CN205290945U - Take single armed diaxon pile up neatly machinery hand of counter weight mechanism - Google Patents
Take single armed diaxon pile up neatly machinery hand of counter weight mechanism Download PDFInfo
- Publication number
- CN205290945U CN205290945U CN201620040480.9U CN201620040480U CN205290945U CN 205290945 U CN205290945 U CN 205290945U CN 201620040480 U CN201620040480 U CN 201620040480U CN 205290945 U CN205290945 U CN 205290945U
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- China
- Prior art keywords
- axis
- axle
- bracket
- weight mechanism
- single armed
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Abstract
The utility model relates to a take single armed diaxon pile up neatly machinery hand of counter weight mechanism, including the Z axle stand of vertical setting, X axle horizontal pole, work piece holder and the counter weight mechanism that the level set up, the bottom mounting of Z axle stand is connected with X axle bracket subaerial on the Z axle stand, the upper end at X axle bracket is fixed to X axle horizontal pole, be equipped with the X bracing strut on the X axle horizontal pole, the one end and the work piece holder of X bracing strut are connected, the counter weight establishment of institution is inside Z axle stand, and counter weight mechanism includes balancing weight, wire rope, fixed pulley and pulley support, wire rope's both ends respectively with balancing weight and the seated connection of X axle. The utility model discloses a counter weight mechanism has been increased on the basis of single armed diaxon manipulator to there is defect firm, stable inadequately again in the diaxon manipulator of having solved the single armed formula, has also solved the limited problem of diaxon gantry structure formula manipulator installation space, makes it just can realize reliable and stable pile up neatly work under narrower installation space.
Description
Technical field
This utility model relates to a kind of single armed two axis robot, especially a kind of single armed two axle palletizing mechanical arm with balance weight mechanism.
Background technology
At present, two axle palletizing mechanical arms on the market are the mechanical hand of two axle gantry structure formulas mostly, locus is required higher by two axle planer type structure mechanical hands, and it is relatively heavy, if the installing space location comparison of mechanical hand is little, gantry-type mechanical arm just can not meet requirement, and two axis robot of single arm type exist firm not, the defect such as stable, it is therefore desirable to a kind of be applicable to the satisfactory two axle palletizing mechanical arms compared with crawl space.
Utility model content
Technical problem to be solved in the utility model is to provide the single armed two axle palletizing mechanical arm with balance weight mechanism that can overcome drawbacks described above.
The technical scheme that this utility model solves above-mentioned technical problem is as follows: a kind of single armed two axle palletizing mechanical arm with balance weight mechanism, including the Z axis column being vertically arranged, horizontally disposed X-axis cross bar, work piece holder and balance weight mechanism; The bottom of described Z axis column fixes on the ground, is provided with Z axis motor, Z axis Timing Belt, Z axis drivewheel and Z axis driven pulley in described Z axis column, and described Z axis motor drives described Z axis drivewheel and described Z axis driven pulley to rotate by described Z axis Timing Belt; Being provided with X-axis bracket on described Z axis Timing Belt, described X-axis cross bar is fixed on the upper end of described X-axis bracket, drives described X-axis cross bar to move up and down by described X-axis bracket when described Z axis Timing Belt rotates; Being provided with X-axis motor, X-axis Timing Belt, X-axis drivewheel and X-axis driven pulley in described X-axis cross bar, described X-axis motor drives described X-axis drivewheel and described X-axis driven pulley to rotate by described X-axis Timing Belt; Described X-axis Timing Belt is provided with X-axis support, and one end of described X-axis support is connected with described work piece holder, drives described work piece holder to move horizontally by described X-axis support when described X-axis Timing Belt rotates;Described balance weight mechanism is arranged on inside described Z axis column, described balance weight mechanism includes balancing weight, steel wire rope, fixed pulley and pulley bracket, described pulley bracket is arranged on the upper end of described Z axis column, described fixed pulley is fixed on described pulley bracket, the middle part of described steel wire rope strides across described fixed pulley, and the two ends of described steel wire rope are connected with described balancing weight and described X-axis bracket respectively.
Based on technique scheme, this utility model can also do following improvement.
Further improvement project as technique scheme: described pulley bracket is provided with two described fixed pulleys, the axis of two described fixed pulleys parallel and etc. highly arrange.
Further improvement project as technique scheme: the weight of described balancing weight can regulate according to the gross weight of X-axis cross bar, X-axis support, work piece holder and workpiece. Owing to single-arm stacker crane tool hands needs to bear bigger weight and the arm of force, balance weight mechanism can be used for balancing the weight of X-axis cross bar and workpiece, making Z axis motor play its maximal efficiency, described Z axis motor only plays the effect of a driving force, can complete the Palletised carry to heavier work pieces and work.
Further improvement project as technique scheme: be provided with for holding the annular seal space that described balancing weight moves up and down in described Z axis column, it is ensured that described balancing weight in use will not drop out, safety is attractive in appearance.
