipulator.But in some cases, if the power that Direct driver manipulator rotates stops, then the rotator inertia of manipulator easily causes inertial impact force to CD-ROM drive motor, even can make CD-ROM drive motor generation off-axis event time serious, harmful effect is caused to the operation of equipment, also affects work peace environment simultaneously.In addition, due to the existence of inertial impact force, after also causing the rotation reduction of speed of manipulator, fluctuation of service is caused.
[utility model content]
The technical problems to be solved in the utility model is to provide a kind of manipulator, can avoid off-axis event occurs when CD-ROM drive motor shuts down, and after CD-ROM drive motor reduction of speed, the operation of manipulator is more stable simultaneously.
For solving the problems of the technologies described above, the utility model provides following technical scheme:
A kind of manipulator, comprise transmission arm, be arranged on the jaw of transmission arm first end and be arranged on the transmission gear of transmission arm second end, also comprise and be arranged on support on transmission arm second end and rotation and be arranged on driven wheel on support, described transmission arm can rotate by opposite brackets, described driven wheel is less than transmission gear, described driven wheel and transmission gear engaged transmission for driving transmission arm to rotate.
In certain embodiments, also comprise the CD-ROM drive motor be fixed on support, described CD-ROM drive motor provides power for driven wheel.
In certain embodiments, described CD-ROM drive motor is air motor.
In certain embodiments, also comprise two swivel arms with the pivot joint of support diverse location, corresponding to the one respectively turning cylinder of two swivel arms is fixedly connected with.
In certain embodiments, described rotation axis hinge joint is on a platform, and on described platform, also correspondence arranges the rotation motor of the power for providing turning cylinder.
In certain embodiments, described platform is lifting table, is liftablely arranged on a pedestal.
In certain embodiments, described pedestal arranges liftable lifting shaft, described lifting shaft is fixedly connected with platform.
The utility model is by the size configure of driven wheel and transmission gear, after driven wheel can be made to slow down, speed is more stable, thus the inertial impact force reduced when air motor stops, solving the problem of the easy off-axis of air motor that in prior art, Hard link inertia impact brings.
[accompanying drawing explanation]
The perspective view of the manipulator that Fig. 1 provides for the utility model one embodiment.
The part-structure enlarged drawing that Fig. 2 is the manipulator shown in Fig. 1.
[detailed description of the invention]
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
As depicted in figs. 1 and 2, a kind of manipulator that one embodiment provides, comprise transmission arm 10, be arranged on the jaw 20 of transmission arm first end 11, be arranged on the transmission gear 30 of transmission arm second end 12, be arranged on the support 40 on transmission arm second end 12 and rotate the driven wheel 50 be arranged on support 40, described transmission arm 10 can rotate by opposite brackets 40, described driven wheel 50 is less than transmission gear 30, and described driven wheel 50 is with transmission gear 30 engaged transmission and for driving transmission arm 10 to rotate.
Jaw 20 is for gripping workpiece.Jaw 20 has multiple pawl lobe, and pawl lobe can be driven by corresponding driver train and complete the action of opening and closing, and then realizes the putting of workpiece, gets.
Support 40 comprises some sidewalls, encloses formation one accommodation space, and described driven wheel 50, transmission gear 30 can be arranged in this accommodation space.Be show internal structure in figure, wherein a sidewall is hidden.
Further, also comprise the CD-ROM drive motor 51 be fixed on support 40, described CD-ROM drive motor 51 provides power for driven wheel 50.
CD-ROM drive motor 51 is also arranged in this accommodation space.In one embodiment, described CD-ROM drive motor 51 is air motor.
Less than transmission gear 30 by arranging driven wheel 50, the rotation of transmission arm 10 can be made more easy to control, and transmission arm 10 is from quick to transition process at a slow speed, its inertial impact force will be less for the impact of CD-ROM drive motor 51.
Further, described manipulator also comprises two swivel arms 61,62 with the pivot joint of support 40 diverse location, the turning cylinder 71 that two swivel arms 61,61 are corresponding to respectively, and 72 are fixedly connected with.By the drive of turning cylinder 71,72, swivel arm 61,62 can make support 40 rotate towards different directions, thus transmission arm 10 not only along himself axial rotation, also can be moved in a certain plane.In illustrated embodiment, this plane is two swivel arms 61,62 place planes, is also horizontal surface.Different according to the rotational angle of swivel arm 61,62, the jaw 20 at place, transmission arm 10 one end can move in a certain scope in this horizontal surface and arrive desired location.By above-mentioned setting, the three-dimensional motion of jaw 20 can be realized.
Further, in described manipulator, described turning cylinder 71,72 is articulated on a platform 80, and on described platform 80, also corresponding setting is used for providing turning cylinder 71, the rotation motor 73,74 of the power of 72.
In addition, described platform 80 is lifting table, is liftablely arranged on a pedestal 81.Arranged by lifting, support 40 dipping and heaving on the direction of vertical level can be driven, also can realize the four-dimensional movement of jaw 20.
Particularly, described pedestal 81 arranges liftable lifting shaft 82, described lifting shaft 82 is fixedly connected with platform 80.Lifting shaft 82 can be multiple, and in illustrated embodiment, lifting shaft 82 is 4, and point is located on two pedestals 81.Lifting shaft 82 can realize driving by the mechanism such as air motor or hydraulic pressure.
The utility model is by the size configure of driven wheel and transmission gear, after driven wheel can be made to slow down, speed is more stable, thus the inertial impact force reduced when air motor stops, solving the problem of the easy off-axis of air motor that in prior art, Hard link inertia impact brings.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (7)
1. a manipulator, comprise transmission arm, be arranged on the jaw of transmission arm first end and be arranged on the transmission gear of transmission arm second end, it is characterized in that, also comprise and be arranged on support on transmission arm second end and rotation and be arranged on driven wheel on support, described transmission arm can rotate by opposite brackets, and described driven wheel is less than transmission gear, described driven wheel and transmission gear engaged transmission for driving transmission arm to rotate.
2. manipulator as claimed in claim 1, is characterized in that, also comprise the CD-ROM drive motor be fixed on support, and described CD-ROM drive motor provides power for driven wheel.
3. manipulator as claimed in claim 2, it is characterized in that, described CD-ROM drive motor is air motor.
4. manipulator as claimed in claim 1, is characterized in that, also comprise two swivel arms with the pivot joint of support diverse location, and corresponding to the one respectively turning cylinder of two swivel arms is fixedly connected with.
5. manipulator as claimed in claim 4, is characterized in that, described rotation axis hinge joint is on a platform, and on described platform, also correspondence arranges the rotation motor of the power for providing turning cylinder.
6. manipulator as claimed in claim 5, it is characterized in that, described platform is lifting table, is liftablely arranged on a pedestal.
7. manipulator as claimed in claim 6, it is characterized in that, described pedestal arranges liftable lifting shaft, and described lifting shaft is fixedly connected with platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520546480.1U CN204980334U (en) | 2015-07-24 | 2015-07-24 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520546480.1U CN204980334U (en) | 2015-07-24 | 2015-07-24 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204980334U true CN204980334U (en) | 2016-01-20 |
Family
ID=55114724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520546480.1U Expired - Fee Related CN204980334U (en) | 2015-07-24 | 2015-07-24 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204980334U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717676A (en) * | 2019-03-19 | 2020-09-29 | 沈阳新松机器人自动化股份有限公司 | Light turnover mechanism |
-
2015
- 2015-07-24 CN CN201520546480.1U patent/CN204980334U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717676A (en) * | 2019-03-19 | 2020-09-29 | 沈阳新松机器人自动化股份有限公司 | Light turnover mechanism |
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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: 20160120 Termination date: 20200724 |