CN204997674U - Three degree of freedom servo manipulators of transport circuit breaker - Google Patents

Three degree of freedom servo manipulators of transport circuit breaker Download PDF

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Publication number
CN204997674U
CN204997674U CN201520801646.XU CN201520801646U CN204997674U CN 204997674 U CN204997674 U CN 204997674U CN 201520801646 U CN201520801646 U CN 201520801646U CN 204997674 U CN204997674 U CN 204997674U
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China
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fixed
arm
servomotor
cylinder
leading screw
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Expired - Fee Related
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CN201520801646.XU
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Chinese (zh)
Inventor
章丽芙
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Wenzhou Vocational and Technical College
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Wenzhou Vocational and Technical College
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Abstract

The utility model relates to an industrial automation equipment, more specifically say, relate to an automated machine hand. A three degree of freedom servo manipulators of transport circuit breaker, includes lifing arm, gyration arm, flexible arm, twists reverse arm, base, the lifing arm link firmly in on the base, the base is fixed in subaerially, the hand claw link firmly in twist reverse the output of arm, the fixed plate of flexible arm link firmly in revolving flat, the one end of flexible arm links firmly vertical ring flange, link firmly on the vertical ring flange twist reverse the arm. The utility model discloses three degree of freedom servo manipulators of transport circuit breaker is through compact structural arrangement, effective control overall dimension to acquires at the biggest operation space. Compare with traditional linear coordinate's robot, the utility model discloses three degree of freedom servo manipulators of transport circuit breaker's is small.

Description

The Three Degree Of Freedom servo manipulator of carrying breaker
Technical field
The utility model relates to industrial automation equipment, more particularly, relates to a kind of automatic mechanical hand.
Background technology
Manipulator refers to some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.It can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator forms primarily of hand, motion and control system three parts.Hand is used to the parts grasping workpiece (or instrument), has various structures form according to by grasping the shape of object, size, weight, material and job requirements, as clamp-type, holding type and absorbent-type etc.Motion, makes that hand completes various rotation (swing), mobile or compound motion realizes the action that specifies, change and grasped the position of object and posture.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.Control system is the control by the motor to each free degree of manipulator, has carried out specific action.
But existing manipulator is often driven by motor, complex structure is expensive.
The life-span of existing manipulator is not long.
Utility model content
The purpose of this utility model there are provided a kind of Three Degree Of Freedom servo manipulator carrying breaker, the utility model is applicable in machine-building process, realize the carrying transmission of material, and frictional resistance is little, operate steadily, precision is high, the life-span is long, use the Three Degree Of Freedom servo manipulator of the utility model carrying breaker can picking up work piece, and complete the lifting of workpiece, flexible and spinfunction.
Carry a Three Degree Of Freedom servo manipulator for breaker, comprise lifting arm, revolution arm, telescopic arm, crawl position and pedestal;
Described lifting arm is fixed on described pedestal, and described pedestal is fixed on ground;
Described lifting arm comprises the first servomotor, elevating screw, lifting nut, Timing Belt, guide pillar, base plate; The lower end of described elevating screw is movably connected on described base plate, described first servomotor is fixed on described base plate, described first servomotor connects described Timing Belt, and described Timing Belt connects one end of described elevating screw, and described elevating screw is flexibly connected described lifting nut; Described lifting nut is fixed on the reversing frame of described revolution arm, and described lifting nut is positioned at the edge of described reversing frame; Described guide pillar is fixed on the edge of described base plate, and described guide pillar quantity is, and is parallel to each other; Described reversing frame is provided with the guide pin bushing matched with described guide pillar;
Described revolution arm comprises: reversing frame, the second servomotor, rotary reducer; Described reversing frame comprises pivoted frame last time, column, lower reversing frame, and the top of described column is fixed on the edge of pivoted frame described last time, and the bottom of described column is fixed on the edge of described lower reversing frame; The shell of described rotary reducer is fixed on pivoted frame described last time, and described rotary reducer is positioned at the centre position on described pivoted frame last time top; Described second servomotor is connected to described rotary reducer, and is positioned at the centre position of described pivoted frame last time bottom, and described elevating screw is positioned at the side of described second servomotor; The top of described rotary reducer is fixed with revolving flats;
Described telescopic arm comprises base plate, leading screw, long guideway, square slider, nut, servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, in addition one end and is connected with leading screw supporting seat, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; Projecting shaft and the described leading screw of described servomotor are achieved a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, described long guideway is flexibly connected square slider, below described square slider, be fixed with fixed head; Described leading screw is flexibly connected described nut, and the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw is parallel with described long guideway;
The fixed head of described telescopic arm is fixed on described revolving flats; One end of described telescopic arm is connected vertical ring flange, and described vertical ring flange is connected described crawl position;
Capture position, comprise; Gripper cylinder, transverse slat, vertically slide unit cylinder; Described transverse slat is fixed on the piston rod of described vertical slide unit cylinder, and described gripper cylinder is fixed on the bottom of described transverse slat; Described gripper cylinder comprises horizontally disposed left cylinder, right cylinder, and the housing of described left cylinder, right cylinder is fixed on described transverse slat, is fixed with clamping plate at the piston-rod end of described left cylinder, right cylinder; Described horizontal sliding table cylinder is connected to described vertical slide unit cylinder, described horizontal sliding table cylinder and described vertical slide unit cylinder is in 90 ° is arranged vertically.
Preferably, the cylinder diameter of described left cylinder is greater than the cylinder diameter of described right cylinder.
Compare with conventional art, the beneficial effect of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker is as follows:
Described pedestal is fixed on ground or miscellaneous equipment, realizes fixing the installation of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker.
The Three Degree Of Freedom servo manipulator of the utility model carrying breaker is arranged by compact structure, effectively controls appearance and size, and obtains maximum running space.Compare with the robot of traditional linear coordinate, the volume of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker is little.
Described lifting arm is positioned at foot, and described first servomotor is positioned at described base interior; Described elevating screw, described guide pillar and described second servomotor are put with arrangement, shorten the height dimension of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker.
Described revolution arm, under the driving of described 3rd servomotor, realizes precise rotation.The output angle of described 3rd servomotor, after described rotary reducer, obtains more accurate angle; Meanwhile, the output torque of described rotary reducer is also larger.Described revolution arm rigidity is high, and angle is accurate, and moment of torsion is large.
Traditional robot decelerator joint is expensive, compare with traditional articulated type industrial robot, described lifting arm and the telescopic arm of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker adopt ball-screw to add the version of guide rail, can significantly improve economic benefit.
The quantity of described guide pillar is 4, and the quantity of described guide pin bushing is 4, and guiding accuracy is high, and rigidity is high.
For described telescopic arm, described square slider and described fixed head are fixed on described decelerator cover plate, and under the driving of described 3rd servomotor, described base plate stretches out forward or retracts backward together with described screw mandrel.Be rolling friction between described square slider and described long guideway, to reduce frictional resistance.
The arm of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker comprises lifting arm, revolution arm, telescopic arm, crawl position.Described lifting arm is positioned at the bottom of Three Degree Of Freedom servo manipulator of the utility model carrying breaker, has elevating function, namely under the drive of described first servomotor, can drive described revolution arm, telescopic arm, crawl position rises together or decline; Described revolution arm is connected to described lifting arm, and described revolution arm has revolute function, namely under the drive of described second servomotor, can drive described telescopic arm, capture position do clockwise or counterclockwise horizontally rotating together; Described telescopic arm is connected on described revolution arm, and described telescopic arm has linear extendible function, namely under the drive of described 3rd servomotor, described crawl position can be driven to stretch out or retract; Described crawl position is connected on described telescopic arm, and described crawl position possesses crawl function.The arm of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker possesses the motion control of three degree of freedom.
Accompanying drawing explanation
Fig. 1, Fig. 2 are the structural representations of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker;
Fig. 3 is the structural representation of the lifting arm of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker;
Fig. 4 is the structural representation of the lifting arm of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker;
Fig. 5 is the structural representation of the linear arm of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker;
Fig. 6, Fig. 7 are the structural representations at the crawl position of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker.
Detailed description of the invention
Be described in further detail the utility model below in conjunction with accompanying drawing, but do not form any restriction of the present utility model, element numbers similar in accompanying drawing represents similar element.As mentioned above, the utility model provides a kind of guide tracked manipulator, for realizing crawl and the transfer of material.
Fig. 1, Fig. 2 are the structural representations of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker, Fig. 3 Fig. 4 is the structural representation of the lifting arm of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker, Fig. 5 is the structural representation of the linear arm of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker, and Fig. 6, Fig. 7 are the structural representations at the crawl position of the Three Degree Of Freedom servo manipulator of the utility model carrying breaker.
The Three Degree Of Freedom servo manipulator of carrying breaker, comprises lifting arm 1001, revolution arm 1002, telescopic arm 1003, captures position 10, pedestal 336;
Described lifting arm 1001 is fixed on described pedestal 336, and described pedestal 336 is fixed on ground;
Described lifting arm 1001 comprises the first servomotor 330, elevating screw 332, lifting nut 335, Timing Belt 331, guide pillar 334, base plate 333; The lower end of described elevating screw 332 is movably connected on described base plate 333, described first servomotor 330 is fixed on described base plate 333, described first servomotor 330 connects described Timing Belt 331, described Timing Belt 331 connects one end of described elevating screw 332, and described elevating screw 332 is flexibly connected described lifting nut 335; Described lifting nut 335 is fixed on the reversing frame 261 of described revolution arm 1002, and described lifting nut 335 is positioned at the edge of described reversing frame 261; Described guide pillar 334 is fixed on the edge of described base plate 333, and described guide pillar 334 quantity is 4, and is parallel to each other; Described reversing frame 261 is provided with the guide pin bushing 262 matched with described guide pillar 334;
Described revolution arm 1002 comprises: reversing frame 262, second servomotor 258, rotary reducer 259; Described reversing frame 262 comprises pivoted frame 2645 last time, column 2646, lower reversing frame 2647, and the top of described column 2646 is fixed on the edge of pivoted frame 2645 described last time, and the bottom of described column 2646 is fixed on the edge of described lower reversing frame 2647; The shell of described rotary reducer 259 is fixed on pivoted frame 2645 described last time, and described rotary reducer 259 is positioned at the centre position on described pivoted frame 2645 last time top; Described second servomotor 258 is connected to described rotary reducer 259, and is positioned at the centre position of described pivoted frame 2645 last time bottom, and described elevating screw 332 is positioned at the side of described second servomotor 258; The top of described rotary reducer 259 is fixed with revolving flats 260;
Described telescopic arm comprises base plate 210, leading screw 211, long guideway 219, square slider 220, nut 213, servomotor 218, shaft coupling 217; One end of described leading screw 211 is connected with leading screw holder 216, in addition one end and is connected with leading screw supporting seat 215, and described leading screw holder 216 and described leading screw supporting seat 215 are fixedly connected on described base plate 210; The projecting shaft of described servomotor 218 and described leading screw 211 are achieved a fixed connection by described shaft coupling 217; In the other one side of described base plate 210, be fixedly connected with described long guideway 219, described long guideway 219 is flexibly connected square slider 220, below described square slider 220, be fixed with fixed head 221; Described leading screw 211 is flexibly connected described nut 213, and the outside of described nut 213 is fixed with nut connecting plate 212, and the both sides of described nut connecting plate 212 are fixed with riser 214, and described riser 214 is fixed on described fixed head 221; Described leading screw 21 is parallel with described long guideway 219;
The fixed head 223 of described telescopic arm 1003 is fixed on described revolving flats 260; One end of described telescopic arm 1003 is connected vertical ring flange 2000, and described vertical ring flange 2000 is connected described crawl position 10;
Capture position 10, comprise; Gripper cylinder, transverse slat 3, vertically slide unit cylinder 5; Described transverse slat 3 is fixed on the piston rod 6 of described vertical slide unit cylinder 5, and described gripper cylinder is fixed on the bottom of described transverse slat 3; Described gripper cylinder comprises horizontally disposed left cylinder 1, right cylinder 2, and the housing of described left cylinder 1, right cylinder 2 is fixed on described transverse slat 3, is fixed with clamping plate 4 at the piston-rod end of described left cylinder 1, right cylinder 2.
Preferably, the cylinder diameter of described left cylinder 1 is greater than the cylinder diameter of described right cylinder 2.
Described gripper cylinder comprises horizontally disposed left cylinder 1, right cylinder 2, and the housing of described left cylinder 1, right cylinder 2 is fixed on described transverse slat 3, is fixed with clamping plate 4 at the piston-rod end of described left cylinder 1, right cylinder 2.Described left cylinder 1 pushes away to the right, and described right cylinder 2 pushes away to the left side, realizes the clamping to described breaker 7.Under same air pressure, the cylinder diameter of described left cylinder 1 is greater than the cylinder diameter of described right cylinder 2, makes the theoretical thrust of described left cylinder 1 be greater than the theoretical thrust of described right cylinder 2.After described crawl position 10 clamps described breaker, the piston rod of described left cylinder 1 reaches the end.
Piston rod 6 end of described vertical slide unit cylinder 5 is connected described transverse slat 3, and described left cylinder 1, right cylinder 2 are fixed on described transverse slat 3.Described vertical slide unit cylinder 5 drives moving up and down of described transverse slat.
The opening size that described crawl position 10 adopts described left cylinder 1, right cylinder 2 realizes in a big way, thus the breaker breaker that disposablely can clamp that three to 12 quantity do not wait.Described crawl position 10, in the Automated assembly of breaker breaker, detection, bat printing, is with a wide range of applications.
Described left cylinder 1 pushes away to the right, and described right cylinder 2 pushes away to the left side, realizes the clamping to described breaker 7.After completing the clamping to described breaker 7, described vertical slide unit cylinder 5 drives described breaker 7 to do vertical direction motion, thus described breaker 7 is moved to required position.
In the automated production process of breaker, breaker breaker is carried in conveyor line, when described crawl position 10 will clamp the breaker be positioned in conveyor line, and is transferred on automatic machine and carries out processing, detecting.
Finally, it should be pointed out that above embodiment is only the more representational example of the utility model.Obviously, the utility model is not limited to above-described embodiment, can also have many distortion.Every above embodiment is done according to technical spirit of the present utility model any simple modification, equivalent variations and modification, all should think and belong to protection domain of the present utility model.

Claims (1)

1. carry a Three Degree Of Freedom servo manipulator for breaker, it is characterized in that composed as follows: comprise lifting arm, revolution arm, telescopic arm, crawl position and pedestal;
Described lifting arm is fixed on described pedestal, and described pedestal is fixed on ground;
Described lifting arm comprises the first servomotor, elevating screw, lifting nut, Timing Belt, guide pillar, base plate; The lower end of described elevating screw is movably connected on described base plate, described first servomotor is fixed on described base plate, described first servomotor connects described Timing Belt, and described Timing Belt connects one end of described elevating screw, and described elevating screw is flexibly connected described lifting nut; Described lifting nut is fixed on the reversing frame of described revolution arm, and described lifting nut is positioned at the edge of described reversing frame; Described guide pillar is fixed on the edge of described base plate, and described guide pillar quantity is, and is parallel to each other; Described reversing frame is provided with the guide pin bushing matched with described guide pillar;
Described revolution arm comprises: reversing frame, the second servomotor, rotary reducer; Described reversing frame comprises pivoted frame last time, column, lower reversing frame, and the top of described column is fixed on the edge of pivoted frame described last time, and the bottom of described column is fixed on the edge of described lower reversing frame; The shell of described rotary reducer is fixed on pivoted frame described last time, and described rotary reducer is positioned at the centre position on described pivoted frame last time top; Described second servomotor is connected to described rotary reducer, and is positioned at the centre position of described pivoted frame last time bottom, and described elevating screw is positioned at the side of described second servomotor; The top of described rotary reducer is fixed with revolving flats;
Described telescopic arm comprises base plate, leading screw, long guideway, square slider, nut, servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, in addition one end and is connected with leading screw supporting seat, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; Projecting shaft and the described leading screw of described servomotor are achieved a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, described long guideway is flexibly connected square slider, below described square slider, be fixed with fixed head; Described leading screw is flexibly connected described nut, and the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw is parallel with described long guideway;
The fixed head of described telescopic arm is fixed on described revolving flats; One end of described telescopic arm is connected vertical ring flange, and described vertical ring flange is connected described crawl position;
Capture position, comprise; Gripper cylinder, transverse slat, vertically slide unit cylinder; Described transverse slat is fixed on the piston rod of described vertical slide unit cylinder, and described gripper cylinder is fixed on the bottom of described transverse slat; Described gripper cylinder comprises horizontally disposed left cylinder, right cylinder, and the housing of described left cylinder, right cylinder is fixed on described transverse slat, is fixed with clamping plate at the piston-rod end of described left cylinder, right cylinder.
CN201520801646.XU 2015-10-09 2015-10-09 Three degree of freedom servo manipulators of transport circuit breaker Expired - Fee Related CN204997674U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106078730A (en) * 2016-08-11 2016-11-09 汕头大学 A kind of loading and unloading manipulator
CN106477315A (en) * 2016-11-11 2017-03-08 张家港市环宇制药设备有限公司 Sterilization tray automatic Kai Lan mechanism on oral liquid bottle automatic loading machine
CN107052367A (en) * 2017-04-18 2017-08-18 温州职业技术学院 Mandrel full-automatic machine people's feeding system
CN108750681A (en) * 2018-06-06 2018-11-06 苏州耀水源环境科技有限公司 A kind of discarded rice hole plate crawl stacking device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106078730A (en) * 2016-08-11 2016-11-09 汕头大学 A kind of loading and unloading manipulator
CN106477315A (en) * 2016-11-11 2017-03-08 张家港市环宇制药设备有限公司 Sterilization tray automatic Kai Lan mechanism on oral liquid bottle automatic loading machine
CN107052367A (en) * 2017-04-18 2017-08-18 温州职业技术学院 Mandrel full-automatic machine people's feeding system
CN108750681A (en) * 2018-06-06 2018-11-06 苏州耀水源环境科技有限公司 A kind of discarded rice hole plate crawl stacking 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: 20160127

Termination date: 20161009