Further improvement project as technique scheme: described steel wire rope be respectively arranged at two ends with suspension ring, one end of described steel wire rope is connected with described balancing weight by the first suspension ring, and the other end passes through the second suspension ring and is connected with described X-axis bracket.
Further improvement project as technique scheme: described X-axis bracket is fastened on described Z axis Timing Belt by screw, convenient disassembly, fixing reliable.
Further improvement project as technique scheme: the lower end of described Z axis column be respectively provided on two sides with reinforcement gripper shoe, described reinforcement gripper shoe is obliquely installed, its upper end is connected to described Z axis column, and lower end is fixedly connected with the ground, and described reinforcement gripper shoe can strengthen the stability of Z axis column.
Based on technique scheme, the beneficial effects of the utility model are: this utility model is to add balance weight mechanism on the basis of single armed two axis robot, thus there is again defect firm, stable not in two axis robot solving single arm type, also the problem that two axle gantry structure formula mechanical hand installing spaces are limited is solved, making it can be achieved with reliable and stable piling work under narrower installing space, this utility model is applicable to some two axle palletizing mechanical arm work that installing space is had higher requirements.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model;
Fig. 2 is left view of the present utility model;
Fig. 3 is the sectional view of Fig. 2.
In accompanying drawing, the list of parts representated by each label is as follows:
1.Z axle column, 2. pulley bracket, 3. fixed pulley, 4. balancing weight, 5. the first suspension ring, 6. steel wire rope, 7. the second suspension ring, 8.Z axle driven pulley, 9.Z axle drivewheel, 10.Z axle Timing Belt, 11.Z spindle motor, 12.X axle bracket, 13.X axle cross bar, 14.X bracing strut, 15. work piece holders.
Detailed description of the invention
Below in conjunction with accompanying drawing, principle of the present utility model and feature being described, example is served only for explaining this utility model, is not intended to limit scope of the present utility model.
As shown in Figure 1 to Figure 3, a kind of single armed two axle palletizing mechanical arm with balance weight mechanism, including the Z axis column 1 being vertically arranged, horizontally disposed X-axis cross bar 13, work piece holder 15 and balance weight mechanism;The bottom of described Z axis column 1 fixes on the ground, being provided with Z axis motor 11, Z axis Timing Belt 10, Z axis drivewheel 9 and Z axis driven pulley 8 in described Z axis column 1, described Z axis motor 11 drives described Z axis drivewheel 9 and described Z axis driven pulley 8 to rotate by described Z axis Timing Belt 10; Being provided with X-axis bracket 12 on described Z axis Timing Belt 10, described X-axis cross bar 13 is fixed on the upper end of described X-axis bracket 12, drives described X-axis cross bar 13 to move up and down by described X-axis bracket 12 when described Z axis Timing Belt 10 rotates; Being provided with X-axis motor, X-axis Timing Belt, X-axis drivewheel and X-axis driven pulley in described X-axis cross bar 13, described X-axis motor drives described X-axis drivewheel and described X-axis driven pulley to rotate by described X-axis Timing Belt; Described X-axis Timing Belt is provided with X-axis support 14, and one end of described X-axis support 14 is connected with described work piece holder 15, and described X-axis Timing Belt drives described work piece holder 15 to move horizontally by described X-axis support 14 when rotating; It is internal that described balance weight mechanism is arranged on described Z axis column 1, described balance weight mechanism includes balancing weight 4, steel wire rope 6, fixed pulley 3 and pulley bracket 2, described pulley bracket 2 is arranged on the upper end of described Z axis column 1, described fixed pulley 3 is fixed on described pulley bracket 2, the middle part of described steel wire rope 6 strides across described fixed pulley 3, and the two ends of described steel wire rope 6 are connected with described balancing weight 4 and described X-axis bracket 12 respectively.
Based on technique scheme, this utility model can also do following improvement.
Further improvement project as technique scheme: described pulley bracket 2 is provided with two described fixed pulleys 3, the axis of two described fixed pulleys 3 parallel and etc. highly arrange.
Further improvement project as technique scheme: the weight of described balancing weight 4 can regulate according to the gross weight of X-axis cross bar 13, X-axis support 14, work piece holder 15 and workpiece. Owing to single-arm stacker crane tool hands needs to bear bigger weight and the arm of force, balance weight mechanism can be used for balancing the weight of X-axis cross bar 13 and workpiece, Z axis motor 11 is made to play its maximal efficiency, described Z axis motor 11 only plays the effect of a driving force, can complete the Palletised carry to heavier work pieces and work.
Further improvement project as technique scheme: be provided with in described Z axis column 1 for holding the annular seal space that described balancing weight 4 moves up and down, it is ensured that described balancing weight 4 in use will not drop out, safety is attractive in appearance.
Further improvement project as technique scheme: described steel wire rope 6 be respectively arranged at two ends with suspension ring, one end of described steel wire rope 6 is connected with described balancing weight 4 by the first suspension ring 5, and the other end passes through the second suspension ring 7 and is connected with described X-axis bracket 12.
Further improvement project as technique scheme: described X-axis bracket 12 is fastened on described Z axis Timing Belt 10 by screw, convenient disassembly, fixing reliable.
Further improvement project as technique scheme: the lower end of described Z axis column 1 be respectively provided on two sides with reinforcement gripper shoe, described reinforcement gripper shoe is obliquely installed, its upper end is connected to described Z axis column 1, lower end is fixedly connected with the ground, and described reinforcement gripper shoe can be used for strengthening the stability of Z axis column 1.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (7)
1. the single armed two axle palletizing mechanical arm with balance weight mechanism, it is characterised in that: include the Z axis column (1), horizontally disposed X-axis cross bar (13), work piece holder (15) and the balance weight mechanism that are vertically arranged;
The bottom of described Z axis column (1) fixes on the ground, being provided with Z axis motor (11), Z axis Timing Belt (10), Z axis drivewheel (9) and Z axis driven pulley (8) in described Z axis column (1), described Z axis motor (11) drives described Z axis drivewheel (9) and described Z axis driven pulley (8) to rotate by described Z axis Timing Belt (10); Described Z axis Timing Belt (10) is provided with X-axis bracket (12), described X-axis cross bar (13) is fixed on the upper end of described X-axis bracket (12), and described Z axis Timing Belt (10) drives described X-axis cross bar (13) to move up and down by described X-axis bracket (12) when rotating;
Being provided with X-axis motor, X-axis Timing Belt, X-axis drivewheel and X-axis driven pulley in described X-axis cross bar (13), described X-axis motor drives described X-axis drivewheel and described X-axis driven pulley to rotate by described X-axis Timing Belt; Described X-axis Timing Belt is provided with X-axis support (14), one end of described X-axis support (14) is connected with described work piece holder (15), and described X-axis Timing Belt drives described work piece holder (15) to move horizontally by described X-axis support (14) when rotating;
It is internal that described balance weight mechanism is arranged on described Z axis column (1), described balance weight mechanism includes balancing weight (4), steel wire rope (6), fixed pulley (3) and pulley bracket (2), described pulley bracket (2) is arranged on the upper end of described Z axis column (1), described fixed pulley (3) is fixed on described pulley bracket (2), the middle part of described steel wire rope (6) strides across described fixed pulley (3), and the two ends of described steel wire rope (6) are connected with described balancing weight (4) and described X-axis bracket (12) respectively.
2. a kind of single armed two axle palletizing mechanical arm with balance weight mechanism according to claim 1, it is characterized in that, described pulley bracket (2) is provided with two described fixed pulleys (3), the axis of two described fixed pulleys (3) parallel and etc. highly arrange.
3. a kind of single armed two axle palletizing mechanical arm with balance weight mechanism according to claim 1, it is characterized in that, the weight of described balancing weight (4) can regulate according to the gross weight of X-axis cross bar (13), X-axis support (14), work piece holder (15) and workpiece.
4. a kind of single armed two axle palletizing mechanical arm with balance weight mechanism according to claim 3, it is characterised in that be provided with for holding the annular seal space that described balancing weight (4) moves up and down in described Z axis column (1).
5. a kind of single armed two axle palletizing mechanical arm with balance weight mechanism according to claim 1, it is characterized in that, described steel wire rope (6) be respectively arranged at two ends with suspension ring, one end of described steel wire rope (6) is connected with described balancing weight (4) by the first suspension ring (5), and the other end is connected with described X-axis bracket (12) by the second suspension ring (7).
6. a kind of single armed two axle palletizing mechanical arm with balance weight mechanism according to claim 1, it is characterised in that described X-axis bracket (12) is fastened on described Z axis Timing Belt (10) by screw.
7. according to the arbitrary described a kind of single armed two axle palletizing mechanical arm with balance weight mechanism of claim 1 to 6, it is characterized in that, the lower end of described Z axis column (1) be respectively provided on two sides with reinforcement gripper shoe, described reinforcement gripper shoe is obliquely installed, its upper end is connected to described Z axis column (1), and lower end is fixedly connected with the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620040480.9U CN205290945U (en) | 2016-01-15 | 2016-01-15 | Take single armed diaxon pile up neatly machinery hand of counter weight mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620040480.9U CN205290945U (en) | 2016-01-15 | 2016-01-15 | Take single armed diaxon pile up neatly machinery hand of counter weight mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290945U true CN205290945U (en) | 2016-06-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620040480.9U Expired - Fee Related CN205290945U (en) | 2016-01-15 | 2016-01-15 | Take single armed diaxon pile up neatly machinery hand of counter weight mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205290945U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303487A (en) * | 2018-05-17 | 2019-10-08 | 青岛理工大学 | A kind of robot device carried for tubing |
-
2016
- 2016-01-15 CN CN201620040480.9U patent/CN205290945U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303487A (en) * | 2018-05-17 | 2019-10-08 | 青岛理工大学 | A kind of robot device carried for tubing |
| CN110303487B (en) * | 2018-05-17 | 2023-06-20 | 青岛理工大学 | Manipulator device for carrying pipes |
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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: 20160608 Termination date: 20180115 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |