CN205272039U - A truss manipulator for go up unloading - Google Patents
A truss manipulator for go up unloading Download PDFInfo
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- CN205272039U CN205272039U CN201521043550.8U CN201521043550U CN205272039U CN 205272039 U CN205272039 U CN 205272039U CN 201521043550 U CN201521043550 U CN 201521043550U CN 205272039 U CN205272039 U CN 205272039U
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- vertical motion
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- connecting plate
- horizontal movement
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Abstract
The utility model relates to a truss manipulator for go up unloading, by bearing structure, level motion subassembly, vertical motion subassembly, automatic hold in hand and the diaxon between transition connecting plate forms, bearing structure's top is dress level motion subassembly admittedly, operation vertical motion subassembly is held in hand in the installation of the lower bottom of vertical motion subassembly voluntarily on level motion subassembly. The utility model discloses a single -upright -column support the major structure of formula, the design uses the strengthening rib to improve the intensity and the rigidity of truss major structure, the level motion has been adopted V type slide rail to join in marriage solitary rack and pinion mode and has been realized the transmission, and rack and pinion all adopts 6 grade of precision's two skewed teeth of mould, and what this kind of kind of drive can be fine satisfies high -speed requirement to transmission precision can control within 0.1mm.
Description
Technical field
This utility model belongs to mechanical engineering field of intelligent control, relates to mechanical hand, especially a kind of truss mechanical hand for loading and unloading.
Background technology
It is currently used for the agent structure form of the truss mechanical hand of loading and unloading, the usually gantry structure of dual-gripper column, including the horizontal movement assembly being arranged on crossbeam and the vertical motion assemblies being perpendicular on horizontal movement assembly, connecting the automatic manipulator for loading and unloading bottom vertical motion assemblies to grab, hands is grabbed and is realized automatic feeding and blanking action. On type of belt drive, existing truss mechanical hand mainly have employed that rack-and-pinion joins line slide rail, Timing Belt joins line slide rail or adopts V-type slide rail tooth bar integral structure to carry out transmission. Toothed belt transmission has safe and reliable sex chromosome mosaicism, and line slide rail is unsuitable to apply to occasion at a high speed, and the kind of drive of V-type slide rail tooth bar integral type has again the shortcoming that precision is not high. In a word, existing truss mechanical hand waste material, the installing space occupying automated production is relatively big, and overall structure is more loaded down with trivial details.
By the retrieval of patent document, it has been found that patent document one section relevant to this utility model application:
A kind of truss box distribution robot (CN101920847A), including box separation device, box separation device includes the first frame, and the first frame is provided with the first conveyer device; What be positioned at the first conveyer device in the first frame is arranged over Y-direction guide rail, and Y-direction guide rail is provided with travelling carriage, and the first frame is provided with the first driving mechanism driving Y-direction guide rail movement. Described travelling carriage is provided with X direction guiding rail, and X direction guiding rail is provided with the first slide block, and described travelling carriage is provided with the second driving mechanism driving the first slide block movement. The first described slide block is provided with Z-direction chute, is provided with slide rail in Z-direction chute, and the first described slide block is provided with the 3rd driving mechanism driving slide rail motion, and described slide rail lower end is provided with handgrip mechanism. The efficiency of this truss box distribution robot branch mailbox is high, simple in construction, and can chest be rotated.
By the contrast of technical characteristic, patent documentation disclosed above and this utility model application are different in utility model purpose, technical scheme.
Utility model content
The purpose of this utility model is in that to overcome the deficiencies in the prior art, it is provided that a kind of truss mechanical hand for loading and unloading, and this mechanical hand have employed the agent structure of single upright supports formula, have employed V-type slide rail and joins independent rack-and-pinion mode and realize horizontal conveyor.
The purpose of this utility model is achieved through the following technical solutions:
A kind of truss mechanical hand for loading and unloading, it is made up of supporting construction, horizontal movement assembly, vertical motion assemblies, the transition connecting plate certainly starting to grab between two axles, the top of supporting construction is fixedly mounted with horizontal movement assembly, horizontal movement assembly runs vertical motion assemblies, install from starting to grab in the lower bottom of vertical motion assemblies, two axle transition connecting plate are installed between horizontal movement assembly and vertical motion assemblies.
And, the bottom of described supporting construction is by the box steel column of the base being coaxially fixedly mounted with and installs box steel column and forms, it is fixedly mounted with right angle steel plate at the upper horizontal installing box steel column, the both sides and install between box steel column the symmetrical reinforcement gusset being fixed with umbrella shape of going to the bottom of this right angle steel plate, on right angle steel plate, uniform interval is fixed with reinforcement by securing member, by the fixing horizontal movement assembly of securing member on the vertical of right angle steel plate.
And, described horizontal movement assembly is made up of drag chain, roller, V-way, X-axis tooth bar, X-axis gear, X-axis servomotor, is fixed two V-type rails and X-axis tooth bar, two V-type slide rails and four rolling by securing member and coordinate on right angle steel plate; Described roller is connected by securing member and two axle transition connecting plate, and this two axles transition connecting plate is fixed with X-axis servomotor, and this X-axis servomotor is connected with X-axis gear by key, and X-axis pinion rotation drives X-axis rack gear.
And, described vertical motion assemblies includes Z axis servomotor, Z axis decelerator, Z axis gear, Z axis tooth bar, aluminium section bar and straight-line guide rail slide block, two axle transition connecting plate are provided with Z axis servomotor and Z axis reductor thereof, this Z axis servomotor key is connected with Z axis gear, Z axis pinion rotation drives Z axis rack gear, and vertical motion assemblies realizes the motion of above-below direction under the drive of Z axis servomotor; Z axis guide rail slide block is fixed in two axle transition connecting plate, and this straight-line guide rail slide block is connected with aluminium section bar by securing member, and this aluminium section bar is connected with Z axis tooth bar by securing member; Aluminium section bar bottom is connected from starting to grab by securing member, certainly starts to grab and is provided with two handss and grabs, and is rotated by cylinder and can realize feeding and blanking action.
Advantage of the present utility model and having the benefit effect that
1, this utility model have employed the agent structure of single upright supports formula, design uses reinforcement to improve the strength and stiffness of truss agent structure, compare the support of double; two column, this structure can well save material while meeting static(al) and demanding kinetics, save the installing space of automated production, and make overall structure more attractive in appearance and simple.
2, the horizontal movement of this mechanical hand have employed V-type slide rail and joins independent rack-and-pinion mode and realize transmission, rack-and-pinion all adopts mould two helical teeth of 6 accuracy classes, this kind of drive can well meet requirement at high speed, and transmission accuracy can control within 0.1mm.
3, this mechanical hand simple in construction, light, material is saved; The kind of drive using the novel kind of drive, V-type rail and rack-and-pinion can meet the requirement of high transmission speed, makes again transmission accuracy well be ensured.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model;
Fig. 2 is the schematic diagram of another angle of Fig. 1;
Fig. 3 is the assembling structural representation of this utility model horizontal movement assembly (X-axis);
Fig. 4 is the assembling structural representation of this utility model horizontal movement assembly (Y-axis).
In figure: 1, the box steel column of base, 2, box steel column is installed, 3, strengthen gusset, 4, horizontal movement assembly (X-axis), 5, vertical motion assemblies (Z axis), 6, drag chain, 7, certainly start to grab, 8, two axle transition connecting plate, 9, right angle steel plate, 10, reinforcement, 11, roller, 12, V-type rail, 13, X-axis tooth bar, 14, X-axis gear, 15, X-axis servomotor, 16, Z axis servomotor, 17, Z axis decelerator, 18, Z axis gear, 19, Z axis tooth bar, 20, aluminium section bar, 21, straight-line guide rail slide block.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is further described; The present embodiment is illustrative, is not determinate, it is impossible to thus limit protection domain of the present utility model.
A kind of truss mechanical hand for loading and unloading, by supporting construction, horizontal movement assembly 4 (X-axis), vertical motion assemblies 5 (Z axis), certainly start to grab 7 and two transition connecting plate 8 between axle and form, the top of supporting construction is fixedly mounted with horizontal movement assembly, horizontal movement assembly runs vertical motion assemblies, install from starting to grab in the lower bottom of vertical motion assemblies, two axle transition connecting plate are installed between horizontal movement assembly and vertical motion assemblies.
The bottom of described supporting construction is by the box steel column of the base being coaxially fixedly mounted with 1 and installs box steel column 2 two parts and forms, and these two box steel columns make of the square steel of 350x350 and 280x280 respectively. Being fixedly mounted with right angle steel plate 9 at the upper horizontal installing box steel column, the both sides and install between box steel column the symmetrical reinforcement gusset 3 being fixed with umbrella shape of going to the bottom of this right angle steel plate, this reinforcement gusset can improve the intensity of entirety, rigidity and stability. On right angle steel plate, uniform interval is fixed with reinforcement 10 by securing member, by the fixing horizontal movement assembly (X-axis) of securing member on the vertical of right angle steel plate, this horizontal movement assembly is made up of drag chain 6, roller 11, V-way 12, X-axis tooth bar 13, X-axis gear 14, X-axis servomotor 15, right angle steel plate is fixed two V-type rails and X-axis tooth bar, two V-type slide rails and four rolling by securing member coordinate; Described roller is connected by securing member and two axle transition connecting plate, this two axles transition connecting plate is fixed with X-axis servomotor, this X-axis servomotor is connected with X-axis gear by key, X-axis pinion rotation drives X-axis rack gear, being achieved under the driving of X-axis servomotor, the engagement of X-axis gear drives tooth bar to make roller guiding horizontal in V-way run.
Described vertical motion assemblies includes Z axis servomotor 16, Z axis decelerator 17, Z axis gear 18, Z axis tooth bar 19, aluminium section bar 20 and straight-line guide rail slide block 21, two axle transition connecting plate are also equipped with Z axis servomotor and Z axis reductor thereof, this Z axis servomotor key is connected with Z axis gear, Z axis pinion rotation drives Z axis rack gear, and vertical motion assemblies realizes the motion of above-below direction under the drive of Z axis servomotor. Z axis guide rail slide block is fixed in two axle transition connecting plate, and this straight-line guide rail slide block is connected with aluminium section bar by securing member, and this aluminium section bar is connected with Z axis tooth bar by securing member. Aluminium section bar bottom is connected from starting to grab by securing member, certainly starts to grab and is provided with two handss and grabs, and is rotated by cylinder (not having label) and can realize feeding and blanking action.
And horizontal movement have employed V-type slide rail and joins independent rack-and-pinion mode and realize transmission in this utility model, rack-and-pinion all adopts mould two helical teeth of 6 accuracy classes, this kind of drive can well meet requirement at high speed, and transmission accuracy can control within 0.1mm.
Claims (4)
1. the truss mechanical hand for loading and unloading, it is characterized in that: be made up of supporting construction, horizontal movement assembly, vertical motion assemblies, the transition connecting plate certainly starting to grab between two axles, the top of supporting construction is fixedly mounted with horizontal movement assembly, horizontal movement assembly runs vertical motion assemblies, install from starting to grab in the lower bottom of vertical motion assemblies, two axle transition connecting plate are installed between horizontal movement assembly and vertical motion assemblies.
2. the truss mechanical hand for loading and unloading according to claim 1, it is characterized in that: the bottom of described supporting construction is by the box steel column of the base being coaxially fixedly mounted with and installs box steel column and forms, it is fixedly mounted with right angle steel plate at the upper horizontal installing box steel column, the both sides and install between box steel column the symmetrical reinforcement gusset being fixed with umbrella shape of going to the bottom of this right angle steel plate, on right angle steel plate, uniform interval is fixed with reinforcement by securing member, by the fixing horizontal movement assembly of securing member on the vertical of right angle steel plate.
3. the truss mechanical hand for loading and unloading according to claim 1 and 2, it is characterized in that: described horizontal movement assembly is made up of drag chain, roller, V-way, X-axis tooth bar, X-axis gear, X-axis servomotor, right angle steel plate is fixed two V-type rails and X-axis tooth bar, two V-type slide rails and four rolling by securing member coordinate; Described roller is connected by securing member and two axle transition connecting plate, and this two axles transition connecting plate is fixed with X-axis servomotor, and this X-axis servomotor is connected with X-axis gear by key, and X-axis pinion rotation drives X-axis rack gear.
4. the truss mechanical hand for loading and unloading according to claim 1, it is characterized in that: described vertical motion assemblies includes Z axis servomotor, Z axis decelerator, Z axis gear, Z axis tooth bar, aluminium section bar and straight-line guide rail slide block, two axle transition connecting plate are provided with Z axis servomotor and Z axis reductor thereof, this Z axis servomotor key is connected with Z axis gear, Z axis pinion rotation drives Z axis rack gear, and vertical motion assemblies realizes the motion of above-below direction under the drive of Z axis servomotor; Z axis guide rail slide block is fixed in two axle transition connecting plate, and this straight-line guide rail slide block is connected with aluminium section bar by securing member, and this aluminium section bar is connected with Z axis tooth bar by securing member; Aluminium section bar bottom is connected from starting to grab by securing member, certainly starts to grab and is provided with two handss and grabs, and is rotated by cylinder and can realize feeding and blanking action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521043550.8U CN205272039U (en) | 2015-12-15 | 2015-12-15 | A truss manipulator for go up unloading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521043550.8U CN205272039U (en) | 2015-12-15 | 2015-12-15 | A truss manipulator for go up unloading |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205272039U true CN205272039U (en) | 2016-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521043550.8U Active CN205272039U (en) | 2015-12-15 | 2015-12-15 | A truss manipulator for go up unloading |
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| Country | Link |
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| CN (1) | CN205272039U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500804A (en) * | 2018-12-18 | 2019-03-22 | 杭州齐创机器人有限公司 | A kind of manipulator assembly |
| CN111438680A (en) * | 2020-05-26 | 2020-07-24 | 华中科技大学无锡研究院 | Lifting type robot guide rail |
| CN108569431B (en) * | 2018-06-08 | 2024-01-16 | 安徽海思达机器人有限公司 | Boxing tongs |
-
2015
- 2015-12-15 CN CN201521043550.8U patent/CN205272039U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108569431B (en) * | 2018-06-08 | 2024-01-16 | 安徽海思达机器人有限公司 | Boxing tongs |
| CN109500804A (en) * | 2018-12-18 | 2019-03-22 | 杭州齐创机器人有限公司 | A kind of manipulator assembly |
| CN111438680A (en) * | 2020-05-26 | 2020-07-24 | 华中科技大学无锡研究院 | Lifting type robot guide rail |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |