CN205009214U - Complete servo mechanical arm of both arms structure - Google Patents
Complete servo mechanical arm of both arms structure Download PDFInfo
- Publication number
- CN205009214U CN205009214U CN201520668623.6U CN201520668623U CN205009214U CN 205009214 U CN205009214 U CN 205009214U CN 201520668623 U CN201520668623 U CN 201520668623U CN 205009214 U CN205009214 U CN 205009214U
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- CN
- China
- Prior art keywords
- modularization
- arm
- square frame
- line slideway
- joint
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- Expired - Fee Related
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Abstract
The utility model discloses a complete servo mechanical arm of both arms structure, including the modularization square frame, the modularization supports, the modularization supports and locates on the modularization square frame, modularization square frame side installs up -downgoing servo motor, modularization tilting mechanism is installed to the below, there is the doubly fast festival of installing on first arm linear guide in the modularization square frame, the initiative festival on the second arm linear guide, the initiative festival is with doubly the fast festival is connected through doubly fast hold -in range, doubly fast mechanism one side is equipped with the balance cylinder who installs on the modularization square frame, line servo motor about being equipped with on the modularization supports, location signal switch, the silence slider. The utility model discloses a modularized design, the transportation is convenient, assemble fast, efficient, equipment operation safe and reliable, life height.
Description
Technical field
The utility model relates to the full servo manipulator arm of a kind of arm structure.
Background technology
Along with household electrical appliances market is towards maximizing and the development of auto industry, the demand of market to large-scale full servo manipulator progressively increases.Producer of current most of robot, produce pneumatic and micromanipulator that is frequency conversion type, Ye You minority producer amplifies pneumatic micromanipulator simply, because do not have thorough grasp design principle and the technique of large-scale full servo manipulator, the product stability produced is poor, service life is short, and what have also causes security incident.Simultaneously the size of large-scale full servo manipulator is comparatively large, whole length more than 3.6 meters, width is more than 2 meters, highly more than 2.2 meters, need to pass through Automobile Transportation.And manipulator generally has 90 degree of turn over function, by pressing from both sides, embrace, draw or capturing product.But for narrow space, sometimes strengthen upset cylinder and can touch product or mould, sometimes directly now picking and placeing product also can touch other equipment.
Utility model content
In order to solve the problems of the technologies described above, the utility model provides the full servo manipulator arm of a kind of arm structure, and can realize modularization processing, install, split transport, safety and stability, noise is low.
The technical scheme that the utility model is complete is:
The full servounit arm of a kind of arm structure, comprise modularization square frame, modularization supports, described modularization is propped up and is stayed on modularization square frame, modularization square frame side is provided with up-downgoing servo motor, below is provided with modularization switching mechanism, first arm line slideway is installed in described modularization square frame, second arm line slideway and duplication acceleration mechanism, described duplication acceleration mechanism comprises the speed joint be installed on the first arm line slideway, active joint on second arm line slideway, initiatively joint is connected by speed Timing Belt with speed joint, up-downgoing servo motor is by gear-rack drive initiatively joint, through the transmission of speed Timing Belt and pulley, realize the double motion of speed joint, duplication acceleration mechanism side is provided with the balance cylinder be installed on modularization square frame, modularization supports and is provided with left and right rows servo motor, framing signal switch, quiet slide block.
Described modularization supports arm and overarm connector parts, simultaneously again as the slide assemblies of overarm.
The material of described arm is 6061 aluminium alloys, and line slideway is more than P rank, adopts the transmission of more than 6 grades rank beveled gear teeth bars.
The utility model is relative to the advantage of prior art:
1. modularized design, convenient transportation, assembling speed is fast, and efficiency is high.
2. outward appearance is beautified, and quiet slide block makes complete equipment noise in operating≤65db, improves working environment.
3. balance cylinder achieves accurate counterweight by precise pressure regulating valve, has both effectively reduced power and the volume of up-downgoing servo motor, in turn enhances stability during speed joint high-speed motion.
4. safe and reliable, the critical piece of equipment operation normally use 10 years non-maintaining.The overall design life-span reaches more than 15 years, uses rear integral production cost to reduce by 15%.
Accompanying drawing explanation
Fig. 1 is the arm structure full servo manipulator complete machine schematic diagram with the utility model arm;
Fig. 2 be with the full servo manipulator of arm structure of the utility model arm horizontal walk partial schematic diagram;
Fig. 3 is the arm structure full servo manipulator overarm partial schematic diagram with the utility model arm;
Fig. 4 is arm structure of the present utility model full servo manipulator arm schematic diagram.
In figure: 1 for horizontal walk part 1, 2 is overarm part, 3 is arm, 11 is supporting seat, 12 is crossbeam, 13 for horizontal walk slide plate, 14 is the horizontal guide rail that takes the air line, 15 for horizontal walk motor, 16 for horizontal walk tooth bar, 21 is overarm line slideway, 22 is overarm tooth bar, 23 is drag chain, 31 is arm first line slideway, 32 is speed joint, 33 is balance cylinder, 34 is up-downgoing servo motor, 35 is switching mechanism, 36 is initiatively save, 37 is arm second line slideway, 38 is speed Timing Belt, 39 is left and right rows servo motor, 40 is framing signal switch, 41 is quiet slide block, 42 is modularization support, 43 is modularization square frame.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the utility model is described further.
Fig. 1 is the arm structure full servo manipulator complete machine schematic diagram with the utility model arm; Comprise horizontal walk part 1, overarm part 2, arm 3,
Described horizontal walk part comprise supporting seat 11, supporting seat is provided with crossbeam 12, crossbeam be provided with horizontal take the air line guide rail 14 and horizontal walk tooth bar 16, horizontal walk part be provided with slide plate 13 near linkage section, described slide plate 13 is provided with horizontal walk motor 15, horizontal walk part adopt large-scale 400*300 steel design, crucial force part welding stiffener, select line slideway and more than the 6 grades rank rack pinion of more than P rank, by high-precision AC servo motor driven, reach the requirement of high speed, precise positioning control.Horizontal walk slide plate be horizontal walk slide assemblies, again as the connector with overarm 2, thus achieve horizontal walk and the modularized design of hanging oneself from a beam.
Described overarm part comprises straight overarm line slideway 21, overarm tooth bar 22 and drag chain 23; And by horizontal walk slide plate with horizontal walk part be connected, overarm adopts large aluminum alloy twin beams frame structure, material selection 6061, and Cross section Design according to high rigidity and lightweight designing requirement, thus meets the requirement of the high rigidity of overarm and lightweight.Select line slideway and more than the 6 grades rank rack pinion of more than P rank.Overarm module processing method is first preprocessing, then assembling is fixing, last overall processing crossbeam and horizontal walk the installed surface of slide plate; By high-precision AC servo motor driven, reach the requirement of high speed, precise positioning control.By the overarm of this modularized design, 1-3 modularization arm can be mounted according to needs of production.
Described arm 3 comprises modularization square frame 43, modularization supports 42, described modularization supports 42 and is located on modularization square frame 43, modularization square frame 43 side is provided with up-downgoing servo motor 34, below is provided with modularization switching mechanism 35, first arm line slideway 31 is installed in described modularization square frame 43, second arm line slideway 37 and duplication acceleration mechanism, described duplication acceleration mechanism comprises the speed joint 32 be installed on the first arm line slideway 31, second arm line slideway 37 initiatively saves 36, initiatively joint is connected by speed Timing Belt 38 with speed joint, up-downgoing servo motor is by gear-rack drive initiatively joint, through the transmission of speed Timing Belt and pulley, realize the double motion of speed joint, duplication acceleration mechanism side is provided with the balance cylinder 33 be installed on modularization square frame, modularization supports 42 and is provided with left and right rows servo motor 39, framing signal switch 40, quiet slide block 41.
Arm material selection 6061, Cross section Design according to high rigidity and lightweight designing requirement, thus meets the requirement of the high rigidity of overarm and lightweight.Select line slideway and the transmission of more than 6 grades rank beveled gear teeth bars of more than P rank, during gripper unit square frame processing assembling, first preprocessing, then assembling is fixing, the installed surface that last overall processing is important; It is overarm slide assemblies that modularization supports, and again as the connector with arm, thus achieves the modularized design of overarm and arm.
Arm speed joint and initiatively joint are the binodal speed structures realized according to fixed pulley and movable pulley principle, namely up-downgoing servo motor is by gear-rack drive initiatively joint, under the transmission of speed Timing Belt and pulley, the velocity interpolation of speed joint is double, achieve requirement at a high speed in mould, balance cylinder achieves accurate counterweight by precise pressure regulating valve, has both effectively reduced power and the volume of up-downgoing servo motor, in turn enhances stability during speed joint high-speed motion.
Large-scale full servo manipulator of the present utility model adopts five axle AC servo motor driven, coordinates high accuracy reductor to achieve and efficiently takes out action; Adopt the technical grade PLC of high-speed bus to control, software programming also adopts modularized design, thus the accurate type of the routine call of practical function module and high speed, man-machine interface is friendly, 32K color touch screen is adopted to control, intuitively simple to operation, 100 kinds of processes can be stored.
When the large-scale full servo manipulator of modularization and injection machine or forcing press cooperation, is furnished with the Europe rule data-interface of standard; Programming has safety interlock function; Touch-screen is furnished with manual-operated emergent switch; Be furnished with maintenance safety barrier, complete machine control section and pneumatic part are placed in maintenance safety barrier top in addition, effectively isolate, enhance the security and stability of system complete machine and the Personal Safety of maintenance personal with thermoforming high temperature and soot fraction.
Claims (3)
1. the full servo manipulator arm of arm structure, it is characterized in that, comprise modularization square frame, modularization supports, described modularization is propped up and is stayed on modularization square frame, modularization square frame side is provided with up-downgoing servo motor, below is provided with modularization switching mechanism, first arm line slideway is installed in described modularization square frame, second arm line slideway and duplication acceleration mechanism, described duplication acceleration mechanism comprises the speed joint be installed on the first arm line slideway, active joint on second arm line slideway, initiatively joint is connected by speed Timing Belt with speed joint, up-downgoing servo motor is by gear-rack drive initiatively joint, through the transmission of speed Timing Belt and pulley, realize the double motion of speed joint, duplication acceleration mechanism side is provided with the balance cylinder be installed on modularization square frame, modularization supports and is provided with left and right rows servo motor, framing signal switch, quiet slide block.
2. the full servo manipulator arm of arm structure as claimed in claim 1, is characterized in that, described modularization supports arm and overarm connector parts, simultaneously again as the slide assemblies of overarm.
3. the full servo manipulator arm of arm structure as claimed in claim 1 or 2, is characterized in that, the material of described arm is 6061 aluminium alloys, and line slideway is more than P rank, adopts the transmission of more than 6 grades rank beveled gear teeth bars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520668623.6U CN205009214U (en) | 2015-08-31 | 2015-08-31 | Complete servo mechanical arm of both arms structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520668623.6U CN205009214U (en) | 2015-08-31 | 2015-08-31 | Complete servo mechanical arm of both arms structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205009214U true CN205009214U (en) | 2016-02-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520668623.6U Expired - Fee Related CN205009214U (en) | 2015-08-31 | 2015-08-31 | Complete servo mechanical arm of both arms structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205009214U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109570470A (en) * | 2018-12-25 | 2019-04-05 | 昆山伟拓压铸机械有限公司 | A kind of die casting pickup spraying integral machine |
-
2015
- 2015-08-31 CN CN201520668623.6U patent/CN205009214U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109570470A (en) * | 2018-12-25 | 2019-04-05 | 昆山伟拓压铸机械有限公司 | A kind of die casting pickup spraying integral machine |
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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 |
Granted publication date: 20160203 Termination date: 20180831 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |